WO2016199200A1 - Multi-turn rotary shaft display device and multi-turn rotary shaft display method - Google Patents

Multi-turn rotary shaft display device and multi-turn rotary shaft display method Download PDF

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Publication number
WO2016199200A1
WO2016199200A1 PCT/JP2015/066510 JP2015066510W WO2016199200A1 WO 2016199200 A1 WO2016199200 A1 WO 2016199200A1 JP 2015066510 W JP2015066510 W JP 2015066510W WO 2016199200 A1 WO2016199200 A1 WO 2016199200A1
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Prior art keywords
rotation
rotation axis
display
robot
unit
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PCT/JP2015/066510
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French (fr)
Japanese (ja)
Inventor
俊治 篠田
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三菱電機株式会社
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Priority to PCT/JP2015/066510 priority Critical patent/WO2016199200A1/en
Publication of WO2016199200A1 publication Critical patent/WO2016199200A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • the present invention relates to a multi-rotation axis display device and a multi-rotation axis display method for displaying the current rotation status of a multi-rotation axis of a robot.
  • the angle that is the rotation coordinate of each rotation axis of the robot is conventionally displayed on the display device.
  • the user cannot instantaneously determine the rotation state such as the number of rotations and the rotation direction of the multi-rotation shaft up to the present. Also, when the robot's posture changes, it is more difficult to grasp the rotation direction.
  • Patent Document 1 The technology described in Patent Document 1 has already been disclosed as a technology for easily showing the robot operation to the user.
  • Patent Document 1 is a technique that indicates a direction in which the robot will operate in the future, and is not a technique that indicates information related to the operation of the robot up to now.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a multi-rotation axis display device that can easily display the rotation state of the multi-rotation axis of the robot up to the present time to the user.
  • the present invention provides an angle of a multi-rotation axis obtained from a display unit that displays all or part of a robot having a multi-rotation axis and a control device that controls the robot.
  • a rotation speed calculation unit that calculates a rotation state of the multi-rotation shaft based on the data.
  • the present invention further includes a rotation speed display control unit that displays an object indicating a rotation state at a display position related to the multi-rotation axis of the display unit, and a robot display control unit that controls display of the robot on the display unit.
  • the multi-rotation axis display device has an effect that the rotation status of the multi-rotation axis of the robot up to the present time can be easily displayed to the user.
  • FIG. 1 The figure which shows the structure of the system containing the robot concerning Embodiment 1 of this invention and its control apparatus.
  • FIG. 1 is a diagram illustrating a configuration of a system including the robot 100 and the control device 1 according to the first embodiment of the present invention.
  • the robot 100 includes multi-rotation axes J1 and J6 that can rotate 360 degrees or more, and rotation axes J2, J3, J4, and J5 that can rotate 360 degrees or less. That is, the robot 100 has multiple rotation axes such as multiple rotation axes J1 and J6.
  • the robot 100 can perform various operations by giving various angles to the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5.
  • the robot 100 is connected to a control device 1 that is a robot controller.
  • the control device 1 controls the operation of the robot 100 while acquiring angle data such as the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 of the robot 100.
  • the controller 1 is connected with a teaching pendant 2 which is a portable operating device and a personal computer 3 which monitors the operation of the robot 100.
  • the teaching pendant 2 is a teaching device used when teaching the robot 100 to operate by actually moving the robot 100 and recording and reproducing the operation.
  • the teaching pendant 2 and the personal computer 3 both have a display unit, and have a function of a multi-rotation axis display device that displays all or part of the robot 100 including the multi-rotation axes J1 and J6 on the display unit. .
  • FIG. 2 is a diagram illustrating an example of a screen displayed on the display unit of the multi-rotation axis display device according to the first embodiment.
  • the multi-rotation axis display device displays information obtained from the robot 100 and the robot controller on the display unit. As shown in FIG. 2, “J1:”, “J2:”, “J3:”, “J4:”, “J5:”, and “J6:” have respective rotations obtained from the robot controller. The current angle of the axis is shown.
  • FIG. 3 is a diagram illustrating a functional configuration of the multi-rotation axis display device 20 and the control device 1 according to the first embodiment.
  • the multi-rotation axis display device 20 is the teaching pendant 2 or the personal computer 3 as described above.
  • the control apparatus 1 includes a robot rotation axis control unit 11 that controls the robot 100, and controls the operation of the robot 100 while acquiring the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5. To do.
  • the multi-rotation axis display device 20 includes a rotation speed calculation unit 21 that calculates the rotation speeds of the multi-rotation axes J1 and J6, a multi-rotation axis position calculation unit 22 that calculates the positions of the multi-rotation axes J1 and J6, and a multi-rotation axis.
  • a rotation speed display control unit 23 that displays an object indicating a rotation state near J1 and J6 on the display unit 24, a display unit 24 that displays all or part of the robot 100, and a display of the robot 100 on the display unit 24.
  • a robot display control unit 25 for controlling.
  • FIG. 4 is a diagram illustrating a hardware configuration of the multi-rotation axis display device 20 according to the first embodiment.
  • the multi-rotation axis display device 20 is an information processing terminal such as the teaching pendant 2 or the personal computer 3, but is not limited thereto.
  • the multi-rotation axis display device 20 includes an arithmetic device 41 such as a CPU (Central Processing Unit) that performs arithmetic processing, a memory 42 used by the arithmetic device 41 as a work area, a storage device 43 that stores a program, and a user.
  • An input device 44 that is an input interface, a display device 45 that displays information to the user, and a communication device 46 having a communication function with the control device 1 are provided.
  • the functions of the rotation speed calculation unit 21, the multi-rotation axis position calculation unit 22, the rotation speed display control unit 23, and the robot display control unit 25 illustrated in FIG. 3 are programs that the calculation device 41 holds in the storage device 43. It is realized by executing. That is, the multi-rotation axis display method according to the first embodiment is realized by the arithmetic device 41 executing a program held in the storage device 43. The function of the display unit 24 is realized by the display device 45.
  • the rotation speed calculation unit 21 calculates the rotation state of the multi-rotation axes J1 and J6 based on the angle data such as the rotation angles of the multi-rotation axes J1 and J6 obtained from the control device 1. Specifically, the rotation angle such as the number of rotations of the multi-rotation axes J1 and J6 up to the present is determined by dividing the rotation angles of the multi-rotation axes J1 and J6 by 360 °.
  • the control device 1 holds angle data relating to the rotation angle accumulated since the multi-rotation axes J1 and J6 start rotating. Accordingly, the rotation speed calculation unit 21 divides each rotation angle by 360 ° to obtain the rotation speed after the multi-rotation shafts J1 and J6 start rotating.
  • the rotation speed calculation unit 21 may be provided in the robot display control unit 25.
  • the multi-rotation axis position calculation unit 22 is configured to obtain the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 obtained from the control device 1, and the multi-rotation axes J1 and J6 and the rotation axes J2 and J3. , J4 and J5 are calculated based on the distance between the adjacent axes, and the positions of the multi-rotation axes J1 and J6 are calculated.
  • the multi-rotation axis position calculation unit 22 may acquire the distance between the adjacent axes from the control device 1 or may use a value input by the user from the input device 44.
  • the function of the multi-rotation axis position calculation unit 22 may be provided in the robot display control unit 25.
