WO2018167855A1

WO2018167855A1 - Operation screen display device

Info

Publication number: WO2018167855A1
Application number: PCT/JP2017/010268
Authority: WO
Inventors: 英希保坂; 芳敬野田
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-03-14
Filing date: 2017-03-14
Publication date: 2018-09-20
Also published as: JPWO2018167855A1; JP6761894B2

Abstract

This operation screen display device is provided with: a display unit that displays an operation screen; an input unit that receives an operation performed by an operator; and a display control unit that controls the display unit. The display control unit controls the display unit so that coordinate axes and graphics of a robot are displayed on the operation screen. When the coordinate axes involved in an operation of the robot are specified via the input unit, the display control unit controls the display unit so as to cause the robot graphics displayed on the operation screen to be altered in accordance with the specified coordinate axes.

Description

Operation screen display device

This specification discloses an operation screen display device that displays an operation screen for operating a robot.

Conventionally, when each axis feed mode that rotates or translates each axis of the robot in the positive or negative direction during teaching work is selected, an image (arrow image) that indicates the position and motion direction of each axis on the entire robot image ) Has been proposed (for example, see Patent Document 1). When the jog feed direction selection key is pressed and the jog feed direction is designated, this display device performs highlighting indicating the designated content of the jog feed direction in the display image.

JP 7-295625 A

However, in the display device described above, the entire robot image to be displayed is fixed in a side view, and depending on the axis and direction in which the robot is moved, it is difficult for the operator to grasp the axis and direction, which may cause an operation error. It was.

This disclosure mainly aims to provide an operation screen display device that makes it easy for an operator to grasp an axis and a direction in which a robot is operated and can suppress an operation error.

This disclosure has taken the following measures to achieve the main purpose described above.

The present disclosure is an operation screen display device that displays an operation screen for operating a robot, and includes a display unit that displays the operation screen, an input unit that receives an operation by an operator, a pictorial diagram of the robot, and coordinate axes. When the display unit is controlled to be displayed on the operation screen and a coordinate axis related to the operation of the robot is specified via the input unit, the coordinate screen is displayed on the operation screen according to the specified coordinate axis. And a display control unit that controls the display unit so that the picture of the robot is changed.

This operation screen display device according to the present disclosure can change the pictorial illustration of the robot so that the operator can easily see the coordinate axes specified by the operator. As a result, the operator can easily grasp the axis and direction for operating the robot, and operation errors can be suppressed.

1 is a configuration diagram showing an outline of a configuration of a robot system 10. FIG. 2 is a configuration diagram showing an outline of the configuration of a robot 20. FIG. 3 is a block diagram showing an electrical connection relationship among a robot 20, a robot control device 70, and a teaching device 80. FIG. It is a flowchart which shows an example of the display control routine at the time of robot operation. It is explanatory drawing which shows an example of an operation screen. It is explanatory drawing which shows an example of an operation screen. It is explanatory drawing which shows an example of an operation screen. It is explanatory drawing which shows an example of an operation screen. It is explanatory drawing which shows an example of an operation screen.

Next, modes for carrying out the invention of the present disclosure will be described with reference to the drawings.

FIG. 1 is a configuration diagram showing an outline of the configuration of the robot system 10. FIG. 2 is a configuration diagram showing an outline of the configuration of the robot 20. FIG. 3 is a block diagram showing an electrical connection relationship among the robot 20, the robot control device 70, and the teaching device 80. In FIG. 1, the left-right direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

The robot system 10 is a work system that performs a predetermined work on the workpiece W. In addition, examples of the predetermined work include a pick-up work for picking up a work, a place work for placing the work at a predetermined position, and an assembling work for assembling the work at a predetermined position.

As shown in FIG. 1, the robot system 10 includes a transfer device 12 installed substantially at the center of the work table 11 and configured to transfer a workpiece W in the X-axis direction (left-right direction), and a plurality of robot systems 10 facing each other across the transfer device 12. The robot 20 is installed on the work table 11 one by one and performs a work on the workpiece W transferred by the transfer device 12.

The conveyance device 12 is a belt conveyor device, and conveys the workpiece W placed on the belt from left to right (X-axis direction) in FIG.

