JP2023162601A - teaching device - Google Patents

Abstract

An object of the present invention is to provide a teaching device that can accurately and quickly grasp a number indicating a selected coordinate system. [Solution] A teaching device that teaches a motion program to a robot having a robot arm, the coordinate system selecting a coordinate system number selected from a plurality of coordinate systems in a predetermined type of coordinate system. A teaching device comprising: a number selection section; a display section having a number display section for displaying the digits of the number and a shape pattern display section for displaying a shape pattern corresponding to the number. [Selection diagram] Figure 5

Description

The present invention relates to a teaching device.

In recent years, due to rising labor costs and a shortage of human resources in factories, manufacturing, processing, assembly, and other tasks have been performed by robots equipped with robot arms, accelerating the automation of tasks that were previously performed manually. In order for such a robot to perform a task, in advance, teaching is performed to make the robot memorize the content of the task. In this teaching, a robot operation program is generated using a teaching device such as a teaching device.

For example, in the teaching device described in Patent Document 1, an operator selects one coordinate system from a plurality of coordinate systems having different origin positions, and performs teaching using the selected coordinate system. The teaching device also has a display screen, and displays the currently selected coordinate system on the display screen. The operator gives instructions while visually checking the displayed coordinate system.

Japanese Patent Application Publication No. 10-146782

However, the teaching device described in Patent Document 1 has a configuration in which a number indicating the coordinate system is displayed on the display screen, but it is difficult to understand at a glance, so the operator cannot use the number indicating the selected coordinate system or the number indicating the coordinate system. There is a problem that the type cannot be easily determined.

The teaching device of the present invention is a teaching device that teaches a motion program to a robot having a robot arm, and comprises:
a coordinate system number selection unit that selects a coordinate system number selected from among a plurality of coordinate systems in a predetermined coordinate system type;
The present invention is characterized by comprising a display section having a number display section that displays the digits of the number and a shape pattern display section that displays a shape pattern corresponding to the number.

FIG. 1 is a diagram showing the overall configuration of a robot system including a first embodiment of the teaching device of the present invention. FIG. 2 is a block diagram of the robot system shown in FIG. 1. FIG. 3 is a diagram showing an example of a teaching screen displayed on the teaching device shown in FIG. FIG. 4 is a diagram showing an example of a simulation screen displayed on the teaching device shown in FIG. FIG. 5 is a diagram showing an example of a number display section and a shape pattern display section displayed in the third area of the teaching screen shown in FIG. 3. FIG. 6 is a diagram showing an example of a number display section and a shape pattern display section in the second embodiment of the teaching device of the present invention. FIG. 7 is a diagram showing an example of a number display section and a shape pattern display section in the second embodiment of the teaching device of the present invention. FIG. 8 is a diagram showing an example of a number display section and a shape pattern display section in the third embodiment of the teaching device of the present invention. FIG. 9 is a plan view of the display section in the fourth embodiment of the teaching device of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The teaching device of the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

<First embodiment>
FIG. 1 is a diagram showing the overall configuration of a robot system including a first embodiment of the teaching device of the present invention. FIG. 2 is a block diagram of the robot system shown in FIG. 1. FIG. 3 is a diagram showing an example of a teaching screen displayed on the teaching device shown in FIG. FIG. 4 is a diagram showing an example of a simulation screen displayed on the teaching device shown in FIG. FIG. 5 is a diagram showing an example of a number display section and a shape pattern display section displayed in the third area of the teaching screen shown in FIG. 3.

Hereinafter, for convenience of explanation, the base 11 side in FIG. 1 of the robot arm is also referred to as the "base end", and the opposite side, that is, the end effector 20 side, is also referred to as the "tip end". In the following, for convenience of explanation, the X-axis, Y-axis, and Z-axis in FIG. Also called "lower". Further, regarding the robot arm, the side on the base 11 in FIG. 1 is also referred to as the "base end", and the opposite side, that is, the end effector 20 side, is also referred to as the "tip". Further, the Z-axis direction in FIG. 1, that is, the up-down direction, is the "vertical direction", and the X-axis direction and the Y-axis direction, or any direction on the XY plane, is the "horizontal direction".

Further, in FIGS. 3 to 9, the upper side of the figure is also referred to as the "upper side," the lower side of the figure is also referred to as the "lower side," the right side of the figure is also referred to as the "right," and the left side of the figure is also referred to as the "left."

As shown in FIG. 1, the robot system 100 includes a robot 1, a control device 3 that controls the robot 1, and a teaching device 4 of the present invention.

First, the robot 1 will be explained.
The robot 1 shown in FIG. 1 is a single-arm six-axis vertically articulated robot in this embodiment, and includes a base 11 and a robot arm 10. Furthermore, an end effector 20 can be attached to the tip of the robot arm 10. Note that the end effector 20 may be a component of the robot 1 or may be a separate member from the robot 1, that is, it may not be a component of the robot 1.