  • the rotation number display control unit 23 performs multiple rotations on the display unit 24 based on the rotation state such as the rotation numbers of the multi-rotation axes J1 and J6, the positions of the multi-rotation axes J1 and J6, and the offset amount set by the user.
  • An object indicating the rotation state is displayed at a display position near the axes J1 and J6.
  • the function of the rotation speed display control unit 23 may be provided in the robot display control unit 25.
  • the offset amount is also given as a value in the real space.
  • the offset amount is vector information that specifies whether an object indicating a rotation state such as the number of rotations is displayed in which direction and how far away from the positions of the multi-rotation axes J1 and J6.
  • the offset amount can be set by the user via the input device 44.
  • the offset amount may be a different value for each multi-rotation axis.
  • the rotational speed display control unit 23 displays the position in the real space as the display unit. 24 is converted into a display position on the screen. Then, the rotation number display control unit 23 displays an object indicating the rotation state at a display position on the screen of the display unit 24.
  • An object indicating the rotation state is an object whose display state changes based on the rotation state, and a specific example thereof will be described below.
  • FIG. 5 to FIG. 9 are diagrams illustrating an example of an object indicating a rotation state displayed beside the multi-rotation axis according to the first embodiment.
  • the object shown in FIG. 5 is a spiral figure, and the number of arcs of the spiral corresponds to the rotation speed, and the arrow on the outermost periphery of the spiral indicates the direction of rotation. Since one rotation of the spiral arc is displayed as one rotation, if the rotation speed is 3, the spiral arc will rotate three times, and less than one rotation is required for a rotation number less than 1 such as 0.5 rotations. The angle of rotation that is less than one rotation is represented by the length of the arc.
  • the object shown in FIG. 6 is a concentric multiple arc having a rotation speed arc, and an arrow separately displayed outside the outermost arc indicates the rotation direction. If the number of rotations is 2, the number of arcs is 2. For rotations of fractions less than 1 such as 0.5 rotations, the rotation angle less than 1 rotation is expressed with the length of the arc less than 1 rotation. To do.
  • the object shown in FIG. 7 is an object in which an arrow provided separately in FIG. As the number of revolutions increases, the tip of the arrow extends, and once it goes around, the arrow disappears, and a new arrow is formed on the outside to form a new arc.
  • the angle of rotation less than one rotation is expressed by the length of an arc having an arrow and less than one round.
  • the object shown in FIG. 8 is a numerical value indicating the number of rotations, and the sign indicates the direction of rotation. Below the decimal point is a fractional number of rotations less than one.
  • FIG. 9 shows a case where the rotation direction is the reverse of the spiral object of FIG.
  • the difference in the rotation direction may be expressed by a difference in the color of the object.
  • different colors may be used in combination with the proper use of the objects in FIGS. That is, spirals, multiple arcs, and numerical values may be displayed in different colors depending on the rotation direction.
  • the numerical display of FIG. 8 may be displayed in combination with the object of FIG. 5, FIG. 6, FIG. 7, or FIG.
  • the rotation speed display control unit 23 displays the objects shown in FIGS. 5 to 9 on the screen of the display unit 24 near the multi-rotation axis. Such object display can be switched between display and non-display according to the user's selection.
  • the robot display control unit 25 displays the current state of the robot 100 on the basis of information such as the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 obtained from the control device 1. To display. As described above, the robot display control unit 25 may have a function of the rotation number calculation unit 21, the multi-rotation axis position calculation unit 22, or the rotation number display control unit 23. On the contrary, the rotation speed display control unit 23 may be configured to have the function of the robot display control unit 25.
  • FIG. 10 is a flowchart for explaining the multi-rotation axis display method according to the first embodiment.
  • the rotation speed calculation unit 21 calculates the rotation speeds of the multi-rotation axes J1 and J6 based on the rotation angles of the multi-rotation axes J1 and J6 obtained from the control device 1 (step S1).
  • the multi-rotation axis position calculation unit 22 is based on the respective rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 obtained from the control device 1 and the distance between the adjacent axes.
  • the positions of the multi-rotation axes J1 and J6 are calculated (step S2).
  • the rotation speed display control unit 23 displays an object on the screen of the display unit 24 indicating the rotation state. A display position is determined (step S3). Finally, the rotational speed display control unit 23 is located near the multi-rotation axes J1 and J6 displayed by the robot display control unit 25 on the screen of the display unit 24 and at the display position determined in step S3. An object indicating the rotation status obtained in step S4 is displayed (step S4).
  • FIG. 11 and FIG. 12 are diagrams illustrating an example of a screen on which an object indicating a rotation state is displayed by the rotation speed display control unit 23 according to the first embodiment.
  • step S4 the rotational speed display control unit 23 displays a spiral object 53 indicating the rotational speed near the multi-rotation axis J6. it's shown.
  • the number of rotations up to the present time is calculated based on the current rotation angle of the multi-rotation axis of the robot 100.
  • the number of rotations and the direction of rotation of the multi-rotation axis up to the present are displayed using easy-to-understand objects near the multi-rotation axis of the robot 100 on the screen of the display unit 24.
  • FIG. 13 is a diagram illustrating a functional configuration of the multi-rotation axis display device 20 according to the second embodiment of the present invention.
  • the multi-rotation axis display device 20 includes a rotation speed calculation unit 21 that calculates the rotation speeds of the multi-rotation axes J1 and J6, a multi-rotation axis position calculation unit 22 that calculates the positions of the multi-rotation axes J1 and J6, and a multi-rotation axis.
  • a rotation speed display control unit 23 that displays an object indicating a rotation state near J1 and J6 on the display unit 24, a display unit 24 that displays all or part of the robot 100, and a display of the robot 100 on the display unit 24.
  • a robot display control unit 25 for controlling and a robot simulator 30 for simulating the operation of the robot 100 are provided.
  • the hardware configuration of the multi-rotation axis display device 20 is the same as that shown in FIG.
  • the functions of the rotation speed calculation unit 21, the multi-rotation axis position calculation unit 22, the rotation speed display control unit 23, and the robot display control unit 25 illustrated in FIG. 13 are programs that the calculation device 41 holds in the storage device 43. It is realized by executing.
  • the function of the robot simulator 30 is realized by the arithmetic device 41 executing a robot simulation program held in the storage device 43. That is, the multi-rotation axis display method according to the second embodiment is realized by the arithmetic device 41 executing a program held in the storage device 43.
  • the function of the display unit 24 is realized by the display device 45.
  • the multi-rotation axis display device 20 In the multi-rotation axis display device 20 according to the first embodiment, information obtained from the control device 1 by the rotation speed calculation unit 21, the multi-rotation axis position calculation unit 22, and the robot display control unit 25 is applied to the second embodiment.
  • the multi-rotation axis display device 20 is given from the robot simulator 30. Except for this point, the operation of the multi-rotation axis display device 20 according to the second embodiment is the same as the operation of the multi-rotation axis display device 20 according to the first embodiment. Therefore, the multi-rotation axis display method according to the second embodiment will be described in the same manner if the robot simulator 30 gives the information given by the control device 1 in the explanation of the flowchart of FIG. 10 in the first embodiment. Can do.
  • the rotation speed display control unit 23 sets the object indicating the rotation state to the multi-rotation axis J1. And J6 can be displayed.
