Moving program making-out program and device

A computer program product and an apparatus for preparing a moving program for controlling the operation of a working robot which can move a known working apparatus relative to a workpiece and which can perform desired work on the workpiece. Movement information of the working apparatus may be input to a text entry screen on a character basis. Movement information of the working apparatus may also be input via a figure entry screen as a path on a two-dimensional plane in correlation with height information. The movement information that is input on the text entry screen is output in real time as the path on the two-dimensional plane and the height information thereof on the figure entry screen. The movement information that is input on the figure entry screen is output in real time to the text entry screen on the character basis.

TECHNICAL FIELD

The present invention relates to a program and an apparatus for preparing a moving program for controlling the operation of a working robot which can move a known working apparatus relative to a workpiece and which can perform desired work on the workpiece. For example, the present invention relates to a program and an apparatus with the function of preparing a moving program for controlling the operation of an application apparatus which has a discharge port to discharge a liquid material and which discharges the liquid material through the discharge port such that the liquid material is applied to the workpiece.

It is to be noted that the term “work” used in the present invention primarily includes supply and application of the liquid material, screwing, soldering, assembly, mounting, etc.

BACKGROUND ART

One example of a working robot which can move a known working apparatus relative to a workpiece and which can perform desired work on the workpiece is a desktop orthogonal working robot in combination of an application apparatus and a means for moving the workpiece in XYZ-directions. With that type of working robot, the work is performed in accordance with a moving program that describes the path of movement of the working apparatus relative to the workpiece, the operation of the working apparatus, etc.

In order to efficiently perform the work with the working apparatus, the moving program requires to be optimized. However, whether or not a moving program input on the character basis (i.e., using characters, numerals, symbols, etc.) is optimum cannot be confirmed until the moving program is actually executed. In view of such a situation, various simulation techniques have been proposed to be able to verify the prepared moving program with no need of executing it.

Patent Document 1 discloses an application apparatus capable of automatically preparing a moving program to efficiently move an application head, in which a substrate (board) size is divided into a plurality of blocks and a simulation of a path for movement in a minimum time is performed on the basis of a designated block unit.

Patent Document 2 discloses an application apparatus for applying a coating onto a printed board through an application nozzle, the application apparatus having a simulation device in which application work is simulated onto the board displayed in the form of figures on a screen of a display device, the application work being based on data that is stored in a storage device and that is related to the application of the coating represented by data of the application position, the amount of the applied coating on the board, etc., the data being set in order of application steps.

DISCLOSURE OF THE INVENTION

Problems to be Solved by the Invention

In programming work of a moving program input on the character basis using characters, numerals, symbols, etc., propriety of the prepared moving program cannot be verified until the prepared moving program is executed on an actual apparatus or by simulation.

In practice of the programming work on the character basis, a diagram of the movement path of a working apparatus, etc. are prepared and the programming work is executed on the basis of the prepared diagram, etc. However, performing the work of preparing the diagram, etc. and the programming work in a separate way is not desired from the viewpoint of working efficiency. Thus, there is a demand for a working environment in which work of drawing a movement path diagram, etc. and the programming work can be performed in parallel.

On the other hand, the movement path diagram, etc. are usually performed on a two-dimensional plane, but work with the working apparatus is performed on a three-dimensional space. It is therefore required to add height information to two-dimensional information. Thus, there is a demand for a working environment in which the programming work can be performed while adding the height information at the same time.

In an actual working apparatus, a programming error in the height information is most critical. For example, application work is performed such that a discharge port and a workpiece positioned to face the discharge port are moved relatively to each other and a liquid material is drawn in a desired pattern on the workpiece. If the height information has an error in such application work, a nozzle contacts with the workpiece, whereby the nozzle and/or the workpiece may be damaged or broken.

As described above, there is a demand for a working environment in which the height information can be visually confirmed in the progress of the programming work.

An object of the present invention is to provide a working environment in which, when programming work of a moving program is executed, work of drawing a movement path diagram, etc. and the programming work can be performed in parallel and, in addition, height information can be visually confirmed.

Means for Solving the Problems

The inventor has accomplished the present invention with the view of enabling the programming work of the moving program to be performed while the movement path including the height information is visually confirmed.

