JP2016175178A - Robot operation device, and robot operation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve an operation feeling.SOLUTION: A robot operation device 40 is equipped with a touch panel 421 which receives the input of touch operation and moving operation from a user; an operation detecting portion 46 which can detects the touch operation and the moving operation to the touch panel 421; and an action command generating portion 47 which generates action commands for operating robots 20 and 30 on the basis of a detection result of the operation detecting portion. The action command generating portion can perform action speed deciding processing for deciding the action speed Vr of the robots on the basis of the operation speed Vd of the moving operation, when the operation detecting portion detects the moving operation in a rotation circumferential direction of operation graphics 51, 52, 53, 54, 61, 62, and 63 set on the touch panel.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a robot operation device used for manually operating a robot, and a robot operation program used for the robot operation device.

  For example, in an industrial robot system, a manual operation for manually operating a robot is possible. The manual operation is used, for example, when performing teaching work (teaching). In this case, the user manually operates the robot (referred to as manual operation or manual operation) using a teaching pendant connected to a controller that controls the robot.

  Many teaching pendants are equipped with touch panels that can be touched. In the teaching pendant equipped with a touch panel, the user performs a manual operation of the robot by performing an operation called a drag operation, that is, an operation of tracing the touch panel with a finger or a dedicated pen. There is something that can be done.

Japanese Patent Laid-Open No. 11-262883

  However, since the drag operation on the touch panel is an operation of tracing a flat touch panel with a user's finger or the like, there is no physical change such as pressing or tilting of the operation key when operating a mechanical operation key. Therefore, in the teaching pendant that performs a drag operation on the touch panel, the user is less likely to obtain an operation sensation than the one that operates a mechanical operation key, and it is difficult to perform an intuitive operation.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to perform a manual operation of a robot by inputting a drag operation to a touch panel, thereby enabling an intuitive operation and improving user operability. An object of the present invention is to provide a robot operation device that can be used, and a robot operation program used for the robot operation device.

(Claim 1)
The robot operation device according to claim 1, wherein a touch panel that receives input of a touch operation and a movement operation from a user, an operation detection unit that can detect the touch operation and the movement operation on the touch panel, and an operation detection unit An operation command generation unit configured to generate an operation command for operating the robot based on the detection result. That is, the robot operation device realizes manual operation of the robot by touch operation and movement operation.

  Here, the touch operation refers to an operation of touching the touch panel with a user's finger or pen device (hereinafter referred to as a finger or the like). Further, the moving operation means a drag operation or a flick operation among operations performed by a user's finger or the like. In this case, the drag operation is performed following the touch operation, and refers to an operation of moving the user's finger or the like along the touch panel while touching the touch panel. The flick operation is performed following the touch operation, and refers to an operation of moving the user's finger so as to play on the touch panel. That is, the drag operation and the flick operation are operations in which the user's finger or the like touches the touch panel and moves continuously for a certain distance, and whether the operation is a drag operation or a flick operation depending on the movement distance and the movement time. Differentiated.

  Further, in this robot operation device, the operation command generation unit can perform an operation speed determination process. The operation speed determination process is a process for determining the operation speed of the robot based on the operation speed of the movement operation when the operation detection unit detects the movement operation of the operation figure set on the touch panel in the rotation circumferential direction. It is. Here, as the movement operation with respect to the operation figure, for example, there is a drag operation of the operation figure in the rotation circumferential direction. The rotation circumferential direction of the operation figure is drawn by the locus of an arbitrary point on the operation figure different from the rotation center when the operation figure is virtually rotated with the arbitrary point of the operation figure as the rotation center. It means the circumferential direction of the circle.

  In this configuration, the movement speed of the robot is determined based on the operation speed of the movement operation when the movement operation is performed on the operation graphic set on the touch panel. That is, the operation speed of the robot is determined based on the operation speed of the movement operation when, for example, a movement operation of the operation figure in the rotation circumferential direction, that is, a drag operation or a flick operation is performed. Therefore, the user can continue to operate the robot at an operation speed corresponding to the movement operation, that is, the operation speed, for example, by performing a movement operation so as to draw a circle on the operation figure set on the touch panel. . For example, when the user continues to move to draw a circle at a high speed along the rotational circumferential direction of the operation figure, the robot continues to operate at a high operation speed corresponding to the high operation speed. On the other hand, when the user continues the movement operation so as to draw a circle at a slow speed along the rotational circumferential direction of the operation figure, the robot continues to operate at a slow operation speed corresponding to the slow operation speed. And if a user stops moving operation, a robot will also stop.

  As described above, according to the robot operation device of the present embodiment, the user can continue to operate the robot by, for example, continuously moving his / her finger or the like to draw a circle, and stop his / her finger or the like. Can stop the robot. The user can adjust the movement speed of the robot by adjusting the movement speed of his / her finger or the like. As a result, the user is likely to receive an impression that the movement of the finger or the like due to his own movement operation, that is, the drag operation or the flick operation, and the operation of the robot are related. Therefore, the user can directly and intuitively determine the relevance between the moving operation performed by the user and the robot operation performed by the moving operation, and as a result, the user's operability can be improved. Can be planned.

  Furthermore, according to the robot operation device of the present embodiment, it is possible to continue the operation of the robot by continuously performing the moving operation so that the user draws a circle on the touch panel. For this reason, the user can continue the moving operation for operating the robot without being limited to the screen size of the touch panel. Therefore, it is possible to avoid the robot operation being stopped unintentionally by being restricted by the screen size of the touch panel and being unable to continue the drag operation. Thereby, the operability is improved. And since the continuation of the moving operation for operating the robot is not limited to the screen size of the touch panel, the touch panel can be miniaturized.

(Claim 2)
In the robot operation device according to claim 2, the motion command generation unit can perform a motion direction determination process. The movement direction determination process determines the movement direction of the robot as a positive direction when the operation direction of the movement operation is positive with respect to the rotation circumferential direction of the operation figure, and the operation direction of the movement operation is the rotation circle of the operation figure. This is a process for determining the movement direction of the robot as a negative direction when the direction is negative with respect to the circumferential direction. According to this, the movement direction of the robot is determined by the operation direction of the moving operation with respect to the rotation circumferential direction of the operation figure.

  That is, in the operation of moving the operation figure in the rotation circumferential direction, the operation direction of the movement operation is one of the positive and negative directions with respect to the rotation circumferential direction of the operation figure. Therefore, the positive / negative direction of the movement direction of the robot is inevitably determined when the user performs an operation of moving the operation figure in the rotation circumferential direction. This eliminates the need for the user to separately perform an operation for determining the movement direction of the robot, and performs both an operation for determining the movement direction of the robot and an operation for determining the movement speed by a series of movement operations. Can do. As a result, the number of operations can be reduced, and the operability can be improved.

(Claim 3)
The robot operation apparatus according to claim 3, wherein the operation figure has a plurality of selection areas. The selection area is an area to which an operation mode of the robot according to a drive axis of the robot or a combination of drive axes is assigned. The operation command generation unit can perform an operation mode determination process. The motion mode determination process is a process of determining the motion mode assigned to the touch-operated selection area as the robot motion mode when the operation detection unit detects a touch operation on the selection area.

  According to this, the user can select the movement mode of the robot by touching the selection area of the operation graphic. That is, when performing a moving operation that determines the operation speed of the robot, that is, a drag operation or a flick operation, a touch operation on the touch panel is always performed before the drag operation or flick operation. According to the robot operation device of the present embodiment, the user can select an operation mode of the robot by a touch operation that is always performed in order to determine the operation speed of the robot. Therefore, it is possible to reduce the operation for selecting the operation mode of the robot, and as a result, the number of operations is reduced and the operability is improved.

(Claim 4)
According to a fourth aspect of the present invention, the robot operation device further includes a display capable of displaying a graphic and a display control unit for controlling the display content of the display. The display control unit can perform an operation graphic display process. The operation graphic display process is a process for displaying the operation graphic on the display. According to this, since the user can perform the moving operation using the operation graphic displayed on the display as a guide, it is easy to determine in which direction the moving operation should be performed. As a result, the operability is further improved.

(Claim 5)
In the robot operation device according to claim 5, the operation graphic display process includes a process of rotating the operation graphic in accordance with the movement of the current position of the movement operation and displaying the operation graphic on the display. According to this, the user can easily visually confirm whether or not the user's moving operation is appropriately performed by looking at the operation graphic that rotates in accordance with the user's moving operation. As a result, a more intuitive operation is possible, and the user's operational feeling can be further improved.

(Claim 6)
In the robot operation device according to claim 6, the operation speed determination process determines the operation speed of the robot based on the angular speed of the moving operation with respect to the rotation center set on the operation figure. That is, when performing a movement operation so as to draw a circle with a certain point as the center point, the movement operation is performed as the operation position related to the movement operation becomes farther from the center point, that is, as the diameter of the circle or arc drawn by the movement operation increases. The rotation angle with respect to the circumferential movement distance is small. That is, as the diameter of the circle or arc drawn by the moving operation increases, the amount of change in the angular speed of the moving operation that changes with the increase or decrease in the circumferential speed relative to the rotation center of the moving operation, that is, the peripheral speed decreases.

  For example, when the user performs a moving operation such as drawing a circle with a large diameter, the rotation angle becomes small even if the circumferential moving distance related to the moving operation is long. In other words, the user can obtain a slow angular velocity at a high peripheral speed by performing a moving operation that draws a circle or arc having a large diameter. This is advantageous in performing fine adjustment of the hand position of the robot, that is, fine movement. This is because in this case, the user can further reduce the amount of change in the operating speed of the robot, which changes as the moving speed of the moving operation increases or decreases. That is, when the peripheral speed of the moving operation is constant, the user performs the moving operation so as to draw a circle or arc having a large diameter, compared to a case where the moving operation is performed such that a circle having a small diameter is drawn. The robot can be operated at a slower operating speed.

  On the other hand, when the user performs a moving operation such as drawing a circle or arc having a small diameter, the rotation angle increases even if the moving distance in the circumferential direction related to the moving operation is short. In other words, the user can obtain a high angular velocity at a low peripheral speed by performing a moving operation that draws a circle or arc having a small diameter. This is advantageous when the hand position of the robot is largely moved, that is, when the robot moves roughly. This is because in this case, the user can increase the amount of change in the operation speed of the robot that changes as the movement speed of the movement operation increases or decreases. That is, for example, when the peripheral speed of the drag operation is constant, the user can perform a drag operation so as to draw a circle with a small diameter, compared with a case where the user performs a drag operation that draws a circle with a large diameter. The robot can be operated at a high speed.

  Thus, according to this robot operation device, the user adjusts the distance from the rotation center on the operation figure to the operation position of the movement operation to perform the movement operation, that is, the circle or arc drawn by the movement operation. By adjusting the size of the diameter, it is possible to adjust the amount of change in the operation speed of the robot that changes as the operation speed in the circumferential direction of the moving operation increases or decreases. Thereby, the user can easily use the fine movement and the coarse movement of the robot properly, and the operability can be further improved.

(Claim 7)
8. The robot operating device according to claim 7, wherein the operation speed determination process performs a moving operation in the invalid area when the operation detecting unit detects a moving operation with respect to the invalid area, which is an area provided near the rotation center on the operation figure. It includes processing for determining invalidity. That is, in the case where the robot operation speed is determined based on the angular speed of the movement operation as described above, the robot operation speed that changes as the peripheral speed of the movement operation increases or decreases as the operation position of the movement operation approaches the rotation center. The amount of change increases. Therefore, when the operation position of the movement operation is near the rotation center, a slight movement operation of the user is greatly reflected in the movement of the robot, so that the movement of the robot is likely to become a large one not intended by the user.

  On the other hand, according to this robot operation device, the invalid area is set near the rotation center of the operation figure. Then, it is determined that the moving operation for the invalid area is invalid. In this case, it is determined that there is no movement operation input, and the robot operation stops. Therefore, when the operation position of the moving operation is near the center of rotation, the slight movement operation of the user is greatly reflected in the operation of the robot by acting on the safety side rather than stopping the robot. Can be prevented. Therefore, it is possible to prevent the situation where the robot operation becomes too large against the user's intention as much as possible, and as a result, the safety can be improved.

(Claim 8)
The robot operation device according to claim 8, wherein the operation speed determination process determines the operation speed of the robot based on the peripheral speed of the moving operation with respect to the rotation center set on the operation figure. That is, as described above, in the case where the robot operation speed is determined based on the angular speed of the movement operation, the robot operation speed is determined by the operation position and the peripheral speed of the movement operation. Therefore, the user must adjust the two values of the operation position of the moving operation and the peripheral speed in order to determine the operation speed of the robot. In this case, it is relatively easy for a skilled person to adjust the two values of the operation position and the peripheral speed of the moving operation at the same time. However, it is relatively difficult for beginners to adjust the two values of the operation position and the peripheral speed of the moving operation at the same time.