Note that the robot 1 is not limited to the illustrated configuration, and may be, for example, a dual-arm articulated robot. Further, the robot 1 may be a horizontal articulated robot.

The base 11 is a support that drivably supports the robot arm 10 on its base end side, and is fixed to, for example, a floor in a factory. In the robot 1, a base 11 is electrically connected to a control device 3 via a relay cable. Note that the connection between the robot 1 and the control device 3 is not limited to a wired connection as in the configuration shown in FIG. 1, but may be a wireless connection, for example. Further, they may be connected via a network such as the Internet.

In this embodiment, the robot arm 10 includes a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17. The arms are connected in this order from the base 11 side. Note that the number of arms that the robot arm 10 has is not limited to six, and may be, for example, one, two, three, four, five, or seven or more. Furthermore, the overall length and other dimensions of each arm are not particularly limited and can be set as appropriate.

The base 11 and the first arm 12 are connected via a joint 171. The first arm 12 is rotatable about a first rotation axis extending in the Z-axis direction with respect to the base 11. In this way, the first rotation axis coincides with the normal to the floor surface of the floor to which the base 11 is fixed, and the entire robot arm 10 rotates in the forward and reverse directions around the first rotation axis. It can be rotated in any direction.

The first arm 12 and the second arm 13 are connected via a joint 172. The second arm 13 is rotatable relative to the first arm 12 about a second rotation axis extending in the horizontal direction.

The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable about a third rotation axis extending horizontally with respect to the second arm 13. The third rotation axis is parallel to the second rotation axis.

The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 is rotatable relative to the third arm 14 about a fourth rotation axis parallel to the direction of the central axis of the third arm 14 . The fourth rotation axis is perpendicular to the third rotation axis.

The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable relative to the fourth arm 15 about the fifth rotation axis. The fifth rotation axis is orthogonal to the fourth rotation axis.

The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable relative to the fifth arm 16 about the sixth rotation axis. The sixth rotation axis is perpendicular to the fifth rotation axis.

Further, the sixth arm 17 is the tip of the robot located at the tip end side of the robot arm 10. This sixth arm 17 can be displaced along with the end effector 20 by driving the robot arm 10.

The end effector 20 shown in FIG. 1 has a grip portion that can grip a workpiece or a tool. When the end effector 20 is attached to the sixth arm 17, the tip of the end effector 20 becomes the tool center point TCP.

The robot 1 includes a motor M1, a motor M2, a motor M3, a motor M4, a motor M5, and a motor M6 as drive units, and an encoder E1, an encoder E2, an encoder E3, an encoder E4, an encoder E5, and an encoder E6. The motor M1 is built in the joint 171 and rotates the first arm 12 with respect to the base 11 around the first rotation axis. The motor M2 is built in the joint 172 and rotates the first arm 12 and the second arm 13 relatively around the second rotation axis. The motor M3 is built in the joint 173 and rotates the second arm 13 and the third arm 14 relatively around the third rotation axis. The motor M4 is built in the joint 174 and rotates the third arm 14 and the fourth arm 15 relatively around the fourth rotation axis. The motor M5 is built in the joint 175 and rotates the fourth arm 15 and the fifth arm 16 relatively around the fifth rotation axis. The motor M6 is built in the joint 176 and rotates the fifth arm 16 and the sixth arm 17 relatively around the sixth rotation axis.

Furthermore, the encoder E1 is built into the joint 171 and detects the position of the motor M1. Encoder E2 is built into joint 172 and detects the position of motor M2. Encoder E3 is built into joint 173 and detects the position of motor M3. Encoder E4 is built into joint 174 and detects the position of motor M4. Encoder E5 is built into the fifth arm 16 and detects the position of motor M5. Encoder E6 is built into the sixth arm 17 and detects the position of motor M6. Note that "detecting the position" as used herein refers to detecting the rotation angle of the motor, that is, the amount of rotation including forward and reverse rotation, and the angular velocity, and the detected information is referred to as "position information."

As shown in FIG. 2, motor drivers D1 to D6 are connected to corresponding motors M1 to M6, respectively, and control the driving of each of these motors. Motor drivers D1 to D6 are built into joint 171, joint 172, joint 173, joint 174, fifth arm 16, and sixth arm 17, respectively.

Encoders E1 to E6, motors M1 to M6, and motor drivers D1 to D6 are electrically connected to the control device 3, respectively. The position information, that is, the amount of rotation, of the motors M1 to M6 detected by the encoders E1 to E6 is transmitted to the control device 3 as an electrical signal. Based on this position information, the control device 3 outputs control signals to the motor drivers D1 to D6 shown in FIG. 2 to drive the motors M1 to M6. That is, controlling the robot arm 10 means controlling the driving of the motors M1 to M6 to control the operations of the first arm 12 to the sixth arm 17 belonging to the robot arm 10.

Further, in the robot 1, a force detection unit 19 for detecting force is detachably installed on the base 11 or the robot arm 10. Force detection section 19 has at least one force detector. The robot arm 10 can be driven with the force detection section 19 installed.