More specifically, a first aspect of the present invention provides a program for preparing a moving program of a working robot which performs desired work by moving a holder holding a working apparatus and a workpiece relatively to each other, the program comprising a step of displaying a text entry screen on which movement information of the working apparatus can be input on the character basis, a step of displaying a figure entry screen on which movement information of the working apparatus can be input as a path on a two-dimensional plane in correlation with height information, a step of outputting in real time the movement information of the working apparatus, which has been input on the text entry screen, as the path on the two-dimensional plane and the height information thereof on the figure entry screen, a step of outputting in real time the movement information of the working apparatus, which has been input on the figure entry screen, to the text entry screen on the character basis, a step of displaying a 3D-display screen for outputting the movement information of the working apparatus, as a path on a three-dimensional space, on the basis of the movement information of the working apparatus which has been input on the text entry screen and/or the figure entry screen, and a step of automatically generating the input moving program for the working apparatus.

According to a second aspect of the present invention, the program according to the first aspect of the present invention further comprises a step of enabling the path on the three-dimensional space and a path, which is resulted from projecting the former path onto a two-dimensional plane, to be both simultaneously displayed on the 3D-display screen.

According to a third aspect of the present invention, the program according to the first or second aspect of the present invention further comprises a step of enabling the three-dimensional space displayed on the 3D-display screen to be rotated.

According to a fourth aspect of the present invention, the program according to the first, second or third aspect of the present invention further comprises a step of outputting in real time the movement information of the working apparatus, which has been input on the text entry screen and/or the figure entry screen, as the path on the three-dimensional space on the 3D-display screen.

According to a fifth aspect of the present invention, the program according to any one of the first to fourth aspects of the present invention further comprises a step of displaying, on the figure entry screen, the height information of the working apparatus at two end points constituting one selected path in the forms of a scale axis indicating a height and a figure held in linkage with the scale axis.

According to a sixth aspect of the present invention, the program according to the fifth aspect of the present invention further comprises a step of enabling the height information of the working apparatus to be changed by sliding the figure held in linkage with the scale axis.

According to a seventh aspect of the present invention, the program according to any one of the first to sixth aspects of the present invention further comprises a step of displaying desired image data as a background on the figure entry screen, and enabling the movement information of the working apparatus to be input on the displayed background.

An eighth aspect of the present invention provides an apparatus comprising a storage unit storing the program according to any one of the first to seventh aspects of the present invention, a display unit, an input unit, an information processing unit, and a data communication unit for transferring a prepared moving program to a working robot.

Herein, the data communication unit may communicate data via wired communication and/or wireless communication, or with the aid of a storage medium such as a flash memory.

Effect of the Invention

The present invention can provide a working environment in which, when the programming work of the moving program is executed, the work of drawing the movement path diagram, etc. and the programming work can be performed in parallel and, in addition, the height information can be visually confirmed.

DESCRIPTION OF REFERENCE CHARACTERS

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention in the best mode resides in a program for preparing a moving program of a working robot which includes a holder for holding a known working apparatus, an information processing unit, and a storage unit, and which performs desired work by moving the holder and a workpiece relatively to each other in accordance with the moving program, the program comprising a step of displaying a text entry screen on which movement information of the working apparatus can be input on the character basis, a step of displaying a figure entry screen on which movement information of the working apparatus can be input as a path on a two-dimensional plane in correlation with height information, a step of outputting in real time the movement information of the working apparatus, which has been input on the text entry screen, as the path on the two-dimensional plane and the height information thereof on the figure entry screen, a step of outputting in real time the movement information of the working apparatus, which has been input on the figure entry screen, to the text entry screen on the character basis, a step of displaying a 3D-display screen for outputting the movement information of the working apparatus, as a path on a three-dimensional space, on the basis of the movement information of the working apparatus which has been input on the text entry screen and/or the figure entry screen, and a step of automatically generating the input moving program for the working apparatus. Preferably, the program includes a step of enabling the path on the three-dimensional space and a path, which is resulted from projecting the former path onto a two-dimensional plane, to be both simultaneously displayed on the 3D-display screen. More preferably, the program includes a step of enabling the three-dimensional space displayed on the 3D-display screen to be rotated.

The movement information of the working apparatus in the present invention means information regarding movements of the working apparatus and contains, for example, coordinate data, the shape of a movement path (e.g., linear, curved, or arc-shaped), and the moving speed of the working apparatus, though not limited to them.

