JP2023147686A - teaching pendant - Google Patents

Abstract

To provide a teaching pendant capable of smoothly and quickly performing teaching.SOLUTION: A teaching pendant that performs teaching of an operation program on a robot having a robot arm, includes a display unit to display a rectangular operation screen for performing operations during teaching. The operation screen has a first area positioned on the upper side and a second area positioned on the underside of the first area. In the first area, a first operation item related to teaching is displayed, and in the second area, a second operation item related to teaching for which operation frequency is lower than the first operation item is displayed.SELECTED DRAWING: Figure 4

Description

The present invention relates to a teaching pendant.

In recent years, due to rising labor costs and a shortage of human resources in factories, manufacturing, processing, assembly, and other tasks have come to be performed by robots equipped with robot arms, accelerating the automation of tasks that used to be done 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 pendant.

For example, the teaching pendant described in Patent Document 1 has an operation screen configured with a touch panel. When teaching, the operator grasps the teaching pendant with the hand opposite to the dominant hand, and touches the touch panel with the dominant hand to input items necessary for teaching.

JP2021-126760A

However, in the teaching pendant described in Patent Document 1, sufficient consideration has not been made regarding the arrangement of various operation items on the operation screen, so touch operations may be difficult depending on how the teaching pendant is held. Due to such difficulty in operation, there is a problem in that smooth and quick teaching cannot be performed.

The teaching pendant of the present invention is a teaching pendant that teaches an operation program to a robot having a robot arm, and comprises:
Equipped with a display section that displays a rectangular operation screen for operations during teaching,
The operation screen has a first area arranged above and a second area arranged below the first area,
In the first area, first operation items related to teaching are displayed,
The second area is characterized in that a second operation item related to teaching that is operated less frequently than the first operation item is displayed.

FIG. 1 is a diagram showing the overall configuration of a robot system including a teaching pendant according to the present invention. FIG. 2 is a block diagram of the robot system shown in FIG. 1. FIG. 3 is a diagram showing an operator teaching using the teaching pendant shown in FIG. 1. FIG. 4 is a plan view of the teaching pendant shown in FIG. 1 viewed from the front side. FIG. 5 is a diagram showing an example of an operation screen displayed on the teaching pendant shown in FIG. FIG. 6 is a diagram showing an example of an operation screen displayed on the teaching pendant shown in FIG. 1. FIG. 7 is a diagram showing an example of an operation screen displayed on the teaching pendant shown in FIG. 1. FIG. 8 is a diagram showing an example of an operation screen displayed on the teaching pendant shown in FIG. 1. FIG. 9 is a diagram showing an example of an operation screen displayed on the teaching pendant shown in FIG. FIG. 10 is a diagram showing an example of an operation screen displayed on the teaching pendant shown in FIG. 1.

<Embodiment>
FIG. 1 is a diagram showing the overall configuration of a robot system including a teaching pendant according to the present invention. FIG. 2 is a block diagram of the robot system shown in FIG. 1. FIG. 3 is a diagram showing an operator teaching using the teaching pendant shown in FIG. 1. FIG. 4 is a plan view of the teaching pendant shown in FIG. 1 viewed from the front side. 5 to 10 are diagrams showing examples of operation screens displayed on the teaching pendant shown in FIG. 1, respectively.

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

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, the Z-axis direction in FIG. 1, that is, the up-down direction, is defined as the "vertical direction," and the X-axis direction and the Y-axis direction, that is, any direction on the XY plane, is defined as the "horizontal direction."

In addition, in FIGS. 4 to 10, 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 side," and the left side of the figure is also referred to as the "left side."

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 pendant 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.

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 parallel to the vertical direction with respect to the base 11. The first rotation axis coincides with the normal to the floor surface of the floor to which the base 11 is fixed.

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 rotation axis is parallel to an axis perpendicular to the first rotation axis.