  • the multi-rotation axis display device 20 and the multi-rotation axis display method according to the second embodiment even when the robot simulator 30 displays the operation of the robot 100 on the display unit 24, It is possible to present to the user a visual understanding of the rotation status up to the present that cannot be determined by observation on the appearance. Therefore, the user can instantly grasp the current state of the multi-rotation axes of the robot 100 that the robot simulator 30 is operating.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • control device 1 control device, 2 teaching pendant, 3 personal computer, 11 robot rotation axis control unit, 20 multi-rotation axis display device, 21 rotation speed calculation unit, 22 multi-rotation axis position calculation unit, 23 rotation speed display control unit, 24 display unit , 25 robot display control unit, 30 robot simulator, 41 arithmetic device, 42 memory, 43 storage device, 44 input device, 45 display device, 46 communication device, 51, 52, 53 spiral object, 100 robot, J1, J6 Multi-rotation axis, J2, J3, J4, J5 rotation axis.

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Abstract

The multi-turn rotary shaft display device (20) is provided with: a display unit (24) for displaying the whole or part of a robot (100) having multi-turn rotary shafts (J1, J6); a number-of-turns calculation unit (21) for calculating rotation states of the multi-turn rotary shafts on the basis of multi-turn rotary shaft angle data obtained from a control device (1) controlling the robot; a number-of-turns display control unit (23) for displaying objects indicating the rotation states on a display unit at display positions related to the multi-turn rotary shafts; and a robot display control unit (25) for controlling the display of the robot on the display unit.

Description

多回転軸表示装置および多回転軸表示方法Multi-rotation axis display device and multi-rotation axis display method
　本発明は、ロボットの多回転軸の現在の回転状況を表示する多回転軸表示装置および多回転軸表示方法に関する。 The present invention relates to a multi-rotation axis display device and a multi-rotation axis display method for displaying the current rotation status of a multi-rotation axis of a robot.
　ロボットの回転軸の現在の状況を表示する場合、従来はロボットの各回転軸の回転座標である角度を表示装置上に表示している。しかしこの様な表示では、ユーザが多回転軸の現在までの回転数および回転方向といった回転状況を瞬時に判断することができなかった。またロボットの姿勢が変わると、回転方向の把握はより困難であった。 When displaying the current status of the rotation axis of the robot, the angle that is the rotation coordinate of each rotation axis of the robot is conventionally displayed on the display device. However, with such a display, the user cannot instantaneously determine the rotation state such as the number of rotations and the rotation direction of the multi-rotation shaft up to the present. Also, when the robot's posture changes, it is more difficult to grasp the rotation direction.
　ロボット動作をユーザに分かり易く示す技術としては、特許文献１に記載された技術が既に開示されている。 The technology described in Patent Document 1 has already been disclosed as a technology for easily showing the robot operation to the user.
特開平１０－１１１２２号公報JP-A-10-11122
　しかしながら、特許文献１に記載された技術は、ロボットが今後動作する方向を示す技術であって、現在までのロボットの動作に関する情報を示す技術ではない。 However, the technique described in Patent Document 1 is a technique that indicates a direction in which the robot will operate in the future, and is not a technique that indicates information related to the operation of the robot up to now.
　本発明は、上記に鑑みてなされたものであって、ロボットの多回転軸の現在までの回転状況をわかり易くユーザに表示できる多回転軸表示装置を得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to obtain a multi-rotation axis display device that can easily display the rotation state of the multi-rotation axis of the robot up to the present time to the user.
　上述した課題を解決し、目的を達成するために、本発明は、多回転軸を有するロボットの全部または一部を表示する表示部と、ロボットを制御する制御装置から得た多回転軸の角度データに基づいて、多回転軸の回転状況を計算する回転数演算部と、を備えることを特徴とする。本発明は、表示部の多回転軸に係る表示位置に回転状況を示すオブジェクトを表示する回転数表示制御部と、表示部におけるロボットの表示を制御するロボット表示制御部と、をさらに備えることを特徴とする。 In order to solve the above-described problems and achieve the object, the present invention provides an angle of a multi-rotation axis obtained from a display unit that displays all or part of a robot having a multi-rotation axis and a control device that controls the robot. A rotation speed calculation unit that calculates a rotation state of the multi-rotation shaft based on the data. The present invention further includes a rotation speed display control unit that displays an object indicating a rotation state at a display position related to the multi-rotation axis of the display unit, and a robot display control unit that controls display of the robot on the display unit. Features.
　本発明にかかる多回転軸表示装置は、ロボットの多回転軸の現在までの回転状況をわかり易くユーザに表示できるという効果を奏する。 The multi-rotation axis display device according to the present invention has an effect that the rotation status of the multi-rotation axis of the robot up to the present time can be easily displayed to the user.
本発明の実施の形態１にかかるロボットおよびその制御装置を含んだシステムの構成を示す図The figure which shows the structure of the system containing the robot concerning Embodiment 1 of this invention and its control apparatus. 実施の形態１にかかる多回転軸表示装置の表示部に示される画面の一例を示した図The figure which showed an example of the screen shown by the display part of the multi-rotation axis display apparatus concerning Embodiment 1 実施の形態１にかかる多回転軸表示装置および制御装置の機能構成を示す図The figure which shows the function structure of the multi-rotation-axis display apparatus and control apparatus concerning Embodiment 1. FIG. 実施の形態１にかかる多回転軸表示装置のハードウェア構成を示す図The figure which shows the hardware constitutions of the multi-rotation axis display apparatus concerning Embodiment 1. FIG. 実施の形態１にかかる多回転軸の傍に表示される回転状況を示すオブジェクトの一例を示す図The figure which shows an example of the object which shows the rotation condition displayed beside the multi-rotation axis concerning Embodiment 1. 実施の形態１にかかる多回転軸の傍に表示される回転状況を示すオブジェクトの一例を示す図The figure which shows an example of the object which shows the rotation condition displayed beside the multi-rotation axis concerning Embodiment 1. 実施の形態１にかかる多回転軸の傍に表示される回転状況を示すオブジェクトの一例を示す図The figure which shows an example of the object which shows the rotation condition displayed beside the multi-rotation axis concerning Embodiment 1. 実施の形態１にかかる多回転軸の傍に表示される回転状況を示すオブジェクトの一例を示す図The figure which shows an example of the object which shows the rotation condition displayed beside the multi-rotation axis concerning Embodiment 1. 実施の形態１にかかる多回転軸の傍に表示される回転状況を示すオブジェクトの一例を示す図The figure which shows an example of the object which shows the rotation condition displayed beside the multi-rotation axis concerning Embodiment 1. 実施の形態１にかかる多回転軸表示方法を説明するフローチャートFlowchart for explaining a multi-rotation axis display method according to the first exemplary embodiment. 実施の形態１にかかる回転数表示制御部が回転状況を示すオブジェクトを表示した画面の一例を示した図The figure which showed an example of the screen which displayed the object which shows the rotation condition by the rotation speed display control part concerning Embodiment 1 実施の形態１にかかる回転数表示制御部が回転状況を示すオブジェクトを表示した画面の一例を示した図The figure which showed an example of the screen which displayed the object which shows the rotation condition by the rotation speed display control part concerning Embodiment 1 本発明の実施の形態２にかかる多回転軸表示装置の機能構成を示す図The figure which shows the function structure of the multi-rotation axis display apparatus concerning Embodiment 2 of this invention.