The working apparatus in which the moving program prepared by using the program of the present invention is, for example, an application apparatus for discharging or applying a liquid from a nozzle or the like. However, the working apparatus practicing the present invention is not limited to the application apparatus, and other examples include a working apparatus for screwing, a working apparatus with such a means as picking up a part and mounting it to a workpiece, or a working apparatus which entails movements in directions closer to or away from a workpiece for confirmation of the depth of a bore formed by a drilling machine.

Details of the present invention will be described below in connection with embodiments, but the present invention is in no way restricted by the following embodiments.

A working apparatus on which a moving program100of Embodiment 1 runs is an application apparatus50for drawing a desired drawing pattern on a workpiece19while the workpiece19on an application robot10and a nozzle16are moved relatively to each other in accordance with the moving program100.

As shown inFIG. 1, the application apparatus50is constituted by the application robot10and a dispenser20. A computer30is connected to the application apparatus50through a cable A51, and the application robot10and a dispenser20are connected to each other through a cable B52.

FIG. 2is a block diagram showing the relation in connecting among the application robot10, the dispenser20, and the computer30.

The application robot10has a moving head11that is movable in the X-direction, and a table12that is movable in the Y-direction. The table12can hold the workpiece19placed on an upper surface of the table12. Application work is performed by moving the moving head11and the table12relatively to each other.

The moving head11has a syringe holder13and an elevating/lowering device14capable of freely elevating and lowering the syringe holder13in the Z-direction. A syringe15filled with a liquid material is set onto the syringe holder13. The syringe15has a tubular shape. The nozzle16having a discharge port18is fitted to one end of the syringe15, and a pressure supply tube17is connected to the opposite end of the syringe15such that the syringe15is communicated with the dispenser20through the pressure supply tube17.

The dispenser20can pressurize the liquid material in the syringe15through the pressure supply tube17to a desired pressure for a desired time.

The application apparatus50performs an operation of applying the liquid material in accordance with the moving program100stored in a storage unit within a control unit (not shown in the drawings) which is incorporated in the application robot10. The moving program100is transferred from the computer30to the control unit through the cable A51.

The control unit incorporated in the application robot10controls not only the application robot10, but also the dispenser20. Accordingly, the moving program100also contains commands for the dispenser20. The control unit controls the amount of the liquid material discharged, etc. by transmitting the commands to the dispenser20through the cable B52.

The computer30is a personal computer on which a universal OS runs. An adapted CAD program (not shown), i.e., an application program for preparing the moving program100, is installed in a main storage device of the computer30. Herein, the moving program100means control data or a control program for the application apparatus50, which defines the movement path of the moving head11relative to the table12, the amount of the liquid material discharged, etc., and it differs from a general application program.

The computer30is not limited to the lap top type shown inFIG. 1, and the computer30can also be any other suitable type so long as it includes an information processing unit, a storage unit, a display unit, and an input unit. The display unit may be constituted as an external unit, or it may be provided by constituting a monitor33as a multi-monitor. While a keyboard31or a mouse32is used as the input unit in this embodiment, it is needless to say that any other suitable input device, such as a track ball or a pen tablet, is also usable.

The adapted CAD program used in this embodiment has the function of easily drawing a line, a point, a circle, etc. at a desired position, and it can also serve as a universal CAD (Computer Aided Design or Computer Assisted Drawing).

Programming work by a user is performed using a text entry screen71and a figure entry screen72. The user can describe the moving program100by inputting, from the keyboard31, a command, etc. to the text entry screen71which is displayed on the monitor33. Also, the moving program100can be automatically generated with the user drawing a figure on the figure entry screen72, which is displayed on the monitor33, by using the mouse32.

The text entry screen71is a screen similar to a dialog box, for example, on which a desired command is input in the form a text (on the character basis) using characters, numerals, symbols, etc. The moving program100is described by inputting commands, etc. shown, by way of example, inFIG. 4.

The figure entry screen72is a screen for primarily inputting movement information of the application robot10as a desired movement path through a figure drawing step. By inputting a movement path shown inFIG. 3, for example, the moving program100is automatically prepared.

A plane displayed on the figure entry screen72corresponds to an X-Y plane on which the application robot10is operated. A pattern is drawn on the workpiece19with the progress of the application work in the same figure as per drawn on the figure entry screen72. In other words, the liquid material discharged through the discharge port18of the nozzle16is applied to the workpiece19to draw a pattern while the moving head11is moved in the X-direction and the table12is moved in the Y-direction in accordance with the drawing pattern defined by the moving program100.