The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable relative to the second arm 13 about a third rotation axis extending in the horizontal direction. 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 perpendicular 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 the 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.
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 pendant 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 pendant 4 is a command device for teaching and has a display 40 as a display section. This display 40 is also an operation unit that teaches an operation program to the robot arm 10. That is, it has a function of creating and inputting an operation program. The display 40 is composed of a touch panel, and various operations related to teaching and input of information are performed by operating the display 40 with a finger or a touch pen by the operator. The display 40 is composed of, for example, a liquid crystal, an organic EL, or the like, and can display an operation 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.

The display 40 may be square, or may have a horizontally elongated configuration in which the top and bottom sides are long sides and the left and right sides are short sides, but the display in the first area A1 and second area A2, which will be described later, is A vertically long configuration in which the top and bottom sides are the short sides and the left and right sides are the long sides is more preferable because it increases the degree of freedom in the layout of items. The following description will be given assuming that the display 40 is vertically long.

In addition to the display 40, the teaching pendant 4 includes a housing 400, a control section 41, a storage section 42, and a communication section 43. The control section 41, the storage section 42, and the communication section 43 are housed within the housing 400. The display 40 is provided on one surface of the housing 400, that is, the surface 4A, as shown in FIGS. 3 and 4. Note that the configuration is not limited to this, and the storage unit 42 may be connected from the outside of the housing 400. Further, the display 40 may be provided so as to constitute a part of the casing 400, or may be provided separately from the casing 400, with the casing 400 and the display 40 connected via a cable. You can leave it there.

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 a rectangular operation screen D on the display 40 and generates an operation program for the robot 1 based on information input from the operation screen D by touching a desired location or the like. Further, the operation screen D is also a display screen that can display items necessary for teaching as described later. Note that generation of the operating program also includes modification of the operating program. 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. 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 it in the storage unit 42 .

The display 40 displays an operation screen D that is rectangular in plan view in FIG. That is, the display 40 displays an operation screen D having a short side 40A, a short side 40B, a long side 40C, and a long side 40D. The short side 40A is located on the upper side in FIG. 4, the short side 40B is located on the lower side in FIG. 4, the long side 40C is located on the left side in FIG. 4, and the long side 40D is located on the right side in FIG. To position.

Further, the housing 400 has a vertically long rectangular shape with four rounded corners when viewed from above in FIG. 4 . That is, the housing 400 has an edge on the short side 40A, an edge on the short side 40B, a short side 400B, an edge on the long side 40C, and a long side 400C. The edge on the side 40D side is the long side 400D.

Further, as shown in FIG. 3, an enable switch 401 is provided on the other surface of the housing 400, that is, the back surface 4B. The enable switch 401 functions as a so-called safety switch, which allows teaching to be performed while operating the robot 1 while being pressed down, but stops the operation of the robot 1 when the enable switch 401 is released.

The operator performs operations related to teaching while holding the teaching pendant 4 in his hand. For example, as shown in FIG. 3, the teaching pendant 4 is supported from the back surface 4B side with the palm of the left hand, and the touch operation on the operation screen D of the display 40 is performed with the right hand. During teaching, the operator supports the teaching pendant 4 with his left hand while holding down the enable switch 401 with the fingers of his left hand, and performs touch operations on the operation screen D with only the fingers of his right hand. In order to stabilize the posture of the housing 400, the housing 400 is often supported by placing its lower short side 400B against its abdomen. In this state, the posture of the teaching pendant 4 is such that the distance between the operation screen D and the operator's body gradually increases from the bottom to the top of the housing 400, and in many cases, the short side 400A is , the position is tilted so as to be located at a position slightly closer to the worker than the position farthest from the worker (hereinafter also simply referred to as "tilted position"). In such a case, there is a problem in that the right hand interferes with the abdomen in the area near the abdomen of the operation screen D of the display 40, that is, the lower part of the operation screen D, making it difficult to perform touch operations. In contrast, the present invention can solve this problem. This will be explained in detail below.

As shown in FIG. 4, the operation screen D displayed on the display 40 has a first area A1, a second area A2, a third area A3, and a fourth area A4. In FIG. 4, the first region A1 is indicated by a chain line, the second region A2 is indicated by a chain double-dot line, and the third region A3 and the fourth region A4 are indicated by diagonal lines in opposite directions.