  For example, in the case where the robot operation speed is determined based on the angular speed of the moving operation, even if the peripheral speed of the moving operation is constant, the size of the circle or arc drawn by the moving operation or the operation position of the moving operation from the rotation center The movement speed of the robot is changed by changing the distance up to. Therefore, for example, even when the user is moving at a constant circumferential speed in order to operate the robot at a constant speed, the diameter of the circle or arc actually drawn may change due to the movement operation. If the center of the circle or arc deviates from the rotation center set on the operation figure, the distance from the rotation center to the operation position of the moving operation changes. In this case, the operation speed of the robot changes, and an operation contrary to the user's intention to operate the robot at a constant speed is likely to occur.

  On the other hand, according to this robot operation device, the operation speed of the robot is determined based on the peripheral speed of the moving operation with respect to the rotation center set on the operation figure. That is, the peripheral speed of the moving operation is directly reflected in the robot operating speed. Therefore, the user can perform the movement operation without worrying about the distance from the rotation center to the operation position of the movement operation, that is, the diameter of the circle or arc drawn by the movement operation or the deviation from the rotation center. Therefore, even a beginner can operate relatively easily, and as a result, the operability can be improved from a viewpoint different from the robot operating device that determines the operating speed of the robot based on the peripheral speed of the moving operation described above. .

(Claim 9)
The robot operation device according to claim 9, wherein the operation speed determination process includes a deceleration process. The deceleration process is a process of gradually decelerating the operation speed of the robot during a period when the input of the movement operation is finished and the next movement operation is not input. In this case, “gradually decelerate the operation speed of the robot” means, for example, that the operation figure has an actual state, and it is assumed that inertial force and friction force are acting on the rotation of the operation figure. It means deceleration at a rate similar to the rate of decrease in the rotational speed from when no operation is performed to the operation graphic until the rotation of the operation graphic stops. Therefore, the degree of deceleration in “gradual deceleration” changes according to the operation speed of the robot immediately before the input of the movement operation is completed.

  This configuration is more suitable when the movement operation is a flick operation. That is, according to this, even if the input of the flick operation is finished, the operation speed of the robot is gradually reduced. In this case, the robot does not stop suddenly immediately after the input of the flick operation is completed, and continues to operate for a certain period after the input of the flick operation is completed. Therefore, the user can keep operating the robot continuously without completely stopping the robot, for example, by repeatedly performing the flick operation. According to this, a limited area on the touch panel can be used effectively. That is, the area on the touch panel required for the moving operation can be reduced, and as a result, the robot operation device can be reduced in size. In addition, since the user can operate the robot by, for example, small flick operations, it is possible to reduce the amount of movement of fingers or the like during the movement operation. As a result, the operability is improved and the burden on the user can be reduced.

(Claim 10)
Here, if the above-described deceleration process is started immediately after the input of the moving operation is completed, the following problem occurs when a plurality of moving operations are input. In other words, in this case, during the period from the end of the input of the previous movement operation to the input of the next movement operation, the operation speed of the robot is decelerated by the deceleration process described above. Therefore, the robot operation speed tends to vary, and the robot operation tends to become unstable.

  On the other hand, according to the robot operation device of the tenth aspect, the operation speed determination process further includes a speed maintenance process. The speed maintaining process is a process of maintaining the operation speed of the robot immediately before the end of the input of the moving operation in a predetermined period from the end of the input of the moving operation to the start of the deceleration process. That is, the user can prevent the robot from decelerating due to the deceleration process before inputting the next movement operation by inputting the next movement operation within a predetermined period during which the speed maintenance process is performed. . As a result, for example, even when flick operations are continuously performed, it is possible to suppress variations in the operation speed of the robot and to improve the stability of the operation speed of the robot. Further, according to this, even if the interval between the flick operations is relatively long, it is easy to keep the operation speed of the robot constant. Therefore, the number of flick operations can be reduced, and as a result, the burden on the user can be reduced. Further, after the speed maintaining process is performed for a predetermined period, the above-described deceleration process is performed. For this reason, the robot is safe because it decelerates and stops after a predetermined period of time has elapsed since the moving operation is no longer performed.

(Claim 11)
12. The robot operation device according to claim 11, wherein the operation command generation unit performs an operation for a next movement operation when the next movement operation is input during the speed maintenance process based on the previous movement operation. If the speed is within a predetermined range with respect to the operation speed of the previous movement operation, the operation speed of the robot is maintained at a value based on the operation speed of the previous movement operation, and the operation speed of the next movement operation is the previous movement. If it is out of the predetermined range with respect to the operation speed of the operation, it is possible to perform processing for determining the operation speed of the robot based on the operation speed of the next moving operation.

  That is, in order to continuously operate the robot at a constant speed, the user needs to input a plurality of flick operations. In this case, the operation speed of each flick operation varies, and it is difficult to keep the operation speed of each flick operation constant. In this case, if the robot operation speed is determined based on the operation speed of each flick operation, the robot operation speed fluctuates due to the variation in the operation speed of each flick operation, and thus tends to become unstable.

  Therefore, according to this configuration, the operation command generation unit takes over the robot operation speed determined based on the previous movement operation if the operation speed of the next movement operation is within a predetermined range. According to this, even if the operation speed of each flick operation varies to some extent, the operation speed of the robot can be kept constant as long as it is within a predetermined range. Therefore, it is possible to absorb variations in the operation speed of each moving operation, and as a result, it is possible to improve the stability of the operation of the robot. Further, for example, when the user inputs a movement operation at an operation speed that is outside a predetermined range, the operation speed of the robot can be changed. Therefore, according to this, a flexible operation is possible while absorbing variations in the operation speed of the moving operation, and as a result, the operability is improved.

(Claim 12)
The robot operation device according to claim 12, wherein the operation command generation unit can perform a stop process. The stop process is a process for stopping the robot when a touch operation is performed on the operation figure for a predetermined period or longer during the operation of the robot. According to this, even when the robot is operating during the deceleration process or the speed maintaining process, the user performs a touch operation on the operation figure for a predetermined period or longer to stop the deceleration process. The robot operation can be stopped without waiting. Therefore, the user can stop the operation of the robot at an arbitrary timing, and as a result, safety and operability are further improved.

(Claim 13)
The robot operation device according to claim 13, wherein the operation command generation unit can perform a correction process. The correction process is a process of moving the robot to the position of the robot when the touch operation is performed when the robot is moved from the time when the touch operation for executing the stop process is performed. That is, a certain period of time is required from when the user inputs a touch operation to stop the robot operation until the robot operation actually stops. In this case, the robot moves beyond the stop position intended by the user. That is, the stop position of the robot intended by the user deviates from the actual stop position of the robot. Therefore, according to this configuration, even when the robot moves from the time when the touch operation is performed, the robot can be returned to the position of the robot at the time when the touch operation is performed by the correction process. Therefore, it is possible to correct the deviation between the stop position of the robot intended by the user and the actual stop position of the robot, and as a result, the operability can be further improved.

(Claim 14)
A robot operation program according to a fourteenth aspect realizes the robot operation device according to the first aspect. By executing this robot operation program using, for example, a general-purpose tablet PC or smartphone equipped with a touch panel display, the above-described functions as the robot operation device can be added to the general-purpose tablet PC or smartphone.

Overall configuration diagram showing an example of a robot system using a 4-axis horizontal articulated robot according to the first embodiment Overall configuration diagram showing an example of a robot system using a six-axis vertical articulated robot in the first embodiment The block diagram which shows an example of the electrical structure of the teaching pendant by 1st Embodiment Flow chart showing an example of the contents of various processes performed by the control unit in the first embodiment (part 1) Flowchart (part 2) showing an example of the contents of various processes performed by the control unit in the first embodiment The figure which shows an example of the operation figure displayed on a touchscreen display when performing manual operation of the hand system of a 4-axis robot about 1st Embodiment The figure which shows an example of the operation figure displayed on a touch-panel display when performing manual operation of each axis | shaft system of a 4-axis robot about 1st Embodiment. The figure which shows an example of the operation figure displayed on a touchscreen display when performing manual operation of the hand system of a 6-axis robot about 1st Embodiment The figure which shows an example of the operation figure displayed on a touch-panel display when performing manual operation of each axis | shaft system of a 6-axis robot about 1st Embodiment. The figure which shows an example of the operation figure displayed on a touchscreen display when touch operation is performed with respect to the selection area | region of the operation figure about 1st Embodiment. The figure which shows an example of the operation figure displayed on a touchscreen display when drag operation to a normal direction is performed with respect to the operation figure about 1st Embodiment The figure which shows an example of the operation figure displayed on a touchscreen display when drag operation to a negative direction is performed with respect to the operation figure about 1st Embodiment The figure which shows the relationship between the circumferential speed and angular velocity of drag operation about 1st Embodiment. The figure which shows an example of correlation with the angular velocity of drag | drug operation, and the operation speed of a robot about 1st Embodiment. The figure which shows another example different from FIG. 14 about the correlation of the angular velocity of drag | drug operation and the operation speed of a robot about 1st Embodiment. The figure which shows the other example different from FIG.6 and FIG.7 about the operation figure displayed on a touchscreen display when performing manual operation of a 4-axis robot about 1st Embodiment The figure which shows another example different from FIG.8 and FIG.9 about the operation figure displayed on a touch panel display when performing manual operation of a 6-axis robot about 1st Embodiment The figure which shows the example in the case of determining the operation mode of a robot with a button about 1st Embodiment The figure which shows an example of the operation figure displayed on a touchscreen display when performing manual operation of the hand system of a 4-axis robot about 3rd Embodiment The figure which shows an example of the moving direction of the robot which can be operated by manual operation in 3rd Embodiment. The figure which shows an example of the operation figure displayed on a touchscreen display after completion | finish of the input of the movement operation to the positive direction with respect to an operation figure about 4th Embodiment Flowchart showing an example of the contents of various processes performed by the control unit in the fourth embodiment (part 1) Flowchart showing an example of the contents of various processes performed by the control unit according to the fourth embodiment (part 2) Flowchart (part 3) showing an example of the contents of various processes performed by the control unit in the fourth embodiment The figure which shows the relationship between the operation speed of movement operation, and the operation speed of a robot about 4th Embodiment (the 1) The figure which shows the relationship between the operation speed of movement operation, and the operation speed of a robot about 4th Embodiment (the 2) The figure which shows the relationship between the operation speed of movement operation, and the operation speed of a robot about 5th Embodiment. The figure which shows an example of the operation figure displayed on a touchscreen display when performing manual operation of the hand system of a robot about other embodiment

  Hereinafter, a plurality of embodiments of the present invention will be described. In each embodiment, substantially the same components are denoted by the same reference numerals and description thereof is omitted.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
1 and 2 show a system configuration of a general industrial robot. The robot system 10 includes, for example, a 4-axis horizontal articulated robot 20 (hereinafter referred to as a 4-axis robot 20) shown in FIG. 1 and a 6-axis vertical articulated robot 30 (hereinafter referred to as a 6-axis robot) shown in FIG. 30) and the like. Note that the robot to be operated by the robot system 10 is not limited to the four-axis robot 20 or the six-axis robot 30 described above.

  First, a schematic configuration of the 4-axis robot 20 shown in FIG. 1 will be described. The 4-axis robot 20 operates based on a unique robot coordinate system (a three-dimensional orthogonal coordinate system including an X axis, a Y axis, and a Z axis). In this embodiment, the robot coordinate system is defined with the center of the base 21 as the origin O, the upper surface of the work table P as the XY plane, and the coordinate axis orthogonal to the XY plane as the Z axis. The upper surface of the work table P is an installation surface for installing the 4-axis robot 20. In this case, the installation surface corresponds to the operation reference surface. Note that the operation reference plane is not limited to the installation plane, and may be an arbitrary plane.

  The 4-axis robot 20 includes a base 21, a first arm 22, a second arm 23, a shaft 24, and a flange 25. The base 21 is fixed to the upper surface of the work table P (hereinafter also referred to as an installation surface). The first arm 22 is connected to the upper part of the base 21 so as to be rotatable in the horizontal direction around a first axis J21 having an axis in the Z-axis (vertical axis) direction. The second arm 23 is coupled to the upper portion of the tip of the first arm 22 so as to be rotatable about a second axis J22 having an axis in the Z-axis direction. The shaft 24 is provided so as to be movable up and down and rotatable with respect to the distal end portion of the second arm 23. The axis when the shaft 24 is moved up and down is the third axis J23, and the axis when the shaft 24 is rotated is the fourth axis J24. The flange 25 is detachably attached to the distal end portion, that is, the lower end portion of the shaft 24.

  The base 21, the first arm 22, the second arm 23, the shaft 24, and the flange 25 function as the arms of the four-axis robot 20. Although not shown, an end effector (hand) is attached to the flange 25 which is the arm tip. For example, when a part inspection or the like is performed using the 4-axis robot 20, a camera or the like for photographing a target part is used as the end effector. A plurality of axes (J21 to J24) provided in the 4-axis robot 20 are driven by motors (not shown) provided corresponding to the respective axes. In the vicinity of each motor, a position detector (not shown) for detecting the rotation angle of each rotation shaft is provided.