FIG. 3illustrates one example of the figure entry screen72and represents an input example where a pattern “M” is drawn. In the example ofFIG. 3, the drawing is started from a drawing start point81at a lower left end of the pattern “M” and is ended at a drawing end point85at a lower right end of the pattern “M”. InFIG. 3, a movement line80indicated by a broken line on the left side represents a non-application drawing line along which the application robot10is moved without discharging the liquid material through the discharge port18. A continuous line from the drawing start point81to the drawing end point85represents an application drawing line (application path).

While the movement line80is displayed as a broken line to be discerned as non-application drawing line in this embodiment, it may be displayed as any other suitable type of line or displayed in a color differing from that of the application drawing line for visual discrimination between both the lines.

In the adapted CAD program used in this embodiment, the text entry screen71and the figure entry screen72operate in linkage with each other in real time. More specifically, when a desired drawing pattern is input in the form of a figure on the figure entry screen72, drawing commands are automatically displayed on the text entry screen71in a linked manner. Conversely, when commands for drawing a desired drawing pattern is described on the text entry screen71, the desired drawing pattern is automatically drawn on the figure entry screen72.

The text entry screen71and the figure entry screen72can be simultaneously displayed on the monitor33. Further, since movement information of the working apparatus is output on each of both the entry screens in real time, the movement information of the working apparatus can also be input while the text entry screen71and the figure entry screen72are changed over from one to the other as required.

While the case of drawing the pattern “M” in the form of a character drawn by interconnecting linear lines has been described above, for example, with reference toFIG. 3, it is needless to say that a drawing pattern including curved lines can also be drawn for the application work through similar procedures in accordance with a drawing pattern prepared on the figure entry screen72. Further, this embodiment is adaptable for not only the drawing using continuous lines, but also the drawing using dots. More specifically, when a dot is drawn for input on the figure entry screen72, commands are automatically generated such that the nozzle16is lowered at the position where dot is drawn, and the nozzle16is elevated after the liquid material has been applied to the workpiece19.

In the figure entry screen72, drawing work is performed on a drawing input plane76which is a two-dimensional plane. The drawing input plane76corresponds to the X-Y plane on which the application robot10is operated. Stated another way, information in the Z-direction cannot be defined only by the drawing work on the drawing input plane76. In this embodiment, therefore, a Z-axis bar90is displayed at the right end of the figure entry screen72so that a position in the Z-direction is represented to be editable.

The function of the Z-axis bar90is described in connection with the example ofFIG. 3. The Z-axis bar90inFIG. 3represents information in the Z-axis (i.e., the height information) when a linear line (double line) interconnecting the drawing start point81and the end point A82is drawn. More specifically, a rectangular figure displayed in the Z-axis bar90, which has outline characters of “0001E”, represents the Z-directional height of the nozzle16at the drawing start point81, and a rectangular figure displayed including outline characters of “0004E” represents the Z-directional height of the nozzle16at the end point82. Herein, the figures including the outline characters of “0001E” and “0004E” represent line numbers (step numbers) in the text entry screen71, which command the respective Z-direction heights to facilitate the editing work on the text entry screen71. The positions of the figures including the outline characters of “0001E” and “0004E” coincide with respective scale indicative values. Stated another way, the Z-axis bar90has a scale axis on the left side and the rectangular figures on the right side in order that an operator can recognize the Z-directional height of the selected drawing line at a glance depending on the position of each rectangular figure with respect to the scale axis. In the view ofFIG. 3, the operator can easily read that the Z-directional height commanded by “0004E” is lower than the Z-directional height of commanded by “0001E”.

The height information provided by the Z-axis bar90can be displayed in units of a selected drawing line. More specifically, a drawing line selected on the figure entry screen72is displayed in the form of a double line, and the Z-directional height of the selected drawing line is displayed in the form of a figure in the Z-axis bar90. While a linear line of which Z-directional height is displayed in the Z-axis bar90is displayed in the form of a double line in this embodiment, the linear line may be displayed in a different color or in the different type of line, such as a dotted line or a broken line, for visual discrimination. The selected drawing line may be a curved line. In such a case, the Z-directional height at end points of the drawing line is displayed similarly to the case of a linear line.

