JP6361153B2 - Robot teaching device - Google Patents

Description

  The present invention relates to an apparatus for teaching an operating point of a robot.

  Conventionally, in a three-dimensional simulation model of a robot using CAD or the like, after switching the display to the XY plane and determining the position on the XY plane by operating the mouse, the display is switched to the YZ plane and the position on the YZ plane is set to the mouse. Is determined by the operation (see Patent Document 1).

Japanese Patent No. 5120290

  By the way, in the thing of patent document 1, it is necessary to switch from a three-dimensional image to two two-dimensional images sequentially, and to indicate a position (operation point). For this reason, an operation for switching from a three-dimensional image to a two-dimensional image is essential, and the operating point cannot be taught intuitively from the three-dimensional image at the current viewpoint.

  The present invention has been made in view of such circumstances, and a main object of the present invention is to provide a robot teaching apparatus that is easy to operate and can intuitively teach operating points.

  The present invention employs the following means in order to solve the above problems.

  The first means is a robot teaching apparatus, and includes a display unit that displays an image, an image control unit that controls a three-dimensional image of the robot displayed on the display unit, and a position in the depth direction of the three-dimensional image. An operation unit that receives an operation for instructing a depth position, and an operation for instructing an in-plane position that is a position in a plane of the three-dimensional image, and an acquisition unit that acquires an operating point of the robot, The image control unit causes the display unit to display the three-dimensional image corresponding to the depth position instructed by an operation on the operation unit, and the acquisition unit includes the instructed depth position and the corresponding three-dimensional image. The operating point of the robot is acquired based on an in-plane position designated by an operation on the operation unit in the image.

  According to the above configuration, an image is displayed on the display unit, and the three-dimensional image of the robot displayed on the display unit is controlled by the image control unit. The operation unit accepts an operation for designating a depth position that is a position in the depth direction of the 3D image and an operation for designating an in-plane position that is a position in the plane of the 3D image.

  Here, the image control unit causes the display unit to display a three-dimensional image corresponding to the depth position designated by the operation on the operation unit. Therefore, by performing an operation for designating the depth position in the three-dimensional image of the robot, a three-dimensional image corresponding to the depth position can be displayed from the three-dimensional image at the current viewpoint. Then, the operation point of the robot is acquired by the acquisition unit based on the instructed depth position and the in-plane position instructed by the operation on the operation unit in the corresponding three-dimensional image. Therefore, the operating point can be taught only by the instruction of the depth position and the in-plane position in the three-dimensional image. As a result, the operation is simple and the operating point can be taught intuitively.

  In the second means, the image control unit displays an instruction plane indicating the depth position indicated by the operation in the three-dimensional image when receiving an operation for indicating the depth position by the operation unit.

  According to the above configuration, when receiving an operation for instructing the depth position by the operation unit, the instruction plane indicating the depth position instructed by the operation is displayed in the three-dimensional image. For this reason, the user can correctly specify the depth position while visually confirming the depth position specified by the operation.

  In the third means, the indication plane is constituted by a plurality of indication planes arranged at predetermined intervals in the depth direction of the three-dimensional image.

  According to the said structure, the instruction | indication plane displayed when instruct | indicating the depth position of a three-dimensional image can be prepared with a simple structure.

  In the fourth means, the image control unit causes the display unit to display the three-dimensional image corresponding to the depth position instructed by an operation on the operation unit, and the indication plane, and the operation unit includes the tertiary An operation for designating an in-plane position that is a position within the plane of the designated plane in the original image is accepted.

  According to the above configuration, the indication plane displayed when the user indicates the depth position is also displayed when a three-dimensional image corresponding to the indicated depth position is displayed. Then, an operation for instructing an in-plane position that is a position within the plane of the instruction plane in the three-dimensional image is received by the operation unit. For this reason, the user can instruct the in-plane position in the instruction plane while clearly recognizing the instructed depth position by the instruction plane. Therefore, the user can appropriately teach the intended operating point.

  In the fifth means, the image control unit displays the instruction plane in a translucent manner.

