Patent Publication Number: US-2021178586-A1

Title: Supporting apparatus for programing a robot operation

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is based on and claims the benefit of priority from earlier Japanese Patent Application No. 2019-226195 filed Dec. 16, 2019, the description of which is incorporated herein by reference. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure rerates to a supporting apparatus for programing which is suitable for a program of an operation of an industrial robot. 
     2. Related Art 
     The supporting apparatus which displays visually recognized diagrams of a movement trajectory of a robot, an original position of the robot, and a target position of the robot superimposing with the image of the robot in order to make an operator recognize the movement of the robot is described in the patent document (Japanese laid open patent publication 2018-51653). 
     The commanding orders to the robot usually include a moving order which makes the robot to move and a non-moving order which makes the robot to stay. In the case when the apparatus described in the patent document is used as a supporting apparatus for programing a robot operation, such apparatus has following problems. As the program of the robot usually includes a plurality of non-moving orders after the robot follows the moving order, the operator should have a difficulty to recognize a plurality of non-moving orders because many diagrams indicating the non-moving orders are gathered and overwrapped each other. 
     SUMMARY 
     The object of the present disclosure is to make the operator recognize the content of the non-moving orders when such non-moving orders are displayed by using the diagrams in the supporting apparatus for programing. 
     The first disclosure is a supporting apparatus which has a display showing a movement trajectory corresponding to the movement of the robot and which supports to provide the program including the moving order and the non-moving order. The supporting apparatus of the first disclosure has a first operating portion showing the movement trajectory superimposed with the original position and the target position as well as a second operating portion showing the number of the non-moving orders operated at the target position. 
     According to the first disclosure, the movement trajectory of the robot corresponding to the actual movement of the robot is shown on the display. The supporting apparatus supports to provide the program including the moving order and the non-moving order by using the display. 
     As the first operating portion indicates the target position of the moving order by using a first code, the operator could recognize the target position in the movement trajectory only by finding the position of the first code. As the second operating portion indicates the number of the non-moving orders at the target position by using a second code, the operator could recognize how many times the non-moving orders are operated only by finding the second code. Accordingly, the situation of many diagrams indicating the corresponding meaning of the non-moving order are gathered and overwrapped each other is effectively avoided, so that the operator could recognize how many times the non-moving orders are operated. 
     Since the second disclosure has the second code indicating the numeral which corresponds to the number of the non-moving orders, the operator could understand how many times the non-moving orders are operating. 
     In the case when the target positions of a plurality of moving orders are identical and become a common target position, it becomes to be difficult to show the non-moving orders done at the common target position any times after the moving order is completed. 
     The second operating portion of the third disclosure shows the number of the non-moving orders done at the common target position by using the second code and by corresponding the moving order. Accordingly, the number of the non-moving orders operated after each of the moving order is shown by using the second code, so that the operator could understand how many non-moving orders are operated after the corresponding moving order. As this third disclosure also does not use as much as diagrams each of which corresponds to a plurality of non-moving orders, such situation many diagrams displayed at the common target position could be avoided. 
     The second operating portion of the fourth disclosure so describes a plurality of second codes which is corresponding to a plurality of moving orders that a part of the second codes are overwrapped each other, so that the area showing a plurality of the second code could be limited and the operator could recognize each of a plurality of second codes. 
     The second operating portion of the fifth disclosure so describes a plurality of second codes that a plurality of second codes are arranged in chronological order. Accordingly, the operator could recognize how to operate the non-moving order after each of a plurality of moving orders is completed. 
     The second operating portion of the sixth disclosure is able to select the second code at the common target position, and the second operating portion also is able to edit the moving order as well as the non-moving order of the selected second code. In the case when the operator wishes to edit the moving orders to move the common target position as well as the non-moving orders operated thereafter, the operator could select the corresponding second code, so that the operator could edit the moving order and the non-moving order easily. 
