JPH08249026A - Programming method for system including robot - Google Patents

Abstract

PURPOSE: To effectively guide and assist the programming jobs of an operator by repetitively carrying out the processes in an optional order to set the sequences at every level until a sequence described in a programming language adaptive to a robot system equipment is produced. CONSTITUTION: A sequence is set at a 1st level to assemble the subassemblies A to C into a product, and an assembling sequence of component parts (a) to (c) is set at a 2nd level in regard of the subassemblies A to C which are included in the sequence set at the 1st level. Then the job sequences U1 to U3 and V1 to V3 are set at a 3rd level in regard of the parts (a) to (c) which are included in the procedure set at the 2nd level. The statements 21 to 23 of 4th levels are produced in the program languages adaptive to the equipments that perform the jobs included in the job sequence set at the 3rd level. the programming jobs of an operator can be thereby effectively guided and assisted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a programming method for an automated system including an industrial robot (hereinafter, simply referred to as "robot system"), and more specifically, a series of operations including an assembly process for a robot system. It relates to a programming method for creating a program to be executed by.

[0002]

2. Description of the Related Art When a robot system is caused to perform a predetermined work, it is necessary to create a program in which the details of the operation required to perform the work are described in some programming language. However, in an actual application, the details of the operation content are changed from the level of the overall work plan to the level of identifying the individual work content included in the work plan and the level of the operation content suitable for the individual work content. There is a branched hierarchical structure between the levels that describe a language using a programming language, and there is a considerable gap between the highest level and the lowest level of this hierarchical structure.

Conventionally, this hierarchical structure is recognized in an orderly manner,
The task of filling the gap between the highest level and the lowest level is
In many cases, it relied on the thinking simulation of the program creator (hereinafter referred to as "operator").
For example, as an example of many works included in the overall work plan, even if one considers only the process of gripping one work at the work supply position and assembling it on another work, A series of motions such as "robot movement to work supply position", "grip of work", "robot movement to assembly position", "robot motion to be executed in assembly work", etc. It was necessary to break down into (actions) and then perform the work of creating a command statement that specifically describes the motions that realize these movements.

In an application including an assembly process, the scale of the entire work tends to be large, the work content is complicated and includes many processes, and the number of devices such as robots involved and the number of tool items are large. Is customary. In such a case, the amount of work from the level of the overall work plan to the creation of a statement that finally defines the details of the operation is extremely large, and the total amount of programs created is enormous. .

Hitherto, while hierarchically organizing the path from the level of the overall work plan to be carried out by the robot system to the level of describing the details of motion (motion) that are finally required in a programming language. It was extremely difficult to create a program suitable for the actual application in a short time and accurately because there was no technical means that could support the programming work.

Further, when the work content is changed at various hierarchical levels, it is difficult to quickly and accurately determine which part of the program once created and how to modify it, and it requires a high degree of skill. Was.

[0007]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to efficiently guide and assist an operator's programming work when creating a program for causing a robot system to perform a work including an assembly process. It is to provide a programming method using a support tool that can. In addition, the present invention is
It aims to enable rapid creation of a program suitable for an actual application and modification as necessary.

[0008]

According to the present invention, when a program for causing a robot system to perform a work including an assembly process is created, information necessary for programming work is decomposed and organized into at least three levels of hierarchy. The process of displaying a sequence on the display screen of a device having a software processing function and using the graphical symbols displayed in icon form on each screen to perform sequence formulation at that level was adapted to the device used in the robot system. The above problem is solved by a programming method in which a sequence described in a programming language is repeatedly executed in an arbitrary order until it is created.

[0009] Typically, the display screen is displayed in association with four layers. In that case, the top level 1 of the hierarchy
Is a level for assembling subassemblies, which are components of the assembly, and formulating a sequence for completing the assembly. The next level 2 is a level for formulating an assembly sequence of parts constituting the individual subassemblies included in the sequence defined in the highest level 1.