The force detector constituting the force detection unit 19 is a sensor capable of detecting force and its direction, and in this embodiment is a 6-axis force sensor. The force detector of the force detection unit 19 detects the magnitude of force on three mutually orthogonal detection axes and the magnitude of torque around the three detection axes. In other words, force components in the directions of the X, Y, and Z axes, which are orthogonal to each other, a force component in the W direction around the X axis, a force component in the V direction around the Y axis, and a force component in the V direction around the Z axis. The force component in the U direction is detected. These X-axis, Y-axis, and Z-axis are axes in the robot coordinate system. Here, a plurality of different coordinate systems are set as the robot coordinate system, such as a tool coordinate system, a local coordinate system, and a custom coordinate system, which will be described later. In each of these coordinate systems, the same X, Y, and Z axes are set as described above. The coordinate system in the teaching device 4 also corresponds to this.

Note that the force detector of the force detection unit 19 is not limited to a six-axis force sensor, and may have another configuration. Further, the force detector of the force detection unit 19 may be installed in advance inside the base 11 or the robot arm 10.

The force detector of the force detection unit 19 can be detachably attached to the end effector 20. In this embodiment, the end effector 20 has a pair of claws that can move toward and away from each other, and is composed of a hand that grips and releases a workpiece or tool with each claw. The force detector attached to the end effector 20 can detect the magnitude and direction of the reaction force of the gripping force when the workpiece is gripped by both claws.

Note that the end effector 20 is not limited to the configuration shown in the drawings, and may have a structure that includes, for example, a suction portion and grips a work or a tool by suction of the suction portion. Further, the end effector 20 may be, for example, a tool such as a polisher, a grinder, a cutting machine, a spray gun, a laser beam irradiator, a screwdriver, a wrench, or the like.

Next, the control device 3 and teaching device 4 will be explained.
As shown in FIG. 1, the control device 3 is installed at a position away from the robot 1 in this embodiment. However, the configuration is not limited to this, and the control device 3 may be built in the base 11. Further, the control device 3 has a function of controlling the drive of the robot 1, and is electrically connected to each part of the robot 1 described above. The control device 3 includes a control section 31, a storage section 32, and a communication section 33. These units are communicably connected to each other via, for example, a bus.

The control unit 31 is composed of, for example, a CPU (Central Processing Unit), and reads and executes various programs such as operating programs stored in the storage unit 32. Signals generated by the control unit 31 are transmitted to each part of the robot 1 via the communication unit 33, and signals from each part of the robot 1 are received by the control unit 31 via the communication unit 33. This allows the robot arm 10 to perform a predetermined work under predetermined conditions.

The storage unit 32 stores various programs executed by the control unit 31. The storage unit 32 includes, for example, a volatile memory such as a RAM (Random Access Memory), a nonvolatile memory such as a ROM (Read Only Memory), a removable external storage device, and the like.

The communication unit 33 transmits and receives signals to and from the control device 3 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN. In this case, communication may be performed via a server (not shown) or via a network such as the Internet.

As shown in FIGS. 1 and 2, the teaching device 4 is a command device for teaching, and is composed of a notebook computer having a display 40 as a display section and an input operation section 44. The teaching device 4 is also an operation unit that teaches a motion program to the robot arm 10. That is, it has functions for creating operating programs and inputting information such as letters and numbers. A teaching screen D shown in FIG. 3 and a simulation image DI shown in FIG. 4 are displayed on the display 40 as display screens. The input operation section 44 is composed of a keyboard and a mouse (not shown), and when the operator operates these, switching between the teaching screen D and the simulation image DI, various operations related to teaching, and input operations of information are performed. The display 40 is composed of, for example, a liquid crystal, an organic EL, etc., and can display a display screen including the teaching screen D and the simulation image DI in color or monochrome. Note that the teaching device 4 is not limited to a notebook computer, but may be a desktop computer or a teaching pendant.

The control unit 41 is configured with at least one processor such as a CPU (Central Processing Unit), and reads and executes various programs such as a teaching program stored in the storage unit 42 . Further, the control unit 41 has a function of controlling the operation of the display 40. Specifically, the control unit 41 displays the teaching screen D on the display 40. An operation program is generated by the operator performing various setting operations using the input operation section 44 while looking at the teaching screen D. The operation program generated by the control unit 41 is stored in the storage unit 42 and transmitted to the control device 3 via the communication unit 43. Thereby, a program that causes the robot arm 10 to perform a predetermined work under predetermined conditions can be specified via the control device 3.

The storage unit 42 stores various programs that can be executed by the control unit 41. For example, driving the display 40, more specifically, driving each display section H1, number display section H2, coordinate system type display section H3, shape pattern display section H4, and positional relationship display section H5, which will be described later. An example is an image display program to control. By starting this image display program, a desired image is displayed on each of the display sections. Note that the image display program also includes various data for specifying characters, numbers, shape patterns, etc., correction data corresponding to the coordinate system, and other subprograms and auxiliary programs.

