CN116945198A - Teaching device - Google Patents

Abstract

A teaching device capable of accurately and promptly grasping a number indicating a selected coordinate system. The teaching device teaches an operation program for a robot having a robot arm, and is characterized by comprising: a coordinate system number selection unit that selects a number of a coordinate system selected from among a plurality of coordinate systems in a predetermined type of coordinate system; and a display unit having a number display unit for displaying the number of the number and a shape pattern display unit for displaying a shape pattern corresponding to the number.

Description

Teaching device

Technical Field

The present invention relates to a teaching device.

Background

In recent years, in factories, due to an increase in labor costs and insufficient talents, robots having mechanical arms have been used to perform operations such as manufacturing, processing, and assembling, and automation of the operations performed manually has been accelerated. To perform a task using such a robot, teaching, i.e., teaching, for causing the robot to memorize the task contents is performed in advance. In this teaching, a teaching device such as a teaching device is used to generate an operation program of the robot.

For example, in the teaching apparatus described in patent document 1, an operator selects one coordinate system from a plurality of coordinate systems having different positions of the origin, and performs teaching using the selected coordinate system. The teaching device further includes a display screen, and the currently selected coordinate system is displayed on the display screen. The operator performs teaching while visually checking the displayed coordinate system.

Patent document 1 Japanese patent laid-open No. 10-146782

However, the teaching device described in patent document 1 has a structure in which the number indicating the coordinate system is displayed on the display screen, but is difficult to distinguish at a glance, and therefore, there is a problem in that the operator cannot easily grasp the number indicating the selected coordinate system and the type of the coordinate system.

Disclosure of Invention

The teaching device according to the present invention is a teaching device for teaching an operation program of a robot having a robot arm, comprising:

a coordinate system number selection unit that selects a number of a coordinate system selected from among a plurality of coordinate systems in a predetermined type of coordinate system; and

a display part, which is provided with a number display part for displaying the number of the number and a shape pattern display part for displaying the shape pattern corresponding to the number.

Drawings

Fig. 1 is a diagram showing an overall configuration of a robot system according to a first embodiment including a teaching device of the present invention.

Fig. 2 is a block diagram of the robotic system shown in fig. 1.

Fig. 3 is a diagram showing an example of a teaching screen displayed in the teaching apparatus shown in fig. 1.

Fig. 4 is a diagram showing an example of a simulation screen displayed on the teaching apparatus shown in fig. 1.

Fig. 5 is a diagram showing an example of the number display unit and the shape pattern display unit displayed in the third region of the teaching screen shown in fig. 3.

Fig. 6 is a diagram showing an example of a number display unit and a shape pattern display unit in a second embodiment of the teaching device of the present invention.

Fig. 7 is a diagram showing an example of a number display unit and a shape pattern display unit in a second embodiment of the teaching device of the present invention.

Fig. 8 is a diagram showing an example of a number display unit and a shape pattern display unit in a third embodiment of the teaching device of the present invention.

Fig. 9 is a plan view of a display unit in a fourth embodiment of the teaching device of the present invention.

Description of the reference numerals

1 … robot; 3 … control means; 4 … teaching device; 10 … mechanical arm; 11 … base; 12 … first arm; 13 … second arm; 14 … third arm; 15 … fourth arm; 16 … fifth arm; 17 … sixth arm; 19 … force detecting portion; 20 … end effector; 31 … control part; 32 … storage; 33 … communication unit; 40 … display; 41 … control part; 42 … storage; 43 … communication unit; 44 … input operation section; 100 … robotic system; 171 … joint; 172 … joint; 173 … joint; 174 … joint; 175 and … joint; 176 … joint; a1 … first region; a2 … second region; a3 … third region; b1 … group of operating buttons; b2 … button; d … teaching pictures; d1 … motor driver; d2 … motor driver; d3 … motor driver; d4 … motor driver; d5 … motor driver; d6 … motor driver; DI … simulated images; e1 … encoder; e2 … encoder; e3 … encoder; e4 … encoder; an E5 … encoder; e6 … encoder; h1 … display; h2 … number display; a H3 … coordinate system type display unit; h4 … shape pattern display; h5 … positional relationship display unit; i1 … first input; i2 … second input; l … straight line; m1 … motor; m2 … motor; m3 … motor; m4 … motor; m5 … motor; m6 … motor; n2 … input; p … shape pattern; the origin position of the P0 … coordinate system; p3 … coordinate system origin position; p12 … coordinate system origin position; TCP … tool center point.

Detailed Description

The teaching device of the present invention will be described in detail below based on preferred embodiments shown in the drawings.