Each robot 20 includes a 5-axis vertical articulated arm (hereinafter referred to as an arm) 22 as shown in FIG. Each arm 22 has six links (first to sixth links 31 to 36) and five joints (first to fifth joints 41 to 45) that connect the links so as to be rotatable or pivotable. Each joint (first to fifth joints 41 to 45) includes motors (servo motors) 51 to 55 for driving the corresponding joints, and encoders (rotary encoders) 61 to 65 for detecting the rotational positions of the corresponding motors. Is provided.

A work tool as an end effector can be attached to and detached from the distal end link (sixth link 36) of the arm 22. Examples of the work tool include an electromagnetic chuck, a mechanical chuck, and a suction nozzle. The tool to be attached to the tip link is appropriately selected according to the shape and material of the work W to be worked.

Further, as shown in FIG. 2, a camera 24 is attached to the distal end portion (fifth link 35) of the arm 22. The camera 24 is for capturing an image of the workpiece W in order to recognize the position and posture of the workpiece W conveyed by the conveying device 12.

As shown in FIG. 3, the robot control device 70 is configured as a microprocessor centered on the CPU 71, and includes a ROM 72, an HDD 73, a RAM 74, an input / output interface (not shown), a communication interface (not shown), and the like in addition to the CPU 71. The HDD 73 stores a system program for managing the entire robot system 10 and an operation program for each robot 20. Detection signals from the encoders 61 to 65 and the like are input to the robot control device 70. Further, the robot control device 70 outputs control signals to the transfer device 12, the motors 51 to 55, and the like.

Further, the robot controller 70 is connected to a teaching device 80 used for teaching work of the robot 20. The teaching device 80 includes an input unit 81 that can be input by an operator, a display unit 82 that can display various types of information, and a display control unit 83 that controls display of the display unit 82.

Next, the operation of the teaching device 80 when the operator performs teaching work by the teaching playback method will be described. Note that the teaching playback method is a method in which an operator actually moves the robot 20 manually at a work site, continuously records the movement in a recording device, and reproduces (plays back) the recorded operation. is there. FIG. 4 is a flowchart showing an example of a display control routine during robot operation executed by the display control unit 83 of the teaching device 80. This routine is executed when a jog feed mode in which the robot 20 is gradually moved manually is selected.

When the robot operation display control routine is executed, the display control unit 83 first displays the robot picture and the coordinate axis imitating the appearance of the robot 20 on the operation screen of the display unit 82 with default settings (S100). FIG. 5 is an explanatory diagram showing an example of an operation screen 90 displayed with default settings.

As shown in the figure, the operation screen 90 includes an image display area 91, an installation angle designation area 92, a coordinate mode designation area 93, a speed / pitch designation area 94, an operation axis designation area 95, and an operation direction designation area 96. It is comprised including. In the image display area 91, coordinate axes (operation axes) capable of operating the robot 20 are displayed together with a robot picture that imitates the appearance of the robot 20. The designated values of the designated areas 92 to 96 are changed based on the input operation of the input unit 81 by the operator.

Here, the installation angle designation area 92 is an area in which the installation angle of the robot 20 with respect to the work table 11 can be designated. In the present embodiment, the installation angle at which the front of the robot 20 faces the back of the work table 11 (the installation angle of the robot 20 installed on the front side of the work table 11 in FIG. 1) is 0 degree, and the front of the robot 20 is The installation angle facing the front of the work table 11 (the installation angle of the robot 20 installed on the back side of the work table 11 in FIG. 1) was 180 degrees. The default setting angle is 180 degrees. When the installation angle is 180 degrees, the robot picture is displayed as a right perspective view imitating the appearance of the robot 20 when the robot 20 is viewed obliquely from the front right as shown in FIG. .

The coordinate mode designation area 93 is an area in which one of the world coordinate system and the base coordinate system can be selected (designated). In the present embodiment, the default coordinate mode is the world coordinate system. The world coordinate system is an orthogonal coordinate system based on the work table 11. In the world coordinate system, the axis along the conveyance direction of the workpiece W is the X axis (Xw), the axis along the direction orthogonal to the upper surface of the work table 11 is the Z axis (Zw), and the Xw direction and the Zw direction The axis along the direction orthogonal to the Y-axis (Yw). In the world coordinate system, the axis along the rotation direction around the X axis (Xw) is the RB axis, and the axis along the rotation direction around the Z axis (Zw) is the RC axis (RCw). In the present embodiment, the arm 22 is a 5-axis vertical articulated arm, and an axis along the rotational direction around the Y axis (Yw) is not defined. On the other hand, the base coordinate system is an orthogonal coordinate system based on the proximal link (the first link 31) that is the base of the arm 22. In the base coordinate system, the axis along the front (front) and rear (back) directions when the robot 20 is viewed from the front is the X axis (Xb), and the axis is along the extending direction of the rotation axis of the first joint 41. The axis along the vertical direction of the robot 20 is the Z axis (Zb), and the axis along the Xb direction and the direction perpendicular to the Zb direction is the Y axis (Yb). In the base coordinate system, the axis along the rotation direction around the Y axis (Yb) is the RB axis, and the axis along the rotation direction around the Z axis (Zb) is the RC axis (RCb). In the present embodiment, an axis along the rotation direction around the X axis (Xb) is not defined. The coordinate mode (coordinate system) is not limited to the base coordinate system and the world coordinate system, and is attached to the wrist coordinate system or the tip link (sixth link 36) based on the tip link (sixth link 36). A tool coordinate system based on the tool, a target coordinate system based on the target position of the tool, and the like may be included.

