JP2002127060A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To minimize a burden when a user operates a robot device by constituting so as to simultaneously send an input signal from an operation key of an input device related to a teaching device by a means for generating display data arranged in the teaching device and a means for generating an operation command. SOLUTION: The teaching device 100 for communicating with a robot control device 160 is provided with a communication device 150, a central processing unit 110, a storage device 120, the input device 140 and a display device 130. The central processing unit 110 can automatically generate the display data on an image displayed on the display device 130 and the operation command for operating a robot on the basis of various data stored in the storage device 120 and indicating an operation state of the robot and an input signal of the input device 140. The input signal from the input device 140 is simultaneously sent to a display data generating means 111 and an operation command generating means 112 arranged in the central processing unit 110 to realize the robot for reducing labor of input operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device for performing a teaching operation of a robot or a driving operation of a robot.

[0002]

2. Description of the Related Art Conventionally, a robot that operates by storing a command input from a teaching device is operated by a user while checking position and orientation information, sequence information, and work conditions of the robot displayed on a display device. The robot operation command is sent by directly operating. The teaching device includes operation keys for selecting an operation speed or an operation mode and inputting a movement command. For example, in a teaching operation, the user operates the operation keys to guide the robot to a representative point on the motion trajectory, and registers the position and orientation information at that point as teaching point data. The user sequentially repeats this operation and registers a plurality of teaching points, thereby forming a robot program that moves on a certain trajectory.

The teaching device is provided with operation keys for setting a screen displayed on a display device, and a dedicated screen for a user to select a robot program by operating the operation keys. Then, a desired program is selected and determined from a list of programs registered in the storage device.

[0004] The control device or teaching device of the robot is
Various dedicated switches are provided for turning on and off the servo power of the robot, playing and stopping the program of the robot, or urgently stopping the robot. For example, in a driving operation, the user operates the robot by operating these dedicated switches.

[0005]

In recent years, as an easy teaching operation of a robot, a robot arm has been used in order to enable a user to intuitively recognize the spatial position and movement of the robot and the surrounding environment. A teaching device having a function of displaying a three-dimensional graphic of the shape of an object and surrounding environment and a function of displaying a video captured by an imaging device and having a display device formed with a large screen is being adopted.

For example, when teaching using the teaching device described above, when registering a teaching point for a work, first, a user operates an operation key for inputting a movement command to move a tool at the end of the robot to a target work. After approaching the vicinity, the user finely adjusts the position of the tip by setting the operation speed of the robot to a low speed or switching the operation mode of the robot to pitch movement. By displaying the spatial relationship between the tool and the workpiece at this time and the video obtained from the imaging device on the display device, the user can indicate the moving direction of the tool and the distance between the tool tip and the workpiece on the display device. You can operate the robot while checking it.

That is, in the operation of registering a teaching point,
There are a process of moving the tool closer to the workpiece and a process of fine-tuning the position of the tool tip. When this process is switched, the user sets the operation speed and operation mode of the robot, and performs operations on the display device. It is necessary to perform an operation to set a display mode such as a magnification (zoom value) for displaying an image by using the method, and it is burdensome for the user to repeat these setting operations every time a teaching point is registered.

Therefore, an object of the present invention is to provide a structure in which an input signal from an operation key of an input device according to a teaching device is simultaneously transmitted by means for generating display data and means for generating an operation command provided in the teaching device. When the user sets one of the display and operation states, an optimal value is automatically set for the other state, thereby providing a robot apparatus that minimizes the burden on the user when operating. That is.

[0009]

According to a first aspect of the present invention, there is provided a robot apparatus, a robot controller for controlling the robot, and a teaching for communicating with the robot controller. A communication device that communicates with the robot control device, a central processing device that inputs and outputs signals to and from the communication device, a storage device that is connected to the central processing device, An input device for inputting a signal to the processing device, and a display device for displaying based on the signal output from the central processing device, wherein the central processing device operates the robot stored in the storage device. Display data of an image to be displayed on the display device and an operation command for operating the robot are automatically generated based on various data indicating the input and the input signal of the input device. Possible and the.

As described above, the central processing unit controls the display data of the image to be displayed on the display device and the robot based on the various data indicating the operation status of the robot stored in the storage device and the input signal of the input device. Since an operation command for operating the robot can be automatically generated, when the user operates the robot while checking the robot displayed on the display device related to the teaching device, an input signal from the input device is output. By simultaneously sending the data to the means for generating display data and the means for generating operation commands provided in the central processing unit, it is possible to realize a robot that saves input operations. Thus, when the user sets one of the display and operation states, the optimal value is automatically set for the other, and the burden on the user when operating can be reduced as much as possible.

[0011] The robot apparatus according to the second aspect is the first aspect.
In the above, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device. As described above, when the robot or the surrounding environment viewed from a certain viewing direction and distance is three-dimensionally displayed, the operation of changing the display magnification can be performed by providing the input device with a dedicated operation key for changing the display magnification of the image. It has the effect that it can be performed with few key operations.

According to a third aspect of the present invention, there is provided a robot apparatus according to the first aspect.
, An operation key for changing a display magnification of an image to be displayed on the display device is provided in the input device, and the operation speed of the leading end of the robot is reduced during the enlarged display. As described above, in the process of finely adjusting the position of the tip of the robot, when operating the operation key for increasing the display magnification and displaying an enlarged image, the operation speed of the tip of the robot is reduced, thereby reducing the user's speed. Has an effect that the operation for setting the operation speed can be omitted.

According to a fourth aspect of the present invention, there is provided a robot apparatus according to the first aspect.
In 3 or 3, the input device is provided with an operation key for changing a display magnification of an image to be displayed on the display device, and the operation speed of the tip of the robot is increased at the time of reduced display. As described above, in the process of quickly moving the tip of the robot to the position of the teaching point to be registered, the operation speed of the tip of the robot is increased when the image is reduced and displayed by operating the operation key for decreasing the display magnification. This has an effect that the user can omit the operation of setting the operation speed.

According to a fifth aspect of the present invention, there is provided a robot apparatus according to the first aspect.
, The image displayed on the display device when the operation speed of the robot is reduced is enlarged and displayed. As described above, in the process of finely adjusting the position of the tip of the robot, when the operation speed of the robot is reduced, the image is enlarged and displayed, so that the user can omit the operation of setting the display magnification. Has an action.

According to a sixth aspect of the present invention, there is provided a robot apparatus according to the first aspect.
Alternatively, in 5, the image displayed on the display device when the operating speed of the robot is increased is reduced and displayed. As described above, in the process of quickly moving the tip of the robot to the position of the teaching point to be registered, the user sets the display magnification by reducing and displaying the image when increasing the operation speed of the robot. This has the effect that the operation can be omitted.

According to a seventh aspect of the present invention, there is provided the robot apparatus according to the third, fourth, fifth or sixth aspect, wherein a limit value is provided for the operation speed of the robot at the time of enlarged or reduced display. In this way, by setting a limit value for the operation speed of the robot when displaying an enlarged or reduced image, even if the user inadvertently sets the display magnification, the safety of the user can be sufficiently ensured. It has the effect that it can be used within the operating speed range.

