Robot operating device

Abstract

The present invention provides a robot operating device that can reduce user errors and workload when instructing a robot to perform actions. [Solution] The robot operating device 100 according to the present invention is a robot operating device that instructs a robot 101 to perform an operation, and comprises a processing unit 127 that executes an operation program, a display device 124 with a touch panel that displays a manual operation screen 130 of the operation program, and an enable switch 125a that puts the robot into an operational state, the manual operation screen includes a plurality of buttons 134 for robot operation, and the processing unit displays an enlarged view of the button 134a to be operated when the enable switch is pressed to the ON state.

Description

Technical Field

[0001] The present invention relates to a robot operation device that instructs a robot to perform operations.

Background Art

[0002] When instructing a robot such as an articulated robot to perform an operation, for example, when teaching, a teaching pendant may be used to perform teaching work. The teaching pendant includes a display panel and physical buttons, and an operator (user) can manually operate the robot while operating the physical buttons.

[0003] In recent years, as a teaching pendant, a tablet-type terminal provided with a safety switch part (enable switch) and equipped with a display device with a touch panel is known. With this teaching pendant, by operating the buttons displayed on the display device instead of the physical buttons, the teaching work can be intuitively performed while widely utilizing the screen.

[0004] Patent Document 1 describes a robot operation device operated by a user to set the operation state of a robot. This robot operation device includes a touch screen, a state setting unit, and an image control unit.

[0005] In Patent Document 1, the touch screen displays various color button images and accepts touch operations. The state setting unit sets the operation state of the robot to the operation state corresponding to each color button image. The image control unit causes the touch screen to display the various color button images so that they can be easily distinguished. As an example, the image control unit enlarges and displays only the red button that operates in a dangerous state or in an emergency, compared to other buttons (see FIG. 13).

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

[0007] However, while the robot control device in Patent Document 1 displays an enlarged emergency button, it merely changes the size of the button according to its specific function. When teaching the robot to perform actions, axis operations and Cartesian coordinate system operations are performed while visually observing the robot, meaning that button operations are performed without looking at the handheld display device. While tablet terminals have the advantage of allowing the number and arrangement of buttons to be arbitrarily changed according to the task, the display device (and touch panel) is flat, making it impossible to recognize buttons by touch.

[0008] As a result, fingers frequently slip off the target button, leading to missed button presses or accidental presses of other buttons (buttons other than the target). To avoid this, the operator must frequently switch their gaze between the robot and the display device, making the operation cumbersome and increasing the workload.

[0009] Patent Document 1 does not take into consideration the fact that during teaching operations, the target button changes depending on its function, which can lead to user errors such as pressing the wrong button, or increase the workload.

[0010] In view of these problems, the present invention aims to provide a robot operating device that can reduce user errors and workload when instructing a robot to perform actions. [Means for solving the problem]

[0011] To solve the above problems, a typical configuration of the robot operating device according to the present invention is a robot operating device that instructs a robot to perform an operation, comprising: a processing unit that executes an operation program; a display device with a touch panel that displays a manual operation screen for the operation program; and an enable switch that puts the robot into an operational state. The manual operation screen includes a plurality of buttons for operating the robot, and when the enable switch is pressed and the device is turned ON, the processing unit enlarges and displays the button to be operated.

[0012] In the above-described processing unit, when the enable switch is turned ON, it is preferable to enlarge and display the button that was being operated when the switch was previously ON as the button to be operated.

[0013] In the above-described processing device, it is preferable to display buttons other than the target of operation in a reduced size.

[0014] In the above-described processing device, it is preferable to switch to and enlarge the button being operated on by double-tapping a button other than the one being operated on. [Effects of the Invention]

[0015] According to the present invention, it is possible to provide a robot operating device that can reduce user errors and workload when instructing a robot to perform actions. [Brief explanation of the drawing]

[0016] [Figure 1] This figure illustrates an overview of a robot operating device in an embodiment of the present invention. [Figure 2] This is a block diagram showing the functions of the operating terminal in Figure 1. [Figure 3] Figure 2 shows an example of the manual operation screen for the display device shown in Figure 2. [Figure 4] Figure 3 shows an example of the screen when switching the target button in the manual operation screen. [Figure 5] This figure shows an example of the manual operation screen in Figure 3, with the left and right buttons displayed in an enlarged view. [Figure 6] It is a diagram showing another screen example of the manual operation screen in FIG. 3.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant description, and elements not directly related to the present invention are not shown.

