Teaching support device

Abstract

The present application provides a kind of teaching support device, operator can grasp the content of the set teaching information at a glance.One kind of teaching support device, with the mechanical arm of abrasive tool being installed at front end, and by force control and control, face to the robot of the object and carry out grinding operation teaching, characterized in that, have: teaching point acquisition unit, obtains the information about multiple teaching points set in the object;Grinding parameter acquisition unit, obtains the information about the grinding parameters of the grinding operation in the multiple teaching points acquired by the teaching point acquisition unit;And display control unit, with the color based on the grinding parameters acquired by the grinding parameter acquisition unit, the teaching point in the multiple teaching points is overlapped with the object and is displayed.

Description

Technical Field

[0001] This invention relates to teaching support devices. Background Technology

[0002] Robots that use force sensors installed on a robotic arm for force control are known. A teaching support device has been disclosed that teaches the robot operation information before it performs a task, for example, as shown in Patent Document 1. In the teaching support device described in Patent Document 1, teaching support is provided by displaying the force applied to the work object during teaching. In this teaching support device, teaching information such as target force is set according to the teaching point for each work object.

[0003] Patent Document 1: Japanese Patent Application Publication No. 6-262563

[0004] However, in existing methods, it is difficult to grasp the teaching information in multiple teaching points set for the work object at a glance. Summary of the Invention

[0005] The teaching support device of the present invention has a robotic arm with a grinding tool mounted at its front end, controlled by force control, for teaching a robot performing a grinding operation on an object. The teaching support device comprises:

[0006] The teach point acquisition unit acquires information about multiple teach points set on the object.

[0007] The grinding parameter acquisition unit acquires information about the grinding parameters of the grinding operation from among the plurality of teaching points acquired by the teaching point acquisition unit; and

[0008] The display control unit displays the teaching point among the plurality of teaching points by overlapping it with the object based on the color of the grinding parameters obtained by the grinding parameter acquisition unit. Attached Figure Description

[0009] Figure 1 This is a diagram showing the overall configuration of a robot system equipped with the teaching support device of the present invention.

[0010] Figure 2 yes Figure 1 The diagram shows a block diagram of the robot system.

[0011] Figure 3 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown.

[0012] Figure 4 It is shown by Figure 1The diagram shows an example of a screen displayed on the display unit of the robot system shown.

[0013] Figure 5 It is shown by Figure 1 The diagram shows an example of a setting screen displayed on the display unit of the robot system.

[0014] Figure 6 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown.

[0015] Figure 7 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown.

[0016] Figure 8 It is a block diagram used to illustrate a robot system from a hardware-centric perspective.

[0017] Figure 9 This is a block diagram illustrating a variation of Example 1 centered on the hardware of a robot system.

[0018] Figure 10 This is a block diagram illustrating Variation 2, which focuses on the hardware of the robot system.

[0019] Explanation of reference numerals in the attached figures

[0020] 1: Robot; 3: Control device; 3A: Target position setting unit; 3B: Drive control unit; 3C: Storage unit; 4: Teaching pendant; 10: Robotic arm; 10A: Teaching support device; 11: Base; 12: First arm; 13: Second arm; 14: Third arm; 15: Fourth arm; 16: Fifth arm; 17: Sixth arm; 18: Relay cable; 19: Force detection unit; 20: End effector; 30: Position control unit; 31 31: Coordinate Transformation Unit; 32: Coordinate Transformation Unit; 33: Correction Unit; 34: Force Control Unit; 35: Command Merging Unit; 40: Display Unit; 400: Setting Screen; 401: Input Unit; 402: Input Unit; 403: Input Unit; 404: Input Unit; 405: Input Unit; 406: Input Unit; 407: Input Unit; 41: Control Unit; 411: Teach Point Acquisition Unit; 412: Grinding Parameter Acquisition Unit; 413: Color Signal Information Acquisition Unit; 414: Display Control Unit; 42: Storage Unit; 43: Communication Unit; 61: Controller; 62: Computer; 63: Computer; 64: Cloud Service; 65: Network; 66: Computer; 100: Robot System; 100A: Robot System; 100B: Robot System; 100C: Robot System; 171: Joint; 172: Joint; 173: Joint; 174: Joint; 175: Joint; 176: Joint; 351: Actuator; CP: Control Point; E1: Encoder; E2: Encoder; E3: Encoder; E4: Encoder; E5: Encoder; E6: Encoder; M1: Motor; M2: Motor; M3: Motor; M4: Motor; M5: Motor; M6: Motor; TCP: Tool Center Point; P: Position Command Value; P': Position Command Value; P1: Teaching Point; W1: Workpiece; ΔS: Force Source Correction Amount. Detailed Implementation

[0021] Implementation

[0022] Figure 1 This is a diagram showing the overall configuration of a robot system equipped with the teaching support device of the present invention. Figure 2 yes Figure 1 The diagram shows a block diagram of the robot system. Figure 3 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown. Figure 4 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown. Figure 5 It is shown by Figure 1 The diagram shows an example of a setting screen displayed on the display unit of the robot system. Figure 6 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown. Figure 7 It is shown by Figure 1 The diagram shows an example of a screen displayed on the display unit of the robot system shown.