The next level 3 is a level for formulating a sequence of operations to be performed on individual parts related to the sequence defined in level 2. Then, the lowest level 4 is a level for formulating an operation sequence necessary for performing each work related to the sequence defined in level 3.

Further, for example, when the assembly work target does not require the sub-assembly, the display screen can be displayed corresponding to the three hierarchies, and the formulating work can be performed in three stages. In that case, the highest level of the three hierarchies is the level 1'that formulates an assembly sequence for assembling the parts that are the constituent elements of one assembly to complete the assembly. The next level 2'is the level that establishes the sequence of work performed on the individual parts associated with the assembly sequence developed in the top level 1 '.

Then, the lowest level 3'is a level for formulating an operation sequence necessary for performing each work related to the sequence defined in level 2 '. Generally, the number of layers is three or more, and how to divide the layers may be set according to the actual condition of the work content.

[0013]

According to the present invention, the information necessary for the programming work of the operator is hierarchically decomposed / arranged and displayed on the display screen of the device having a software processing function (hereinafter, this is represented by a personal computer). . The operator formulates a sequence of work / motion / motion to be executed by the robot system at the hierarchical level to which the displayed screen belongs, and inputs the formulation contents using the screen. On each screen, the information necessary for the sequence formulation work in the hierarchy level is graphically displayed in the form of an icon, and the operator performs the formulation work in the hierarchy level using the graphic displayed information.

The programming work by the operator is
In general, the development work in the higher hierarchy level proceeds in order from the development work in the lower hierarchy level. The task of creating a group of statements written in a programming language that can be read by a device such as a robot used in the system is usually performed as a task of formulating at the lowest hierarchical level. FIG. 1 shows an example of a robot system that performs an assembly operation under the condition that the number of devices M = 2 (for example, two robots) and the number of layers N = 4 in a hierarchical structure. It is a figure which showed notionally the hierarchical structure to the level of creation of the expressed imperative sentence group. The meanings of Level 1 to Level 4 shown in the figure are as follows. Level 1; Level to assemble a sub-assembly that is a component of the product (assembly) and formulate a sequence for completing the product. Here, the sequence of subassembly A → subassembly B → subassembly C → ... is illustrated. Level 2; Level at which the assembly sequence of the parts that make up each subassembly included in the sequence defined at Level 1 is defined. Here, in the sub-assembly A, part a → part b → part c ...
The assembly sequence of is illustrated. The same formulation is made for the other subassemblies B, C ....

Level 3; A level for formulating a sequence of operations to be performed on individual parts included in the procedure defined for Level 2. The work sequence is established in relation to the equipment used. Here, as a work sequence relating to the part a, work U1 → work U2 → work U3 → ... related to the device 1, work V1 → related to the device 2
An example is shown in which work V2 → work V3 ... Is formulated. The same formulation is performed for the other parts b, c ...

Level 4; A level for formulating an operation sequence necessary for performing the work for each work included in the work sequence defined in Level 3. At level 4, which is the lowest hierarchy, an operation sequence is created by a command statement written in a programming language suitable for the device in charge of the work. Here, the command statement 21 → command statement 22 → created for the device 2 in charge of the work V1
The statement 23 → ... is shown. Other work V2, V3, U1, U2, U handled by device 1 or device 2
Command statements are created in a similar format for 3, ...

As a tool for supporting the formulation work carried out at each of these levels, a formulation screen corresponding to each level is provided. Information for facilitating the formulation work by the operator is displayed on each formulation screen. This information includes graphical symbols that are displayed in icon form to describe the formulation at each level. The operator can perform the work of formulating on the screen by using these graphical symbols. The graphical symbols displayed in icon form preferably take the form of an image of the content to be programmed at each level.