First embodiment

Fig. 1 is a diagram showing an overall configuration of a robot system according to a first embodiment including a teaching device of the present invention. Fig. 2 is a block diagram of the robotic system shown in fig. 1. Fig. 3 is a diagram showing an example of a teaching screen displayed in the teaching apparatus shown in fig. 1. Fig. 4 is a diagram showing an example of a simulation screen displayed on the teaching apparatus shown in fig. 1. Fig. 5 is a diagram showing an example of the number display unit and the shape pattern display unit displayed in the third region of the teaching screen shown in fig. 3.

For convenience of explanation, the base 11 side of the robot arm in fig. 1 is also referred to as a "base end", and the opposite side thereof, i.e., the end effector 20 side, is referred to as an "end". In fig. 1, the X-axis, Y-axis, and Z-axis are axes orthogonal to each other, and the upper side in the +z-axis direction is also referred to as "upper" and the lower side in the-Z-axis direction is referred to as "lower" for convenience of description. In fig. 1, the vertical direction, which is the Z-axis direction, is referred to as the "vertical direction", and any direction on the surface of the X-axis direction, the Y-axis direction, or the X-Y plane is referred to as the "horizontal direction".

In fig. 3 to 9, the upper side in the drawing is also referred to as "upper side", the lower side in the drawing is referred to as "lower side", the right side in the drawing is referred to as "right", and the left side in the drawing is referred to as "left".

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

First, the robot 1 will be described.

In the present embodiment, the robot 1 shown in fig. 1 is a single-arm 6-axis vertical multi-joint robot, and includes a base 11 and a robot arm 10. The end effector 20 can be attached to the distal end portion of the robot arm 10. The end effector 20 may be a component independent of the robot 1, that is, may not be a component of the robot 1.

The robot 1 is not limited to the illustrated configuration, and may be, for example, a double-arm type articulated robot. The robot 1 may be a horizontal multi-joint robot.

The base 11 is a support body that supports the robot arm 10 on the base end side thereof so as to be able to drive, and is fixed to, for example, the ground in a factory. The base 11 of the robot 1 is electrically connected to the control device 3 via a relay cable. The connection between the robot 1 and the control device 3 is not limited to the wired connection as in the configuration shown in fig. 1, and may be, for example, a wireless connection. In addition, the connection may be made via a network such as the internet.

In the present 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, which are connected in this order from the base 11 side. The number of arms included in the robot arm 10 is not limited to 6, and may be, for example, 1, 2, 3, 4, 5, or 7 or more. The size of the entire length of each arm is not particularly limited, and can be appropriately set.

The base 11 and the first arm 12 are coupled 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. As described above, the first rotation axis coincides with the normal line of the ground surface to which the base 11 is fixed, and the whole of the robot arm 10 can rotate in any one of the forward and reverse directions of the first rotation axis.

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

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

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

The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable with respect to the fifth arm 16 about a sixth rotation axis. The sixth axis of rotation is orthogonal to the fifth axis of rotation.

The sixth arm 17 is a robot distal end portion located on the distal end side among the mechanical arms 10. The sixth arm 17 is displaceable together with the end effector 20 by driving of the mechanical arm 10.

The end effector 20 shown in fig. 1 has a grip portion capable of gripping a workpiece or a tool. In a state where the end effector 20 is mounted on the sixth arm 17, the distal end portion of the end effector 20 becomes the tool center point TCP.

The robot 1 includes: motor M1, motor M2, motor M3, motor M4, motor M5, and motor M6 as driving parts; and encoders E1, E2, E3, E4, E5, and E6. The motor M1 is built in the joint 171, and rotates the first arm 12 about the first rotation axis with respect to the base 11. The motor M2 is built in the joint 172 so that the first arm 12 and the second arm 13 are relatively rotated about the second rotation axis. The motor M3 is built in the joint 173 such that the second arm 13 and the third arm 14 are relatively rotated about the third rotation axis. The motor M4 is built in the joint 174 such that the third arm 14 and the fourth arm 15 are relatively rotated about the fourth rotation axis. The motor M5 is built in the joint 175 so that the fourth arm 15 and the fifth arm 16 are relatively rotated about the fifth rotation axis. The motor M6 is built in the joint 176 so that the fifth arm 16 and the sixth arm 17 are relatively rotated about the sixth rotation axis.

The encoder E1 is incorporated in the joint 171, and detects the position of the motor M1. The encoder E2 is built in the joint 172, and detects the position of the motor M2. The encoder E3 is built in the joint 173, and detects the position of the motor M3. The encoder E4 is built in the joint 174, and detects the position of the motor M4. The encoder E5 is built in the fifth arm 16, and detects the position of the motor M5. The encoder E6 is built in the sixth arm 17, and detects the position of the motor M6. The term "detection position" as used herein refers to a rotation angle of the motor, that is, a rotation amount and an angular velocity including both the forward and reverse directions, and the detected information is referred to as "position information".