[0023] The teaching support device of the present invention will now be described in detail based on suitable embodiments shown in the accompanying drawings. Furthermore, for ease of explanation, the following will... Figure 1 In this context, the +Z axis direction, i.e., the upper side, is also called "up," and the -Z axis direction, i.e., the lower side, is also called "down." Additionally, for robotic arms, [the text abruptly ends here]. Figure 1 The side of the base 11 is also called the "base end," and its opposite side, the end effector side, is also called the "front end." Additionally, Figure 1 The Z-axis direction, i.e., the up-down direction, is set as the "vertical direction," while the X-axis direction and the Y-axis direction, i.e., the left-right direction, are set as the "horizontal direction."

[0024] like Figure 1 As shown, the robot system 100 includes a robot 1, a control device 3 for controlling the robot 1, and a teaching pendant 4. In addition, the teaching pendant 4 has a built-in teaching support device 10A.

[0025] First, let's explain robot 1.

[0026] Figure 1 The robot 1 shown is a single-arm, six-axis vertical joint robot in this embodiment, having a base 11 and a robotic arm 10. Furthermore, an end effector 20 can be mounted on the front end of the robotic arm 10. The end effector 20 may or may not be a component of the robot 1.

[0027] Furthermore, robot 1 is not limited to the configuration shown in the figure, and can also be, for example, a dual-arm multi-joint robot. Additionally, robot 1 can also be a horizontal multi-joint robot.

[0028] The base 11 is a support that drivably supports the robotic arm 10 from below, for example, fixed to the floor in a factory. The base 11 of the robot 1 is electrically connected to the control device 3 via a relay cable 18. Furthermore, the connection between the robot 1 and the control device 3 is not limited to... Figure 1 The configuration shown is based on a wired connection, but it can also be based on a wireless connection, or it can be connected via a network such as the Internet.

[0029] In this embodiment, the robotic arm 10 has a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17, which are connected from the base 11 side in this order. Furthermore, the number of arms in the robotic arm 10 is not limited to six; for example, it can have one, two, three, four, five, or more than seven arms. Additionally, the overall length and other dimensions of each arm are not particularly limited and can be appropriately set.

[0030] The base 11 and the first arm 12 are connected via a joint 171. Furthermore, the first arm 12, relative to the base 11, is rotatable about a first rotation axis parallel to the vertical direction. The first rotation axis coincides with the normal to the floor to which the base 11 is fixed.

[0031] The first arm 12 and the second arm 13 are connected via a joint 172. Furthermore, the second arm 13 is rotatable relative to the first arm 12, with a second rotation axis parallel to the horizontal direction as its center of rotation. This second rotation axis is parallel to an axis orthogonal to the first rotation axis.

[0032] The second arm 13 and the third arm 14 are connected by a joint 173. Furthermore, the third arm 14 is rotatable relative to the second arm 13, with a third rotation axis parallel to the horizontal direction as its center of rotation. This third rotation axis is parallel to the second rotation axis.

[0033] The third arm 14 and the fourth arm 15 are connected by a joint 174. Furthermore, the fourth arm 15 is rotatable relative to the third arm 14, with a fourth rotation axis parallel to the central axis of the third arm 14 as its center of rotation. The fourth rotation axis is orthogonal to the third rotation axis.

[0034] The fourth arm 15 and the fifth arm 16 are connected by a joint 175. Furthermore, the fifth arm 16 is rotatable about a fifth rotation axis relative to the fourth arm 15. The fifth rotation axis is orthogonal to the fourth rotation axis.

[0035] The fifth arm 16 and the sixth arm 17 are connected by a joint 176. Furthermore, the sixth arm 17 is rotatable about a sixth rotation axis relative to the fifth arm 16. The sixth rotation axis is orthogonal to the fifth rotation axis.

[0036] In addition, the sixth arm 17 becomes the robot's foremost end piece located at the far end of the robotic arm 10. This sixth arm 17 is driven by the robotic arm 10 and can rotate according to each end effector 20.

