Teaching device

Abstract

A teaching device includes: a direct teaching execution unit that generates a movement command for a robot on the basis of an operating force applied to the robot, using an operational parameter group including one or more operational parameters; a parameter registration unit that accepts the setting of one or more operational parameters and is capable of registering, in the storage unit, an operational parameter group including the set one or more operational parameters; and a parameter switching unit that switches, in accordance with a predetermined switching condition, the operational parameter group applied to the direct teaching execution unit among the one or more operational parameter groups registered in the storage unit.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a teaching device. BACKGROUND

[0002] A direct teaching in which an operator directly applies a force to a robot to move the robot to perform teaching is known (for example, refer to Patent Literature 1, Patent Literature 2).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Laid-Open No. 3-123907

[0006] Patent Literature 2: Japanese Patent Application Laid-Open No. 2008-110406 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] A set of operability parameters that determines operability of direct teaching is generally set to a value inherent to a machine of a robot. For a case where direct teaching is performed using a set of operability parameters set to a value inherent to a machine, depending on contents of work, there are aspects that are disadvantageous to a user, such as a case where it is sometimes difficult to perform direct teaching, a case where it takes time until direct teaching is accustomed, and the like. A technology that makes direct teaching easier for a user and enables work of direct teaching to be efficiently progressed is desired.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] One embodiment of the present disclosure is a teaching device including: a direct teaching execution section that generates a movement instruction for a robot in accordance with an operation force applied to the robot using a set of operability parameters including one or more operability parameters; a parameter registration section that accepts a setting of one or more operability parameters and is capable of registering a set of operability parameters including the set one or more operability parameters in a storage section; and a parameter switching section that switches a set of operability parameters applied to the direct teaching execution section among one or more sets of operability parameters registered in the storage section in accordance with a predetermined switching condition.

[0011] These and other objects, features and advantages of the present application will become more apparent from the following detailed description of the preferred embodiments of the present application taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a diagram showing a device structure of a robot system of one embodiment.

[0013] Figure 2This is a functional block diagram of the robot system according to the first embodiment.

[0014] Figure 3 This is a diagram showing an example of an operational parameter setting screen in the first embodiment.

[0015] Figure 4 This is a functional block diagram of the robot system according to the second embodiment.

[0016] Figure 5 This is a diagram showing an example of an operational parameter setting screen in the second embodiment.

[0017] Figure 6 This is an example of a program screen that uses icons.

[0018] Figure 7 This is a functional block diagram of the robot system according to the third embodiment.

[0019] Figure 8 This is a diagram showing an example of an operational parameter setting screen in the third embodiment.

[0020] Figure 9 This is another example of the operation parameter setting screen in the third embodiment.

[0021] Figure 10 This is an example of an input screen that represents feedback on the user's experience of using the input device. Detailed Implementation

[0022] Next, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the referenced drawings, the same structural or functional parts are labeled with the same reference numerals. For ease of understanding, the scale of these drawings has been appropriately altered. Furthermore, the embodiments shown in the drawings are examples for carrying out the invention, and the invention is not limited to the illustrated embodiments.

[0023] First Implementation Method

[0024] Figure 1 This is a diagram illustrating the device structure of a robot system 100 according to one embodiment. (Example) Figure 1 As shown, the robot system 100 includes a robot 10, a robot control device 20 for controlling the robot 10, and a teach pendant 40 connected to the robot control device 20. The robot 10 can perform various tasks via an end effector mounted on the front end of its arm. The end effector is an external device that can be replaced depending on the application, such as a hand, welding torch, or tool. Figure 1 The diagram shows a structural example with a coating nozzle 31 installed as an end effector. In this case, a robot 10 can be used to coat a cake W, which is a workpiece, with butter supplied from the coating device 30 as a coating agent.

[0025] As detailed below, the robot system 100 is configured to teach the task content to the robot 10 via direct teaching. Figure 1 In the example shown, the operator can operate the robot 10 by directly applying force to the coating nozzle 31 while performing the task of coating cream onto the cake W, thereby teaching the robot 10 the task content (the task of coating cream onto the cake W).

[0026] Robot 10 in Figure 1 The robot 10 is exemplified as a vertical joint robot, but as robot 10, various types of robots such as horizontal joint robots, parallel linkage robots, and dual-arm robots can also be used depending on the task being performed.

[0027] The robot control device 20 controls the actions of the robot 10 according to the action program or instructions from the teach pendant 40. The robot control device 20 may also have a hardware structure similar to a general computer, including a processor, memory (ROM, RAM, non-volatile memory, etc.), and a storage unit 22 (see reference 20). Figure 2 ), operation unit, input / output interface, network interface, etc.

