WO2023203694A1 - ロボットシステム、教示操作盤及びプログラム - Google Patents

ロボットシステム、教示操作盤及びプログラム Download PDF

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Publication number
WO2023203694A1
WO2023203694A1 PCT/JP2022/018323 JP2022018323W WO2023203694A1 WO 2023203694 A1 WO2023203694 A1 WO 2023203694A1 JP 2022018323 W JP2022018323 W JP 2022018323W WO 2023203694 A1 WO2023203694 A1 WO 2023203694A1
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WO
WIPO (PCT)
Prior art keywords
robot
image data
screen
information screen
control device
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/JP2022/018323
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English (en)
French (fr)
Japanese (ja)
Inventor
聖 吉野
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 JP2024515980A priority Critical patent/JPWO2023203694A1/ja
Priority to CN202280094753.6A priority patent/CN119032002A/zh
Priority to DE112022006598.2T priority patent/DE112022006598T5/de
Priority to US18/855,641 priority patent/US20250249578A1/en
Priority to PCT/JP2022/018323 priority patent/WO2023203694A1/ja
Priority to TW112114321A priority patent/TW202342251A/zh
Publication of WO2023203694A1 publication Critical patent/WO2023203694A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Prevention of errors by analysis, debugging or testing of software
    • G06F11/3604—Analysis of software for verifying properties of programs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/26—Visual data mining; Browsing structured data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
    • G06F7/06—Arrangements for sorting, selecting, merging, or comparing data on individual record carriers
    • G06F7/20—Comparing separate sets of record carriers arranged in the same sequence to determine whether at least some of the data in one set is identical with that in the other set or sets
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50104—Before restarting program, restore machine status existing at stop time

Definitions

  • the present invention relates to a robot system, a teaching pendant, and a program.
  • a technique is known in which a backup file of a robot control device that controls a robot device is saved in an external storage device (for example, Patent Document 1).
  • an external storage device for example, Patent Document 1
  • various information related to controlling the robot device such as configuration information about the robot device, configuration information regarding network communication with other devices, and robot device programs, is saved as a backup file in binary or text format. be done.
  • the backup file is an electronic file, a copy thereof can be saved in an external storage device such as a USB memory or a network server.
  • the state of the robot control device can be returned to the state at the time the backup file was created. can. Therefore, backup has become an important mechanism in recent years as the amount of information handled has increased.
  • backup does not save all data held by the robot control device; for example, backup files include information temporarily stored in memory such as cache files, and highly secure information such as passwords. Because some information is not included in the backup file, even if you restore the software state of the robot controller using the backup file, the restored software state may not be completely the same as it was at the time the backup file was created. . Therefore, the operator needs to confirm whether the state of the software restored using the backup file is the same as the state at the time the backup file was created. For example, if the software is for controlling a robot device, the operator can check the status of the control software after restoration by visually checking all the screens displayed on the teaching pendant by the control software. can be grasped.
  • a robot system includes a robot, a control device that controls the robot, and a teaching pendant connected to the control device.
  • the control device has means for storing information regarding control of the robot and means for generating data regarding an information screen for displaying the stored information.
  • the teaching pendant includes a display means for displaying an information screen, a storage means for storing the displayed information screen as an image data file by associating the save date and time, and a comparison means for comparing two image data files having different save dates and times.
  • FIG. 1 is a diagram showing an example of a robot system according to the first embodiment.
  • FIG. 2 is a configuration diagram of the control device and teaching operation panel of FIG. 1.
  • FIG. 3 is a diagram showing a hierarchical structure of control sites stored in the control device of FIG. 1.
  • FIG. 4 is a diagram showing a state in which the web page A1 of FIG. 3 is displayed on the teaching pendant.
  • FIG. 5 is a diagram showing a state in which the web page B1 of FIG. 3 is displayed on the teaching pendant.
  • FIG. 6 is a diagram showing a state in which the web page B2 of FIG. 3 is displayed on the teaching pendant.
  • FIG. 7 is a flowchart showing a general procedure of screen saving processing executed on the teaching pendant shown in FIG. FIG.