The first area A1 and the second area A2 are arranged side by side from the short side 40A side to the short side 40B side along the long side direction of the operation screen D, that is, along the vertical direction in FIG. That is, on the operation screen D displayed on the display 40, the first area A1 is arranged on the upper side, and the second area A2 is arranged on the lower side. The first area A1 and the second area A2 do not overlap, and the sum of the areas of the first area A1 and the second area A2 is substantially equal to the total area of the operation screen D.

The area ratio S1/S2 of the area S1 of the first area A1 and the area S2 of the second area A2 is not particularly limited, but it is preferably 0.1≦S1/S2≦10, and 0.25≦S1/S2. More preferably, ≦4. Further, the boundary between the first area A1 and the second area A2 may be fixed within the operation screen D or may be movable in the vertical direction.

Further, the third area A3 overlaps a part of the first area A1, that is, the upper part in this embodiment, and does not overlap the second area A2.

Note that the position of the third area A3 relative to the first area A1 may be fixed or may be movable in the vertical direction.

The fourth area A4 has a longitudinal shape extending in the long side direction of the operation screen D, that is, in the vertical direction in FIG. 4, and overlaps each of the first area A1 and the second area A2. In this embodiment, the fourth area A4 is located on the right side of the operation screen D, that is, it is unevenly distributed on the long side 40D side and is arranged parallel to the long side 40D.

Note that the position of the fourth area A4 with respect to the first area A1 and the second area A2 may be fixed or may be movable in the left-right direction.

In the first area A1, first operation items related to teaching are displayed. In the second area A2, second operation items related to teaching are displayed. The second operation item is an operation item that is operated less frequently than the first operation item. The explanation will be given below.

Examples of the first operation item include operation items such as "specifying the position and orientation of the robot arm," "inputting a motion program," and "performing a test driving operation." These items can be selectively displayed by operating a third operation item, which will be described later. Note that in the following description, the operation items are also simply referred to as "items."

As shown in FIG. 5, the item "Specify the position and posture of the robot arm" includes the items "Jogging", "Jog Distance", and "Teach Points", as shown on the left side of the first area A1. It has the following items.

The "Jogging" item includes a "Mode" item and a "Speed" item.

The "Mode" item includes a button B1 labeled "World," a button B2 labeled "Tool," a button B3 labeled "Local," and a button B4 labeled "Joint." , and a button B5 labeled "ECP". Button B1 is a button for selecting a coordinate system set in the space where robot 1 is installed. Button B2 is a button for selecting a coordinate system having the tip of the end effector 20 as its origin. Button B3 is a button for selecting a coordinate system whose origin is an arbitrary point set on base 11. Button B4 is a button for selecting a coordinate system whose origin is an arbitrary point set at each joint of the robot 1. Button B5 is a button for selecting a coordinate system customized as desired by the operator.

By selectively selecting one of these buttons B1 to B5 and performing a touch operation, the coordinate system of the robot 1 can be selected and set.

On the right side of the "Mode" item, the "Speed" item is displayed. The "Speed" item includes a button B6 labeled "Slow" and a button B7 labeled "Fast." Button B6 is a button for selecting low speed mode. Button B7 is a button for selecting high speed mode. By selectively selecting and touching these buttons B6 and B7, the moving speed of the robot arm 10 during teaching can be set.

The "Jog Distance" item is an item for setting the running conditions of the robot 1, and includes a button B8 labeled "Short," a button B9 labeled "Medium," and a button labeled "Long." B10. By selectively selecting one of these buttons B8 to B10 and performing a touch operation, the running conditions of the robot 1 can be selected and set.

