Teaching device, robot system, and storage device

Abstract

Provided are a teaching device, a robot system, and a storage device capable of simplifying the device configuration and selecting and setting a first mode and a second mode by a simple operation. A teaching device for teaching a robot having a robot arm is characterized by comprising: a device main body which is used by being held by a user; a display unit provided in the device body; a posture detection unit that detects the posture of the device body; and a mode setting unit that selects a first mode for causing the robot to execute an operation program when the posture detected by the posture detection unit is a first posture, and selects a second mode for teaching the robot when the posture detected by the posture detection unit is a second posture different from the first posture. And the selected mode is set.

Description

Technical Field

[0001] The present invention relates to a teaching device, a robot system and a program. Background Art

[0002] In recent years, due to the soaring labor costs and the shortage of manpower in factories, robots with mechanical arms are used to manufacture, process, assemble, and transport parts or products, thereby automating the operations that were previously performed manually. Such robots are taught by a teaching device such as that described in Patent Document 1 to perform operations.

[0003] The teaching device described in Patent Document 1 is composed of a tablet computer with a touch panel display. The teaching device has an automatic mode for causing a robot to execute a program and a teaching mode for performing teaching. The mode is switched by pressing a switch (button) provided near the teaching device. By pressing the switch, the control unit of the teaching device receives a signal indicating that the switch has been pressed, thereby switching the mode between the automatic mode and the teaching mode.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-213645

[0005] However, in the configuration described in Patent Document 1, a switch for switching the modes is provided. However, there is a problem that the configuration of the teaching device becomes complicated due to the provision of the switch. Summary of the invention

[0006] The teaching device of the present invention is characterized in that it teaches a robot having a robotic arm, and the teaching device comprises: a device body, which is hand-held and used by a user; a display unit, which is arranged on the device body; a posture detection unit, which detects the posture of the device body; and a mode setting unit, which selects a first mode for causing the robot to execute an action program when the posture detected by the posture detection unit is a first posture, and selects a second mode for teaching the robot when the posture detected by the posture detection unit is a second posture different from the first posture, and sets the selected mode.

[0007] The robot system of the present invention is characterized in that it comprises: a robot having a mechanical arm; and a teaching device for teaching the robot, the teaching device comprising: a device body for hand-held use by a user; a display unit arranged on the device body; a posture detection unit for detecting the posture of the device body; and a mode setting unit, which selects a first mode for causing the robot to execute an action program when the posture detected by the posture detection unit is a first posture, and selects a second mode for teaching the robot when the posture detected by the posture detection unit is a second posture different from the first posture, and sets the selected mode.

[0008] The program of the present invention is a program for teaching a robot with a robotic arm, and the program is executed by a teaching device, which includes: a device body that is hand-held and used by a user; a display unit that is arranged on the device body; and a posture detection unit that detects the posture of the device body. The program is used to execute: a first step, in which the posture detection unit detects the posture of the device body; and a second step, in which, when the posture detected in the first step is a first posture, a first mode is selected to cause the robot to execute an action program, and when the posture detected in the first step is a second posture different from the first posture, a second mode is selected to teach the robot, and the selected mode is set. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is an overall view showing a first embodiment of the robot system of the present invention.

[0010] Figure 2 yes Figure 1 Block diagram of the robot system shown.

[0011] Figure 3 yes Figure 1 A perspective view of the teaching device shown.

[0012] Figure 4 yes Figure 1 The illustrated teaching device is a plan view showing a state in which the first mode is set.

[0013] Figure 5 yes Figure 1 The illustrated teaching device is a plan view showing a state in which the second mode is set.

[0014] Figure 6 It is used to illustrate Figure 1 Flowchart of the program executed by the teaching device shown.

[0015] Description of Reference Numerals

[0016] 1…Robot, 1A…Virtual robot, 3…Control device, 4…Teaching device, 5…Device body, 6…Holding member, 7…Posture detection unit, 8…Robot language, 10…Robot arm, 11…Base, 12…First arm, 13…Second arm, 14…Third arm, 15…Fourth arm, 16…Fifth arm, 17…Sixth arm, 20…End effector, 31…Control unit, 32…Storage unit, 33…Communication unit, 40…Display, 41…Control unit, 41A…Mode setting unit, 41B…Display control unit, 41C…Judgment unit, 42…Storage unit, 43…Communication unit, 61…Holding member body, 62…Enable switch, 63…Mounting surface, 71…Inertial sensor, 100…Robot system , 171…joint, 172…joint, 173…joint, 174…joint, 175…joint, 176…joint, 201…operation button, 202…simulation image, 611…hook portion, 621…signal sending portion, D1…motor driver, D2…motor driver, D3…motor driver, D4…motor driver, D5…motor driver, D6…motor driver, DA…first display screen, DB…second display screen, 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. DETAILED DESCRIPTION

[0017] Hereinafter, the teaching device, the robot system, and the program of the present invention will be described in detail based on the preferred embodiments shown in the drawings.