[0037] Robot 1 includes motors M1, M2, M3, M4, M5, and M6 as drive units, and encoders E1, E2, E3, E4, E5, and E6. Motor M1 is integrated into joint 171, causing the base 11 and the first arm 12 to rotate relative to each other. Motor M2 is integrated into joint 172, causing the first arm 12 and the second arm 13 to rotate relative to each other. Motor M3 is integrated into joint 173, causing the second arm 13 and the third arm 14 to rotate relative to each other. Motor M4 is integrated into joint 174, causing the third arm 14 and the fourth arm 15 to rotate relative to each other. Motor M5 is integrated into joint 175, causing the fourth arm 15 and the fifth arm 16 to rotate relative to each other. Motor M6 is integrated into joint 176, causing the fifth arm 16 and the sixth arm 17 to rotate relative to each other.

[0038] Additionally, encoder E1 is integrated into joint 171 to detect the position of motor M1. Encoder E2 is integrated into joint 172 to detect the position of motor M2. Encoder E3 is integrated into joint 173 to detect the position of motor M3. Encoder E4 is integrated into joint 174 to detect the position of motor M4. Encoder E5 is integrated into joint 175 to detect the position of motor M5. Encoder E6 is integrated into joint 176 to detect the position of motor M6.

[0039] Encoders E1 to E6 are electrically connected to control device 3. The position information, i.e., the rotation amount, of motors M1 to M6 is sent to control device 3 as an electrical signal. Based on this information, control device 3 drives motors M1 to M6 via a motor driver (not shown). That is, controlling robotic arm 10 means controlling motors M1 to M6.

[0040] Additionally, a control point CP is set at the front end of the robotic arm 10. The control point CP serves as a reference point for controlling the robotic arm 10. In the robot system 100, the position of the control point CP in the robot coordinate system is determined, and the robotic arm 10 is driven by moving the control point CP to the desired position.

[0041] Furthermore, in robot 1, a force detection unit 19 is detachably and freely installed on the robotic arm 10. The robotic arm 10 can be driven while the force detection unit 19 is installed. In this embodiment, the force detection unit 19 is a six-axis force sensor. The force detection unit 19 detects the magnitude of the force on three mutually orthogonal detection axes and the magnitude of the torque around these three detection axes. That is, it detects the force components in each of the mutually orthogonal X-axis, Y-axis, and Z-axis directions, the force component in the Tx direction around the X-axis, the force component in the Ty direction around the Y-axis, and the force component in the Tz direction around the Z-axis. In this embodiment, the Z-axis direction is the vertical direction. Alternatively, the force components in each axial direction can be referred to as "parallel force components," and the force components around each axis can be referred to as "rotational force components." Furthermore, the force detection unit 19 is not limited to a six-axis force sensor and can be of other configurations.

[0042] In this embodiment, the force detection unit 19 is provided on the sixth arm 17. Furthermore, the location of the force detection unit 19 is not limited to the sixth arm 17, i.e., the arm located at the foremost end, but may also be provided on other arms, between adjacent arms, below the base 11, or on the entire joint.

[0043] In the force detection unit 19, the end effector 20 can be detachably mounted. In this embodiment, the end effector 20 is composed of a grinding tool for grinding. The end effector 20 has a grinding stone at its front end, and grinds the workpiece W1 by rotating the grinding stone and contacting it. In addition, in this embodiment, a grinding stone is used as the grinding tool, but it is not limited to this. It can also be a material made of paper, cloth, or film with abrasive particles attached, or a sponge.

[0044] Furthermore, in the robot coordinate system, the tool center point TCP is preferably set at the front end of the grinding stone at any position at the tip of the end effector 20. As described above, in the robot system 100, the position of the control point CP in the robot coordinate system is determined, and the robotic arm 10 is driven to move the control point CP to the desired position. Additionally, by knowing in advance the type, especially the length, of the end effector 20, the offset between the tool center point TCP and the control point CP can be determined. Therefore, the position of the tool center point TCP in the robot coordinate system can be determined. Therefore, the tool center point TC can be set as the control reference.

[0045] Workpiece W1 is the object to be ground based on end effector 20. The area on the surface of workpiece W1 that is ground is the grinding area. Examples of workpiece W1 include connectors for electronic devices, plastic casings, and metal casings.

[0046] Next, the control device 3 will be explained.

[0047] The control device 3 is configured separately from the robot 1 and can be composed of a computer or the like, which has a CPU (Central Processing Unit) built in as a processor. The control device 3 can also be built into the base 11 of the robot 1.

[0048] The control device 3 is communicatively connected to the robot 1 via a relay cable 18. Additionally, the control device 3 is connected to the teaching pendant 4 via cable or wirelessly. The teaching pendant 4 can be a dedicated computer or a general-purpose computer with a program installed for teaching the robot 1. Alternatively, a teacher, for example, designed as a dedicated device for teaching the robot 1, can be used instead of the teaching pendant 4. Furthermore, the control device 3 and the teaching pendant 4 can have their own housings or be integrally formed.