The "Jog Distance" item has input section N1 displayed as "J1", input section N2 displayed as "J2", input section N3 displayed as "J3", and input section N3 displayed as "J4". The input section N4 has an input section N4, an input section N5 labeled "J5", and an input section N6 labeled "J6". The input unit N1 is an input unit that inputs the rotation angle of the joint between the first arm 12 and the second arm 13. The input unit N2 is an input unit that inputs the rotation angle of the joint between the second arm 13 and the third arm 14. The input unit N3 is an input unit that inputs the rotation angle of the joint between the third arm 14 and the fourth arm 15. The input unit N4 is an input unit that inputs the rotation angle of the joint between the fourth arm 15 and the fifth arm 16. The input unit N5 is an input unit for inputting the rotation angle of the joint between the fifth arm 16 and the sixth arm 17. The input unit N6 is an input unit that inputs the rotation angle of the joint between the sixth arm 17 and the force detection unit 19.

Each of the input sections N1 to N6 allows numerical values to be entered in the display field of the selected input section.By inputting a desired numerical value, for example "-999.999", in each of the input sections N1 to N6, You can set the rotation angle of each joint.

The "Teach Points" item below the "Jog Distance" item includes a "point file name" item and a "point" item. The "point file name" item is an item for selecting the storage location of the teaching information. The "point" item is an item for setting the point name of the teaching point. Options for each of these items are displayed in a pull-down menu, and each item is set by touching the displayed options.

The above-mentioned items are related to "specifying the position and posture of the robot arm." By setting these items, the position of the control point of the robot arm 10 and the posture of the robot arm can be specified. Here, the position of the control point of the robot arm 10 also includes the position of the tool center point TCP shown in FIG.

As shown in FIG. 6, the "input operation program" item is an item for constructing an operation program using the robot language on the programming screen DP. For example, if you start teaching from the item ``Specifying the position and posture of the robot arm'' shown in Figure 5 and switch to the programming screen DP halfway through, the program corresponding to the teaching content up to that point will be automatically executed in the robot language. written. Note that teaching may be performed using only the programming screen DP.

Note that input operations may be performed on the programming screen DP using an external input device (not shown) or the like.

As shown in FIG. 7, the item "Execute test driving operation" includes a button B11 labeled "Slow" for setting the test driving speed, a button B12 labeled "Medium", and a button B12 labeled "Fast". , a button B13 that is displayed as , a button B14 that is displayed as "Start", a button B15 that is displayed as "Stop", and a button B16 that is displayed as "Continue Execution".

When button B11 is selected, a test drive is performed at low speed. When button B12 is selected, a test drive is performed at medium speed. When button B13 is selected, a test drive is performed at high speed.

Furthermore, when button B14 is touched, a test drive is performed. If the button B15 is touched during the test run, the operation of the robot arm 10 is temporarily stopped, and if the button B16 is touched in the paused state, the test drive can be resumed.

These three items, ``specifying the position and posture of the robot arm,'' ``inputting a motion program,'' and ``performing a test drive operation,'' are relatively frequently operated items in teaching, that is, touch operations. This is a typical example of an item that is performed relatively frequently. Here, "relatively high" means above average. Further, the above three items can also be said to be items with higher importance than the second operation item in teaching.

Next, the second operation item displayed in the second area A2 will be explained.
Examples of the second operation items include operation items such as "modification of teaching information,""setting of robot arm," and "setting of hand operation."

As shown in FIG. 8, the item "Modify teaching information" displayed in the second area A2, that is, the point data, is an item for editing the order of the teaching points that have been taught so far. A list of point names, that is, points where the position and orientation of the robot arm 10 are memorized, is displayed in a table format.You can select each point and cut, copy, or paste the selected point. I can do it.

As shown in FIG. 9, the "robot arm settings" item is an item for individually setting whether each of the joints 171 to 176 of the robot arm 10 is to be in a fixed state. That is, this is an item for setting whether the arms connected to each other through a specified joint among the joints 171 to 176 are rotatable or non-rotatable. In the "Robot Arm Settings" item, joint symbols "J1" to "J6" corresponding to joints 171 to 176 are displayed, and a switch SW for switching on/off is displayed to the right of each joint symbol. By touching each switch SW, it is possible to specify a desired joint among the joints 171 to 176 and to set whether or not the arms connected through the joint can rotate.

