ROBOT CONTROL

Abstract

This robot control device comprises a control unit that receives a signal from a first changing device, which modifies an operating parameter for driving a robot in a direct learning process, and a signal from a second changing device, which also modifies the operating parameter. The control unit comprises: a selection unit that chooses between the operating parameter signal from the first changing device and the operating parameter signal from the second changing device to select an operating parameter signal from one of the changing devices; and a setting unit that sets the operating parameter based on the operating parameter signal corresponding to the operation of one of the changing devices.

Description

Technical field

[0001] The present invention relates to a robot control system. State of the art

[0002] A robotic system, comprising a robot and a work tool, is controlled based on an operating program. The operating program includes an operating command to drive the robot or the work tool. To generate the operating command, a learning point must be defined, which relates to the position and orientation of the robot.

[0003] To teach the robot a teach point, an operator can manually control it using a teach pendant. The operator can define a desired position and orientation of the robot as the teach point. In recent years, it has become known that during the teaching process, an operator can directly push or pull a robot to change its position and orientation. A process in which an operator teaches a teach point by directly moving a robot is called direct teaching. Citation list for patent literature PTL 1: Japanese unexamined patent publication no. JP 2019-63916 A PTL 2: International Publication No. WO 2011 / 036865 A1 PTL 3: Japanese unexamined patent publication no. JP 1-271189 A Summary of the invention Technical problem

[0004] In a robot performing direct learning, a sensor is installed to detect the external force applied by an operator. A robot controller can then drive the robot based on the magnitude and direction of this external force. To execute direct learning, it is necessary to predefine operating parameters in the robot controller. These parameters might include the direction in which the robot is driven relative to the external force, the robot's maximum speed, and similar settings. Since these parameters are set by activating a teach pendant, the process is time-consuming. Therefore, improving the efficiency of modifying direct learning parameters is advantageous. Solution to the problem

[0005] According to the invention, a robot controller is configured to perform a direct learning process for teaching a learning point to an operator directly operating a robot. The robot controller comprises a main control body configured to receive a signal from a first change device, which is configured to change an operating parameter for driving the robot using a direct learning process, and a signal from a second change device, which is configured to change the operating parameter. The main control body includes a selection unit configured to select the operating parameter signal from one change device among the operating parameter signal from the first change device and the operating parameter signal from the second change device.The main control unit includes a setting unit configured to adjust the operating parameter based on the operating parameter signal, according to the operation of a changing device. The main control unit also includes a manual command unit configured to transmit a command that drives the robot based on the operating parameter set by the setting unit. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a schematic representation of a robot according to a first embodiment. [ Fig. 2] Fig. Figure 2 is a block diagram of the arrangement of the robot according to the first embodiment. [ Fig. 3] Fig. Figure 3 is a perspective view of an operator and a robot during a direct learning process. [ Fig. 4] Fig. Figure 4 is an enlarged perspective view of a built-in power switch located on the robot's wrist. [ Fig. 5] Fig. Figure 5 is a perspective view of the robot to illustrate a direction in which the robot is steered during the direct learning process. [ Fig. 6] Fig. Figure 6 is a flowchart of the control for setting an operating parameter of the direct learning process in the first embodiment. [ Fig. 7] Fig. Figure 7 is an enlarged perspective view of a robot according to a second embodiment. [ Fig. 8] Fig. Figure 8 is a block diagram of the robot arrangement according to the second embodiment. [ Fig. 9] Fig. Figure 9 is a schematic top view of a teach pendant. [ Fig. 10] Fig. 10 is an image that is displayed on a display part when the operating parameter is set using the teach pendant. [ Fig. 11] Fig. 11 is an image that is displayed on the display part of the teach pendant when the operating parameter is set using an external control switch. [ Fig. 12] Fig. 12 is an image that appears on the display part of the teach pendant when certain types of operating parameters are set using the external control switch. [ Fig. 13] Fig. Figure 13 shows an image relating to a parameter group of the operating parameters and displayed on the display part of the teach pendant. [ Fig. 14] Fig. 14 is an image for setting the operating parameters contained in the parameter group, which is displayed on the display part of the teach pendant. [ Fig. 15] Fig. Figure 15 is a perspective view of a robot and a hand of another robot arrangement according to the second embodiment. Description of the embodiments: First embodiment

[0006] With reference to the Fig. Figures 1 to 6 describe a robot controller and a robot arrangement according to a first embodiment. The robot arrangement according to the present embodiment comprises a working tool, a robot, and the robot controller. The robot controller is configured to control the operation of the working tool and the operation of the robot.