[0028] The teach pendant 40 is used as an operating terminal for teaching and setting various parameters of the robot 10. The teach pendant 40 can also be an information processing device such as a tablet terminal. The teach pendant 40 can also have the hardware structure of a general computer, including a processor, memory (ROM, RAM, non-volatile memory, etc.), storage device, operation unit 43, display unit 44, input / output interface, network interface, etc. (see reference). Figure 2 In addition, an enable switch 45 is provided on the teach pendant control panel 40. The enable switch 45 is a physical switch used to allow the operator to manually operate the robot 10.

[0029] Figure 2 This is a functional block diagram of the robot system 100 according to the first embodiment. Hereinafter, refer to... Figure 2 The functional block diagram illustrates the functions of the robot system 100 in the first embodiment.

[0030] Robot 10 at each joint (in Figure 2The robot 10 (represented by a dashed rectangle) includes a motor 1 as a drive device, an encoder 2 for detecting the angular position of the joints, and a torque sensor 3. Based on feedback from the encoders 2 of each axis (position, speed, etc. of each axis), the robot control device 20 can determine information such as the position, posture, and speed of the robot 10. Furthermore, the robot control device 20 can calculate the operating force (force or torque) applied to a predetermined part of the robot 10 (e.g., the coating nozzle 31) based on the detection values ​​from the torque sensors 3 of each axis and the position and posture information of the robot 10 (position information of each axis). Alternatively, instead of the torque sensors 3 of each axis, a force sensor installed at a predetermined position (e.g., the flange of the robot) can be used to calculate the operating force (force or torque) applied to the predetermined part of the robot 10.

[0031] The robot control device 20 includes a robot operation switching unit 121, a direct teaching execution unit 122, a parameter switching unit 125, a parameter registration unit 126, and a program generation unit 127. The direct teaching execution unit 122 includes an operating force detection unit 123 and a movement command generation unit 124. These functional blocks can also be functional elements implemented by the processor of the robot control device 20 executing software.

[0032] The robot operation switching unit 121 accepts input to switch the operation of the robot 10 to direct teaching. The robot operation switching unit 121 can accept user input to switch the robot operation to direct teaching, for example, via a user interface screen displayed on the display unit 44 of the teaching operation panel 40. When the robot operation is set to direct teaching, the direct teaching execution unit 122 functions to perform direct teaching by the operator.

[0033] Direct teaching refers to a mode of operation in which the operator teaches the robot the motion content while directly manipulating the robot's arm or end effector. In direct teaching, the manipulating force detection unit 123 calculates the force (operating force) applied by the operator to the coating nozzle 31 based on the output of the torque sensors 3 from each axis. For example, the manipulating force is calculated as a value based on a predetermined coordinate system (tool coordinate system). The movement command generation unit 124 uses the set of operability parameters specified by the parameter switching unit 125 to generate a movement command corresponding to the manipulating force and issues the command to the robot 10.

[0034] Here, an overview of the registration and application of the operational parameter set in this embodiment will be described. The operational parameter set is a set of parameters that determines the operability of the robot during direct teaching, and may include, for example, one or more of the following operational parameters.

[0035] (1) Start action (N)

[0036] (2) Mild (N)

[0037] (3) Speed ​​(mm / sec)

[0038] (4) Acceleration time (sec)

[0039] The operational parameter "Start Action" specifies the operational force required for the robot to begin its action. The operational parameter "Lightness" specifies the operational force required to make the robot move. Setting "Lightness" to a larger value provides the operator with a feeling of heaviness. Setting "Lightness" to a smaller value allows the robot to move even with less force, providing the operator with a feeling of lightness. The operational parameter "Speed" specifies the robot's movement speed (e.g., target speed). The operational parameter "Acceleration Time" specifies the time (time constant) required for the robot to accelerate to a predetermined speed (e.g., a predetermined proportion relative to the target speed specified by the operational parameter "Speed"). The operator can pre-register multiple sets of operational parameters with these settings according to the task content. Furthermore, the operator can, for example, select and apply the desired set of operational parameters based on the directly taught task content.

[0040] The parameter registration unit 126 provides a function for setting and registering sets of operable parameters that define the operability of direct teaching. Through the function of the parameter registration unit 126, the operator can pre-register various sets of operable parameters in the robot control device 20. The operator can select, for example, an operable parameter set that provides light operability or an operable parameter set that provides heavy and stable operability for direct teaching, depending on the task at hand.

[0041] Storage unit 22 is, for example, a storage device composed of non-volatile memory or a hard disk drive. Storage unit 22 stores the set of operational parameters registered by the operator. Storage unit 22 can also be positioned as an operational parameter set storage unit.