According to another aspect of the present invention, there is provided a robot device comprising: a robot; a robot control device for controlling the robot; a teaching device for communicating with the robot control device; and an imaging device for communicating with the teaching device. A communication device that communicates with the robot control device and the imaging device; a central processing device that inputs and outputs signals to and from the communication device; a storage device connected to the central processing device; An input device for inputting a signal to the device, and a display device for displaying based on the signal output from the central processing unit, wherein the central processing device displays the operation status of the robot stored in the storage device. Based on various data shown and an input signal of the input device, display data of an image to be displayed on the display device and an operation command for operating the robot are automatically generated. And it can be generated.

As described above, the teaching device has the communication device for communicating with the robot control device and the imaging device, and the central processing unit for inputting and outputting signals to and from the communication device. It is possible to display an image on the display device, and the user can operate a virtual robot displayed on the display device to operate the actual robot. The central processing unit, based on various data indicating the operation status of the robot stored in the storage device and an input signal of the input device, display data of an image to be displayed on the display device, an operation command for operating the robot, Can be automatically generated, so that the same operation as in claim 1 is obtained.

According to a ninth aspect of the present invention, there is provided a robot apparatus according to the eighth aspect.
In the above, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device. As described above, since the input device is provided with the operation key for changing the display magnification of the image displayed on the display device, the same operation as in claim 2 is provided.

According to a tenth aspect of the present invention, there is provided the robot apparatus according to the eighth aspect, wherein the input device is provided with an operation key for changing a display magnification of an image displayed on the display device, and at the time of enlarged display, the operating speed of the robot tip is reduced. . As described above, the input device is provided with the operation key for changing the display magnification of the image displayed on the display device, and the operation speed of the tip of the robot is reduced at the time of the enlarged display.

In a robot apparatus according to the present invention, an operation key for changing a display magnification of an image to be displayed on the display device is provided on the input device, and the operation speed of the tip of the robot is reduced at the time of reduced display. To be quick. As described above, the input device is provided with the operation keys for changing the display magnification of the image displayed on the display device, and the operation speed of the tip of the robot is increased at the time of the reduced display, so that the same operation as the fourth aspect is provided.

According to a twelfth aspect of the present invention, in the eighth aspect, an image displayed on the display device when the operation speed of the robot is reduced is enlarged and displayed. As described above, when the operation speed of the robot is reduced, the image to be displayed on the display device is enlarged and displayed.

According to a thirteenth aspect of the present invention, in the eighth or twelfth aspect, the image displayed on the display device when the operating speed of the robot is increased is reduced and displayed. As described above, when the operation speed of the robot is increased, the image to be displayed on the display device is reduced and displayed.

According to a fourteenth aspect of the present invention, there is provided a robot apparatus comprising: a robot; a robot controller for controlling the robot; a teaching device for communicating with the robot controller; and an imaging device for communicating with the teaching device. The imaging device,
A camera having a focus adjustment mechanism, and a focus control device for controlling the adjustment mechanism, wherein the teaching device communicates with the robot control device and the imaging device, and communicates signals with the communication device. A central processing unit for inputting and outputting,
A storage device connected to the central processing unit, an input device for inputting a signal to the central processing unit, and a display device for displaying based on a signal output from the central processing unit, The apparatus includes: display data of an image to be displayed on the display device based on various data indicating the operation status of the robot stored in the storage device and an input signal of the input device; and an operation command for operating the robot. And an operation command given to the focus control device for controlling the focus of the camera can be automatically generated.

As described above, the imaging device includes the camera having the focus adjustment mechanism, and the focus control device that controls the adjustment mechanism. The teaching device includes the communication device that communicates with the robot control device and the imaging device. Since it has a communication device and a central processing unit that inputs and outputs signals, the moving image of the robot taken by the imaging device can be displayed on the display device, and the user can view the virtual robot displayed on the display device. Has the effect that an actual robot can be operated. In addition, when an image captured by the imaging device is displayed on the display device, it has an effect that the focus of a camera built in the imaging device can also be operated. In addition, the central processing unit
Based on various data indicating the operation status of the robot stored in the storage device and input signals of the input device, display data of images to be displayed on the display device, operation commands for operating the robot, and focus of the camera are controlled. Therefore, an operation command given to the focus control device can be automatically generated, so that the same operation as in claim 1 is provided.

According to a fifteenth aspect of the present invention, in the fourteenth aspect, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device. in this way,
Since the input device is provided with an operation key for changing the display magnification of the image displayed on the display device, the same operation as in claim 2 is provided. Further, the focus of the camera built in the imaging device can be operated by the operation keys.

According to a sixteenth aspect of the present invention, in the fourteenth aspect, the input device is provided with an operation key for changing a display magnification of an image to be displayed on the display device, and the operation speed of the tip of the robot is reduced at the time of enlarged display. . As described above, the input device is provided with the operation key for changing the display magnification of the image displayed on the display device, and the operation speed of the tip of the robot is reduced at the time of the enlarged display.

According to a seventeenth aspect of the present invention, there is provided a robot apparatus according to the fourteenth or sixteenth aspect, wherein the input device is provided with an operation key for changing a display magnification of an image to be displayed on the display device. To be quick. As described above, the input device is provided with the operation keys for changing the display magnification of the image displayed on the display device, and the operation speed of the tip of the robot is increased at the time of the reduced display, so that the same operation as the fourth aspect is provided.

[0029] In the robot apparatus according to the present invention, the image displayed on the display device when the operation speed of the robot is reduced is enlarged and displayed. As described above, when the operation speed of the robot is reduced, the image to be displayed on the display device is enlarged and displayed.

According to a nineteenth aspect of the present invention, in the fourteenth aspect or the eighteenth aspect, an image displayed on the display device when the operation speed of the robot is increased is reduced and displayed. As described above, when the operation speed of the robot is increased, the image to be displayed on the display device is reduced and displayed.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing the principle of the first embodiment of the present invention.

As shown in FIG. 1, a robot 170 and a robot controller 160 for controlling the robot 170
And the teaching device 10 that communicates with the robot control device 160
0, and the teaching device 100 includes the robot controller 16
0, a central processing unit 110 that inputs and outputs signals to and from the communication device 150, and a central processing unit 1
Storage device 120 connected to the central processing unit 11
0 and a central processing unit 1
And a display device 130 that performs display based on the signal output from the display device 10.

The storage device 120 stores an operation program for the teaching device, a robot program and operation data read from the robot control device 160 via the communication device 150,
It stores shape data representing the shape of the robot, the shape of the peripheral device, the shape of the work, and the like, and setting data defined by the user. The central processing unit 110 operates by reading an operation program for the teaching device from the storage device 120. The input device 140 includes operation keys for setting the operation speed, operation mode, and display mode of the robot. When the user operates the operation keys, the input signal is transmitted to the central processing unit 11.
Give to 0. The central processing unit 110 includes a display data generation unit 1 that generates display data based on various data stored in the storage device 120 and an input signal of the input device 140.
11 and an operation command generating means 112 for generating an operation command for operating the robot. The display data generated by the central processing unit 110 is graphically displayed on the display device 130, and the operation command is sent to the robot control device 160 via the communication device 150. The robot controller 160 controls the robot 170 based on the given operation command.
To work.