Upon completion of the work of formulating (creating a command statement) in level 4, the created program (a group of command statements created in level 4) is taught to the related equipment. When the programming is executed on an external device such as a personal computer, the program data is transferred to the controller (robot controller, cell controller, etc.) of the device and offline teaching is performed. It is also possible to prepare a support tool inside the controller of the device and perform the formulation work at each level on the display attached to the controller.

According to the present invention, a series of screens for formulating a sequence is displayed according to the hierarchical structure, and furthermore, a graphical symbol is provided in the form of an icon as a sequence description tool on each sequence screen, so that the operator can perform programming work. Are effectively supported.

That is, the operator is guided by the sequence planning screen displayed according to each hierarchical level,
Since the necessary formulation work can be performed on each screen in that hierarchy by using the graphical symbols, the progress of the programming work until the finally required program is created is not unreasonable. As a result, the visibility of the entire programming work is improved, the entire programming work is made efficient, and errors are less likely to occur.

Further, by storing the formulation contents at each level so as to be callable, the checking work and the correction work of the program once created become easy. In particular, it is advantageous that the correction work can be accurately performed by returning to the level at which the correction is necessary. For example, when it is necessary to change the assembly parts, order, etc. at level 2, a screen already prepared for level 2 is called and necessary corrections are made using the icons. Then, within the range affected by the correction, the screens of level 3 and level 4 below it may be sequentially called, and the necessary correction may be made using the icon.

The configuration of the programming device, the sequence formulation screen at each level, examples of icons used there, the overall configuration of the software, the processing contents, etc. will be described in detail in the embodiments.

[0023]

FIG. 2 is a block diagram showing the schematic arrangement of a personal computer (generally an offline programming device) incorporating a support tool for carrying out the programming method according to the present invention. In the figure, 1 is a microprocessor (hereinafter referred to as CPU), and 7 is a RO storing a control program of the automatic programming device.
M and 2 are RAMs for storing a system program loaded from a floppy disk or a hard disk (hereinafter, simply referred to as a disk) 11 and various data.
Is a keyboard, 4 is a CRT or LCD display, 9 is a mouse, 8 is a disk controller, 1
Reference numeral 0 is an XY plotter for outputting a drawing, 5 is a printer, 12 is an interface for exchanging data with other devices, and these elements are connected via a bus 6.

The mouse 9 is used to move a cursor on the screen of the display 4 to specify a necessary program on the menu screen, select an icon (graphical symbol) described later, and write it to a desired position. To be done. The interface 12 transfers the created program to related equipment (here, the robot controller 13, 1
Used when transferring to 4).

Hereinafter, the procedure for carrying out the method of the present invention using the above personal computer, the configuration of the created program, the overall configuration of the software, the outline of the processing, etc. will be described step by step.

[1] Example of a sequence formulation screen displayed at each level and a procedure for formulation performed by using icons on the screen (1) Screens displayed on the display 4 at each level and sequence creation operations General Description FIG. 3 shows a generalized screen displayed on the display 4 at each level. An upper edge portion of the entire screen shown by reference numeral 40 is assigned to a menu bar 41 forming an icon box, and the remaining portion is used as a sequence creation zone 42. The menu bar 41 displays a graphical symbol suitable for describing the sequence at that level. The graphical symbols to be displayed are preset in the personal computer. Since a specific example of the graphical symbol will be described later, a general symbol is used here instead.

The operator uses the mouse 9 to move the cursor CS to the desired graphical symbol (# in this case).
Mark), then move the cursor CS to CS ′ to point to the desired position on the sequence line and click again. This writes the desired graphical symbol (marked with a dashed #). The sequence line displayed by the arrow 43 can be rewritten arbitrarily by a keyboard operation or the like, and the front end or the rear end of each arrow 43 is a zone in which a graphical symbol can be written. The above matters are common to the display screens (see FIGS. 4 to 7) at each level described below.

Next, how to proceed with the programming work will be described. Following the example described in the explanation of the operation, the number of devices M = 2,
The number of programming layers N = 4. Also, the device 1,
The robot 1 and the robot 2 are assumed as the device 2. Figure 2
The robot controllers 1 and 2 are used to control these robots.