The storage unit 42 includes, for example, a volatile memory such as a RAM (Random Access Memory), a nonvolatile memory such as a ROM (Read Only Memory), a removable external storage device, and the like. Furthermore, the storage unit 42 stores an operation program created by the control unit 41.

The communication unit 43 transmits and receives signals to and from the control device 3 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN. In this case, communication may be performed via a server (not shown) or via a network such as the Internet. The communication unit 43 transmits information regarding the operating program stored in the storage unit 42 to the control device 3 . The communication unit 43 can also receive information stored in the storage unit 32 and store the information in the storage unit 42 .

Next, the teaching screen D displayed on the display 40 of the teaching device 4 will be explained.
As shown in FIG. 3, the display 40 displays a rectangular teaching screen D as part of the display screen. The teaching screen D has a first area A1, a second area A2, and a third area A3. The first area A1 occupies most of the teaching screen D. The second area A2 is arranged on the left side of the teaching screen D. The third area A3 is arranged above the first area A1 and the second area A2, and has a band shape that extends in the horizontal direction from the left end to the right end along the upper edge of the teaching screen D.

The first area A1 includes a "Jog" item, a "Current position" item, a "Current arm posture" item, a "Jog movement distance" item, and a "Point (P)" item. is displayed.

As described above, a plurality of different coordinate systems are set in the teaching device 4. The "Jog" item includes a first input section I1 for inputting a predetermined coordinate system selected from a plurality of coordinate systems, a second input section I2 for inputting the speed, and an operation for moving the robot arm. It has an operation button group B1.

When a selection operation is performed, the first input unit I1 displays a plurality of coordinate system names in a pull-down format. In this embodiment, a tool coordinate system, a local coordinate system, and a custom coordinate system are displayed on the first input section I1, and a desired coordinate system can be alternatively selected from these coordinate systems. In FIG. 3, the tool coordinate system is displayed. Selection or selection operation refers to pressing a button, and in this embodiment, is performed by clicking using a mouse. Further, when the display 40 is a touch panel, input operations are performed by touching a button or the like. The same applies to each input described below.

When a selection operation is performed, the second input section I2 displays the speed mode in a pull-down format. In this embodiment, characters for low speed, medium speed, and high speed are displayed on the second input section I2, and a desired speed mode can be selectively selected from among these speed modes.

The operation button group B1 is displayed below the first input section I1 and the second input section I2. The operation button group B1 includes a button labeled "+X", a button labeled "-X", a button labeled "+Y", a button labeled "-Y", and a button labeled "+Z". ”, a button labeled “-Z”, a button labeled “+U”, a button labeled “-U”, a button labeled “+V”, It has a button displayed as "-V", a button displayed as "+W", and a button displayed as "-W".

When the tool center point TCP moves to the desired position by pressing and operating a desired button belonging to the operation button group B1 while looking at the simulation image DI shown in FIG. 4 or while looking at the actual robot arm 10. , by pressing the button B2 labeled "Teach (T)" below the first area A1, the position can be taught.

By teaching using such a "jog" item, it is possible to teach delicately and with high precision.

The words "Hand", "Elbow", and "Wrist" are displayed in the "Current Arm Posture" item. "Hand" indicates the posture of the entire arm of the robot arm 10, "Elbow" indicates the posture of the joint, and "Wrist" indicates the posture of the wrist, that is, the tip.

The "current position" item above the first area A1 has six display sections H1. The display section H1 displayed as "X" displays the moving distance in the X-axis direction. The display section H1 displayed as "Y" displays the moving distance in the Y-axis direction. The display section H1 displayed as "Z" displays the moving distance in the Z-axis direction. The display section H1 displayed as "U" displays the moving distance around the Z axis. The display section H1 displayed as "V" displays the moving distance around the Y axis. The display section H1 displayed as "W" displays the moving distance around the X-axis. In each display section H1, numerical values indicating the moving distance in each direction are displayed in the display column according to the teaching situation.

Below the first area A1 and to the left of the button B2, an item "Point (P)" is displayed. The "point (P)" item has an input section N2 for inputting the number of a specific teaching target position selected from a plurality of teaching target positions. When a selection operation is performed in the input section N2, the numbers of all teaching target positions are displayed in a pull-down format. Although not shown, the teaching target position refers to a plurality of positions that are stored by being registered by the user. These multiple stored positions may be configured to be registered independently for each of the aforementioned tool coordinate system, local coordinate system, and custom coordinate system, or they may be registered in common so that the coordinates can be converted to each coordinate system. A configuration may also be used.

By designating a desired teaching target position and pressing button B2, the current position of the tool center point TCP can be taught as the teaching target position. That is, by selecting a teaching target position and pressing button B2, it is possible to teach the tool center point TCP to move with the selected teaching target position as the target position. By performing teaching using such "point (P)" items, prompt and appropriate teaching can be performed. Incidentally, the above-mentioned "jog" item and "point (P)" item can be used together for teaching.