In this embodiment, the information of the Z-directional height can be changed by dragging the line number, which is displayed in color in the Z-axis bar90, with the mouse32. More specifically, when the line number “0001E” is slid downwards, a value indicative of the Z-directional height, which is defined in the line “0001E” on the text entry screen71, is reduced. Correspondingly, when the moving program100is executed, the distance between the nozzle16and the workpiece19is reduced (i.e., the amount of descent of the nozzle16is increased). Likewise, when the line number “0004E” is slid upwards, a value indicative of the Z-directional height, which is defined in the line “0004E” on the text entry screen71, is increased (i.e., the amount of descent of the nozzle16is reduced).

While the procedure for changing the Z-directional height on the figure entry screen72has been described above, it is a matter of course that the value indicative of the Z-directional height can be directly edited on the text entry screen71.

A background image can be displayed on the application drawing input plane76. Any desired image data can be displayed as the background image. For example, Gerber data may be read in the background image. When Gerber data is read, it is preferable, for the purpose of facilitating the programming work, that character information, such as dimensional data, and information regarding hatching and filling-in, which are included in the Gerber data, are excluded from the target of the reading.

With the adapted CAD program used in this embodiment, a drawing pattern prepared in the programming work can be three-dimensionally displayed in various forms. The three-dimensional display function of the adapted CAD program will be described below in connection with the example ofFIG. 3.

The drawing pattern, shown inFIG. 3, is moved in the Z-direction as follows. When the moving head11is moved from the drawing start point81to the end point A82, the nozzle16draws a drawing line A86with the application of the liquid material while elevating. When the moving head11is moved from the end point A82to an end point B83, the nozzle16draws a drawing line B87with the application of the liquid material while further elevating. When the moving head11is moved from the end point B83to an end point C84, the nozzle16draws a drawing line C88with the application of the liquid material while lowering. When the moving head11is moved from the end point C84to the drawing end point85, the nozzle16draws a drawing line D89with the application of the liquid material while further lowering.

FIG. 5illustrates a view obtained by displaying, on a 3D display screen73, the drawing pattern shown inFIG. 3in which the nozzle16is moved in the Z-direction as described above.

In the 3D display screen73, as shown inFIG. 5, a three-dimensional drawing pattern projected onto a space (XYZ-space) having information of the height direction (Z-direction) and a two-dimensional drawing pattern projected onto a plane (XY-plane) not having information of the height direction (Z-direction) (i.e., an X-Y plane projected figure) are displayed at the same time. More specifically, the three-dimensional drawing pattern having the information of the Z-direction is displayed as a figure formed by a continuous line extending from an end point81′ up to an end point85′ while passing points82′,83′ and84′ successively. The two-dimensional drawing pattern not having the information of the Z-direction is displayed as a figure formed by a continuous line extending from an end point81″ up to an end point85″ while passing points82″,83″ and84″ successively. Note that numerals affixed with prime (′) and double prime (″) on the 3D display screen73correspond to those used inFIG. 3.

The two-dimensional drawing pattern and the three-dimensional drawing pattern to be displayed on the 3D display screen73are displayed with the drawing lines having different colors for easier visual discrimination of the respective patterns. Alternatively, the two-dimensional drawing pattern and the three-dimensional drawing pattern may be displayed in different types of lines by using two among a double line, a dotted line, a broken line, etc. for visual discrimination between both the patterns.

Further, in this embodiment, visibility is improved by displaying a plane in the form of a mesh (or a grid) in which the two-dimensional drawing pattern is formed. Specifications are set such that although a default value for displaying a meshed plane is given by Z=0, the height of the meshed plane can be freely changed. It is also possible to offset the projected plane up and down.

While the plane in which the two-dimensional drawing pattern is formed is assumed to be a flat, the two-dimensional drawing pattern may be projected onto the workpiece displayed three-dimensionally. Such a projection is effective in aiding the work for preparing the drawing pattern because the operator can more easily confirm contact between the nozzle16and the workpiece19.

Displaying a mesh-like view is not limited to the X-Y plane and can also be applied to an optionally selected two-dimensional plane.

Further, the two-dimensional drawing pattern and the mesh-like view may be switched over between display and non-display.

Thus, the 3D display screen73enables the operator to visually (on the view) confirm the operation of the nozzle16in the Z-direction, which cannot be confirmed with the figure entry screen72,

In work of inputting the position information of the working apparatus on the text entry screen71or the figure entry screen72, the input position information can be displayed, as a movement path on a three-dimensional space, on the 3D display screen73of the monitor33. Accordingly, the operator can perform the entry work while confirming the input position information as the path on the three-dimensional space. At that time, the input position information is preferably displayed as the path on the three-dimensional space in real time as soon as the information is input.