  • FIG. 8 is a flowchart showing the detailed procedure of the screen saving process shown in FIG.
  • FIG. 9 is a flowchart showing the procedure of comparison processing executed on the teaching pendant shown in FIG.
  • FIG. 10 is a diagram showing an example of a display screen of comparison results in the comparison process of FIG. 9.
  • FIG. 11 is a diagram showing a hierarchical structure of a plurality of information screens stored in the control device of the robot system according to the second embodiment.
  • FIG. 12 is a diagram showing the initial screen of the teaching pendant of the robot system according to the second embodiment.
  • FIG. 13 is a diagram showing a top menu displayed on the teaching pendant by a specific operation on the initial screen of FIG. 12.
  • FIG. 14 is a diagram showing a state in which a specific menu is selected in the top menu of FIG. 13.
  • FIG. 13 is a diagram showing a state in which a specific menu is selected in the top menu of FIG. 13.
  • FIG. 15 is a diagram showing an information screen that changes when a specific menu is selected in FIG. 14.
  • FIG. 16 is a diagram showing an example of an information screen that transitions from the information screen of FIG. 15.
  • FIG. 17 is a diagram showing another example of the information screen that transitions from the information screen of FIG. 15.
  • FIG. 18 is a flowchart showing a general procedure of screen saving processing executed on the teaching pendant of the robot system according to the second embodiment.
  • the information screen for controlling the robot device provided by the robot device control software is restored using a backup file
  • the information screen after restoration is returned to the state at a predetermined point in time before restoration. It is configured to support confirmation work by a small number of workers.
  • the information screen is provided by a web page.
  • the robot system 1 As shown in FIG. 1, the robot system 1 according to the first embodiment includes a robot device 20, a control device 10 that controls the robot device 20, and a teaching pendant 30 connected to the control device 10.
  • the control device 10 is a computing device in which a memory 12, a communication device 13, a storage device 14, etc. are connected to a processor 11 such as a CPU via a data/control bus.
  • the control device 10 also includes a power supply unit 15 that supplies power to a teaching pendant 30 connected to the control device 10 by wire.
  • the processor 11 controls the control device 10 in an integrated manner.
  • Memory 12 functions as a workspace for processor 11.
  • the communication device 13 sends and receives various information to and from the teaching pendant 30 .
  • the storage device 14 includes an HDD, SSD, etc.
  • the storage device 14 stores various information related to control of the robot device 20.
  • the various information includes information regarding a website for controlling the robot device 20 (hereinafter simply referred to as a control site) and various setting data input by the user via the website.
  • the information regarding the control site includes data of a plurality of HTML files that respectively correspond to a plurality of Web pages that make up the control site, icon data that makes up the Web pages, image data, and the like.
  • the various information includes an operation program for the robot device 20, configuration data regarding the network, configuration data regarding I/O, configuration data regarding peripheral devices, and the like.
  • the storage device 14 stores a management program for the control site.
  • the control device 10 reads out the html file corresponding to the requested web page in response to a request to obtain a web page from the teaching pendant 30, and the read html file.
  • Various setting data stored in the storage device 14 are written in the HTML file, and data of the constructed HTML file is sent to the teaching pendant 30. That is, the control device 10 uses various information stored in the storage device 14 to generate data for an information screen for displaying the various information.
  • the control site is composed of multiple web pages in a tree structure. As shown in FIG. 3, for example, the control site has a three-layer structure, with Web page A1 in the first layer, Web pages B1, B2, B3, B4 in the second layer, and Web page C1 in the third layer. , C2. Web page A1 corresponding to the first hierarchy is also called a top page. As shown in FIG. 4, the top page A1 displays four buttons B1, B2, B3, and B4 to which four Web pages B1, B2, B3, and B4 are linked, respectively. That is, the html file corresponding to the top page A1 describes four hyperlink tags that are instructions for transitioning to Web pages B1, B2, B3, and B4, respectively. The four hyperlinks each refer to four URLs. As shown in FIG. 3, for example, the control site has a three-layer structure, with Web page A1 in the first layer, Web pages B1, B2, B3, B4 in the second layer, and Web page C1 in the third layer. , C2. Web page A1 corresponding to the first hierarchy is
  • buttons C1 and C2 to which two Web pages C1 and C2 are linked, respectively, are displayed on the second layer Web page B1. That is, in the html file corresponding to Web page B1, two hyperlink tags corresponding to two Web pages C1 and C2 are described. The two hyperlinks each refer to two URLs. In this way, by following the links included in each page that makes up the control site, it is possible to identify all the web pages A1, B1, B2, B3, B4, C1, and C2 that make up the control site. .