[0007] Fig. Figure 1 shows a perspective view of the robot arrangement according to the present embodiment. Fig. Figure 2 shows a block diagram of the robot arrangement according to the present embodiment. The robot arrangement performs predetermined tasks based on a predetermined operating program. With reference to Fig. 1 and Fig. 2 A robot arrangement 8 of the present embodiment performs work to grasp a workpiece and to transport the workpiece to a predetermined position. The robot arrangement 8 comprises a hand 2 as a working tool and a robot 1 that moves the hand 2.

[0008] In the present embodiment, hand 2 grasps the workpiece by enclosing it with two fingers. It should be noted that any suitable working tool can be attached to robot 1, depending on the work being performed by the robot assembly. For example, if the robot assembly is performing arc welding, a welding torch can be attached to the robot as a working tool.

[0009] The robot 1 of the present embodiment is an articulated robot with multiple joints. The robot 1 comprises a rotary base 13, which is supported by a base 14. The base 14 is attached to a platform 88. The rotary base 13 rotates relative to the base 14. The robot 1 comprises an upper arm 11 and a lower arm 12, which are rotatably mounted via the joints. Furthermore, the upper arm 11 rotates about an axis of rotation that is parallel to the direction of extension of the upper arm 11.

[0010] The robot 1 comprises a wrist 15 rotatably connected to an end section of the upper arm 11. The wrist 15 includes a flange 16 designed to be rotatable. The hand 2 is supported by the flange 16. The robot 1 of the present embodiment comprises six articulating shafts, but is not limited to this configuration. Any robot capable of moving the working tool can be used.

[0011] Robot 1 comprises a robot drive device that changes the position and orientation of robot 1. The robot drive device includes a robot drive motor 19 that drives components such as an arm, a wrist, and the like. Hand 2 comprises a tool drive device that drives hand 2. The tool drive device includes a pressure pump for driving the fingers of hand 2.

[0012] Robot 1 includes a position detector 18, which outputs the rotational positions of the robot's drive shafts. The position detector 18 is, for example, implemented as an encoder attached to an electric motor. The robot controller 5 can determine the position and orientation of robot 1 based on the output of the position detector 18.

[0013] The robot arrangement 8 includes the robot controller 5. The robot controller 5 comprises a control unit 4, which includes a computing device (computer) with a central processing unit (CPU) as the processor. The computing device includes random access memory (RAM), read-only memory (ROM), and the like, which are interconnected with the CPU via a bus. An operating program 32 includes an operating instruction for driving the robot 1 and the hand 2. In the present embodiment, the robot 1 and the hand 2 are driven based on the operating program 32 to transport the workpiece.

[0014] The main control unit 4 includes a memory 42 that stores information relating to the control of the robot assembly 8. The memory 42 can be implemented as a non-volatile storage medium capable of storing information. For example, the memory 42 can be implemented as a storage medium such as volatile memory, non-volatile memory, magnetic storage medium, or optical storage medium. The operating program 32, which defines the operation of the robot, is stored in the memory 42.

[0015] The main control unit 4 comprises an operating control unit 43, which transmits the robot's operating command. The main control unit 4 includes a robot drive unit 45 with an electrical circuit that supplies power to the robot drive, and a tool drive unit 44 with an electrical circuit that supplies power to the tool drive. The operating control unit 43 transmits an operating command to the robot drive unit 45 to drive the robot 1 based on the operating program 32. The robot drive unit 45 supplies power to the robot drive motor 19 based on the operating command. The operating control unit 43 transmits an operating command to the tool drive unit 44 to drive the hand 2 based on the operating program 32. The tool drive unit 44 supplies power to the hand drive device based on the operating command.

[0016] The operating control unit 43 corresponds to a processor that is controlled according to the operating program 32. The operating control unit 43 is designed to read the information stored in the memory 42. The processor reads the operating program 32 and executes the controls defined in the operating program 32, thereby functioning as the operating control unit 43.

[0017] Fig. Figure 3 is a perspective view of the robot and the operator when the operator is performing a direct training process. Referring to the Fig. In the present embodiment, the robot arrangement 8 is capable of teaching a learning point through the direct learning process. During the direct learning process, an operator 87 changes the position and orientation of the robot 1 by directly pushing or pulling either the robot 1 or their hand 2. When the position and orientation of the robot 1 are at the desired position and orientation, the position and orientation of the robot are stored as a learning point in memory 42. In this example, the operator 87 can change the position and orientation of the robot by grasping and moving their hand 2.