In addition, the text entry screen71and/or the figure entry screen72and the 3D display screen73can be preferably displayed on the monitor33at the same time. The reason is that visibility is improved and the entry work is facilitated.

The 3D display screen73is preferably set to be able to display the drawing pattern (drawing path) from any desired viewing point with operation of, e.g., the mouse32. For example, rotating the displayed two-dimensional and three-dimensional drawing patterns with the mouse operation is disclosed herein. That function will be described below in connection with a practical example.

Other view forms with the adapted CAD program in this embodiment are now described.

The following description is made on an example of drawing the pattern of a character “M” with the application of the liquid material, in which each of the line from the end point81to the end point83and the line from the end point84to the end point85has a constant height, while the line from the end point83to the end point84is changed in height.

FIG. 6illustrates a view form in which the 3D display screen is rotated and displayed in such a manner that the above drawing pattern is projected onto the X-Z plane. The view form ofFIG. 6enables the operator to visually confirm the movement path of the nozzle16in the Z-direction. That view form is effective, for example, when the workpiece19has a convex-concave surface.

Also,FIG. 7illustrates a view form in which the same drawing pattern as that inFIG. 6is three-dimensionally displayed. InFIG. 7, the three-dimensional drawing pattern and the two-dimensional drawing pattern are simultaneously displayed as inFIG. 5. As compared withFIG. 5, however, a three-dimensional space is rotated toward the front, i.e., the observer side, in the view form ofFIG. 7.

Next, a description is made on an example of drawing the pattern of a character “M” with the application of the liquid material, in which the nozzle16is not moved in the height direction along the line from the end point81to the end point85.

When the nozzle16is not moved or slightly moved in the height direction, an X-Y plane projected image is displayed as shown inFIG. 8. In a similar view form to that ofFIG. 5, the two-dimensional drawing pattern and the three-dimensional drawing pattern are overlapped with each other and the drawing patterns cannot be stereoscopically confirmed. In such a case, by displaying the drawing patterns in the view form in which a three-dimensional space is rotated toward the front, i.e., in the view form ofFIG. 9, similarly toFIG. 7, it is possible to stereoscopically confirm the two-dimensional drawing pattern and the three-dimensional drawing pattern. On that occasion, when the two-dimensional drawing pattern is displayed with Z=0, the interval between the two-dimensional drawing pattern and the three-dimensional drawing pattern represents the Z-directional height.

FIG. 10illustrates a screen dump example of the 3D-display screen73of the adapted CAD program in this embodiment.

Numeral61denotes a movement path (three-dimensional drawing pattern) of the nozzle16, which is displayed in a three-dimensional space in accordance with the moving program100prepared on the text entry screen71or the figure entry screen72. Numeral62denotes a projected line (two-dimensional drawing pattern) resulting from projecting the movement path, denoted by the numeral61, onto a two-dimensional plane. Numeral63denotes a grid (or a mesh). The height and the element size of the grid can be changed depending on setting values. Numeral64denotes a movement effective range of the nozzle16, which is defined by environmental setting. Numeral65denotes the origin of the nozzle16. Numeral66is a compass indicating the direction of the three-dimensional space which is currently displayed. Numeral67denotes a tool bar which contains, for example, an icon for changing the viewing point to display the 3D-display screen73, and an icon for calling a debug tool. Numeral68is an icon for calling the 3D-display screen73. The 3D-display screen73can be called by selecting one item in a channel list displayed in a frame on the left side of the screen and pressing the icon.

The design concept of the moving program100will be described below.

In general application apparatuses including the application apparatus50in this embodiment, application work is performed by moving the moving head (application head) and the table holding the workpiece thereon relatively to each other. When the moving program100for performing such application work is prepared, it is effective to classify the operation of the application apparatus as follows; (A) approach operation from the origin of the application robot to the workpiece (i.e., operation up to the application start point on the workpiece), (B) operation of applying the liquid material onto the workpiece, and (C) retreating operation from the workpiece to the origin of the application robot. Herein, it is important that the operations (A) and (C) are defined on the basis of “absolute coordinates” and the operation (B) is defined on the basis of “relative coordinates”.