  • the teaching pendant 30 has a memory 32, a communication device 33, a storage device 34, an operating device 36, a display device 37, etc. connected to a processor 31 such as a CPU via a data/control bus. It is a computing device.
  • the teaching pendant 30 is a device specially designed for a control device, and includes a power supply unit 35 that receives power from the control device 10 connected by wire.
  • the processor 31 controls the control device 10 in an integrated manner.
  • Memory 32 functions as a workspace for processor 31.
  • the communication device 33 sends and receives various information to and from the teaching pendant 30 .
  • the operating device 36 has buttons, switches, jogs, etc.
  • the teaching pendant 30 may include a touch panel or the like that serves as both the operating device 36 and the display device 37. The operator can input various information to the teaching pendant 30 by operating the operating device 36.
  • the display device 37 includes an LCD or the like.
  • the display device 37 displays various pages related to control of the robot device 20. html files that serve as sources for various pages are provided from the control device 10.
  • the storage device 34 includes an HDD, SSD, etc.
  • the storage device 34 stores a browser, a storage program, a comparison program, a backup program, and the like.
  • the storage program and the comparison program may be written in a single program instead of being separate.
  • the teaching pendant 30 can analyze an HTML file and display a web page.
  • the teaching pendant 30 can execute a screen save process, which will be described later.
  • the save folder generated by the screen save process is stored in the storage device 34.
  • the comparison program stored in the storage device 34 by the processor 31 the teaching pendant 30 can execute a comparison process to be described later.
  • the teaching pendant 30 creates a backup file that compiles various data constituting the control site managed by the control device 10. .
  • the created backup file is stored in the storage device 34.
  • the teaching pendant 30 receives an instruction to start the screen saving process from the operator (S11), it displays a screen to notify the operator of the start of the screen saving process (S12). , executes the screen saving process shown in FIG. 8 (S13).
  • a screen for notifying the operator of the completion of the screen saving process is displayed (S14), and all steps of the screen saving process are completed.
  • the teaching pendant 30 creates a folder (save folder) in which the image data file is saved (S21), and also corresponds to the top page of the control site.
  • html file is requested from the control device 10
  • the HTML file received from the control device 10 is analyzed, and the top page is displayed (S22).
  • a save date and time is associated with the save folder and stored in the teaching pendant 30.
  • the folder name of the save folder is initially set to be the time when the screen save process was executed (the save date and time).
  • the storage folder is stored in a folder provided for each robot device 20 to be controlled.
  • the teaching pendant 30 searches for hyperlinks included in the currently displayed web page (S23).
  • a hyperlink can be specified by a hyperlink tag written in an html file corresponding to the web page being displayed.
  • the teaching pendant 30 records the URL referred to by the hyperlink specified in step S23 (S24).
  • the URL recorded in step S24 includes a save flag for identifying whether the screen image of the web page corresponding to the URL has been saved as an image data file, and a hyperlink for the web page corresponding to the URL.
  • a search flag for identifying whether or not the search process has been executed is attached.
  • the save flag is initially set to the unsaved code, and the search flag is initially set to the unsearched code.
  • step S24 is completed, the search flag of the URL of the currently displayed web page is updated to a searched code indicating that the search has been completed (S25).
  • the teaching pendant 30 saves the image data file of the web page corresponding to the URL recorded in step S24 in the storage folder. Specifically, the teaching pendant 30 identifies a URL whose save flag is an unsaved code among the URLs recorded in step S24, requests the control device 10 to provide the specified web page (S27), The requested web page is received from the control device 10 (S28), and the received web page is displayed (S29).
