Robotic teaching system

Abstract

The present application provides a robot teaching system, regarding the position and posture of a robot corresponding to a work program, the position and posture of the robot in an arbitrary teaching command of the work program can be easily confirmed. The robot teaching system (200) comprises: a robot position and posture calculation unit (210) which calculates the position and posture of the robot corresponding to each teaching command contained in a work program for operating the robot and the position and posture of the robot corresponding to each teaching command; a virtual robot information generation unit (220) which generates virtual robot information corresponding to each teaching command and the corresponding teaching command based on the position and posture of the robot; a teaching command selection unit (240) which selects at least one of each teaching command contained in the work program; and a display unit (230) which displays the virtual robot information based on the selected teaching command.

Description

Technical Field

[0001] This invention relates to robot teaching systems. Background Technology

[0002] In recent years, robots have become increasingly prevalent in industry. These robots are used, for example, in the assembly, welding, and transportation of electronic and mechanical components, aiming to improve the efficiency and automation of factory production lines. Such robots require pre-programmed work procedures to perform desired actions, which are then stored as so-called teach data. Operators use a teach pendant to operate the actual robot to store the actions, thereby generating the work procedure (teach data), or they can generate the work procedure (teach data) through simulation in a simulator environment without actually moving the robot.

[0003] In the simulator environment, the simulated robot imported into the simulator moves in virtual space and displays the position and posture of the simulated robot.

[0004] Furthermore, Patent Document 1 discloses technology related to a robot display system that enables operators to understand the robot's movements. In this robot display system, a virtual image containing an image representing the robot's movement trajectory and a diagram representing a desired trajectory is displayed on a display unit, superimposed on the robot.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: JP2021-11017

[0008] However, in the display system for robots disclosed in Patent Document 1, although the robot's motion trajectory corresponding to the work program is displayed, the robot's position and orientation corresponding to the work program is not displayed. Furthermore, even if a simulated robot loaded into a simulator moves in virtual space, it is not easy to grasp the position and orientation of the robot corresponding to each teaching command contained in the work program and the relationship between those teaching commands. Summary of the Invention

[0009] Therefore, the object of the present invention is to provide a robot teaching system that can easily determine the position and orientation of the robot in any teaching command of the work program, regarding the position and orientation of the robot acting in accordance with the work program.

[0010] One aspect of the present invention relates to a robot teaching system comprising: a robot position and attitude calculation unit that calculates the robot's position and attitude corresponding to each teaching command included in a work program that causes the robot to move, and the relationship between the teaching commands; a virtual robot information generation unit that generates virtual robot information corresponding to each teaching command and the relationship between the teaching commands based on the robot's position and attitude; a teaching command selection unit that selects at least one of the teaching commands included in the work program; and a display unit that displays the virtual robot information based on the selected teaching command.

[0011] According to this method, the robot position and attitude calculation unit calculates the robot's position and attitude corresponding to each teaching command included in the work program, and the virtual robot information generation unit generates virtual robot information corresponding to each teaching command based on the robot's position and attitude. Then, the teaching command selection unit selects at least one of the teaching commands, and the display unit displays the virtual robot information based on the selected teaching command. Thus, the robot's position and attitude based on each teaching command included in the work program can be easily confirmed.

[0012] In the above method, the display unit may also change the way the virtual robot information is displayed according to the number of selected teaching commands.

[0013] According to this method, for example, the user selects one or more teaching commands, and the display unit changes the way the virtual robot information is displayed accordingly. As a result, the user can easily confirm the robot's position and orientation based on the display mode corresponding to the number of teaching commands selected.

[0014] In the above method, if the teaching command selection unit selects one teaching command, the display unit will display the virtual robot information as a still image.

[0015] According to this method, since the display unit displays the virtual robot information as a still image when a teaching command is selected by the teaching command selection unit, the user can appropriately confirm the position and posture of the robot corresponding to a teaching command as a still image.

[0016] In the above method, if the teaching command selection unit selects multiple teaching commands, the display unit may display the virtual robot information as an animation within the range determined by the selected multiple teaching commands.