  Next, a schematic configuration of the 6-axis robot 30 shown in FIG. 2 will be described. Similarly to the 4-axis robot 20, the 6-axis robot 30 operates based on a unique robot coordinate system (a three-dimensional orthogonal coordinate system including an X axis, a Y axis, and a Z axis). The six-axis robot 30 includes a base 31, a shoulder portion 32, a lower arm 33, a first upper arm 34, a second upper arm 35, a wrist 36, and a flange 37. The base 31 is fixed to the upper surface of the work table P. The shoulder portion 32 is connected to the upper portion of the base 31 so as to be rotatable in the horizontal direction around a first axis J31 having an axis in the Z-axis (vertical axis) direction. The lower arm 33 is provided so as to extend upward with respect to the shoulder portion 32. The lower arm 33 is connected to the shoulder portion 32 so as to be rotatable in a vertical direction around a second axis J32 having an axis in the Y-axis direction.

  The first upper arm 34 is connected to the tip of the lower arm 33 so as to be rotatable in the vertical direction around a third axis J33 having an axis in the Y-axis direction. The second upper arm 35 is coupled to the distal end portion of the first upper arm 34 so as to be able to twist and rotate about a fourth axis J34 having an axis in the X-axis direction. The wrist 36 is connected to the distal end portion of the second upper arm 35 so as to be rotatable in the vertical direction around a fifth axis J25 having an axis in the Y-axis direction. The flange 37 is connected to the wrist 36 so as to be capable of twisting and rotating about a sixth axis J36 having an axis in the X-axis direction.

  The base 31, the shoulder portion 32, the lower arm 33, the first upper arm 34, the second upper arm 35, the wrist 36 and the flange 37 function as an arm of the robot 30. Although not shown, a tool such as an air chuck is attached to the flange 37 (corresponding to the hand) that is the tip of the arm. A plurality of axes (J31 to J36) provided in the 6-axis robot 30 are driven by motors (not shown) provided corresponding to the respective axes, as in the 4-axis robot 20. Further, in the vicinity of each motor, a position detector (not shown) for detecting the rotational position of each rotating shaft is provided.

  The six-axis robot 30 can individually drive the drive axes J31 to J36 in the operation of each axis system. Further, the 6-axis robot 30 can perform an operation of rotating the hand around two axes different from the Z-axis in addition to the operation that the 4-axis robot 20 can perform in the operation of the hand system. The two axes are two axes (X axis and Y axis) that are horizontal to the installation surface P and orthogonal to each other. In this case, the rotation direction around the X axis is the Rx direction, and the rotation direction around the Y axis is the Ry direction. In other words, the 6-axis robot 30 moves, for example, the movement in the XY plane direction combining the first axis J31, the second axis J32, and the third axis J33, the second axis J32, Performs movement in the Z direction by combining the three axes J33, movement in the Rx direction by the fourth axis J34, movement in the Ry direction by the fifth axis J35, and movement in the Rz direction by the sixth axis. be able to.

  The robot system 10 shown in FIGS. 1 and 2 includes a controller 11 and a teaching pendant 40 (corresponding to a robot operating device) in addition to the robots 20 and 30. The controller 11 controls the robots 20 and 30. The controller 11 is connected to the robots 20 and 30 via connection cables. The teaching pendant 40 is connected to the controller 11 via a connection cable. Data communication is performed between the controller 11 and the teaching pendant 40. As a result, various types of operation information input in response to user operations are transmitted from the teaching pendant 40 to the controller 11. Further, the controller 11 transmits various control signals, display signals, and the like to the teaching pendant 40 and supplies driving power. The teaching pendant 40 and the controller 11 may be connected by wireless communication.

  When a signal for instructing a manual operation is given from the teaching pendant 40, the controller 11 performs a control to manually operate the robots 20 and 30. Further, when a signal for instructing an automatic operation is given from the teaching pendant 40, the controller 11 performs control to automatically operate the robots 20 and 30 by starting an automatic program stored in advance.

  The teaching pendant 40 has such a size that it can be operated, for example, by being carried by the user or held in the hand. The teaching pendant 40 includes, for example, a case 41, a touch panel display 42, and a switch 43. The case 41 has a thin, substantially rectangular box shape, for example, and constitutes the outer shell of the teaching pendant 40. The touch panel display 42 is provided so as to occupy most of the surface side of the case 41. As illustrated in FIG. 3, the touch panel display 42 includes a touch panel 421 and a display 422, and the touch panel 421 and the display 422 are arranged to overlap each other.

  The touch panel display 42 can receive input of touch operation, drag operation, and flick operation from the user through the touch panel 421, and can display images such as letters, numbers, symbols, and figures through the display 422. Note that the drag operation and the flick operation are both modes of the move operation, and both of them are the period from when the user's finger 90 etc. touches the touch panel display 42 until it leaves, that is, the time required for the operation and the movement of the finger 90 etc. Differentiated by quantity. In this case, for example, a drag operation is performed if the time required for the operation is longer than a predetermined time, and a flick operation is performed if the time is short. In the following description, a case where a drag operation is applied as an example of a move operation will be described, but it can also be applied to a flick operation. The switch 43 is a physical switch, for example, and is provided around the touch panel display 42. The switch 43 may be replaced with a button displayed on the touch panel display 42. The user performs various input operations by operating the touch panel display 42 and the switch 43.

  The user can execute various functions such as operation and setting of the robots 20 and 30 by using the teaching pendant 40, and invokes a control program stored in advance to start the robots 20 and 30 and set various parameters. Etc. can be executed. Also, various teaching operations can be performed by operating the robots 20 and 30 by manual operation, that is, manual operation. For example, a menu screen, a setting input screen, a status display screen, and the like are displayed on the touch panel display 42 as necessary.

Next, the electrical configuration of the teaching pendant 40 will be described with reference to FIG.
The teaching pendant 40 includes a communication interface (I / F) 44, a control unit 45, an operation detection unit 46, an operation command generation unit 47, and a display control unit 48 in addition to the touch panel display 42 and the switch 43. The communication interface 44 connects the controller 45 of the teaching pendant 40 and the controller 11 so that they can communicate with each other.

  The control unit 45 is configured mainly with a microcomputer having a storage area 452 such as a CPU 451, ROM, RAM, and rewritable flash memory, for example, and controls the teaching pendant 40 as a whole. The storage area 452 stores a robot operation program. The control unit 45 executes the robot operation program in the CPU 451 to virtually realize the operation detection unit 46, the operation command generation unit 47, the display control unit 48, and the like by software. The operation detection unit 46, the operation command generation unit 47, and the display control unit 48 may be realized in hardware as an integrated circuit integrated with the control unit 45, for example.

  The operation detection unit 46 can detect a touch operation and a drag operation on the touch panel 421. The operation detection unit 46 can detect whether the user's finger or the like has touched the touch panel display 42 and the position (touch position) of the touched finger or the like as detection of the touch operation. Further, the operation detection unit 46 can detect the current position, moving direction, moving speed, and moving amount of a finger or the like related to the drag operation as detection of the drag operation.

  The operation command generation unit 47 generates an operation command for operating the robots 20 and 30 based on the detection result of the operation detection unit 46. The operation command generated by the operation command generation unit 47 is given to the controller 11 through the communication interface 44. The display control unit 48 controls display contents to be displayed on the display 422 based on an operation on the switch 43, a detection result of the operation detection unit 46, and the like. By using the teaching pendant 40 having such a configuration, the user can perform manual operations of the robots 20 and 30 by touch operations and drag operations.

  Next, the control content performed by the control unit 45 will be described with reference to FIGS. In the following description, the operation mode of the robots 20 and 30 means the operation mode of the robots 20 and 30 by the drive axes of the robots 20 and 30 or a combination of the drive axes. In this case, the movement modes of the robots 20 and 30 do not include the movement direction in the positive (+) direction or the negative (−) direction in the movement system such as the hand system or each axis system described above. To do.

  The control unit 45 of the teaching pendant 40 executes the control contents shown in FIGS. 4 and 5 when manual operation of the robots 20 and 30 is started. Specifically, when the process related to the manual operation is started, the control unit 45 first displays the operation graphic on the touch panel display 42 in step S11 of FIG. 6 to 9 show examples of operation figures displayed on the touch panel display 42.

  For example, the operation graphic 51 shown in FIG. 6 is used for the operation of the hand system of the four-axis robot 20, and the operation graphic 52 shown in FIG. 7 is used for the operation of each axis system of the four-axis robot 20. Further, the operation graphic 61 shown in FIG. 8 is used for the operation of the hand system of the 6-axis robot 30, and the operation graphic 62 shown in FIG. 9 is used for the operation of each axis system of the 6-axis robot 30. . In the following description, the operation graphic 51 shown in FIG. 6 is referred to as a 4-axis hand system operation graphic 51, and the operation graphic 52 illustrated in FIG. 7 is referred to as a 4-axis each-axis system operation graphic 52. The operation graphic 61 shown in FIG. 8 is referred to as a 6-axis hand system operation graphic 61, and the operation graphic 62 illustrated in FIG. 9 is referred to as a 6-axis each-axis system operation graphic 62.

  First, the operation figures 51 and 52 for the 4-axis robot 20 shown in FIGS. 6 and 7 will be described. The external shapes of the operation figures 51 and 52 for the 4-axis robot 20 are circular. The inside of the operation figures 51 and 52 for the 4-axis robot 20 is equally divided by the number of driving modes of each operation system. In this case, the inner sides of the circles of the operation figures 51 and 52 for the four-axis robot 20 are equally divided into four, which is the number of drive modes in each operation system of the four-axis robot 20. The areas inside the operation figures 51 and 52 divided into four equal parts are set as selection areas 511 to 514 for the hand system and selection areas 521 to 524 for the respective axis systems.

  In this case, in the 4-axis hand system operation graphic 51 shown in FIG. 6, the first selection area 511 is assigned to the operation mode in the X direction, the second selection area 512 is assigned to the operation mode in the Y direction, The third selection area 513 is assigned to the operation mode in the Z direction, and the fourth selection area 514 is assigned to the operation mode in the Rz direction. In the four-axis each axis system operation graphic 52 shown in FIG. 7, the first selection area 521 is assigned to the operation mode of the first axis J21, and the second selection area 522 is assigned to the operation mode of the second axis J22. The third selection area 523 is assigned to the operation mode of the third axis J23, and the fourth selection area 524 is assigned to the operation mode of the fourth axis J24.

  Thereby, the user operates the four-axis robot 20 in the operation mode assigned to each of the operation figures 51 and 52 by touching any one of the selection areas 511 to 514 and 521 to 524. Can be made. The 4-axis hand system operation graphic 51 and the 4-axis each-axis system operation graphic 52 may be displayed by switching the screen as shown in FIGS. 6 and 7, or on the same screen. It may be displayed.

  Next, the operation figures 61 and 62 for the 6-axis robot 30 shown in FIGS. 8 and 9 will be described. The external shapes of the operation figures 61 and 62 for the 6-axis robot 30 are circular. The inside of the operation figures 61 and 62 for the six-axis robot 30 is equally divided by the number of driving modes of each operation system. In this case, the inner sides of the circles of the operation figures 61 and 62 for the six-axis robot 30 are equally divided into six, which is the number of drive modes in each operation system of the six-axis robot 30. The respective regions inside the operation figures 61 and 62 divided into six equal parts are set as selection regions 611 to 616 for the hand system and selection regions 621 to 626 for the respective axis systems.

  In this case, in the 6-axis hand system operation graphic 61 shown in FIG. 8, the first selection area 611 is assigned to the operation mode in the X direction, the second selection area 612 is assigned to the operation mode in the Y direction, The third selection area 613 is allocated to the operation mode in the Z direction, the fourth selection area 614 is allocated to the operation mode in the Rx direction, and the fifth selection area 615 is allocated to the operation mode in the Ry direction. A region 616 is assigned to the operation mode in the Rz direction. Further, in the 6-axis operation graphic 62 shown in FIG. 9, the first selection area 621 is assigned to the operation mode of the first axis J31, and the second selection area 622 is assigned to the operation mode of the second axis J32. The third selection area 623 is assigned to the operation mode of the third axis J33, the fourth selection area 624 is assigned to the operation mode of the fourth axis J34, and the fifth selection area 625 is assigned to the operation mode of the fifth axis J35. The sixth selection area 626 is assigned to the operation mode of the sixth axis J36.

  Thereby, the user can operate the 6-axis robot 30 in an operation mode assigned to the selected area 611 to 616 and 621 to 626 by touching the selected area. The 6-axis hand system operation graphic 61 and the 6-axis each axis system operation graphic 62 may be displayed by switching the screen as shown in FIGS. 8 and 9, or on the same screen. It may be displayed.

  Further, as shown in FIGS. 6 to 9, each operation graphic 51, 52, 61, 62 has invalid areas 515, 525, 617, 627, respectively. The invalid areas 515, 525, 617, and 627 are provided in the vicinity of the center P0 on the operation figures 51, 52, 61, and 62, respectively. In this case, the invalid areas 515, 525, 617, and 627 are formed in concentric circles smaller than the circle that forms the outer shape of each operation graphic 51, 52, 61, 62, and each operation graphic 51, 52, 61, 62 is formed. Is provided inside. The control unit 45 can determine that the operations performed on the invalid areas 515, 525, 617, and 627 among the touch operation and the drag operation detected by the operation detection unit 46 are invalid. In the present embodiment, the control unit 45 also invalidates operations performed on the areas outside the operation figures 51, 52, 61, and 62 among the touch operation and the drag operation detected by the operation detection unit 46. It can be judged. In this case, areas outside the operation figures 51, 52, 61, and 62 are also referred to as invalid areas.