[0018] The robot arrangement 8 includes a sensor for detecting an external force exerted on the robot 1 by the operator 87 during the direct teaching process. In the present embodiment, a force sensor 22 is arranged between the flange 16 and the hand 2.

[0019] Any force sensor can be used as force sensor 22, for example, a sensor with a strain gauge or a capacitive sensor. Force sensor 22 can be a sensor capable of detecting force components in six axes. For example, force sensor 22 detects forces in the directions of three orthogonal axes (X-axis, Y-axis, and Z-axis) of a sensor coordinate system and moments (Mx, My, and Mz) as forces in the directions of axes (W-axis, P-axis, and R-axis) around these three axes.

[0020] It should be noted that the sensor for detecting the external force exerted by the operator can be positioned anywhere. For example, the sensor can also be located at the base. Furthermore, any sensor capable of detecting external force can be used. For example, the sensor for detecting external force could be a torque sensor, positioned for each drive axis of the robot.

[0021] With reference to Fig. 1 and Fig. 2. In the present embodiment, the robot controller 5 functions as a teaching device. The main control unit 4 generates the operating program 32 based on the learning point. The memory 42 stores a generation program 33 for generating the operating program 32 in the direct learning process. The generation program 33 corresponds to a computer program of the teaching device for executing the direct learning process.

[0022] The main control unit 4 includes a program generation unit 60, which generates or modifies the operating program 32. The program generation unit 60 is controlled based on the generation program 33. When the operator applies a force to a component of the robot 1 during the direct learning process, the program generation unit 60 performs a control operation to change the position and orientation of the robot 1 so that the component of the robot 1 moves in the direction in which the force is applied.

[0023] The program generation unit 60 includes a force detection unit 66, which detects the force and torque exerted by the operator on the component, as well as the magnitudes of the force and torque. The force detection unit 66 detects the magnitude and direction of the external force exerted on the robot 1 based on the output of the force sensor 22.

[0024] The program generation unit 60 includes a manual command unit 67, which generates the operating command to drive the robot 1 based on the magnitude and direction of the external force detected by the force detection unit 66. The manual command unit 67 generates the operating command to drive the robot 1, so that the robot 1 is driven based on the external force manually applied by the operator. The manual command unit 67 transmits an operating command to drive the robot drive motor 19 to the operating control unit 43. The operating control unit 43 drives the robot 1 based on the command signal from the manual command unit 67 for a period during which the direct learning process is performed. In this way, the operator can directly control the robot 1 and change its position and orientation to establish the learning point.

[0025] The program generation unit 60 includes a state detection unit 61, which detects the position and / or orientation of the robot 1. The state detection unit 61 detects the position and orientation of the robot 1 based on the output of the position detector 18. The program generation unit 60 includes a learning point setting unit 62, which defines the position and orientation of the robot 1 detected by the state detection unit 61 as the learning point. The program generation unit 60 includes an instruction statement generation unit 63, which generates an operating instruction contained in the operating program 32 based on the learning point defined by the learning point setting unit 62.

[0026] The program generation unit 60 corresponds to a processor controlled by the generation program 33. The processor executes the control operations defined in the generation program 33 and thus functions as the program generation unit 60. The state detection unit 61, the learning point setting unit 62, the instruction statement generation unit 63, the force detection unit 66, and the manual instruction unit 67 each correspond to a processor operated by the generation program 33. The processors execute the control operations defined in the generation program 33 and thus function as individual units. Furthermore, the operating control unit 43 corresponds to a processor operated by the generation program 33.

[0027] The robot controller 5 of the present embodiment comprises a change device that modifies operating parameters for driving the robot 1 during the direct learning process. In the present embodiment, the robot controller 5 comprises several change devices. The robot controller 5 includes a built-in operating switch 23 as the first change device and an external computer 54 as the second change device. Each of the change devices is connected to the main control unit via a cable connection or wirelessly.

[0028] The operating parameters for performing the direct learning process include a parameter for determining or limiting the robot's operation during the direct learning process. For example, the operating parameters include a gain to determine the robot's speed based on a selectable operating direction, a maximum robot speed, and an external force applied by the operator, as well as a gain to determine the robot's acceleration based on an external force applied by the operator. Before performing the direct learning process, the operator must configure these operating parameters in conjunction with the robot's drive system.

[0029] Fig. Figure 4 shows a perspective view of the built-in operating switch of the robot arrangement according to the first embodiment in the present embodiment. The built-in operating switch is an operating switch integrated into the robot or the hand. The built-in operating switch 23 of the present embodiment is integrated into the wrist 15. In other words, the built-in operating switch 23 is a control element integrally integrated into the wrist 15.