[0042] The parameter switching unit 125 accepts input from selecting one of multiple operational parameter groups registered in the storage unit 22. The parameter switching unit 125 may also accept user input from selecting one of the registered multiple operational parameter groups via, for example, the user interface screen of the teach pendant 40. The parameter switching unit 125 applies the selected operational parameter group to the direct teach execution unit 122.

[0043] The programming unit 127, for example, displays a program generation screen on the display unit 44 of the teach pendant 40, and accepts operations for creating and editing the motion program of the robot 10. The programming unit 127 provides a user interface for making various settings related to programming. The programming functions provided by the programming unit 127 include programming based on icons representing the robot's functions.

[0044] Figure 3 This example illustrates an operational parameter setting screen 200 provided by the function of the parameter registration unit 126. The parameter registration unit 126 displays the operational parameter setting screen 200 on the display unit 44 of the teach pendant 40, and accepts operational parameter input via this operational parameter setting screen 200. The operational parameter setting screen 200 has input fields 201, 202, 203, and 204 for inputting "start action," "light," "speed," and "acceleration time," respectively. The new creation button 221 is used to create a new set of operational parameters. After pressing the new creation button 221 to input an operational parameter set, pressing the save button 222 allows the input operational parameter set to be newly registered in the storage unit 22. Furthermore, the operator can select a registered operational parameter set and adjust the parameter values ​​for the selected operational parameter set via the operational parameter setting screen 200.

[0045] In addition, Figure 3 The operation parameter setting screen 200 shows an example of setting each operation parameter by numerical value, but the operation parameter setting screen 200 can also be configured to allow changing each operation parameter by operating a slider.

[0046] According to the structure of this first embodiment, the operator can pre-register multiple sets of operational parameters. The operator can then switch between these sets of operational parameters based on the content of the direct-taught task. This structure facilitates direct-taught tasks, enabling them to be performed appropriately and efficiently.

[0047] Furthermore, operators can register operational parameters that suit their preferences, thus facilitating direct teaching tasks. Since pre-registered sets of operational parameters can also be adjusted and registered, operators can adjust their operating feel to perform tasks that are difficult to teach using pre-registered operational parameter sets inherent to the robot's equipment. In addition, this also reduces the time required to become accustomed to direct teaching.

[0048] Second Implementation Method

[0049] Reference Figures 4 to 6The robot system 100A according to the second embodiment will be described. The device structure of the robot system 100A according to the second embodiment is similar to... Figure 1 The robot system 100 shown has the same equipment structure, therefore refer to Figure 1 The equipment structure of robot system 100 A is described.

[0050] Figure 4 This is a functional block diagram of the robot system 100A according to the second embodiment. For ease of explanation, in... Figure 4 In the middle, to and Figure 2 Functional blocks identical to those in the first embodiment are labeled with the same reference numerals. In the robot control device 20 of the second embodiment, the parameter registration unit 126A and the parameter switching unit 125A have the functions described below for registering and applying operational parameter groups.

[0051] Figure 5 This example shows an operational parameter setting screen 300 provided by the parameter registration unit 126A. The parameter registration unit 126A provides a function to register operational parameter groups in the form of icons. When the operator presses the "New Creation" button 321, a prompt appears... Figure 3 The operation parameter setting screen shown is equivalent to screen 200, and the operator can input operation parameters and register new operation parameter groups (icons). Furthermore, when the operator selects an icon from the pre-registered icons (operation AAA icon 301, operation BBB icon 302, operation CCC icon 303) and performs a predetermined operation (e.g., pressing the setting button 322), a prompt is displayed. Figure 3 The operation parameter setting screen shown is a similar setting screen to screen 200, allowing the operator to adjust the operation parameter groups.

[0052] The newly created or adjusted set of operating parameters via the operating parameter setting screen 300 is registered as an operating icon in the storage unit 22.

[0053] The parameter switching unit 125A may also have the following function: corresponding to the operation of dragging and dropping one of the more than one operable icons registered in the storage unit 22 onto the display unit 44 to a predetermined receiving screen, the operable parameter group of the dragged icon is applied to the direct teaching execution unit 122. (See reference...) Figure 6 This section provides specific examples of how such functionality is implemented.

[0054] Figure 6 This example shows a program creation screen 400 displaying function prompts from the program creation unit 127. The program creation unit 127 can also display such a program creation screen 400 on the display unit 44 of the teach pendant panel 40. For example... Figure 6As shown, the program creation screen 400 includes an icon display area 420 that shows a list of function icons and a program creation area 430 for configuring icons to create the program. The program creation area 430 is an area where icons for constituting the program are arranged along a time sequence, and is therefore sometimes referred to as a timeline.