　以下に、本発明の実施の形態にかかる多回転軸表示装置および多回転軸表示方法を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a multi-rotation axis display device and a multi-rotation axis display method according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.
実施の形態１．
　図１は、本発明の実施の形態１にかかるロボット１００およびその制御装置１を含んだシステムの構成を示す図である。ロボット１００は、３６０度以上回転可能な多回転軸Ｊ１およびＪ６と、３６０度以下回転可能な回転軸Ｊ２、Ｊ３、Ｊ４およびＪ５と、を備える。即ち、ロボット１００は多回転軸Ｊ１、Ｊ６といった多回転軸を有している。ロボット１００は、多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５のそれぞれに様々な角度を持たせることにより多様な動作が可能である。ロボット１００には、ロボットコントローラである制御装置１が接続されている。制御装置１は、ロボット１００の多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５のそれぞれの回転角度といった角度データを取得しつつロボット１００の動作を制御する。 Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration of a system including the robot 100 and the control device 1 according to the first embodiment of the present invention. The robot 100 includes multi-rotation axes J1 and J6 that can rotate 360 degrees or more, and rotation axes J2, J3, J4, and J5 that can rotate 360 degrees or less. That is, the robot 100 has multiple rotation axes such as multiple rotation axes J1 and J6. The robot 100 can perform various operations by giving various angles to the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5. The robot 100 is connected to a control device 1 that is a robot controller. The control device 1 controls the operation of the robot 100 while acquiring angle data such as the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 of the robot 100.
　制御装置１には、可搬式の操作器であるティーチングペンダント２およびロボット１００の動作をモニターするパーソナルコンピュータ３が接続されている。ティーチングペンダント２は、ロボット１００を実際に動かし、その動作を記録および再生させてロボット１００を動作させる教示を行う際に使用される教示装置である。ティーチングペンダント２およびパーソナルコンピュータ３は、共に表示部を備え、当該表示部に多回転軸Ｊ１、Ｊ６を含んだロボット１００の全部または一部を表示する多回転軸表示装置の機能を有している。 The controller 1 is connected with a teaching pendant 2 which is a portable operating device and a personal computer 3 which monitors the operation of the robot 100. The teaching pendant 2 is a teaching device used when teaching the robot 100 to operate by actually moving the robot 100 and recording and reproducing the operation. The teaching pendant 2 and the personal computer 3 both have a display unit, and have a function of a multi-rotation axis display device that displays all or part of the robot 100 including the multi-rotation axes J1 and J6 on the display unit. .
　図２は、実施の形態１にかかる多回転軸表示装置の表示部に示される画面の一例を示した図である。多回転軸表示装置は、ロボット１００およびロボットコントローラから得た情報を表示部に表示する。図２に示すように、「Ｊ１：」、「Ｊ２：」、「Ｊ３：」、「Ｊ４：」、「Ｊ５：」および「Ｊ６：」のそれぞれの欄には、ロボットコントローラから得た各回転軸の現在の角度が示されている。 FIG. 2 is a diagram illustrating an example of a screen displayed on the display unit of the multi-rotation axis display device according to the first embodiment. The multi-rotation axis display device displays information obtained from the robot 100 and the robot controller on the display unit. As shown in FIG. 2, “J1:”, “J2:”, “J3:”, “J4:”, “J5:”, and “J6:” have respective rotations obtained from the robot controller. The current angle of the axis is shown.
　図３は、実施の形態１にかかる多回転軸表示装置２０および制御装置１の機能構成を示す図である。多回転軸表示装置２０は、上述したようにティーチングペンダント２またはパーソナルコンピュータ３である。 FIG. 3 is a diagram illustrating a functional configuration of the multi-rotation axis display device 20 and the control device 1 according to the first embodiment. The multi-rotation axis display device 20 is the teaching pendant 2 or the personal computer 3 as described above.
　制御装置１は、ロボット１００を制御するロボット回転軸制御部１１を備え、多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５のそれぞれの回転角度を取得しつつロボット１００の動作を制御する。 The control apparatus 1 includes a robot rotation axis control unit 11 that controls the robot 100, and controls the operation of the robot 100 while acquiring the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5. To do.
　多回転軸表示装置２０は、多回転軸Ｊ１、Ｊ６の回転数を計算する回転数演算部２１と、多回転軸Ｊ１、Ｊ６の位置を計算する多回転軸位置演算部２２と、多回転軸Ｊ１、Ｊ６の近くに回転状況を示すオブジェクトを表示部２４に表示する回転数表示制御部２３と、ロボット１００の全部または一部を表示する表示部２４と、表示部２４におけるロボット１００の表示を制御するロボット表示制御部２５と、を備える。 The multi-rotation axis display device 20 includes a rotation speed calculation unit 21 that calculates the rotation speeds of the multi-rotation axes J1 and J6, a multi-rotation axis position calculation unit 22 that calculates the positions of the multi-rotation axes J1 and J6, and a multi-rotation axis. A rotation speed display control unit 23 that displays an object indicating a rotation state near J1 and J6 on the display unit 24, a display unit 24 that displays all or part of the robot 100, and a display of the robot 100 on the display unit 24. And a robot display control unit 25 for controlling.
　図４は、実施の形態１にかかる多回転軸表示装置２０のハードウェア構成を示す図である。多回転軸表示装置２０は、ティーチングペンダント２またはパーソナルコンピュータ３といった情報処理端末であるが、これらに限定されない。多回転軸表示装置２０は、演算処理を行うＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）といった演算装置４１と、演算装置４１がワークエリアに用いるメモリ４２と、プログラムを記憶する記憶装置４３と、ユーザとの間の入力インタフェースである入力装置４４と、ユーザに情報を表示する表示装置４５と、制御装置１との通信機能を有する通信装置４６と、を備える。 FIG. 4 is a diagram illustrating a hardware configuration of the multi-rotation axis display device 20 according to the first embodiment. The multi-rotation axis display device 20 is an information processing terminal such as the teaching pendant 2 or the personal computer 3, but is not limited thereto. The multi-rotation axis display device 20 includes an arithmetic device 41 such as a CPU (Central Processing Unit) that performs arithmetic processing, a memory 42 used by the arithmetic device 41 as a work area, a storage device 43 that stores a program, and a user. An input device 44 that is an input interface, a display device 45 that displays information to the user, and a communication device 46 having a communication function with the control device 1 are provided.
　図３に示された回転数演算部２１、多回転軸位置演算部２２、回転数表示制御部２３およびロボット表示制御部２５の機能は、演算装置４１が記憶装置４３に保持されているプログラムを実行することにより実現される。即ち、実施の形態１にかかる多回転軸表示方法は、演算装置４１が記憶装置４３に保持されているプログラムを実行することにより実現される。表示部２４の機能は表示装置４５により実現される。 The functions of the rotation speed calculation unit 21, the multi-rotation axis position calculation unit 22, the rotation speed display control unit 23, and the robot display control unit 25 illustrated in FIG. 3 are programs that the calculation device 41 holds in the storage device 43. It is realized by executing. That is, the multi-rotation axis display method according to the first embodiment is realized by the arithmetic device 41 executing a program held in the storage device 43. The function of the display unit 24 is realized by the display device 45.