  • step S30 bitmap data of the screen of the teaching pendant 30 is saved in memory, and the saved bitmap data is converted to a predetermined size and converted into an image data file having a predetermined format. converted. Attribute information such as save date and time is added to the image data file.
  • the name of the image data file is initially set to be a URL so that the source web page of the image data file can be specified.
  • the teaching pendant 30 updates the save flag of the URL corresponding to the currently displayed Web page to the saved code (S32).
  • step S27 to step S32 are repeatedly executed until the save flags of all URLs recorded in step S24 are updated to saved codes (S26; Yes).
  • the save flags of all the URLs recorded in step S24 are updated to saved codes (S26; No)
  • the teaching pendant 30 selects the URLs whose search flags are unsearched codes among the URLs recorded in step S24.
  • the control device 10 requests the control device 10 to provide a Web page corresponding to the request (S34), receives the requested Web page from the control device 10 (S35), and displays the received Web page (S36).
  • step S23 which includes a search process for hyperlinks included in the currently displayed web page, a process for recording new URLs referred to by the hyperlinks, and a process for recording web pages corresponding to all newly recorded URLs.
  • the process of capturing the display screen and the process of saving the captured image data file are sequentially executed.
  • the save flags of all URLs newly recorded in step S24 are updated to saved codes, and the search flags are updated to searched codes. It is repeatedly executed until (S33; Yes).
  • the save flags of all the URLs recorded in step S24 are updated to saved codes and the search flags are updated to searched codes (S33; No)
  • the screen save process is ended.
  • the process is as follows. That is, through the process of step S24 in the first round, four URLs corresponding to four Web pages B1, B2, B3, and B4 linked to top page A1 are recorded. At this point, the save flag of each of the four URLs is set to an unsaved code, and the search flag is set to an unsearched code.
  • step S32 of the second round among the six recorded URLs, the search flag of each of the five URLs except the URL corresponding to Web page B1 is an unsearched code, so the five URLs are The third cycle of processes S23 to S32 is executed for the web page B2 corresponding to one of the URLs. Since no hyperlink is set for web page B2, there is no new URL to be recorded, and the save flags of the six URLs that have already been recorded are saved codes, so the URL corresponding to web page B2 is The search flag is updated to the searched code.
  • the search flags of each of the four URLs are unsearched codes. be.
  • Web page B2 no hyperlinks are set in the four Web pages B3, B4, C1, and C2 corresponding to the four URLs, respectively. Therefore, the same process as that executed for web page B2 is executed for web pages B3, B4, C1, and C2, and as a result, the search flag for each of the six recorded URLs is searched.
  • the code will be updated to the completed code, and the screen save process will end.
  • a plurality of image data files corresponding to the plurality of web pages B1, B2, B3, B4, C1, and C2 arranged under the top page of the control site are saved in the save folder. .
  • the comparison program compares two image data files with the same URL but different save dates and times, and displays two images (screens) created by expanding the two image data files, with the display format of the different portions shaded. , has a function of displaying the parts side by side in a different manner from the display mode of the parts with no difference by filling them out or the like. This will be explained in detail below.
  • the teaching pendant 30 receives from the operator the designation of two storage folders with different storage dates and times to be compared (S41).
  • the save folder with the newer save date and time is created by executing screen save processing on the control site after restoring the control site using a backup file
  • a storage folder with an old storage date and time is created by executing screen storage processing for a control site in a normal state.
  • the teaching pendant 30 reads one image data file from the new storage folder of the two received storage folders, and transfers the image data file whose file name matches the image data file read from the new storage folder to the old storage folder.
  • the two read image data files are compared (S42). Since the file name is the URL of the source web page of the image data file, in the process of step S42, two image data files with different save dates and times for the same web page are compared, and the presence or absence of a difference is identified. . Any method can be used for the comparison. For example, it is possible to determine whether there is a difference between two image data files based on the pixel values of all pixels constituting the image data files.