[0018] Implementation

[0019] Figure 1 It is an overall view showing a first embodiment of the robot system of the present invention. Figure 2 yes Figure 1 Block diagram of the robot system shown. Figure 3 yes Figure 1 A perspective view of the teaching device shown. Figure 4 yes Figure 1 The illustrated teaching device is a plan view showing a state in which the first mode is set. Figure 5 yes Figure 1 The illustrated teaching device is a plan view showing a state in which the second mode is set. Figure 6 It is used to illustrate Figure 1 Flowchart of the program executed by the teaching device shown.

[0020] It should be noted that, for the sake of convenience, the following description will be made with respect to the robot arm 10. Figure 1 The base 11 side in the figure is also referred to as a “base end”, and the opposite side, that is, the end effector 20 side is also referred to as a “front end”.

[0021] 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 device 4 which is an example of a teaching device of the present invention.

[0022] First, the robot 1 will be described.

[0023] Figure 1 The robot 1 shown in this embodiment is a single-arm six-axis vertical multi-joint robot, which has a base 11 and a robot arm 10. In addition, an end effector 20 can be installed at the front end of the robot arm 10. It should be noted that the end effector 20 can be a component of the robot 1 or a component different from the robot 1, that is, not a component of the robot 1.

[0024] It should be noted that the robot 1 is not limited to the configuration shown in the figure, and may be, for example, a dual-arm multi-joint robot. In addition, the robot 1 may be a horizontal multi-joint robot.

[0025] The base 11 is a support body that supports the robot arm 10 at its base end so that it can be driven, and is fixed to the floor of the factory, for example. In the robot 1, the base 11 is electrically connected to the control device 3 via a relay cable. It should be noted that the connection between the robot 1 and the control device 3 is not limited to Figure 1 The wired connection as shown in the configuration may be, for example, a wireless connection. In addition, the communication may be performed by connecting via various external interfaces or a network such as the Internet.

[0026] In the present embodiment, the robot 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 in sequence from the base end side to the front end side. It should be noted that the number of arms of the robot arm 10 is not limited to six, for example, it can also be one, two, three, four, five or seven or more. In addition, the total length of each arm is not particularly limited, and can be set appropriately.

[0027] The base 11 and the first arm 12 are connected via a joint 171. In addition, the first arm 12 can rotate relative to the base 11 around the first rotation axis extending in the Z-axis direction. In this way, the first rotation axis coincides with the normal line of the ground surface of the ground on which the base 11 is fixed, and the entire robot arm 10 can rotate around the first rotation axis in either the positive direction or the negative direction.

[0028] The first arm 12 and the second arm 13 are connected via the joint 172. In addition, the second arm 13 is rotatable relative to the first arm 12 about a second rotation axis extending in the horizontal direction as a rotation center.

[0029] The second arm 13 and the third arm 14 are connected via the joint 173. The third arm 14 is rotatable relative to the second arm 13 about a third rotation axis extending in the horizontal direction as a rotation center. The third rotation axis is parallel to the second rotation axis.

[0030] The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 can rotate relative to the third arm 14 about a fourth rotation axis parallel to the central axis of the third arm 14. The fourth rotation axis is orthogonal to the third rotation axis.

[0031] The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 can rotate relative to the fourth arm 15 about a fifth rotation axis as a rotation center. The fifth rotation axis is orthogonal to the fourth rotation axis.

[0032] The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable relative to the fifth arm 16 about a sixth rotation axis as a rotation center. The sixth rotation axis is orthogonal to the fifth rotation axis.

[0033] The sixth arm 17 is a robot front end portion located at the front end side of the robot arm 10. The sixth arm 17 can be displaced corresponding to each end effector 20 by driving the robot arm 10.

[0034] Figure 1 The end effector 20 shown has a gripping portion capable of gripping an object such as a workpiece or a tool. When the end effector 20 is attached to the sixth arm 17, the tip of the end effector 20 is a tool center point TCP.

[0035] The robot 1 includes a motor M1, a motor M2, a motor M3, a motor M4, a motor M5, and a motor M6 as a driving unit, and an encoder E1, an encoder E2, an encoder E3, an encoder E4, an encoder E5, and an encoder E6. The motor M1 is built into the joint 171 to rotate the first arm 12 relative to the base 11 around the first rotation axis. The motor M2 is built into the joint 172 to rotate the first arm 12 and the second arm 13 relatively around the second rotation axis. The motor M3 is built into the joint 173 to rotate the second arm 13 and the third arm 14 relatively around the third rotation axis. The motor M4 is built into the joint 174 to rotate the third arm 14 and the fourth arm 15 relatively around the fourth rotation axis. The motor M5 is built into the joint 175 to rotate the fourth arm 15 and the fifth arm 16 relatively around the fifth rotation axis. The motor M6 is built into the joint 176 to rotate the fifth arm 16 and the sixth arm 17 relatively around the sixth rotation axis.