  According to the above configuration, since the instruction plane is displayed in a translucent manner, the robot can be prevented from being invisible by the instruction plane. Therefore, even when the instruction plane is displayed, the user can teach the operating point while confirming the position of the robot.

  In a sixth means, the operation unit accepts only an operation for instructing the depth position including the movement range of the robot.

  According to the above configuration, only an operation for instructing the depth position including the movement range of the robot is accepted by the operation unit. For this reason, it is possible to prevent the user from erroneously teaching a position outside the operation range of the robot, and it is possible to improve the efficiency of teaching the operation point.

  In the seventh means, the operation unit increases the accuracy of the operation of indicating the depth position as the magnification of the three-dimensional image displayed on the display unit is higher.

  The higher the magnification of the three-dimensional image displayed on the display unit, the easier it is for the user to correctly indicate the depth position.

  In this regard, according to the above configuration, the accuracy of the operation for indicating the depth position is increased by the operation unit as the magnification of the three-dimensional image of the robot displayed on the display unit is higher. Therefore, the user can appropriately specify the depth position according to the magnification of the displayed three-dimensional image of the robot.

The block diagram which shows the teaching apparatus of a robot. The figure which shows the start image of teaching. The figure which shows the relationship between the instruction | indication part which instruct | indicates a depth position, and an instruction | indication plane. The figure which shows the aspect which instruct | indicates a depth position. The figure which shows the aspect which designates the in-plane position of an instruction | indication plane. The figure which shows the state in which the teaching point was instruct | indicated. The figure which shows the example of a change of the relationship between the instruction | indication part which instruct | indicates a depth position, and an instruction | indication plane. The block diagram which shows the example of a change of the teaching apparatus of a robot. The figure which shows the example of a change of the start image of teaching. The figure which shows the example of a change of the aspect which designates the in-plane position of an instruction | indication plane.

  Hereinafter, an embodiment will be described with reference to the drawings. This embodiment is embodied as a teaching device that teaches the operating point of a robot by a three-dimensional simulation model executed using a PC (Personal Computer) or the like. As shown in FIG. 1, the robot teaching apparatus 10 includes a PC 20, a display 30, a keyboard 40, and a touch panel 50.

  The PC 20 includes a CPU 21, a ROM 22, a RAM 23, a hard disk drive (HDD) 24 as a mass storage device, an input / output interface (I / F) 25, and the like. The CPU 21 executes various programs stored in the ROM 22, and the RAM 23 stores parameter values and the like when executing the programs. The HDD 24 stores a simulation program for operation simulation, a teaching program for teaching, a three-dimensional CAD program for robot design, and the like. CPU21 (image control part) controls the three-dimensional image of the robot displayed on the screen of the touch panel 50 by executing these programs. Further, the CPU 21 (acquisition unit) acquires the operating point of the robot by executing these programs. A display 30, a keyboard 40, and a touch panel 50 are connected to the I / F 25.

  The display 30 displays various images on the screen based on the image signal output from the PC 20 by the processing of the CPU 21. The keyboard 40 inputs a key operation by the user and outputs a signal corresponding to the key operation to the PC 20. The touch panel 50 (display unit) displays an image on the screen based on the image signal output from the PC 20 by the processing of the CPU 21. Further, the touch panel 50 (operation unit) detects a position where the user touches the screen. As will be described later, the touch panel 50 receives an operation for instructing a depth position that is a position in the depth direction of a 3D image and an operation for instructing an in-plane position that is a position in the plane of the 3D image. Then, the touch panel 50 outputs a signal corresponding to the position where the user touches the screen to the PC 20.

  Next, a procedure for the user to teach the operating point of the robot using the robot teaching apparatus 10 will be described.

  FIG. 2 is a diagram illustrating a start image (three-dimensional image) when starting teaching displayed on the touch panel 50. The start image can be arbitrarily set by the user and can be registered in advance.

  In the start image, an instruction unit 51 for instructing a depth position that is a position in the depth direction is displayed. The instruction unit 51 (operation unit) includes a scale 52 and a cursor 53. The scale 52 includes a plurality of scale lines 52a. The cursor 53 is moved to the position of one of the scale lines 52a of the scale 52 by a user operation.