As shown in fig. 2, the motor drivers D1 to D6 are connected to the corresponding motors M1 to M6, respectively, and control the driving of the motors. The motor drivers D1 to D6 are respectively incorporated in the joints 171, 172, 173, 174, the fifth arm 16, and the sixth arm 17.

The encoders E1 to E6, the motors M1 to M6, and the motor drivers D1 to D6 are electrically connected to the control device 3, respectively. The rotation amounts, which are positional information of the motors M1 to M6 detected by the encoders E1 to E6, are transmitted as electric signals to the control device 3. Then, based on the position information, the control device 3 outputs control signals to the motor drivers D1 to D6 shown in fig. 2, and drives the motors M1 to M6. That is, the control arm 10 controls the driving of the motors M1 to M6, and controls the operations of the first arm 12 to the sixth arm 17 belonging to the arm 10.

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

The force detector constituting the force detecting unit 19 is a sensor capable of detecting force and its direction, and in the present embodiment, is a 6-axis force sensor. The force detector of the force detection unit 19 detects the magnitudes of forces on the 3 detection axes orthogonal to each other and the magnitudes of moments about the 3 detection axes. That is, the following force components are detected: force components in the directions of the X axis, the Y axis and the Z axis which are orthogonal to each other; a force component in the W direction around the X axis direction; a force component in the V direction around the Y axis direction; and a force component in the U direction around the Z axis direction. These X-axis, Y-axis, Z-axis are axes in the robot coordinate system. Here, a plurality of different coordinate systems are set as the robot coordinate system, and for example, a tool coordinate system, a local coordinate system, and a custom coordinate system, which will be described later, are cited. In these coordinate systems, the same axis settings as described above for the X axis, Y axis, and Z axis were also performed. The coordinate system in the teaching device 4 corresponds to this.

The force detector of the force detecting unit 19 is not limited to the 6-axis force sensor, and may be other structures. The force detector of the force detecting unit 19 may be provided in the base 11 or the robot arm 10.

The force detector of the force detection unit 19 is detachably attached to the end effector 20. In the present embodiment, the end effector 20 is configured by a hand having a pair of jaws that can be moved toward and away from each other, and the workpiece or tool is gripped and released by each of the jaws. The force detector mounted on the end effector 20 can detect the magnitude and direction of the reaction force of the gripping force when the workpiece is gripped by the two jaws.

The end effector 20 is not limited to the illustrated configuration, and may be configured to hold a workpiece or a tool by suction by a suction portion, for example. The end effector 20 may be, for example, a tool such as a polisher, a grinder, a milling machine, a torch, a laser irradiator, a driver, or a wrench.

Next, the control device 3 and the teaching device 4 will be described.

As shown in fig. 1, in the present embodiment, the control device 3 is provided at a position separated from the robot 1. However, the configuration is not limited to this, and the control device 3 may be incorporated in the base 11. The control device 3 has a function of controlling the driving of the robot 1, and is electrically connected to each part of the robot 1 described above. The control device 3 includes a control unit 31, a storage unit 32, and a communication unit 33. For example, these parts are connected to each other so as to be able to communicate with each other via a bus.

For example, the control unit 31 is configured by a CPU (Central Processing Unit ), and reads and executes various programs such as an operation program stored in the storage unit 32. The signals generated by the control unit 31 are transmitted to each unit of the robot 1 via the communication unit 33, and the signals from each unit of the robot 1 are received by the control unit 31 via the communication unit 33. Thereby, the robot arm 10 can execute a predetermined job under a predetermined condition.

The storage unit 32 stores various programs and the like 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), and a removable external storage device.

For example, 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 may be performed via a network such as the internet.

As shown in fig. 1 and 2, the teaching device 4 is a command device for teaching, and is constituted by a notebook computer having a display 40 as a display unit and an input operation unit 44. The teaching device 4 is an operation unit for teaching an operation program to the robot arm 10. That is, the device has a function of creating an operation program and inputting information such as letters and numbers. The display 40 displays a teaching screen D shown in fig. 3 and a simulation image DI shown in fig. 4 as display screens. The input operation unit 44 is constituted by a keyboard and a mouse, not shown, and an operator operates these to switch the teaching screen D and the simulation image DI, and to perform various teaching operations and information input operations. For example, the display 40 is configured by a liquid crystal, an organic EL, or the like, and can display a display screen including the teaching screen D and the simulation image DI in a color or a monochrome. The teaching device 4 is not limited to a notebook computer, and may be a desktop computer or a teaching box.