For example, the programming work on the figure entry screen72using Gerber data corresponds to programming for the operation classified to (B), and therefore the moving program100is prepared on the basis of relative coordinates. In other words, by preparing the moving program100on the basis of relative coordinates for a workpiece image displayed on the background, the programming work can be performed with no need of considering the positional relation of the workpiece19relative to the origin of the application robot10. The thus-prepared moving program100of the group (B) is coupled with the moving programs100of the groups (A) and (C) on the basis of the application start point indicated by absolute coordinates. Stated another way, in the moving program100of the group (B), only the application start point is indicated by absolute coordinates, and subsequent work is indicated by relative coordinates. Such a process is described below in connection with a practical example.

FIG. 11illustrates a screen dump example of the text entry screen71in accordance with the adapted CAD program in this embodiment. InFIG. 11, numeral41denotes a STEP column in which lines of the moving program100are indicated. Numeral42denotes a command column in which commands for the movements, the application, etc. are input. Numeral43denotes a data column in which concrete numerals representing the movements, the application, etc. are input. Numeral44denotes a column of a program list which is constituted by the STEP column41, the command column42, and the data column43. Numeral45denotes an icon for calling the text entry screen71, and numeral46denotes an undo/redo icon.

The moving program100shown inFIG. 11is made up of nine Steps as follows:

First, in STEP1, the moving head11is moved from the origin of the application robot10to the application start point (X, Y)=(50, 50) in accordance with a “movement” command.

Then, in STEP2, a sub-channel100CH is called. The sub-channel100CH means a subroutine-like program and describes a series of operations for lowering the moving head11to such an extent that the clearance between the workpiece19and the moving head11becomes a desired distance.

STEP3provides a discharge start signal. A first flag is set to turn ON a first port in accordance with an “OUT” command. Herein, the first port serves as a discharge signal port for the dispenser controller20. When the first port is turned ON, a solenoid valve is opened and a pressure is supplied to the syringe15, thus starting the discharge of liquid material.

In STEP4, the moving head11positioned at (X, Y)=(50, 50) is moved toward (X, Y)=(20,0) at a speed V=0 in accordance with a “line” command. Herein, the “movement” command in STEP1and the “line” command in STEP4differ in the operation of the application robot10in spite of both the commands instructing the moving head11to move. More specifically, the “movement” command instructs the so-called PTP (Point to Point) movement in which importance is focused on the movement from the current position to the designated position (coordinates) and a path of the movement is determined and decided by a controller (i.e., the control unit). On the other hand, the “line” command provides a movement path given by a “line” up to the designated position. Additionally, “ABS” in STEP1means absolute coordinates, and “INC” in STEPs4-7means relative coordinates. Each of the “movement” command and the “line” command has to designate either “ABS” or “INC”.

Further, “speed V=0” does not mean that the moving head11is not moved, but it means that “speed No. 0” previously set in another dialog is applied. For example, when 250 mm/s is set to V=0, the moving head11is moved at 250 mm/s.

In STEP5-7, “line” commands are defined similarly to STEP4. Since the discharge of the liquid material is started in STEP3, the liquid material is continuously discharged in STEP3to STEP7, whereby a desired drawing pattern is formed on the workpiece19.

STEP8provides a discharge end signal. The first flag is cleared to turn OFF the first port in accordance with an “OUT” command. When the first port is turned OFF, the solenoid valve is closed and the supply of the pressure to the syringe15is stopped, whereby the discharge of the liquid material is brought to an end.

In STEP9, a sub-channel101CH is called. The sub-channel101CH describes a series of operations for elevating the moving head11and moving it to the origin position or a standby position for next application work, an operation for nozzle cleaning, etc.

The adapted CAD program of this embodiment for preparing the moving program100on the basis of the above-described design concept can be used to prepare a moving program that is applicable to application apparatuses having various structures, including, e.g., (1) an application apparatus of a structure performing application work such that an X-Y robot provided with an application head is freely moved on a stationary work table in the directions of length and width, (2) an application apparatus of a structure performing application work such that an application head is fixed to a beam extending between two posts and an X-Y table is freely moved under the beam in the directions of length and width, and (3) an application apparatus of such a structure, as in this embodiment, that an application head movable in the X-direction is mounted to a gantry frame disposed in a gate-like shape and a work table movable in the Y-direction is disposed under the gantry frame. Stated another way, according to the adapted CAD program of this embodiment, in any type of application apparatus so long as it operates by moving the application head and the workpiece relatively to each other, the moving program100can be prepared as a universal program on the basis of relative coordinates with no need of considering, for example, the structures of operation target components such as the application head and the table.