[0036] In addition, encoder E1 is built into joint 171 to detect the position of motor M1. Encoder E2 is built into joint 172 to detect the position of motor M2. Encoder E3 is built into joint 173 to detect the position of motor M3. Encoder E4 is built into joint 174 to detect the position of motor M4. Encoder E5 is built into the fifth arm 16 to detect the position of motor M5. Encoder E6 is built into the sixth arm 17 to detect the position of motor M6. It should be noted that the "detected position" mentioned here refers to detecting the rotation angle of the motor, that is, including the forward and reverse rotation amount and angular velocity, and the detected information is referred to as "position information".

[0037] like Figure 2 As shown, the motor drivers D1 to D6 are connected to the corresponding motors M1 to M6 and control the driving of these motors. The motor drivers D1 to D6 are built into the joint 171, the joint 172, the joint 173, the joint 174, the fifth arm 16 and the sixth arm 17 respectively.

[0038] The encoders E1 to E6, the motors M1 to M6, and the motor drivers D1 to D6 are electrically connected to the control device 3. The position information of the motors M1 to M6 detected by the encoders E1 to E6, that is, the rotation amount, is sent to the control device 3 as an electrical signal. In addition, based on the position information, the control device 3 sends Figure 2 The motor drivers D1 to D6 shown output control signals to drive the motors M1 to M6 . That is, controlling the robot 10 means controlling the driving of the motors M1 to M6 and controlling the motions of the first to sixth arms 12 to 17 of the robot 10 .

[0039] The end effector 20 can be detachably mounted on the front end of the robot arm 10. In the present embodiment, the end effector 20 has a pair of claws that can be moved toward and away from each other, and is composed of a gripper that grips and releases a workpiece or a tool through each claw. The force detector mounted on the end effector 20 can detect the magnitude and direction of the reaction force of the gripping force when the workpiece is gripped by the two claws.

[0040] It should be noted that the end effector 20 is not limited to the structure shown in the figure, and may also be a structure having an adsorption portion, and holding a workpiece or a tool by adsorption of the adsorption portion. In addition, the end effector 20 may be a tool such as a grinder, a grinding machine, a cutting machine, a spray gun, a laser irradiator, a screwdriver, a wrench, etc.

[0041] The robot 1 uses such an end effector 20 to drive the various parts of the robot arm 10 and the end effector 20 according to the action program described below to perform the target operation. Examples of the operation include manufacturing, processing, assembling, disassembling, transporting, and screening of parts or products, which are simply referred to as "operations" below.

[0042] Next, the control device 3 and the teaching device 4 will be described.

[0043] like Figure 1 As shown, in this embodiment, the control device 3 is set at a position separated from the robot 1. However, it is not limited to this structure, and the control device 3 can also be built into the base 11. In addition, the control device 3 has a function of controlling the drive of the robot 1 and is electrically connected to the various parts of the robot 1 mentioned above. Figure 2 As shown, the control device 3 includes a control unit 31, a storage unit 32, and a communication unit 33. These units are connected to each other via a bus, for example, so as to be able to communicate with each other.

[0044] The control unit 31 includes one or more processors. The control unit 31 is composed of, for example, a CPU (Central Processing Unit), and reads and executes various programs such as an action program stored in the storage unit 32. The signal generated by the control unit 31 is sent to each part of the robot 1 via the communication unit 33, and the signal from each part of the robot 1 is received by the control unit 31 via the communication unit 33. As a result, the robot arm 10 can perform a predetermined operation under predetermined conditions.

[0045] The storage unit 32 stores various programs executed by the control unit 31. The storage unit 32 may include, for example, a volatile memory such as a RAM (Random Access Memory), a nonvolatile memory such as a ROM (Read Only Memory), or a detachable external storage device.

[0046] The communication unit 33 includes an interface circuit, and can transmit and receive signals with the robot 1 or the teaching device 4 using an external interface such as a wired LAN (Local Area Network), a wireless LAN, Wi-Fi, or Bluetooth (registered trademark). The communication unit 33 may also include a terminal for connecting a cable for wired communication or an antenna for wireless communication. In this case, communication may be performed via a server not shown in the figure, or via a network such as the Internet.

[0047] like Figure 1 , Figure 2 and Figure 3As shown, the teaching device 4 is a device for creating an action program to be taught to the robot 1, that is, to be executed by the robot 1. In addition, the teaching device 4 also functions as a command device for causing the robot 1 to execute the action program, etc. The teaching device 4, in particular, the device body 5 is composed of a tablet terminal having a display 40, and the display 40 is a touch display that serves as both a display unit and an input operation unit.

[0048] That is, the display 40 as a display unit has an input operation function. Thus, the input operation can be performed while viewing the display 40. Therefore, the input operation can be performed easily, quickly, and accurately.