For example, the control unit 41 is configured by 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. The control unit 41 also 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. The operator generates an operation program by performing various setting operations using the input operation unit 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 is transmitted to the control device 3 via the communication unit 43. Thereby, a program for causing the robot arm 10 to execute a predetermined job under a predetermined condition can be specified via the control device 3.

The storage unit 42 stores various programs and the like executable by the control unit 41. As an example thereof, an image display program for controlling the driving of the display 40 is given, and more specifically, an image display program for controlling the driving of each of the display unit H1, the number display unit H2, the coordinate system type display unit H3, the shape pattern display unit H4, and the positional relationship display unit H5, which will be described later, is given. The desired image is displayed on each of the display sections by the start of the image display program. The image display program further includes: various data for determining letters, numbers, shape patterns, etc.; correction data corresponding to the coordinate system; other subroutines; and auxiliary programs, etc.

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), and a removable external storage device. The storage unit 42 stores an operation program prepared by the control unit 41.

For example, 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 may be performed via a network such as the internet. The communication unit 43 transmits information and the like related to the operation program stored in the storage unit 42 to the control device 3. The communication unit 43 can receive information stored in the storage unit 32 and store the information in the storage unit 42.

Next, description will be given of a teaching screen D displayed on the display 40 of the teaching device 4.

As shown in fig. 3, the display 40 displays a rectangular teaching screen D as a 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 a large part of the teaching screen D. The second area A2 is disposed 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 extending in the lateral direction from the left end to the right end along the edge of the upper end of the teaching screen D.

The first area A1 displays an item of "jog", an item of "current position", an item of "current arm posture", an item of "jog movement distance", and an item of "point (P)".

As described above, the teaching device 4 sets a plurality of different coordinate systems. The item of "jog" includes a first input unit I1 for inputting a predetermined coordinate system selected from among a plurality of coordinate systems, a second input unit I2 for inputting a speed, and an operation button group B1 for performing an operation for moving the robot arm.

When the first input unit I1 performs a selection operation, names of a plurality of coordinate systems are displayed in a pull-down format. In the present embodiment, the first input unit I1 displays a tool coordinate system, a local coordinate system, and a custom coordinate system, and a desired coordinate system can be selected from among these coordinate systems. In fig. 3, a tool coordinate system is shown. The selection or selection operation is performed by pressing a button, and in this embodiment, clicking with a mouse. In addition, in the case where the display 40 is a touch panel, an input operation is realized by touching a button or the like. The same applies to the respective inputs described below.

When the second input unit I2 performs a selection operation, the speed mode is displayed in a pull-down mode. In the present embodiment, the second input unit I2 displays characters of low speed, medium speed, and high speed, and can select a desired speed mode from among these speed modes.

The operation button group B1 is displayed below the first input unit I1 and the second input unit I2. The operation button group B1 has a button displayed as "+x", a button displayed as "+y", a button displayed as "+z", a button displayed as "+u", a button displayed as "+v", a button displayed as "V", a button displayed as "+w", and a button displayed as "W".

When a desired button belonging to the operation button group B1 is pressed and operated while looking at the simulation image DI shown in fig. 4 or while looking at the actual robot arm 10 and the tool center point TCP is moved to a desired position, the position can be taught by pressing a button B2 displayed as "teaching (T)" located below the first area A1.

By teaching using such an item of "jog", teaching can be performed with precision.

The items of "current arm posture" show the letters "Hand", "Elbow", and "write". "Hand" shows the posture of the arm as a whole of the robot arm 10, "Elbow" shows the posture of the joint, and "write" shows the posture of the Wrist, i.e., the distal end portion.

The item of the "current position" located on the upper side of the first area A1 has 6 display portions H1. The display unit H1 shown as "X" displays the moving distance in the X-axis direction. The display section H1 shown as "Y" displays the movement distance in the Y-axis direction. The display unit H1 shown as "Z" displays the moving distance in the Z-axis direction. The display section H1 shown as "U" displays the moving distance around the Z axis. The display section H1 shown as "V" displays the moving distance around the Y axis. The display section H1 shown as "W" displays the moving distance around the X axis. Each display section H1 displays a numerical value indicating the movement distance in each direction in the display column according to the teaching situation.

An item of "point (P)" is displayed at a position located on the lower side of the first area A1 and on the left side of the button B2. The item of "point (P)" has an input unit N2 for inputting the number of a specific teaching target position selected from among a plurality of teaching target positions. When the selection operation is performed in the input unit N2, the numbers of all the teaching object positions are displayed in the pull-down format. Although not shown, a plurality of teaching target positions are stored by user registration. The plurality of stored positions may be registered independently for each of the tool coordinate system, the local coordinate system, and the coordinate system of the custom coordinate system, or may be registered in common by converting coordinates for each coordinate system.