(2) Level 1 Display Screen and Sequence Creation Example FIG. 4 is a diagram illustrating a procedure for creating a sequence on the screen displayed on the display 4 at level 1. The following two graphical symbols are displayed in the menu bar on the level 1 screen of this example. In addition, (a), (i), (u), (e) ... in FIGS.
-Is a code for explanation and is not actually displayed. The circled S and E represent the beginning and end of the created sequence, and the ● symbol represents a blank (rest as a sequence). This blank is used to express the temporal relationship between parallel sequence lines.

(A) Assembly of sub-assembly (i) Branch regarding option The operator selects an appropriate one from the above two graphical symbols and places it in the sequence creation zone together with additional information such as the number of the target sub-assembly. By arranging them in order, the assembly procedure for the sub-assembly at Level 1 will be established. The contents of the sequence illustrated here are as follows.

On one sequence line (on the left side in the figure), subassembly 1 is assembled, subassembly 2 is assembled, and subassembly 3 is assembled.

On the other (right side in the figure) sequence line, subassembly 4 is assembled and subassembly 5 is assembled.・ However, the sub-assemblies 1 to 3 are assembled before the sub-assemblies 4 to 5.

The final assembly is performed by joining the two sequence lines.

(3) Level 2 display screen and sequence creation example Next, when one graphical symbol (or a symbol representing additional information) in the level 1 sequence is clicked, the level 2 screen relating to the clicked information is displayed. Is displayed.

FIG. 5 is a view for explaining the procedure for creating a sequence on the screen displayed on the display 4 at level 2. The following eight graphical symbols are displayed in the menu bar on the level 2 screen of this example. (U) Assembling by placing parts in a certain position (E) Assembling by fitting parts in a certain place (O) Assembling by screwing (or) Completing the sub-assembly (K) Using the parts as a base ( (5) Assembly by placing an intermediate product (sub-assembly) at a certain place (K) Assembly by fitting an intermediate product (sub-assembly) (C) Using the intermediate product (sub-assembly) as a base Operator Is to select an appropriate one from the above eight graphical symbols and arrange them in sequence in the sequence creation zone together with additional information such as the number of the target part.
Develop the assembly procedure for Level 2 parts. The contents of the sequence illustrated here are as follows.

On one (on the left side of the figure) sequence line, the component a is used as a base, and the components b and c are sequentially fitted to each other to be assembled. On the other (right side in the figure) sequence, the component d is used as a base and the component e is assembled by fitting. After that, the component e is fixed to the component d with 12 screws.

The two sequence lines are merged into the assembled parts (consisting of parts a to c),
The assembled parts, which are composed of the parts d, e and 12 screws, are assembled by fitting. The component f is fitted to it and assembled to complete the sub-assembly 1.

(4) Level 3 Display Screen and Sequence Creation Example Next, when one graphical symbol (or a symbol representing additional information) in the level 2 sequence is clicked, the level 3 screen relating to the clicked information is displayed. Is displayed.

FIG. 6 is a diagram for explaining a procedure for creating a sequence on the screen displayed on the display 4 at the level 3. The following 13 graphical symbols are displayed in the menu bar on the level 3 screen of this example. (Sa) Work to pick up a certain part from a certain place (S) Work to pick up a screw from a certain place (S) Work to put a certain part in a certain place (S) Work to fit one part to another place (S) Measurement work by visual sensor (ta) Work to shift coordinate system (iii) Screw tightening work (ii) Hand replacement work (d) Work to carry parts between two robots (and) Grab and fix a part Work (N) Work that forms a certain part () Repeat a series of works until a certain condition is met (N) Meeting between devices The operator selects an appropriate one from the 13 graphical symbols above, and , And the additional information such as the tool number are arranged in order in the sequence creation zone to formulate the work sequence for level 3. The contents of the sequence illustrated here are as follows.