[0055] When programming, the operator selects the programming tab 461. When the operator selects an icon configured in the program creation area 430 and selects the detail tab 462, a settings screen for detailed settings of that icon is displayed. This function, which assists in user operation of icons, can also be provided as a function of the program creation department 127.

[0056] like Figure 6 As shown, the icon display area 420 of the program creation screen 400 includes a trajectory teaching icon 401 corresponding to the function of teaching the trajectory of the robot 10 through direct teaching. The icon display area 420 also includes an operable AAA icon 301, an operable BBB icon 302, and an operable CCC icon 303 corresponding to the three operable parameter groups registered through the parameter registration unit 126A. The operator can, for example, specify the operable icons applied to the trajectory teaching icon 401 in the following order.

[0057] (a1) Configure the trajectory teaching icon 401 in the program creation area 430.

[0058] (a2) By selecting the trajectory teaching icon 401 configured in the program creation area 430 and pressing the details tab 462, the detailed settings screen of the trajectory teaching icon 401 is opened.

[0059] (a3) By selecting the desired operable icon from the icon display area 420 and dragging it to a predetermined location in the detailed settings screen (e.g., the teach start button), the operable parameter group of the operable icon is applied to the direct teaching based on the trajectory teaching icon 401.

[0060] The function of applying operable icons to direct teaching through such steps (a1) to (a3) ​​can also be provided through the collaboration of the program production unit 127 and the parameter switching unit 125A.

[0061] Based on the function of using icons to register and apply operational parameter groups as described above, operators can apply the desired operational parameter groups (operational icons) to direct teaching in a more intuitive and easy way.

[0062] The parameter registration unit 126A may also have the function of automatically adjusting the operational parameter group in a dialogue format while allowing the operator to actually experience the operation of the robot 10. The parameter registration unit 126A can display such a dialogue-style user interface screen on the display unit 44 of the teach pendant 40. The parameter registration unit 126A can, for example, provide the function of adjusting operational parameters in such a dialogue format in the following sequence.

[0063] (Sequence 1) Allow users to operate the robot with a predetermined set of initial operational parameters (direct teaching).

[0064] (Sequence 2) Receive feedback on the user experience and feel of the device via the user interface.

[0065] (Sequence 3) Change operational parameters in the direction of increasing user ratings based on user feedback.

[0066] (Sequence 4) Repeat (Sequence 1) to (Sequence 3) until the predetermined end operation is performed.

[0067] (Sequence 5) Register the adjusted operating parameter group in the storage unit 22.

[0068] In sequence 2, evaluations such as "easy to operate," "difficult to operate," "heavy to operate," and "light to operate" can be accepted. In sequence 3, the parameter registration unit 126A can adopt the following method: if the user evaluates the initial operating parameter set as "difficult to operate," adjust it to an operating parameter set that has the opposite feel to the initial operating parameter set. Figure 10 This illustrates an example of an input screen (user interface) 350 displayed on the display unit 44 in sequence 2. The input screen 350 includes an input field 351 for the user to enter their feedback.

[0069] Alternatively, in sequence 2, predetermined questions may be presented to the user via a user interface, and the user may provide answers (evaluations) to these questions. In this case, the predetermined questions related to operability may include one or more of the following questions.

[0070] (Question 1) "Does the operation feel heavy?" If the operator answers "I feel heavy" to this question, the parameter registration unit 126A will, for example, shift the operation parameters "start action" and "light" in the direction of making the robot's action lighter in order to reduce the feeling of operation.

[0071] (Question 2) "Is the robot's following ability good?" If the operator answers "The following ability is not good" to this question, the parameter registration unit 126A will shift the operational parameters "speed" and "acceleration time" in the direction that increases the robot's following ability.

[0072] (Question 3) "Is the robot's movement stable?" If the operator answers "not stable" to this question, the parameter registration unit 126A will shift the operational parameters such as "starting the movement", "light" and "speed" in the direction that makes the robot's movement heavier and thus more stable.

[0073] As described above, in the structure of the second embodiment, the operator can also pre-register multiple sets of operational parameters. Then, the operator can switch between these sets of operational parameters based on the content of the direct teaching task. With this structure, direct teaching tasks become easier, and direct teaching tasks can be carried out appropriately and efficiently.

[0074] Third Implementation Method

[0075] Reference Figures 7 to 9 The robot system 100B according to the third embodiment will be described. The device structure of the robot system 100B according to the third embodiment is similar to... Figure 1 The robot system 100 shown has the same equipment structure, therefore refer to Figure 1 The equipment structure of robot system 100B is described.