FIG. 2 is a front view showing an example of the appearance of the teaching device according to the embodiment of the present invention. As shown in FIG. 2, a display device 130 is provided at the center of the teaching device 100, and an operation mode changeover switch 2 is provided above the display device 130.
01, program start switch 202, program stop switch 203, servo power on switch 204, servo power off switch 205, and emergency stop switch 2
06 is provided, and other than the upper part, operation key groups A, B, and C including a large number of operation keys 210 are provided. The operation keys A and B include operation keys for inputting operation commands for orthogonal feed and rotation around each axis for manually operating the robot, and setting items for setting items when a setting screen is displayed on the screen. Includes operation keys for navigating between or selecting setting items.

FIG. 3 is an enlarged conceptual diagram of the operation key group C of the teaching device according to the embodiment of the present invention. As shown in FIG. 3, the operation key group C includes a zoom-in key 301 and a zoom-out key 302 for increasing / decreasing a magnification (zoom value) for displaying an image on the display device 130, and a jog movement and a pitch for the operation mode of the robot. A pitch ON / OFF key 303 for switching between movements, a setting screen call key 304 for setting the relationship between screen display and operation speed, and whether to use a preset speed limit for the operation speed of the robot. ON / OFF speed limit
Key 305 is included.

FIG. 4 is a schematic diagram of an operation screen showing an example of the display data generated by the display data generating means in the first embodiment of the present invention. According to this figure, on the operation screen 400, based on the teaching point data and motion data included in the program of the robot buffered from the robot controller 160 and the shape data stored in the storage device 120, the program The teaching point 401, the current robot tip 402, the moving direction of the robot tip corresponding to the operation key operated immediately before by the user in the orthogonal jog movement mode and the moving speed vector 403 indicating the amount of movement per second, the robot The arm 404 and the work 405 are displayed three-dimensionally as viewed from a certain viewing direction and distance. Also, the zoom value 406 of the current graphic display, the operation speed 407 of the robot,
The setting state 408 of the robot pitch movement and the setting state 409 of the speed limit are displayed on the screen using characters. Note that the setting state 408 of the pitch movement and the setting state 409 of the speed limit indicate when the setting is switched between ON and OFF by using characters to indicate that the state has changed.

As described above, according to this embodiment, the central processing unit 110 stores various data indicating the operation status of the robot stored in the storage device 112 and the input device 140.
The display data of the image to be displayed on the display device 130 and the operation command for operating the robot 170 are generated on the basis of the input signal of the user, and the user is displayed on the display device 130 related to the teaching device. When operating the robot 170 while checking the robot 170, an input signal from the input device 140 is converted into display data generating means 111 provided in the central processing unit 110 and an operation command generating means 11.
By simultaneously sending the data to the robot 2, a robot that saves input operations can be realized. Thus, when the user sets one of the display and operation states, the optimal value is automatically set for the other, and the burden on the user when operating can be reduced as much as possible.

Further, by displaying the robot, tools attached to the robot and peripheral shapes in three dimensions on a display device having a graphic display function, the user can easily understand the spatial relationship between the respective objects. Can be recognized.

Next, a second embodiment of the present invention will be described.
In the first embodiment, a user operates a zoom-in key 301 or a zoom-out key 3 provided on an input device.
When operating 02, the input signal of the operation key is given to the display data generating means 111. Display data generating means 11
1 corresponds to the zoom value set by the user based on the robot program and operation data stored in the storage device 120, and the shape data representing the robot shape, peripheral device shape, work shape, and the like. Generate display data. Further, the display device 130 graphically displays the generated display data.

Each time the zoom-in key 301 or the zoom-out key 302 is pressed, the zoom value increases or decreases by a predetermined amount. However, if the operation key is kept pressed for a predetermined time or longer, the zoom value is increased or decreased. By doing so, the user can quickly set the zoom value to be a date mark.

A third embodiment of the present invention will be described with reference to FIGS. The block diagram and the configuration of the teaching device are the first
This is the same as the embodiment. FIG. 5 is an explanatory diagram showing a calculation formula for automatically setting the operation speed of the robot in the third embodiment of the present invention in a graph. By operating the zoom-in key 301, the graphic display is enlarged and displayed. In this case, the relationship between the zoom value and the override value when automatically reducing the operation speed of the robot tip is shown. In FIG. 5, the horizontal axis x indicates the zoom value, and the vertical axis y indicates the override value.

When the user operates the zoom-in key 301 or the zoom-out key 302 to set a zoom value, a calculation formula for automatically setting the operation speed of the robot is shown below.

Y = 100 / (a × (x−b + 100)) (%) (Equation 1) (x> b) Y: value to be multiplied by the operation speed of the robot (override value) x: display magnification of image ( Zoom value) a: Strength of change of override value to increase of zoom value (change strength) b: Boundary of zoom value (starting zoom value) for validating calculation of (Equation 1) V = Vs × (Y / 100) (m / s) ... (Equation 2) V: The operating speed of the robot given as an operation command to the robot controller Vs: The operating speed of the robot set in advance In the registration of teaching points using the above formula, it is desired to register In the process of moving the robot quickly to the position of the teaching point, the robot operates at a constant operating speed, and in the process of fine-tuning the position of the robot's tip, the user enlarges and displays the graphic display Reduce the operation speed of the robot according to the operation. Conversely, the same applies to the case where the graphic display is reduced and displayed, and the operation speed of the robot is increased until the zoom value becomes equal to the starting zoom value.

FIG. 6 is a flowchart showing the flow of processing performed by the central processing unit in the third embodiment of the present invention, and FIG. 7 is a conceptual diagram showing an example of a setting screen in the third embodiment. .

As shown in FIG. 6, the processing is started from step 601 and it is determined in step 602 which operation key has been pressed. When it is determined that the setting call key 304 has been pressed, the process proceeds to step 610, where the setting screen 700 shown in FIG. 7 is displayed on the display device 130, and then the process proceeds to step 611. When the user inputs values in the respective input boxes of the strength of change 701 and the starting zoom value 702 on the setting screen 700 and selects the OK button 710, the result of the determination that the OK button was pressed in step 612 , The process proceeds to step 613, the input values are stored in the storage device 120, and the process proceeds to step 640 to end the process. When the cancel button 720 is selected on the setting screen 700, it is determined in step 612 that the cancel button has been pressed. As a result, the input values are ignored, and the process proceeds to step 640 and ends.

In step 602, the zoom-in key 3
When it is determined that 01 or the zoom-out key 302 has been pressed, the process proceeds to step 620, and the current zoom value is changed in accordance with the operated operation key. From step 620, one moves to step 621 inside the display data generating means 111 to generate display data according to the changed zoom value, and then moves to step 640 to end the processing. The other goes to step 630 where the current zoom value and the starting zoom value are compared. When it is determined that the current zoom value is larger than the start zoom value, the operation command generation means 11
In step 631 in FIG. 2, the change strength a and the starting zoom value b stored in the storage device 120 in advance are read, and the operation speed of the robot is determined using (Equation 1) and (Equation 2). After generating a command to change the operation speed in step 632, the process moves to step 640 and ends the process. When it is determined that the current zoom value is smaller than the starting zoom value, the process proceeds to step 640 and ends.