[0018] FIG. 1 is a diagram for explaining an overview of a robot operation device 100 in an embodiment of the present invention. The robot operation device 100 is a device for instructing operations to a robot 101 and includes an operation terminal 102.

[0019] The operation terminal 102 is wired-connected to the robot 101 via a robot control device 103. The robot control device 103 is wired-connected to the robot 101 and controls the operation of the robot 101. Note that the robot control device 103 may be wirelessly connected to the robot 101.

[0020] As an example, the operation terminal 102 has a configuration in which an external unit 125 is detachably attached to a tablet including a display device 124 with a touch panel. The unit 125 is wired-connected to the robot control device 103, and further provided with an enable switch 125a, an emergency stop button 125b, etc. Also, the tablet can be carried around by the operator (user) by removing it from the unit 125. Note that the operation terminal 102 may be wirelessly connected.

[0021] The enable switch 125a is a switch that enables the robot 101 to operate. When the enable switch 125a is pressed by the user and turned on, the robot 101 becomes operable, and when it is off, the robot 101 stops and safety is ensured.

[0022] Furthermore, the operation terminal 102 is provided with a camera 126. The camera 126 detects the position and number of fingers of the user approaching the touch panel of the display device 124.

[0023] The robot 101 is, for example, a six-axis articulated robot, and includes a base 106 installed on the floor 104 such as a factory, a swivel frame 108, a first arm 110, a connecting arm 112, a second arm 114, and an end effector 116. The end effector 116 is attached to a joint 118 attached to the tip of the second arm 114.

[0024] The swivel frame 108 rotates about the J1 axis. The J1 axis is supported in a direction substantially orthogonal to the floor 104 when the base 106 is installed on the floor 104. The first arm 110 rotates about the J2 axis. The J2 axis is supported by the swivel frame 108 in a direction substantially orthogonal to the J1 axis. The connecting arm 112 is rotatably connected to the first arm 110 via the J3 axis. The J3 axis is supported at the tip 120, which is the end of the first arm 110 on the opposite side of the J2 axis, substantially parallel to the J2 axis.

[0025] The second arm 114 is rotatably connected to the connecting arm 112 via a J4 axis extending in the longitudinal direction of the second arm 114 so as to twist around the J4 axis. The joint 118 attached to the tip of the second arm 114 rotates about the J5 axis with respect to the second arm 114 in a tilting direction rather than a twisting direction. The end effector 116 rotates about the J6 axis in a direction substantially orthogonal to the rotation direction of the joint 118 (the twisting direction). Also, the J5 axis and the J6 axis are supported by the joint 118 in a direction substantially orthogonal to the J4 axis.

[0026] Figure 2 is a block diagram showing the functions of the operating terminal 102 in Figure 1. The operating terminal 102 of the operating device 100 includes an input device 122, a display device 124, an enable switch 125a, a camera 126, a processing device 127, and a robot program recording device 128.

[0027] The display device 124 is, for example, a liquid crystal display that displays the manual operation screen 130 (see Figure 3). The input device 122 includes, for example, a microphone for inputting the user's voice and a touch panel superimposed on the display device 124.

[0028] The processing unit 127 includes a CPU, RAM, and ROM. The processing unit 127 executes an operation program and records the created robot program in the robot program recording device 128. The processing unit 127 also controls the display of the manual operation screen 130 of the display device 124 according to input from the touch panel as an input device 122, the ON / OFF state of the enable switch 125a, and the detection results of the camera 126 (described later).