The robot 1 exchanges the hand from the hand HA to the hand HB and picks up the component b. The robot 2 replaces the hand HC with the hand HD, and
Is fixed. The robot 1 waits for the robot 2 to fix the component a (w-1) and then assembles the component b by fitting the component a. Wait for the completion of this assembly work (w-
2), the robot 2 releases the fixation of the part a, while the robot 1 replaces the hand HB with the hand HE. The robot 2 further replaces the hand HD with the hand HF.

(5) Level 4 display screen and sequence creation example Next, when one graphical symbol (or a symbol representing additional information) in the level 3 sequence is clicked, the level 4 (final) relating to the clicked information is displayed. Level) screen is displayed.

FIG. 7 is a diagram for explaining a procedure for creating a sequence on the screen displayed on the display 4 at level 4. The following 10 graphical symbols are displayed in the menu bar on the level 4 screen of this example. (Ne) Jump label instruction (ha) label instruction (ha) operation instruction (hi) register instruction (hu) position register instruction (to) input / output instruction (ho) Repeat a series of instructions until a certain condition is met (or ) Skip command () Branch command (M) Wait command The operator selects an appropriate one from the above 10 graphical symbols and expresses it in a readable program language for the target device (here, robot 1 or robot 2). The work sequence in level 4 is established by arranging the command statement and other additional information in sequence in the sequence creation zone.

The illustrated sequence (that is, the contents of the program) is the part b by the robot 1 at level 3.
Part of the sequence for executing the pickup of (there is a continuation not shown before and after), and has the following meanings (note that the content of the statement is merely an example). .・ (Preceding part) Robot 1 to Ichi [1] 300m
Move at m / s. The motion type is "Chokusen" and the smoothness of acceleration / deceleration control is 50%. In addition, as the additional information, it is noted that the movement direction is the vertical direction. Then, SDO [10] ON output is performed. SDO
[10] describes that it has the content of hand open as additional information. The hand opened by this command is the hand HB.

Further, the input waiting of SDI [1] off is executed. In addition, it is described as additional information that SDI [1] means waiting for the output of the waiting signal of the robot 2. After the waiting signal of the robot 2 is output, the robot jumps to label 1 (label 1 is to be written elsewhere in the program). Then, the robot 1 is moved to the position [2] at 300 mm / s. The motion type is "Chokusen" and the acceleration / deceleration control is smooth.
%. Further, it is described that the additional information is the movement of the work (here, the part b) to the gripping position.

Then, the output of SDO [20] is turned on. SDO [20] describes that it has the content of hand close as additional information. With this command, the hand HB is closed and the component b is gripped by the robot 1 (hereinafter, continued).

Although the display screens at each level and the sequence formulation work performed on the screens have been described above as an example, in order to complete the entire program for the entire work, a branching structure from upstream to downstream is used. Formulation work is required to finalize everything along the flow. Therefore, the number of display screens (that is, the number of sequence planning works performed on the screens) increases in the order of level 1 → level 2 → level 3 → level 4.

After the completion of all the formulation work, the keyboard KB is operated so that all the programs are level 1 to level 3.
The whole operation program is completed by combining them in accordance with the contents of the formulation. The completed program is distributed to the robot controller 1 and the robot controller 2,
Transferred via the interface 12.

For example, when the assembly work target does not require the sub-assembly, the display screen can be displayed in correspondence with the three hierarchies, and the formulating work can be performed in three stages. In that case, the highest part of the procedure described above is omitted.

That is, the highest level of the three hierarchies is set as level 1'which formulates an assembly sequence for assembling the parts which are the constituent elements of one assembly to complete the assembly, and the next level 2'is the highest level. This is a level for formulating a sequence of operations to be performed on individual parts related to the assembly sequence defined in Level 1'of.
Then, the lowest level 3'may be set as a level for formulating an operation sequence necessary for performing each work related to the sequence defined in level 2 '.