  Moreover, the control part 45 displays the direction figures 71 and 72 on the touchscreen display 42 as shown in FIGS. 6-9 in step S11. The direction figures 71 and 72 indicate the operation direction of the drag operation with respect to the rotation center P0. In the present embodiment, the center P0 of the operation figures 51, 52, 61, 62 is set as the rotation center P0 of the drag operation. Then, with respect to the rotation center P0, the clockwise direction, that is, the clockwise direction is set as the positive direction of the drag operation, and the counterclockwise direction, that is, the counterclockwise direction is set as the negative direction of the drag operation. In this case, the positive direction graphic 71 indicates the positive direction of the drag operation, and the negative direction graphic 72 indicates the negative direction of the drag operation.

  Moreover, in this embodiment, the control part 45 can control the display of the direction figures 71 and 72 by the process of the display control part 48 as follows. That is, when there is no input of a drag operation on the touch panel display 42, the control unit 45 displays the direction figures 71 and 72 in a thin manner as indicated by the broken lines in FIGS. According to this, since the user can confirm in which direction the drag operation can be performed by looking at the directional graphics 71 and 72 displayed lightly, the operability is improved.

  When there is a drag operation in the rotation circumferential direction of the operation figures 51, 52, 61, 62, that is, when there is an input of a drag operation in the circumferential direction with respect to the rotation center P0, the control unit 45 11 and FIG. 12, the direction figures 71 and 72 corresponding to the direction of the input drag operation are displayed more conspicuously than the direction figures 71 and 72 corresponding to the other directions. For example, when a positive drag operation is input to the rotation center P0, the control unit 45 displays the positive direction graphic 71 darker than the negative direction graphic 72 as shown in FIG. When a negative drag operation is input to the rotation center P0, the control unit 45 displays the negative direction graphic 72 darker than the positive direction graphic 71, as shown in FIG. According to this, the user can confirm whether or not the drag operation is recognized by the teaching pendant 40 as the user intends by looking at the darkly displayed one of the direction figures 71 and 72. it can. As a result, the operability is improved.

  Next, in step S <b> 12 of FIG. 4, the control unit 45 selects any one of the selection regions 511 to 514 and 521 to 524 or any of the selection regions 611 to 616 and 621 to 626 based on the detection result of the operation detection unit 46. It is determined whether or not there has been a touch operation. When no touch operation is performed on any selected region (NO in step S12), the control unit 45 stands by in the state shown in FIGS. On the other hand, when there is a touch operation on any selected region (YES in step S12), the control unit 45 proceeds to step S13.

  When executing step S13, the control unit 45 determines the operation mode of the robots 20 and 30 by the manual operation to be the operation mode assigned to the selected area touch-operated in step S12, by the process of the operation command generation unit 47. . For example, as shown in FIG. 10, when the user performs a touch operation on the first selection region 511 of the 4-axis hand system operation graphic 51, the control unit 45 changes the operation mode of the robot 20 to the operation of the hand system in the X direction. Determine the mode. In this case, the control unit 45 displays the display “X” in the first selection region 511 selected by the touch operation by the processing of the display control unit 48, and displays in the other selection regions 512 to 514 that are not touch-operated. It can be displayed conspicuously by making it larger than “Y”, “Z”, and “Rz” or changing the color. Thereby, the user can visually confirm which operation mode is selected by his / her touch operation. As a result, the operability is improved.

  Next, in step S13 of FIG. 4, the control unit 45 performs a drag operation in the rotational circumferential direction of the operation figures 51, 52, 61, and 62, that is, a circle with respect to the rotation center P0, following the touch operation detected in step S12. It is determined whether or not a drag operation in the circumferential direction has been performed. In this case, the rotational circumferential direction of the operation figures 51, 52, 61, 62 means that the operation figures 51, 52, 61, 62 are virtual with an arbitrary point of the operation figures 51, 52, 61, 62 as the rotation center P0. Means a circumferential direction of a circle drawn by a locus of an arbitrary point different from the rotation center P0 on the operation figure 51, 52, 61, 62. In the present embodiment, the rotation center P0 is set to the center P0 of the operation figures 51, 52, 61, 62. In the following description, the drag operation in the rotation circumferential direction of the operation figures 51, 52, 61, 62 is simply referred to as a drag operation.

  When the drag operation is not detected (NO in step S14), the control unit 45 executes step S22 of FIG. On the other hand, when the drag operation is detected (YES in step S14), the control unit 45 executes step S15. In step S <b> 15, the control unit 45 determines whether the operation direction of the drag operation is the positive direction indicated by the arrow of the positive direction graphic 71 or the negative direction indicated by the arrow of the negative direction graphic 72.

  When the operation direction of the drag operation is the forward direction (the forward direction in step S15), the control unit 45 executes the motion direction determination process in step S16, and determines the motion direction of the robots 20 and 30 to the forward direction. On the other hand, when the operation direction of the drag operation is the negative direction (negative direction in step S15), the control unit 45 executes the operation direction determination process in step S17, and determines the operation direction of the robots 20 and 30 to the negative direction. . After executing Step S16 or Step S17, the control unit 45 executes Step S18 of FIG.

  In step S18, the control unit 45 executes an operation speed determination process. The operation speed determination process determines the operation speed of the drag operation when the operation detection unit 46 detects a drag operation in the rotation circumferential direction of the operation figures 51, 52, 61, 62 set on the touch panel display 42. This is a process for determining the operating speed Vr of the robots 20 and 30 based on this. In this case, the concept of the operation speed of the drag operation includes a peripheral speed Vd determined by the moving distance per unit time and an angular speed dθ determined by the peripheral speed Vd and the distance from the rotation center. In the case of this embodiment, the operation speed determination process determines the operation speed Vr of the robots 20 and 30 based on the angular speed dθ of the drag operation with respect to the rotation center P0 set on the operation figures 51, 52, 61, and 62. It is.

  In this case, the peripheral speed Vd of the drag operation means a movement distance per unit time of the operation position P1 of the drag operation with respect to the rotation circumferential direction of the operation figures 51, 52, 61, 62. That is, the peripheral speed Vd of the drag operation means an increase distance of the arc per unit time drawn by the trajectory of the operation position P1 of the drag operation in the drag operation that draws a circle around the rotation center P0. . Further, the angular velocity dθ of the drag operation means an increase angle of the arc per unit time drawn by the locus of the operation position P1 of the drag operation in the drag operation that draws a circle with the rotation center P0 as the center.

  For example, as shown in FIG. 13, when the user performs a drag operation such as drawing a circle with a radius R1 centered on the rotation center P0, if the peripheral speed of the drag operation is Vd1, the angular speed dθ1 of the drag operation is , Dθ1 = Vd1 / R1. Also, when the user performs a drag operation that draws a circle with a radius R2 centered on the rotation center P0, assuming that the peripheral speed of the drag operation is Vd2, the angular speed dθ2 of the drag operation is dθ2 = Vd2 / R2. It becomes. In this case, if the peripheral speeds Vd of the circles having the radius R1 and the radius R2 are the same, the angular velocity dθ1 at the radius R1 is smaller than the angular velocity dθ2 at the radius R2. That is, if the peripheral speed Vd is Vd1 = Vd2, the angular speed dθ is dθ1 <dθ2. Thus, as the diameter R of the circle drawn by the drag operation increases, the amount of change in the angular velocity dθ of the drag operation that changes as the peripheral speed Vd of the drag operation increases or decreases decreases.

  Further, the angular velocity dθ and the operation speed Vr of the robots 20 and 30 have the following correlation. For example, as shown in FIG. 14, the angular velocity dθ and the motion velocity Vr of the robots 20 and 30 have a linear function correlation. In this case, until the operation speed Vr of the robots 20 and 30 reaches the maximum operation speed Vrmax, the operation speed Vr increases in a linear function in proportion to the increase in the angular speed dθ. When the operation speed Vr of the robots 20 and 30 reaches the maximum operation speed Vrmax, the maximum operation speed Vrmax is maintained even if the angular speed dθ increases. Further, for example, as shown in FIG. 15, the angular velocity dθ and the motion velocity Vr of the robots 20 and 30 may have a high-order function correlation. In this case, until the motion speed Vr of the robots 20 and 30 reaches the maximum motion speed Vrmax, the motion speed Vr increases in a higher-order function in proportion to the increase in the angular speed dθ. When the operation speed Vr of the robots 20 and 30 reaches the maximum operation speed Vrmax, the maximum operation speed Vrmax is maintained even if the angular speed dθ increases.

  Next, in step S19, the control unit 45 executes an operation command generation process, and the operation mode and operation direction determination process (steps S16 and S17) of the robots 20 and 30 determined in the operation mode determination process (step S13). Based on the movement direction of the robots 20 and 30 determined in the above and the movement speed Vr of the robots 20 and 30 determined in the movement speed determination process (step S18), an operation command for operating the robots 20 and 30 is generated. . And the control part 45 transmits the operation command produced | generated by step S19 to the controller 11 in step S20. The controller 11 operates the robots 20 and 30 based on the operation command received from the teaching pendant 40.

  Next, the control unit 45 executes an operation graphic display process in step S21, and rotates the operation graphic 51, 52, 61, 62 in accordance with the movement of the current position P1 of the drag operation. In this case, when the user performs a drag operation on the operation figures 51, 52, 61, 62 from the state shown in FIG. 10 to the right rotation direction, in this case, the forward direction, as shown by an arrow A1 in FIG. The operation figures 51, 52, 61, 62 rotate rightward, in this case, in the positive direction. When the user performs a drag operation on the operation figures 51, 52, 61, 62 from the state shown in FIG. 10 to the left rotation direction, in this case, the negative direction, as shown by the arrow A2 in FIG. The figures 51, 52, 61, 62 rotate leftward, in this case negative. In this case, the angular velocity when the operation figures 51, 52, 61, 62 rotate is substantially equal to the angular velocity dθ of the drag operation. Therefore, it rotates to follow the operation figures 51, 52, 61, 62 and the current position P1 of the drag operation.

  Next, the control unit 45 executes step S22 of FIG. 5 and determines whether or not the operation is completed based on the detection result of the operation detection unit 46. In this case, the end of the operation means that the user's finger 90 or the like is separated from the touch panel display 42. That is, it is not determined that the operation is completed only when the peripheral speed Vd of the drag operation is 0, that is, the angular speed dθ is 0.

  When the drag operation continues (NO in step S22 in FIG. 5), the control unit 45 proceeds to step S13 in FIG. 4 and repeats steps S14 to S22. Note that the processing of steps S15 to S22 is repeated, for example, every 0.5 seconds. Therefore, there is no large time difference between the input of the drag operation, the movement of the robots 20 and 30, and the rotation of the operation figures 51, 52, 61 and 62. Therefore, the user can receive an impression that the robots 20 and 30 are manually operated in substantially real time by rotating the operation figures 51, 52, 61 and 62.

  When the operation mode is determined in step S13 and the operation direction is determined in steps S16 and S17, the user continues the drag operation in the positive direction or the negative direction, that is, in the positive direction or the negative direction. By continuing to rotate the operation figures 51, 52, 61, 62, it is possible to continue the operation of the robots 20, 30 in the operation mode and the operation direction. In addition, the user can change the sign of the operation direction of the robot 20 or 30 by changing the sign of the rotation direction of the drag operation before releasing the finger 90 or the like related to the drag operation from the touch panel display 42.

  If the control unit 45 determines that the drag operation has ended based on the detection result of the operation detection unit 46 (YES in step S22), the control unit 45 executes step S23. In step S23, the control unit 45 cancels, that is, initializes the setting of the operation mode and the operation direction of the robots 20 and 30 determined in the above-described processing. As a result, a series of processing is finished, and the operations of the robots 20 and 30 are finished. And the control part 45 returns to step S11 of FIG. 4, and performs the process of steps S11-S23 again. As a result, the user can manually operate with a new operation mode and operation direction. That is, the user can change the operation mode and the operation direction of the robots 20 and 30.

  In the present embodiment, once the operation mode is set, the set operation mode is maintained until the setting is initialized in step S23. Therefore, when the flick operation is continuously input, the operation mode is determined by the first flick operation, and therefore it is not necessary to set the operation mode every time the flick operation is input. In other words, until the robot 20 or 30 is stopped and the setting is initialized, the user can perform the flick operation on any position of the operation figure 51 or the like in the operation mode set by the first flick operation. The robots 20 and 30 can continue to operate.

  According to the present embodiment, the control unit 45 can perform the operation speed determination process by the process of the operation command generation unit 47. The operation speed determination process is performed when the operation detection unit 46 detects a drag operation in the rotation circumferential direction of the circular operation figures 51, 52, 61, 62 set on the touch panel display 42. This is a process of determining the operation speed Vr of the robots 20 and 30 based on the speed.

  In this configuration, the operation speed Vr of the robots 20 and 30 is determined by the drag operation when the operation figures 51, 52, 61, and 62 set on the touch panel display 42 are dragged in the rotation circumferential direction. It is determined based on the operation speed. Therefore, the user performs a drag operation so as to draw a circle on the operation figures 51, 52, 61, 62 set on the touch panel display 42, so that the operation speed Vr according to the operation speed of the drag operation is obtained. The robots 20 and 30 can continue to operate.

