JP-7856889-B2 - Robot utilization support device and robot utilization support program

JP7856889B2JP 7856889 B2JP7856889 B2JP 7856889B2JP-7856889-B2

Inventors

鈴木俊孝

Assignees

株式会社デンソーウェーブ

Dates

Publication Date: 20260512
Application Date: 20220325

Claims (7)

This applies to input/output devices handled by the user when conducting offline simulator or offline teaching, or to teaching pendants operated by the user when actually operating the target robot. A display unit capable of displaying images, An input section that accepts user input, The system comprises a display processing unit that performs a process to display an image corresponding to an operation input to the input unit on the display unit, The display processing unit, A process for displaying a robot image, which is an image that mimics the robot to be operated, and an operation marker that accepts user input to change the posture of the robot image, on the display unit, When the user selects the operation marker, the process of changing the posture of the robot image in the display unit according to the operation position and displaying it in the display unit, The system can perform the following steps: set a specific area within the same area where the robot image and the operation marker are displayed, and display a switching menu on the display unit for switching the operating mode of the robot image when the user selects the specific area. Robot utilization support device.
The display processing unit can set the specific region in a shape that is part of the area where the robot image and the operation marker are displayed and that encloses the operation marker, and can perform a process to make the specific region follow the posture of the robot image. The robot utilization support device according to claim 1.
The display processing unit is capable of performing the process of setting the specific region overlaid on the robot image. The robot utilization support device according to claim 1.
The aforementioned switching menu includes multiple selection items arranged around the operating position when the specific area is selected. The robot utilization support device according to claim 1.
The display processing unit can perform a process to hide the switching menu when the input unit receives an operation for an area other than the switching menu while the switching menu is displayed on the display unit. The robot utilization support device according to claim 1.
The display processing unit can perform a process to prevent the switching menu from being displayed on the display unit when the operation marker is selected. The robot utilization support device according to claim 1.
The input/output device handled by the user when conducting an offline simulator or offline teaching, or the teaching pendant operated by the user when actually operating the target robot, is configured with a display unit capable of displaying images and an input unit that accepts user input, and is controlled by a computer. A process for displaying a robot image, which is an image that mimics the robot to be operated, and an operation marker that accepts user input to change the posture of the robot image, on the display unit, When the user selects the operation marker, the process of changing the posture of the robot image in the display unit according to the operation position and displaying it in the display unit, A process to set a specific area within the same area where the robot image and the operation marker are displayed, and to display a switching menu on the display unit for switching the operating mode of the robot image when the user selects the specific area, A robot utilization support program that enables the execution of certain actions.

Description

Embodiments of the present invention relate to a robot utilization support device and a robot utilization support program. As a means of supporting users during robot teaching, there are methods such as offline simulators and offline teaching, which reproduce the robot's posture and movements on a computer. In offline simulators and offline teaching, users can change the posture of a three-dimensional robot image displayed on a monitor or other screen based on their own actions. In this context, teaching a multi-degree-of-freedom robot involves multiple operating modes based on specific coordinate spaces, such as the individual axis space, the XYZ coordinate space, and the tool coordinate space. When performing offline simulations or offline teaching, users need to switch to the operating mode appropriate for the situation. However, in conventional configurations, there was room for improvement in the usability of switching these operating modes. Japanese Patent Publication No. 2017-177283 A block diagram conceptually illustrating an example of the electrical configuration of a robot utilization support device according to one embodiment.This figure shows an example of the display content shown on the display unit of a robot user support device according to one embodiment, illustrating a state where no user operation is being performed.This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, visualizing a specific area.This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating a state in which the posture of the robot image has been changed from the state shown in Figure 3.This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state when a specific area has been selected.This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state in which the switching menu is displayed.This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state when a selection item in the switching menu has been selected.This figure shows another example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating a specific area in a visualized manner.This figure shows another example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state when a specific area has been selected.This figure shows another example of the display content shown on the display unit of a robot utilization support device according to one embodiment, specifically a state in which the switching menu is displayed.A flowchart showing an example of the control content performed by a robot utilization support device according to one embodiment.This figure shows an example of the display content shown on the display unit of a robot user support device, based on a comparative example. The embodiments will be described below with reference to the drawings. The robot user support device 10 shown in Figure 1 is designed to assist users when introducing or developing systems using robots. The robot user support device 10 is intended for multi-axis robots. The robot user support device 10 can be applied to input/output devices handled by the user when performing, for example, offline simulators or offline teaching. Furthermore, the robot user support device 10 can be applied to a teaching pendant operated by the user when actually operating the target robot. When the robot user support device 10 is applied to a teaching pendant, the robot user support device 10 is connected to a robot controller for controlling the operation of the target robot (details are not shown in the diagram) in a communicative manner. The robot user support device 10 can be configured using dedicated components, or it can be configured by installing a computer program on a commercially available PC, smartphone, or tablet. As shown in Figure 1, the robot user support device 10 comprises a control unit 11, a display unit 12, an input unit 13, an auxiliary storage device 14, and a display processing unit 15. The control unit 11 has a CPU 111 and a main memory device 112. The CPU 111 executes each process in the robot user support device 10. The main memory device 112 is a temporary storage medium such as RAM, which temporarily stores the information necessary for each process. The display unit 12 is a user interface capable of displaying images, etc., and can be configured as, for example, a liquid crystal display. The input unit 13 is a user interface th