Although not shown, the item "Hand operation settings" is used to set the timing and type of operation of the end effector 20.

These three items, "modification of teaching information," "setting of robot arm," and "setting of hand operation," are items that are operated less frequently than the first operation item described above in teaching, that is, This is a typical example of an item that is touched infrequently. Further, the above three items can also be said to be items with lower importance than the first operation item in teaching.

As mentioned above, the first operation items, ``specifying the position and posture of the robot arm,'' ``inputting a motion program,'' and ``performing a test driving operation,'' are items that are operated relatively frequently in teaching. The second operation items, ``modification of teaching information,'' ``setting of robot arm,'' and ``setting of hand operation,'' are items that are operated less frequently than the first operation items in teaching. On the operation screen D of the display 40, the first operation item is displayed on the upper side, that is, on the short side 40A side, and the second operation item, which is operated less frequently than the first operation item, is arranged on the lower side, that is, on the short side 40B side. be done.

Furthermore, the teaching pendant 4 of the present invention has the advantage that it is easier to operate when the rectangular operation screen D is held in a vertically long position when viewed from the operator and the touch operation is performed, as shown in FIGS. 3 and 4.

As described above, when the operator supports the teaching pendant 4 with one hand while placing the lower short side 400B of the housing 400 against his/her abdomen, and performs a touch operation on the operation screen D with the other hand. , the posture of the teaching pendant 4 is the tilted posture described above. In this case, since there is sufficient space between the upper side of the operation screen D, that is, the first area A1 and the worker's body, the touch operation of the first operation item displayed in the first area A1 will be hindered. It can be done without. On the other hand, the lower side of the operation screen D, that is, the space between the second area A2 and the worker's body, is narrower than the above-mentioned upper space. It is necessary to carefully touch the second operation item. However, since the second operation item is an item that is operated less frequently than the first operation item, even if the touch operation of the second operation item is performed carefully, there is a problem that the total time required for the touch operation is long. Almost never occurs. Therefore, operations related to teaching can be performed smoothly and quickly.

As explained above, the teaching pendant 4 teaches the robot 1 having the robot arm 10 an operation program. The teaching pendant 4 also includes a display 40 that is a display section that displays a rectangular operation screen D for performing operations during teaching. In addition, the operation screen D has a first area A1 placed on the upper side and a second area A2 placed on the bottom side of the first area, and the first area A1 displays first operation items related to teaching. In the second area A2, a second operation item related to teaching that is operated less frequently than the first operation item is displayed. According to such a configuration, by devising the arrangement of the first area A1 and the second area A2, the first operation item can be operated without any hindrance while a sufficient operation space is secured. Although the second operation item, which is operated less frequently than the first operation item, is operated more carefully, it does not require a long time because of the low frequency. Therefore, teaching can be performed smoothly and quickly.

Further, the operation screen D is vertically long. This increases the degree of freedom in the layout of items to be displayed in the first area A1 and the second area A2.

Further, the first operation item includes at least one selected from the group consisting of specifying the position and orientation of the robot arm 10, inputting an operation program, and implementing a test driving operation. As a result, at least one of specifying the position and orientation of the robot arm 10, inputting a motion program, and performing a test drive operation can be performed smoothly and quickly. Therefore, teaching can be performed more smoothly and quickly.

Note that in the first area A1, items such as "specifying the position and posture of the robot arm," "inputting a motion program," and "executing a test driving operation" can be switched, that is, can be selectively displayed. However, the present invention is not limited to this, and may be configured to display only one item among these items, or may be configured to display two items among these items.

Further, the second operation item includes at least one selected from the group consisting of modification of teaching information, setting of the robot arm 10, and setting of the hand. In this way, by displaying items whose operation frequency is lower than the first operation item in the second area A2, teaching can be performed more smoothly and quickly.

Note that in the second area A2, the items of "Modification of teaching information", "Setting of robot arm" and "Setting of hand operation" can be switched, that is, selectively displayed. The configuration is not limited to this, and the configuration may be such that only one of these items is displayed, or the configuration may be configured such that two of these items are displayed.