In general, the number of hierarchies is three or more, and it is clear that how to divide the hierarchies may be set according to the actual condition of the work content. For example, when there are two or more assemblies in level 1, it is considered appropriate to set the number of layers to 5.

Next, FIG. 8 is a diagram for explaining the overall structure of the completed operation program. As shown in the figure, the entire operation program has a hierarchical structure corresponding to each level described above. The program data regarding the level 1 assembly procedure corresponds to the job, and the program data regarding the level 2 subassembly assembly procedure corresponds to the task that defines the sequence in the job. Furthermore, the program data relating to each assembly work procedure of level 3 corresponds to the action that defines the sequence of each task, and the program data (command statement group) relating to the detailed procedure of each assembly operation of level 4 (final level) is It corresponds to the motion that defines the sequence of tasks.

Finally, the overall configuration and processing contents of software for implementing the above-described programming method will be briefly described. FIG. 9 is a conceptual diagram illustrating the overall configuration of software installed in a personal computer used for programming. An operating system (OS) is basic software that centrally controls the hardware and software of a personal computer. The operating system includes a window system, and the window system centrally controls the software of the flow editor including the display operation unit and the internal data operation system.

The software of the display operation unit is composed of a display basic unit and a motion dialog group. The display basic part is software that controls the basic part of the screen display operation of the display 4, and each motion dialog is software that controls the assigned motion content operation.

Internal operation of data relating to display is performed by an internal data operation system. The internal data operation system controls the input / output of the memory that stores the flow editor data. Further, the internal data operation system cooperates with the display basic unit or the motion dialog to send / receive required data to / from the display / operation unit and display it on the screen of the display 4, or a screen is created by the operator during the sequence formulation work. The data written in is stored as flow editor data.

Data such as graphical symbols to be displayed in the icon format is made into a data file as another flow editor data. For example, the flow editor data inside the flow editor is stored in the RAM 2, and the flow editor data (data file) outside the flow editor is stored in the disk 11.

The operation program completed by the above-described formulation work is put together as a data file composed of robot program data by the internal data operation system, and the robot 1 is input by the operator's command input.
/ Transferred to the robot 2.

Next, FIGS. 10 to 12 are flowcharts showing the outline of the processing executed by the software. S1, S2, ... Represent step numbers.

First, wait for a command input from the operation system (S
1). If there is a command input from the operation system, it is judged which of the job level, the task level and the action level the operation is (S2 to S4). Each of the job-level, task-level, and action-level commands will be sequentially described below.

[In the case of a job level operation command] First, it is determined whether the flow is a job level flow change (S
6). If yes, the job level flow is changed (S7) and checked (S8) according to the command input, and the flow structure is redrawn according to the changed contents (S9).
Then, in accordance with the instruction of the code circle A, the process returns to S1.

If NO in S6, it is determined whether the command is a command for opening the screen of the task (S11). If yes,
The process for opening the task screen is executed (S12), the process for shifting to the task level is executed (S13), and the process returns to S1.

If NO in S11, the process proceeds to S28 according to the instruction of the code C. In S28, it is determined whether the flow display method is changed. If yes, the display method is changed according to the command, the flow structure is checked (S30), and the flow structure is redrawn (S31).
), Return to S1. If no in S28,
A process for changing a task comment (for example, task name) is executed (S29), and the process returns to S1.

[If the command is a task level operation command] First, it is determined whether the task level flow is changed (S1).
Four ). If yes, the task-level flow is changed (S15) and checked (S16) according to the command input, and the flow structure is redrawn according to the changed contents (S1).
7). Then, the process returns to S1.

If NO in S14, it is determined whether or not the command is to open the action screen (S18). If yes, execute the process to open the action screen (S19),
After performing processing for shifting to the action level (S20), the process returns to S1.