  For example, when the user continues to perform a drag operation so as to draw a circle at a high operation speed along the rotational circumferential direction of the operation figures 51, 52, 61, 62, the robots 20, 30 have their high operation speeds. It continues to operate at a high operating speed Vr corresponding to. On the other hand, when the user continues to perform a drag operation so as to draw a circle at a slow operation speed along the rotational circumferential direction of the operation figures 51, 52, 61, 62, the robots 20, 30 are operated at the slow operation speed. It continues to operate at a slow operating speed Vr corresponding to. When the user stops the drag operation, the robots 20 and 30 are also stopped.

  As described above, according to the teaching pendant 40 of the present embodiment, the user can continue to operate the robots 20 and 30 by continuously moving his / her finger 90 or the like to draw a circle. Etc., the robots 20 and 30 can be stopped. The user can adjust the operation speed Vr of the robots 20 and 30 by adjusting the moving speed of his / her finger 90 or the like. As a result, the user is likely to receive an impression that the movement of the finger 90 and the like due to his / her drag operation and the movement of the robots 20 and 30 are related. Therefore, the user can directly and intuitively determine the relevance between the drag operation performed by the user and the operations of the robots 20 and 30 performed by the drag operation. Can be improved.

  Furthermore, according to the teaching pendant 40 of the present embodiment, the user can continue the operation of the robots 20 and 30 by performing a drag operation so as to draw a circle on the touch panel display 42. For this reason, the user can continue the drag operation for operating the robots 20 and 30 without being limited to the screen size of the touch panel display 42. Therefore, it is possible to avoid the operation of the robots 20 and 30 being stopped unintentionally by being restricted by the screen size of the touch panel display 42 and being unable to continue the drag operation. Thereby, the operability is improved.

  In addition, the continuation of the drag operation for operating the robots 20 and 30 is not limited to the screen size of the touch panel display 42, and thus the touch panel display 42 can be downsized. For example, even when the teaching pendant 40 is configured by a wristwatch-type wearable terminal that can be worn on the user's arm, the user can appropriately manually operate the robots 20 and 30 on a small screen on the wearable terminal. it can.

  Further, according to the teaching pendant 40 of the present embodiment, the control unit 45 can perform an operation direction determination process by the process of the operation command generation unit 47. In the movement direction determination process, when the operation direction of the drag operation is the positive direction with respect to the rotation circumferential direction of the operation figures 51, 52, 61, 62, in this case, the right direction, the movement direction of the robots 20, 30 is set to the positive direction. Processing for determining the operation direction of the robot 20, 30 when the operation direction of the drag operation is a negative direction with respect to the rotation circumferential direction of the operation figures 51, 52, 61, 62, in this case, the left direction in this case It is. According to this, the movement direction of the robots 20 and 30 is determined by the operation direction of the drag operation with respect to the rotation circumferential direction of the operation figures 51, 52, 61 and 62.

  That is, in the drag operation in the rotation circumferential direction of the operation figures 51, 52, 61, 62, the operation direction of the drag operation is one of positive and negative directions with respect to the rotation circumferential direction of the operation figures 51, 52, 61, 62. On the other hand. Accordingly, when the user performs a drag operation in the rotational circumferential direction of the operation figures 51, 52, 61, 62, the positive / negative direction of the operation direction of the robot 20, 30 is inevitably determined. Thus, the user does not need to separately perform an operation for determining the operation direction of the robots 20 and 30, and the operation for determining the operation direction and the operation speed of the robots 20 and 30 by a series of drag operations. And can do both. As a result, the number of operations can be reduced, and the operability can be improved.

  Further, the operation figures 51, 52, 61, 62 have a plurality of selection areas 511-514, 521-524, 611-616, 621-626. The selection areas 511 to 514, 521 to 524, 611 to 616, and 621 to 626 are areas to which the operation modes of the 20 and 30 robots are assigned. And the control part 45 can perform an operation | movement mode determination process by the process of the operation command production | generation part 47. FIG. In the operation mode determination process, when the operation detection unit 46 detects a touch operation on the selection areas 511 to 514, 521 to 524, 611 to 616, and 621 to 626, the selection areas 511 to 514 and 521 to 524 that are touch-operated are detected. , 611 to 616 and 621 to 626 are determined as the operation modes of the robots 20 and 30.

  According to this, the user touches the selection areas 511 to 514, 521 to 524, 611 to 616, and 621 to 626 of the operation figures 51, 52, 61, and 62 to change the operation mode of the robots 20 and 30. You can choose. That is, when performing a drag operation for determining the operation speed Vr of the robots 20 and 30, the touch operation on the touch panel display 42 is always performed before the drag operation. Therefore, according to the teaching pendant 40 of the present embodiment, the user can select an operation mode of the robots 20 and 30 by a touch operation that is always performed in order to determine the operation speed Vr of the robots 20 and 30. Therefore, it is possible to reduce operations for selecting the operation mode of the robots 20 and 30, and as a result, it is possible to reduce the number of operations and improve operability.

  Further, the control unit 45 can perform an operation graphic display process by the process of the display control unit 48. The operation graphic display process is a process for displaying the operation graphic 51, 52, 61, 62 on the touch panel display 42. According to this, since the user can perform the drag operation with reference to the operation figures 51, 52, 61, and 62 displayed on the touch panel display 42, the user can determine in which direction the drag operation should be performed. It becomes easy to do. As a result, the operability is further improved.

  Further, the operation graphic display process includes a process of rotating the operation graphic 51, 52, 61, 62 in accordance with the movement of the current position P1 of the drag operation and displaying it on the touch panel display 42. According to this, it is easy for the user to visually check whether or not the user's drag operation is appropriately performed by looking at the operation figures 51, 52, 61, and 62 that rotate with the user's drag operation. Can be confirmed. As a result, a more intuitive operation is possible, and the user's operational feeling can be further improved.

  The operation speed determination process determines the operation speed Vr of the robots 20 and 30 based on the angular speed dθ of the drag operation with respect to the rotation center P0 set on the operation figures 51, 52, 61, and 62. That is, when a drag operation is performed so as to draw a circle with a certain point as the center point, the more the operation position P1 related to the drag operation is farther from the center point, that is, the larger the diameter of the circle drawn by the drag operation, the greater the circumference of the drag operation. The rotation angle with respect to the moving distance in the direction becomes small. That is, as the diameter of the circle drawn by the drag operation increases, the amount of change in the angular speed dθ of the drag operation that changes with the increase or decrease in the circumferential speed relative to the rotation center of the drag operation, that is, the peripheral speed Vd decreases.

  For example, as shown in FIG. 13, when the user performs a drag operation to draw a circle with a large diameter R1, the rotation angle becomes small even if the circumferential movement distance related to the drag operation is long. In other words, the user can obtain a slow angular velocity dθ1 at a high peripheral velocity Vd1 by performing a drag operation to draw a circle with a large diameter R1. This is advantageous when performing fine adjustment of the hand positions of the robots 20 and 30, that is, fine movement. This is because in this case, the user can further reduce the amount of change in the operation speed Vr of the robots 20 and 30 that is changed by increasing or decreasing the movement speed Vd of the drag operation. That is, when the peripheral speed Vd of the drag operation is constant, the user performs a drag operation so as to draw a circle with a large diameter R1 as compared to a drag operation that draws a circle with a small diameter R2. The robot can be operated at a slower operating speed.

  On the other hand, when the user performs a drag operation to draw a circle with a small diameter R2, the rotation angle increases even if the circumferential movement distance related to the drag operation is short. In other words, the user can obtain a high angular velocity dθ2 at a low peripheral velocity Vd2 by performing a drag operation that draws a circle with a small diameter R2. This is advantageous when the hand positions of the robots 20 and 30 are largely moved, that is, when coarse movement is performed. This is because in this case, the user can increase the amount of change in the operation speed Vr of the robots 20 and 30 that is changed by increasing or decreasing the movement speed Vd of the drag operation. That is, when the peripheral speed Vd of the drag operation is constant, the user performs the drag operation so as to draw a circle with a small diameter R2 as compared with a case where the user performs a drag operation that draws a circle with a large diameter R1. The robots 20 and 30 can be operated at a higher operating speed Vr.

  Thus, according to the teaching pendant 40 of the present embodiment, the user performs the drag operation by adjusting the distance from the rotation center P0 on the operation graphic 51, 52, 61, 62 to the operation position P1 of the drag operation. In other words, by adjusting the size of the diameter R of the circle drawn by the drag operation, it is possible to adjust the amount of change in the operation speed Vr of the robots 20 and 30 that changes as the peripheral speed Vd of the drag operation increases or decreases. Thereby, the user can easily use the fine movement and the coarse movement of the robots 20 and 30 properly, and the operability can be further improved.

  In the case of this embodiment, the movement distance of the robots 20 and 30 is obtained by multiplying the operation speed Vr of the robots 20 and 30 by the operation time. That is, the movement distance of the robots 20 and 30 is proportional to the rotation angle of the operation figures 51, 52, 61 and 62, which is obtained by multiplying the angular speed dθ of the operation figures 51, 52, 61 and 62 by the operation time. In other words, the moving distance of the robots 20 and 30 is proportional to the number of rotations of the operation figures 51, 52, 61 and 62. For example, if the number of rotations of the operation figures 51, 52, 61, 62 increases, the movement distance of the robots 20, 30 also increases, and if the number of rotations of the operation figures 51, 52, 61, 62 decreases, the movements of the robots 20, 30 The distance also becomes shorter. As described above, the user can adjust the moving distance of the robots 20 and 30 by adjusting the number of rotations of the operation figures 51, 52, 61, and 62. As a result, the movement distance of the robots 20 and 30 can be easily adjusted, and the operability can be further improved.

  The operation speed determination process is invalid when the operation detection unit 46 detects a drag operation on the invalid areas 515, 525, 617, and 627 provided near the rotation center P0 on the operation figures 51, 52, 61, and 62. This includes processing for determining that the drag operation in the areas 515, 525, 617, and 627 is invalid. That is, as described above, in the case where the operation speed Vr of the robots 20 and 30 is determined based on the angular speed dθ of the drag operation, the peripheral speed Vd of the drag operation increases as the drag operation position P1 approaches the rotation center P0. The amount of change in the operating speed Vr of the robots 20 and 30 that changes with the increase / decrease increases. Accordingly, when the operation position P1 of the drag operation is near the rotation center P0, the slight drag operation of the user is greatly reflected in the operation of the robots 20 and 30, so that the operation of the robots 20 and 30 is large and not intended by the user. It becomes easy to become a thing.

  On the other hand, according to the teaching pendant 40 of the present embodiment, invalid areas 515, 525, 617, 627 are set near the rotation center P0 of the operation figures 51, 52, 61, 62. Then, it is determined that the drag operation on the invalid areas 515, 525, 617, and 627 is invalid. In this case, it is determined that there is no input of the drag operation, and the operations of the robots 20 and 30 are stopped. Therefore, if the operation position P1 of the drag operation is near the rotation center P0, the robot 20 or 30 is stopped more effectively, so that the slight drag operation of the user can be performed by the robot 20 or 30. It can be prevented from being largely reflected in the operation. Therefore, it is possible to prevent the situation where the operation of the robots 20 and 30 becomes too large against the user's intention as much as possible, and as a result, the safety can be improved.

  Further, in this embodiment, the operation mode in the Z direction of the hand system in the 4-axis robot 20 is the same as the operation mode in which the third axis J23 of each axis system is driven, and the operation mode in the Rz direction of the hand system is This is the same as the operation mode for driving the fourth axis J24 of each axis system. Further, the operation mode of the hand system in the Rx direction in the six-axis robot 30 is the same as the operation mode of driving the fourth axis J34 of each axis system, and the operation mode of the hand system in the Ry direction is the same as that of each axis system. It is the same as the operation mode for driving the 5-axis J35, and the operation mode in the Rz direction of the hand system is the same as the operation mode for driving the sixth axis J36 of each axis system.

  Therefore, according to the teaching pendant 40 of the present embodiment, the operation modes in which the axes driven in the hand system and each axis system are the same are assigned to the selection areas arranged at the same position in each operation graphic. For example, looking at the operation figures 51 and 52 for the 4-axis robot 20, as shown in FIGS. 6 and 7, the operation modes of the Z direction of the hand system and the third axis J23 of each axis system are as follows. 52 are assigned to the third selection areas 513 and 523 arranged at the same position with respect to 52. The operation modes of the Rz direction of the hand system and the fourth axis J24 of each axis system are assigned to the fourth selection areas 514 and 524 arranged at the same position with respect to the operation figures 51 and 52.

  Further, for example, when viewing the operation figures 61 and 62 for the 6-axis robot 30, as shown in FIGS. 8 and 9, the operation mode between the Rx direction of the hand system and the fourth axis J34 of each axis system is the operation figure. 61 and 62 are assigned to the fourth selection areas 614 and 624 arranged at the same position. Further, the operation modes of the Ry direction of the hand system and the fifth axis J35 of each axis system are assigned to the fifth selection areas 615 and 625 arranged at the same position with respect to the operation figures 61 and 62. The operation modes of the Rz direction of the hand system and the sixth axis J36 of each axis system are assigned to the sixth selection areas 616 and 626 arranged at the same position with respect to the operation figures 61 and 62.