[0049] The display 40 is composed of, for example, liquid crystal, organic EL, etc., and can display various display screens in color or monochrome. The display 40 displays a first display screen DA and a second display screen DB, etc., which will be described later.

[0050] The display 40 is rectangular, but is not limited to this configuration, and may be in any shape such as square, trapezoid, triangle, hexagon, octagon, circle, ellipse, etc.

[0051] The input operation function refers to the function of inputting information, switching screens, etc. through tapping, long pressing, sliding, zooming, dragging, etc.

[0052] It should be noted that the above configuration is not limited thereto, and the teaching box, display unit, and input operation unit may be separated or separable from a personal computer. In this case, the input operation unit is composed of a keyboard and a mouse.

[0053] like Figure 1 , Figure 2 and Figure 3 As shown in FIG. 1 , the teaching device 4 includes a device body 5 held by a user, a holder 6, and a posture detection unit 7. Figure 1 As shown, the teaching device 4 is used by a user holding the device main body 5 while the user can visually check the display 40 .

[0054] The device body 5 is composed of a plate-like housing, and has a display 40 on one surface. The device body 5 has a control unit 41, a storage unit 42, and a communication unit 43 built therein.

[0055] Figure 2 The control unit 41 shown is constituted by at least one processor such as a CPU (Central Processing Unit), and reads and executes various programs stored in the storage unit 42 , such as the program of the present invention.

[0056] In addition, the control unit 41 has a function of performing a process of selecting and setting a first mode or a second mode described later, a function of controlling the operation of the display 40, etc. Hereinafter, the processor that performs the process of selecting and setting a mode among the processors is referred to as a mode setting unit 41A, the processor that controls the operation of the display 40 is referred to as a display control unit 41B, and the processor that determines whether the enable switch 62 described later is pressed is referred to as a determination unit 41C.

[0057] The storage unit 42 stores various programs executable by the control unit 41. For example, the storage unit 42 may include a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read Only Memory), a detachable external storage device, etc. The storage unit 42 stores various programs such as the program of the present invention and the program for executing the first mode and the second mode described later. However, the present invention is not limited to this configuration, and the program of the present invention may be stored in the storage unit 32 or in an external storage device.

[0058] The communication unit 43 has an interface circuit, and can use an external interface such as a wired LAN (Local Area Network), a wireless LAN, Wi-Fi, Bluetooth (registered trademark) to send and receive signals between the control device 3 and the enable switch 62 provided on the holder 6 described later. In this case, communication can also be performed via a server not shown in the figure, and communication can also be performed via a network such as the Internet. The communication unit 43 sends information about the action program stored in the storage unit 42 to the control device 3. In addition, the communication unit 43 can also receive information stored in the storage unit 32, and the storage unit 42 stores the information.

[0059] like Figure 2 and Figure 3 As shown, in the present embodiment, the posture detection unit 7 is composed of an inertial sensor 71 that is built into the device body 5 and detects the posture of the device body 5. As the inertial sensor 71, for example, an IMU (Inertial Measurement Unit) or the like can be used. When an arbitrary point of the inertial sensor 71 is used as the origin and three axes orthogonal to each other are set as the x-axis, the y-axis, and the z-axis, the inertial sensor 71 detects at least one of six accelerations in the direction of the x-axis, the acceleration in the direction of the y-axis, the acceleration in the direction of the z-axis, the angular velocity around the x-axis, the angular velocity around the y-axis, and the angular velocity around the z-axis. In the present embodiment, the inertial sensor 71 detects the angular velocity around the z-axis, and determines whether the posture of the device body 5 is the first posture or the second posture based on the detected angular velocity. The z-axis is parallel to the normal of the display 40.

[0060] The inertial sensor 71 is electrically connected to the control unit 41, and the detection value detected by the inertial sensor 71 is sent to the control unit 41 as an electrical signal for the mode selection and setting described later. Here, "mode selection and setting" refers to selecting and setting the first mode and the second mode described later. In addition, similarly, not performing "mode selection and setting" means that neither mode selection nor setting is performed. "Mode switching" means changing from the first mode to the second mode, or vice versa, changing from the second mode to the first mode, which is essentially the same as "mode selection and setting".

[0061] It should be noted that the posture detection unit 7 can be any one that can detect the posture of the device body 5, and is not limited to the above-mentioned configuration. For example, it can be a contact or non-contact vibration sensor. As a contact vibration sensor, a pressure-sensitive sensor can be used. As a non-contact vibration sensor, an electric, servo, strain gauge, eddy current, electrostatic capacitance, ultrasonic, optical sensor, etc. can be used.

[0062] like Figure 3 As shown, a holder 6 as a holding tool is mounted on the device body 5 for use. The holder 6 is detachable from the device body 5, and in the mounted state, it fixedly holds the device body 5. Therefore, the device body 5 and the holder 6 are held together by the user for use.

[0063] By attaching the holder 6 to the device main body 5 and using it in this way, the device main body 5 can be held safely and reliably, and as a result, the device main body 5 can be easily and appropriately operated.