　回転数演算部２１は、制御装置１から得た多回転軸Ｊ１、Ｊ６の回転角度といった角度データに基づいて、多回転軸Ｊ１、Ｊ６の回転状況を計算する。具体的には、多回転軸Ｊ１、Ｊ６の回転角度をそれぞれ３６０°で割って、多回転軸Ｊ１、Ｊ６の現在までの回転数といった回転状況を求める。制御装置１は、多回転軸Ｊ１、Ｊ６が回転を始めてからの累積した回転角度にかかる角度データを保持している。従って、回転数演算部２１が、それぞれの回転角度を３６０°で割ることにより多回転軸Ｊ１、Ｊ６が回転を始めてからの回転数が求まる。制御装置１から与えられる角度データが、回転角度にかかる値に加えて符号といった回転方向にかかる情報も含んでいれば、回転数と共に回転方向も回転数演算部２１により求められる。回転数演算部２１の機能は、ロボット表示制御部２５が備えていてもかまわない。 The rotation speed calculation unit 21 calculates the rotation state of the multi-rotation axes J1 and J6 based on the angle data such as the rotation angles of the multi-rotation axes J1 and J6 obtained from the control device 1. Specifically, the rotation angle such as the number of rotations of the multi-rotation axes J1 and J6 up to the present is determined by dividing the rotation angles of the multi-rotation axes J1 and J6 by 360 °. The control device 1 holds angle data relating to the rotation angle accumulated since the multi-rotation axes J1 and J6 start rotating. Accordingly, the rotation speed calculation unit 21 divides each rotation angle by 360 ° to obtain the rotation speed after the multi-rotation shafts J1 and J6 start rotating. If the angle data given from the control device 1 includes not only a value relating to the rotation angle but also information relating to the rotation direction such as a sign, the rotation direction and the rotation direction are obtained by the rotation number calculation unit 21. The function of the rotation speed calculation unit 21 may be provided in the robot display control unit 25.
　多回転軸位置演算部２２は、制御装置１から得た多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５のそれぞれの回転角度と、多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５の隣接する軸の間の距離と、に基づいて、多回転軸Ｊ１およびＪ６の位置を計算する。多回転軸位置演算部２２は、上記隣接する軸の間の距離を制御装置１から取得しても良いし、ユーザが入力装置４４から入力した値を使用してもよい。多回転軸位置演算部２２の機能は、ロボット表示制御部２５が備えていてもかまわない。 The multi-rotation axis position calculation unit 22 is configured to obtain the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 obtained from the control device 1, and the multi-rotation axes J1 and J6 and the rotation axes J2 and J3. , J4 and J5 are calculated based on the distance between the adjacent axes, and the positions of the multi-rotation axes J1 and J6 are calculated. The multi-rotation axis position calculation unit 22 may acquire the distance between the adjacent axes from the control device 1 or may use a value input by the user from the input device 44. The function of the multi-rotation axis position calculation unit 22 may be provided in the robot display control unit 25.
　回転数表示制御部２３は、多回転軸Ｊ１およびＪ６の回転数といった回転状況と、多回転軸Ｊ１およびＪ６の位置と、ユーザが設定したオフセット量と、に基づいて、表示部２４において多回転軸Ｊ１およびＪ６の傍の表示位置に回転状況を示すオブジェクトを表示する。回転数表示制御部２３の機能は、ロボット表示制御部２５が備えていてもかまわない。 The rotation number display control unit 23 performs multiple rotations on the display unit 24 based on the rotation state such as the rotation numbers of the multi-rotation axes J1 and J6, the positions of the multi-rotation axes J1 and J6, and the offset amount set by the user. An object indicating the rotation state is displayed at a display position near the axes J1 and J6. The function of the rotation speed display control unit 23 may be provided in the robot display control unit 25.
　多回転軸Ｊ１およびＪ６の位置が、多回転軸位置演算部２２によってロボット１００が設置される実空間での値として求められた場合は、オフセット量も実空間での値として与えられる。オフセット量は、多回転軸Ｊ１およびＪ６の位置からどの方向にどれだけ離れた位置に回転数といった回転状況を示すオブジェクトを表示するかを指定するベクトル情報である。オフセット量は、ユーザが入力装置４４を介して設定することができる。また、オフセット量は、多回転軸ごとに異なった値であってもかまわない。 When the positions of the multi-rotation axes J1 and J6 are obtained as values in the real space where the robot 100 is installed by the multi-rotation axis position calculation unit 22, the offset amount is also given as a value in the real space. The offset amount is vector information that specifies whether an object indicating a rotation state such as the number of rotations is displayed in which direction and how far away from the positions of the multi-rotation axes J1 and J6. The offset amount can be set by the user via the input device 44. The offset amount may be a different value for each multi-rotation axis.
　多回転軸Ｊ１およびＪ６の位置およびオフセット量に基づいて、回転状況を示すオブジェクトを表示すべき実空間での位置が定まるので、回転数表示制御部２３は、この実空間での位置を表示部２４の画面上での表示位置に変換する。そして、回転数表示制御部２３は表示部２４の画面上での表示位置に回転状況を示すオブジェクトを表示する。回転状況を示すオブジェクトは回転状況に基づいてその表示状態が変化するオブジェクトであり、以下にその具体例を説明する。 Since the position in the real space where the object indicating the rotation state is to be displayed is determined based on the positions of the multi-rotation axes J1 and J6 and the offset amount, the rotational speed display control unit 23 displays the position in the real space as the display unit. 24 is converted into a display position on the screen. Then, the rotation number display control unit 23 displays an object indicating the rotation state at a display position on the screen of the display unit 24. An object indicating the rotation state is an object whose display state changes based on the rotation state, and a specific example thereof will be described below.
　図５から図９は、実施の形態１にかかる多回転軸の傍に表示される回転状況を示すオブジェクトの一例を示す図である。 FIG. 5 to FIG. 9 are diagrams illustrating an example of an object indicating a rotation state displayed beside the multi-rotation axis according to the first embodiment.
　図５に示されるオブジェクトは、渦巻き状の図形であり、渦巻きの円弧の数が回転数に対応し、渦巻きの最外周の矢印が回転方向を示している。渦巻きの円弧の一周を１回転として表示しているので、回転数が３回転なら渦巻きの円弧は３周し、０．５回転といった１未満の端数の回転数に対しては、一周に満たない円弧の長さで１回転に満たない回転の角度を表現する。 The object shown in FIG. 5 is a spiral figure, and the number of arcs of the spiral corresponds to the rotation speed, and the arrow on the outermost periphery of the spiral indicates the direction of rotation. Since one rotation of the spiral arc is displayed as one rotation, if the rotation speed is 3, the spiral arc will rotate three times, and less than one rotation is required for a rotation number less than 1 such as 0.5 rotations. The angle of rotation that is less than one rotation is represented by the length of the arc.
