WO2024116261A1 - プログラム生成装置、方法およびプログラム - Google Patents

プログラム生成装置、方法およびプログラム Download PDF

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Publication number
WO2024116261A1
WO2024116261A1 PCT/JP2022/043895 JP2022043895W WO2024116261A1 WO 2024116261 A1 WO2024116261 A1 WO 2024116261A1 JP 2022043895 W JP2022043895 W JP 2022043895W WO 2024116261 A1 WO2024116261 A1 WO 2024116261A1
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WO
WIPO (PCT)
Prior art keywords
area
symbol
icon
parameter
storage 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/JP2022/043895
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English (en)
French (fr)
Japanese (ja)
Inventor
佑典 栗原
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
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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 DE112022007596.1T priority Critical patent/DE112022007596T5/de
Priority to PCT/JP2022/043895 priority patent/WO2024116261A1/ja
Priority to JP2024561004A priority patent/JPWO2024116261A1/ja
Priority to CN202280099722.XA priority patent/CN120202092A/zh
Priority to TW112144163A priority patent/TW202422253A/zh
Publication of WO2024116261A1 publication Critical patent/WO2024116261A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • 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
    • G05B2219/40099—Graphical user interface for robotics, visual robot user interface
    • 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 program generation device, method, and program.
  • a robot's operation program can be generated by listing multiple icons in the creation area. For icons copied to the creation area, the user can set the parameters of the function represented by the icon in the status window provided for the icon.
  • One aspect of the present disclosure is a program generation device that includes at least one processor, at least one storage device, a display, and an input device, and in which the processor reads from the storage device at least one motion symbol containing information related to a motion command for a robot that has been registered in advance in the storage device and displays the motion symbol in a first area of the display, generates a motion program by duplicating one or more motion symbols selected from the motion symbols displayed in the first area in a second area of the display and arranging them in chronological order, generates a parameter-attached motion symbol by inputting, via the input device, parameters of a function represented by any one of the motion symbols selected from the motion symbols displayed in the first area or the second area, and registers the generated parameter-attached motion symbol in the storage device as one of the motion symbols.
  • FIG. 1 is a diagram illustrating an example of a robot system to which a program generation device according to a first embodiment of the present disclosure is applied.
  • FIG. 2 is a block diagram showing the program generating device of FIG. 1;
  • 3 is a diagram showing an example of a display on a display in the program generating device of FIG. 2.
  • 3 is a diagram showing an example of a parameter setting area and a name setting area displayed on a display in the program generating device of FIG. 2.
  • 3 is a diagram showing an example of an icon with parameters copied in a selection area in the program generating device of FIG. 2;
  • FIG. 3 is a diagram showing a state in which an icon with parameters is copied to favorites in the program generation device of FIG. 2.
  • FIG. 2 is a block diagram showing the program generating device of FIG. 1
  • 3 is a diagram showing an example of a display on a display in the program generating device of FIG. 2.
  • 3 is a diagram showing an example of a parameter setting area and a name
  • FIG. 4 is a flowchart illustrating a program generation method according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram showing a modified example of the display in the program generating device of FIG. 2.
  • FIG. 5 is a diagram in which check boxes for selecting parameters to be registered in the parameter setting area of FIG. 4 are added.
  • FIG. 11 is a diagram illustrating a display example of a display for explaining a program generation device according to a second embodiment of the present disclosure. 11 is a diagram showing a state in which a plurality of icons in the creation area of FIG. 10 are duplicated in a selection area to generate duplicate icons;
  • FIG. 11 is a diagram showing an example of a name input area for inputting a name to the copy icon in FIG. 10 .
  • FIG. 11 is a diagram showing an example of a display for confirming the contents of the duplication icon in FIG. 10 .
  • FIG. 11 is a diagram showing an example of a display for confirming whether or not to maintain parameters when the icon for duplication in FIG. 10 is duplicated in a creation area;
  • a program generating device 1, a method, and a program according to a first embodiment of the present disclosure will be described below with reference to the drawings.
  • a program generating device 1 according to this embodiment is applied to a robot system 20 including a robot 10 and a control device 11 that controls the robot 10.
  • the robot 10 is, for example, a vertical six-axis articulated robot, and is driven in response to a control signal output from the control device 11.
  • the robot 10 is not limited to a vertical six-axis articulated robot, but may be a horizontal articulated robot, a linear motion robot, or any other type of robot.