[0049] Alternatively, a program can be installed in the teaching device 4, which is used to generate the target position and posture S, which will be described later, in the control device 3. t and target force f St The executable program, set as the independent variable, is loaded into the control device 3. The teaching device 4 has a display, processor, RAM, and ROM; these hardware resources work together with the teaching program to generate the executable program.

[0050] like Figure 2 As shown, the control device 3 is a computer equipped with a control program for controlling the robot 1. The control device 3 includes a processor, RAM (not shown), and ROM, which, together with the program, control the robot 1.

[0051] In addition, such as Figure 2 As shown, the control device 3 includes a target position setting unit 3A, a drive control unit 3B, and a storage unit 3C. The storage unit 3C is composed of, for example, volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), or a removable external storage device. The storage unit 3C stores the motion program that enables the robot 1 to operate.

[0052] The target position setting unit 3A sets the target position posture S for performing a predetermined operation on the workpiece W1. t And the motion path. The target position setting unit 3A sets the target position posture S based on teaching information input from the teaching device 4. t And the action path.

[0053] The drive control unit 3B controls the drive of the robotic arm 10 and includes a position control unit 30, a coordinate transformation unit 31, a coordinate transformation unit 32, a correction unit 33, a force control unit 34, and a command merging unit 35.

[0054] The position control unit 30 generates a position command signal, i.e., a position command value, to control the position of the tool center point TCP of the robot 1 according to the target position specified by the pre-made instructions.

[0055] Here, the control device 3 can control the movement of the robot 1 by means of force control, etc. "Force control" refers to the control of the robot 1's movement by changing the position of the end effector 20, i.e., the position of the tool center point TCP, and the posture of the first arm 12 to the sixth arm 17, based on the detection results of the force detection unit 19.

[0056] Force control includes, for example, force-triggered control and impedance control. In force-triggered control, force detection is performed by force detection unit 19, and the robotic arm 10 moves or changes its posture when the force detection unit 19 detects a predetermined force.

[0057] Impedance control includes analog control. In impedance control, the force applied to the tip of the robotic arm 10 is maintained as close as possible to a predetermined force, that is, the force detected by the force detection unit 19 in a predetermined direction is maintained as close as possible to the target force f. StThe movement of the robotic arm 10 is controlled in a manner that allows for impedance control of the robotic arm 10. Thus, for example, when impedance control is applied to the robotic arm 10, the robotic arm 10 mimics an external force applied from an object or operator in the predetermined direction. Furthermore, the target force f... St This also includes 0. For example, as a setting for mimicking actions, the target value can be set to "0". Furthermore, the target force f can also be... St Set to a value other than 0. The operator can appropriately set the target force f, for example, via teaching device 4. St Additionally, the target force f St It can also be set according to the direction of each axis (X, Y, Z) and the direction around each axis (Tx, Ty, Tz).

[0058] The storage unit 3C stores the combination of rotation angles of motors M1 to M6 and the corresponding position of the tool center point TCP in the robot coordinate system. Furthermore, the control device 3, based on each step of the operation performed by the robot 1, stores the target position posture S. t and target force f St At least one of them stores the instruction in storage unit 3C. The target position and orientation S t and target force f St The instructions set as independent variables, i.e. parameters, are the settings for each process of robot 1's operation.

[0059] Drive control unit 3B at the set target position posture S t With target force f St Control the first arm 12 to the sixth arm 17 in a TCP-consistent manner at the tool's center point. Target force f St This refers to the force and torque detected by the force detection unit 19, which should be achieved by the movements of the first arm 12 to the sixth arm 17. Here, "S" indicates any one of the directions (X, Y, Z) of the axes of the robot coordinate system. Additionally, S also indicates the position in the S-direction. For example, in the case where S = X, the X-direction component of the target position set by the robot coordinate system becomes S. t =X t The X-direction component of the target force becomes f St =f Xt .

[0060] Furthermore, in the drive control unit 3B, when acquiring the rotation angles of motors M1 to M6, based on the corresponding relationship, Figure 2 The coordinate transformation unit 31 shown converts the rotation angle into the position and orientation S of the tool center point TCP in the robot coordinate system. Furthermore, based on the position and orientation S of the tool center point TCP and the detection value from the force detection unit 19, the coordinate transformation unit 32 applies the force f that actually acts on the force detection unit 19. S Determined in the robot coordinate system.