　図６に示されるオブジェクトは、回転数の円弧を有する同心円の多重円弧であり、最外周の円弧の外に別途表示される矢印が回転方向を示している。回転数が２回転なら円弧の数は２であり、０．５回転といった１未満の端数の回転数に対しては、一周に満たない円弧の長さで１回転に満たない回転の角度を表現する。 The object shown in FIG. 6 is a concentric multiple arc having a rotation speed arc, and an arrow separately displayed outside the outermost arc indicates the rotation direction. If the number of rotations is 2, the number of arcs is 2. For rotations of fractions less than 1 such as 0.5 rotations, the rotation angle less than 1 rotation is expressed with the length of the arc less than 1 rotation. To do.
　図７に示されるオブジェクトは、図６において別途設けた矢印が多重円弧の円弧に組み込まれているオブジェクトである。回転数が増える程、矢印の先が伸びて行き、一周すると矢印は消えて、新たな矢印が外側に形成されて新たな円弧を形成して行く。０．５回転といった１未満の端数の回転数に対しては、矢印を有する一周に満たない円弧の長さで１回転に満たない回転の角度を表現する。 The object shown in FIG. 7 is an object in which an arrow provided separately in FIG. As the number of revolutions increases, the tip of the arrow extends, and once it goes around, the arrow disappears, and a new arrow is formed on the outside to form a new arc. For a rotation speed less than 1 such as 0.5 rotation, the angle of rotation less than one rotation is expressed by the length of an arc having an arrow and less than one round.
　図８に示されるオブジェクトは、回転数を示す数値であり、符号が回転方向を示す。少数点以下は、１未満の端数の回転数を示す。 The object shown in FIG. 8 is a numerical value indicating the number of rotations, and the sign indicates the direction of rotation. Below the decimal point is a fractional number of rotations less than one.
　図９は、図５の渦巻き状のオブジェクトで、回転方向が逆の場合を示している。回転方向の違いは、オブジェクトの色の違いで表現してもよい。また、図５から図９のオブジェクトの使い分けに、さらに色の違いを併用してもよい。即ち、渦巻き、多重円弧および数値を回転方向によって色を変えて表示してもよい。また、図８の数値表示を、図５、図６、図７または図９のオブジェクトと併用して表示してもかまわない。回転数表示制御部２３は、図５から図９に示したオブジェクトを表示部２４の画面上で、多回転軸の傍に表示する。このようなオブジェクトの表示はユーザの選択により表示又は非表示を切り替えることができる。 FIG. 9 shows a case where the rotation direction is the reverse of the spiral object of FIG. The difference in the rotation direction may be expressed by a difference in the color of the object. Further, different colors may be used in combination with the proper use of the objects in FIGS. That is, spirals, multiple arcs, and numerical values may be displayed in different colors depending on the rotation direction. Further, the numerical display of FIG. 8 may be displayed in combination with the object of FIG. 5, FIG. 6, FIG. 7, or FIG. The rotation speed display control unit 23 displays the objects shown in FIGS. 5 to 9 on the screen of the display unit 24 near the multi-rotation axis. Such object display can be switched between display and non-display according to the user's selection.
　ロボット表示制御部２５は、制御装置１から得た多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５のそれぞれの回転角度といった情報に基づいて、ロボット１００の現在の様子を表示部２４に表示する。上述したように、ロボット表示制御部２５が、回転数演算部２１、多回転軸位置演算部２２または回転数表示制御部２３の機能を備える構成でもよい。逆に、回転数表示制御部２３がロボット表示制御部２５の機能を備える構成でもかまわない。 The robot display control unit 25 displays the current state of the robot 100 on the basis of information such as the rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 obtained from the control device 1. To display. As described above, the robot display control unit 25 may have a function of the rotation number calculation unit 21, the multi-rotation axis position calculation unit 22, or the rotation number display control unit 23. On the contrary, the rotation speed display control unit 23 may be configured to have the function of the robot display control unit 25.
　図１０は、実施の形態１にかかる多回転軸表示方法を説明するフローチャートである。まず、回転数演算部２１が、制御装置１から得た多回転軸Ｊ１およびＪ６の回転角度に基づいて、多回転軸Ｊ１およびＪ６の回転数を計算する（ステップＳ１）。次に、多回転軸位置演算部２２は、制御装置１から得た多回転軸Ｊ１、Ｊ６および回転軸Ｊ２、Ｊ３、Ｊ４、Ｊ５のそれぞれの回転角度および上記隣接する軸の間の距離に基づいて、多回転軸Ｊ１およびＪ６の位置を計算する（ステップＳ２）。次に、回転数表示制御部２３は、ステップＳ２で得られた多回転軸Ｊ１およびＪ６の位置およびユーザが設定したオフセット量に基づいて、回転状況を示すオブジェクトの表示部２４の画面上での表示位置を決定する（ステップＳ３）。最後に、表示部２４の画面上でロボット表示制御部２５により表示された多回転軸Ｊ１およびＪ６の近くであって、ステップＳ３で決定された表示位置に、回転数表示制御部２３がステップＳ１で得られた回転状況を示すオブジェクトを表示する（ステップＳ４）。 FIG. 10 is a flowchart for explaining the multi-rotation axis display method according to the first embodiment. First, the rotation speed calculation unit 21 calculates the rotation speeds of the multi-rotation axes J1 and J6 based on the rotation angles of the multi-rotation axes J1 and J6 obtained from the control device 1 (step S1). Next, the multi-rotation axis position calculation unit 22 is based on the respective rotation angles of the multi-rotation axes J1 and J6 and the rotation axes J2, J3, J4, and J5 obtained from the control device 1 and the distance between the adjacent axes. Then, the positions of the multi-rotation axes J1 and J6 are calculated (step S2). Next, based on the positions of the multi-rotation axes J1 and J6 obtained in step S2 and the offset amount set by the user, the rotation speed display control unit 23 displays an object on the screen of the display unit 24 indicating the rotation state. A display position is determined (step S3). Finally, the rotational speed display control unit 23 is located near the multi-rotation axes J1 and J6 displayed by the robot display control unit 25 on the screen of the display unit 24 and at the display position determined in step S3. An object indicating the rotation status obtained in step S4 is displayed (step S4).
　図１１および図１２は、実施の形態１にかかる回転数表示制御部２３が回転状況を示すオブジェクトを表示した画面の一例を示した図である。 FIG. 11 and FIG. 12 are diagrams illustrating an example of a screen on which an object indicating a rotation state is displayed by the rotation speed display control unit 23 according to the first embodiment.
　図１１においては、ロボット表示制御部２５が表示部２４の画面上にロボット１００を表示している状態で、ステップＳ４にて回転数表示制御部２３が回転数を示す渦巻き状のオブジェクト５１および５２を、多回転軸Ｊ１およびＪ６の傍にそれぞれ表示している。 In FIG. 11, in a state where the robot display control unit 25 displays the robot 100 on the screen of the display unit 24, the spiral objects 51 and 52 whose rotation number display control unit 23 indicates the rotation number in step S4. Are displayed near the multi-rotation axes J1 and J6, respectively.
　図１２においては、多回転軸Ｊ６の向きが図１１とは変わった状態で、ステップＳ４にて回転数表示制御部２３が回転数を示す渦巻き状のオブジェクト５３を、多回転軸Ｊ６の傍に表示している。 In FIG. 12, in a state where the direction of the multi-rotation axis J6 is different from that in FIG. 11, in step S4, the rotational speed display control unit 23 displays a spiral object 53 indicating the rotational speed near the multi-rotation axis J6. it's shown.
