Teaching data generator, robot system, and method for generating teaching data

A robot system comprising:

• a robot;
• a teaching data generator comprising:
• a storage device configured to store at least one piece of teaching data to be generated or edited to specify a motion form of a robot;
• a display device configured to present a predetermined display based on the at least one piece of teaching data stored in the storage device and a plurality of pieces of work unit job data stored in the storage device, each piece of work unit job data specifying a motion form of the robot, the plurality of pieces of work unit job data each comprising at least one of a plurality of pieces of job data, the plurality of pieces of job data each specifying a predetermined motion of the robot and being applicable as a part of the at least one piece of teaching data;
• an input device through which information is input;
• an arithmetic device configured to control an operation of the storage device and an operation of the display device, and configured to receive the information input from the input device, the arithmetic device comprising:
• a first window display section configured to cause the display device to display a first window displaying a plurality of first images respectively corresponding to some pieces of the work unit job data of the pieces of work unit job data stored in the storage device and that are included in the at least one piece of teaching data, the plurality of first images being arranged in an order in which pieces of work respectively corresponding to the some pieces of the work unit job data are executed;
• and
• a robot controller configured to control the robot to move based on the piece of teaching data generated or edited by the teaching data generator,
• wherein the storage device is configured to store the plurality of pieces of job data in relation to pieces of parameter information that are related to predetermined motions of the robot specified by the respective, corresponding pieces of job data,
• wherein the arithmetic device further comprises
• a first job selection window display section configured to cause the display device to display a first job selection window in which a desired piece of job data is selectable among the plurality of pieces of job data stored in the storage device,
• a parameter display window display section configured to cause the display device to display a parameter display window displaying a piece of parameter information among the pieces of parameter information that is related to the desired piece of job data selected in the first job selection window in response to the information input from the input device, and
• a parameter editing section configured to, in response to the information input from the input device, perform an editing operation with respect to the piece of parameter information displayed in the parameter display window,
• wherein the teaching data generation section is configured to generate the at least one piece of teaching data based on a display content of the parameter display window that has been changed in accordance with the editing operation performed by the parameter editing section,
• wherein at least one piece of work unit job data among the plurality of pieces of work unit job data comprises a job data complex comprising a combination of some pieces of the job data,
• wherein the arithmetic device further comprises
• a second job selection window display section configured to cause the display device to display a second job selection window in which a desired piece of work unit job data is selectable among the plurality of pieces of work unit job data stored in the storage device,
• a second window display section configured to, when the desired piece of work unit job data selected in the second job selection window in response to the information input from the input device is the job data complex, cause the display device to display a second window displaying a plurality of second images respectively corresponding to the some pieces of the job data constituting the selected job data complex, the plurality of second images being arranged in an order in which jobs respectively corresponding to the some pieces of the job data are executed, and
• a second job editing section configured to, in response to the information input from the input device, perform an editing operation comprising replacing the some pieces of the job data respectively corresponding to the plurality of second images with other pieces of the job data stored in the storage device, and changing the order in which the jobs respectively corresponding to the some pieces of the job data are executed,
• wherein the teaching data generation section is configured to generate the at least one piece of teaching data based on a display content of the second window that has been changed in accordance with the editing operation performed by the second job editing section,
• wherein based on control of at least one of the first window display section and the second job selection window display section, the display device is configured to display, in at least one of the first window and the second job selection window, the plurality of first images respectively corresponding to the some pieces of the work unit job data included in the at least one piece of teaching data selected in response to the information input from the input device,
• wherein when one first image among the plurality of first images is selected in at least one of the first window and the second job selection window in response to the information input from the input device, and when the selected first image is a first image corresponding to the job data complex, then based on control of at least one of the second window display section and the first job selection window display section, the display device is configured to display, in at least one of the second window and the first job selection window, the plurality of second images respectively corresponding to the some pieces of the job data constituting the job data complex corresponding to the selected one first image,
• wherein when one second image among the plurality of second images is selected in at least one of the second window and the first job selection window in response to the information input from the input device, then the display device is configured to, based on control of the parameter display window display section, display in the parameter display window a piece of the parameter information that corresponds to a piece of the job data that corresponds to the piece of parameter information,
• wherein at least one of the first window and the second job selection window comprises a replacing work display area displaying third images respectively corresponding to the other pieces of the work unit job data available to replace the plurality of first images respectively corresponding to the some pieces of the work unit job data, and
• wherein in response to the information input from the input device, the first job editing section is configured to perform an editing operation comprising replacing the plurality of first images with the third images, and changing an arrangement of the plurality of first images.

A robot system comprising:

• a robot;
• a teaching data generator comprising:
• a storage device configured to store at least one piece of teaching data to be generated or edited to specify a motion form of a robot;
• a display device configured to present a predetermined display based on the at least one piece of teaching data stored in the storage device and a plurality of pieces of work unit job data stored in the storage device, each piece of work unit job data specifying a motion form of the robot, the plurality of pieces of work unit job data each comprising at least one of a plurality of pieces of job data, the plurality of pieces of job data each specifying a predetermined motion of the robot and being applicable as a part of the at least one piece of teaching data;
• an input device through which information is input;
• and
• an arithmetic device configured to control an operation of the storage device and an operation of the display device, and configured to receive the information input from the input device, the arithmetic device comprising:
• a first window display section configured to cause the display device to display a first window displaying a plurality of first images respectively corresponding to some pieces of the work unit job data of the pieces of work unit job data stored in the storage device and that are included in the at least one piece of teaching data, the plurality of first images being arranged in an order in which pieces of work respectively corresponding to the some pieces of the work unit job data are executed;
• and
• a robot controller configured to control the robot to move based on the piece of teaching data generated or edited by the teaching data generator,
• wherein the storage device is configured to store the plurality of pieces of job data in relation to pieces of parameter information that are related to predetermined motions of the robot specified by the respective, corresponding pieces of job data,
• wherein the arithmetic device further comprises
• a first job selection window display section configured to cause the display device to display a first job selection window in which a desired piece of job data is selectable among the plurality of pieces of job data stored in the storage device,
• a parameter display window display section configured to cause the display device to display a parameter display window displaying a piece of parameter information among the pieces of parameter information that is related to the desired piece of job data selected in the first job selection window in response to the information input from the input device, and
• a parameter editing section configured to, in response to the information input from the input device, perform an editing operation with respect to the piece of parameter information displayed in the parameter display window,
• wherein the teaching data generation section is configured to generate the at least one piece of teaching data based on a display content of the parameter display window that has been changed in accordance with the editing operation performed by the parameter editing section,
• wherein at least one piece of work unit job data among the plurality of pieces of work unit job data comprises a job data complex comprising a combination of some pieces of the job data,
• wherein the arithmetic device further comprises
• a second job selection window display section configured to cause the display device to display a second job selection window in which a desired piece of work unit job data is selectable among the plurality of pieces of work unit job data stored in the storage device,
• a second window display section configured to, when the desired piece of work unit job data selected in the second job selection window in response to the information input from the input device is the job data complex, cause the display device to display a second window displaying a plurality of second images respectively corresponding to the some pieces of the job data constituting the selected job data complex, the plurality of second images being arranged in an order in which jobs respectively corresponding to the some pieces of the job data are executed, and
• a second job editing section configured to, in response to the information input from the input device, perform an editing operation comprising replacing the some pieces of the job data respectively corresponding to the plurality of second images with other pieces of the job data stored in the storage device, and changing the order in which the jobs respectively corresponding to the some pieces of the job data are executed,
• wherein the teaching data generation section is configured to generate the at least one piece of teaching data based on a display content of the second window that has been changed in accordance with the editing operation performed by the second job editing section,
• wherein based on control of at least one of the first window display section and the second job selection window display section, the display device is configured to display, in at least one of the first window and the second job selection window, the plurality of first images respectively corresponding to the some pieces of the work unit job data included in the at least one piece of teaching data selected in response to the information input from the input device,
• wherein when one first image among the plurality of first images is selected in at least one of the first window and the second job selection window in response to the information input from the input device, and when the selected first image is a first image corresponding to the job data complex, then based on control of at least one of the second window display section and the first job selection window display section, the display device is configured to display, in at least one of the second window and the first job selection window, the plurality of second images respectively corresponding to the some pieces of the job data constituting the job data complex corresponding to the selected one first image,
• wherein when one second image among the plurality of second images is selected in at least one of the second window and the first job selection window in response to the information input from the input device, then the display device is configured to, based on control of the parameter display window display section, display in the parameter display window a piece of the parameter information that corresponds to a piece of the job data that corresponds to the piece of parameter information,
• wherein at least one of the second window and the first job selection window comprises a replacing job display area displaying fourth images respectively corresponding to other pieces of the job data available to replace the plurality of pieces of job data respectively corresponding to the plurality of second images, and
• wherein in response to the information input from the input device, the second job editing section is configured to perform an editing operation comprising replacing the plurality of second images with the fourth images, and changing an arrangement of the plurality of second images.

A method for generating teaching data generated or edited to specify a motion form of a robot and controlling the robot, the method comprising:

• displaying, on a first window of a display device, a plurality of images respectively corresponding to some pieces of work unit job data that are among a plurality of pieces of stored work unit job data and that are included in at least one piece of teaching data, the plurality of images being arranged in an order in which pieces of work respectively corresponding to the some pieces of work unit job data are executed, the plurality of pieces of stored work unit job data specifying a motion form of the robot on a work basis, the plurality of pieces of work unit job data each comprising one of a plurality of pieces of job data or a combination of some of the plurality of pieces of job data, the plurality of pieces of job data each specifying a predetermined motion of the robot and being applicable as a part of the at least one piece of teaching data,
• displaying, on a second window of the display device, a plurality of second images respectively corresponding to the some pieces of the job data constituting a selected job data complex having a combination of some pieces of the job data,
• displaying, on a first job selection window, a plurality of the pieces of job data in which a desired piece of job data is selectable,
• displaying, on a second job selection window of the display device, a plurality of the pieces of work unit job data in which a desired piece of work unit job data is selectable,
• performing an editing operation comprising replacing the some pieces of the stored work unit job data respectively corresponding to the plurality of images with other pieces of the stored work unit job data, and changing the order in which the pieces of work respectively corresponding to the some pieces of the stored work unit job data are executed, and either:
• displaying, on at least one of the first window and the second job selection window of the display device, a plurality of third images respectively corresponding to other pieces of work unit job data available to replace the plurality of first images respectively corresponding to the some pieces of the work unit job data, or
• displaying, on at least one of the first window and the second job selection window of the display device, a plurality of fourth images respectively corresponding to other pieces of the job data available to replace the plurality of pieces of job data respectively corresponding to the plurality of second images, and
• generating the at least one piece of teaching data based on a display content of the window that has been changed in accordance with the editing operation performed in the editing step;
• and
• controlling the robot with a robot controller based on the at least one piece of teaching data.