     The supporting apparatus for programing of the seventh disclosure has a third operating portion showing a number of the target positions where the target positions are identical to the common target position by using a third code. Accordingly, the operator could recognize how many times to move the common target position where the non-moving orders are completed by finding the third code. 
     The third operating portion of the eighth disclosure is able to select the third code, and the second operating portion of the eighth disclosure shows a number of the non-moving orders which is related to the moving order moving to the common target position in a case when the third code is selected. Accordingly, when the operator wishes to understand the detail of the non-moving order operated at the common target position, the operator could select the third code. 
     The second operating portion of the ninth disclosure shows a total sum of the non-moving orders at the common target position by using the second code. The operator could recognize the non-moving orders operated at the common target position. 
     The second operating portion of tenth disclosure is able to select the second code, and the second operating portion shows the non-moving order which is related to the moving order moving to the common target position in a case when the second code is selected. Accordingly, the operator could understand the detail of the non-moving orders at the common target position. 
     The second operating portion of the eleventh disclosure describes a numeral corresponding to the total sum of the non-moving orders operated at the target position as well as a numeral corresponding to a chronological order of the under operating non-moving order. Accordingly, the operator could recognize the total number of the non-moving orders at the common target position and the chronological order of the non-moving order under operating. 
     The display of the twelfth disclosure is able to show the movement trajectory from various viewpoints, and the second operating portion of the twelfth disclosure describes the second code as a front view even in the case when the viewpoint is varied. Accordingly, the operator could program by using various viewpoints of the movement trajectory. The operator also could recognize the number of the non-moving orders by using the second code. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram of a robot system. 
         FIG. 2  is a flow chart showing a programing process. 
         FIG. 3  shows a part of a program. 
         FIG. 4  shows a robot, a movement trajectory, and a target position. 
         FIG. 5  shows points indicating a movement trajectory and a target position as well as icons indicating a number of non-moving orders. 
         FIG. 6  shows an example of a display of a teaching pendant. 
         FIG. 7  shows a movement of a robot under operating. 
         FIG. 8  shows a movement trajectory and icons of the second embodiment. 
         FIG. 9  shows a movement trajectory, icons and a table of the third embodiment. 
         FIG. 10  shows the modified third embodiment. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     First Embodiment 
     The first embodiment of the present disclosure applying an industrial robot used in a factory is explained hereinafter. As shown in  FIG. 1 , a robot system includes a robot  10 , a controller  20 , and a teaching pendant  30 . 
     The robot  10  has mulch (6 for example) axis arms, each axis arm is driven by a motor mounted in each arm. A work transferred by the robot  10  is grasped by a hand positioned at the end of the last (sixth) axis arm. 
     The controller  20  of the robot  10  includes a microcomputer having CPU, ROM, RAM and in and out interfaces. The controller  20  controls the robot  10  by using the program installed in the RAM. Such program is installed by the operator. The controller  20  also controls the robot  10  by a commanding order from the teaching pendant  30  operated by the operator. 
     The controller  20  has an information relating to the movement of the robot  10  such as a target position as well as a movement trajectory toward to the target position. Since the controller  20  completes the program, the controller  20  has the information of the under operating program and the information of the next operating program. The controller  20  outputs the information of the movement of the robot  10  to the teaching pendant  30 . 
     The teaching pendant  30  includes the microcomputer same as the controller  20 , various key switches, and a display  31  (shown in  FIG. 6 ). The operator inputs the information by using the key switches. The operator also inputs the information by using icons shown on the display  31  so that the display  31  is a touch panel. 
     The operator may create the program by operating the teaching pendant  30  so that the teaching pendant  30  is a supporting apparatus for programing a robot operation. The teaching pendant  30  produces a simulation image and movement trajectories L 1 -L 3  (shown in  FIG. 4 ) based on the created program and the movement of the robot  10  controlled by the controller  20 . The teaching pendant  30  shows the simulation image and the movement trajectories L 1 -L 3  on the display  31 . The teaching pendant  30  has a first operating portion, a second operating portion and a third operating portion. 