  • step S43; Yes When there is a difference between the two image data files (S43; Yes), the file name (URL) of the image data file with the difference is recorded (S44).
  • the processes from step S42 to step S44 are repeatedly executed until comparison of all image data files is completed (S45; Yes).
  • S45; No When the comparison of all the image data files is completed (S45; No), the two image data files in which a difference was found as a result of the comparison are displayed on the teaching pendant 30 (S46). Note that if there is a difference in the number of image data files contained in the two read storage folders, this fact is displayed on the teaching pendant 30 as a comparison result.
  • the teaching pendant 30 displays a URL in which a difference is found, and two image data files with different save dates and times corresponding to the URL are expanded.
  • Two images are displayed side by side.
  • an image with a new storage date and an old image are displayed side by side, and a portion where a difference is found is highlighted by shading, filling, etc. in a display mode different from that of a portion with no difference.
  • tapping the 'Next' button two image data files with different save dates and times corresponding to the linked URL are expanded and the two images are displayed side by side.
  • the robot system 1 saves an image data file created by capturing the screen of a web page actually displayed on the teaching pendant 30, and saves a web page having the same URL. It is characterized by comparing two image data files saved for a page with different save dates and times.
  • the teaching pendant 30 compares two image data files with different save dates and times that were saved for a web page with the same URL, and as shown in FIG. Files can be arranged and displayed to show the extent to which differences are detected. The operator can visually check only the two image data files in which a difference has been detected, and check whether the control site restored by the backup file has been returned to the state at the time the backup file was acquired. Even if the operator finds out that the control site after restoration has not been returned to the state at the time the backup file was obtained, if the difference does not pose a problem for using the web page, the operator can continue to use the control site as is. Just use the site.
  • the teaching pendant 30 does not display two image data files corresponding to the same URL that are determined to have no difference through the comparison process, thereby reducing the number of image data files that the operator must check. can. Thereby, it is possible to reduce the labor required for confirmation work by the operator. Further, on the teaching pendant 30, as shown in FIG. 10, portions where differences are found in the comparison results are highlighted and displayed. This also contributes to further reducing the labor required for confirmation work by the operator. On the screen shown in FIG. 10, by tapping the 'Next' button, the operator can successively check two image data files corresponding to the same URL in which a difference has been found. Thereby, the time required for confirmation work by the operator can be shortened.
  • all the web pages constituting the control site are searched by following hyperlinks, and image data files of the display screens of all the searched web pages are saved. It can be saved as .
  • the comparison process does not compare the image data file saved after restoration with a reference image data file that has been saved in advance, but rather compares two images with different save dates and times saved by the screen save process. Compare data files. As a result, it is possible to flexibly respond to situations where the number of Web pages constituting the control site increases or decreases or the URL changes due to customization or the like.
  • the teaching pendant 30 constituting the robot system 1 according to the present embodiment was a device designed exclusively for the control device 10.
  • the teaching pendant 30 may be provided by a general-purpose information processing device such as a PC, a tablet, or a smartphone, which has a calculation function, a communication function, an operation function, and a display function.
  • the teaching pendant 30 is a concept that includes a general-purpose information processing device.
  • the robot system 1 can be applied to other systems as well.
  • the robot device 20 in this embodiment can be an industrial machine such as a machine tool, an injection molding machine, or other CNC (Computer Numerical Control) controlled machine, and the storage target is a control site for the industrial machine. I can do it.
  • the machine tools include cutting machines, electrical discharge machines, laser processing machines, ultra-precision processing machines, and the like.
  • the CNC-controlled machines include a forging machine, a conveying device, a stocker, a cloth cutting machine, and the like.
  • the teaching pendant 30 has a function of executing a comparison process, and as shown in FIG. 10, can display side by side only two image data files with different save dates and times corresponding to URLs for which a difference has been found. .
  • Two image data files with different save dates and times corresponding to the URL may be displayed side by side.
  • the teaching pendant 30 does not need to have the function of executing the comparison process.
  • tapping the 'Next' button displayed on the teaching operation panel 30 the operator can check whether there are any differences between two image data files with different save dates and times while switching the URL, so the operator can continue the work. It is possible to shorten the time required for confirmation work by personnel.