[0076] Figure 7 This is a functional block diagram of the robot system 100B. The robot control device 20 of the third embodiment is configured such that, in addition to the functions described above for the robot control device 20 of the second embodiment, the parameter switching unit 125B can automatically switch the operational parameter group according to the switching conditions included in the operational parameter group.

[0077] Figure 8 This example shows the operational parameter setting screen 200B provided by the parameter registration unit 126A. The operational parameter setting screen 200B, in addition to... Figure 3 In addition to the input fields 201 to 204 described above for "Start Action," "Slight," "Speed," and "Acceleration Time," there is also an input field 205 for setting switching conditions, which are used to automatically switch operational parameter groups. The parameter switching unit 125B selects an operational parameter group from the various operational parameter groups registered in the storage unit 22 that meets the switching conditions described in the operational parameter group and applies it to the direct teaching execution unit 122.

[0078] Automatic switching conditions include any of the following.

[0079] • Conditions related to the signal.

[0080] • Conditions related to the robot's position or posture.

[0081] • Login username.

[0082] The "signal-related conditions" that serve as automatic switching conditions are, for example, signals indicating that external devices such as end effectors or peripheral devices have started operating, or signals indicating that safety functions, which are internal functions, have been activated. For example, suppose an operational parameter group designated as "coating nozzle working signal on" is registered in input field 205. In this case, the parameter switching unit 125B can select the operational parameter group designated as "coating nozzle working signal on" from the registered multiple operational parameter groups based on the working signal from the coating nozzle 31 becoming on, and apply it to the direct teaching execution unit 122. Alternatively, suppose an operational parameter group designated as "coating nozzle working signal off" is registered in input field 205. In this case, the parameter switching unit 125B can select the operational parameter group designated as "coating nozzle working signal off" from the registered multiple operational parameter groups based on the working signal from the coating nozzle 31 becoming off, and apply it to the direct teaching execution unit 122.

[0083] In Figure 1 In the example of decorating cake W using a robot 10 with such a device structure, the operation of moving to the cream decorating position is light and easy because there is no accompanying work. When the coating nozzle 31 is moved to squeeze the cream, the operation becomes heavier (reducing the target speed) and the acceleration and deceleration are slowed down (extending the acceleration time), thus allowing for simple and beautiful cream decorating. Therefore, by configuring the device as described above to switch the set of operational parameters applied to direct teaching based on the working signal of the coating nozzle 31, the set of operational parameters can be dynamically switched according to the work content, thereby accurately advancing the direct teaching.

[0084] Furthermore, by utilizing "signal-related conditions" as automatic switching conditions, the operability can be automatically switched based on safety-related signals. For example, if the robot control device 20 has a safety function that stops the robot 10 if an external force acting on it or the robot 10's speed exceeds a threshold, the operability of the robot 10 can be switched by using signals indicating whether the safety function is active or inactive. When the safety function is active, the robot 10 can be operated with both hands; on the other hand, when the safety function is inactive, an enable switch (e.g., an enable switch that can be held with one hand, the enable switch 45 of the teach pendant 40, etc.) needs to be pressed with one hand, making direct teaching slightly less free. Therefore, since signals indicating whether the safety function is active or inactive can be specified as switching conditions, the following operability switching can be achieved: when the safety function is active (when it can be operated with both hands), a standard operability is set; when the safety function is inactive (when the robot 10 needs to be operated with one hand), the operability is set to be slightly lighter and easier to operate.

[0085] By utilizing "conditions related to the robot's position or posture" as automatic switching conditions, it is possible to perform actions that switch operational parameter sets based on the position or posture of the robot 10. (Referring to...) Figure 1 In the equipment configuration, a hose 30a from the coating apparatus 30 is connected to the robot 10. In this case, depending on the position and posture of the robot 10, the tension of the hose 30a can sometimes affect the robot 10's movement. Therefore, by switching the set of operating parameters according to the position of the robot 10, the effect of the hose 30a's tension can be mitigated. For example, in positions where the robot 10 is easily affected by the hose tension, by applying a set of operating parameters that provides a slightly heavier operating feel, the effect of the hose 30a's tension can be mitigated.

[0086] In addition, generally speaking, there are many cases where the robot's position is highly correlated with the task content. Therefore, by configuring the robot to switch the operational parameter set according to its position, it is possible to perform an application equivalent to switching the operational parameter set according to the task content.