  • the control device 11 reads out an operation program stored in the storage device 3 described below, generates a control signal based on the read operation program, and outputs it to the robot 10.
  • the operation program is a program for operating the robot 10, and is command data that includes one or more operation commands.
  • the program generation device 1 is a device that creates an operation program in response to operations by a user.
  • the creation of an operation program includes the creation of a new operation program as well as the editing of an existing operation program.
  • the program generation device 1 includes at least one processor 2, at least one storage device 3, a display 4, and an input interface (input device) 5.
  • Processor 2 may be any processing device such as a CPU or an MPU. In addition, some of the processing performed by processor 2 may be realized by a dedicated logic circuit or hardware.
  • the storage device 3 includes at least one of a semiconductor memory such as a random access memory (RAM) or a read-only memory (ROM), and a storage device using a storage medium such as a hard disc drive (HDD) or an optical disc.
  • the display 4 is configured with a liquid crystal display, an organic EL display, etc.
  • the input interface 5 is configured with a touch panel device, a keyboard, a mouse, etc.
  • the program generation device 1 may be a dedicated teaching device such as a teaching operation panel provided in the control device 11, or may be a general-purpose computer or tablet terminal on which a program generation program is installed.
  • the program generation device 1 stores at least one operation symbol including information related to an operation command for the robot 10 that has been registered in advance in the storage device 3.
  • the operation symbol is, for example, various icons I that represent various operation commands for the robot 10 (hereinafter, referred to as icons).
  • the operation commands include a linear movement command, a circular movement command, an operation command for a tool attached to the tip of the robot 10, etc.
  • parameters for a movement command include the target position, intermediate positions, and movement speed.
  • the processor 2 reads out the icon I stored in the storage device 3 from the storage device 3 and displays it in a selection area (first area) A of the display 4 so that it can be selected by the user.
  • the user can select any of the icons I displayed in the selection area A using the input interface 5.
  • the user can select an icon I by using a touch panel or by using a mouse or the like to position a cursor displayed on the display 4.
  • the processor 2 duplicates the dragged icon I. Then, when the user moves the dragged icon I to the creation area B of the display 4 and drops it, the processor 2 places the icon I in the vicinity of the position where it was dropped within the creation area B.
  • the position where icon I is dropped within creation area B does not have to be precise; if it is dropped into any empty space within creation area B, icon I will be arranged, for example, left-justified in creation area B. Also, if other icons I are already arranged within creation area B, the arrangement of the new icon I will be determined based on the relative positional relationship with those icons I. For example, if two icons I are arranged within creation area B, dropping a new icon I into creation area B near the middle of the existing icons I will place the new icon I between the two existing icons I.
  • the user can use the input interface 5 to select any of the icons I displayed in the creation area B.
  • the processor 2 displays a parameter setting area C on the display 4.
  • the parameter setting area C may be displayed as a pop-up at any position on the display 4, for example, or may be displayed in place of the selection area A as shown in FIG. 4.
  • the processor 2 associates the input parameters with the selected icon I on the creation area B and stores them in the storage device 3.
  • the processor 2 can arrange a plurality of icons I horizontally within the creation area B, for example, along a timeline that is set from left to right within the creation area B.
  • the processor 2 generates an operating program in which the icons I are arranged in chronological order along the timeline.
  • the processor 2 also displays an icon deletion mark a, a duplication mark b, and an icon registration mark c on the display 4 in a selectable manner.
  • the processor 2 displays a name setting area D for setting a name for the icon I.
  • the name setting area D is displayed as a pop-up on the creation area B of the display 4.
  • Name setting area D includes an input area D1 that allows the user to input any text that represents the name of the icon I, a registration button D2 for confirming and registering the input name, and a cancel button D3 for canceling the process.
  • processor 2 When the user inputs any text that represents the name in input area D1 and presses registration button D2, processor 2 generates a new icon I with the input name in selection area A.
  • the processor 2 stores (registers) a new icon I1 having the input name (e.g., speed100) in the storage device 3 as one of the icons I to be displayed in the selection area A.
  • the newly registered icon I1 may be registered as a favorite, as shown in FIG. 6.
  • processor 2 copies the icon with the parameter (operation symbol with parameter) with the parameter set. If an icon I for which a parameter can be set but has not been set is selected, processor 2 displays a parameter setting area C on display 4 as shown in FIG. 4 and allows the user to input the parameter.