The speed / pitch designation area 94 is an area in which the movement speed or movement pitch of the robot 20 can be designated. The default speed / pitch settings are speed and low speed.

The operation axis designation area 95 is an area in which an operation axis (including a set of a plurality of axes) for operating the robot 20 among the coordinate axes in the coordinate mode designated in the coordinate mode designation area 93 can be designated. In the present embodiment, in the world coordinate system, either (Xw, Yw, Zw, RCw) of the coordinate axes Xw, Yw, Zw, RB, and RCw and (RB) can be selected. In the base coordinate system, either (Xb, Yb, Zb, RCb) set or (RB) among the coordinate axes Xb, Yb, Zb, RB and RCb can be selected. The default operation axis is a set of (Xw, Yw, Zw, RCw) in the world coordinate system.

The operation direction designation area 96 is an area in which the operation direction on the operation axis designated in the operation axis designation area 95 can be designated. In the present embodiment, in the operation direction designation area 96, + direction and -direction direction keys are arranged for each operable operation axis.

Thus, when the operation screen 90 is displayed on the display unit 82, the display control unit 83 determines whether or not the designation of the installation angle of the robot 20 has been changed (S110). If the display control unit 83 determines that the designation of the set angle has been changed, the display control unit 83 displays the robot picture in the direction corresponding to the changed set angle on the display unit 81 (the image display area 91 of the operation screen 90) (S120). , The process proceeds to S130, and if the setting angle designation is not changed, the process proceeds to S130. For example, when the installation angle is changed from 180 degrees to 0 degrees, as shown in FIG. 6, the robot picture is a left perspective view simulating the appearance of the robot 20 when looking at the robot 20 obliquely from the front left. Changed to figure.

Next, the display control unit 83 determines whether or not the designation of the coordinate mode has been changed (S130). When the display control unit 83 determines that the designation of the coordinate mode has been changed, the display control unit 83 displays the image of the coordinate axis corresponding to the changed coordinate mode on the display unit 82 (the image display area 91 of the operation screen 90) (S140). In S150, if it is determined that the designation of the coordinate mode has not been changed, the process proceeds directly to S150. For example, when the coordinate mode is changed from the world coordinate system to the base coordinate system, as shown in FIG. 7, the display of the operable coordinate axes is (Xb, Yb, Zb) from the group (Xw, Yw, Zw, RCw). , RCb).

Subsequently, the display control unit 83 determines whether or not the designation of the operation axis has been changed (S150). When the display control unit 83 determines that the designation of the operation axis is changed, the display unit 82 (the image display area 91 of the operation screen 90) displays the robot picture in the direction corresponding to the changed operation axis and the picture of the operation axis. (S160), the process proceeds to S170, and if it is determined that the designation of the operation axis has not been changed, the process proceeds to S170 as it is. For example, when the operation axis is changed from the group (Xw, Yw, Zw, RCw) to (RB), the robot picture is the robot 20 when the left side of the robot 20 is viewed as shown in FIG. Is changed to a left side view simulating the external appearance (when the installation angle is 180 degrees). When the installation angle of the robot 20 is changed from 180 degrees to 0 degrees from this state, the robot picture shows the appearance of the robot 20 when the right side surface of the robot 20 is viewed as shown in FIG. It is changed to a simulated right side view.

Further, the display control unit 83 determines whether or not an operation direction is designated (S170), and when the operation direction is designated, the arrow display of the axis corresponding to the designated operation direction is emphasized (S180). The process proceeds to S190, and if the operation direction is not designated, the process proceeds to S190 as it is.

