Teaching device, display device, teaching program, and display program

A display device comprising:

• a storage section for storing;
• data on a task program for providing instructions of tasks to a polar robot including an extendable arm supported to be able to turn and vertically rotate;
• a process chart generating section for generating data on a process chart representing an outline of tasks of the polar robot based on the task program read from the storage section;
• and
• a display section for displaying the process chart, wherein
• in the process chart, a plurality of hand task graphic elements each expressed in a form corresponding to a kind of a hand task of the polar robot are disposed along a first axis in an order of the tasks, each of the hand task graphic elements is disposed along a second axis orthogonal to the first axis in accordance with a height of a hand reference point, each of the hand task graphic elements is rotated in accordance with a turning angle of the arm, and the hand task graphic elements are linked by link lines between the hand task graphic elements, each link line expressing a change in expansion and contraction length of the arm or turning radius of the hand reference point in a form of at least one of changes in hue, chroma, brightness, and line width.

A display device comprising:

• a storage section for storing data on a task program for providing instructions of tasks to an articulated robot;
• a process chart generating section for generating data on a process chart representing an outline of tasks of the articulated robot based on the task program read from the storage section;
• and
• a display section for displaying the process chart, wherein
• in the process chart, a plurality of hand task graphic elements each expressed in a form corresponding to a kind of a hand task of the articulated robot are disposed along a first axis in an order of the tasks, and each of the hand task graphic elements is disposed along a second axis orthogonal to the first axis in accordance with a height of a hand reference point.

A teaching program for providing instructions of tasks to a polar robot including an extendable arm supported to be able to turn and vertically rotate, the teaching program causing a computer to implement:

• means for outputting an execution command of an extension/retraction motion, a turning motion, and a vertically rotating motion of the arm to the polar robot according to instructions of a user;
• means for inputting a hand task of the polar robot together with a kind of the hand task;
• means for generating a process chart representing an outline of the taught tasks;
• and
• means for displaying the generated process chart, wherein the means for generating the process chart disposes a plurality of hand task graphic elements each expressed in a form corresponding to a kind of a hand task of the polar robot along a first axis in an order of the tasks, disposes each of the hand task graphic elements along a second axis orthogonal to the first axis in accordance with a height of a hand reference point, rotates each of the hand task graphic elements in accordance with a turning angle of the arm, and links the hand task graphic elements with link lines between the hand task graphic elements, each link line expressing a change in expansion and contraction length of the arm or turning radius of the hand reference point in a form of at least one of changes in hue, chroma, brightness, and line width.

A teaching program for teaching tasks to an articulated robot, the teaching program causing a computer to implement:

• means for outputting an execution command of one or more joint tasks to the articulated robot according to instructions of a user;
• means for inputting a hand task of the articulated robot together with a kind of the hand task;
• means for generating a process chart representing an outline of the taught tasks;
• and
• means for displaying the generated process chart, wherein
• the means for generating the process chart disposes a plurality of hand task graphic elements each expressed in a form corresponding to a kind of a hand task of the articulated robot along a first axis in an order of the tasks, and disposes each of the hand task graphic elements along a second axis orthogonal to the first axis in accordance with a height of a hand reference point.

A display program causing a computer to implement:

• means for reading data on a task program for providing instructions of tasks to a polar robot including an extendable arm supported to be able to turn and vertically rotate, from a storage section;
• means for generating a process chart representing an outline of tasks of the polar robot based on the read task program;
• and
• means for displaying the generated process chart, wherein
• the means for generating the process chart disposes a plurality of hand task graphic elements each expressed in a form corresponding to a kind of a hand task of the polar robot along a first axis in an order of the tasks, disposes each of the hand task graphic elements along a second axis orthogonal to the first axis in accordance with a height of a hand reference point, rotates each of the hand task graphic elements in accordance with a turning angle of the arm, and links the hand task graphic elements with link lines between the hand task graphic elements, each link line expressing a change in expansion and contraction length of the arm or turning radius of the hand reference point in a form of at least one of changes in hue, chroma, brightness, and line width.

A display program causing a computer to implement:

• means for reading data on a task program for providing instructions of tasks of an articulated robot from a storage section;
• means for generating a process chart representing an outline of tasks of the articulated robot based on the read task program;
• and
• means for displaying the generated process chart, wherein
• the means for generating the process chart disposes a plurality of hand task graphic elements each expressed in a form corresponding to a kind of a hand task of the articulated robot along a first axis in an order of the tasks, disposes each of the hand task graphic elements along a second axis orthogonal to the first axis in accordance with a height of a hand reference point.