If NO in S18, the process proceeds to S32 according to the instruction of the code circle D. In S32, it is determined whether the flow display method has been changed. If yes, change the display method according to the command and check the flow structure (S3
4), redraw the flow structure (S35), S1
Return to.

If NO in S32, a process of changing the comment of the action (for example, the part name) is executed (S33), and the process returns to S1 according to the instruction of the code D.

[In the case of an action level operation command] First, it is determined whether or not there is a change in the action level flow (S21). If yes, change action level flow according to command input (S22), check (S2)
3) is performed, and the flow structure is redrawn according to the changed contents (S24). Then, the process returns to S1.

If NO in S21, it is determined whether or not the command is to open the motion screen (SS25). If yes, the process of opening the motion screen is executed to open the motion dialog (S26). Then, after obtaining the operation result of the motion dialog (S27
), Return to S1.

If NO in S25, the process proceeds to S36 according to the instruction of the code E. In S36, it is determined whether the flow display method is changed. If yes, change the display method according to the command and check the flow structure (S3
8), redraw the flow structure (S39), S1
Return to.

If NO in S36, a process for changing a comment related to a motion (for example, a comment of the motion itself) is executed (S37), and the process returns to S1.

If it is determined in S2 to S4 that the operation is not performed at any of the job level, task level, and action level, it is further determined whether or not it is an end process (S5). If it is not the end processing, the processing proceeds to S40 and the followings according to the instruction of the circle F, and the processing according to the instruction content is performed.
The command contents include display / non-display processing of various lists such as register lists (S40, S41), file operations such as file input / output processing (S42, S43), and other processes (reduced display of flow, etc.); S44) is available. When the series of processes designated by the reference numeral F is completed, the process returns to S1.

When the operator inputs an end command, the judgment result is NO in S1 to S4 and YES in S5, and the process is ended.

[0072]

As described above, according to the present invention, a series of sequence defining screens are displayed according to the hierarchical structure of the whole work, and furthermore, a graphical symbol is provided in the icon format as a sequence description tool on each sequence screen. , The operator's programming work is effectively supported. Therefore, it is possible to quickly create and modify a program suitable for an actual application.

That is, the operator, while watching the sequence formulation screen displayed according to each hierarchy level, proceeds with the formulation work necessary for that layer on each screen by using the graphical symbols provided in the icon format. Since it can be done, there is no difficulty in the progress of programming work. As a result, the overall visibility of programming work is improved,
The entire programming work is streamlined and errors are less likely to occur.

[Brief description of drawings]

FIG. 1 illustrates an example of a robot system that performs an assembly operation under the condition that the number of devices is two and the number of layers is four in a hierarchical structure. From the level of a work plan to the level of creating a command statement group expressed in a programming language suitable for the device. It is the figure which showed notionally the hierarchical structure.

FIG. 2 is a principal block diagram showing a schematic configuration of a personal computer (generally, an offline programming device) incorporating a support tool for carrying out the programming method according to the present invention.

FIG. 3 is a generalized view of a screen displayed on a display 4 at each hierarchical level.

FIG. 4 is a diagram illustrating a procedure for creating a sequence on a screen displayed on a display 4 at level 1.

FIG. 5 is a diagram illustrating a procedure for creating a sequence on a screen displayed on the display 4 at level 2.

FIG. 6 is a diagram illustrating a procedure for creating a sequence on the screen displayed on the display 4 at level 3.

FIG. 7 is a diagram illustrating a procedure for creating a sequence on the screen displayed on the display 4 at level 4.

FIG. 8 is a diagram illustrating the overall structure of a completed operation program.

FIG. 9 is a conceptual diagram illustrating an overall configuration of software installed in a personal computer used for programming.

FIG. 10 is a part of a flowchart illustrating an outline of processing executed by software.

FIG. 11 is a part (part of the part not shown in FIG. 10) of the flowchart illustrating the outline of the process executed by the software.

FIG. 12 is the rest of the flowchart (FIGS. 10, 1) illustrating an overview of the processing performed by the software.
1) which is not shown in FIG.