[0087] Furthermore, by configuring the system to switch operational parameter sets based on the robot's position, it is also possible to use a specific area within the workspace as a motion restriction area. For example, by setting the operational parameter sets so that the robot's movement speed is sufficiently low (or zero) when the robot 10 is located within a certain area, this specific area can be used as a motion restriction area where the robot's movements are restricted.

[0088] By allowing the specification of a "registered username" as an automatic switching condition, the operation parameter group can be switched based on the user performing direct teaching. For example, user A registers operation parameter group A, which includes their preferred parameter settings and their username as a switching condition, in the robot control device 20. User B, on the other hand, registers operation parameter group B, which includes their preferred parameter settings and their username as a switching condition, in the robot control device 20. In this case, the parameter switching unit 125B can apply operation parameter group A corresponding to user A's username to the direct teaching process, for example, when user A starts using the robot system 100B by inputting their username via the teaching operation panel 40.

[0089] Thus, according to the structure of this embodiment, the operational parameter group can be appropriately switched according to the action state of the robot 10, the action state of each device included in the robot system 100B, or the user.

[0090] In the structure of the third embodiment, the operator can also pre-register multiple sets of operational parameters. Then, the operator can switch between these sets of operational parameters based on the content of the direct teaching task. This structure simplifies direct teaching tasks, enabling them to be performed appropriately and efficiently.

[0091] Next, as a variation of the third embodiment, a structural example will be described for which the operational parameter group includes a specified "direction of application". As a functional block in this variation, using... Figure 7 . Figure 9 This example illustrates the operational parameter setting screen 200C provided by the parameter registration unit 126A in this modified embodiment. The operational parameter setting screen 200C, in addition to... Figure 8 In addition to the input fields 201 to 205 for “Start Action,” “Light,” “Speed,” “Acceleration Time,” and switching conditions, there is also an input field 206 for “Application Direction” to specify the operational parameter group.

[0092] When the “applied direction” is specified in the operational parameter group to be applied, the direct teaching execution unit 122 applies the operational parameter group to the direction specified by the “applied direction” regarding the movement direction of the robot 10.

[0093] In the specification of "direction of application", for example:

[0094] • Specifying the direction using a coordinate system as a reference (e.g., the Z direction of the tool coordinate system).

[0095] • A form of specifying direction based on a plane, or

[0096] • Formats specified in vector form, etc.

[0097] Let's illustrate an example of "specifying direction using a coordinate system as a reference." For instance, consider... Figure 1 The application of cream spreading on cake W in the equipment structure. If the cream spreading direction is set as the Z direction of the tool coordinate system, then ideally, in the cream spreading process, the robot 10 does not move much according to the operating force in the Z direction (i.e., the robot 10 is insensitive to the operating force in the Z direction). On the other hand, regarding the XY direction, a more sensitive operating feel is needed than that in the Z direction. Such an operating feel can be achieved, for example, by pre-registering the following sets of operating parameters C and D.

[0098] • Operational parameter group C: Sets operational parameters to make the robot less sensitive to operational forces (e.g., increasing acceleration time, decreasing speed settings), and describes the "direction of application" as the Z direction of the tool coordinate system.

[0099] • Operational parameter group D: Sets operational parameters to make the robot sensitive to operational forces (e.g., to make the acceleration time shorter and the speed higher), and describes the "direction of application" as the operational parameter group in the XY direction of the tool coordinate system.

[0100] The direct teaching execution unit 122 can generate motion commands based on the motion information (movement information) of the robot 10 by applying the operation parameter set C in the Z direction and the operation parameter set D in the XY direction. Through such actions, an ideal sense of control can be achieved in the aforementioned butter-spreading application.

[0101] The "form of specifying direction based on a plane" is, for example, a method of defining a plane by specifying three points within the workspace (world coordinate system) and specifying direction based on that plane. For example, if the direction along the plane is defined as the XY direction and the normal direction of the plane is defined as the Z direction, then in this form, it can be specified as "the Z direction of plane C". This form is useful, for example, when specifying direction based on the surface of the worktable within the workspace.

[0102] The "vector-based specification method" is, for example, representing the "direction of application" using vector notation based on the origin of the world coordinate system. This method has the advantage of allowing users to easily and intuitively specify the direction.

[0103] Furthermore, the structure specified in the operational parameter group that includes "direction of application" can also be applied to the first or second embodiment described above.

[0104] The above describes the first to third embodiments.