[0061] Force f S The point of application is defined as a force detection origin different from the tool center point TCP. The force detection origin corresponds to the point where the force detection unit 19 detects the force. Furthermore, the control device 3 stores the correspondence between the directions of the detection axes in the sensor coordinate system of the force detection unit 19, according to the position and posture S of the tool center point TCP in the robot coordinate system. Therefore, based on the position and posture S of the tool center point TCP in the robot coordinate system and the corresponding relationships, the control device 3 can determine the force f in the robot coordinate system. S Furthermore, the torque acting on the robot can be determined based on the force f. S The distance from the contact point to the force detection unit 19 is calculated and determined as a component of the rotational force. Furthermore, when the end effector 20 is in contact with the workpiece W1 to perform operations, the contact point can be regarded as the tool center point TCP.

[0062] Correction unit 33 affects the force f S Gravity compensation is performed. Gravity compensation refers to the compensation of force f by applying gravity. S Excluding the components caused by gravity or torque, the force f that compensates for gravity. S It can be considered as a force other than gravity acting on the robotic arm 10 or the end effector 20.

[0063] In addition, the correction unit 33 affects the force f S Perform inertia compensation. Inertia compensation refers to the process of mitigating inertia caused by the force f. S Remove the force or torque components caused by inertia. The force f used for inertial compensation. S It can be considered as a force other than the inertial force acting on the robotic arm 10 or the end effector 20.

[0064] The force control unit 34 performs impedance control. Impedance control is an active impedance control that uses the assumed mechanical impedance through motors M1 to M6. The control device 3 performs such impedance control during processes such as fitting, screwing, and grinding operations where the end effector 20 is in contact with an object under force, and during direct teaching. Furthermore, even outside of such processes, for example, by performing impedance control when a person comes into contact with the robot 1, safety can be improved.

[0065] In impedance control, the target force f St Substituting these values ​​into the motion equations described later, the rotation angles of motors M1 to M6 are derived. The signals used by control device 3 to control motors M1 to M6 are PWM (Pulse Width Modulation) modulated signals.

[0066] Furthermore, in the process where the end effector 20 is not subjected to external force in a non-contact state, the control device 3 moves from the target position posture S t Motors M1 to M6 are controlled by rotation angles derived from linear calculations. The target position posture S is then... t The mode of controlling motors M1 to M6 using the rotation angle derived from linear calculation is called position control mode.

[0067] Control device 3 controls the target force f St and the force f S Substituting into the equation of motion for impedance control, determine the force origin correction ΔS. The force origin correction ΔS refers to the amount of force required to eliminate the mechanical resistance at the tool's center point TCP in order to compensate for the force resistance relative to the target force f. St Force deviation Δf S (t), the magnitude of the position and posture S that the tool center point TCP should move. The following equation (1) is the motion equation for impedance control.

[0068]

[0069] The left side of equation (1) is formed by multiplying the second-order differential of the position and orientation S of the tool center point TCP by the first term of the assumed mass coefficient m (hereinafter referred to as "mass coefficient m"), the second term of the differential of the position and orientation S of the tool center point TCP by the assumed viscosity coefficient d (hereinafter referred to as "viscosity coefficient d"), and the third term of the position and orientation S of the tool center point TCP by the assumed elastic coefficient k (hereinafter referred to as "elastic coefficient k"). The right side of equation (1) is formed by multiplying the second-order differential of the position and orientation S of the tool center point TCP by the assumed elastic coefficient k (hereinafter referred to as "elastic coefficient k"). St The force deviation Δf obtained by subtracting the actual force f S (t) constitutes the process. The differential in equation (1) refers to the time-based differential. In the process performed by robot 1, there also exists a target force f. St Given a fixed value, the target force f St The case of a function that sets the time.

[0070] The mass coefficient m refers to the mass assumed to be present at the tool center point TCP, the viscosity coefficient d refers to the viscous resistance assumed to be experienced by the tool center point TCP, and the elasticity coefficient k refers to the spring constant assumed to be experienced by the elastic force at the tool center point TCP.

[0071] As the mass coefficient m increases, the acceleration of the motion decreases; as the mass coefficient m decreases, the acceleration of the motion increases. As the viscosity coefficient d increases, the speed of the motion decreases; as the viscosity coefficient d decreases, the speed of the motion increases. As the elastic coefficient k increases, the springiness increases; as the elastic coefficient k decreases, the springiness decreases.

[0072] These mass coefficients m, viscosity coefficient d, and elasticity coefficient k can be set to different values ​​for each direction, or they can be set to common values ​​regardless of direction. Furthermore, the operator can appropriately set the mass coefficient m, viscosity coefficient d, and elasticity coefficient k before operation. This input is performed by the operator, for example, using the teaching pendant 4.