By designating a desired teaching target position and pressing the button B2, the current position of the tool center point TCP can be set as the teaching target position. That is, by selecting the teaching target position and pressing the button B2, the teaching can be performed such that the tool center point TCP moves with the selected teaching target position being the target position. By teaching using such an item of "point (P)", teaching can be performed promptly and appropriately. The teaching may be performed by combining the item of "jog" and the item of "point (P)", as described above.

A selection button for selecting an item displayed in the first area A1 is displayed in the second area A2.

The selection buttons include a button displayed as "jog & teach", a button displayed as "dot data", a button displayed as "Arch", a button displayed as "local setting", a button displayed as "tool setting", a button displayed as "tray setting", a button displayed as "external control setting", a button displayed as "entering the detection area", a button displayed as "entering the detection plane", a button displayed as "hand mass setting", and a button displayed as "hand eccentric setting".

By selectively selecting a button for operating an item to be set from among these buttons and displaying the selected item in the first area A1, the item can be set in the first area A1. The first area A1 shown in fig. 3 displays a screen when a button of "jog & teach" is pressed.

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

As shown in fig. 5, the number display unit H2 displays the number of the selected coordinate system. The types of coordinate systems are: a reference coordinate system in which an origin is set in the base 11 of the robot 1, a world coordinate system in which an origin is set at an arbitrary position in a space where the robot 1 is disposed, a local coordinate system in which an origin is set at an arbitrary position in a space where the robot 1 performs work, a tool coordinate system in which an origin is set at an arbitrary position of the end of the arm 10 or the end effector 20 of the robot 1, and the like. In addition, a plurality of coordinate systems are set in each of the types of coordinate systems.

For example, a plurality of local coordinate systems having different origin positions are set in the local coordinate systems according to the position of the job. For example, the Local coordinate systems include a Local coordinate system Local12 set at one end of a work table on which the work is performed, a Local coordinate system Local15 set at the center of the work table, and the like.

In the tool coordinate system, a plurality of tool coordinate systems having different origin positions are set according to the shape and the work of the end effector 20. Examples of the respective Tool coordinate systems include a Tool coordinate system Tool0 set at the center of the root of the end effector 20, that is, the center of the distal end of the arm 10, a Tool coordinate system Tool3 set at the distal end of the claw portion of the end effector 20, a Tool coordinate system Tool8 set at one end of the root of the end effector 20, a Tool coordinate system Tool12 set at the distal end of the claw portion of the end effector 20 where the claw portion opens to the maximum, and the like.

The coordinate system origin position P0, the coordinate system origin position P3, and the coordinate system origin position P12 in the tool coordinate system are representatively shown in the simulation image DI of fig. 4. 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 Tool 12.

The number assigned to the coordinate system may be either a continuous number or a mixed number when the coordinate system number is set. It should be noted that a number may be used instead of a number, but a number is preferably used because it is easy to deal with an increase in the number of coordinate systems.

When the Tool coordinate system Tool3 is selected, the number display unit H2 displays a number "3" corresponding to the selected Tool coordinate system Tool 3. When the Tool coordinate system Tool12 is selected, the number display unit H2 displays "12" which is a number corresponding to the selected Tool coordinate system Too. When the Local coordinate system Local12 is selected, the number display unit H2 displays the number "12" corresponding to the selected Local coordinate system Local 2. When the local coordinate system Locall5 is selected, the number display unit H2 displays a number "15" corresponding to the selected local coordinate system Locall 5. With such a number display unit H2, the operator can easily grasp the currently selected coordinate system.

The number display unit H2 may display contents other than numerals, for example, characters and graphics together with numerals. When Tool coordinate system Tool3 is selected, for example, the number display unit H2 may display the letter "No. 3".

The coordinate system type display unit H3 displays the type of the selected coordinate system in text. For example, when the Tool coordinate system is selected, the coordinate system type display unit H3 displays the word "Tool". As shown in fig. 5, when the reference coordinate system is selected, the coordinate system type display unit H3 displays a word of "Base", when the World coordinate system is selected, the coordinate system type display unit H3 displays a word of "World", when the Local coordinate system is selected, the coordinate system type display unit H3 displays a word of "Local", and when the Custom coordinate system is selected, the coordinate system type display unit H3 displays a word of "Custom". With such a coordinate system type display unit H3, the operator can easily grasp the currently selected coordinate system. Fig. 5 shows a case where the local coordinate system 12 is selected.