　以上説明したように、実施の形態１にかかる多回転軸表示装置２０および多回転軸表示方法によれば、ロボット１００の多回転軸の現在の回転角度に基づいて現在までの回転数を計算し、表示部２４の画面上のロボット１００の多回転軸の傍に、多回転軸の現在までの回転数および回転方向を、わかり易いオブジェクトを用いて表示する。これにより、ロボット１００の多回転軸の外観上の観察では判別できない現在までの回転状況をユーザに視覚的に理解し易く提示することが可能となる。従って、ユーザは、現在のロボット１００の多回転軸の状況を瞬時に把握することが可能となる。 As described above, according to the multi-rotation axis display device 20 and the multi-rotation axis display method according to the first embodiment, the number of rotations up to the present time is calculated based on the current rotation angle of the multi-rotation axis of the robot 100. The number of rotations and the direction of rotation of the multi-rotation axis up to the present are displayed using easy-to-understand objects near the multi-rotation axis of the robot 100 on the screen of the display unit 24. As a result, it is possible to present to the user an easy-to-understand visual understanding of the rotation state up to now, which cannot be determined by observing the appearance of the multiple rotation axes of the robot 100. Therefore, the user can instantly grasp the current state of the multi-rotation axes of the robot 100.
実施の形態２．
　実施の形態２では、図１のパーソナルコンピュータ３にロボットシミュレータ３０が搭載されている。この場合、パーソナルコンピュータ３は、制御装置１に接続されていなくてもかまわない。パーソナルコンピュータ３は、図１３の多回転軸表示装置２０として機能する。図１３は、本発明の実施の形態２にかかる多回転軸表示装置２０の機能構成を示す図である。 Embodiment 2. FIG.
In the second embodiment, the robot simulator 30 is mounted on the personal computer 3 shown in FIG. In this case, the personal computer 3 may not be connected to the control device 1. The personal computer 3 functions as the multi-rotation axis display device 20 of FIG. FIG. 13 is a diagram illustrating a functional configuration of the multi-rotation axis display device 20 according to the second embodiment of the present invention.
　多回転軸表示装置２０は、多回転軸Ｊ１、Ｊ６の回転数を計算する回転数演算部２１と、多回転軸Ｊ１、Ｊ６の位置を計算する多回転軸位置演算部２２と、多回転軸Ｊ１、Ｊ６の近くに回転状況を示すオブジェクトを表示部２４に表示する回転数表示制御部２３と、ロボット１００の全部または一部を表示する表示部２４と、表示部２４におけるロボット１００の表示を制御するロボット表示制御部２５と、ロボット１００の動作をシミュレートするロボットシミュレータ３０と、を備える。 The multi-rotation axis display device 20 includes a rotation speed calculation unit 21 that calculates the rotation speeds of the multi-rotation axes J1 and J6, a multi-rotation axis position calculation unit 22 that calculates the positions of the multi-rotation axes J1 and J6, and a multi-rotation axis. A rotation speed display control unit 23 that displays an object indicating a rotation state near J1 and J6 on the display unit 24, a display unit 24 that displays all or part of the robot 100, and a display of the robot 100 on the display unit 24. A robot display control unit 25 for controlling and a robot simulator 30 for simulating the operation of the robot 100 are provided.
　多回転軸表示装置２０のハードウェア構成は、図４と同様である。図１３に示された回転数演算部２１、多回転軸位置演算部２２、回転数表示制御部２３およびロボット表示制御部２５の機能は、演算装置４１が記憶装置４３に保持されているプログラムを実行することにより実現される。また、ロボットシミュレータ３０の機能は、演算装置４１が記憶装置４３に保持されているロボットシミュレーション用のプログラムを実行することにより実現される。即ち、実施の形態２にかかる多回転軸表示方法は、演算装置４１が記憶装置４３に保持されているプログラムを実行することにより実現される。表示部２４の機能は表示装置４５により実現される。 The hardware configuration of the multi-rotation axis display device 20 is the same as that shown in FIG. The functions of the rotation speed calculation unit 21, the multi-rotation axis position calculation unit 22, the rotation speed display control unit 23, and the robot display control unit 25 illustrated in FIG. 13 are programs that the calculation device 41 holds in the storage device 43. It is realized by executing. The function of the robot simulator 30 is realized by the arithmetic device 41 executing a robot simulation program held in the storage device 43. That is, the multi-rotation axis display method according to the second embodiment is realized by the arithmetic device 41 executing a program held in the storage device 43. The function of the display unit 24 is realized by the display device 45.
　実施の形態１にかかる多回転軸表示装置２０において、回転数演算部２１、多回転軸位置演算部２２およびロボット表示制御部２５が制御装置１から得ていた情報は、実施の形態２にかかる多回転軸表示装置２０においてはロボットシミュレータ３０から与えられる。この点を除けば、実施の形態２にかかる多回転軸表示装置２０の動作は、実施の形態１にかかる多回転軸表示装置２０の動作と同じである。従って、実施の形態２にかかる多回転軸表示方法も、実施の形態１における図１０のフローチャートの説明において制御装置１により与えられる情報をロボットシミュレータ３０が与えることとすれば、同様に説明することができる。 In the multi-rotation axis display device 20 according to the first embodiment, information obtained from the control device 1 by the rotation speed calculation unit 21, the multi-rotation axis position calculation unit 22, and the robot display control unit 25 is applied to the second embodiment. The multi-rotation axis display device 20 is given from the robot simulator 30. Except for this point, the operation of the multi-rotation axis display device 20 according to the second embodiment is the same as the operation of the multi-rotation axis display device 20 according to the first embodiment. Therefore, the multi-rotation axis display method according to the second embodiment will be described in the same manner if the robot simulator 30 gives the information given by the control device 1 in the explanation of the flowchart of FIG. 10 in the first embodiment. Can do.
　その結果、ロボットシミュレータ３０がロボット１００の動作を表示部２４に表示している状態においても、図１１および図１２に示すように回転数表示制御部２３が回転状況を示すオブジェクトを多回転軸Ｊ１およびＪ６の傍に表示することができる。 As a result, even when the robot simulator 30 displays the operation of the robot 100 on the display unit 24, as shown in FIGS. 11 and 12, the rotation speed display control unit 23 sets the object indicating the rotation state to the multi-rotation axis J1. And J6 can be displayed.