  • a Web page may include text and images whose display contents, such as date and time, may change. From the viewpoint of reducing the effort required for visual confirmation by the operator, a range in which, for example, date and time, etc., are written, and which are known to change in advance on a Web page, should be excluded from the comparison process. Therefore, it is desirable that the teaching pendant 30 has a function of accepting in advance from the operator the range in which the comparison process is not to be performed on the displayed Web page.
  • the storage folder is stored in the teaching pendant 30.
  • the teaching pendant 30 connected to the control device 10 may be changed, it is desirable that the storage folder is also stored in at least one of the control device 10 and an external storage device.
  • the storage folder may be stored in an external storage device such as a USB memory or a server device.
  • the screen saving process is started according to the operator's instructions.
  • the screen saving process may be automatically executed at any timing.
  • the screen saving process is automatically executed before and after receiving a backup execution instruction, or before and after some update of software, OS, etc. is executed on at least one of the control device 10 and the teaching pendant 30.
  • the screen saving process may be executed periodically at predetermined intervals such as one month.
  • the teaching pendant 30 identified all the web pages that make up the control site by following the hyperlinks on the top page of the control site. However, it is assumed that the URL of the web page of the control site will not be changed, that no new web page will be added to the control site, and that any one of the multiple web pages that make up the control site will not be deleted. Then, each time the screen saving process is executed, the teaching pendant 30 identifies all the web pages that make up the control site, instead of following hyperlinks to identify all the web pages that make up the control site. URL information may be held in advance. Of course, the above assumptions may be violated, so from the perspective of certainty, it is recommended to follow hyperlinks and identify all the web pages that make up the control site every time you execute the screen save process. is dominant.
  • the robot system according to the second embodiment will be described below with reference to FIGS. 11 to 18.
  • the main difference between the first embodiment and the second embodiment is that the format of the information screen provided from the control device 10 to the teaching pendant 30 is different. Therefore, the description of the second embodiment will focus on this difference.
  • the storage device 14 of the control device 10 stores data on a plurality of information screens created on the provider's own platform instead of information regarding the control site.
  • a unique identifier for identifying each information screen is associated with the information screen data.
  • the name of the data file on the information screen may be an identifier.
  • An identifier is a unique character string that does not overlap with other identifiers.
  • the information screen corresponds to the web page in the first embodiment, and the identifier corresponds to the URL in the first embodiment.
  • the source file of the information screen includes screen processing for transitioning to another information screen.
  • the screen processing includes the identifier of the transition destination information screen.
  • FIG. 12 shows the initial screen displayed on the teaching pendant 30.
  • the display device 37 displays a top menu of a series of information screens related to robot control, as shown in FIG.
  • the top menu is a so-called pop-up menu that is displayed overlappingly to cover the currently displayed screen.
  • FIG. 14 when "I/O" and “Digital” are selected and determined in order on the top menu, the display changes to the "I/O digital output screen" as shown in FIG. 15.
  • the screen displayed on the display device 37 can be changed to all of the multiple information screens by the operation on the top menu shown in FIG. 14 and the operation on the "I/O digital output screen" shown in FIG. can be done.
  • the relationship between the plurality of information screens shown in FIGS. 14 to 17 can be expressed as a tree structure with the top menu as the "root" as shown in FIG. 11.
  • Screen transitions are realized by "screen processing" of information screen drawing software installed on the teaching pendant 30.
  • Screen processing is processing for drawing and controlling information screens corresponding to items selected on each information screen.
  • the drawing software draws an information screen on the display device 37 of the teaching pendant 30 using text data and image data provided from the control device 10.
  • the content drawn by screen processing is determined by one or a combination of the following.
  • the drawing software displays the determined drawing contents on the display device 37 without any processing or after processing.
  • screen processing is such that when a specific information screen is displayed, a specific key operation on the operating device 36 of the teaching pendant 30 A specific touch operation is performed on the display device 37 of the teaching pendant 30, or a combination of a key operation and a touch operation is performed.