Selection buttons for selecting items to be displayed in the first area A1 are displayed in the second area A2.
The selection buttons include one labeled "Jog &Teach," one labeled "Point Data," one labeled "Arch," one labeled "Local Settings," and one labeled "Local Settings." A button labeled "Tool Settings", a button labeled "Palette Settings", a button labeled "External Control Settings", a button labeled "Entry Detection Area", and a button labeled "Entry Detection Plane". , a button labeled "hand mass setting", and a button labeled "hand eccentricity setting".

By selectively selecting the button for the item you want to set from these buttons, the selected item will be displayed in the first area A1, and you can set the item in the first area A1. . In the first area A1 shown in FIG. 3, the screen displayed when the "Jog & Teach" button is pressed is displayed.

As shown in FIGS. 3 and 5, the third area A3 includes a number display section H2, a coordinate system type display section H3, and a shape pattern display section H4.

As shown in FIG. 5, the number display section H2 displays the number of the selected coordinate system. The coordinate systems include a base coordinate system where the origin is set on the base 11 of the robot 1, a world coordinate system where the origin is set at an arbitrary position in the space where the robot 1 is placed, and a world coordinate system where the origin is set at an arbitrary position in the space where the robot 1 is placed. There are various types, such as a local coordinate system in which the origin is set at an arbitrary position, and a tool coordinate system in which the origin is set at an arbitrary position on the tip of the robot arm 10 of the robot 1 or the end effector 20. Furthermore, for each coordinate system type, a plurality of coordinate systems are set.

For example, in the local coordinate system, a plurality of local coordinate systems having different origin positions are set depending on the position of the work. Examples of the local coordinate systems include a local coordinate system Local12 set at the end of the workbench where the work is performed, a local coordinate system Local15 set at the center of the workbench, and the like.

Further, in the tool coordinate system, a plurality of tool coordinate systems having different origin positions are set depending on the shape of the end effector 20 and the work. As each tool coordinate system, for example, a tool coordinate system Tool0 is set at the center of the base of the end effector 20, that is, the center of the tip of the robot arm 10, and a tool coordinate system is set at the tip of the claw portion of the end effector 20. Tool3, a tool coordinate system Tool8 set at the base end of the end effector 20, a tool coordinate system Tool12 set at the tip of the claw at the maximum open position of the end effector 20, and the like.

The simulation image DI in FIG. 4 representatively shows a coordinate system origin position P0, a coordinate system origin position P3, and a coordinate system origin position P12 in the tool coordinate system. The coordinate system origin position P0 corresponds to the origin position of the tool coordinate system Tool0, the coordinate system origin position P3 corresponds to the origin position of the tool coordinate system Tool3, and the coordinate system origin position P12 corresponds to the origin position of the tool coordinate system Tool0. This corresponds to the origin position of Tool12.

Note that when setting the coordinate system number, the numbers assigned to the coordinate systems may be set as consecutive numbers or may be set with missing numbers. Although symbols may be used instead of numbers, it is preferable to use numbers because it is easier to handle even if the number of coordinate systems increases.

When the tool coordinate system Tool3 is selected, the number "3" corresponding to the selected tool coordinate system Tool3 is displayed in the number display section H2. When the tool coordinate system Too12 is selected, the number "12" corresponding to the selected tool coordinate system Too112 is displayed in the number display section H2. When the local coordinate system Local12 is selected, the number "12" corresponding to the selected local coordinate system Local2 is displayed in the number display section H2. When the local coordinate system Local5 is selected, the number "15" corresponding to the selected local coordinate system Local5 is displayed in the number display section H2. By having such a number display section H2, the operator can easily grasp the currently selected coordinate system.

Note that things other than numbers, such as letters and figures, may be displayed together with the numbers in the number display section H2. When tool coordinate system Tool3 is selected, the number display section H2 may display, for example, the characters "No. 3".

The coordinate system type display section H3 displays the type of the selected coordinate system in characters. For example, if the tool coordinate system is selected, the characters "Tool" are displayed in the coordinate system type display section H3. As shown in FIG. 5, when the base coordinate system is selected, the word "Base" is displayed in the coordinate system type display section H3, and when the world coordinate system is selected, the coordinate system type is displayed. The text "World" is displayed on the display section H3, and if the local coordinate system is selected, the text "Local" is displayed on the coordinate system type display section H3, indicating that the custom coordinate system is selected. In this case, the characters "Custom" are displayed in the coordinate system type display section H3. By having such a coordinate system type display section H3, the operator can easily understand the currently selected coordinate system. Note that FIG. 5 shows a case where the local coordinate system 12 is selected.

The shape pattern display section H4 displays the shape pattern P corresponding to the selected coordinate system number. In the illustrated configuration, the shape pattern P is a ring-shaped indicator displayed around the number display section H2. The shape pattern P is displayed in a display format with different lengths or angles corresponding to the numbers of the coordinate system (hereinafter sometimes simply referred to as "numbers").