Further, in the second area A2, the following items are displayed: "Current teaching situation", "Force applied to robot arm", and "Status of communication equipment". Each of these characters is a button, and by selecting and touching one of these as appropriate, that item is selected and displayed.

As shown in FIGS. 5 and 10, the "current teaching situation" includes an item "current position" and a simulation image DS.

“Current teaching situation” and “current position” are displayed on the long side 40C side of the second area A2, that is, in a position unevenly distributed on the left side. In the item "Current position", the rotation angles of each joint 171 to 176 are displayed to the right of the corresponding joint symbols "J1" to "J6", respectively. It also has a switching button that can switch the coordinate system of the robot 1. The switching buttons include a button B17 labeled "World," a button B18 labeled "Joint," and a button B19 labeled "Pulse." The coordinate systems that can be switched by touching these buttons B17 to B19 are as described above.

Note that the buttons B17 to B19 are displayed on the upper side of the second area A2. As a result, even when teaching is performed with the teaching pendant 4 in the above-mentioned tilted position, the buttons B17 to B19 can be easily operated because a certain distance from the operator's body is secured.

The simulation image DS is an image of a virtual robot arm corresponding to the robot arm 10, and is an image created to take the same posture as the robot arm 10 being taught. That is, when the posture of the robot arm 10 during teaching is changed, the posture of the virtual robot arm is similarly changed in the simulation image DS.

The items “Force applied to robot arm” and “Status of communication equipment” are displayed in an overlapping manner in the second area A2.

As shown in FIG. 10, for the item "Force applied to the robot arm", a graph G showing the force detected by the force detection unit 19 over time is displayed as a "force monitor" at the bottom of the second area A2. Ru. Further, in the graph G, it is possible to select whether the vertical axis represents force or torque. In the illustrated configuration, the force component in the X-axis direction, the force component in the Y-axis direction, and the force component in the Z-axis direction are distinguished and displayed by color.

The item "Communication equipment status" is displayed on the right side of "Force monitor" as I/O monitor DM. In the illustrated configuration, the communication status with external communication devices such as safety devices and alarm devices is distinguished by color, and a list thereof is displayed in a table format. For example, if the communication status with the displayed communication device deteriorates, the color of the circle changes.

The above-described simulation image DS, force monitor graph G, and I/O monitor DM are all images for viewing the display, and are not subject to touch operations. Therefore, there is no problem even if the screen is displayed in the second area A2, which is difficult to operate compared to the first area A1.

In this way, at least one item selected from the group consisting of the current teaching situation, the force applied to the robot arm 10, and the status of the communication device is displayed in a part of the second area A2 in an overlapping manner. Thereby, it is possible to perform an operation in the first area A1 while looking at at least one of the current teaching situation, the force applied to the robot arm 10, and the state of the communication device. Therefore, teaching can be performed more smoothly and quickly.

Next, the third area A3 will be explained.
As shown in FIGS. 4 and 5, the operation screen D has a third area A3. The third area A3 partially overlaps the first area A1 and does not overlap the second area A2. The third region A3 is a region disposed in the first region A1 at a position unevenly distributed on the upper side, that is, on the short side 40A side, along the long side direction of the short side 40A, that is, along the longitudinal direction. A third operation item is displayed in the third area A3.

Although the third operation item is not particularly limited, in this embodiment, it relates to a "selection operation" for selecting the first operation item displayed in the first area A1. That is, as shown in FIG. 10, the third operation item has a selection operation button B20 for performing a selection operation. When the selection operation button B20 is touched, a list of the first operation items is displayed in a pull-down menu, and selection is made by selectively selecting the displayed item, and the display in the first area A1 is selected. The item changes to the selected item. In addition to the selection operation using a pull-down menu, buttons representing each item of the first operation item may be provided as many as the number of items, and the items may be switched by touching each button.