[0105] Here, the flexibility of the system architecture is explained. The functional block diagram of the above implementation method ( Figure 2 , Figure 4 , Figure 7 The functional configuration in the example is just that; various variations are possible with the functional configuration. For example, in... Figure 2 In the functional block diagram shown, the robot operation switching unit 121, direct teaching execution unit 122, parameter switching unit 125, parameter registration unit 126, and program creation unit 127 are illustrated as being arranged within the robot control device 20. However, it is also possible to arrange at least some or all of these functional blocks within the teaching operation panel 40. For example, it is also possible to configure the program creation unit 127, robot operation switching unit 121, parameter switching unit 125, operation parameter group storage unit, and parameter registration unit 126 related to user interface functions within the teaching operation panel 40, and to arrange the direct teaching execution unit 122 within the robot control device 20.

[0106] As an example of the application scenario described above, the operation of spreading butter on a cake is described, but this is only one example. The functions of the above embodiments can also be applied to coating apparatus for coating paint, sealing apparatus for coating sealant, adhesive applicator for coating adhesive, laser processing apparatus, etc.

[0107] As described above, the teach pendant 40 and the robot control device 20 function as a single unit to provide direct teaching capabilities. Therefore, the entire functionality comprised of the teach pendant 40 and the robot control device 20 can be centrally located within the teach pendant (in...). Figure 1 (Referring to figure 50 in the figure).

[0108] Figure 2 , Figure 4 , Figure 7 The functional blocks shown in the functional block diagram can be implemented by one or more processors in the robot control device or teaching pendant executing various software stored in the storage device, or they can be implemented by a structure based on hardware such as ASIC (Application Specific Integrated Circuit).

[0109] Programs for executing various sequences, algorithms, etc., of the above-described embodiments can be recorded in various computer-readable recording media (e.g., ROM, EEPROM, semiconductor memory such as flash memory, magnetic recording media, CD-ROM, DVD-ROM, etc.).

[0110] As described above, according to various embodiments, the operator can pre-register multiple sets of operational parameters. Furthermore, the operator can switch between these sets of operational parameters based on the content of the direct-taught task. This structure facilitates direct-taught tasks, enabling them to be performed appropriately and efficiently.

[0111] This disclosure has been described in detail, but it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit of this disclosure, or from the spirit of this disclosure derived from the claims and their equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the embodiments described above, the order of each action and the order of each process are shown as an example, and are not limited thereto. The same applies to the use of numerical values ​​or mathematical formulas in the description of the embodiments described above.

[0112] The following notes further describe the above-described embodiments and variations.

[0113] (Note 1)

[0114] A teaching device (50) comprising:

[0115] The direct teaching execution unit (122) uses a set of operational parameters containing one or more operational parameters to generate movement commands for the robot (10) based on the operational force applied to the robot (10);

[0116] The parameter registration unit (126, 126A) accepts the setting of one or more operational parameters and is able to register a group of operational parameters, including the set one or more operational parameters, in the storage unit (22); and

[0117] The parameter switching unit (125, 125A, 125B) switches the operational parameter group applied to the direct teaching execution unit from one or more operational parameter groups registered in the storage unit according to predetermined switching conditions.

[0118] (Note 2)

[0119] According to the teaching device (50) described in Appendix 1, wherein,

[0120] The predetermined switching conditions include user input specifying a set of operational parameters.

[0121] The parameter switching unit (125, 125A) applies the operational parameter group specified by the user input from one or more operational parameter groups registered in the storage unit to the direct teaching execution unit.

[0122] (Note 3)

[0123] According to the teaching device (50) described in Appendix 1, wherein,

[0124] The predetermined switching conditions are included in one or more sets of operational parameters registered in the storage unit, which contain predetermined automatic switching conditions.

[0125] The parameter switching unit (125B) selects an operational parameter group that meets the predetermined automatic switching conditions from one or more operational parameter groups registered in the storage unit and applies it to the direct teaching execution unit.

[0126] (Note 4)

[0127] According to the teaching device (50) described in Appendix 3, wherein...

[0128] The predetermined automatic switching conditions include any one of the following: signal-related conditions, robot position or posture conditions, and login username.

[0129] (Note 5)

[0130] According to the teaching device (50) described in Appendix 4, wherein...

[0131] The signal-related condition refers to whether a signal indicating the operation of the internal function of the teaching device or the external device is activated.

[0132] (Note 6)

[0133] According to the teaching device (50) described in Appendix 1, wherein,

[0134] The one or more operational parameter groups registered in the storage unit (22) include the specification of the direction in which the operational parameter groups are applied.

[0135] The direct teaching execution unit (122) generates movement instructions for the robot, such that the operation parameter set is applied to the robot's movement direction corresponding to the specified direction of the application within the operation parameter set.

[0136] (Note 7)

[0137] According to the teaching device (50) described in Appendix 6, wherein,

[0138] The direction of the application is specified by using a predetermined coordinate system as a reference, using a predetermined plane as a reference, or by using a vector form.