As described above, according to this embodiment, in the process of finely adjusting the position of the tip of the robot, the operation key for increasing the display magnification is operated to display an enlarged image. By lowering the operation speed of, the operation of setting the operation speed by the user can be omitted. Also, in the process of quickly moving the tip of the robot to the position of the teaching point to be registered, when operating the operation key to decrease the display magnification and displaying the image in a reduced size, the operation speed of the tip of the robot can be increased to increase the speed. In addition, the operation for setting the operation speed by the user can be omitted.

A fourth embodiment of the present invention will be described with reference to FIGS. The block diagram and the configuration of the teaching device are the same as those of the first embodiment. FIG. 8 is a flowchart showing the flow of processing performed by the central processing unit in the fourth embodiment of the present invention. When the user lowers the operation speed of the robot, the graphic display of the display device 130 is automatically performed. 3 shows a flow of processing performed by the central processing unit 110 when displaying the image in an enlarged scale.
FIG. 9 is a conceptual diagram showing an example of a setting screen according to the fourth embodiment.

As shown in FIG. 8, the process starts from step 801 and determines at step 802 which operation key has been pressed. When it is determined that the setting call key 304 has been pressed, the process proceeds to step 810, and after the setting screen 900 shown in FIG. 9 is displayed on the display device 130, the process proceeds to step 811. On the setting screen 900, when a value is entered in an input box of a zoom value for moving the pitch (zoom value at the time of pitch) and the OK button 910 is selected, it is determined in step 812 that the OK button 910 has been pressed. The process moves to step 813, where the input value is stored in the storage device 120, and the process moves to step 870, where the process ends. In the setting screen 900, the cancel button 9
When 20 is selected, as a result of the determination that the cancel button has been pressed in step 812, the input value is ignored, and the process proceeds to step 870 and ends.

In step 802, pitch ON / OF
When it is determined that the F key 303 has been pressed, step 8
The process proceeds to 20, where it is determined whether or not the current robot operation mode is set to pitch movement. When it is determined that the pitch movement is in the off setting, the process proceeds to step 830, and the pitch movement is switched to the on setting. From step 830, one moves to step 850, generates an operation command to set the operation mode to the pitch movement mode, and moves to step 870 and ends. The other moves to step 831, stores the current zoom value as “temporary zoom value” in the storage device 120, reads out the “pitch-time zoom value” stored in advance in the storage device 120 in step 832, and sets the new zoom value. Then, after generating the display data in accordance with the zoom value changed in step 833, the process moves to step 870 and ends the processing.

When it is determined that the pitch movement is on, the process proceeds to step 840 to switch the pitch movement to the off state. From step 840, one is step 8
The process proceeds to step 60, where an operation command for setting the operation mode to the jog movement mode is generated, and the process proceeds to step 870 and ends. The other moves to step 841, reads out the “temporary zoom value” stored in the storage device 120 in advance, sets a new zoom value, generates display data according to the zoom value changed in step 833, and then moves to step 870. To end. As a result, in the process of registering the teaching point, the graphic display is automatically reduced and displayed in the process of quickly moving the robot tip to the position of the teaching point to be registered, and enlarged in the process of finely adjusting the position of the robot tip. To display.

As described above, according to this embodiment, in the process of finely adjusting the position of the tip of the robot, when the operation speed of the robot is slowed down, the image is enlarged and displayed, so that the user can view the image. The operation for setting the display magnification can be omitted. In addition, in the process of quickly moving the tip of the robot to the position of the teaching point to be registered, when the operation speed of the robot is increased, the image is displayed in a reduced size, so that the user can set the display magnification. Can be omitted.

A fifth embodiment of the present invention will be described with reference to FIGS. The block diagram and the configuration of the teaching device are the same as those of the first embodiment. FIG. 10 is a flowchart showing the flow of processing performed by the central processing unit in the fifth embodiment of the present invention. When the user operates the zoom-in key 301 to enlarge and display a graphic display, This figure shows a flow of processing performed by the central processing unit 110 in a state where a limit value is set for the operation speed in the case of a robot that automatically lowers the operation speed at the tip. FIG. 11 is a conceptual diagram showing an example of a setting screen according to the fifth embodiment.

As shown in FIG. 10, the process is started from step 1001, and it is determined in step 1002 which operation key has been pressed. When it is determined that the setting call key 304 has been pressed, the process proceeds to step 1010, and FIG.
After the setting screen 1100 shown in FIG. 1 is displayed on the display device 130, the process proceeds to step 1011. On the setting screen 1100, the user sets the change strength 1101 and the start zoom value 11
When an OK button 1110 is selected by inputting a value into each of the input boxes for 02 and the speed limit 1103, it is determined in step 1012 that the OK button has been pressed. Then, the process goes to step 1050 to end the process. When the cancel button 1120 is selected on the setting screen 1100, it is determined in step 1012 that the cancel button has been pressed. As a result, the input values are ignored, and the process proceeds to step 1050 to end the process.

In step 1002, the speed limit ON /
If it is determined that the OFF key 305 has been pressed, the process proceeds to step 1020, where it is determined whether the current speed limit is set to valid (on) or invalid (off).
If it is determined that the speed limit is in the off setting, the process proceeds to step 1021 to switch the speed limit to the on setting. The process proceeds to step 1023 to generate an operation command for validating the speed limit, and the process proceeds to step 1050 and ends. If it is determined that the speed limit is on, the process proceeds to step 1022, and the speed limit is switched to the off setting.
Then, an operation command for invalidating the speed limit is generated, and the process proceeds to step 1050 and ends.

If it is determined in step 1002 that the zoom-in key 301 or the zoom-out key 302 has been pressed, the flow advances to step 1030 to change the current zoom value according to the operated key. Step 103
From 0, one generates display data according to the zoom value changed in step 1031 inside the display data generating means 111, and then proceeds to step 1050 to end the processing. The other moves to step 1040 and compares the current zoom value with the start zoom value. When it is determined that the current zoom value is larger than the starting zoom value, the operation command generating means 1
The process proceeds to step 1041 inside 12, where the change intensity a and the starting zoom value b stored in advance in the storage device 120 are read, and the operation speed of the robot is determined using (Equation 1) and (Equation 2). After generating an instruction to change the operation speed in step 1042, the process proceeds to step 1050 and ends. If it is determined that the current zoom value is smaller than the starting zoom value, the process moves to step 1050 and ends. Thus, in the process of finely adjusting the position of the tip of the robot, the actual graphic display is enlarged and displayed based on the preset speed limit Vd at which the safety of the user operating the robot can be sufficiently secured. Is determined.

As described above, according to this embodiment, by setting a limit value for the operation speed of the robot when displaying an enlarged or reduced image, the user can inadvertently set the display magnification. However, it can be used within the operating speed range where the safety of the user can be sufficiently secured.

A sixth embodiment of the present invention will be described with reference to FIGS. FIG. 12 shows a sixth embodiment of the present invention.
FIG. 2 is a block diagram showing the principle of the embodiment, in which the teaching device 100 is provided with an imaging device 1200, and
The principle when displaying the image input from 200 on the display device 130 will be described.