[0029] Figure 3 shows an example of the manual operation screen 130 of the display device 124 shown in Figure 2. Figure 3(a) shows the state when the manual operation button 132 is pressed and the manual operation screen 130 appears on the display device 124. The manual operation screen 130 is used, for example, to visually acquire (determine) the destination of the robot 101 during teaching work and to create a robot program.

[0030] The manual operation screen 130 includes several buttons 134 for robot operation, which are used to move the robot 101 and acquire numerical values. These buttons 134 perform Cartesian coordinate system operations and axis operations, as shown in Figure 3(a). For Cartesian coordinate system operations, it is possible to perform "+" and "-" operations on the "X," "Y," and "Z" coordinates corresponding to the Cartesian coordinates, and on the tilt angles "RX," "RY," and "RZ" centered on the X, Y, and Z axes, respectively. For axis operations, it is possible to perform "+" and "-" operations on "J1" and "J6," corresponding to the J1-J6 axes mentioned above.

[0031] On the manual operation screen 130, each time the registration button 136 is pressed, the posture of the robot 101 operated by button 134 is acquired and a command is generated. Furthermore, when the registration history button 138 is pressed, a registration screen (not shown) appears on the manual operation screen 130, and by performing operations on the registration screen, it is possible to delete excessively created commands or add more commands by copying and pasting.

[0032] In the following explanation, we will describe how to change the size of button 134, but the image of button 134 displayed on the display device 124 and the coordinate area (Rectangle) of the touch panel (input device 122) that determines whether the button is pressed will be linked.

[0033] In Figure 3(a), the operating terminal 102 is in the state where the enable switch 125a is not pressed (OFF state). At this time, the robot 101 is stopped. When the enable switch 125a is in the OFF state, all of the buttons 134 on the manual operation screen 130 are displayed at the same size.

[0034] Figure 3(b) illustrates the manual operation screen 130 when user H presses the enable switch 125a (see arrow A) and the robot 101 becomes operational.

[0035] When the enable switch 125a is turned ON, the processing unit 127 (see Figure 2) of the operating terminal 102 displays an enlarged view of the button 134a (for example, the "+" and "-" buttons of "J2") among the buttons 134 included in the manual operation screen 130.

[0036] Therefore, even if, for example, the position of user H's finger when pressing the target button 134a during the teaching process shifts, the chances of missing or mispressing the target button 134a can be reduced. As a result, user H can perform button operations while keeping their eyes on the robot 101 without having to frequently check the display device 124 in their hand, thus reducing their workload. Consequently, the robot operating device 100 can reduce operational errors and workload for user H when instructing the robot 101 to perform actions.

[0037] Furthermore, as shown in Figure 3(b), the processing unit 127 displays the other buttons 134 (buttons other than the target button) in a reduced size, excluding the target button 134a. As a result, the size of the enlarged target button 134a and the reduced size of the other buttons 134 are significantly different. Therefore, the robot operating device 100 can more reliably reduce operating errors even if, for example, the position of the user H's finger when pressing the target button 134a during teaching work shifts.

[0038] Furthermore, for example, if the enable switch 125a is turned ON during teaching and the target button 134a is operated, and then the enable switch 125a is turned OFF and then ON again, the processing unit 127 will continue to enlarge the display of button 134a as the target button.

[0039] This allows user H to operate the button that was being operated when the enable switch 125a was previously ON (i.e., the button 134a that was previously displayed in an enlarged view and being operated) without accidentally pressing the wrong button when the enable switch 125a is turned ON.

[0040] Furthermore, the processing unit 127 may still accept the "+" and "-" operations even when it reduces the size of the other buttons 134 (buttons other than the target button 134a). Moreover, it may disable the reduced-size buttons (ignore their touches). This can reliably reduce user errors.

[0041] Figure 4 shows an example screen when switching the target button on the manual operation screen 130 of Figure 3. Note that the enable switch 125a of the operation terminal 102 is in the ON state. In this state, if user H double-tap a button other than the target button (in this case, button 134b), the processing unit 127 switches the target button from button 134a to button 134b (for example, the "+" and "-" buttons of "RY") and displays button 134b in an enlarged view. Furthermore, the processing unit 127 displays the other buttons 134 excluding the target button 134b in a reduced view.