Management of the moving program100with the adapted CAD program of this embodiment will be described below. With the adapted CAD program, a plurality of prepared moving programs100are managed in units of channel. For example, one unique channel number is assigned to a moving program100afor drawing the pattern “M”, and another unique channel number is assigned to a moving program100bfor drawing a pattern “N”. By inputting the channel number, the desired moving program100can be called. Further, an execution time can be calculated in units of channel.

Channel data is stored in a main storage device or an auxiliary storage device (such as a hard disk or a flash memory) of the computer30. However, the computer30may be set so as to store the channel data directly on a recording medium, e.g., FD, DVD or MO. Of course, the stored moving program100may be called and edited with the adapted CAD program.

In work performed on the figure entry screen72, the channel number of the moving program100is displayed in relation to a figure drawn on the drawing entry screen76. For example, characters “C101” displayed near the drawing start point81inFIG. 3indicate that a “101” channel is called at the drawing start point81. When the “101” channel is called, the moving program100corresponding to the “101” channel is executed.

Characters “C102” displayed near the drawing end point85indicate that the moving program100corresponding to a “102” channel is called at the drawing end point85. By correlating a plurality of channels with the individual moving programs in such a manner, drawing with the application of the liquid material can be performed in combination of predetermined drawing patterns.

Working efficiency can be increased by registering, as channels, routine drawing patterns which are used at high frequency, and by managing each of the registered drawing patterns as a component.

The drawing patterns can be correlated with the channels on the text entry screen71or the figure entry screen72. Correlation information of the channel data, which is input on one of the two entry screens, can be confirmed on the other entry screen.

For the drawing pattern shown inFIG. 3, a “1” channel (not shown) is also executed in addition to the “101” channel and the “102” channel which are shown. The “1” channel is a main program, and the “101” channel and the “102” channel are subprograms corresponding to the “1” channel. One set of application work completed by those three channels is managed as a project. Prepared projects are stored in the main storage device of the computer30.

A plurality of projects are managed, as shown inFIG. 12, in the form of a project list. Each of “1CH (channel)”, “2CH”, and “3CH” represents a main program. Channels shown as being dangled from each main program represent sub-channels which function as subprograms corresponding to each main program. It is seen fromFIG. 12that “101CH” and “102CH” are subprograms used in both “1CH” and “2CH”. The project list can be confirmed on a project list screen74.

FIG. 13illustrates screen transition among the text entry screen71, the figure entry screen72, the 3D-display screen73, and the project list screen74in this embodiment.

Further, the text entry screen71, the figure entry screen72, and the 3D-display screen73can be correlated with corresponding main channels, as shown inFIG. 14. While only the main channels are shown inFIG. 14, it is needless to say that the text entry screen71, the figure entry screen72and the 3D-display screen73can also be correlated with corresponding sub-channels in a similar manner.

The project stored in the main storage device of the computer30is transmitted to the application robot10of the application apparatus50. The project stored in the application robot10is executed upon receiving an instruction to start work from a control panel99of the application robot10through the cable A51, or upon receiving a start-of-work signal from the computer30.

The application robot10can also execute the application work in units of channel. In such a case, the moving program100transmitted in units of channel is stored in a main storage device of the application robot10.

The adapted CAD program of this embodiment can be data-linked with a commercially available application program, such as EXCEL (registered trade mark). In other words, the moving program100can be automatically generated on the basis of coordinate values by reading data, such as CSV, including the coordinate values.

INDUSTRIAL APPLICABILITY

The present invention can be applied to not only an orthogonal desk-top working robot in combination of respective moving means in the XYZ-directions, but also to any type of working robot in which a workpiece and a working means are moved relatively to each other. For example, the working robot may be of the type the robot is movable only in one dimension, e.g., in the X-direction, or may be, e.g., a scalar robot which is moved along curves.

The gist of the present invention resides in displaying the distance between the working apparatus mounted to a holder and the workpiece in a visually recognizable manner so that the operator can easily determine whether the distance is appropriate. In particular, the present invention is highly advantageous in that the operator can confirm a plurality of working points at a time.