[0017] According to this method, when multiple teaching commands are selected by the teaching command selection unit, the display unit displays the virtual robot information as an animation. Therefore, the user can appropriately confirm the position and posture of the robot corresponding to the teaching command within a specified range, including the activity.

[0018] In the above method, it may also include: an input position recognition unit that recognizes the user's input position in the operation area associated with the teaching command selected by the teaching command selection unit, and a display unit that displays virtual robot information corresponding to the input position recognized by the input position recognition unit.

[0019] According to this method, since the input position recognition unit recognizes the user's input position in the operation area, and the display unit displays virtual robot information corresponding to the input position recognized by the input position recognition unit, the user can easily confirm the robot's position and posture at that location by, for example, corresponding to a sliding operation in the operation area.

[0020] The effects of the invention

[0021] According to the present invention, a robot teaching system can be provided that can easily determine the position and orientation of the robot in any teaching command of the work program, with respect to the position and orientation of the robot acting in accordance with the work program. Attached Figure Description

[0022] Figure 1 This is a diagram illustrating the structure of a welding robot system 100 that includes a robot teaching system according to an embodiment of the present invention.

[0023] Figure 2 This is a diagram illustrating the functional structure of a robot teaching system 200 according to an embodiment of the present invention.

[0024] Figure 3 This is a diagram illustrating a specific example of a work procedure used to make the robot move and information about the virtual robot corresponding to the teaching commands contained in that work procedure.

[0025] Figure 4 This is a diagram showing other specific examples of the operation program used to make the robot move and the virtual robot information corresponding to the teaching commands contained in the operation program.

[0026] Figure 5 This is a diagram illustrating a specific example of a work procedure used to make the robot move and the corresponding virtual robot information between the teaching commands contained in the work procedure.

[0027] Figure 6This is a diagram illustrating a specific example of a work procedure used to make the robot move and information about the virtual robot corresponding to the multiple teaching commands contained in that work procedure.

[0028] Figure 7 This is a flowchart illustrating the processing flow of the robot display method M100 executed by the robot teaching system 200 according to an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures

[0030] 1...Teaching device, 2...Robot control device, 3...Manipulator, 11...Control unit, 12...Communication unit, 13...Display unit, 21...Control unit, 22...Storage unit, 23...Communication unit, 24...Welding power supply unit, 31...Multi-joint arm, 32...Welding torch, C...Communication cable, N...Network, 100...Welding robot system, 200...Robot teaching system, 210...Robot position and attitude calculation unit, 220...Virtual robot information generation unit, 230...Display unit, 240...Teaching command selection unit, PG10...Work procedure, PG11, PG12...Teaching commands, Sub11...Details, VR1~VR2, VR10~VR20, VR10d...Virtual robot information, M100...Robot display method, S110~S140...Steps of robot display method M100 Detailed Implementation

[0031] The following description, with reference to the accompanying drawings, details one embodiment of the present invention. Furthermore, the embodiments described below are merely specific examples for implementing the present invention and are not intended to limit the scope of the invention. In addition, to facilitate understanding, the same reference numerals are used as much as possible to denote the same constituent elements in the drawings, and sometimes repeated descriptions are omitted or simplified.

[0032] <One Implementation Method>

[0033] [Basic Structure of Welding Robot System]

[0034] Figure 1 This is a diagram illustrating the structure of a welding robot system 100 that includes a robot teaching system according to an embodiment of the present invention. Figure 1As shown, the welding robot system 100 includes, for example, a teaching pendant 1, a robot control device 2, and a robotic arm 3. The teaching pendant 1 and the robot control device 2 are connected, for example, via a network N, and the robot control device 2 and the robotic arm 3 are connected, for example, via a communication cable C. The network N can be wired (including the communication cable) or wireless. Additionally, the welding robot system 100 may include a teach pendant. The teach pendant is an operating device used by the operator to teach the robotic arm 3 its movements.