The shape pattern display unit H4 displays the shape pattern P corresponding to the number of the selected coordinate system. In the illustrated configuration, the shape pattern P is an annular indicator displayed around the number display portion H2. The shape pattern P is displayed in a display format having a different length or angle corresponding to the number of the coordinate system (hereinafter, the number may be referred to as "number").

For example, when 12 points are set in total at the origin of the coordinate system, the number "3" corresponding to the origin position P3 of the coordinate system is expressed as follows: the color of the indicator changes within 1/4 of a circle clockwise from the position at 0, i.e. from the position at 0 to the position at 3. The number "6" corresponding to the coordinate system origin position P6 is expressed as follows: the color of the indicator changes by 1/2 circle clockwise from the position at 0, i.e. in the range from the position at 0 to the position at 6.

As shown in fig. 5, when 16 points are set in total at the origin of the coordinate system, the number "12" corresponding to the origin position P12 of the coordinate system is shown as follows: the color of the indicator changes from the position at 0 to the position at 9 by rotating clockwise 3/4 of a circle, i.e. from the position at 0.

In this way, the shape pattern P shows the positioning of the number of the selected origin of the coordinate system (hereinafter, also referred to as "number of the coordinate system") with respect to all the origins of the coordinate systems. In other words, the shape pattern P visually displays the ratio of the number of the selected origin of the coordinate system with respect to all origins of the coordinate system. The operator can visually and instantaneously grasp the position of the selected one of the full-coordinate system origins.

In the present invention, the case where the color of the predetermined portion of the indicator is changed has been described, but the present invention is not limited to this, and for example, the predetermined portion of the indicator may be lit or blinked, the shape is changed, the stereoscopic view is visible, or the like, and the display may be made distinguishable from other portions of the indicator.

In the present embodiment, the selection of the coordinate system can be performed in the third area A3. Specifically, the user selects the coordinate system type display unit H3, that is, when a button is pressed, a mouse is used to aggregate a cursor, and a touch operation is performed on the touch panel, the type of the coordinate system that can be selected is displayed, and the type of the desired coordinate system can be selected. In this case, the coordinate system type display unit H3 corresponds to the coordinate system type selection unit. Further, the user selects the number display unit H2, that is, when the button is pressed, the user clicks the button with the mouse cursor, and touches the touch panel, the selectable number is displayed, and the desired number can be selected. In this case, the number display unit H2 corresponds to the coordinate system number selection unit.

However, the present invention is not limited thereto, and the following structure may be employed: when the user selects the number display unit H2 or the coordinate system type display unit H3, a selectable coordinate system is displayed in a list form and selectable. The structure may also be as follows: when the user selects the number display unit H2 or the coordinate system type display unit H3, the number and type of the desired coordinate system can be displayed and selected by using a keyboard or the like. The shape pattern display unit H4 may have the following structure: the user selects a location corresponding to the number of the coordinate system to be selected, and can select the configuration of the number of the desired coordinate system. In this case, the shape pattern display unit H4 corresponds to the coordinate system number selection unit. The following structure may be used: the selectable coordinate systems are displayed in a list by a pull-down menu or the like, except for the coordinate system type display unit H3, the number display unit H2, and the shape pattern display unit H4, and the display of the coordinate system type display unit H3, the number display unit H2, and the shape pattern display unit H4 is switched so as to coincide with the selected coordinate systems. In this case, the pull-down menu corresponds to the coordinate system number selection unit and the coordinate system type selection unit.

The teaching screen D of the display 40 includes the number display unit H2 and the shape pattern display unit H4, wherein the number display unit H2 displays the above, and thus the operator can grasp the selected coordinate system numerically and intuitively grasp the selected coordinate system by the shape pattern P. Accordingly, the operator can accurately and quickly grasp the selected coordinate system due to the multiplication effect of these.

As described above, the teaching device 4 is a teaching device that teaches an operation program to the robot 1 having the arm 10. The teaching device 4 further includes: a coordinate system type display unit H3 as an example of a coordinate system number selection unit that selects a number of a coordinate system selected from a plurality of coordinate systems in a predetermined coordinate system type, and a display unit 40 as a display unit that has a number display unit H2 that displays a number of the coordinate system and a shape pattern display unit H4 that displays a shape pattern P corresponding to the number. Thus, the operator can grasp the selected coordinate system with the number accurately, and can grasp the selected coordinate system intuitively by the shape pattern P. Accordingly, the operator can accurately and quickly grasp the number indicating the selected coordinate system and the type of the coordinate system due to the multiplication effect of these.

The input unit N2 may not be displayed on the display 40. In this case, an input unit corresponding to the function of the input unit N2 is displayed on another display or provided as a hardware button, not shown, at an arbitrary position of the teaching device 4.