[0073] The mass coefficient m, viscosity coefficient d, and elastic coefficient k are force control parameters. These force control parameters are values ​​set by the robotic arm 10 before actual operation. The force control parameters include the mass coefficient m, viscosity coefficient d, and elastic coefficient k, among others.

[0074] Therefore, in the robot system 100, during force control, a correction amount is calculated based on the detection value of the force detection unit 19, the preset force control parameters, and the preset target force. This correction amount is the aforementioned force-derived correction amount ΔS, which is the difference between the position where the external force is applied and the position of the center point TCP of the tool to be moved.

[0075] Furthermore, the command merging unit 35 adds a force-derived correction amount ΔS to the position command value P generated by the position control unit 30. By performing these actions continuously, the command merging unit 35 calculates a new position command value P' based on the position command value P used to move to the position subject to external force.

[0076] Furthermore, the coordinate transformation unit 31 converts the new position command value P' into robot coordinates, which are then executed by the execution unit 351. This moves the tool center point TCP to a position with the force correction amount ΔS applied, thus mitigating the increased load on objects in contact with the robot 1 in response to external forces.

[0077] According to such a drive control unit 3B, force control can be performed on the workpiece W1 while pressing the end effector 20, applying the required pressure and performing the grinding operation well.

[0078] Next, the teaching device 4 will be explained.

[0079] like Figure 2 As shown, the teaching device 4 is responsible for accepting various settings, generating action programs, or generating and displaying them. Figures 3-7 The device shown in the image. The teaching device 4 includes a display unit 40, a control unit 41, a storage unit 42, and a communication unit 43. As shown in the illustration, the teaching device 4 is a notebook computer, but the present invention is not particularly limited to this, and it may also be, for example, a desktop computer, a tablet computer, a smartphone, etc.

[0080] like Figure 5As shown, the display unit 40 displays a setting screen 400 that shows various information input by the operator, and a simulation image that shows the teaching information, etc. Examples of this various information include information about the teaching point P1, information about the grinding parameters of the grinding operation, and information about the force control parameters mentioned above.

[0081] The control unit 41 has at least one processor. Examples of processors include CPU (Central Processing Unit) and GPU (Graphics Processing Unit). The control unit 41 reads and executes various programs stored in the storage unit 42. Examples of various programs include, for example, the motion program of the robotic arm 10 and the teaching program. These programs may be generated by the teaching device 4, stored on an external recording medium such as a CD-ROM, or stored via a network.

[0082] The teaching program generated by the control unit 41 is sent to the control device 3 of the robot 1 via the communication unit 43. As a result, the robotic arm 10 can perform predetermined tasks under predetermined conditions.

[0083] In addition, the control unit 41 includes a teaching point acquisition unit 411, a grinding parameter acquisition unit 412, a color information acquisition unit 413, and a display control unit 414. The teaching point acquisition unit 411, the grinding parameter acquisition unit 412, the color information acquisition unit 413, and the display control unit 414 constitute the teaching support device 10A.

[0084] Teaching point acquisition section 411 acquires operator usage Figure 5 The setup screen shown (400) displays the information input regarding the teach point P1. For example... Figure 3 As shown, teach point P1 is a point located on the surface of workpiece W1 that should pass through the tool center point TCP. In the illustrated configuration, teach point P1 is arranged in a grid pattern, with each point associated with information about the passing sequence. Therefore, it is possible to set... Figure 4 The path is as shown. Furthermore, the position information of the teaching point P1 relative to the workpiece W1 is represented, for example, by the robot coordinate system.

[0085] Grinding parameter acquisition unit 412 acquires parameters used by the operator. Figure 5 The setup screen 400 shown displays information about the grinding parameters. Examples of grinding parameters include, for instance, information about the grinding tool, the material of the grinding stones' abrasive particles, the size of the abrasive particles, the rotation speed of the grinding stone, and the pressing pressure. The pressing pressure is shown in the diagram.

[0086] Color information acquisition unit 413 acquires information used by operators. Figure 5 The settings screen shown shows the color information input in setting 400.

[0087] The display control unit 414 displays any one of the multiple teaching points P1 overlaid on the workpiece W1 using the color of the grinding parameters acquired by the grinding parameter acquisition unit 412. In other words, any one of the multiple teaching points P1 is displayed with a color based on the acquired grinding parameters. This will be explained in detail later.

[0088] The storage unit 42 stores various programs and settings that can be executed by the control unit 41. Examples of storage units 42 include volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and removable external storage devices.

[0089] The communication unit 43 uses an external interface such as a wired LAN (Local Area Network) or a wireless LAN to transmit and receive signals with the control device 3.