[0064] Such a holder 6 includes a holder body 61 and an enabling switch 62 .

[0065] The holder body 61 is in the shape of a rectangular plate when viewed from above. The holder body 61 supports the device body 5 from the back side of the device body 5, that is, the side opposite to the display 40. That is, when the holder 6 is mounted on the device body 5, the back side of the device body 5 contacts the mounting surface 63 of the holder body 61. However, the present invention is not limited to this structure, and the holder body 61 may also be in the shape of a frame, for example. In addition, although not shown in the figure, for example, a gripping portion or an engaging portion in the shape of a projection, a ring, etc. may be provided on the back side of the holder body 61, that is, the surface on the side opposite to the mounting surface 63 of the device body 5.

[0066] The holder body 61 has a pair of hooking parts 611. Each hooking part 611 is provided at a corner located on a diagonal line among the four corners of the holder body 61. The hooking part 611 is composed of a claw part that hooks on the corner of the device body 5 to hold the device body 5. In addition, by releasing the hook of the hooking part 611, the device body 5 can be detached from the holder 6. It should be noted that the structure, number, and formation position of the hooking part 611 are not limited to the structure shown in the figure.

[0067] The holder body 61 can be made of, for example, a hard or soft resin material, various rubbers, an elastic body (elastic material) such as polyurethane, etc. In addition, the constituent material of the holder body 61 may be any of transparent, translucent, and opaque.

[0068] The enabling switch 62 is a switch for selecting whether to allow or not to allow a mode selection described later. The enabling switch 62 is composed of a mechanical switch, and allows mode selection when pressed, and prohibits mode selection when not pressed. This can prevent unintentional mode switching.

[0069] The enabling switch 62 is provided on one hook portion 611 . Thus, the user can easily operate the enabling switch 62 while watching the display 40 .

[0070] It should be noted that the enabling switch 62 may also be other mechanical forms such as a push switch. In addition, the enabling switch 62 is not limited to a mechanical switch, and may also be an electronic switch. Examples of the electronic switch include electrostatic capacitance type and pressure sensitive type.

[0071] The enabling switch 62 is not limited to being formed on the hook portion 611 , and may be formed on, for example, the back side of the holder body 61 , that is, the surface opposite to the surface of the support device body 5 , or the side surface of the holder body 61 .

[0072] The enabling switch 62 has a signal sending unit 621 that sends a signal indicating that the content has been pressed. Figure 2 As shown, the signal sending unit 621 is connected to the control unit 41 via the communication unit 43 in a wireless or wired manner, and the signal sent by the signal sending unit 621 is received by the communication unit 43 and is used by the determination unit 41C to determine whether the enable switch 62 has been pressed.

[0073] When the determination unit 41C determines that the enable switch 62 has been pressed, the mode selection and setting described below are permitted. On the other hand, when the determination unit 41C determines that the enable switch 62 has not been pressed, the mode selection and setting described below are not permitted.

[0074] Such a teaching device 4 has a first mode and a second mode, and these modes are selectively used.

[0075] The first mode is a mode for making the robot 1 execute an action program. The "action program" mentioned here is a program that can be executed by making the robot 1 perform operations, including programs created in the second mode, programs input from the outside, etc. In addition, the first mode includes an automatic mode and a manual mode. The manual mode is a mode in which the user operates an operation screen not shown in the figure to execute the program, including a manual low-speed mode, a manual high-speed mode, etc. It should be noted that the manual high-speed mode can also belong to the second mode.

[0076] The second mode is a mode for teaching the robot 1. "Teaching" means creating an action program for the robot 1 to perform an operation thereafter. Teaching includes direct teaching in which the posture is stored in a time series while applying an external force directly to the robot arm 10 to change the posture, indirect teaching in which the posture is stored in a time series while operating the second display screen DB described later, and a mixture of these direct teaching and indirect teaching.

[0077] By switching between the first mode and the second mode as needed, the robot 1 can be caused to perform work or taught at a desired timing.

[0078] In the past, the mode switching was performed by operating a mechanical switch (manual switch) provided on a holder equivalent to the holder 6. It should be noted that the mechanical switch was previously provided separately from the switch equivalent to the enabling switch 62. If such a configuration is used, the device configuration becomes complicated. Therefore, in the present invention, the configuration is such that the mode switching can be performed by the user changing the posture of the device body 5, that is, the first mode and the second mode can be selected and set. As a result, the device configuration can be simplified compared to the past, and the mode switching can be performed with simple operation. The following is a specific description.

[0079] First, if Figure 4 As shown in the figure, a case where the user holds the teaching device 4 in a horizontally long posture (hereinafter referred to as the "first posture") when the user observes it will be described. In this case, the posture detection unit 7 detects the posture of the device body 5 and sends a detection signal corresponding to the first posture to the control unit 41. The control unit 41 determines that the device body 5 is in the first posture based on the received signal. As a result, the mode setting unit 41A selects and sets the first mode corresponding to the first posture from the first mode and the second mode.