     The flow chart showing processes for completing the program is shown in  FIG. 2 . The operator completes these processes shown in  FIG. 2  by using the teaching pendant  30 . 
     As shown in  FIG. 2 , the operator provides and edits the program at first, such program includes a moving order by which the robot  10  is moved and a non-moving order by which the robot  10  is not moved. The operator makes the program by writing the command order in chronological order, and the operator edits the program based on the test result of the first made program. 
     The operator then teaches each target position based on the movement of the robot  10 . The operator teaches the target position by directly writing the target position in the command order, or by pointing the target position in the simulation image. 
     The operator then operates the program and confirms the program. The operator operates and confirms the program by actually moving the robot  10  or by moving the robot  10  in the simulation image. 
     The supporting apparatus for programing of the present disclosure supports entire processes of above described process. Namely, the teaching pendant  30  is not limited for confirming the movement of the robot  10 , but supports to make the program, to edit the program and to teach the target position. 
     A part of the program is shown in  FIG. 3 . The actual program for operating the robot  10  may have several thousand lines of the commanding orders. 
     The commanding order of “Move P 1 ” makes the controlling point of the robot  10  (the center point of the sixth arm) to move to the target position P 1 , so that this commanding order is a moving order. The commanding order of “Wait IO [10]=ON” makes the robot  10  to stay until In and Out port [10] becomes On, so that this commanding order is a non-moving order and a non-determining order. The commanding order of “IF I 1 &gt;5 Then” decides whether or not the number of variables I 1  is greater than 5, so that this commanding order is a non-moving order and a determining order. The commanding order of “IO [11]=OFF” makes the In and Out port [11] to turn off, so that this commanding order is a non-moving order and a non-determining order. The commanding order of “Move P 2 ” makes the controlling point of the robot  10  to move toward the target position P 2 , so that this commanding order is a moving order. The commanding order of “Else” indicates the operation when above “IF I 1 &gt;5” commanding order is not satisfied, so that this commanding order is a non-moving order and a non-determining order. The commanding order of “Move P 3 ” makes the controlling point of the robot  10  to move toward the target position P 3 , so that this commanding order is a moving order. The commanding order of “End if” indicates the end of above described series of the commanding orders, so that this order is a non-moving order and a non-determining order. 
     As described above, the program for the robot  10  usually includes the non-moving orders more frequently than the moving orders. The program also includes a plurality of non-moving orders which are operated at the target position once the robot  10  moved such target position. 
     The target position of the moving order is described by using the diagram in the simulation image of the robot  10 . 
       FIG. 4  shows the robot  10 , the movement trajectory L 1 -L 3 , and the diagrams indicating the target positions P 0 -P 3 . The image shown in  FIG. 4  is an example of the image displayed on the display  31  (shown in  FIG. 6 ) when the program described in  FIG. 3  is provided or edited. 
     The display  31  of the teaching pendant  30  shows the movement trajectories L 1 -L 3  with the image  10 A of the robot  10 . The operator may decide the area of the movement trajectory shown in the display  31 . The operator may use the black circle P 0  for indicating the original position and may use the black circle P 1 -P 3  for indicating the target positions of the moving order. Accordingly, the teaching pendant  30  (the first operating portion) shows the target positions P 1 -P 3  (black circles) superimposing on the movement trajectories L 1 -L 3   
     In the case if the diagrams indicating the non-moving orders are described on the display  31  in additional to the black circles indicating the target positions, a plurality of diagrams are superimposed at the target position, so that the operator has a difficulty to distinguish the detail of the non-moving orders. In order to avoid such difficulty for the operator, the present disclosure uses an icon showing the number of the non-moving orders operated at the target position. 