In addition, as described above, the shape pattern P shows the positioning of the number of the selected coordinate system with respect to all the coordinate systems in the predetermined kinds of coordinate systems. Thus, the operator can grasp the number of the selected coordinate system more accurately.

In addition, a shape pattern P is displayed around the programming display portion H2. This allows the number display H2 and the shape pattern P to be seen and grasped at the same time. Accordingly, the selected coordinate system can be grasped more accurately and quickly.

The shape pattern P is displayed in a display mode having a different length or angle corresponding to the number. Thus, the operator can intuitively grasp the number of the selected coordinate system, and can grasp the number of the selected coordinate system more quickly and accurately.

In the present embodiment, the shape pattern P is annular, but the present invention is not limited to this, and may be, for example, a shape after a part of the annular ring is broken, a fan shape, or a straight shape.

The display 40, which is a display unit, has a coordinate system type display unit H3, and the coordinate system type display unit H3 displays a type of coordinate system selected from a plurality of types of coordinate systems. Thus, the operator can easily and accurately grasp the selected coordinate system.

In the illustrated configuration, the coordinate system type display unit H3 displays the selected coordinate system by english letters, but the present invention is not limited thereto, and may be displayed by japanese characters, by numerals or signs, or by other display methods, for example.

Second embodiment

Fig. 6 and 7 are diagrams showing an example of a number display unit and a shape pattern display unit in a second embodiment of the teaching device according to the present invention.

A second embodiment of the teaching device according to the present invention will be described below with reference to fig. 6 and 7, and differences from the first embodiment will be described below, omitting common points.

The teaching device according to the second embodiment differs from the first embodiment in the shape pattern P displayed on the shape pattern display unit H4.

As shown in fig. 6 and 7, around the number display portion H2, numerals from 0 to 9 are sequentially arranged along an annular frame. The unit regions 0 to 9 are arranged at equal intervals along the circumferential direction of the ring.

The number of the shape pattern P corresponding to the number of the selected coordinate system is displayed in a different display form from the other numbers. In the illustrated structure, the colors are distinguished and displayed by being different.

As shown in fig. 6, in the case where the number of the selected coordinate system is "8", ten bits are "0", and the bits are "8", so that the unit area including the number of "0" and the unit area including the number of "8" are displayed in different colors from the surroundings in the circular frame. In order to distinguish ten bits from one bit, only the unit area in which "8" is displayed in a different color, and ten bits are displayed in a different color in a region extending radially from the center of the circle toward the unit area in addition to the unit area in which "0" is displayed. That is, ten-digit areas including the unit area in which the number is displayed are displayed in a different color from the surroundings.

As shown in fig. 7, when the number of the selected teaching object is "15", ten bits are "1", and one bit is "5", so that the numerals of "1" and "5" are displayed in different colors from the surrounding. In this case, the ten-bit and one-bit display method is the same as the display example shown in fig. 6.

However, the present invention is not limited to such a configuration, and for example, the number of the selected coordinate system may be displayed by differentiating the number, the size and shape of the region including the number, the thickness of the line, the font of the number, and the like.

In the configuration shown in fig. 6 and 7, the color of the unit area is changed, but the present invention is not limited to this, and a display method may be adopted in which the unit area is turned on or blinked to be distinguished from other numbers.

As described above, the numbers are arranged around the number display unit H2, and the shape pattern P is displayed so that the numbers corresponding to the numbers are distinguishable from other numbers. This allows the operator to accurately and quickly grasp the number of the selected coordinate system. In particular, even when the number of digits is large and the number of origin points is large, the number of the selected coordinate system can be grasped more clearly.

Third embodiment

Fig. 8 is a diagram showing an example of a number display unit and a shape pattern display unit in a third embodiment of the teaching device of the present invention.

A third embodiment of the teaching device according to the present invention will be described below with reference to fig. 8, and differences from the first embodiment will be described below, with common points omitted.

The third area A3 of the teaching screen D displayed on the display 40 includes a number display unit H2, a coordinate system type display unit H3, and a shape pattern display unit H4, and further includes a positional relationship display unit H5. The positional relationship display section H5 shows the positional relationship of both: the origin of the selected coordinate system and the origin of the coordinate system serving as the reference among the same types of coordinate systems as the selected coordinate system. For example, as shown in fig. 8, when a Tool coordinate system is selected as a type of coordinate system and a Tool coordinate system Tool3 is selected, the positional relationship display unit H5 displays a shape extending in a direction parallel to a straight line L connecting an origin of the Tool coordinate system Tool0, which is a coordinate system serving as a reference, and an origin of the Tool coordinate system Tool3 in the simulation image DI shown in fig. 4. In the illustrated configuration, a shape is displayed in a three-dimensional manner in a cylindrical shape having a circle of the shape pattern P as an end surface. The positional relationship display unit H5 is not limited to a cylindrical shape, and may be a conical shape or an arrow shape.