  • the specific key operation includes any of the following or a combination thereof. - One key on the operating device 36 is pressed once or multiple times in succession. - A plurality of keys on the operating device 36 are pressed in a specific order.
  • the specific touch operation includes any of the following or a combination thereof. - A specific location on the display device 37 constituted by a touch panel is touched once or multiple times in succession. - A plurality of locations on the display device 37 constituted by a touch panel are touched in a specific order.
  • the screen saving process in the second embodiment will be described below with reference to FIG. 18. As shown in FIG. 18, the screen saving process in the second embodiment is different from the screen saving process in the first embodiment described with reference to FIG. ” respectively. Therefore, the description of FIG. 18 will be brief.
  • the teaching pendant 30 creates a saving folder (S51) and displays the top menu (S52).
  • the search flag of the identifier of the information screen being displayed is updated to a searched code indicating that the search has been completed (S55).
  • the teaching pendant 30 specifies the identifier whose save flag is an unsaved code among the identifiers recorded in step S54, and requests the control device 10 to provide an information screen corresponding to the specified identifier (S57 ), receives the requested information screen from the control device 10 (S58), and displays it (S59). Then, the displayed information screen is captured, an image data file having a predetermined format is created (S60), and the created image data file is saved in a storage folder (S61). The teaching pendant 30 updates the save flag of the identifier corresponding to the information screen being displayed to the saved code (S62).
  • step S57 to step S62 are repeatedly executed until the save flags of all the identifiers recorded in step S54 are updated to saved codes (S56; Yes).
  • the teaching pendant 30 selects the identifiers whose search flags are unsearched codes among the identifiers recorded in step S54.
  • the control device 10 requests the control device 10 to provide an information screen corresponding to (S64), receives the requested information screen from the control device 10 (S65), and displays the received information screen (S66).
  • step S53 where the screen processing included in the source file of the information screen being displayed is extracted, the identifiers transitioned by the screen processing are recorded, and the information screen corresponding to all newly recorded identifiers is recorded.
  • the capture process and the save process of the captured image data file are sequentially executed.
  • the save flags of all identifiers newly recorded in step S54 are updated to saved codes, and the search flags are updated to searched codes.
  • the process is repeated until (S63; Yes).
  • the save flags of all the identifiers recorded in step S54 are updated to saved codes and the search flags are updated to searched codes (S63; No)
  • the screen save process is ended.
  • the process of saving the information screen included in the second level below the first level is executed, and then the next level is saved. Then, the information screen included in the third layer below the second layer is saved. In other words, the process of saving information screens was performed in order from the upper level.
  • the method is not limited to the first and second embodiments.
  • the process may be performed sequentially from the root node toward the leaf nodes, and when the leaf node is reached, the processing may be performed again sequentially from the root node toward other leaf nodes.

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PCT/JP2022/018323 2022-04-20 2022-04-20 ロボットシステム、教示操作盤及びプログラム Ceased WO2023203694A1 (ja)

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JP2024515980A JPWO2023203694A1 (https=) 2022-04-20 2022-04-20
CN202280094753.6A CN119032002A (zh) 2022-04-20 2022-04-20 机器人系统、示教操作盘及程序
DE112022006598.2T DE112022006598T5 (de) 2022-04-20 2022-04-20 Robotersystem, Programmierhandgerät und Programm
US18/855,641 US20250249578A1 (en) 2022-04-20 2022-04-20 Robot system, teach pendant, and program
PCT/JP2022/018323 WO2023203694A1 (ja) 2022-04-20 2022-04-20 ロボットシステム、教示操作盤及びプログラム
TW112114321A TW202342251A (zh) 2022-04-20 2023-04-18 機器人系統、教示操作盤及程式

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JP2020082273A (ja) * 2018-11-26 2020-06-04 キヤノン株式会社 画像処理装置およびその制御方法、プログラム

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JP2020082273A (ja) * 2018-11-26 2020-06-04 キヤノン株式会社 画像処理装置およびその制御方法、プログラム

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TW202342251A (zh) 2023-11-01

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