  As shown in FIG. 3, each scale line 52a corresponds to each indicating plane F indicating the depth position of the start image. The instruction plane F is perpendicular to the floor surface to which the robot R is fixed and is perpendicular to the depth direction of the start image. In the scale 52, the left scale line 52a indicates the near side indicating plane F, and the right scale line 52a indicates the far side indicating plane F. By moving the cursor 53, the instruction plane F corresponding to the scale line 52a where the cursor 53 is located is selected (instructed). The range in the depth direction indicated by the scale 52 is only the operation range of the robot R. Therefore, the instruction unit 51 (touch panel 50) accepts only an operation for selecting the instruction plane F corresponding to the movement range of the robot R, that is, only an operation for instructing a depth position including the movement range of the robot R. When teaching the operating point of the robot R, only the instruction plane F1 corresponding to the scale line 52a where the cursor 53 is located is displayed on the screen of the touch panel 50 in a translucent manner.

  As shown in FIG. 4, the user touches the cursor 53 with a finger and moves the finger along the scale 52 while maintaining the contact state. The touched position is detected by the touch panel 50 and a signal corresponding to the position is output to the CPU 21 of the PC 20. And CPU21 changes the display position of the cursor 53 according to the movement of the position which is contacting. At this time, the CPU 21 displays the instruction plane F1 corresponding to the scale line 52a where the cursor 53 is located in the start image in a translucent manner. That is, as the cursor 53 moves, the displayed instruction plane F1 moves in the depth direction.

  The user moves the cursor 53 to display the instruction plane F1 that matches the depth position of the operation point to be taught (teaching point). The user then determines (instructs) the depth position of the instruction plane F1, that is, the depth position of the teaching point, by releasing the finger from the screen of the touch panel 50. When it is detected by the touch panel 50 that the finger has been released (when the depth position of the teaching point is instructed), the CPU 21 displays the depth position of the displayed instruction plane F1 (the scale line 52a where the cursor 53 is positioned). The depth position shown) is acquired as the depth position of the teaching point. When the depth position of the teaching point is instructed, the CPU 21 displays a 3D image corresponding to the instructed depth position and the instructed instruction plane F1 on the screen of the touch panel 50, as shown in FIG.

  As shown in the figure, the user then touches the position of the operating point to be taught with a finger within the designated plane F1 in the three-dimensional image. The touch panel 50 receives an operation of detecting a position touched in the plane of the indication plane F1, that is, indicating an in-plane position that is a position in the plane of the indication plane F1. At this time, the touch panel 50 accepts only an operation that designates the in-plane of the instruction plane F1, and does not accept an operation that designates a position outside the instruction plane F1. The touch panel 50 outputs a signal corresponding to the detected contact position to the CPU 21 of the PC 20. Further, as shown in FIG. 6, the CPU 21 deletes the designated plane F1 and displays a point P indicating a teaching point at the designated in-plane position.

  Thereby, the position of the point P at that time is instruct | indicated as a position of a teaching point. Then, the CPU 21 acquires the operating point of the robot R based on the acquired depth position (instructed depth position) and the in-plane position of the teaching point specified in the corresponding three-dimensional image. Specifically, the three-dimensional position of the point P calculated based on the instructed depth position of the instruction plane F1 and the in-plane position of the point P in the instruction plane F1 is acquired as the operating point of the robot R. When the position touched in the plane of the indication plane F1 is detected, it may be confirmed to the user whether or not the position of the point P at that time is acquired as an operating point.

  When the operation point in the plane of the indication plane F1 is continuously taught, the finger contacts the position corresponding to the next operation point to be taught in the plane of the indication plane F1. When the operating point at the depth position different from the instruction plane F1 is continuously taught, the instruction plane 51 corresponding to the depth position of the operation point is selected by moving the cursor 53 of the instruction unit 51. Thereafter, the same operation as described above is performed.

  The embodiment described in detail above has the following advantages.