With the positional relationship display unit H5 having such a configuration, the operator can easily grasp the positional relationship between the origin of the coordinate system set as the reference (for example, the initially set origin of the coordinate system) and the position of the selected origin of the coordinate system.

The display mode of the positional relationship display unit H5 is not limited to the illustrated display mode.

As described above, the positional relationship display unit H5 is provided, and the positional relationship display unit H5 shows the positional relationship of both: an origin of a coordinate system selected from among a plurality of coordinate systems in a predetermined type of coordinate system, and an origin of a coordinate system set as a reference among the plurality of coordinate systems in the predetermined type of coordinate system. Thus, the operator can easily grasp the positional relationship between the origin of the coordinate system set as the reference and the position of the selected origin of the coordinate system. Accordingly, the teaching can be further performed quickly and appropriately.

Fourth embodiment

Fig. 9 is a plan view of a display unit in a fourth embodiment of the teaching device of the present invention.

A fourth embodiment of the teaching device according to the present invention will be described below with reference to fig. 9, and differences from the first embodiment will be described below, with common points omitted.

As shown in fig. 9, in the present embodiment, the display 40 is configured by a touch panel, and an operator performs a touch operation on each item, button, or the like with a finger or a touch pen, thereby performing input and selection of various operations, numerical values, information, and the like related to teaching. That is, the above-described specific coordinate system number, coordinate system selection, and the like can be performed by a touch operation on the teaching screen D of the display 40.

In this way, the display 40 has a function as an operation unit for performing an input operation of inputting a number of a specified coordinate system. For example, the display 40 is configured by a liquid crystal, an organic EL, or the like, and can display a teaching screen D described later in color or monochrome. In addition, the touch panel in the display 40 may be in either of a pressure-sensitive manner and a capacitive manner.

The teaching device of the present invention has been described above with respect to the illustrated embodiment, but the present invention is not limited to this. The respective parts of the teaching device can be replaced with any structures that can perform the same functions. In addition, any structure may be added.

For example, each of the items displayed in the first to third areas may be movable by a drag operation in an area where the item is displayed or in an area different from the area where the item is displayed. Further, the method comprises the steps of, the items displayed in the first to third areas may be displayed in a configuration that allows the display to be displayed and erased, or may be enlarged or reduced in size.

In addition, when a plurality of different coordinate systems are set, for example, when a tool coordinate system, a local coordinate system, and a custom coordinate system are set, the teaching screen D may have a display based on the number display unit H2, a display based on the coordinate system type display unit H3, and a display based on the shape pattern display unit H4 for any 2 or all of these coordinate systems.

In the case where a plurality of different coordinate systems are set, for example, a tool coordinate system, a local coordinate system, and a custom coordinate system, the teaching screen D may have a display based on the number display unit H2, a display based on the coordinate system type display unit H3, a display based on the shape pattern display unit H4, and a display based on the positional relationship display unit H5 for any 2 or all of these coordinate systems.

Claims (7)

1. A teaching device for teaching an operation program of a robot having a robot arm,

the teaching device is provided with:

a coordinate system number selection unit that selects a number of a coordinate system selected from among a plurality of coordinate systems in a predetermined type of coordinate system; and

a display part, which is provided with a number display part for displaying the number of the number and a shape pattern display part for displaying the shape pattern corresponding to the number.

2. The teaching device according to claim 1, characterized in that,

the shape pattern shows the positioning of the number relative to all of the coordinate systems in the category of the predetermined coordinate system.

3. The teaching device according to claim 1 or 2, characterized in that,

The shape pattern is displayed around the number display section.

4. The teaching apparatus according to claim 3,

the shape pattern is displayed in a display mode with different lengths or angles corresponding to the numbered numerals.

5. The teaching apparatus according to claim 3,

the numbers are arranged around the number display part,

the shape pattern is displayed in a manner that the number corresponding to the number is different from the other numbers.

6. The teaching device according to claim 1, characterized in that,

the display unit includes a coordinate system type display unit that displays a type of coordinate system selected from among a plurality of types of coordinate systems.

7. The teaching device according to claim 1, characterized in that,

the teaching device has a positional relationship display unit that displays a positional relationship of both: an origin of a coordinate system selected from among the plurality of coordinate systems in the predetermined type of coordinate system, and an origin of a coordinate system set as a reference among the plurality of coordinate systems in the predetermined type of coordinate system.