     As shown in  FIG. 5 , the icons  41 - 48  showing the numeral indicating the number of the non-moving orders operated at the target position, the movement trajectories L 1 -L 3  and the white circles P 0 -P 3  indicating the target positions are displayed. The white circle P 0  represents the starting position where the robot  10  grasps the work, for example. The white circle P 1  represents the target position where the product number of the work grasped by the robot  10  is detected, for example. The white circle P 2  represents the target position where a certain kind work is kept, for example. The white circle P 3  represents the target position where a different type work is kept, for example. The controlling point of the robot  10  moves the following movement of the starting position P 0 -the target position P 1 -the target position P 2 -the target position P 1 -the target position P 3 -the target position P 1 -the target position P 0 -the target position P 1 . 
     The teaching pendant  30  shows the icons  41 - 48  (second code) showing the numeral which indicates the number of the non-moving orders operated at each of the target position P 0 -P 3 . 
     An oval shape icon  41  positioned close to the target position P 2  has a numeral of “2” which means the number of the non-moving order operated at the target position P 2  are two (2). Similarly, the icon  42  indicates the numeral “0” which means the robot does not operate the non-moving order at the target position P 3 . The numeral of the icon  42  may be “1” which is the sum of the “1” time operation of the moving order and “0” time operation of the non-moving order. Therefore, the numeral shown in the icons  41 ,  42  indicates the operator the number which is corresponding to the number of the non-moving orders operated at the target positions P 2 , P 3 . 
     Since the position P 1  is the target position of a plurality of moving orders, the position P 1  is a common target position. The teaching pendant  30  shows icons  43 - 46  indicating the number of the non-moving orders operated at the common target position P 1 . Namely, same as icons  41 ,  42 , these icons  43 - 46  indicate how many non-moving orders are operated each time after the robot  10  moves to the common target position P 1 . A part of these icons  43 - 46  are overwrapped each other. Namely, the next icon locates at upper right side of the front side icon, so that the icons  43 - 46  are positioned in chronological order. The front icon  43  indicates the first operation and the last icon  46  indicates the fourth operation. 
     The teaching pendant  30  shows the movement trajectory on the display by varying viewpoint, so that the operator could produce the program by changing the viewpoint on the display for showing the movement trajectory. In the case if the view of the icons is varied in accordance with the verification of the viewpoint, the operator may have a difficulty to find the meaning of the icons. In order to avoid such inconvenience of the operator, the present disclosure does not use the perspective view but always uses the front view of the icons  41 - 48  (shown in  FIG. 5 ) even the viewpoint for the movement trajectory is varied. 
     The operator may select the circles P 0 -P 3  as well as the icons  41 - 48  on the display  31  of the teaching pendant (the second operating portion) as shown in  FIG. 6 . The selected program is displayed on the display  31  of the teaching pendant  30  in the form that the operator may edit. When the operator pushes the forward button B 1  (touch panel on the display  31 ), the displayed part of the program moves forward, on the other hand when the operator pushed the reverse button B 2 , the displayed part of the program moves reverse. As shown in  FIG. 6 , the selected part of the movement trajectory and the selected part of the program is displayed on the display  31  of the teaching pendant  30 . 
     The operator may directly edit the selected part of the program displayed on the display  31 . The operator also may edit the selected part of the program by changing the target position displayed on the display  31  in such a manner that the operator moves the position of the circle indicating the target position on the display  31 . When the operator moves the circle, the target position in the program is changed from the original position to the new position. 
     The simulation image as well as the actual image of the movement of the robot  10  is displayed on the display  31  of the teaching pendant  30  as shown in  FIG. 7 . The icon  49  of  FIG. 7  indicates total sum of the non-moving orders and the number of the current operating non-moving order. The numeral “5” means the total sum is five (5) and the numeral “2” means the current operating order is the second non-moving order. The display  31  shown in  FIG. 7  only shows the icon  49  indicating under operating order and the target position P 1  where the non-moving order is under operated with bold line and does not show the other icons located close to the other target positions P 0 , P 2 , P 3 . 