[0030] A button 23a for changing the operating parameter setting is arranged on the built-in operating switch 23. The built-in operating switch 23 is designed to communicate with the program generation unit 60 of the control main body 4 via a communication line. A signal to press button 23a is transmitted to the program generation unit 60. Several buttons 23a are arranged on the built-in operating switch 23 of the present embodiment.

[0031] In a robot controller of a comparative example, the operating parameter of the direct teaching process is changed using a teach pendant connected to the main controller body. When the operating parameter is changed, the operator removes their hand from the robot and performs the operation while holding the teach pendant. In contrast, in the present embodiment, the operator can actuate any of the buttons 23a while grasping a spherical section of their wrist 15. The operator can adjust the operating parameter while barely moving their hand from the hand 2 they are grasping to change the robot's position and orientation. Therefore, the operating parameter can be adjusted quickly, and the operational capability of the direct teaching process is improved.In this respect, the setting of the operating parameter in the present embodiment includes re-determining the operating parameter and changing the operating parameter.

[0032] One of the buttons 23a of the built-in operating switch 23 can correspond to an operating parameter. For example, one of the buttons 23a can correspond to the robot's maximum speed. A variety of maximum speeds are predefined and stored in memory 42. The maximum speed values ​​are, for example, 50 mm / s, 100 mm / s, and 250 mm / s. The built-in operating switch 23 is designed to transmit a signal each time the button 23a for the maximum speed is pressed, causing the preset maximum speed values ​​to change sequentially.Alternatively, the built-in operating switch can be designed so that the set value of the maximum speed is increased when the maximum speed button 23a, which has a plus sign printed on it, is pressed, and the set value of the maximum speed is decreased when the maximum speed button 23a, which has a minus sign printed on it, is pressed.

[0033] The robot 1 of the present embodiment comprises a light 24 as a light-emitting element, which emits light or switches it off according to the setting of the operating parameter by the built-in operating switch 23. In the present embodiment, several light 24s are arranged. The light 24 is, for example, a light-emitting diode (LED). The light 24s of the present embodiment are arranged next to the built-in operating switch 23. Furthermore, the light 24s are arranged near the buttons 23a of the built-in operating switch 23.

[0034] In this respect, the operating parameter setting can be configured so that it is distinguishable by the lighting pattern of the light 24. For example, a lighting pattern can be implemented in which the light flashes during illumination. The number of flashes can then be changed according to the set maximum speed value or similar. Alternatively, the operating parameter setting can be confirmed using the external computer 54.

[0035] With reference to Fig. 1 and Fig. 2 is the second modification device of the robot arrangement 8 of the first embodiment, the external computer 54, which is connected to the control unit 4 via a communication line 59. The external computer 54 of the present embodiment is a notebook personal computer. The external computer 54 is implemented as an arithmetic processing device (computer) with a CPU as the processor.

[0036] The external computer 54 includes a memory 58 that stores information about the robot 8. The memory 58 can be implemented as a non-volatile storage medium capable of storing information. For example, the memory 58 can be implemented as a storage medium such as volatile memory, non-volatile memory, magnetic storage medium, or optical storage medium. The external computer 54 includes a display unit 55 that displays information about the operating parameters of the direct learning process. The display unit 55 can be implemented as a display panel, for example, a liquid crystal display. The external computer 54 includes an input unit 56 into which the operator enters any information. The input unit 56 can be implemented as an input device, for example, a keyboard, mouse, and rotary knob.

[0037] The external computer 54 comprises a processing unit 57, which acquires information through operation of the input unit 56, performs internal arithmetic, and controls an image displayed on the display unit 55. The processing unit 57 corresponds to a CPU as the processor. The processor is controlled according to a predefined program and thus functions as the processing unit 57. The external computer 54 is designed so that the operator can set the operating parameters of the direct learning process by actuating the input unit 56.

[0038] The external computer 54 can use packet communication as a communication method to communicate with the control unit's main control body 4. For example, the signal transmitted from the external computer 54 to the program generation unit 60 can be transmitted as a packet.

[0039] Furthermore, the external computer 54 can send and receive information from the program generator 60 using numerical values. For example, the robot's maximum speed can be transmitted from the external computer 54 to the program generator 60. Additionally, the robot's direction of travel is defined by a number, and this direction can be transmitted from the external computer 54 to the program generator 60. For example, the number zero can be defined as the direction of free movement. This number can then be used to transmit the robot's direction of travel to the program generator 60.