[0035] The robotic arm 3 is a welding robot (industrial robot) that performs arc welding according to the construction conditions set in the robot control device 2. The robotic arm 3 has, for example, a multi-joint arm 31 mounted on a base member fixed to the ground or the like in the factory; and a welding torch 32 (end effector) connected to the front end of the multi-joint arm 31.

[0036] The robot control device 2 is a control component that controls the movement of the robotic arm 3, and includes, for example, a control unit 21, a storage unit 22, a communication unit 23, and a welding power supply unit 24.

[0037] The control unit 21 controls the robot arm 3 and the welding power supply unit 24 by executing the work program stored in the storage unit 22 through the storage processor, for example.

[0038] The communication unit 23 controls communication with the teaching device 1 connected via network N, and controls communication with the robot arm 3 connected via communication cable C.

[0039] The welding power supply unit 24, for example, supplies welding current and welding voltage to the robot arm 3 according to predetermined welding conditions to generate an electric arc between the tip of the welding wire and the workpiece. These welding conditions include data such as welding conditions, welding start position, welding end position, arc discharge time, welding distance, torch posture, and torch movement speed. The welding power supply unit 24 can be separately mounted from the robot control unit 2.

[0040] The teaching pendant 1 displays the virtual robot information described later. For example, the teaching pendant 1 can be a fixed liquid crystal display (LCD) or an organic EL display, or it can be a portable terminal equipped with an LCD or an organic EL display. Portable terminals include, for example, tablet computers, smartphones, portable information terminals (PDAs), and laptop PCs (personal computers) that can be carried and moved. Alternatively, it can be the aforementioned teaching pendant equipped with a display unit.

[0041] Furthermore, the teaching device 1 can display the work procedures executed by the robot control device 2.

[0042] The teaching device 1 includes, for example, a control unit 11, a communication unit 12, and a display unit 13.

[0043] The control unit 11 controls each part of the teaching device 1, including the communication unit 12 and the display unit 13, by executing a given program stored in the memory through the processor.

[0044] The communication unit 12 controls communication with the robot control device 2 connected via network N.

[0045] As described above, the display unit 13 displays, for example, virtual robot information and operating procedures. Furthermore, the display unit 13 may be a display device with a touch panel, allowing operation of the displayed virtual robot information and operating procedures. The teaching pendant 1 may also include an operation unit for operating the virtual robot information and operating procedures displayed on the display unit 13.

[0046] [Structure of a Robot Teaching System]

[0047] Figure 2 This is a diagram illustrating the functional structure of a robot teaching system 200 according to an embodiment of the present invention. For example... Figure 2 As shown, the robot teaching system 200, as a functional structure, includes, for example, a robot position and attitude calculation unit 210, a virtual robot information generation unit 220, a display unit 230, and a teaching command selection unit 240.

[0048] The display unit 230 and the teaching command selection unit 240 are functions of the teaching pendant 1. On the other hand, the robot position and attitude calculation unit 210 and the virtual robot information generation unit 220 can be entirely possessed by either the teaching pendant 1 or the robot control device 2, or they can be distributed among the teaching pendant 1 and the robot control device 2. Alternatively, other devices besides the teaching pendant 1 and the robot control device 2 may possess some or all of the above functions.

[0049] The robot position and attitude calculation unit 210 calculates the robot's position and attitude corresponding to each teaching command contained in the work program that causes the robot to move, and the relationship between each teaching command. For example, the robot position and attitude calculation unit 210 calculates the robot's position and attitude corresponding to each teaching command contained in the work program. Specifically, the robot position and attitude calculation unit 210 calculates the position and rotation angle of each axis of the robot 3 while taking into account the positions of the multi-joint arm 31 and the welding torch 32 in each teaching command, based on information including start position, end position, welding target position, type of welding torch (tool), type of welding wire, and protrusion length.

[0050] In addition, teaching commands generally include movement commands that accompany the robot's movement, and application commands that do not involve direct robot movement, such as signal output to the robot's peripheral devices or the designation of welding areas. In this embodiment, teaching commands basically refer to movement commands.