As shown in FIG. 12, a robot 170,
A robot controller 160 for controlling the robot 170
And the teaching device 10 that communicates with the robot control device 160
0, and an imaging device 1200 that communicates with the teaching device 100. The teaching device 100 includes a communication device 150 that communicates with the robot control device 160 and the imaging device 1200.
Central processing unit 110 that inputs and outputs signals to and from communication device 150
And a storage device 120 connected to the central processing unit 110
An input device for inputting a signal to the central processing unit 110;
A display device 130 that performs display based on a signal output from the central processing unit 110.

The imaging device 1200 has a built-in camera 120.
An image input through one lens is converted into a signal by an internal image processing device 1202, and the signal is provided to the communication device 150 of the teaching device 100. The signal is transmitted to the camera 1201
As image data input from the storage device 120. The storage device 120 also stores an operation program for the teaching device, a robot program and operation data read from the robot control device 160 via the communication device 150, and setting data defined by the user. The central processing unit 110 operates by reading an operation program for the teaching device from the storage device 120. The input device 140 includes operation keys for setting the operation speed, operation mode, and display mode of the robot. When the user operates the operation keys, the input signal is transmitted to the central processing unit 11.
Give to 0. The central processing unit 110 includes a display data generation unit 1 that generates display data based on various data stored in the storage device 120 and an input signal of the input device 140.
11 and an operation command generating means 112 for generating an operation command for operating the robot. The display data generated by the central processing unit 110 is displayed on the display device 130, and the operation command is sent to the robot control device 160 via the communication device 150. The robot control device 160 operates the robot 170 based on the given operation command.

FIG. 13 is a schematic diagram of an operation screen showing an example of the display data generated by the display data generating means according to the sixth embodiment of the present invention. According to this figure, on the operation screen 1300, the current display zoom value 1302 and the robot operation are superimposed on the operation data buffered from the robot controller 170 and the imaging data 1301 around the robot stored in the storage device 120. Speed 13
03 and the setting state 1304 of the pitch movement of the robot and the setting state 1305 of the speed limit are displayed on the screen as characters. The setting state 1304 of the pitch movement and the setting state 1305 of the speed limit are set to ON and OF, respectively.
When the state is switched between F and F, the fact that the state has changed is displayed using characters.

As described above, according to this embodiment, the teaching device 100 includes the communication device 150 for communicating with the robot control device 160 and the imaging device 1200, and the communication device 1
50 and the central processing unit 110 that inputs and outputs signals, the moving image of the robot captured by the imaging device 1200 can be displayed on the display device 130, and the user can view the virtual image displayed on the display device 130. By operating this robot, the actual robot can be operated. Other configuration effects are the same as those of the first embodiment.

A description will be given of a seventh embodiment of the present invention.
In the sixth embodiment, a user operates a zoom-in key 301 or a zoom-out key 3 provided on an input device.
When operating 02, the input signal of the operation key is given to the display data generating means 111. Display data generating means 11
1 is based on the imaging data stored in the storage device 120,
Generate display data corresponding to the zoom value set by the user. Further, the display device 130 displays the generated display data.

Each time the zoom-in key 301 or the zoom-out key 302 is pressed, the zoom value increases / decreases by a predetermined amount. However, if the operation key is kept pressed for a predetermined time or longer, the zoom value is increased / decreased. By doing so, the user can quickly set a target zoom value.

Next, an eighth embodiment of the present invention will be described.
In the sixth embodiment, when the zoom-in key 301 is operated to display an enlarged image, the operation speed of the robot is automatically set using the above (Equation 1) and (Equation 2).

The flow of processing performed by the central processing unit 110 at this time follows the flow of FIG. This allows the robot to operate at a constant operating speed in the process of quickly moving the robot to the position of the teaching point to be registered in the registration of the teaching point, and in the process of fine-adjusting the position of the robot's tip, the user takes an image. According to the operation to enlarge and display,
Slow down the operating speed of the robot.

Conversely, the same applies to the case where the image is reduced and displayed, and the operation speed of the robot is increased until the zoom value becomes equal to the starting zoom value.

A ninth embodiment of the present invention will be described.
In the sixth embodiment, when the user slows down the operation speed of the robot, the image captured by the display device 130 is automatically enlarged and displayed according to the flow of processing performed by the central processing unit 110 shown in FIG. I do.

Thus, in the process of registering a teaching point, in the process of quickly moving the robot tip to the position of the teaching point to be registered, the image is automatically reduced and displayed, and in the process of finely adjusting the position of the robot tip, Enlarge and display.

A tenth embodiment of the present invention will be described with reference to FIG. FIG. 14 is a block diagram showing the principle of the tenth embodiment of the present invention.
In the state where the imaging device 1400 in which the focus of the camera is controlled by an operation command from the outside is provided, the imaging device 1400
The principle when displaying the image input from the display device 130 on the display device 130 will be described.

As shown in FIG. 14, a robot 170 and
A robot control device for controlling the robot, a teaching device 100 for communicating with the robot control device, and a teaching device 10
And an imaging device 1400 that communicates with the imaging device 1.
400, a camera 1401 having a focus adjustment mechanism;
The teaching device 100 includes a focus control device 1403 that controls the adjustment mechanism, and the teaching device 100 includes a communication device 150 that communicates with the robot control device 160 and the imaging device 1400;
A central processing unit 110 for inputting and outputting signals to and from the central processing unit 110; a storage device 120 connected to the central processing unit 110; an input device 140 for inputting signals to the central processing unit 110; And a display device 130 that performs display based on the information.

The imaging device 1400 has a built-in camera 1401
The image input through the lens of the above is converted into a signal by the internal image processing device 1402, and the signal is provided to the communication device 150 of the teaching device 100. The signal can be stored in the storage device 120 as imaging data input from the camera 1201. The storage device 120 also stores an operation program for the teaching device, a robot program and operation data read from the robot control device 160 via the communication device 150, and setting data defined by the user. The central processing unit 110 operates by reading an operation program for the teaching device from the storage device 120. The input device 140 includes operation keys for setting the operation speed, operation mode, and display mode of the robot. When the user operates the operation keys, the input signal is transmitted to the central processing unit 11.
Give to 0. The central processing unit 110 includes a display data generation unit 1 that generates display data based on various data stored in the storage device 120 and an input signal of the input device 140.
11 and an operation command generating means 112 for generating an operation command for operating the robot and an operation command for controlling the focus of the camera. Central processing unit 110
The display data generated by the robot controller 16 is displayed on the display device 130, and the operation command is transmitted to the robot controller 16 via the communication device 150.
Sent to 0. The robot control device 160 operates the robot 170 based on the given operation command. Also,
The focus control device 1403 controls the focus of the camera based on the given operation command.

As a result, the display data as shown in FIG. 13 is displayed on the display device 130.