For example, if a total of 12 coordinate system origins are set, the number "3" corresponding to the coordinate system origin position P3 corresponds to 1/4 rotation clockwise from the 0 o'clock position, that is, from 0 o'clock to the 0 o'clock position. This is expressed by changing the color of the indicator up to the 3 o'clock position. In addition, the number "6" corresponding to the coordinate system origin position P6 means that the color of the indicator changes for 1/2 rotation clockwise from the 0 o'clock position, that is, from the 0 o'clock position to the 6 o'clock position. is expressed by

As shown in Figure 5, if the coordinate system origin is set at a total of 16 locations, the number "12" corresponding to the coordinate system origin position P12 is 3/4 rotation clockwise from the 0 o'clock position. That is, the color of the indicator changes in the range from 0 o'clock to 9 o'clock.

In this way, the shape pattern P indicates the position of the selected coordinate system origin number (hereinafter also referred to as "coordinate system number") with respect to the total number of coordinate system origins. In other words, the shape pattern P visually displays the ratio of the number of selected coordinate system origins to the total number of coordinate system origins. The operator who sees this can intuitively and instantly grasp the position of the selected coordinate system origin among all the coordinate system origins.

In the present invention, a case has been described in which the color of a predetermined part of the indicator changes, but the present invention is not limited to this. It is sufficient if the display can be distinguished from other parts.

In this embodiment, the coordinate system can be selected on the third area A3. Specifically, when the user selects the coordinate system type display area H3, that is, by pressing a button, clicking the cursor with a mouse, or performing a touch operation in the case of a touch panel, the selection is possible. The types of coordinate systems are displayed, and the desired type of coordinate system can be selected. In this case, the coordinate system type display section H3 corresponds to the coordinate system type selection section. In addition, when the user selects the number display area H2, that is, by pressing a button, clicking the cursor with a mouse, or performing a touch operation on a touch panel, selectable numbers are displayed. You can select the desired number. In this case, the number display section H2 corresponds to the coordinate system number selection section.

However, the present invention is not limited to this, and the configuration may be such that when the user selects the number display section H2 or the coordinate system type display section H3, a list of selectable coordinate systems is displayed and the coordinate systems can be selected. When the user selects the number display section H2 or the coordinate system type display section H3, the desired coordinate system type and number may be displayed and selected using a keyboard or the like. The configuration may be such that the user can select the desired coordinate system number by selecting the position corresponding to the desired coordinate system number on the shape pattern display section H4. In this case, the shape pattern display section H4 corresponds to the coordinate system number selection section. In addition to the coordinate system type display area H3, number display area H2, and shape pattern display area H4, a list of coordinate systems that can be selected from a pull-down menu, etc. is displayed, and the coordinate system type display is displayed to match the selected coordinate system. It may be configured such that the display of the section H3, the number display section H2, and the shape pattern display section H4 are switched. In this case, the pull-down menu corresponds to the coordinate system number selection section and the coordinate system type selection section.

The teaching screen D of the display 40 has the number display section H2 and the shape pattern display section H4 for displaying as described above, so that the operator can accurately grasp the selected coordinate system using numbers. Not only can this be done, but also it can be intuitively understood by the shape pattern P. Therefore, due to these synergistic effects, the operator can accurately and quickly grasp the selected coordinate system.

As explained above, the teaching device 4 teaches an operation program to the robot 1 having the robot arm 10. The teaching device 4 also includes a coordinate system type display section H3, which is an example of a coordinate system number selection section for selecting a coordinate system number selected from a plurality of coordinate systems in a predetermined coordinate system type; The display 40 is a display section having a number display section H2 that displays the numbers of the number and a shape pattern display section H4 that displays the shape pattern P corresponding to the number. Thereby, the operator can accurately understand the selected coordinate system by numbers, and can also intuitively understand it by the shape pattern P. Therefore, due to these synergistic effects, the operator can accurately and quickly grasp the number indicating the selected coordinate system and the type of coordinate system.

Note that the input section N2 does not need to be displayed on the display 40. In this case, an input section corresponding to the function of the input section N2 is displayed on another display or installed at an arbitrary position on the teaching device 4 as a hard button (not shown).

Furthermore, as described above, the shape pattern P indicates the positioning of the selected coordinate system number with respect to the total number of coordinate systems in a predetermined type of coordinate system. This allows the operator to more reliably grasp the number of the selected coordinate system.

Further, the shape pattern P is displayed around the number display section H2. Thereby, the number display portion H2 and the shape pattern P can be seen and understood at the same time. Therefore, the selected coordinate system can be grasped more accurately and quickly.

Moreover, the shape pattern P is displayed in a display format in which the length or angle corresponds to the number of the number. Thereby, the operator can intuitively understand the number of the selected coordinate system, and can understand it more quickly and reliably.

In this embodiment, the shape pattern P has a ring shape, but the present invention is not limited to this. For example, the shape pattern P may have a shape in which a part of the ring is missing, or a fan shape. Alternatively, it may be linear.