  According to this, by assigning an operation mode having the same movement in the operation mode of each axis system and the hand system to a selection region arranged at the same position, which operation mode is assigned to which selection region for each operation system. It is possible to reduce the user's burden of remembering what is being done. Thereby, when the manual operation of the hand system and each axis system is switched, it is possible to prevent an erroneous operation such as the user making a mistake in the operation of the selected region as much as possible. As a result, the operability and safety can be further improved.

  Further, the robot operation program according to the present embodiment is executed by, for example, a general-purpose tablet PC or smartphone equipped with a touch panel display, thereby adding a function equivalent to the above-described teaching pendant 40 to the general-purpose tablet PC or smartphone. be able to.

  In the above embodiment, the user can operate the robots 20 and 30 by a touch operation and a drag operation on the touch panel display 42. According to this, the user can perform a manual operation intuitively and easily compared with the case of operating a physical operation key. Further, according to this, for example, physical operation keys for performing manual operation can be reduced. As a result, it can be expected that the teaching pendant 40 can be miniaturized, the screen size of the touch panel display 42 can be increased, and the price can be reduced.

  The operation figures 51, 52, 61, 61 are not limited to a circle, and may be shapes other than a circle such as a polygon as shown in FIG. 16 or FIG. For example, the operation figure 53 shown in FIG. 16 is for the 4-axis robot 20 and is formed in a quadrangular shape. In this case, the operation figure 53 includes selection areas 531 to 534 and an invalid area 535, as with the operation figures 51 and 52 for the four-axis robot 20 described above. Further, for example, the operation figure 63 shown in FIG. 17 is for the six-axis robot 30 and is formed in a hexagonal shape. In this case, the operation graphic 63 has selection areas 631 to 636 and an invalid area 637, similar to the operation graphic 61 and 62 for the 6-axis robot 30 described above.

  In addition, as illustrated in FIG. 18, the movement direction determination process may determine the movement direction of the robots 20 and 30 based on a touch operation on the positive direction button 73 or the negative direction button 74. The positive direction button 73 or the negative direction button 74 is a button displayed on the touch panel display 42. The forward direction button 73 corresponds to the movement of the robots 20 and 30 in the forward direction. The negative direction button 74 corresponds to the operation of the robot 20 or 30 in the negative direction.

  The user determines the robots 20 and 30 in step S13 by performing a drag operation that rotates the operation figures 51, 52, 61, and 62 in a predetermined direction while touching the forward direction button 73. It can be operated in the positive direction in the operation mode. In addition, the user performs the drag operation to rotate the operation figures 51, 52, 61, and 62 in a predetermined direction with the negative direction button 74 being touched, whereby the robots 20 and 30 are moved in step S13. It is possible to operate in the negative direction in the determined operation mode. In this case, the direction in which the operation figures 51, 52, 61, 62 are rotated may or may not be limited to the right or the left. Moreover, on the touch panel display 42, as shown in FIG. 18, you may display the direction figure 75 which shows the direction to which the operation figures 51, 52, 61, 62 are rotated.

(Second Embodiment)
Next, a second embodiment will be described. In the present embodiment, the operation speed determination process determines the operation speed Vr of the robots 20 and 30 based on the peripheral speed Vd of the drag operation with respect to the rotation center P0 set on the operation figures 51, 52, 61, and 62. It is. That is, as in the first embodiment, in the case where the operation speed Vr of the robots 20 and 30 is determined based on the angular speed dθ of the drag operation, the operation speed Vr of the robots 20 and 30 depends on the operation position P1 of the drag operation. It is determined by the value of the peripheral speed Vd. Therefore, the user must adjust the two values of the drag operation position P1 and the peripheral speed Vd in order to determine the motion speed Vr of the robots 20 and 30. In this case, it is relatively easy for a skilled person to adjust the two values of the drag operation position P1 and the peripheral speed Vd at the same time. However, it is relatively difficult for a beginner to adjust two values of the drag operation position P1 and the peripheral speed Vd at the same time.

  For example, in the case where the operation speed Vr of the robots 20 and 30 is determined based on the angular speed dθ of the drag operation, even if the peripheral speed Vd of the drag operation is constant, the size of the circle drawn by the drag operation and the rotation center P0 When the distance to the operation position P1 of the drag operation changes, the operation speed Vr of the robots 20 and 30 changes. Therefore, even if the user performs a drag operation at a constant peripheral speed Vd in an attempt to operate the robots 20 and 30 at a constant speed, the diameter of the circle actually drawn may change due to the drag operation. When the center of the circle deviates from the rotation center P0 set on the operation figures 51, 52, 61, 62, the distance from the rotation center P0 to the operation position P1 of the drag operation changes. In this case, the operation speed Vr of the robots 20 and 30 changes, and an operation contrary to the user's intention to operate the robots 20 and 30 at a constant speed is likely to occur.

  On the other hand, according to the present embodiment, the operation speed Vr of the robots 20 and 30 is determined based on the peripheral speed Vd of the drag operation with respect to the rotation center P0 set on the operation figures 51, 52, 61, and 62. The In this case, the operation speed Vr of the robots 20 and 30 is determined by the peripheral speed Vd of the drag operation regardless of the distance from the rotation center P0 to the operation position P1 of the drag operation, that is, the diameter of the circle drawn by the drag operation. For example, in FIG. 13, if Vd1 = Vd2, the operating speeds Vr of the robots 20 and 30 are the same.

  As described above, according to the teaching pendant 40 of the present embodiment, the peripheral speed Vd of the drag operation is directly reflected on the operation speed Vr of the robots 20 and 30. Therefore, the user can perform the drag operation without worrying about the distance from the rotation center P0 to the operation position P1 of the drag operation, that is, the diameter of the circle drawn by the drag operation or the deviation from the rotation center P0. Therefore, even a beginner can operate relatively easily. As a result, the operability is improved from a viewpoint different from that for determining the operation speed Vr of the robots 20 and 30 based on the peripheral speed Vd of the drag operation. be able to.

  In the case of this embodiment, the movement distance of the robots 20 and 30 is proportional to the peripheral speed Vd of the drag operation multiplied by the operation time. In other words, the movement distance of the robots 20 and 30 is proportional to the movement distance of the finger 90 and the like by the drag operation. Therefore, the user can adjust the movement distance of the robots 20 and 30 by adjusting the movement distance of the finger 90 or the like by the drag operation regardless of the position where the drag operation is performed. As a result, the movement distances of the robots 20 and 30 can be easily adjusted, and the operability can be further improved from a viewpoint different from the teaching pendant 40 of the first embodiment.

(Third embodiment)
Next, a third embodiment will be described with reference to FIGS. 19 and 20.
In each of the above embodiments, for example, in the operation mode of the hand system, the movement in the direction along the X direction or the Y direction was possible. However, in the situation where the robots 20 and 30 are taught, it is convenient if the robots 20 and 30 can be operated in a combination of a plurality of operation modes such as an operation on the XY plane. Therefore, the teaching pendant 40 of the present embodiment is configured so that the robots 20 and 30 can be operated in a combination of a plurality of operation modes.

  Hereinafter, for example, a case where the robots 20 and 30 are moved in the XY plane direction will be described. An operation graphic 54 shown in FIG. 19 is used for the operation of the hand system of the four-axis robot 20. The operation graphic 54 has selection areas 541 to 552 in addition to the selection areas 511 to 515 of the 4-axis hand system operation graphic 51 of the first embodiment. Each of the selection areas 541 to 552 is preliminarily assigned an operation mode in an arbitrary plane direction and in an arbitrary angle direction.

  In the present embodiment, each selection region 541 to 552 is assigned an operation mode in the XY plane direction and in each quadrant in three angular directions, in this case, 30 °, 45 °, and 60 ° directions. . In this case, in this embodiment, as shown in FIG. 20, the positive (+) direction of X in the XY plane is set as a reference, that is, 0 °. Then, X is positive (+) and Y is positive (+) direction as the first quadrant, X is negative (-) and Y is positive (+) direction as the second quadrant, and X is negative (-). And Y is in the negative (-) direction as the third quadrant, X is positive (+), and Y is in the negative (-) direction as the fourth quadrant.

  The selection areas 541, 542, and 543 are assigned the operation mode of the first quadrant in the XY plane direction. In this case, the selection area 541 is assigned an operation mode in the direction of 30 ° indicated by an arrow B1 in FIG. The selection area 542 is assigned an operation mode in the 45 ° direction indicated by the arrow B2. The selection area 543 is assigned an operation mode in the direction of 60 ° indicated by the arrow B3. The selection areas 544, 545, and 546 are assigned the operation mode of the second quadrant in the XY plane direction. In this case, the selection area 544 is assigned an operation mode in the direction of 120 ° indicated by the arrow C1. The selection area 545 is assigned an operation mode in the 135 ° direction indicated by the arrow C2. The selection area 546 is assigned an operation mode in the direction of 150 ° indicated by the arrow C3.

  The selection areas 547, 548, and 549 are assigned the operation mode of the third quadrant in the XY plane direction. In this case, the selection area 547 is assigned an operation mode in the −150 ° direction indicated by the arrow D1. The selection area 548 is assigned an operation mode in the −135 ° direction indicated by the arrow D2. The selection area 549 is assigned an operation mode in the −120 ° direction indicated by the arrow D3. The selection areas 550, 551, and 552 are assigned the operation mode of the fourth quadrant in the XY plane direction. In this case, the selection area 550 is assigned an operation mode in the −60 ° direction indicated by the arrow E1. The selection area 551 is assigned an operation mode in the −45 ° direction indicated by the arrow E2. The selection area 552 is assigned an operation mode in the −30 ° direction indicated by the arrow E3.

  In this configuration, when the user performs a drag operation in the forward direction after touching any one of the selection areas 541, 542, and 543 in the first quadrant of the operation graphic 54 shown in FIG. 19, the robot 20 selects the selection area where the touch operation is performed. It moves in one of the angular directions corresponding to 541, 542, and 543, in this case, 30 ° indicated by arrow B1 in FIG. 20, 45 ° indicated by arrow B2, or 60 ° indicated by arrow B3. On the other hand, when the user performs a drag operation in the negative direction after touching one of the selection areas 541, 542, and 543 in the first quadrant of the operation figure 54 shown in FIG. 19, the robot 20 causes the selection area 541, In this case, it moves in the direction opposite to the angular direction corresponding to 542, 543, -150 ° indicated by the arrow D1 in FIG. 20, -135 ° indicated by the arrow D2, or -120 ° indicated by the arrow D2. To do.

  Further, when the user performs a drag operation in the forward direction after touching any one of the selection areas 544, 545, and 546 in the second quadrant of the operation graphic 54 shown in FIG. 19, the robot 20 causes the selection area 544, It moves in the direction of the angle corresponding to 545, 546, in this case, 120 ° indicated by the arrow C1 in FIG. 20, 135 ° indicated by the arrow C2, or 150 ° indicated by the arrow C3. On the other hand, when the user performs a drag operation in the negative direction after touching any one of the selection areas 544, 545, and 546 in the second quadrant of the operation figure 54 shown in FIG. 19, the robot 20 causes the selection area 544, It moves in the opposite direction to the angular direction corresponding to 545, 546, in this case, in the direction of either −60 ° indicated by arrow E1, −45 ° indicated by arrow E2, or −30 ° indicated by arrow E2. To do.

  Further, when the user performs a drag operation in the forward direction after touching any one of the selection areas 547, 548, and 549 in the third quadrant of the operation figure 54 shown in FIG. 19, the robot 20 causes the selection area 547, It moves in the direction of the angle corresponding to 548, 549, in this case, -150 ° indicated by arrow D1, -135 ° indicated by arrow D2, or -120 ° indicated by arrow D2. On the other hand, when the user performs a drag operation in the negative direction after touching any of the selection areas 547, 548, and 549 in the third quadrant of the operation graphic 54 shown in FIG. 19, the robot 20 causes the selection area 547, It moves in the direction opposite to the angular direction corresponding to 548, 549, in this case, either 30 ° indicated by arrow B1 in FIG. 20, 45 ° indicated by arrow B2, or 60 ° indicated by arrow B3.

  When the user performs a drag operation in the positive direction after touching any one of the selection areas 550, 551, and 552 in the fourth quadrant of the operation graphic 54 shown in FIG. 19, the robot 20 causes the selection area 550, It moves in one of the angular directions corresponding to 551 and 552, in this case, −60 ° indicated by the arrow E1, −45 ° indicated by the arrow E2, or −30 ° indicated by the arrow E2. On the other hand, when the user performs a drag operation in the negative direction after touching any one of the selection areas 550, 551, and 552 in the fourth quadrant of the operation graphic 54 shown in FIG. 19, the robot 20 causes the selection area 550, It moves in the direction opposite to the angular direction corresponding to 551 and 552, in this case, in the direction of 120 ° indicated by arrow C1, 135 ° indicated by arrow C2, or 150 ° indicated by arrow C3 in FIG.