As described above, according to the present embodiment, the imaging apparatus 1400 has a camera 14 having a focus adjusting mechanism.
01, and a focus control device 1403 for controlling the adjustment mechanism. The teaching device 100 includes a communication device 150 that communicates with the robot control device 160 and the imaging device 1400, and a central processing unit that inputs and outputs signals to and from the communication device 150. With the device 110, the moving image of the robot captured by the imaging device 1400 can be displayed on the display device, and the user can operate the virtual robot displayed on the display device 130 to operate the virtual robot. Can operate the robot. In addition, when displaying an image captured by the imaging device 1400 on the display device 130, the focus of the camera 1401 built in the imaging device 1400 can be operated. Other configuration effects are the same as those of the first embodiment.

The eleventh embodiment of the present invention will be described. In the tenth embodiment, when the user operates the zoom-in key 301 or the zoom-out key 302 provided on the input device, the input signal of the operation key is transmitted to the operation command generation unit 112 and the set zoom value. An operation command for controlling the focus of the camera is generated so that the focus of the camera matches.

The display data generating means 111 is provided in the storage device 1.
The display data is generated by calling the imaging data stored in the storage unit 20. Further, the display device 130 displays the generated display data. Each time the zoom-in key 301 or the zoom-out key 302 is pressed, the zoom value increases / decreases by a preset amount. However, when the operation key is kept pressed for a preset time or more, the zoom value is increased / decreased by increasing the amount. And allows the user to quickly set the target zoom value.

A twelfth embodiment of the present invention will be described with reference to FIG. In the tenth embodiment, when operating the zoom-in key 301 to bring the focus of the camera closer and display an enlarged image, the operation speed of the robot is calculated by using the above (Equation 1) and (Equation 2). Set automatically.

FIG. 15 is a flowchart showing a flow of processing performed by the central processing unit in the twelfth embodiment of the present invention. As shown in FIG. 15, the process starts from step 1501, and in step 1502, it is determined which operation key has been pressed. When it is determined that the setting call key 304 has been pressed, the process proceeds to step 1510, and FIG.
Is displayed on the display device 130, and the process proceeds to step 1511. On the setting screen 700, the user sets the change strength 701 and the start zoom value 70.
When an OK button 710 is selected by inputting a value into each of the input boxes 2, it is determined in step 1512 that the OK button has been pressed. As a result, the process proceeds to step 1513, and the input values are stored in the storage device 120. Then, the process moves to step 1550 and ends. The setting screen 70
When the cancel button 720 is selected at 0, as a result of the determination at step 1512 that the cancel button has been pressed, the input values are ignored, and step 1550 is performed.
Then, the processing ends.

If it is determined in step 1502 that the zoom-in key 301 or the zoom-out key 302 has been pressed, it is determined in step 1503 whether or not the zoom value to be changed is within the limited range in which the focus of the camera can be controlled. I do. When it is determined that the zoom value is within the limit range, the process proceeds to step 1520. If it is determined that the zoom value is beyond the limit range, step 15
The process moves to 50 and ends.

At step 1520, the current zoom value is changed corresponding to the operated operation key. Step 1520
On the other hand, one generates display data in which the zoom value display 1302 has been changed in step 1521 inside the display data generating means 111, and then moves to step 1550 to end the processing. One moves to step 1530 inside the operation command generating means 112, generates an operation command for controlling the focus of the camera so that the set zoom value matches the focus of the camera, and then moves to step 1550. finish. One moves to step 1540 and compares the current zoom value with the starting zoom value. When it is determined that the current zoom value is larger than the start zoom value, the process proceeds to step 1541 inside the operation command generation unit 112, and the change intensity a and the start zoom value b stored in the storage device 120 in advance are read out. The operation speed of the robot is determined by using (Equation 1) and (Equation 2), a command to change the operation speed is generated in Step 1542, and then the process proceeds to Step 1550 and ends.

When it is determined that the current zoom value is smaller than the starting zoom value, the process proceeds to step 1560 and ends. Note that even when it is determined in step 1503 that the zoom value to be changed exceeds the limited range in which the focus of the camera can be controlled, the display data generation function having the function of enlarging or reducing the imaging data described in the above embodiment is also described. By combining with the means 111, an image of a desired magnification may be displayed on the display device 130.

Thus, in the process of registering a teaching point, the robot is operated at a constant operating speed in the process of quickly moving the robot to the position of the teaching point to be registered, and in the process of finely adjusting the position of the tip of the robot, Reduces the operation speed of the robot in accordance with the operation of enlarging and displaying the image.

Conversely, the same applies to the case where the image is reduced and displayed, and the operation speed of the robot is increased until the zoom value becomes equal to the starting zoom value.

A thirteenth embodiment of the present invention will be described with reference to FIG. In the tenth embodiment, when the user slows down the operating speed of the robot, the focus of the camera is brought closer to automatically focus the camera on the display device 130 according to the flow of processing performed by the central processing unit 110 shown in FIG. To zoom in.

FIG. 16 is a flowchart showing a flow of processing performed by the central processing unit in the thirteenth embodiment of the present invention. As shown in FIG. 16, the process starts from step 1601, and in step 1602, it is determined which operation key has been pressed. When it is determined that the setting call key 304 has been pressed, the process proceeds to step 1610, and FIG.
Is displayed on the display device 130, and the process proceeds to step 1611. When the user inputs a zoom value (pitch-time zoom value) for moving the pitch on the setting screen 900 and selects the OK button 910, it is determined in step 1612 that the OK button has been pressed. Store values in storage 12
After that, the process proceeds to step 1680 and ends. In the setting screen 900, the cancel button 9
When 20 is selected, as a result of the determination that the cancel button has been pressed in step 1612, the entered value is ignored, and the process proceeds to step 1680 to end the process.

In step 1602, the pitch ON / O
When it is determined that the FF key 303 has been pressed, the process proceeds to step 1620, and it is determined whether the current robot operation mode is set to pitch movement.

When it is determined that the pitch movement is in the off setting, the pitch movement is switched to the on setting in step 1630. From step 1630, one is step 166
In step 1680, an operation command for setting the operation mode to the pitch movement mode is generated. The other moves to step 1631, stores the current zoom value as “temporary zoom value” in the storage device 120, and then proceeds to step 1.
At step 632, the “pitch-time zoom value” stored in the storage device 120 in advance is read and set to a new zoom value, and the flow proceeds to step 1633.

When it is determined in step 1620 that the pitch movement is on, the pitch movement is switched off in step 1640. From step 1640, one moves to step 1670, generates an operation command to set the operation mode to the jog movement mode, and moves to step 1680 to end. The other moves to step 1641, reads out the “temporary zoom value” stored in the storage device 120 in advance, sets a new zoom value, and moves to step 1633.

Also, from step 1633, one generates display data in which the zoom value display 1302 has been changed, and then moves to step 1680 to end the processing. The other moves to step 1650 inside the operation command generating means 112, generates an operation command for controlling the focus of the camera so that the set zoom value matches the focus of the camera, and then moves to step 1680. To end.

Thus, in the process of registering a teaching point, in the process of quickly moving the robot tip to the position of the teaching point to be registered, the focus is released and the image is automatically reduced and displayed, and the position of the robot tip is finely adjusted. In the adjustment process, the focal point is brought closer and enlarged.