[0051] Furthermore, the robot position and orientation calculation unit 210 calculates the robot's position and orientation corresponding to each teaching command contained in the work program that causes the robot to move. Specifically, in addition to the information in each teaching command mentioned above, the robot position and orientation calculation unit 210 further calculates the position and rotation angle of each axis of the robot 3 based on information including movement speed, interpolation type, and interpolation accuracy (interpolation point information), taking into account the positions of the multi-joint arm 31 of the robot 3 and the welding torch 32 between each teaching command. In addition, the so-called interpolation type is used to set how the robot moves between points (between teaching points), such as joint interpolation, linear interpolation, circular interpolation, and free curve interpolation.

[0052] The virtual robot information generation unit 220 generates virtual robot information corresponding to each teaching command and the relationships between those teaching commands based on the robot's position and orientation calculated by the robot position and orientation calculation unit 210. For example, the virtual robot information generation unit 220 generates virtual robot information corresponding to each teaching command and the relationships between those teaching commands based on the position and rotation angle of each axis of the robot arm 3 calculated by the robot position and orientation calculation unit 210. Specifically, the virtual robot information includes a still image of the robot representing its position and orientation, and an animation (moving image) showing the robot's movements.

[0053] Specifically, images of the robot in motion are pre-stored in a storage unit such as a memory. These images can be, for example, images obtained by actually photographing the robot using a camera, or images prepared as representations of similar robots. The virtual robot information generation unit 220 generates virtual robot information corresponding to each teaching command and the relationships between those teaching commands, based on the robot images stored in the storage unit as described above, and using the positions and rotation angles of each axis of the manipulator 3 calculated by the robot position and posture calculation unit 210. Here, the virtual robot information generation unit 220 can use, for example, CG (Computer Graphics) to generate the virtual robot information.

[0054] Display unit 230 displays at least one piece of virtual robot information generated by virtual robot information generation unit 220. For example, display unit 230 displays virtual robot information corresponding to any point, where any point includes each teaching command contained in the work procedure, or any teaching command among those teaching commands, or a given point between those teaching commands. The virtual robot information displayed by display unit 230 can be one piece of virtual robot information at any point, or it can be multiple pieces of virtual robot information corresponding to the entirety or a part of the work procedure.

[0055] In addition, virtual robot information can be a still image at any point, or it can be a continuous animated image (dynamic image) corresponding to the progress of the operation program.

[0056] The teach command selection unit 240 selects at least one teach command during the operation procedure. For example, the teach command selection unit 240 allows the user to select each teach command contained in the operation procedure displayed on the display unit 230 and any point between the teach commands.

[0057] [Specific examples of displaying virtual robot information]

[0058] Furthermore, the following detailed explanation will provide a specific example of a scenario where the robot teaching system 200 displays information about a virtual robot.

[0059] Figure 3 This is a diagram illustrating a specific example of a work procedure used to make the robot move and the virtual robot information corresponding to the teaching commands contained in that work procedure. For example... Figure 3 As shown, the operation program PG10 for making the manipulator 3 (robot) move and the virtual robot information VR10 representing the position and orientation of the manipulator 3 (robot) are displayed.

[0060] Specifically, in the work procedure PG10 displayed on the display screen via the display unit 230, the user selects a teaching command PG11 that represents step

[55] . As a result, virtual robot information VR10 corresponding to the teaching command PG11 is displayed. For example, the virtual robot information VR10 is displayed as a still image.

[0061] Alternatively, the user selects the teaching command PG11 representing step

[55] , but can also select a teaching command representing other steps in the work procedure PG10. The virtual robot information corresponding to the selected teaching command is displayed.

[0062] Thus, by displaying and representing the virtual robot information corresponding to the teaching commands of the steps selected by the user in the work procedure PG10, the user can easily confirm the position and orientation of the robot arm 3 corresponding to any desired point (teaching command).