Further, a plurality of types of coordinate systems are set, and the display 40, which is a display section, has a coordinate system type display section H3 that shows the type of coordinate system selected from among the plurality of coordinate system types. This allows the operator to easily and reliably grasp the selected coordinate system.

In the illustrated configuration, the coordinate system type display section H3 displays the selected coordinate system in Roman letters; however, the present invention is not limited to this; for example, the coordinate system type display section H3 may display the selected coordinate system in Roman letters. It may be displayed using numbers or symbols, or other display formats may be used.

<Second embodiment>
6 and 7 are diagrams showing an example of a number display section and a shape pattern display section in the second embodiment of the teaching device of the present invention.

A second embodiment of the teaching device of the present invention will be described below with reference to FIGS. 6 and 7. Hereinafter, differences from the first embodiment will be explained, and explanations of common features will be omitted.

In the teaching device of the second embodiment, the shape pattern P displayed on the shape pattern display section H4 is different from that of the first embodiment.

As shown in FIGS. 6 and 7, around the number display section H2, numbers 0 to 9 are displayed in sequence along an annular frame. The unit areas in which numbers 0 to 9 are displayed are arranged at equal intervals along the circumferential direction of the ring.

Moreover, the shape pattern P is displayed in a display format in which the number corresponding to the number of the selected coordinate system is distinguished from other numbers. In the illustrated configuration, the display is distinguished by using different colors.

As shown in Figure 6, when the selected coordinate system number is "8", the tens digit is "0" and the ones digit is "8", so in the annular frame, "0" The unit area including the number "8" and the unit area including the number "8" are displayed in a different color from their surroundings. In addition, in order to distinguish between the tens digit and the ones digit, the ones digit is displayed in a different color only in the unit area where "8" is displayed, and the tens digit is displayed as a "0". In addition to the unit area, areas extending radially from the center of the circle toward the unit area are also displayed in different colors. That is, for the tens digit, a fan-shaped area including the unit area in which the number is displayed is displayed in a different color from the surrounding area.

As shown in FIG. 7, when the number of the selected teaching target is "15", the tens digit is "1" and the ones digit is "5", so the numbers "1" and "5" is displayed in a different color from its surroundings. In this case as well, the display form of the 10's digit and the 1's digit is the same as the display example shown in FIG.

However, the present invention is not limited to such a configuration; for example, the size and shape of the numbers and the area containing them, the thickness of the lines, the font of the numbers, etc. can be used to change the selected coordinate system. The numbers may be displayed separately.

Further, in the configurations shown in FIGS. 6 and 7, the color of the unit area is changed, but the display format is not limited to this, and a display format in which the unit area lights up or blinks to distinguish it from other numbers may be used.

In this way, numbers are arranged around the number display section H2, and the shape pattern P is displayed in a display format in which the numbers corresponding to the numbers are distinguished from other numbers. This allows the operator to accurately and quickly grasp the number of the selected coordinate system. In particular, when the total number of coordinate system origins is large, even when the number of digits is large, it is possible to more clearly understand the number of the selected coordinate system.

<Third embodiment>
FIG. 8 is a diagram showing an example of a number display section and a shape pattern display section in the third embodiment of the teaching device of the present invention.

A third embodiment of the teaching device of the present invention will be described below with reference to FIG. 8. Hereinafter, differences from the first embodiment will be explained, and explanations of common features will be omitted.

The third area A3 of the teaching screen D displayed on the display 40 includes a number display section H2, a coordinate system type display section H3, a shape pattern display section H4, and further includes a positional relationship display section H5. The positional relationship display section H5 shows the positional relationship between the origin of the selected coordinate system and the origin of a reference coordinate system in the same type of coordinate system as the selected coordinate system. For example, as shown in FIG. 8, when the tool coordinate system is selected as the type of coordinate system and the tool coordinate system Tool3 is selected, the positional relationship display section H5 displays the tool coordinate system in the simulation image DI shown in FIG. It is displayed as a shape extending in a direction parallel to a straight line L connecting the origin of the tool coordinate system Tool0, which is a reference coordinate system in the system, and the origin of the tool coordinate system Tool3. In the illustrated configuration, the shape is such that a columnar shape whose end face is a circle of the shape pattern P is displayed three-dimensionally. Note that the positional relationship display section H5 is not limited to a cylindrical shape, but may be a conical shape or an arrow shape.

By having the positional relationship display section H5 with such a configuration, the operator can check the positional relationship between the origin of the reference coordinate system (for example, the initial coordinate system origin) and the position of the selected coordinate system origin. It can be easily understood.
Note that the display form of the positional relationship display section H5 is not limited to that shown in the figure.

In this way, the origin of a coordinate system selected from a plurality of coordinate systems in a predetermined coordinate system type, and the origin of a reference coordinate system among the plurality of coordinate systems in a predetermined coordinate system type. It has a positional relationship display section H5 that shows the positional relationship between the two. Thereby, the operator can easily grasp the positional relationship between the reference coordinate system origin and the position of the selected coordinate system origin. Therefore, it is possible to provide even faster and more appropriate teaching.