[0090] The display unit 40 is composed of various displays having a display screen. In this embodiment, the operator can input various settings by operating an input operation unit such as a mouse or keyboard. However, this configuration is not limited to this one; for example, a touch panel, i.e., the display unit 40, may also have both display and input operation functions. Alternatively, a combination of a touch panel, mouse, and keyboard may be used.

[0091] Furthermore, the display unit 40 is not limited to the configuration shown in the illustration, but may also be configured to, for example, image onto an object or in the air.

[0092] Next, regarding Figure 5 The setting screen 400 will be described below. The setting screen 400 is a screen displayed on the display unit 40, which allows the operator to input various items for teaching purposes. Specifically, the setting screen 400 has input units 401, 402, 403, 404, 405, 406, and 407.

[0093] Input unit 401 is used to input the number of the teaching point P1, and it sets the number of the teaching point P1 in multiple ranges. In addition, each item can be set individually in each range using the following input units 402 to 407.

[0094] The input unit 402 is the part that sets the displayed color according to each range of the teaching point P1 specified by the input unit 401. That is, the input unit 402 is the part that selects the color on the right side of the range of the teaching point P1 specified by the input unit 401.

[0095] Input unit 403 is the part that inputs the type of coordinate system according to the range of the teaching point P1 specified in input unit 401. The types of coordinate systems include local coordinate system, finger coordinate system, robot coordinate system, etc.

[0096] Input unit 404 is used to input the direction and magnitude of the pressure applied by the grinding stone during the grinding operation, within each range of the teaching point P1 specified by input unit 401. The direction of the pressure is available as Fx, Fy, and Fz, and can be set by selecting one of these. Furthermore, the magnitude of the pressure can be set by inputting a numerical value.

[0097] Input unit 405 is used to input the viscosity coefficient as one of the force control parameters at each range of the teaching point P1 specified by input unit 401. Furthermore, it is not limited to this configuration; for example, the mass coefficient, elastic coefficient, or two or more of these can be input.

[0098] Input unit 406 is the part that sets the movement speed of the tool center point TCP within each range of the teaching point P1 specified by input unit 401. The movement speed can be set by inputting a numerical value.

[0099] Input unit 407 is a unit that sets the rotation speed of the grinding stone of the grinding tool according to each range of the teaching point P1 specified in input unit 401. The rotation speed of the grinding stone can be set by inputting a value.

[0100] When using this settings screen 400 for configuration, the following is displayed: Figure 6 A simulated image as shown. In Figure 6 The simulation image shown displays workpiece W1 and a teaching point P1 set on workpiece W1. Furthermore, the teaching point P1 is displayed with its color overlapping the workpiece W1, based on the grinding parameters acquired by the grinding parameter acquisition unit 412. This allows the operator to immediately grasp the content of the teaching information they have input. In particular, by assigning color to the teaching point P1, the content of the teaching information can be clearly understood.

[0101] Therefore, the teaching support device 10A has a robotic arm 10 with an end effector 20, which serves as a grinding tool, mounted at its front end. Controlled by force, it teaches a robot 1 that is performing a grinding operation on a workpiece W1. The device includes: a teaching point acquisition unit 411 that acquires information about multiple teaching points P1 set on the workpiece W1; a grinding parameter acquisition unit 412 that acquires information about grinding parameters for the grinding operation at the multiple teaching points P1 acquired by the teaching point acquisition unit 411; and a display control unit 414 that displays the teaching points P1 among the multiple teaching points P1 by overlapping them with the workpiece W1 based on the color of the grinding parameters acquired by the grinding parameter acquisition unit 412. Thus, the operator can immediately grasp the content of the teaching information they have input. In particular, by assigning color to the teaching points P1, the content of the teaching information can be clearly understood.

[0102] Furthermore, when the acquired grinding parameters are within a first range, such as a pressing force of 4N or more but less than 6N, the display control unit 414 displays the teaching point P1 in a first color. When the acquired grinding parameters are within a second range different from the first range, such as a pressing force of 7N or more but less than 10N, the display unit 414 displays any teaching point P1 in a second color different from the first color. This allows the operator to more clearly understand the content of the teaching information they have input at a glance.

[0103] Additionally, the display control unit 414 displays a circle including the teaching point P1. This allows the operator to more clearly understand the content of the teaching information they have input at a glance. Furthermore, it is not limited to this configuration; it can also be any configuration such as a triangle, quadrilateral, or additional polygons, stars, etc.

[0104] Furthermore, the grinding parameters include information about the size of the grinding stone used in the grinding tool. The display control unit 414 displays circles of different sizes based on this information. That is, the larger the grinding stone, the larger the displayed circle; the smaller the grinding stone, the smaller the displayed circle. This allows for a quick assessment of the size of the grinding stone used in the grinding tool. Additionally, it allows for precise control over the area being ground.