  • the user can select the icon with parameters displayed in the selection area A in the same way as with other icons I, and copy it to the creation area B by dragging and dropping.
  • the parameters set in icon I are retained as is.
  • the processor 2 When the user selects a group of icons including a plurality of icons I arranged in the creation area B of the display 4 and presses the copy mark b, the processor 2 generates an arbitrary icon I2 for copying. Furthermore, when the user selects an unnecessary icon I displayed in the selection area A and presses the icon deletion mark a, the processor 2 deletes any icon I registered in the storage device 3 .
  • the program generation method includes a step S1 of reading out at least one icon I preregistered in the storage device 3 from the storage device 3 and displaying it in a selection area A of the display 4.
  • the program generation method also includes a step S3 of generating an operation program by duplicating one or more icons I selected from the icons I displayed in the selection area A in a creation area B and arranging them in chronological order.
  • the program generation method also includes a step S5 of generating a parameter-attached icon by inputting parameters of any icon I selected from the icons I displayed in the selection area A or the creation area B.
  • the program generation method also includes a step S7 of registering the generated parameter-attached icon in the storage device 3 as one of the icons I.
  • icons I are displayed in selection area A (step S1), and when the user drags one of the icons I (step S2), the dragged icon I is duplicated (step S3).
  • the duplicated icon I is then dropped into creation area B, and an operating program is generated in creation area B.
  • step S4 It is determined whether the icon I dropped into the creation area B is an icon for which parameters can be set (step S4), and if it is an icon for which parameters can be set, the parameter setting area C is displayed.
  • step S5 When the user inputs parameters (step S5) and presses the icon registration mark c (step S6), the name setting area D is displayed.
  • step S7 When the user inputs a name in the input area D1 and presses the registration button D2, an icon with parameters is generated and registered in the storage device 3 as one of the icons I (step S7). It is then determined whether or not to end the program generation (step S8), and if not, the process is repeated from step S2.
  • step S8 If the user does not drag any of the icons I displayed in the selection area A in step S2, the process proceeds to step S8. Also, if it is determined in step S6 that the icon I for which parameters have been input in step S5 does not have the icon registration mark c pressed, the process proceeds to step S8.
  • step S4 determines whether the icon I duplicated in step S3 is an icon I that does not require parameter setting. If it is determined in step S4 that the icon I duplicated in step S3 is an icon I that does not require parameter setting, the process proceeds to step S8. By registering the icon with parameters in the storage device 3, the newly registered icon with parameters is included in the icons I displayed in the selection area A in step S1.
  • an icon with parameters can be registered as a selectable icon I. This means that even when the same icon with parameters is used multiple times in an operating program, there is no need to reset the parameters for each icon I from scratch. Therefore, even in such cases, there is the advantage that the user can easily reuse the icon I without having to go through the troublesome task of resetting parameters.
  • the icon with parameters can be copied to selection area A along with the parameters.
  • one of the icons I displayed in the selection area A can be selected, the icon registration mark c can be pressed, and a different name can be entered in the displayed name setting area D.
  • an editing mark d may be displayed on the display 4, and when the user presses the editing mark d, the processor 2 may display a name setting area D and a parameter setting area C, making it possible to edit the name and parameters. Also, an icon I displayed in the selection area A with no registered parameters may be selected, and new parameters may be registered to create an icon with parameters.
  • the processor 2 may display the parameters stored in association with the icon I and allow the user to edit the parameters. By allowing the user to edit the parameters at the time of registration, it is possible to eliminate the need to register icons with the same type of parameters but with different parameters.
  • the processor 2 may display the parameter setting area C along with the name setting area D, and allow the user to select the parameter to be duplicated.
  • the parameter may be selected by the user checking the check box of the parameter to be duplicated, as shown in FIG. 9.
  • the user may check only the speed information and route information and then press the registration button D2.
  • the processor 2 does not inherit the position information set in the original parameter-added icon, and registers the parameter-added icon inheriting only the speed information and route information in the storage device 3.
  • the position information of the duplicated parameter-added icon may not be set, or default position information may be set.
  • the parameters to be copied may be selected when copying the icon with parameters displayed in selection area A to creation area B.