[0091]

According to the robot apparatus of the first aspect of the present invention, the central processing unit displays on the basis of various data indicating the operation status of the robot stored in the storage device and input signals of the input device. Since the display data of the image to be displayed on the device and the operation command for operating the robot can be automatically generated, the user confirms the robot displayed on the display device related to the teaching device and controls the robot. When operating, a robot that saves input operations is realized by simultaneously sending an input signal from an input device to a display data generation unit and an operation command generation unit provided in the central processing unit. . Thus, when the user sets one of the display and operation states, the optimal value is automatically set for the other, and the burden on the user when operating can be reduced as much as possible.

According to a second aspect of the present invention, when the robot or the surrounding environment viewed from a certain line of sight and a certain distance is three-dimensionally displayed, the input device is provided with a special operation key for changing the display magnification of the image, thereby reducing the display magnification. There is an effect that the operation of changing can be performed with few key operations.

According to a third aspect of the present invention, in the process of finely adjusting the position of the tip of the robot, the operating speed of the tip of the robot is reduced when an operation key for increasing the display magnification is operated to display an enlarged image. This has the effect that the user can omit the operation of setting the operation speed.

According to a fourth aspect of the present invention, in the process of quickly moving the tip of the robot to the position of the teaching point to be registered, the operation of the tip of the robot is performed when the image is reduced and displayed by operating the operation key for decreasing the display magnification. Increasing the speed has the effect that the user can omit the operation of setting the operation speed.

According to a fifth aspect of the present invention, in the process of finely adjusting the position of the tip of the robot, when the operation speed of the robot is reduced, the image is enlarged and displayed so that the user can set the display magnification. Can be omitted.

According to a sixth aspect of the present invention, in the process of quickly moving the tip of the robot to the position of the teaching point to be registered, the image is reduced and displayed when the operation speed of the robot is increased, so that the user can display the image. This has the effect that the operation for setting the magnification can be omitted.

According to the seventh aspect, by providing a limit value for the operation speed of the robot when displaying an image in an enlarged or reduced manner, even if the user inadvertently sets the display magnification,
This has the effect that it can be used within the operating speed range where the safety of the user can be sufficiently ensured.

According to the robot device of the present invention, the teaching device has the communication device for communicating with the robot control device and the imaging device, and the central processing device for inputting and outputting signals to and from the communication device. The moving image of the robot captured by the imaging device can be displayed on the display device, and the user can operate the virtual robot displayed on the display device to operate the actual robot. . The central processing unit, based on various data indicating the operation status of the robot stored in the storage device and an input signal of the input device, display data of an image to be displayed on the display device, an operation command for operating the robot, Can be automatically generated, so that the same effect as that of the first aspect is obtained.

In the ninth aspect, the input device is provided with an operation key for changing the display magnification of an image displayed on the display device, so that the same effect as the second aspect is obtained.

In the tenth aspect, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device,
At the time of the enlarged display, the operation speed of the tip of the robot is reduced, so that the same effect as the third aspect is obtained.

In the eleventh aspect, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device,
Since the operation speed of the tip of the robot is increased at the time of reduced display, the same effect as that of the fourth aspect is obtained.

In the twelfth aspect, since the image displayed on the display device is enlarged when the operation speed of the robot is reduced, the same effect as the fifth aspect is obtained.

According to the thirteenth aspect, since the image displayed on the display device is reduced and displayed when the operation speed of the robot is increased, the same effect as the sixth aspect is obtained.

According to a fourteenth aspect of the present invention, the imaging device has a camera having a focus adjustment mechanism and a focus control device for controlling the adjustment mechanism, and the teaching device has a robot control device. And a communication device that communicates with the imaging device, and a central processing unit that inputs and outputs signals to and from the communication device, so that a moving image of the robot captured by the imaging device can be displayed on the display device, Has the effect that the actual robot can be operated by operating the virtual robot displayed on the display device. Also,
When an image captured by the imaging device is displayed on the display device, there is an effect that the focus of a camera built in the imaging device can also be operated. In addition, the central processing unit is configured to display image data to be displayed on the display device based on various data indicating the operation status of the robot stored in the storage device and an input signal of the input device, and perform an operation for operating the robot. A command and an operation command given to the focus control device for controlling the focus of the camera can be automatically generated.
Has the same effect as.

In the fifteenth aspect, the input device is provided with an operation key for changing the display magnification of an image displayed on the display device, so that the same effect as the second aspect is obtained. Further, the focus of the camera built in the imaging device can be operated by the operation keys.

According to the present invention, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device.
At the time of the enlarged display, the operation speed of the tip of the robot is reduced, so that the same effect as the third aspect is obtained.

According to a seventeenth aspect, the input device is provided with an operation key for changing a display magnification of an image displayed on the display device.
Since the operation speed of the tip of the robot is increased at the time of reduced display, the same effect as that of the fourth aspect is obtained.

In the eighteenth aspect, since the image displayed on the display device is enlarged when the operation speed of the robot is reduced, the same effect as that of the fifth aspect is obtained.

In the nineteenth aspect, when the operation speed of the robot is increased, the image displayed on the display device is reduced and displayed, so that the same effect as the sixth aspect is obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the principle of a first embodiment of the present invention.

FIG. 2 is a front view showing an example of the external appearance of the teaching device according to the embodiment of the present invention.

FIG. 3 is an enlarged conceptual diagram of an operation key group C of the teaching device according to the embodiment of the present invention.

FIG. 4 is a schematic diagram of an operation screen showing an example of display data generated by a display data generation unit according to the first embodiment of the present invention.

FIG. 5 is a graph illustrating a calculation formula for automatically setting an operation speed of a robot according to a third embodiment of the present invention.

FIG. 6 is a flowchart illustrating a flow of a process performed by a central processing unit according to a third embodiment of the present invention.

FIG. 7 is a conceptual diagram showing an example of a setting screen according to the third embodiment.

FIG. 8 is a flowchart illustrating a flow of a process performed by a central processing unit according to a fourth embodiment of the present invention.

FIG. 9 is a conceptual diagram showing an example of a setting screen according to the fourth embodiment.

FIG. 10 is a flowchart illustrating a flow of processing performed by a central processing unit according to a fifth embodiment of the present invention.

FIG. 11 is a conceptual diagram showing an example of a setting screen according to the fifth embodiment.

FIG. 12 is a block diagram showing the principle of the sixth embodiment of the present invention.

FIG. 13 is a schematic diagram of an operation screen showing an example of display data generated by a display data generating unit according to the sixth embodiment of the present invention.

FIG. 14 is a block diagram showing the principle of the tenth embodiment of the present invention.

FIG. 15 is a flowchart illustrating a flow of a process performed by a central processing unit according to a twelfth embodiment of the present invention.

FIG. 16 is a flowchart showing a flow of processing performed by a central processing unit in a thirteenth embodiment of the present invention.