[0063] Figure 4 This is a diagram illustrating other specific examples of the operational procedures used to make the robot move and the virtual robot information corresponding to the teaching commands contained in those procedures. For example... Figure 4 As shown, the operation program PG10 for making the manipulator 3 (robot) move and multiple virtual robot information VR1 representing the position and orientation of the manipulator 3 (robot) are displayed.

[0064] Specifically, all or part of the virtual robot information VR1 corresponding to each step

[51] to

[60] contained in the work procedure PG10 is displayed. In this case, since the user selects the teaching command PG11 representing step

[55] , the virtual robot information VR10 corresponding to the teaching command PG11 is displayed in a way that is different from other virtual robot information.

[0065] For example, thick lines (thin lines), solid lines (dashed lines, dotted lines), dark colors (light colors), different colors, highlighting, and flickering can be used to display the virtual robot information VR10 in multiple virtual robot information VR1 in a different way, such as emphasizing it more than other virtual robot information.

[0066] In addition, here, all or part of the virtual robot information VR1 corresponding to each step

[51] to

[60] contained in the work procedure PG10 is displayed, but in each step

[51] to

[60] , for example, the beginning and end, the before and after the teaching command selected by the user, and other intervals may also be displayed.

[0067] Thus, since the virtual robot information corresponding to the teaching command representing the step selected by the user is displayed in a different way than other virtual robot information in the work procedure PG10, the user can easily make a determination while comparing the position and posture of the robot 3 corresponding to any desired point (teaching command) with the position and posture of the robot 3 corresponding to other points.

[0068] Figure 5 This is a diagram illustrating a specific example of a work procedure used to make the robot move, and the corresponding virtual robot information between the teaching commands contained in that work procedure. For example... Figure 5 As shown, the operation program PG10 for making the manipulator 3 (robot) move and the virtual robot information VR10d representing the position and orientation of the manipulator 3 (robot) are displayed.

[0069] More specifically, in the work procedure PG10, regarding the teaching command PG11 representing step

[55] , a detail Sub11 showing the process of the teaching command PG11 is displayed. This detail Sub11 shows the steps

[54] and

[56] before and after the selected step

[55] . Specifically, the upper end of detail Sub11 is the starting point of step

[55] immediately after step

[54] ends, and the lower end of detail Sub11 is the ending point of step

[55] , just before step

[56] begins. Here, in the process of step

[55] in the work procedure PG10, there are multiple points (a) to (e).

[0070] The teaching command selection unit 240 can select multiple points (a) to (e). For example, if the user selects point (d), then in step

[55] , the virtual robot information VR10d corresponding to point (d) between steps

[55] and

[56] is displayed. Here, the virtual robot information VR10d is displayed as a still image.

[0071] Thus, because the virtual robot information corresponding to the given points between the adjacent teaching commands selected by the user is displayed in the operation program PG10, the user can not only easily confirm the position and posture of the robot 3 corresponding to the teaching command, but also easily confirm the position and posture of the robot 3 corresponding to the given points between the teaching commands.

[0072] Furthermore, this structure allows for the selection of multiple points (a) to (e) displayed on detail Sub11 and the display of virtual robot information corresponding to the selected points, but it is not limited to this. It could also be a structure where detail Sub11 serves as the user's operating area, for example, corresponding to the user's sliding operation, the point is moved between step

[55] and the preceding and following steps

[54] and

[56] , while the virtual robot information corresponding to that point is displayed. As a robot teaching system 200, it can include an input position recognition unit that recognizes the user's input position in the operating area shown in detail Sub11, and a display unit 230 that displays the virtual robot information corresponding to the input position recognized by the input position recognition unit.

[0073] Furthermore, if the teaching commands contained in the work procedure PG10 and the virtual robot information corresponding to the teaching commands selected by the user are preferably displayed adjacently on the same screen, the user can easily confirm the virtual robot information corresponding to each point while performing operations such as sliding, using the detail Sub11 as the user's operating area.

[0074] Furthermore, the operation area where users can perform actions such as swiping is not limited to detail Sub11. For example, it could be where the user traces each step of the work procedure PG10 on the screen. In this case, virtual robot information corresponding to each step traced by the user is displayed.