     The above described disclosure has the following effects. The teaching pendant  30  (the first operating portion) displays the circles P 0 -P 3  at the corresponding positions of each of the target position of the moving order. The teaching pendant  30  also displays each of the target position P 0 -P 3  superimposing on the movement trajectories L 1 -L 3  of the robot  10 . Therefore, the operator could recognize each of the target position P 0 -P 3  in the movement trajectories L 1 -L 3  by finding the circles P 0 -P 3 . 
     As the icons  41 - 48  indicate the numeral which corresponds to the number of the non-moving orders operated at each of the target position P 0 -P 3 , the operator could recognize how many times the non-moving orders are operated by finding the numeral. 
     In the case when the target position P 1  is the common target position where the target position of a plurality of moving orders, each of icons  43 - 46  indicates the number of the non-moving orders operating at the common target position P 1  in chronological order of each of icons  43 - 46 . Accordingly, the operator could recognize how many times non-moving orders are operated after the each of the moving order. As each of the non-moving order do not have its own icon indicating the meaning of each of the non-moving order, the number of the icons located close to the common target position should be limited. 
     A group of icons  43 - 46  and another group of icons  47 , 48  is displayed on the display  31  of the teaching pendant  30  in such manner that the icons  43 - 46 ,  47 ,  48  are overwrapped each other, so that the area showing such icons  43 - 46 ,  47 ,  48  could be limited and that the operator could recognize each of the icons  43 - 46 ,  47 ,  48 . 
     A group of icons  43 - 46  and another group of icons  47 , 48  is displayed on the display  31  of the teaching pendant  30  in such manner that the icons  43 - 46 ,  47 ,  48  are displayed in chronological order. Accordingly, the operator could realize the meaning of the non-moving orders operated after each of the moving order. 
     The icons  43 - 46  positioned close to the common target position P 1  on the display  31  of the teaching pendant  30  could be selected by the operator, so that the operator could select the icon which corresponds to the moving order or the non-moving order of the program and that the operator could edit such program. Accordingly, as the selected icon represents the program, the operator could visually find the program which operator wish to edit. 
     A couple of numerals one of which indicates the total sum of the non-moving orders operated at the target position P 0  P 3  and another one of which indicates the chronological order of the under operating non-moving order are displayed on the display  31  of the teaching pendant  30  such as shown in  FIG. 7 . Therefore, it becomes easy for the operator to recognize the position of the target position where the non-moving order is operating, the total sum of the non-moving orders at such target position, and the progress of the non-moving orders. 
     The movement trajectories L 1 -L 3  of the robot  10  is displayed in the display  31  of the teaching pendant from the various viewpoints, so that the operator could make the program by using the movement trajectories L 1 -L 3  from different viewpoint. The icons  41 - 48  are always displayed in the display  31  as the front view even the movement trajectories L 1 -L 3  are varied, so that the operator could recognize the number of the non-moving orders displayed on the icons  41 - 48  regardless of the viewpoints. 
     The above described disclosure could be modified as follows. Though the disclosure shown in  FIG. 7  displays a couple of numerals one of which indicates the total sum of the non-moving orders operated at the target position P 0  P 3  and another one of which indicates the chronological order of the under operating non-moving order, the latter one may be eliminated. 
     Though the icons  43 - 46 ,  47 ,  48  are overwrapped each other in  FIG. 5 , these icons  43 - 46 ,  47 ,  48  may be displayed on the display  31  separately. The operator still distinguishes each of these icons  43 - 46 ,  47 ,  48 . 
     Second Embodiment 
     The second embodiment is so explained hereinafter that the difference from the first embodiment is mainly explained. The same elements as the first embodiment are not explained but put the same reference numerals. 
     As shown in  FIG. 8 , the display  31  of the teaching pendant  30  (third operating portion) displays the icon  51  which indicates the common target position P 1 , namely, the target position P 1  is the target position of a plurality of moving orders. The icon  52  (third code) indicates how many times the target position P 1  becomes the common target position. The numeral of “2” shown on the icon  52  indicates the target position P 1  becomes the common target position two (2) times. Accordingly, the operator could understand the situation of the non-moving orders. 