By having such a third area A3, it is possible to immediately switch the displayed first operation item at a desired timing while operating the first operation item in the first area A1. In particular, since the third area A3 overlaps the first area A1, it is possible to perform the selection operation as the third operation item while visually checking the first operation item displayed in the first area A1, and the item can be visually checked. Excellent performance and operability.

In this way, the operation screen D has a third area A3 that partially overlaps the first area A1 and does not overlap the second area A2. An item for selecting the first operation item displayed in area A1 is displayed. Thereby, while operating the first operation item in the first area A1, it is possible to immediately switch the displayed first operation item at a desired timing. Therefore, teaching can be performed more smoothly and quickly.

As shown in FIG. 10, in the third area A3, the status of the control device 3 that controls the operation of the robot arm 10 is further displayed as five icons DI. The five icons DI are arranged closer to the long side 40D than the selection operation button B20, and are lined up at predetermined intervals along the longitudinal direction of the short side 40A. The characters "Motor", "Safeguard", "EStop", "Error", and "Warning" are displayed on each icon DI. These icons DI change color when an abnormality occurs. Thereby, the operator can immediately know that an abnormality has occurred in the control device 3.

In this way, the state of the control device 3 that controls the operation of the robot arm 10 is further displayed in the third area A3. Thereby, the current state of the control device 3 or the occurrence of a change in the state of the control device 3 can be immediately known.

Note that the display of the state of the control device 3 in the third area A3 may be omitted. In this case, it is preferable to notify the state of the control device 3 by, for example, a warning sound, voice, or lighting of a light emitting element.

Next, the fourth area A4 will be explained.
As shown in FIGS. 4 and 5, the operation screen D has a fourth area A4. The fourth area A4 overlaps each of the first area A1 and the second area A2, and has a longitudinal shape extending along the long side 40D. In the illustrated configuration, the fourth area A4 is arranged at a position unevenly distributed on the long side 40D side. A fourth operation item is displayed in the fourth area A4.

Although not particularly limited, the fourth operation item is at least one of "hard button guide" and "monitor switching" in this embodiment. Although not shown, the "hard button guide" is an item for displaying how to operate a mechanical button provided at an arbitrary part of the housing 400. "Monitor switching" is an item for switching which robot is to be taught, for example, when the teaching pendant 4 is connected to a plurality of robots 1.

In the fourth area A4, six buttons B21 are arranged vertically at predetermined intervals, and each button B21 is assigned an item of "hard button guide" or "monitor switching". There is.

The fourth area A4 is a longitudinal area extending vertically across the first area A1 and the second area A2, and is therefore suitable for arranging the plurality of buttons B21, the plurality of icons, and the like. In this embodiment, the plurality of buttons B21 are arranged in one row along the longitudinal direction of the fourth area A4, but the button B21 is not limited to this, and may be arranged in two or more rows.

The "hard button guide" and "monitor switching" are items that have little direct relevance to teaching. By arranging such a fourth operation item in the fourth area A4, it is possible to effectively utilize the first area A1 and the second area A2. Further, the allocation of the buttons B21 can be set according to requests. Therefore, teaching can be performed more easily and smoothly.

Note that the fourth operation item displayed in the fourth area A4 is not limited to the "hard button guide" and "monitor switching". The fourth operation item may be related to teaching, may be unrelated to teaching, or may be a mixture of both.

In this way, the operation screen D has a fourth area A4 that overlaps each of the first area A1 and the second area A2 and has a longitudinal shape extending in the long side direction of the rectangle, and the fourth area A4 includes: A fourth operation item is displayed. Thereby, a desired item can be displayed superimposed on either the first area A1 or the second area A2, regardless of the degree of relevance to the teaching. As a result, the first area A1 and the second area A2 can be effectively utilized, and teaching can be performed more smoothly and efficiently.

Further, the fourth operation item displayed in the fourth area A4 is at least one of the hard button guide and monitor switching. This allows for easy hard button guide and monitor switching operations. Moreover, the first area A1 and the second area A2 can be effectively utilized.
Note that the display of the fourth operation item in the fourth area A4 may be omitted.