[0075] Figure 6 This is a diagram illustrating a specific example of a work procedure used to make the robot move, and information about the virtual robot corresponding to the multiple teaching commands contained in that work procedure. For example... Figure 6 As shown, the operation program PG10 for moving the robotic arm 3 (robot) and the virtual robot information VR2 representing the position and orientation of the robotic arm 3 (robot) are displayed. Furthermore, the virtual robot information VR2 is a continuous animated image.

[0076] Specifically, in the work program PG10 displayed on the display unit 230, the user selects a teaching command PG11 representing step

[55] and a teaching command PG12 representing step

[56] . Thus, based on the virtual robot information VR10 corresponding to the teaching command PG11, the virtual robot information VR20 corresponding to the teaching command PG12, and the virtual robot information corresponding to the teaching commands PG11 and PG12, a continuous animation image VR2 is displayed.

[0077] Furthermore, the virtual robot information corresponding to the teaching commands PG11 and PG12 is not limited to one; multiple virtual robot information can be generated by the robot position and attitude calculation unit 210 and the virtual robot information generation unit 220 for use.

[0078] Thus, since the user selects multiple teaching commands (adjacent teaching commands) in the operation program PG10, the virtual robot information between them is displayed as animated images. Therefore, the user can easily confirm the position and orientation of the robot arm 3 corresponding to any desired teaching command by means of the dynamic images.

[0079] Furthermore, as a method for selecting multiple teaching commands, one user can select multiple teaching commands, or multiple users can each select a specific teaching command. Alternatively, multiple teaching commands can be selected by automatically selecting the preceding or following teaching commands, or one of them, when selecting a single teaching command.

[0080] Furthermore, by selecting multiple teaching commands, the virtual robot information within the range determined by the selected teaching command can be displayed as a dynamic image (animated image), but this is not a limitation. Even when only one teaching command (step) is selected, for example, the virtual robot information can be displayed as an animated image based on at least one of the previous and subsequent teaching commands. Specifically, for example, if the user selects step

[55] , the virtual robot information of the previous steps

[54] to

[55] can be displayed as an animated image, or the virtual robot information of the subsequent steps

[55] to

[56] can be displayed as an animated image, or the virtual robot information of steps

[54] to

[56] can be displayed as an animated image.

[0081] Furthermore, when multiple teaching commands are selected, the usage can be set for the interval defined by the teaching command (e.g., the interval between teaching commands). Figure 5 The operation area is as described. For example, it could be structured as follows: while the user moves the point according to a sliding operation, virtual robot information corresponding to that point is displayed in the selected teaching command space. The input position recognition unit recognizes the user's input position in the operation area of ​​the selected teaching command space, and the display unit 230 displays the virtual robot information corresponding to the input position recognized by the input position recognition unit.

[0082] [Robot Display Method]

[0083] Next, a robot display method for displaying the robot's position and posture as virtual robot information according to an embodiment of the present invention will be described in detail.

[0084] Figure 7 This is a flowchart illustrating the processing flow of the robot display method M100 executed by the robot teaching system 200 according to an embodiment of the present invention. For example... Figure 7 As shown, the robot display method M100 includes steps S110 to S140, each step being executed by the processor contained in the robot teaching system 200.

[0085] In step S110, the robot teaching system 200 calculates the robot's position and orientation corresponding to each teaching command contained in the work program that causes the robot to move, as well as the position and orientation of the robot between each teaching command (robot position and orientation calculation step). As a specific example, the robot position and orientation calculation unit 210 in the robot teaching system 200 calculates the position and rotation angle of each axis of the robot arm 3 while taking into account the positions of the multi-joint arm 31 of the robot arm 3 and the welding torch 32, based on various information associated with the teaching points in each teaching command and the interpolation point information between each teaching command.

[0086] In step S120, the robot teaching system 200 generates virtual robot information corresponding to each teaching command and the relationships between those teaching commands based on the robot's position and orientation calculated in step S110 (virtual robot information generation step). Specifically, the virtual robot information generation unit 220 in the robot teaching system 200 generates virtual robot information corresponding to each teaching command and the relationships between those teaching commands using CG and the like, based on the position and rotation angle of each axis of the manipulator 3.

