WO2021245746A1 - ロボットのプログラミング装置 - Google Patents

ロボットのプログラミング装置 Download PDF

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Publication number
WO2021245746A1
WO2021245746A1 PCT/JP2020/021601 JP2020021601W WO2021245746A1 WO 2021245746 A1 WO2021245746 A1 WO 2021245746A1 JP 2020021601 W JP2020021601 W JP 2020021601W WO 2021245746 A1 WO2021245746 A1 WO 2021245746A1
Authority
WO
WIPO (PCT)
Prior art keywords
program
editable
display unit
unit
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/021601
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
豪 稲葉
知之 山本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to CN202080101554.4A priority Critical patent/CN115697646A/zh
Priority to PCT/JP2020/021601 priority patent/WO2021245746A1/ja
Priority to US17/928,387 priority patent/US12346672B2/en
Priority to DE112020006874.9T priority patent/DE112020006874T5/de
Priority to JP2022529146A priority patent/JPWO2021245746A1/ja
Publication of WO2021245746A1 publication Critical patent/WO2021245746A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/34—Graphical or visual programming
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39438—Direct programming at the console
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40392—Programming, visual robot programming language

Definitions

  • This disclosure relates to a robot programming device.
  • a robot programming device is known in which icons representing functions constituting a control program for a robot are combined and arranged (see, for example, Patent Document 1).
  • a program that combines icons is easy for beginners to understand, but it is difficult to create an advanced program.
  • Icon supports a small number of instructions, it is difficult to express advanced instructions concisely and graphically, and the program becomes complicated when many simple instructions are combined. be. Therefore, it is desirable to be able to create a program containing advanced instructions while facilitating programming by using graphical program elements such as icons.
  • One aspect of the present disclosure is a storage unit that stores a plurality of types of program elements that graphically represent the functions constituting the control program of the robot, an input unit that accepts an operation by the user, and the program stored in the storage unit.
  • a program generation unit that generates the control program by selecting and combining elements by the input unit is provided, and the function can be edited by a character string input by the input unit in at least one of the program elements. It is a robot programming device equipped with editable program elements.
  • FIG. 1 shows the programming apparatus of the robot which concerns on one Embodiment of this disclosure. It is a figure which shows the display example of the 1st area on the monitor of the program generation part provided in the programming apparatus of FIG. It is a figure which shows the display example when the MOVE block is dragged and dropped from the 1st area to the 2nd area on the monitor of the program generation part provided in the programming apparatus of FIG. It is a figure which shows the display example when the target position block is dragged and dropped from the 1st area to the 2nd area on the monitor of FIG. It is a figure which shows the display example of the 1st to 3rd area in the state which selected the CODE block arranged in the 2nd area on the monitor of FIG.
  • the programming device 1 of the robot 100 according to the present embodiment is provided in, for example, a control device 200 for controlling the robot 100.
  • the programming device 1 may be provided separately from the control device 200.
  • the programming device 1 includes a storage unit 2 that stores a plurality of types of program blocks (program elements) 10, 20, 30, and 40, which will be described later, an input unit 3 that accepts operations by the user, and a program generation unit 4. ..
  • the storage unit 2 is a memory
  • the input unit 3 is an input device such as a keyboard, a mouse, and a touch panel.
  • the program generation unit 4 includes a processor and a monitor 5, and controls by displaying the program blocks 10, 20, 30, and 40 stored in the storage unit 2 on the monitor 5 and selecting and combining them by the input unit 3. Generate a program.
  • the program generation unit 4 has a first area (first display unit) 6, a second area (second display unit) 7, and a third area (third display unit) on the monitor 5. Part) 8 and.
  • the program blocks 10, 20, 30, and 40 stored in the storage unit 2 are displayed in a selectable manner by the input unit 3.
  • the selected program block 10 is duplicated (hatching occurs in the selected program block 10). (Attached).
  • the control program is combined with other program blocks 20, 30 and 40. Is configured.
  • the program elements graphically represent the functions that make up the control program of the robot 100, have configurable parameters, and are non-editable elements that can realize simple functions.
  • the MOVE block 10 which is one of the program blocks, is an element that operates the robot 100 so as to move the TCP (tool tip point) of the robot 100 to the target position.
  • the MOVE block 10 can be combined with, for example, another program block, the target position block 20 and the passing point block 30, as parameters.
  • Each program block 10, 20, 30, 40 is provided with connection portions 11, 12, 13, 21, 22, 31, 32, 41, 42 like the unevenness of a jigsaw puzzle, and one program block 10, 20, 30 is provided.
  • the concave connection portions 11, 12, 21, 31, 41 can be connected to the convex connection portions 13, 22, 32, 42 of the other program blocks 10, 20, 30, 40.