  • the user when the user drags the icon with parameters displayed in selection area A to copy it to creation area B, the user simply checks the check box of the parameter to be copied. Also, it may be possible to select parameters that will not be carried over by unchecking the parameter check box.
  • the program generation device 1 and the program generation method have been described, but the present invention is not limited to this.
  • the program generation device may be a dedicated teaching device having the above configuration, or may be a general-purpose computer or tablet terminal on which a program generation program is installed.
  • the program generation program may be one that causes a general-purpose computer, a tablet, or the like to execute each step of the program generation method described above.
  • icons are given as examples of action symbols, any other action symbols may be used instead.
  • the icons I displayed in the selection area A are duplicated and arranged in the creation area B, and at least a part of the operation program is generated by setting parameters for some of the icons I.
  • the creation area B an operation program or a part of it in which multiple icons I are arranged is displayed, as shown in FIG. 10.
  • the processor 2 When the user selects an icon group including multiple icons I arranged in the creation area B and drags it to the selection area A, the processor 2 generates a duplication icon (duplication symbol) I2 representing the icon group, as shown in FIG. 11. Alternatively, after selecting the icon group, the user presses the icon registration mark c displayed on the display 4, causing the processor 2 to generate the duplication icon I2.
  • the duplication icon I2 is a single icon I representing the selected icon group. The processor 2 then registers the generated duplication icon I2 in the storage device 3 as one of the icons I.
  • the processor 2 displays a name setting area E in which the name of the copy icon I2 can be set.
  • the name setting area E is displayed as a pop-up at any position on the display 4, for example, as shown in FIG. 12.
  • the name setting area E includes an input area E1 that allows the user to input any text representing the name of the duplication icon I2, and a registration button E2 and a cancel button E3 for confirming and registering the input name.
  • the processor 2 When the user inputs any text representing the name into the input area E1 and presses the registration button E2, the processor 2 generates a duplication icon I2 with the input name in the selection area A. In other words, the processor 2 stores (registers) the duplication icon I2 with the input name in the storage device 3 as one of the icons I to be displayed in the selection area A.
  • the processor 2 if parameters have been set for at least one icon I that constitutes the icon group, the processor 2 generates a copy icon I2 that retains the parameters.
  • the copy icon I2 has been registered, the user can select the copy icon I2 displayed in the selection area A in the same way as for other icons I, and copy it to the creation area B by dragging and dropping.
  • the duplicate icon I2 when the duplicate icon I2 is duplicated in the creation area B, it is duplicated in a form expanded into the group of icons that make up the duplicate icon I2.
  • the parameters that were set for at least one icon I that makes up the group of icons are maintained as they are.
  • the program generation method includes the following steps in addition to the program generation method according to the first embodiment. That is, when a group of icons displayed in the creation area B is selected and the copy mark b is pressed or dragged to the selection area A, a copy icon I2 is generated. The generated copy icon I2 is then registered in the storage device 3 as one of the icons I.
  • an icon group including multiple icons I arranged in the creation area B can be registered as a selectable icon for duplication I2. This allows the icons to be duplicated and pasted together when the same icon group is used multiple times in an operating program.
  • a group of icons indicating the contents of the duplication icon I2 may be displayed on the display 4.
  • a group of icons indicating the contents of the duplication icon I2 may be displayed in the content display area F that is popped up.
  • a confirmation area G may be displayed to confirm whether or not to maintain the set parameters and duplicate the icon. If maintaining the parameters is selected, the icon I is duplicated with the set parameters retained. If not maintaining the parameters is selected, the parameter settings may be canceled, or default parameters may be set.
  • an example has been given of an icon I or a group of icons with set parameters being used multiple times when generating the same operating program.
  • an icon with parameters or a duplicate icon I2 stored in the storage device 3 may be used when generating a different operating program.
  • multiple icons I for which no parameters have been set may be selected in the creation area B, and a copy icon I2 may be generated by dragging or pressing the icon registration mark c, and registered in the storage device 3. Even if no parameters have been set, by registering the copy icon I2 as one of the icons I, operability can be significantly improved in the same way as above.
  • the icon I2 for duplication may instead be generated by a cut operation.
  • the icon I2 for duplication may be generated in the selection area A when an operation of cutting icons in the creation area B and then pasting the icons in the selection area A is performed.
  • the operation commands are exemplified as linear movement commands, circular movement commands, and commands to operate a tool attached to the tip of the robot 10, but are not limited to these.