Then, the display control unit 83 determines whether or not the operation of the robot 20 has ended (S190). If the display control unit 83 determines that the operation has not ended, the display control unit 83 returns to S110 and determines that the operation has ended. End the display control routine during operation.

Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the disclosure section of the invention will be described. That is, the display unit 82 corresponds to the display unit, the input unit 81 corresponds to the input unit, and the display control unit 83 corresponds to the display control unit.

The display control unit 83 of the operation screen display device described above controls the display unit 82 so that the robot picture and the coordinate axes are displayed on the operation screen 90 when the jog feed mode is instructed. When the coordinate axis (operation axis) related to the operation of the robot 20 is designated via the input unit 81, the display control unit 83 displays the robot displayed on the operation screen 90 according to the designated coordinate axis (operation axis). The display unit 82 is controlled so that the picture is changed. That is, the display control unit 83 can change the robot picture (the direction of the robot 20) so that the operator can easily see the coordinate axes specified by the operator. As a result, the operator can easily grasp the axis and direction in which the robot 20 is operated, and operation errors can be suppressed.

In addition, when the installation direction of the robot 20 is specified via the input unit 81, the display control unit 83 displays the display unit 82 so that the robot picture is displayed on the operation screen 90 in an orientation corresponding to the specified installation direction. Control. As a result, even when teaching a plurality of robots 20 with different installation angles, it is possible to make it easier for the operator to grasp the axes and directions for operating the robots 20 and to further suppress operation mistakes.

Further, when any one of a plurality of coordinate modes (coordinate systems) is designated via the input unit 81, the display control unit 83 displays an image of coordinate axes corresponding to the designated coordinate mode on the operation screen 90. The display unit 82 is controlled. Thereby, it can respond to designation | designated of several coordinate modes (coordinate system), and can improve the convenience of an operator.

In the present embodiment, when the designation of the installation angle of the robot 20 is changed, the display control unit 83 changes the robot picture to the orientation corresponding to the changed installation angle. However, the teaching device 80 may be configured so that the installation angle cannot be specified.

In the present embodiment, when the designation of the coordinate mode (coordinate system) is changed, the display control unit 83 changes the image to the coordinate axis image corresponding to the changed coordinate mode. However, the teaching device 80 may be configured so that the coordinate mode cannot be specified.

In this embodiment, the robot 20 includes a 5-axis vertical articulated arm. However, the articulated arm is not limited to 5 axes, and may have, for example, 6 axes or more. In this case, as the coordinate axes of the world coordinate system and the base coordinate system, an axis along the rotation direction around the Y axis (Yw) and an axis along the rotation direction around the X axis (Xb) may be used as the RA axis.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the invention of the present disclosure.

This disclosure can be used in the robot manufacturing industry.

10 robot system, 11 workbench, 20 robot, 22 arm, 24 camera, 31 first link, 32 second link, 33 third link, 34 fourth link, 35 fifth link, 36 sixth link, 41 first Joint, 42 2nd joint, 43 3rd joint, 44 4th joint, 45 5th joint, 51-55 motor, 61-65 encoder, 70 robot controller, 71 CPU, 72 ROM, 73 HDD, 74 RAM, 80 Teaching device, 81 input section, 82 display section, 83 display control section, 90 operation screen, 91 image display area, 92 installation angle designation area, 93 coordinate mode designation area, 94 speed / pitch designation area, 95 operation axis designation area, 96 Operation direction designation area.

Claims

An operation screen display device that displays an operation screen for operating a robot,
A display unit for displaying the operation screen;
An input unit for receiving operations by an operator;
When the display unit is controlled so that the robot picture and coordinate axes are displayed on the operation screen, and the coordinate axis related to the operation of the robot is designated via the input unit, the coordinate axis is designated according to the designated coordinate axis. A display control unit that controls the display unit such that the pictorial image of the robot displayed on the operation screen is changed;
An operation screen display device comprising:
The operation screen display device according to claim 1,
When the installation direction of the robot is designated via the input unit, the display control unit is configured to change the pictorial illustration of the robot displayed on the operation screen according to the designated installation direction. Control the part,
Operation screen display device.
The operation screen display device according to claim 1 or 2,
When any one of a plurality of types of coordinate systems is specified via the input unit, the display control unit may change the coordinate axes displayed on the operation screen according to the specified coordinate system. Controlling the display unit;
Operation screen display device.