     The icon  52  is so displayed on the display  31  of the teaching pendant  30  that the operator could select the same. When the operator selects the icon  52 , the moving order of “Move 1” and its icon  53  as well as the moving order of “Move 3” and its icon  54  are displayed on the display  31 . Each icon  53 ,  54  shows the numeral corresponding to the total sum of the non-moving orders. The example shown in  FIG. 8  indicates the non-moving orders are operated five (5) times after the moving order of “Move 1” and the other non-moving orders are operated five (5) times after the moving order of “Move 3”. 
     Third Embodiment 
     The third embodiment is so explained hereinafter that the difference from the first embodiment is mainly explained. The same elements as the first embodiment are not explained but put the same reference numerals. 
     As shown in  FIG. 9 , the icon  61  displayed in the display  31  of the teaching pendant  30  (second operating portion) indicates the total sum of the non-moving orders operated at the common target position P 1 . The numeral of “10” shown on the icon  61  means the toral sum of five (5) operations of the non-moving orders after the moving order of “Move 1” and five (5) operations of the non-moving orders after the moving order of “Move 3”. The other icons  62 ,  63 ,  64  also shows the numeral corresponding to the total sum of the non-moving orders operated at each of the target position P 0 , P 2 , P 3 . Accordingly, the operator could understand the situation of the non-moving orders. 
     The icon  61  is so displayed on the display  31  of the teaching pendant  30  that the operator could select the same. When the operator selects the icon  61 , the moving order of “Move 1” and the moving order of “Move 3” both has the target position of the common target position P 1  as well as the table explaining the non-moving orders operating after the respective moving orders are displayed on the display  31  of the teaching pendant  30 . The table of  FIG. 9  explains the first non-moving order after the moving order of “Move 1” is “Wait 100”, the second non-moving order is “bifurcation”, and the first non-moving order after the moving order of “Move 3” is “Wait 100”. 
     The icon  61  is so displayed on the display  31  of the teaching pendant  30  (second operating portion) that the operator could select the same. When the operator selects the icon  61  showing the toral sum of the non-moving orders, the operator could understand the detail of the program of the non-moving order operated at the common target position P 1 . 
     As shown in  FIG. 10 , the icon  61  displayed in the display  31  of the teaching pendant  30  (second operating portion) indicates the moving order of “Move 1” and the moving order of “Move 3” both of which has the same target position of the common target position P 1  as well as the first group of icons  71 - 75  indicating the non-moving orders after the moving order of “Move 1” and the second group of icons  76 - 80  indicating the non-moving orders after the moving order of “Move 3”. 
     MODIFICATIONS 
     The above described embodiments could be modified as follows. The icons displayed on the display  31  of the teaching pendant  30  may be switched between the turning on condition the icon is displayed and the turning off condition the icon is disappeared. 
     The target position may be indicated by the other diagram (first code) than the circle. The diagram (first code) may include letter, mark, picture and other diagram having a meaning. 
     The number of the non-moving orders may be described by the other diagram (second code) than the numeral. The diagram (second code) may be the icon having the symbol such as poles indicating the number of the non-moving order. The icon having more poles means there are many non-moving orders operated at the target position. The diagram (second code) may also be the icon which color could be varied depend on the number of the non-moving orders. As the color of the icon could be detected even from the perspective view, the icon having the color may be varied from the same viewpoint of the movement trajectory when the same is varied. 
     Though above described disclosure uses the microcomputer installed in the teaching pendant  30  for supporting the programing of the robot  10 , the microcomputer installed in the controller  20  may support the programing by using the monitor (display). 
     The present disclosure could be used in a goggle type apparatus which applies virtual image on the real image. Such apparatus applies the virtual image of the movement trajectories L 1 -L 3 , the target position P 0 -P 4 , and icons  41 - 48 ,  53 - 58 ,  61 - 64  (second code) on the real image of the robot  10  which the operator actually see through the goggle. 
     The other type of mulch axis robot  10  than that disclosed in the drawings could be used.