[0080] In addition, "setting the first mode" means storing the mode as the mode for executing the first mode thereafter in the storage unit 42. This also applies to the second mode described below.

[0081] In addition, the posture detection unit 7 has a posture determination unit (not shown), and the posture determination unit may also be configured as follows: based on the detection signal detected by the inertial sensor 71, it is determined whether the device body 5 is in the first posture or the second posture, and a signal regarding the determination result, that is, a signal indicating that it is in the first posture, is sent to the control unit 41. This is also the same for the second mode described below.

[0082] In the first mode, Figure 4 The first display screen DA as shown is displayed on the display 40. The first display screen DA is a screen in which the action program is displayed by the robot language 8. When the action program of the robot 1 is executed in the first mode, by displaying the action program by the robot language 8, it is possible to understand what process is currently being performed, what process will be performed later, the action conditions in the currently performed process, etc. The robot language 8 displays a combination of characters, numbers, symbols, etc. in one line, or displays a combination of characters, numbers, symbols, etc. in multiple lines with line changes. In particular, when the action program is displayed by the robot language 8, the number of characters is large, so the length of the character column in one line becomes longer. Therefore, by displaying it on the horizontally long display 40, the line changes are minimized, and the content can be easily understood.

[0083] It should be noted that in the first mode, the first display screen DA may not be displayed on the display 40, but the display 40 may be in a black screen state, for example.

[0084] like Figure 5 As shown in the figure, the case where the user holds the teaching device 4 in the posture in which the display 40 is vertically long when viewed by the user (hereinafter referred to as the "second posture") is described. In this case, the posture detection unit 7 detects the posture of the device body 5 and sends a detection signal corresponding to the second posture to the control unit 41. The control unit 41 determines that the device body 5 is in the second posture based on the received signal. As a result, the mode setting unit 41A selects and sets the second mode corresponding to the second posture from the first mode and the second mode.

[0085] In the second mode, Figure 5 The second display screen DB as shown is displayed on the display 40. The second display screen DB has an operation button 201 for teaching, and a simulation image 202 of the virtual robot 1A corresponding to the robot 1. A plurality of operation buttons 201 are provided, including a button for moving a control point of the virtual robot 1A or the robot arm 10 of the robot 1, such as a tool center point TCP, and a button (teaching button) for storing the position and posture of the robot arm 10. The virtual robot 1A of the simulation image 202 changes its posture according to the operation of the operation button 201 and is displayed. Such control is performed by the display control unit 41B.

[0086] The area where the operation buttons 201 are displayed and the area where the simulation image 202 is displayed are arranged in Figure 5 When viewed by the user, the area displaying the operation button 201 and the area displaying the simulation image 202 are from Figure 5 Arranged in sequence from the upper middle side.

[0087] When teaching is performed in the second mode, by displaying the operation buttons 201 and the virtual robot 1A, teaching can be performed accurately, quickly, and smoothly. In particular, by arranging the operation buttons 201 and the virtual robot 1A in a vertical arrangement, when the user operates the operation buttons 201, the user's hand does not hinder the visual confirmation of the virtual robot 1A, so that teaching can be performed more accurately, quickly, and smoothly. In addition, although not shown in the figure, in the second mode, there is sometimes a list of point files for teaching points to be confirmed, but even in this confirmation, the vertical arrangement has the advantage of being easy to grasp the list.

[0088] Thus, the mode switching can be realized by a simple operation of rotating the device body 5 by about 90 degrees to select any one of the first posture and the second posture while holding the device body 5. In addition, there is no need to provide a mechanical switch (manual switch) for mode switching as in the past, and the device structure of the teaching device 4 can be simplified.

[0089] As described above, the teaching device 4 is a device for teaching the robot 1 having the robot arm 10, and comprises: a device body 5, which is held by the user; a display 40, which is a display unit provided on the device body 5; a posture detection unit 7, which detects the posture of the device body 5; and a mode setting unit 41A, which selects a first mode for causing the robot 1 to execute an action program when the posture detected by the posture detection unit 7 is a first posture, and selects a second mode for teaching the robot 1 when the posture detected by the posture detection unit 7 is a second posture different from the first posture, and sets the selected mode. Thus, the teaching device 4 can select and set the mode without providing a manual switch for mode switching. Therefore, the device structure of the teaching device 4 can be simplified, and the first mode and the second mode can be selected and set by simple operation.

[0090] In addition, the robot system 100 comprises: a robot 1 having a robot arm 10; and a teaching device 4 for teaching the robot 1, wherein the teaching device 4 comprises: a device body 5 for being held by a user; a display 40 as a display unit provided on the device body 5; a posture detection unit 7 for detecting the posture of the device body 5; and a mode setting unit 41A for selecting a first mode for causing the robot 1 to execute an action program when the posture detected by the posture detection unit 7 is a first posture, and selecting a second mode for teaching the robot 1 when the posture detected by the posture detection unit 7 is a second posture different from the first posture, and setting the selected mode. Thus, the teaching device 4 can select and set a mode without providing a manual switch for mode switching. Therefore, the device configuration of the teaching device 4 can be simplified, and the first mode and the second mode can be selected and set by simple operation.