DESCRIPTION OF SYMBOLS 100 Teaching device 110 Central processing device 111 Display data generating means 112 Operation command generating means 120 Storage device 130 Display device 140 Input device 150 Communication device 160 Robot controller 170 Robot 201 Operation mode changeover switch 202 Program start switch 203 Program stop switch 204 Servo power on switch 205 Servo power off switch 206 Emergency stop switch 210 Operation key 220 Cable 301 Zoom in key 302 Zoom out key 303 Pitch ON / OFF key 304 Setting call key 305 Speed limit ON / OFF key 400 Operation screen 401 Teaching point 402 Robot hand 403 Moving direction vector 404 Robot arm shape 405 Work shape 406 Zoom value 407 b Set operation speed 408 pitch movement setting state 407 limit speed setting state 601 step (a1) 602 step (a2) 610 step (a3) 611 step (a4) 612 step (a5) 613 step (a6) 620 step ( a7) 621 step (a8) 630 step (a9) 631 step (a10) 632 step (a11) 640 step (a12) 700 setting screen 701 change strength input box 702 start zoom value input box 710 OK button 720 cancel Button 801 Step (b1) 802 Step (b2) 810 Step (b3) 811 Step (b4) 812 Step (b5) 813 Step (b6) 820 Step (b7) 830 Step (b8) 83 Step (b9) 832 Step (b10) 833 Step (b11) 840 Step (b12) 841 Step (b13) 850 Step (b14) 860 Step (b15) 870 Step (b16) 900 Setting Screen 901 Input Box for Zoom Value at Pitch 910 OK button 920 Cancel button 1001 Step (c1) 1002 Step (c2) 1010 Step (c3) 1011 Step (c4) 1012 Step (c5) 1013 Step (c6) 1020 Step (c7) 1021 Step (c8) 1022 Step (c9) ) 1023 step (c10) 1024 step (c11) 1030 step (e12) 1031 step (e13) 1040 step (c14) 1041 step Step (c15) 1042 Step (c16) 1050 Step (c17) 1100 Setting screen 1101 Input box for change strength 1102 Input box for starting zoom value 1103 Input box for speed limit 1110 OK button 1I20 Cancel button 1200 Imaging device 1201 Camera 1202 Image change processing device 1300 Operation screen 1301 Image input from imaging device 1302 Zoom value 1303 Robot operation speed 1304 Pitch movement setting state 1305 Limit speed setting state 1400 Imaging device 1401 Camera 1402 Image processing device 1403 Focus control device 1501 Step (D1) 1502 step (d2) 1503 step (d3) 1510 step (d4) 1511 step (d5) 1512 step (d6) 513 step (d7) 1520 step (d8) 1521 step (d9) 1530 step (d10) 1540 step (d11) 1541 step (d12) 1542 step (d13) 1550 step (d14) 1601 step (e1) 1602 step (e2) 1610 step (e3) 1611 step (e4) 1612 step (e5) 1613 step (e6) 1620 step (e7) 1630 step (e8) 1631 step (e9) 1632 step (e10) 1633 step (e11) 1634 step (e12) 1640 Step (e13) 1641 Step (e14) 1650 Step (e15) 1660 Step (e16) 1670 Step (e17) 1680 Step (e18)

Continued on the front page F term (reference) 3F059 AA11 BC07 BC09 DB04 FA03 FB12 FC14 5E501 AC02 AC37 BA05 CA02 CB02 CB14 EA02 EB05 FA03 FA13 FA14 FA27 FB04 5H269 AB33 QC02 QD01 QD02 QE03 SA08

Claims (19)

[Claims] 1. A robot, comprising: a robot control device for controlling the robot; and a teaching device for communicating with the robot control device, wherein the teaching device includes: a communication device for communicating with the robot control device; A central processing unit for inputting and outputting signals to and from the communication device, a storage device connected to the central processing unit, an input device for inputting a signal to the central processing unit, and a signal output from the central processing unit. A display device for performing display, the central processing unit,
Based on various data indicating the operation status of the robot stored in the storage device and input signals of the input device, display data of an image to be displayed on the display device and an operation command for operating the robot are automatically generated. A robot device characterized in that the robot device can be generated automatically. 2. The robot device according to claim 1, wherein the input device includes an operation key for changing a display magnification of an image displayed on the display device. 3. The robot device according to claim 1, wherein an operation key for changing a display magnification of an image to be displayed on the display device is provided on the input device, and the operation speed of the tip of the robot is reduced during enlarged display. 4. The input device according to claim 1, further comprising an operation key for changing a display magnification of an image to be displayed on the display device, wherein the operation speed of the tip of the robot is increased at the time of reduced display.
The robot device as described. 5. The robot apparatus according to claim 1, wherein an image displayed on the display device is enlarged when the operation speed of the robot is reduced. 6. The display device according to claim 1, wherein an image displayed on the display device is reduced when the operation speed of the robot is increased.
The robot device as described. 7. The robot apparatus according to claim 3, wherein a limit value is provided for the operation speed of the robot at the time of enlarged or reduced display. 8. A robot, comprising: a robot controller that controls the robot; a teaching device that communicates with the robot controller; and an imaging device that communicates with the teaching device. A communication device that communicates with the control device and the imaging device, a central processing unit that inputs and outputs signals to and from the communication device, a storage device connected to the central processing device, and the central processing device includes: Automatically generate display data of an image to be displayed on the display device and an operation command for operating the robot based on the stored various data indicating the operation status of the robot and the input signal of the input device. A robot device characterized in that: 9. The robot device according to claim 8, wherein the input device is provided with an operation key for changing a display magnification of an image displayed on the display device. 10. The robot device according to claim 8, wherein an operation key for changing a display magnification of an image to be displayed on the display device is provided on the input device, and the operation speed of the tip of the robot is reduced at the time of enlarged display. 11. The robot device according to claim 8, wherein an operation key for changing a display magnification of an image displayed on the display device is provided on the input device, and the operation speed of the tip of the robot is increased at the time of reduced display. 12. The robot device according to claim 8, wherein an image displayed on the display device is enlarged when the operation speed of the robot is reduced. 13. The robot device according to claim 8, wherein an image to be displayed on the display device is reduced when the operation speed of the robot is increased. 14. A robot, comprising: a robot control device that controls the robot; a teaching device that communicates with the robot control device; and an imaging device that communicates with the teaching device. A camera having an adjustment mechanism; and a focus control device for controlling the adjustment mechanism. The teaching device inputs and outputs signals to and from the communication device that communicates with the robot control device and the imaging device. A central processing unit, a storage device connected to the central processing unit, an input device for inputting a signal to the central processing unit, and a display device for displaying based on a signal output from the central processing unit. The central processing unit causes the display device to display the data based on various data indicating the operation state of the robot stored in the storage device and an input signal of the input device. A robot device capable of automatically generating image display data, an operation command for operating the robot, and an operation command given to the focus control device for controlling the focus of a camera. 15. The robot device according to claim 14, wherein the input device includes an operation key for changing a display magnification of an image displayed on the display device. 16. The robot device according to claim 14, wherein an operation key for changing a display magnification of an image to be displayed on the display device is provided on the input device, and the operation speed of the tip of the robot is reduced during enlarged display. 17. The robot device according to claim 14, wherein an operation key for changing a display magnification of an image to be displayed on the display device is provided on the input device, and the operation speed of the tip of the robot is increased at the time of reduced display. 18. The robot apparatus according to claim 14, wherein an image displayed on the display device is enlarged when the operation speed of the robot is reduced. 19. The robot apparatus according to claim 14, wherein an image to be displayed on the display device is reduced when the operation speed of the robot is increased.