  The CPU 21 displays on the screen of the touch panel 50 a three-dimensional image corresponding to the depth position instructed by an operation on the instruction unit 51. For this reason, a 3D image corresponding to the depth position is displayed from the 3D image at the current viewpoint by performing an operation for designating the depth position in the start image (3D image of the robot R) when starting teaching. be able to. Then, the CPU 21 acquires the operating point of the robot R based on the instructed depth position and the in-plane position instructed by the operation on the touch panel 50 in the corresponding three-dimensional image. Therefore, the operating point can be taught only by the instruction of the depth position and the in-plane position in the three-dimensional image. As a result, the operation is simple and the operating point can be taught intuitively.

  When receiving an operation for instructing the depth position by the instruction unit 51, an instruction plane F1 indicating the depth position indicated by the operation is displayed in the three-dimensional image. For this reason, the user can correctly specify the depth position while visually confirming the depth position specified by the operation.

  The instruction plane F is composed of a plurality of instruction planes F arranged at predetermined intervals in the depth direction of the three-dimensional image. For this reason, the indication plane F1 displayed when instructing the depth position of the three-dimensional image can be prepared with a simple configuration.

  The indication plane F1 displayed when the user indicates the depth position is also displayed when a three-dimensional image corresponding to the indicated depth position is displayed. Then, the touch panel 50 accepts an operation for designating an in-plane position that is a position within the plane of the designated plane F1 in the three-dimensional image. For this reason, the user can instruct the in-plane position in the instruction plane F1 while clearly recognizing the instructed depth position by the instruction plane F1. Therefore, the user can appropriately teach the intended operating point.

  The touch panel 50 accepts only an operation that designates the in-plane of the indication plane F1, and does not accept an operation that designates a position outside the indication plane F1. For this reason, it can suppress that a user instruct | indicates the position remove | deviated from the instruct | indicated depth position accidentally.

  Since the instruction plane F1 is displayed in a translucent manner, it is possible to suppress the robot R from being invisible by the instruction plane F1. Therefore, even when the instruction plane F1 is displayed, the user can teach the operating point while confirming the position of the robot R.

  -Only the operation of instructing the depth position including the operation range of the robot R is accepted by the instruction unit 51. For this reason, it is possible to prevent the user from erroneously teaching a position outside the operation range of the robot R, and it is possible to improve the efficiency of teaching the operation point.

  In addition, the said embodiment can also be deform | transformed and implemented as follows.

  The indication plane F can be displayed opaque.

  -The higher the magnification of the three-dimensional image of the robot R displayed on the screen of the touch panel 50, the easier it is for the user to correctly indicate the depth position. In this regard, as shown in FIG. 7, the CPU 21 narrows the interval in the depth direction divided by the scale line 52 a of the scale 52 as the magnification of the three-dimensional image of the robot R displayed on the screen of the touch panel 50 increases. You may raise the precision of operation which instruct | indicates a depth position. According to such a configuration, the user can appropriately designate the depth position according to the magnification of the displayed three-dimensional image of the robot R.

  Here, the interval in the depth direction divided by the scale line 52a may be changed according to the magnification of the starting image when teaching is started. In addition, after the depth position is instructed by the user in FIG. 4, the distance in the depth direction is divided by the scale line 52a according to the magnification of the three-dimensional image corresponding to the instructed depth position displayed as shown in FIG. May be changed. In this case, in FIG. 5, the user may correctly indicate the depth position again with the changed scale 52.

  As shown in FIG. 8, instead of the touch panel 50, a mouse 150 may be connected to the I / F 25, and the CPU 21 may display a three-dimensional image of the robot R on the display 30 (display unit). Then, an operation for instructing a depth position that is a position in the depth direction of the 3D image and an operation for instructing an in-plane position that is a position in the plane of the 3D image are received by the mouse 150 (operation unit). In this case, as shown in FIG. 9, the pointer Pt that is moved by the operation of the mouse 150 is displayed in the start image (three-dimensional image) displayed on the display 30. Then, when the cursor 53 is dragged and moved by the pointer Pt, the CPU 21 causes the display 30 to display a three-dimensional image corresponding to the instructed depth position. As shown in FIG. 10, when the in-plane position of the instruction plane F1 is clicked with the pointer Pt, the CPU 21 acquires the clicked position as a teaching point. Even with such a configuration, the same operational effects as those of the above-described embodiment can be obtained.