[0091] In the robot system 100 and the teaching device 4 described above, the first posture and the second posture are not limited to the configurations shown in the drawings, and other postures may be used.

[0092] In addition to the first mode and the second mode, the teaching device 4 may have a mode different from these.

[0093] Furthermore, the posture detection unit 7 is provided in the device body 5 . This allows the posture of the device body 5 to be directly detected, and the posture can be detected more accurately. It should be noted that the posture detection unit 7 may also be provided in the holder 6 .

[0094] The display 40 as the display unit is rectangular, and the first posture is a posture in which the display 40 is horizontally long when viewed from the user, and the second posture is a posture in which the display 40 is vertically long when viewed from the user. Thus, appropriate screen configuration can be performed according to each of the first mode and the second mode, and usability can be improved in each mode.

[0095] Note that the configuration is not limited to the above, and the first posture may be a posture in which the display 40 is vertically long when viewed from the user, and the second posture may be a posture in which the display 40 is horizontally long when viewed from the user.

[0096] The display 40 as the display unit displays a first display screen DA in which the action program is displayed by the robot language 8 in the first mode, and displays a second display screen DB in the second mode, which has an operation button 201 for teaching and a simulated image 202 of the virtual robot 1A corresponding to the robot 1. Thus, the usability can be further improved in each of the first mode and the second mode.

[0097] The teaching device 4 includes a holder 6 that detachably supports the device body 5 , and the holder 6 includes an enable switch 62 that selects whether to allow or not to allow the mode selection in the mode setting unit 41A. This prevents the mode from being switched unintentionally.

[0098] The teaching device 4 includes a determination unit 41C for determining whether the enabling switch 62 is pressed. When the determination unit 41C determines that the enabling switch 62 is pressed, the mode setting unit 41A selects and sets the first mode and the second mode. When the determination unit 41C determines that the enabling switch 62 is not pressed, the mode setting unit 41A does not select and set the first mode and the second mode. This prevents the mode from being switched unintentionally.

[0099] It should be noted that, in the present invention, the operation mode, function, and installation location of the enabling switch 62 are not limited to the above. In addition, the enabling switch 62 itself may be omitted.

[0100] In addition, in the present invention, when the device body 5 is set to Figure 4 The posture shown is rotated 180°, that is, relative to Figure 4 In the case where the posture shown is upside down, the posture detection unit 7 detects the posture and sends a detection signal to the control unit 41. In this case, the display 40 is in a horizontally long posture when viewed from the user, so it is configured so that the first display screen DA is displayed on the display 40 when the enable switch 62 is pressed. In this case, the first display screen DA is vertically and horizontally opposite to the first display screen DA. Figure 4 The situation shown in is the same orientation.

[0101] Similarly, when the device body 5 is set to Figure 5 The posture shown is rotated 180°, that is, relative to Figure 5 In the case where the posture shown is upside down, the posture detection unit 7 detects the posture and sends a detection signal to the control unit 41. In this case, the display 40 is in a vertically long posture when viewed from the user, so it is configured so that the second display screen DB is displayed on the display 40 when the enable switch 62 is pressed. In this case, the second display screen DB is vertically and horizontally opposite to the second display screen DB. Figure 5 The situation shown in is the same orientation.

[0102] Then, refer to Figure 6 A flowchart when an example of the program of the present invention is executed will be described.

[0103] First, in step S101 , the determination unit 41C determines whether the enable switch 62 has been pressed. The determination in this step is performed based on whether the communication unit 43 has received a signal transmitted by the signal transmission unit 621 .

[0104] In step S101, when it is determined that the enable switch 62 has been pressed, in step S102, the posture detection unit 7 detects the posture of the device body 5. That is, in step S102, the control unit 41 receives the electrical signal output by the inertial sensor 71. This step S102 is the first step.

[0105] On the other hand, when it is determined in step S101 that the enabling switch 62 is not pressed, step S101 is repeated until the enabling switch 62 is pressed.

[0106] It should be noted that, before the enable switch 62 is pressed, the current mode (first mode or second mode) is maintained regardless of the posture of the device body 5. That is, the current screen (first display screen DA or second display screen DB) displayed on the display 40 is maintained.

[0107] Then, in step S103, a mode is selected and set. That is, the control unit 41 selects and sets the first mode when the posture obtained based on the signal received from the inertial sensor 71 is the first posture, and selects and sets the second mode when the posture obtained is the second posture. This step S103 is the second step.