<Fourth embodiment>
FIG. 9 is a plan view of the display section in the fourth embodiment of the teaching device of the present invention.

A fourth embodiment of the teaching device of the present invention will be described below with reference to FIG. 9. Hereinafter, differences from the first embodiment will be explained, and explanations of common features will be omitted.

As shown in FIG. 9, in this embodiment, the display 40 is configured with a touch panel, and the operator can perform various operations related to teaching by performing touch operations on each item, button, etc. with a finger or touch pen. Numerical values, information, etc. are input and selected. That is, the aforementioned specific coordinate system number, coordinate system selection, etc. can be performed by touching the teaching screen D of the display 40.

In this way, the display 40 has a function as an operation unit that performs an input operation for inputting a number of a specific coordinate system. The display 40 is composed of, for example, a liquid crystal, an organic EL, etc., and can display a teaching screen D, which will be described later, in color or monochrome. Further, the touch panel type in the display 40 may be either a pressure sensitive type or a capacitive type.

Although the teaching device of the present invention has been described above with reference to the illustrated embodiment, the present invention is not limited thereto. Furthermore, each part of the teaching device can be replaced with any structure that can perform the same function. Further, an arbitrary structure may be added.

In addition, each item etc. displayed in the first to third areas can be moved within the area where the item etc. is displayed or to an area different from the area where the item etc. is displayed by, for example, a drag operation. The configuration may be such that it is possible. Furthermore, each item displayed in the first to third areas may be configured so that its display can appear and disappear, and its size can be expanded or reduced.

In addition, when multiple different coordinate systems, such as a tool coordinate system, a local coordinate system, and a custom coordinate system, are set, the teaching screen D displays the following information for any two or all of these coordinate systems, respectively. Display may be performed using the number display section H2, display using the coordinate system type display section H3, and display using the shape pattern display section H4.

In addition, when multiple different coordinate systems, such as a tool coordinate system, a local coordinate system, and a custom coordinate system, are set, the teaching screen D displays the following information for any two or all of these coordinate systems, respectively. The display may be performed using the number display section H2, the coordinate system type display section H3, the shape pattern display section H4, and the positional relationship display section H5.

DESCRIPTION OF SYMBOLS 1...Robot, 3...Control device, 4...Teaching device, 10...Robot arm, 11...Base, 12...First arm, 13...Second arm, 14...Third arm, 15...Fourth arm, 16... Fifth arm, 17... Sixth arm, 19... Force detection section, 20... End effector, 31... Control section, 32... Storage section, 33... Communication section, 40... Display, 41... Control section, 42... Storage section, 43...Communication unit, 44...Input operation unit, 100...Robot system, 171...Joint, 172...Joint, 173...Joint, 174...Joint, 175...Joint, 176...Joint, A1...First area, A2...Second Area, A3...third area, B1...operation button group, B2...button, D...teaching screen, D1...motor driver, D2...motor driver, D3...motor driver, D4...motor driver, D5...motor driver, D6... Motor driver, DI...simulation image, E1...encoder, E2...encoder, E3...encoder, E4...encoder, E5...encoder, E6...encoder, H1...display section, H2...number display section, H3...coordinate system type display section , H4...shape pattern display section, H5...positional relationship display section, I1...first input section, I2...second input section, L...straight line, M1...motor, M2...motor, M3...motor, M4...motor, M5 ...Motor, M6...Motor, N2...Input part, P...Shape pattern, P0...Coordinate system origin position, P3...Coordinate system origin position, P12...Coordinate system origin position, TCP...Tool center point

Claims (7)

A teaching device for teaching a motion program to a robot having a robot arm, the teaching device comprising:
a coordinate system number selection unit that selects a coordinate system number selected from among a plurality of coordinate systems in a predetermined coordinate system type;
A teaching device comprising: a display section having a number display section that displays the digits of the number and a shape pattern display section that displays a shape pattern corresponding to the number. 2. The teaching device according to claim 1, wherein the shape pattern indicates the position of the number with respect to the total number of coordinate systems in the predetermined type of coordinate system. The teaching device according to claim 1 or 2, wherein the shape pattern is displayed around the number display section. 4. The teaching device according to claim 3, wherein the shape pattern is displayed in a display form with different lengths or angles corresponding to the digits of the number. Numbers are arranged around the number display section,
4. The teaching device according to claim 3, wherein the shape pattern is displayed in a display format in which numbers corresponding to the numbers are distinguished from other numbers. The teaching device according to claim 1, wherein a plurality of types of coordinate systems are set, and the display section includes a coordinate system type display section that shows the type of coordinate system selected from the plurality of types of coordinate systems. . an origin of a coordinate system selected from among the plurality of coordinate systems in the predetermined coordinate system type, and an origin of a reference coordinate system among the plurality of coordinate systems in the predetermined coordinate system type; The teaching device according to claim 1, further comprising a positional relationship display section that indicates the positional relationship.

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