[0042] In this way, by simply double-tapping, user H can switch to a different button and enlarge its display, thereby improving the efficiency of teaching tasks.

[0043] Alternatively, the processing unit 127 may switch the target button to a long press or triple tap by the user H instead of a double tap.

[0044] Figure 5 shows an example of the manual operation screen 130 in Figure 3 with the left and right buttons enlarged. When the enable switch 125a is turned ON (see arrow A), the processing unit 127 uses the camera 126 to detect the position of user H's finger (or hand) approaching the touch panel of the display device 124.

[0045] Then, as shown in Figure 5(a), if user H's finger is positioned on the left half of the manual operation screen 130, the processing unit 127 enlarges all buttons 134c that are located on the left half of the manual operation screen 130. Furthermore, the processing unit 127 reduces all buttons 134d that are located on the right half of the manual operation screen 130.

[0046] On the other hand, as shown in Figure 5(b), if user H's finger is positioned on the right half of the manual operation screen 130, the processing unit 127 enlarges the button 134d located on the right half of the manual operation screen 130. Furthermore, the processing unit 127 reduces the display of the button 134c located on the left half of the manual operation screen 130.

[0047] In this way, with the robot operating device 100, simply by the user H positioning their finger on the left or right half of the manual operation screen 130, the button 134c or button 134d is displayed in an enlarged view, thereby reducing the likelihood of accidentally pressing the wrong button.

[0048] Figure 6 shows another example of the manual operation screen 130 of Figure 3. When the enable switch 125a is turned ON (see arrow A), the processing unit 127 uses the camera 126 to detect the number of fingers of user H approaching the touch panel of the display device 124.

[0049] Then, as shown in Figure 6(a), if user H is using one finger, the processing unit 127 enables the operation of enlarging the target button 134a among the buttons 134. On the other hand, as shown in Figure 6(b), if user H is using two fingers, there is a possibility of accidentally pressing the wrong button, so all buttons 134 are displayed in a reduced size, making them inoperable.

[0050] In this way, the robot operating device 100 can reduce the chance of users pressing the wrong button by imposing restrictions on manual operation based on the number of fingers of user H detected by the camera 126. The number of fingers of user H is detected by the camera 126, but is not limited to this; it may also be determined by the number of touches on the touch panel of the display device 124. That is, if two or more touches are detected simultaneously, those touches may be ignored (the operation may be disabled).

[0051] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to these examples. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. [Industrial applicability]

[0052] This invention can be used as a robot control device for instructing a robot to perform actions. [Explanation of Symbols]

[0053] 100...Operating device, 101...Robot, 102...Operating terminal, 103...Robot control device, 104...Floor, 106...Base, 108...Swivel frame, 110...First arm, 112...Connecting arm, 114...Second arm, 116...End effector, 118...Joint, 120...Tip of first arm, 122...Input device, 124...Display device, 125...Tablet holder, 125a...Enable switch, 125b...Emergency stop button, 126...Camera, 127...Processing device, 128...Robot program recording device, 130...Manual operation screen, 132...Manual operation button, 134, 134a, 134b, 134c, 134d...Buttons, 136...Register button, 138...Registration history button

Claims

1. In a robot control device that instructs a robot to perform actions, A processing unit that executes an operation program, A display device with a touch panel that displays a manual operation screen for the aforementioned operation program, The robot comprises an enable switch that makes the robot operational, The manual operation screen includes a plurality of buttons for operating the robot, The processing device is a robot operating device characterized by displaying an enlarged view of the button to be operated when the enable switch is pressed and turned ON.

2. The robot operating device according to claim 1, characterized in that when the enable switch is turned ON, the processing device enlarges and displays the button that was being operated when the switch was previously ON as the button to be operated.

3. The robot operating device according to claim 1, characterized in that the processing device displays the buttons other than the target of operation in a reduced size.

4. The robot operating device according to claim 1, characterized in that the processing device switches and enlarges the button of the target of operation by double-tapping a button other than the target of operation.

Images