  Incidentally, in this embodiment, the drag operation in the positive direction after touching the selection areas 541, 542, and 543 in the first quadrant is performed after touching the selection areas 547, 548, and 549 in the third quadrant, respectively. The drag operation in the negative direction after touching the selection areas 541, 542, and 543 in the first quadrant is performed by selecting the selection areas 547, 548, and 549 in the third quadrant, respectively. This is equivalent to a drag operation in the positive direction after a touch operation. Further, the drag operation in the positive direction after touching the selection areas 544, 545, and 546 in the second quadrant is dragging in the negative direction after touching the selection areas 550, 551, and 552 in the fourth quadrant, respectively. This is equivalent to the operation, and the drag operation in the negative direction after touching the selection areas 544, 545, and 546 in the second quadrant is the positive direction after touching the selection areas 547, 548, and 549 in the fourth quadrant Equivalent to dragging to

  As described above, according to the teaching pendant 40 of the present embodiment, the robots 20 and 30 can be operated in a mode in which a plurality of modes of operation are combined, such as the XY plane direction. Therefore, the user can operate the robots 20 and 30 in various operation modes, and as a result, operability and convenience are improved.

  Further, in the present embodiment, the circular operation figure 54 is divided into four quadrants by orthogonal X axis and Y axis as shown in FIG. The operation modes in the quadrants in the XY plane direction of the robots 20 and 30 are assigned to the selection areas 541 to 552 of the quadrants of the operation figure 54, respectively. According to this, the user has a positional relationship between the selection areas 541 to 552 in each quadrant of the operation graphic 54 and the operation modes of the robots 20 and 30 that can be selected by the selection areas 541 to 552. It is easy to get the impression that Therefore, a more intuitive operation is possible and further operability can be improved.

(Fourth embodiment)
Next, a fourth embodiment will be described with reference to FIGS. 4, 10, 11, and 21 to 26. In each of the embodiments described above, the example mainly suitable for the drag operation as the movement operation has been described. In the present embodiment, an example mainly suitable for the flick operation as the movement operation will be described. In the present embodiment, the user mainly performs a flick operation on the operation graphic 51 or the like as shown in FIGS. 10, 11, and 21, for example. In this case, as shown in FIG. 10, when the user performs a flick operation in the clockwise direction, that is, in the positive direction with respect to the operation graphic 51, the operation graphic 51 is moved in the right direction, that is, in the positive direction as indicated by the arrow A1 in FIG. Rotate in the direction.

  And in this embodiment, even if a user's finger | toe 90 grade | etc., Leaves | separates from the touch panel display 42, and the input of flick operation is complete | finished, as shown in FIG. 21, the operation figure 51 is as if it has inertia. Thus, it continues to rotate in the direction of arrow A1. As the operation figure 51 rotates, the robots 20 and 30 continue to operate. When a further flick operation is performed on the rotating operation graphic 51, the rotation of the operation graphic 51 is continued, whereby the operations of the robots 20 and 30 can be continued. In this case, a drag operation can be performed instead of the flick operation. In this case, the method for determining the motion mode and direction, and the method for calculating the operation speed of the flick operation are the same as those in the drag operation described in the above embodiments.

  In the present embodiment, the control contents from step S11 in FIG. 4 to step S21 in FIG. 5 are common to the first embodiment described above, and the control contents after step 21 in FIG. 5 are different. That is, when the manual operation of the robots 20 and 30 is started, the control unit 45 of the teaching pendant 40 executes the control contents shown in FIGS. 4 and 22 to 24. In this case, the “drag operation” in FIG. 4 can be read as “move operation” or “flick operation”.

  Specifically, when the process related to the manual operation is started, the control unit 45 first executes from step S11 in FIG. 4 to step S21 in FIG. Thus, as in the first embodiment, for example, as shown in FIGS. 10 and 11, the operation figure 51 rotates and the robots 20 and 30 are operated in accordance with the flick operation by the user's finger 90 or the like. Is called.

  Next, the control unit 45 determines whether or not the input of the movement operation has been completed in step S31 of FIG. After detecting the moving operation, the control unit 45 determines that the input of the moving operation is completed when it is further detected that the user's finger 90 or the like is separated from the touch panel display 42. When the input of the movement operation is continued (NO in step S31), the control unit 45 proceeds to step S14 in FIG. 4 and repeats steps S14 to S31. On the other hand, when the input of the movement operation is completed (YES in step S31), the control unit 45 executes step S32 of FIG.

  In step S32, the controller 45 determines whether or not a touch operation for a predetermined period or longer has been performed on the operation graphic 51 or the like. In addition, when distinguishing the predetermined period in step S32 and the predetermined period in another step, the predetermined period in step S32 is referred to as a touch operation detection period. The touch operation to be detected in step S32 is an operation that serves as a trigger for performing the stop process shown in step S37 of FIG. Therefore, the control unit 45 needs to clearly distinguish between a touch operation that is a trigger for performing the stop process and a touch operation that is inevitably input when performing a moving operation. In this case, since the touch operation for performing the stop process has the intention of “stopping the robots 20 and 30” by the user, it is assumed that the touch operation is longer than the touch operation during the moving operation. The Therefore, the control unit 45 determines whether the touch operation is for executing the stop process or whether the touch operation is performed according to the input period of the touch operation, that is, whether the touch operation is continuously performed for a predetermined period or more. Are inevitably entered. In this case, the predetermined period is, for example, about 500 ms.

  When the touch operation for the predetermined period or longer is not performed on the operation figure 51 or the like (NO in step S32), the control unit 45 proceeds to step S33. In step S33, the control unit 45 determines whether or not a predetermined period, for example, about 1 second to 2 seconds has elapsed since the end of the input of the moving operation in step S31 of FIG. In addition, when distinguishing the predetermined period in step S33 and the predetermined period in another step, the predetermined period in step S33 is called a speed maintenance period.

  If the predetermined period has not elapsed after the end of the input of the moving operation (NO in step S33), the control unit 45 executes a speed maintaining process in step S34. In the speed maintaining process, the operation speed Vr of the robots 20 and 30 is determined for a predetermined period from the input of the moving operation in step S31 in FIG. 22 until the deceleration process in step S35 in FIG. 23 is started. This is a process of maintaining the operation speed Vr of the robots 20 and 30 immediately before the input is completed. That is, the robots 20 and 30 operate at a constant operation speed Vr for a predetermined period after the input of the movement operation is completed. And if the control part 45 performs a speed maintenance process, it will transfer to step S14 of FIG. 4, and will repeat the process after step S14.

  On the other hand, when a predetermined period has elapsed after the end of the input of the movement operation (YES in step S33 in FIG. 23), the control unit 45 proceeds to step S35 and executes a deceleration process. That is, after the input of the movement operation is completed, when the predetermined period has passed without the input of the next movement operation, in other words, when the speed maintaining process is continued for the predetermined period, the control unit 45 performs step S35. Deceleration processing is executed at. The deceleration process is a process of gradually decelerating the operation speed Vr of the robots 20 and 30 after the input of the movement operation is completed and the next movement operation is not input. In the case of the present embodiment, the control unit 45 executes the deceleration process after executing the speed maintaining process, that is, after the predetermined period of step S33 has elapsed. And if the control part 45 performs the deceleration process, it will transfer to step S14 of FIG. 4, and will repeat the process after step S14.

  Here, “gradually decelerate the operation speed Vr of the robot 20, 30” means, for example, a disk having the actual state of the operation graphic 51, and inertial force and frictional force act on the rotation of the operation graphic 51. Assuming that the operation graphic 51 is no longer operated, it means deceleration at a rate similar to the rate of decrease in the rotation speed from when the operation graphic 51 stops rotating. Therefore, the degree of deceleration in “gradual deceleration” varies according to the operation speed Vr of the robots 20 and 30 immediately before the input of the movement operation is completed.

  In addition, in step S32 of FIG. 23, when a touch operation for a predetermined period or longer is performed on the operation figure 51 (YES), the control unit 45 proceeds to step S36 of FIG. In step S36, the controller 45 determines whether or not the robots 20 and 30 are operating, that is, whether or not they are stopped. When the robots 20 and 30 are stopped (NO in step S36), the control unit 45 proceeds to step S39 without processing steps S37 and S38. On the other hand, when the robots 20 and 30 are operating (YES in step S36), the control unit 45 executes steps S37 and S38.

  In step S37, the control unit 45 executes a stop process. The stop process is a process for stopping the operations of the robots 20 and 30. In this case, the control unit 45 transmits a stop command to the controller 11. Here, a certain amount of time is required until the robots 20 and 30 actually stop after the stop process is executed. Therefore, the robots 20 and 30 may move beyond the stop position intended by the user. Therefore, the control unit 45 performs correction processing in step S38. In the correction process, when the robots 20 and 30 are moved from the time when the touch operation for executing the stop process is performed, the robots 20 and 30 are moved to the positions of the robots 20 and 30 when the touch operation is performed. It is a process to make. In other words, the correction process is a process of returning the robots 20 and 30 to the stop positions intended by the user when the robots 20 and 30 move too much from the stop positions intended by the user during the stop process.

  Thereafter, the control unit 45 proceeds to step S39 and determines whether or not the input of the touch operation detected in step S32 has been completed. If the input of the touch operation has not ended (NO in step S39), the process proceeds to step S14 in FIG. 4 and the processes in and after step S14 are repeated. On the other hand, if the input of the touch operation has been completed (YES in step S39), the control unit 45 executes step S40 and cancels the setting of the currently set operation mode and operation direction of the robots 20, 30. initialize. As a result, a series of processing is finished, and the operations of the robots 20 and 30 are finished. And the control part 45 returns to step S11 of FIG. 4, and performs the process after step S11 again. As a result, the user can manually operate with a new operation mode and operation direction. That is, the user can change the operation mode and the operation direction of the robots 20 and 30.

  Next, the relationship between the operation speed Vd of the moving operation and the operation speed Vr of the robots 20 and 30 will be described with reference to FIGS. In FIGS. 25 and 26, Vd (max) and Vr (max) correspond to each other. In this case, Vr (max) is the maximum speed of the robots 20 and 30, and Vd (max) is the operation speed Vd necessary for setting the maximum speed of the robots 20 and 30.

  For example, as shown in FIGS. 25 and 26, a case where two movement operations F1 and F2 are continuously input will be described. In this case, when the previous movement operation F1 is input, as shown in the period T0-T1, the operation speed Vr of the robots 20 and 30 increases as the operation speed Vd of the movement operation F1 increases. In this case, when the operation speed Vr of the robots 20 and 30 reaches Vr (max), as shown in the period T1-T2, the robots 20 and 30 even if the operation speed Vd of the moving operation F1 exceeds Vd (max). The operation speed Vr is maintained at Vr (max).

  Thereafter, when the input of the previous movement operation F1 is completed, a speed maintaining process is performed as shown in a period T2-T3. That is, the period T2-T3 is a speed maintenance period. Thereby, even if no movement operation is input, the operation speed Vr of the robots 20 and 30 is maintained at the operation speed Vr immediately before the input of the previous movement operation F1 is completed, in this case Vr (max). When the next movement operation F2 is input before the speed maintenance period T2-T3 has elapsed, the operation speed Vd of the robots 20 and 30 is determined according to the operation speed Vd of the movement operation F2. Next, when the input of the movement operation F2 is finished and the speed maintenance period shown in the period T4-T5 has elapsed without the next movement operation being input, the operation speed Vr of the robots 20 and 30 is changed to the period T5-T6. As shown by, the vehicle is gradually decelerated by the deceleration process and then stops. In this case, the period T5-T6 is a deceleration period.

  Further, as shown in a period U1-U2 in FIG. 26, when a touch operation F3 of a predetermined period or more is input within the period of the speed maintaining period T4-T5, the stop process is executed and the robots 20 and 30 will stop. And In this case, the period U1-U2 is a stop period. The deceleration rate of the operating speed Vr in the stop period U1-U2 is larger than the deceleration rate of the operating speed Vr in the deceleration period T5-T6. And as shown to period U2-U3, a correction process is performed following a stop process. In this case, the period U2-U3 is a correction period. The area of the hatched portion in the stop period U1-U2 is equal to the area of the hatched portion in the correction period U2-U3. That is, the movement amount of the robots 20 and 30 in the stop period U1-U2 is equal to the movement amount of the robots 20 and 30 in the correction period U2-U3. Thereby, the positions of the robots 20 and 30, that is, the hand positions are returned to the positions at the time when the touch operation F3 is input.

  Thus, according to the present embodiment, for example, even if the input of the flick operation is completed, the operation speed V of the robots 20 and 30 is gradually reduced. For this reason, the robots 20 and 30 do not stop suddenly immediately after the input of the flick operation is completed, and continue to operate for a certain period after the input of the flick operation is completed. Therefore, the user can keep operating the robots 20 and 30 continuously without completely stopping by repeating the flick operation in small increments, for example. According to this, a limited area on the touch panel display 42 can be used effectively. That is, the area on the touch panel display 42 required for the moving operation can be reduced, and as a result, the teaching pendant 40 can be downsized. Further, since the user can operate the robots 20 and 30 by, for example, small flick operations, it is possible to reduce the amount of movement of the fingers 90 and the like during the movement operation. As a result, the operability is improved and the burden on the user can be reduced.