[0105] In addition, a color information acquisition unit 413 is provided to acquire information about the set color. As a result, the display color can be set.

[0106] Alternatively, the color information acquisition unit 413 can acquire the number of preset colors and the range of grinding parameters, and the display control unit 414 can display the color composition based on the number of colors acquired by the color information acquisition unit 413 and the range of grinding parameters. That is, the display color composition can be automatically allocated according to the input pressing pressure, such as setting areas of high pressing pressure as red and areas of low pressing pressure as green. This allows for a quick understanding of the different pressing pressure levels. Furthermore, by establishing a correlation between the pressing pressure level and the displayed color, the distribution of pressing pressure can be confirmed.

[0107] In addition, such as Figure 7 As shown, the arrows can also be displayed in different colors. In this case, it is preferable to distinguish the color, thickness, and length of the arrows according to the pressure applied. This allows for a quick understanding of the different pressure levels.

[0108] This displays an arrow including the teach point P1 on the control unit 414. Thus, the difference in pressing pressure can be grasped at a glance.

[0109] Other examples of robot system components

[0110] Figure 8 It is a block diagram used to illustrate a robot system from a hardware-centric perspective.

[0111] Figure 8 The diagram shows the overall configuration of a robot system 100A that connects a robot 1, a controller 61, and a computer 62. The robot 1 can be controlled by reading instructions from memory via the processor in the controller 61, or by reading instructions from memory via the processor in the computer 62 and executing them via the controller 61.

[0112] Therefore, either or both of the controller 61 and the computer 62 can be set as a "control device".

[0113] Variation Example 1

[0114] Figure 9 This is a block diagram illustrating a variation of Example 1 centered on the hardware of a robot system.

[0115] Figure 9 The diagram shows the overall structure of the robot system 100B, which is directly connected to the computer 63 and the robot 1. The robot 1 is controlled directly by reading instructions stored in the memory of the processor in the computer 63.

[0116] Therefore, computer 63 can be set as a "control device".

[0117] Variation Example 2

[0118] Figure 10 This is a block diagram illustrating Variation 2, which focuses on the hardware of the robot system.

[0119] Figure 10 The diagram shows the overall configuration of a robot system 100C, in which a computer 66 is connected to a robot 1 with a built-in controller 61d, and the computer 66 is connected to a cloud service 64 via a network 65 such as a LAN. Control of the robot 1 can also be executed by reading instructions from memory stored in the processor of the computer 66, or by the processor on the cloud service 64 reading instructions from memory stored in the computer 66.

[0120] Therefore, any one, two, or three of the controller 61, computer 66, and cloud service 64 can be set as a "control device".

[0121] The teaching support device of the present invention has been described above with reference to the illustrated embodiments, but the present invention is not limited thereto. Furthermore, the components constituting the teaching support device can be replaced with any configuration that performs the same function. Additionally, any additional components may be added.

Claims

1. A teaching support device, characterized in that, A robotic arm with a grinding tool mounted at its front end, controlled by force, is used to perform a grinding operation on an object. Before performing the grinding operation, the robot is taught, with the contact point between the grinding tool and the object as the tool's center point. The teaching support device includes: The teach point acquisition unit acquires information about multiple teach points input by the operator as set on the object, and the tool center point passes through the multiple teach points; The grinding parameter acquisition unit acquires information about the grinding parameters of the grinding operation input by the operator from among the plurality of teaching points acquired by the teaching point acquisition unit. The information about the grinding parameters includes the grinding tool, the size of the grinding particles, the rotation speed of the grinding stone, and the pressing pressure. as well as The display control unit displays the teaching point among the plurality of teaching points by overlapping it with the object based on the color of the grinding parameters obtained by the grinding parameter acquisition unit.

2. The teaching support device according to claim 1, characterized in that, When the acquired grinding parameters are within a first range, the display control unit displays the teaching point in a first color; when the acquired grinding parameters are within a second range different from the first range, it displays any teaching point in a second color different from the first color.

3. The teaching support device according to claim 1, characterized in that, The display control unit displays a circle including the teaching point.

4. The teaching support device according to claim 3, characterized in that, The display control unit displays circles of different sizes based on the size information of the grinding stone.

5. The teaching support device according to claim 1, characterized in that, The display control unit displays an arrow including the teaching point.

6. The teaching support device according to any one of claims 1 to 5, characterized in that, The teaching support device includes a color information acquisition unit for acquiring information about setting the color.

7. The teaching support device according to claim 6, characterized in that, The color information acquisition unit acquires the set number of colors and the range of grinding parameters. The display control unit displays the color based on the number of colors acquired by the color information acquisition unit and the range of the grinding parameters.

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