  • the operation commands may include any operation command required in the operation program, such as conditional branch commands, register values, and other I/O operation commands.
  • a program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor reads out from the storage device at least one motion symbol containing information regarding a robot's motion command, which is pre-registered in the storage device, and displays it in a first area of the display, generates an operation program by duplicating and arranging one or more motion symbols selected from the motion symbols displayed in the first area in a second area of the display, generates a parameter-attached motion symbol by inputting parameters of a function represented by any of the motion symbols selected from the motion symbols displayed in the first area or the second area using the input device, and registers the generated parameter-attached motion symbol in the storage device as one of the motion symbols.
  • Appendix 4 A program generation device described in any one of Supplementary Note 1 to Supplementary Note 3, wherein the processor generates a single duplication symbol representing an action symbol group in response to selection of an action symbol group including a plurality of the action symbols arranged in the second area, and registers the generated duplication symbol in the storage device as one of the action symbols.
  • a program generation method comprising the steps of: reading at least one motion symbol containing information regarding a robot's motion command, which is pre-registered in a storage device, from the storage device and displaying it in a first area of a display; generating an operation program by duplicating and arranging one or more motion symbols selected from the motion symbols displayed in the first area in a second area of the display; generating a parameter-attached motion symbol by inputting parameters of a function represented by any one of the motion symbols selected from the motion symbols displayed in the first area or the second area; and registering the generated parameter-attached motion symbol in the storage device as one of the motion symbols.
  • a program generation program that causes a computer to execute the following steps: read at least one action symbol including information regarding a robot's action command, which has been registered in advance in a storage device, from the storage device and display it in a first area of a display; generate an action program by duplicating and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of the display; generate a parameter-attached action symbol by inputting parameters of a function represented by any of the action symbols selected from the action symbols displayed in the first area or the second area; and register the generated parameter-attached action symbol in the storage device as one of the action symbols.
  • a program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor reads out from the storage device at least one motion symbol including information relating to a robot's motion command pre-registered in the storage device and displays it in a first area of the display, generates an operation program by duplicating one or more of the motion symbols selected from the motion symbols displayed in the first area in a second area of the display and arranging them in chronological order, generates a single duplication symbol representing the motion symbol group in response to a selection of a motion symbol group including a plurality of the motion symbols arranged in the second area and a duplication operation, and registers the generated duplication symbol in the storage device as one of the motion symbols.
  • Program generating device 2 Processor 3 Storage device 4 Display 5 Input interface (input device) 10 Robot A Selection Area (First Area) B Creation area (second area) I Icon (Action Symbol) I2 Copy icon (copy symbol)

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • User Interface Of Digital Computer (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
PCT/JP2022/043895 2022-11-29 2022-11-29 プログラム生成装置、方法およびプログラム Ceased WO2024116261A1 (ja)

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Application Number Priority Date Filing Date Title
DE112022007596.1T DE112022007596T5 (de) 2022-11-29 2022-11-29 Programmerzeugungsvorrichtung, -verfahren und -programm
PCT/JP2022/043895 WO2024116261A1 (ja) 2022-11-29 2022-11-29 プログラム生成装置、方法およびプログラム
JP2024561004A JPWO2024116261A1 (https=) 2022-11-29 2022-11-29
CN202280099722.XA CN120202092A (zh) 2022-11-29 2022-11-29 程序生成装置、方法以及程序
TW112144163A TW202422253A (zh) 2022-11-29 2023-11-15 程式生成裝置、方法以及程式

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026078880A1 (ja) * 2024-10-11 2026-04-16 ファナック株式会社 ロボットに動作を教示する装置及び方法、加工条件を設定する装置及び方法、並びに、コンピュータプログラム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011080945A1 (ja) * 2009-12-28 2011-07-07 三菱電機株式会社 プログラム作成支援装置
WO2022163590A1 (ja) * 2021-01-28 2022-08-04 ファナック株式会社 教示装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011080945A1 (ja) * 2009-12-28 2011-07-07 三菱電機株式会社 プログラム作成支援装置
WO2022163590A1 (ja) * 2021-01-28 2022-08-04 ファナック株式会社 教示装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026078880A1 (ja) * 2024-10-11 2026-04-16 ファナック株式会社 ロボットに動作を教示する装置及び方法、加工条件を設定する装置及び方法、並びに、コンピュータプログラム

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