  • the passing point block 30 can be combined with the MOVE block 10 together with the target position block 20 to set a passing point while moving TCP from the current position to the target position.
  • the target position block 20 and the passing point block 30 can set the position coordinates as parameters.
  • the programming device 1 of the robot 100 can edit at least one of the program blocks 10, 20, 30, and 40 with a function constituting a control program by a character string input by the input unit 3. It has an edit program block (editable program element).
  • the editable program block is also displayed in the first area 6 like the other program blocks, and can be selected by the mouse, for example, and arranged in the second area 7 by dragging and dropping.
  • the CODE block 40 which is one of the editable program blocks, is selected by the input unit 3 in a state of being displayed in the first area 6 or the second area 7 on the monitor 5, as shown in FIG.
  • the content is displayed editably in the third area 8. That is, when the editable program block is selected, the contents are displayed in the third area 8 on the monitor 5.
  • the third area 8 is in a blank state.
  • Complex instructions can be described in the editable program block. Examples of complicated instructions include interpolation instructions and conditional branch instructions.
  • multiple instructions can be described in the editable program block.
  • a plurality of operations can be described in one program block.
  • the user can input the functions constituting the control program by the character string according to the predetermined programming language by using the input unit 3, for example, the keyboard.
  • the CODE block 40 whose contents have been edited can be registered as one of the program blocks 10, 20, 30, and 40 by giving a new name and dragging and dropping it into the first area 6.
  • a control program can be generated in the second area 7.
  • the generated control program is stored in the storage unit 2.
  • the control unit 210 provided in the control device 200 reads out the control program stored in the storage unit 2, generates an operation control signal, and outputs the operation control signal to the robot 100.
  • a control program is created only by selecting the program blocks displayed in the first region 6 and arranging them in the second region 7. be able to. Then, by making one or more of the program blocks 10, 20, 30, and 40 to be arranged an editable program block (here, CODE block 40), advanced instructions that are difficult to express with a simple program block are controlled. It has the advantage that it can be included in the program.
  • program blocks 10, 20, 30, and 40 are exemplified as program elements that graphically represent the functions constituting the control program of the robot 100, but icons may be adopted instead of the program blocks 10, 20, 30, and 40. good. By arranging the icons in a predetermined order, they can function in the same manner as the program blocks 10, 20, 30, and 40.
  • the program icons (icons) 60, 70, 80 displayed in the first area 6 of the monitor 5 are selected by the input unit 3 and selected in the second area 7. Place the program icons 60 and 80. Then, when the Code icon 80 is selected as the program icon that is the editable program icon (editable program element), a window (third display unit) 50 that displays the contents in the vicinity of the selected Code icon 80 is displayed. Display in a pop-up. Further, as shown in FIG. 7, when the Code icon 80 arranged in the second area 7 is selected, the Code icon 80, which is an editable program icon, may be enlarged and displayed in the area of the first area 6. good.
  • a first region 6 for arranging the program blocks 10, 20, 30, and 40 and a third region 8 different from the second region 7 for forming the control program are provided on the monitor 5. It was decided to display the contents of the editable program block when it was selected. Instead, when the CODE block 40, which is an editable program block, is selected as shown in FIG. 8, the selected CODE block 40, which is an editable program block, is enlarged and displayed in the second area 7. A window (third display unit) for displaying the contents may be formed inside the program. The selected program block 40 is indicated by a thick line.
  • a window (third display unit) 50 for displaying the contents thereof is pop-up displayed in the vicinity of the selected editable program block 40. You may. Since it is not necessary to provide the third area 8 on the monitor 5 by the enlarged display of the editable program block 40 or the pop-up display of the window 50, a wide display area of the first area 6 and the second area 7 should be secured. Can be done.
  • the executed program block 40 becomes another program block. It may be displayed so as to be identifiable by a display mode different from that of 10 and 40. Examples of the identifiable display mode include highlight display, underlined display, framed display, and display with different display colors.
  • the program block 40 being executed is an editable program block
  • it may include a fourth area (fourth display unit) 9 for displaying the contents of the editable program block 40.
  • FIG. 10 shows a case where the fourth region 9 is common to the third region 8, but it may be provided separately.
  • the instruction executed in the content displayed in the fourth area 9 is displayed so as to be distinguishable from other instructions. May be good. This makes it possible to visually confirm the program block 40 and / or the instruction being executed.