[0139] (Note 8)

[0140] The teaching device (50) according to any one of the appendices 1 to 7, wherein,

[0141] The parameter registration unit (126A) applies a predetermined set of operational parameters to the direct teaching execution unit, allowing the user to operate the robot and receive user evaluations related to the robot's operability via a user interface. Based on these evaluations, the setting values ​​of the operational parameter set applied to the direct teaching execution unit are changed to improve the user's evaluation, and the changed operational parameter set is registered in the storage unit.

[0142] (Note 9)

[0143] According to the teaching device (50) described in Appendix 2, wherein,

[0144] The parameter registration unit (126A) is configured to register groups of operational parameters in the storage unit in the form of icons.

[0145] The parameter switching unit (125A) accepts the operation of dragging and dropping one of the icons from one or more operable parameter groups registered in the storage unit onto a predetermined receiving screen on the display unit, and applies the operable parameter group of the dragged icon to the direct teaching execution unit.

[0146] Explanation of reference numerals in the attached figures

[0147] 1 motor

[0148] 2 encoders

[0149] 3 Torque Sensors

[0150] 10 robots

[0151] 20 Robot Control Devices

[0152] 22 Storage Department

[0153] 30 Coating Unit

[0154] 31 Coating Nozzle

[0155] 40 Teaching operation panel

[0156] 43 Operations Department

[0157] 44 Display Unit

[0158] 45 Enable Switch

[0159] 50 teaching devices

[0160] 100, 100A, 100B robot systems

[0161] 121 Robot Operation Switching Unit

[0162] 122 Direct Teaching Execution Department

[0163] 123 Operational Force Testing Department

[0164] 124 Movement Command Generation Department

[0165] Parameter switching unit for 125, 125A, and 125B

[0166] 126, 126A Parameter Registration Department

[0167] 127 Programming Department.

Claims

1. A teaching device, characterized in that, have: The direct teaching execution unit uses a set of operational parameters containing one or more operational parameters to generate movement commands for the robot based on the operational force applied to the robot. The parameter registration unit accepts the setting of one or more operational parameters and is able to register the operational parameter group, which includes the set one or more operational parameters, in the storage unit. as well as The parameter switching unit switches between one or more operational parameter groups registered in the storage unit and the operational parameter group applied to the direct teaching execution unit, according to predetermined switching conditions.

2. The teaching device according to claim 1, characterized in that, The predetermined switching conditions include user input specifying a set of operational parameters. The parameter switching unit applies the user-input-specified operational parameter group from one or more operational parameter groups registered in the storage unit to the direct teaching execution unit.

3. The teaching device according to claim 1, characterized in that, The predetermined switching conditions are included in one or more sets of operational parameters registered in the storage unit, which contain predetermined automatic switching conditions. The parameter switching unit selects an operational parameter group that meets the predetermined automatic switching conditions from one or more operational parameter groups registered in the storage unit and applies it to the direct teaching execution unit.

4. The teaching device according to claim 3, characterized in that, The predetermined automatic switching conditions include any one of the following: signal-related conditions, robot position or posture conditions, and login username.

5. The teaching device according to claim 4, characterized in that, The signal-related condition refers to whether a signal indicating the operation of the internal function of the teaching device or the external device is activated.

6. The teaching device according to claim 1, characterized in that, One or more operational parameter groups registered in the storage unit include a specification of the direction in which the operational parameter groups are applied. The direct teaching execution unit generates movement commands for the robot, such that the operation parameter set is applied to the robot's movement direction corresponding to the specified direction of the application within the operation parameter set.

7. The teaching device according to claim 6, characterized in that, The direction of the application is specified by using a predetermined coordinate system as a reference, using a predetermined plane as a reference, or by using a vector form.

8. The teaching device according to any one of claims 1 to 7, characterized in that, The parameter registration unit applies a predetermined set of operational parameters to the direct teaching execution unit. The parameter registration unit allows users to operate the robot. The parameter registration unit receives user feedback related to the robot's operability via a user interface. Based on this evaluation, the parameter registration unit changes the setting values ​​of the operational parameter group applied to the direct teaching execution unit, thereby increasing the user's evaluation. The parameter registration department registers the changed set of operational parameters in the storage department.

9. The teaching device according to claim 2, characterized in that, The parameter registration unit is configured to register groups of operational parameters in the storage unit in the form of icons. The parameter switching unit accepts the operation of dragging and dropping one of the icons from one or more operable parameter groups registered in the storage unit onto a predetermined receiving screen on the display unit, and applies the operable parameter group of the dragged icon to the direct teaching execution unit.

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