  Here, if the above-described deceleration process is started immediately after the input of the moving operation is completed, the following problem occurs when a plurality of moving operations are input. That is, in this case, as indicated by a one-dot chain line in the period T2-T3 in FIG. 25, the robots 20 and 30 are in a period from the input of the previous movement operation F1 to the input of the next movement operation F2. The operation speed Vr is reduced by the deceleration process. Therefore, the operation speed Vr of the robots 20 and 30 is likely to vary, and the operations of the robots 20 and 30 are likely to become unstable.

  On the other hand, according to the present embodiment, the user inputs the next movement operation within a predetermined period during which the speed maintenance process is performed, so that the robots 20 and 30 perform the deceleration process before inputting the next movement operation. It can prevent decelerating. As a result, for example, even when the flick operation is performed continuously, it is possible to suppress variation in the operation speed Vr of the robots 20 and 30 and to improve the stability of the operation speed of the robots 20 and 30. Also, according to this, even if the interval between the flick operations is relatively long, the operation speed Vr of the robots 20 and 30 can be easily maintained constant. Therefore, the number of flick operations can be reduced, and as a result, the burden on the user can be reduced. Further, after the speed maintaining process is performed for a predetermined period, the above-described deceleration process is performed. Therefore, when a predetermined period elapses after the movement operation is not performed, the robots 20 and 30 are safe because they decelerate and stop.

  Further, according to the present embodiment, for example, as shown in FIG. 26, the user can enter the operation figure 51 or the like even during the operation of the robot 20 or 30 during the deceleration process or the speed maintenance process. On the other hand, by performing the touch operation F3 for a predetermined period or longer, the operations of the robots 20 and 30 can be stopped without waiting for the stop by the deceleration process. According to this, since the user can stop the operation of the robots 20 and 30 at an arbitrary timing, further safety and operability can be improved.

  Further, according to the present embodiment, as shown in the period U1-U2 of FIG. 26, even when the robots 20 and 30 move from the time point when the touch operation F3 is performed, by performing the correction process, The hand positions of the robots 20 and 30 can be returned to the positions of the robots 20 and 30 at the time when the touch operation F3 is performed. Therefore, the deviation between the stop position of the robot 20, 30 intended by the user and the actual stop position of the robot 20, 30 can be corrected. As a result, the operability is improved.

(Fifth embodiment)
Next, a fifth embodiment will be described with reference to FIG. In the present embodiment, when the next movement operation is input while the speed maintaining process based on the previous movement operation is being performed, the operation command generation unit 47 sets the operation speed Vd of the next movement operation to the previous movement operation. If it is within the predetermined range RA with respect to the operation speed Vd of the moving operation, the operation speed Vr of the robots 20 and 30 is maintained at a value based on the operation speed Vd of the previous moving operation. On the other hand, if the operation speed Vd of the next movement operation is outside the predetermined range RA with respect to the operation speed Vd of the previous movement operation, the movement command generation unit 47 sets the movement speed Vr of the robot 20 or 30 to the next movement operation. Is determined based on the operation speed Vd. In this case, the predetermined range RA is determined on the basis of the average value or the maximum value of the operation speed Vd of the previous movement operation, for example, the upper and lower numbers with respect to the average speed of the operation speed Vd of the previous movement operation. % Range.

  For example, FIG. 27 shows a case where three flick operations F4 to F6 are input. In this case, when detecting the first flick operation F4, the control unit 45 operates the robots 20 and 30 at the operation speed Vr corresponding to the operation speed Vd of the flick operation F4, as indicated by the period T0-V1. A predetermined range RA is set based on the operation speed Vd of the flick operation F4. In FIG. 27, a predetermined range RA based on the maximum value Vd (4) of the operation speed Vd in the first flick operation F4 is indicated by a two-dot chain line. When the input of the flick operation F4 is completed, the operation speed Vr (4) immediately before the end of the input of the flick operation F4 is maintained as indicated by the period V1-V2.

  Next, when detecting the next flick operation F5, the control unit 45 determines whether or not the operation speed Vd of the flick operation F5 is within a predetermined range RA based on the previous flick operation F4. In this case, the operation speed Vd of the next flick operation F5 is within a predetermined range RA based on the maximum value Vd (4) of the operation speed Vd of the previous flick operation F4. Therefore, as shown in the period V2-V4, the control unit 45 takes over the operation speed Vd (4) of the robots 20 and 30 at the end of the input of the previous movement operation F4, and moves the robots 20 and 30 to the operation speed Vd ( Continue to operate in 4).

  Similarly, when the control unit 45 further detects the next flick operation F6, the control unit 45 determines whether or not the operation speed Vd of the flick operation F5 is within a predetermined range RA based on the previous flick operation F4. . In this case, the operation speed Vd of the next flick operation F6 is outside the predetermined range RA based on the operation speed Vd of the previous flick operation F4. Therefore, as shown in the period V5-T4, the control unit 45 operates the robots 20 and 30 at the operation speed Vr corresponding to the operation speed Vd of the flick operation F6, and uses the operation speed Vd of the flick operation F6 as a reference. The predetermined range RA is reset.

  According to this, even if the operation speed Vd of each of the flick operations F4 to F6 varies to some extent, the operation speed Vd of the robots 20 and 30 can be kept constant as long as it is within the predetermined range RA. Therefore, variations in the operation speed Vd of the movement operations F4 to F6 can be absorbed, and the operation stability of the robots 20 and 30 can be improved. Further, for example, as in the next flick operation F6 with respect to the previous flick operation F4, the user inputs a moving operation at the operation speed Vd outside the predetermined range RA, thereby changing the operation speed Vr of the robots 20 and 30. Can do. Therefore, according to this, it is possible to perform a flexible operation while absorbing variations in the operation speed Vd of the movement operations F4 to F6, and as a result, operability is improved.

(Other embodiments)
The embodiments of the present invention are not limited to the embodiments described above and illustrated in the drawings, and can be modified as appropriate without departing from the scope of the invention. The embodiment of the present invention can be modified or expanded as follows, for example.
For example, in the third embodiment, the angle directions corresponding to the selection areas 541 to 552 are not limited to those described above, and can be arbitrarily set by the user. For example, the operation mode assigned to the selection areas 541 to 552 is not limited to the XY plane direction described above, and may be an XZ plane, a YZ plane, or other operation modes. In addition, the number of selection areas can be arbitrarily increased or decreased by the user.

  In each of the above embodiments, the touch panel 421 and the display 422 are integrally configured as the touch panel display 42. However, the touch panel and the display may be separately separated from each other. In this case, the operation figure and the direction figure can be provided on the touch panel in advance by printing or the like.

  Further, the robot to be operated by the teaching pendant 40 according to the above embodiment is not limited to the 4-axis robot 20 or the 6-axis robot 30. For example, a 4-axis robot 20 or a 6-axis robot 30 may be installed on a so-called XY stage (2-axis stage). The robot that is the operation target of the teaching pendant 40 includes, for example, a linear robot having one drive axis and an orthogonal robot having a plurality of drive axes. In this case, the drive shaft is not limited to a mechanical rotary shaft, and includes a method of driving by a linear motor, for example.

  Further, the operation figure 51 and the like may have a virtual three-dimensional shape instead of a planar configuration. For example, the operation figures 81 and 82 shown in FIG. 28 are pseudo spheres displayed on the display 422, and are configured as so-called virtual trackballs. The user can virtually rotate the operation figures 81 and 82 in the operation direction of the movement operation by performing a movement operation on the operation figures 81 and 82 in an arbitrary direction indicated by each arrow, for example. In this case, the user can move the hands of the robots 20 and 30 in the + Y direction, for example, by rotating the operation figure 81 in the direction indicated by the arrow G1. Similarly, the user can move the hands of the robots 20 and 30 in the −Y direction by rotating the operation figure 81 in the direction indicated by the arrow G2.

  Furthermore, the user can move the hands of the robots 20 and 30 in a direction that combines the + X direction and the + Y direction, for example, by rotating the operation figure 81 in the direction indicated by the arrow G3. According to this configuration, even if the operation figure is made small, the operability is not easily lost. Therefore, the teaching pendant 40 can be reduced in size without impairing operability. In this case, three or more operation figures may be arranged on the touch panel display 42. Further, the configuration shown in FIG. 28 can be applied to either the hand system operation or the operation of each axis system.

  In the drawings, 10 is a robot system, 20 is a 4-axis horizontal articulated robot (robot), 30 is a 6-axis vertical articulated robot (robot), 40 is a teaching pendant (robot operating device), and 42 is a touch panel display. , 421 is a touch panel, 422 is a display, 46 is an operation detection unit, 47 is an operation command generation unit, 48 is a display control unit, 51 is a 4-axis hand system operation graphic (operation graphic), 511 to 514 are selection areas, 515 Is an invalid area, 52 is an operation figure (operation figure) for each of the four axes, 521 to 524 are selection areas, 525 is an invalid area, 53 is an operation figure, 531 to 534 are selection areas, 535 is an invalid area, 54 is Operation figures, 541 to 552 are selection areas, 61 is an operation figure for a six-axis hand system, 611 to 616 are selection areas, 617 is an invalid area, and 62 is a six-axis axis system. Operation figure, the selection area 621 to 626, the invalid region 627, 63 operating figures, the selection area 631 to 636, 637 invalid region, 81 and 82 show the operation graphic.

Claims (14)

A touch panel that receives input of a touch operation and a movement operation from a user;
An operation detection unit capable of detecting the touch operation and the movement operation on the touch panel;
An operation command generation unit that generates an operation command for operating the robot based on the detection result of the operation detection unit,
When the operation detecting unit detects that the moving operation has been performed on the operation figure set on the touch panel, the operation command generating unit detects the robot based on the operation speed of the moving operation. The operation speed determination process for determining the operation speed can be performed.
Robot operating device. The operation command generator is
When the operation direction of the movement operation is a positive direction with respect to the rotation circumferential direction of the operation graphic, the movement direction of the robot is determined as a positive direction, and the operation direction of the movement operation is the rotation circle of the operation graphic When the direction is negative with respect to the direction, it is possible to perform an operation direction determination process for determining the operation direction of the robot as a negative direction.
The robot operation device according to claim 1. The operation graphic has a plurality of selection areas, which are areas to which the operation modes of the robot by the drive axes of the robot or combinations of drive axes are assigned,
When the operation detection unit detects a touch operation on the selection region, the operation command generation unit determines an operation mode assigned to the touch-operated selection region as an operation mode of the robot. It can be performed,
The robot operating device according to claim 1 or 2. A display capable of displaying shapes,
A display control unit for controlling the display content of the display,
The display control unit can perform an operation graphic display process for displaying the operation graphic on the display.
The robot operating device according to any one of claims 1 to 3. The operation graphic display process includes a process of rotating the operation graphic in accordance with the movement of the current position by the movement operation and displaying the operation graphic on the display.
The robot operation device according to claim 4. In the operation speed determination process, the operation speed of the robot is determined based on an angular speed of the moving operation with respect to a rotation center set on the operation figure.
The robot operating device according to any one of claims 1 to 5. The operation speed determining process is configured to invalidate the moving operation in the invalid area when the operation detecting unit detects the moving operation with respect to the invalid area which is an area provided near the rotation center on the operation figure. Including processing to determine that there is,
The robot operation device according to claim 6. The operation speed determination process is to determine the operation speed of the robot based on the peripheral speed of the moving operation with respect to the rotation center set on the operation figure.
The robot operating device according to any one of claims 1 to 7. The operation speed determination process includes:
A decelerating process for gradually decelerating the operation speed of the robot in a period in which the input of the moving operation is completed and the next moving operation is not input,
The robot operating device according to any one of claims 1 to 8. The operation speed determination process includes:
A speed maintaining process for maintaining the operation speed of the robot immediately before the end of the input of the moving operation in a predetermined period from the end of the input of the moving operation to the start of the deceleration process;
The robot operation device according to claim 9. The operation command generator is
When the next movement operation is input during the speed maintaining process based on the previous movement operation, the operation speed of the next movement operation is within a predetermined range with respect to the operation speed of the previous movement operation. If there is, the operation speed of the robot is maintained at a value based on the operation speed of the previous movement operation, and if the operation speed of the next movement operation is out of a predetermined range with respect to the operation speed of the previous movement operation, the robot The processing speed can be determined based on the operation speed of the next movement operation,
The robot operation device according to claim 10. The operation command generator is
A stop process for stopping the robot can be performed when a touch operation is performed on the operation figure for a predetermined period or more during the operation of the robot.
The robot operating device according to any one of claims 9 to 11. The operation command generator is
When the robot moves from the time when the touch operation for executing the stop process is performed, a correction process for moving the robot to the position of the robot at the time when the touch operation is performed can be performed.
The robot operation device according to claim 12. A touch panel that receives input of a touch operation and a movement operation from a user;
An operation detection unit capable of detecting the touch operation on the touch panel and the movement operation;
An operation command generation unit that generates an operation command for operating the robot based on the detection result of the operation detection unit;
A robot operation program to be executed by a computer incorporated in a robot operation device comprising:
In the computer,
An operation speed determining process for determining an operation speed of the robot based on an operation speed of the moving operation when the operation detecting unit detects the moving operation with respect to the operation figure set on the touch panel;
Robot operation program that can be executed.

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