[0108] Then, in step S104, a display screen is selected and displayed on the display 40. That is, a screen to be displayed on the display 40 is selected according to the mode set in step S103 and displayed. When the first mode is set, for example, the display Figure 4 When the second mode is set, for example, the first display screen DA shown in FIG. Figure 5 The second display screen DB as shown.

[0109] Then, in step S105, it is determined whether the process is completed. The determination in this step is performed, for example, based on whether a completion button (not shown) is pressed. In step S105, if the process is determined to be completed, the execution of the program is terminated. On the other hand, in step S105, if the process is determined to be uncompleted, the program returns to step S101, and step S101 and subsequent steps are repeated.

[0110] It should be noted that the determination of whether the process is completed in step S105 is not limited to the above case, and for example, the determination may be made by starting a timer included in the control unit 41 and checking whether a predetermined time has passed.

[0111] Thus, the program is a program for teaching a robot 1 having a robot arm 10, and is a program executed by a teaching device 4, which includes: a device body 5, which is held by a user; a display 40, which is a display unit provided on the device body 5; and a posture detection unit 7, which detects the posture of the device body 5, and the program is used to execute: a first step, in which the posture detection unit 7 detects the posture of the device body 5; and a second step, when the posture detected in the first step is the first posture, the first mode for causing the robot 1 to execute the action program is selected, and when the posture detected in the first step is the second posture different from the first posture, the second mode for teaching the robot 1 is selected, and the selected mode is set. Through such a program, the teaching device 4 can select and set the mode without providing a manual switch for mode switching. Therefore, the device structure of the teaching device 4 can be simplified, and the first mode and the second mode can be selected and set by simple operation.

[0112] The program of the present invention may also be stored in the storage unit 42 of the teaching device 4, or in the storage unit 32 of the control device 3. In addition, it may also be stored in other storage units of the robot system 100 or other storage units that can be connected to the robot system 100 (especially the teaching device 4) directly or via a network, and may also be stored in any storage device outside the robot system.

[0113] The teaching device, robot system and program of the present invention are described above with respect to the illustrated embodiments, but the present invention is not limited thereto. In addition, each part of the robot system can be replaced with any structure that can perform the same function. In addition, any structure can also be added.

[0114] Furthermore, a program for executing a process for any purpose may be added to the program of the present invention.

Claims

1. A teaching device, characterized in that: A robot having a mechanical arm is taught, the teaching device comprising: The device body is held by the user for use; A display unit, arranged on the device body; a posture detection unit, detecting the posture of the device body; and A mode setting unit selects a first mode for causing the robot to execute an action program when the posture detected by the posture detection unit is a first posture, and selects a second mode for teaching the robot when the posture detected by the posture detection unit is a second posture different from the first posture, and sets the selected mode.

2. The teaching device according to claim 1, characterized in that: The posture detection unit is arranged on the device body.

3. The teaching device according to claim 1, characterized in that: The display portion is rectangular. The first posture is a posture in which the display portion is horizontally long when viewed by the user, The second posture is a posture in which the display portion is vertically long when viewed by the user.

4. The teaching device according to any one of claims 1 to 3, characterized in that The display unit has an input operation function.

5. The teaching device according to claim 4, characterized in that: The display unit displays a first display screen in which the action program is displayed in a robot language in the first mode, and displays a second display screen in the second mode, the second display screen having operation buttons for performing the teaching and a simulated image of a virtual robot corresponding to the robot.

6. The teaching device according to any one of claims 1 to 3, characterized in that: The teaching device comprises: a holder for detachably supporting the device body, The holder has an enable switch for selecting permission or non-permission of selection of a mode in the mode setting unit.

7. The teaching device according to claim 6, characterized in that: The teaching device comprises: a determination unit, for determining whether the enabling switch has been pressed, When the determination unit determines that the enable switch has been pressed, the mode setting unit selects and sets the first mode and the second mode. When the determination unit determines that the enable switch has not been pressed, the mode setting unit does not select and set the first mode and the second mode.

8. A robot system, characterized in that: have: A robot having a mechanical arm; and A teaching device for teaching the robot, The teaching device comprises: The device body is held by the user for use; A display unit, arranged on the device body; A posture detection unit, which detects the posture of the device body; as well as A mode setting unit selects a first mode for causing the robot to execute an action program when the posture detected by the posture detection unit is a first posture, and selects a second mode for teaching the robot when the posture detected by the posture detection unit is a second posture different from the first posture, and sets the selected mode.

9. A storage device, characterized in that: A program is stored, the program is a program for teaching a robot having a robot arm, the program is executed by a teaching device, and the teaching device comprises: a device body, which is held by a user for use; a display unit, which is arranged on the device body; and a posture detection unit for detecting the posture of the device body, The program is used to perform: In the first step, the posture detection unit detects the posture of the device body; as well as The second step is to select a first mode for causing the robot to execute an action program when the posture detected in the first step is a first posture, and to select a second mode for teaching the robot when the posture detected in the first step is a second posture different from the first posture, and to set the selected mode.

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