  -When the depth position is instruct | indicated by the user in FIG. 4, you may display the image shown in FIG. 6 as a three-dimensional image corresponding to the instruct | indicated depth position. In this case, the indication plane F1 is not displayed, and the foremost plane in the image of FIG. 6 is regarded as the indication plane F1. In the image of FIG. 6, the user touches the screen of the touch panel 50 with a finger and designates the in-plane position of the teaching point in the three-dimensional image. Even with such a configuration, it is possible to achieve the operational effects according to the above-described embodiment.

  DESCRIPTION OF SYMBOLS 10 ... Robot teaching apparatus, 21 ... CPU (image control part, acquisition part), 30 ... Display (display part), 50 ... Touch panel (display part, operation part), 51 ... Instruction part (operation part), 150 ... Mouse (Operation part).

Claims (8)

A display for displaying an image;
An image control unit for controlling a three-dimensional image of the robot to be displayed on the display unit;
An operation unit that receives an operation for instructing a depth position that is a position in the depth direction of the three-dimensional image, and an operation for instructing an in-plane position that is a position in the plane of the three-dimensional image;
An acquisition unit for acquiring an operating point of the robot;
With
The image control unit causes the display unit to display the three-dimensional image corresponding to the depth position instructed by an operation on the operation unit;
The acquisition unit acquires an operating point of the robot based on the instructed depth position and an in-plane position instructed by an operation on the operation unit in the corresponding three-dimensional image ,
The image control unit displays an instruction plane indicating a depth position instructed by the operation in the three-dimensional image when receiving an operation instructing the depth position by the operation unit . Teaching device. The robot instruction device according to claim 1 , wherein the instruction plane includes a plurality of instruction planes arranged at predetermined intervals in a depth direction of the three-dimensional image. The image control unit causes the display unit to display the three-dimensional image corresponding to the depth position instructed by an operation on the operation unit, and the indication plane.
The operating unit, teaching apparatus of a robot according to claim 1 or 2 accepts an operation for indicating the position at which plane position in the plane of the indication plane in the three-dimensional image. The image control unit, teaching apparatus of a robot according to claim 1, in which the instruction plane appear translucent. The operating unit, teaching apparatus of a robot according to any one of claims 1-4 for receiving an operation only to instruct the depth position including the movement range of the robot. A display for displaying an image;
An image control unit for controlling a three-dimensional image of the robot to be displayed on the display unit;
An operation unit that receives an operation for instructing a depth position that is a position in the depth direction of the three-dimensional image, and an operation for instructing an in-plane position that is a position in the plane of the three-dimensional image;
An acquisition unit for acquiring an operating point of the robot;
With
The image control unit causes the display unit to display the three-dimensional image corresponding to the depth position instructed by an operation on the operation unit;
The acquisition unit acquires an operating point of the robot based on the instructed depth position and an in-plane position instructed by an operation on the operation unit in the corresponding three-dimensional image,
The robot teaching apparatus, wherein the operation unit accepts only an operation for instructing the depth position including an operation range of the robot.   The robot operation according to any one of claims 1 to 6, wherein the operation unit increases the accuracy of an operation for indicating the depth position as the magnification of the three-dimensional image displayed on the display unit is higher. apparatus. A display for displaying an image;
An image control unit for controlling a three-dimensional image of the robot to be displayed on the display unit;
An operation unit that receives an operation for instructing a depth position that is a position in the depth direction of the three-dimensional image, and an operation for instructing an in-plane position that is a position in the plane of the three-dimensional image;
An acquisition unit for acquiring an operating point of the robot;
With
The image control unit causes the display unit to display the three-dimensional image corresponding to the depth position instructed by an operation on the operation unit;
The acquisition unit acquires an operating point of the robot based on the instructed depth position and an in-plane position instructed by an operation on the operation unit in the corresponding three-dimensional image,
The robot teaching apparatus according to claim 1, wherein the operation unit increases the accuracy of an operation for indicating the depth position as the magnification of the three-dimensional image displayed on the display unit is higher.

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