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Stored Programmes (AREA)
PCT/JP2020/021601 2020-06-01 2020-06-01 ロボットのプログラミング装置 Ceased WO2021245746A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN202080101554.4A CN115697646A (zh) 2020-06-01 2020-06-01 机器人的编程装置
PCT/JP2020/021601 WO2021245746A1 (ja) 2020-06-01 2020-06-01 ロボットのプログラミング装置
US17/928,387 US12346672B2 (en) 2020-06-01 2020-06-01 Robot programming device
DE112020006874.9T DE112020006874T5 (de) 2020-06-01 2020-06-01 Roboterprogrammierungsvorrichtung
JP2022529146A JPWO2021245746A1 (https=) 2020-06-01 2020-06-01

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/021601 WO2021245746A1 (ja) 2020-06-01 2020-06-01 ロボットのプログラミング装置

Publications (1)

Publication Number Publication Date
WO2021245746A1 true WO2021245746A1 (ja) 2021-12-09

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PCT/JP2020/021601 Ceased WO2021245746A1 (ja) 2020-06-01 2020-06-01 ロボットのプログラミング装置

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US (1) US12346672B2 (https=)
JP (1) JPWO2021245746A1 (https=)
CN (1) CN115697646A (https=)
DE (1) DE112020006874T5 (https=)
WO (1) WO2021245746A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023162164A1 (ja) * 2022-02-25 2023-08-31 三菱電機株式会社 教示支援装置、作業システム、教示支援方法および教示支援プログラム

Citations (5)

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JPH04507022A (ja) * 1989-10-17 1992-12-03 アプライド　バイオシステムズ　インコーポレイテッド ロボットインターフェース
JPH08249026A (ja) * 1995-03-10 1996-09-27 Fanuc Ltd ロボットを含むシステムのプログラミング方法
JP2003067007A (ja) * 2001-08-27 2003-03-07 Mitsubishi Electric Corp エンジニアリングツール及びエンジニアリングシステム
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JPH04507022A (ja) * 1989-10-17 1992-12-03 アプライド　バイオシステムズ　インコーポレイテッド ロボットインターフェース
JPH08249026A (ja) * 1995-03-10 1996-09-27 Fanuc Ltd ロボットを含むシステムのプログラミング方法
JP2003067007A (ja) * 2001-08-27 2003-03-07 Mitsubishi Electric Corp エンジニアリングツール及びエンジニアリングシステム
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023162164A1 (ja) * 2022-02-25 2023-08-31 三菱電機株式会社 教示支援装置、作業システム、教示支援方法および教示支援プログラム
JPWO2023162164A1 (https=) * 2022-02-25 2023-08-31
JP7506180B2 (ja) 2022-02-25 2024-06-25 三菱電機株式会社 教示支援装置、作業システム、教示支援方法および教示支援プログラム

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JPWO2021245746A1 (https=) 2021-12-09
US20230099469A1 (en) 2023-03-30
DE112020006874T5 (de) 2022-12-29
US12346672B2 (en) 2025-07-01
CN115697646A (zh) 2023-02-03

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