Although the teaching pendant 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 pendant can be replaced with any structure that can perform the same function. Further, an arbitrary structure may be added.

Although the housing of the teaching pendant has a rectangular shape with four rounded corners when viewed from above, the present invention is not limited to this, and may have a square shape when viewed from above; It may have a shape.

Furthermore, the items displayed in the first to fourth areas of the operation screen D are not limited to those described above.

In addition, each item displayed in the first to fourth areas can be moved, for example, by a drag operation within the area where the item is displayed or to a different area from the area where the item is displayed. The configuration may be such that it is possible. Further, each item displayed in the first to fourth areas may be configured to be able to appear and disappear, and may be configured to be able to enlarge or reduce its size.

DESCRIPTION OF SYMBOLS 1... Robot, 3... Control device, 4... Teaching pendant, 4A... Front surface, 4B... Back surface, 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 unit, 20...End effector, 31...Control unit, 32...Storage unit, 33...Communication unit, 40...Display, 40A... Short side, 40B...short side, 40C...long side, 40D...long side, 41...control unit, 42...storage unit, 43...communication unit, 100...robot system, 171...joint, 172...joint, 173...joint, 174...Joint, 175...Joint, 176...Joint, 400...Casing, 400A...Short side, 400B...Short side, 400C...Long side, 400D...Long side, 401...Enable switch, A1...First area, A2... Second area, A3...Third area, A4...Fourth area, B1...Button, B2...Button, B3...Button, B4...Button, B5...Button, B6...Button, B7...Button, B8...Button, B9... button, B10... button, B11... button, B12... button, B13... button, B14... button, B15... button, B16... button, B17... button, B18... button, B19... button, B20... selection operation button, B21... Button, D...Operation screen, D1...Motor driver, D2...Motor driver, D3...Motor driver, D4...Motor driver, D5...Motor driver, D6...Motor driver, DI...Icon, DM...I/O monitor, DP... Programming screen, DS...simulation image, E1...encoder, E2...encoder, E3...encoder, E4...encoder, E5...encoder, E6...encoder, G...graph, M1...motor, M2...motor, M3...motor, M4... Motor, M5...motor, M6...motor, N1...input section, N2...input section, N3...input section, N4...input section, N5...input section, N6...input section, SW...switch, TCP...tool center point

Claims (9)

A teaching pendant for teaching a motion program to a robot having a robot arm, the teaching pendant comprising:
Equipped with a display section that displays a rectangular operation screen for operations during teaching,
The operation screen has a first area arranged above and a second area arranged below the first area,
In the first area, first operation items related to teaching are displayed,
The teaching pendant is characterized in that the second area displays a second operation item related to teaching that is operated less frequently than the first operation item. The teaching pendant according to claim 1, wherein the operation screen is vertically long. The teaching according to claim 1 or 2, wherein the first operation item includes at least one selected from the group consisting of specifying the position and orientation of the robot arm, inputting the operation program, and performing a test driving operation. pendant. 4. The teaching pendant according to claim 1, wherein the second operation item includes at least one selected from the group consisting of modifying teaching information, setting the robot arm, and setting the hand. Any one of claims 1 to 4, wherein at least one item selected from the group consisting of a current teaching situation, a force applied to the robot arm, and a state of a communication device is superimposed on a part of the second area. or the teaching pendant described in item 1. The operation screen has a third area that partially overlaps the first area and does not overlap the second area,
6. The teaching pendant according to claim 1, wherein the third area displays, as a third operation item, an item for selecting the first operation item displayed in the first area. The teaching pendant according to claim 6, wherein the third area further displays a state of a control device that controls the operation of the robot arm. The operation screen has a fourth region that overlaps each of the first region and the second region and has a longitudinal shape extending in the long side direction of the rectangle,
The teaching pendant according to any one of claims 1 to 7, wherein a fourth operation item is displayed in the fourth area. The teaching pendant according to claim 8, wherein the fourth operation item is at least one of a hard button guide and a monitor switching.

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