[Explanation of symbols]

1 Microprocessor (CPU) 2 RAM 4 Display 6 Bus 7 ROM 8 Disk controller 9 Mouse 11 Disk (floppy disk or hard disk) 12 Interface 40 Sequence formulation screen (entire) 41 Menu bar 42 Sequence creation zone 43 Sequence line CS (CS ') ) Cursor (cursor position) (A) Assembly of sub-assembly (I) Branch regarding options (U) Assembly by placing parts in a certain position (E) Assembly by fitting parts in a certain place (O) Tightening screws (Or) Completing the sub-assembly (K) Using the parts as a base (K) Assembling by placing the part-in-assembly (sub-assembly) in a certain place (-) Part-by-assembly (sub-assembly) Assembling by fitting (C) Using the intermediate product (sub-assembly) as a base (S) Picking up a certain part from one place (S) Working to pick up a screw from a certain place (S) Work to put it in a certain place (S) Work to fit a certain component in a certain place (S) Measurement work with visual sensor (S) Work to shift the coordinate system (C) Screw tightening work (T) Hand exchange work (S) Part change work between two robots (and) Work to grab and fix a part () Break work to a certain part () Repeat a series of works until a certain condition is met (between devices) Wait () Jump label command () Label command () Motion command (h) Register command (fu) Position register command (to) Input / output command (ho) Series of commands Be repeated until a certain condition is satisfied (or) skip instruction (only) a branch instruction (no) wait instruction

Claims (3)

[Claims] 1. A display of a device having a software processing function by disassembling and organizing information required for programming work into at least three hierarchical levels when creating a program for causing a robot system to perform a work including an assembly process. The sequence described in a programming language suitable for the equipment used in the robot system is used for the process of displaying a sequence on the screen and using the graphical symbols displayed in icon form on each screen to create a sequence at that level. A programming method for a system including a robot, which is repeatedly executed in an arbitrary order until it is created. 2. A display of a device having a software processing function by disassembling and organizing information required for programming work into at least three hierarchical levels when creating a program for causing a robot system to perform a work including an assembly process. The sequence described in a programming language suitable for the equipment used in the robot system is used for the process of displaying a sequence on the screen and using the graphical symbols displayed in each screen in the form of an icon to formulate the sequence at that level. A programming method for a system including a robot, which is repeatedly executed in an arbitrary order until it is created, wherein the display screen is displayed in correspondence with four layers, and the highest level of the four layers is displayed. 1 assembles sub-assemblies, which are components of the assembly Wherein a level to formulate a sequence to complete the assembly, the next level 2, the for each subassembly included in the formulation is the sequence at the level 1 of the uppermost Te,
It is a level for formulating an assembly sequence of the parts that compose it, and the next level 3 is a level for formulating a sequence of operations performed on individual parts related to the sequence defined in the level 2, The method as described above, wherein the lower level 4 is a level at which an operation sequence necessary for performing the individual work related to the sequence defined at the level 3 is established. 3. A display of a device having a software processing function by disassembling and organizing information required for programming work into at least three hierarchical levels when creating a program for causing a robot system to perform a work including an assembly process. The sequence described in a programming language suitable for the equipment used in the robot system is used for the process of displaying a sequence on the screen and using the graphical symbols displayed in each screen in the form of an icon to formulate the sequence at that level. A programming method for a system including a robot, which is repeatedly executed in an arbitrary order until it is created, wherein the display screen is displayed corresponding to three hierarchies, and the highest level of the three hierarchies is displayed. However, by assembling the parts that are the components of one assembly, Level 1'which defines an assembly sequence for completing the assembly, and the next level 2'forms a sequence of operations to be performed on individual parts related to the assembly sequence created in the highest level 1 '. The method, wherein the lowest level 3'is a level at which an operation sequence necessary for performing individual work related to the sequence defined at the level 2'is defined.