[0087] In step S130, the robot teaching system 200 selects at least one teaching command from the teaching commands of the work program used to make the robot move (teaching command selection step). As a specific example, the teaching command selection unit 240 in the robot teaching system 200 allows the user to select a given point between teaching commands in the work program or between teaching commands.

[0088] In step S140, the robot teaching system 200 displays the virtual robot information corresponding to the teaching command selected in step S130 in a manner different from other virtual robot information (virtual robot information display step). Specifically, the display unit 230 in the robot teaching system 200 displays only the virtual robot information corresponding to the teaching command selected in step S130, or emphasizes the virtual robot information corresponding to the teaching command selected in step S130 compared to other virtual robot information. Here, the virtual robot information corresponding to the selected teaching command is displayed using still images or animations.

[0089] As described above, according to an embodiment of the present invention, the robot teaching system 200 and robot display method M10 calculate the robot's position and posture corresponding to each teaching command contained in the work program PG10 and the relationships between those teaching commands. The virtual robot information generation unit 220 generates virtual robot information corresponding to each teaching command and the relationships between those teaching commands based on the robot's position and posture. Then, the display unit 230 displays the virtual robot information VR10 corresponding to the teaching command PG11 selected by the teaching command selection unit 240, the virtual robot information VR10d corresponding to the relationships between teaching commands PG11 and PG12, and the animation image VR3 corresponding to the relationships between teaching commands PG11 and PG12. Thus, the user can easily confirm the robot's position and posture corresponding to any desired teaching command.

[0090] In this embodiment, virtual robot information is displayed using CG or similar methods. However, it is also possible to overlay virtual robot information onto an image of the real environment, including the workpiece to be welded and the robot. In this case, for example, AR markers can be used to calibrate the robot information in the real environment with the virtual robot information. This allows the user to confirm the robot's position and orientation based on the workpiece and worktable in the real environment.

[0091] The embodiments described above are intended to facilitate understanding of the present invention and are not intended to limit the scope of the invention. The elements, configurations, materials, conditions, shapes, and dimensions of the embodiments are not limited to the examples and can be appropriately modified. Furthermore, the structures shown in different embodiments can be partially substituted for or combined with each other.

Claims

1. A robot teaching system comprising: a robot control device for controlling the actions of a robot; and a movable terminal connected to the robot control device for receiving input from a user and displaying information about the robot, the robot teaching system being characterized in that it includes: The robot position and attitude calculation unit calculates the robot's position and attitude corresponding to each teaching command contained in the operation program that causes the robot to move. The virtual robot information generation unit generates virtual robot information corresponding to each teaching command and the teaching commands based on the robot's position and posture. The teaching command selection unit selects at least one of the teaching commands contained in the operation procedure; An input position recognition unit recognizes the user's input position in the operation area associated with the teaching command selected by the teaching command selection unit; and The display unit shows information about the virtual robot based on the selected teaching command. The operation area displays the teaching command selected by the teaching command selection unit, as well as details between the teaching commands, including at least one of the preceding and following teaching commands. If the input position recognition unit recognizes the input position of at least one of the displayed details, The display unit serves as a display device with a touch panel, displaying the operation area and a virtual robot image on the portable terminal representing the position and posture of the robot corresponding to the teaching command or the position and posture of the robot between the teaching commands recognized by the input position recognition unit.

2. The robot teaching system according to claim 1, characterized in that, The display unit changes the display method of the virtual robot information according to the number of selected teaching commands.

3. The robot teaching system according to claim 2, characterized in that, When a teaching command is selected by the teaching command selection unit, the display unit displays the virtual robot information as a still image.

4. The robot teaching system according to claim 2, characterized in that, When multiple teaching commands are selected by the teaching command selection unit, the display unit displays the virtual robot information as an animation within the range determined by the selected multiple teaching commands.

Images