　実施の形態２にかかる多回転軸表示装置２０および多回転軸表示方法によれば、ロボットシミュレータ３０がロボット１００の動作を表示部２４に表示している状態においても、ロボット１００の多回転軸の外観上の観察では判別できない現在までの回転状況をユーザに視覚的に理解し易く提示することが可能となる。従って、ユーザは、ロボットシミュレータ３０が動作させている現在のロボット１００の多回転軸の状況を瞬時に把握することが可能となる。 According to the multi-rotation axis display device 20 and the multi-rotation axis display method according to the second embodiment, even when the robot simulator 30 displays the operation of the robot 100 on the display unit 24, It is possible to present to the user a visual understanding of the rotation status up to the present that cannot be determined by observation on the appearance. Therefore, the user can instantly grasp the current state of the multi-rotation axes of the robot 100 that the robot simulator 30 is operating.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１　制御装置、２　ティーチングペンダント、３　パーソナルコンピュータ、１１　ロボット回転軸制御部、２０　多回転軸表示装置、２１　回転数演算部、２２　多回転軸位置演算部、２３　回転数表示制御部、２４　表示部、２５　ロボット表示制御部、３０　ロボットシミュレータ、４１　演算装置、４２　メモリ、４３　記憶装置、４４　入力装置、４５　表示装置、４６　通信装置、５１，５２，５３　渦巻き状のオブジェクト、１００　ロボット、Ｊ１，Ｊ６　多回転軸、Ｊ２，Ｊ３，Ｊ４，Ｊ５　回転軸。 1 control device, 2 teaching pendant, 3 personal computer, 11 robot rotation axis control unit, 20 multi-rotation axis display device, 21 rotation speed calculation unit, 22 multi-rotation axis position calculation unit, 23 rotation speed display control unit, 24 display unit , 25 robot display control unit, 30 robot simulator, 41 arithmetic device, 42 memory, 43 storage device, 44 input device, 45 display device, 46 communication device, 51, 52, 53 spiral object, 100 robot, J1, J6 Multi-rotation axis, J2, J3, J4, J5 rotation axis.

Claims (8)

  1. 　多回転軸を有するロボットの全部または一部を表示する表示部と、
    　前記ロボットを制御する制御装置から得た前記多回転軸の角度データに基づいて、前記多回転軸の回転状況を計算する回転数演算部と、
    　前記表示部の前記多回転軸に係る表示位置に前記回転状況を示すオブジェクトを表示する回転数表示制御部と、
    　前記表示部における前記ロボットの表示を制御するロボット表示制御部と、
    　を備えることを特徴とする多回転軸表示装置。     A display for displaying all or part of a robot having multiple rotation axes;
    Based on the angle data of the multi-rotation shaft obtained from the control device that controls the robot, a rotation speed calculation unit that calculates the rotation state of the multi-rotation shaft;
    A rotation speed display control unit for displaying an object indicating the rotation state at a display position related to the multi-rotation axis of the display unit;
    A robot display control unit for controlling display of the robot in the display unit;
    A multi-rotation axis display device comprising:
  2. 　多回転軸を有するロボットの全部または一部を表示する表示部と、
    　前記ロボットの動作をシミュレートするロボットシミュレータから得た前記多回転軸の角度データに基づいて、前記多回転軸の回転状況を計算する回転数演算部と、
    　前記表示部の前記多回転軸に係る表示位置に前記回転状況を示すオブジェクトを表示する回転数表示制御部と、
    　前記表示部における前記ロボットの表示を制御するロボット表示制御部と、
    　を備えることを特徴とする多回転軸表示装置。     A display for displaying all or part of a robot having multiple rotation axes;
    Based on the angle data of the multi-rotation axis obtained from a robot simulator that simulates the operation of the robot, a rotation number calculation unit that calculates the rotation status of the multi-rotation axis
    A rotation speed display control unit for displaying an object indicating the rotation state at a display position related to the multi-rotation axis of the display unit;
    A robot display control unit for controlling display of the robot in the display unit;
    A multi-rotation axis display device comprising:
  3. 　前記多回転軸および前記ロボットが有する回転軸の回転角度と、前記多回転軸および前記回転軸の隣接する軸の間の距離と、に基づいて、前記多回転軸の位置を計算する多回転軸位置演算部をさらに備え、
    　前記回転数表示制御部は、前記多回転軸の位置およびオフセット量に基づいた前記表示位置に前記オブジェクトを表示する
    　ことを特徴とする請求項１または２に記載の多回転軸表示装置。     The multi-rotation axis that calculates the position of the multi-rotation axis based on the rotation angle of the rotation axis of the multi-rotation axis and the robot and the distance between the multi-rotation axis and the adjacent axis of the rotation axis It further includes a position calculation unit,
    The multi-rotation axis display device according to claim 1, wherein the rotation speed display control unit displays the object at the display position based on a position and an offset amount of the multi-rotation axis.
  4. 　前記オブジェクトは、前記多回転軸の回転方向も示す
    　ことを特徴とする請求項１または２に記載の多回転軸表示装置。     The multi-rotation axis display device according to claim 1, wherein the object also indicates a rotation direction of the multi-rotation axis.
  5. 　多回転軸を有するロボットの全部または一部を表示する表示部を備えた多回転軸表示装置における多回転軸表示方法であって、
    　前記ロボットを制御する制御装置から得た前記多回転軸の角度データに基づいて、前記多回転軸の回転状況を計算するステップと、
    　前記表示部の前記多回転軸に係る表示位置に前記回転状況を示すオブジェクトを表示するステップと、
    　を備える
    　ことを特徴とする多回転軸表示方法。     A multi-rotation axis display method in a multi-rotation axis display device comprising a display unit for displaying all or part of a robot having multiple rotation axes,
    Calculating the rotation state of the multi-rotation shaft based on the angle data of the multi-rotation shaft obtained from a control device for controlling the robot;
    Displaying an object indicating the rotation state at a display position related to the multi-rotation axis of the display unit;
    A multi-rotation axis display method characterized by comprising:
  6. 　多回転軸を有するロボットの全部または一部を表示する表示部を備えた多回転軸表示装置における多回転軸表示方法であって、
    　前記ロボットの動作をシミュレートするロボットシミュレータから得た前記多回転軸の角度データに基づいて、前記多回転軸の回転状況を計算するステップと、
    　前記表示部の前記多回転軸に係る表示位置に前記回転状況を示すオブジェクトを表示するステップと、
    　を備える
    　ことを特徴とする多回転軸表示方法。     A multi-rotation axis display method in a multi-rotation axis display device comprising a display unit for displaying all or part of a robot having multiple rotation axes,
    Calculating the rotation state of the multi-rotation axis based on the angle data of the multi-rotation axis obtained from a robot simulator that simulates the operation of the robot;
    Displaying an object indicating the rotation state at a display position related to the multi-rotation axis of the display unit;
    A multi-rotation axis display method characterized by comprising:
  7. 　前記多回転軸および前記ロボットが有する回転軸の回転角度と、前記多回転軸および前記回転軸の隣接する軸の間の距離と、に基づいて、前記多回転軸の位置を計算するステップをさらに備え、
    　前記表示するステップは、前記多回転軸の位置およびオフセット量に基づいた前記表示位置に前記オブジェクトを表示する
    　ことを特徴とする請求項５または６に記載の多回転軸表示方法。     Calculating a position of the multi-rotation axis based on a rotation angle of the multi-rotation axis and the rotation axis of the robot and a distance between the multi-rotation axis and an adjacent axis of the rotation axis; Prepared,
    The multi-rotation axis display method according to claim 5 or 6, wherein the displaying step displays the object at the display position based on a position and an offset amount of the multi-rotation axis.
  8. 　前記オブジェクトは、前記多回転軸の回転方向も示す
    　ことを特徴とする請求項５または６に記載の多回転軸表示方法。     The multi-rotation axis display method according to claim 5, wherein the object also indicates a rotation direction of the multi-rotation axis.
PCT/JP2015/066510 2015-06-08 2015-06-08 Multi-turn rotary shaft display device and multi-turn rotary shaft display method WO2016199200A1 (en)

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