[0040] The second modification device of the present embodiment is a notebook computer, but is not limited to this form. The second modification device can be implemented as any modification device that differs from the first modification device and the teach pendant. For example, the external computer can be implemented as a tablet terminal.

[0041] The main control unit 4 receives an operating parameter signal from the built-in operating switch 23 as the first changing device and an operating parameter signal from the external computer 54 as the second changing device. The main control unit 4 includes a selection unit 64, which selects the operating parameter signal from one of the changing devices under the built-in operating switch 23 and the external computer 54.

[0042] In the robot controller 5, the selection unit 64 stops receiving the signal from the built-in operating switch 23 when it receives the signal from the external computer 54. For example, if the operator sets the operating parameter using the external computer 54, the selection unit 64 stops receiving the operating signal from the operator using the built-in operating switch 23.

[0043] It should be noted that in the present embodiment of the selection unit 64, the changing device that modifies the operating parameter is automatically selected; however, this is not limited to this form. The selection unit can be configured so that, through an operator action, it can designate the changing device that receives the operating parameter signal.

[0044] The program generation unit 60 comprises a setting unit 65, which sets the operating parameter based on the signal of the operating parameter corresponding to the operation of one of the changing devices selected by the selection unit 64. The selection unit 64 and the setting unit 65 each correspond to a processor controlled based on the generation program 33. The processors execute the control defined in the generation program 33 and thus function as respective units.

[0045] In this way, the selection unit 64 can stop receiving the signal from the first changing device when it receives the signal from the second changing device. The robot arrangement 8 receives the signal to change the operating parameter from the external computer 54, preferably before the signal from the built-in operating switch 23. The program generation unit 60 sets the operating parameter based on the signal corresponding to the operation of the external computer 54 by the operator.

[0046] This control allows the operating parameter that can be set by the second changing device to be set, preferably by actuating the second changing device. The operating parameter that cannot be set by the second changing device can be set using the first changing device. The operating parameters set by the setting unit 65 are stored in an operating parameter file, which is stored in memory 42.

[0047] During actual teaching activity, the manual command unit 67 transmits the command to drive the robot 1 to the operating control unit 43 in response to direct operation of the robot by the operator using the operating parameters set by the setting unit 65.

[0048] With reference to Fig. 2 and Fig. 4. In the present embodiment, the selection unit 64 switches on the light 24 when the setting unit 65 receives a signal from the built-in operating switch 23. The operator can see that the operating parameter can be set using the built-in operating switch 23. If the setting unit 65 does not receive a signal from the built-in operating switch 23, the selection unit 64 switches off the light 24. The operator can see that the operating parameter cannot be set using the built-in operating switch 23.

[0049] The built-in operating switch 23 can include multiple buttons 23a to change several types of operating parameters. Furthermore, multiple lights 24 can be installed in the robot 1. The multiple lights 24 and the multiple buttons 23a are configured to correspond to the multiple types of operating parameters.

[0050] Then the light 24 corresponding to the operating parameter for which the setting unit 65 receives the signal from the external computer 54 can be switched off, and the light 24 corresponding to the operating parameter for which the setting unit 65 receives the signal from the built-in operating switch 23 can be switched on. In other words, the selection unit 64 can switch on the light 24 corresponding to the operating parameter changed by the built-in operating switch 23, and switch off the light 24 corresponding to the operating parameter changed by the external computer 54.

[0051] For example, the first button 23a and the first indicator light 24 of the built-in operating switch 23 are defined as the button and indicator light corresponding to the robot's maximum speed. Furthermore, the second button 23a and the second indicator light 24 of the built-in operating switch 23 are defined as the button and indicator light corresponding to the robot's operating direction.

[0052] In this context, there are cases where the robot's maximum speed can be changed in the external computer 54, but the robot's direction of operation cannot. In this case, the selection unit 64 can receive a signal of the operating parameter relating to the robot's maximum speed from the external computer 54 and the operating parameter relating to the robot's direction of operation from the built-in operating switch 23.

[0053] In other words, if several types of operating parameters are specified, the selection unit 64 can select the operating parameter signal received from the second changing device. The selection unit 64 can also select the operating parameter signal received from the first changing device if it is not the one received from the second changing device. Then, the setting unit 65 can set the operating parameter received from the second changing device based on the operation of the second changing device, and the operating parameter not received from the second changing device based on the operation of the first changing device.

[0054] Furthermore, the selection unit 64 can switch off the light 24 corresponding to the robot's maximum speed and switch on the light 24 corresponding to the robot's operating direction. The operator can use the states of the lights 24 to determine which operating parameter button can be pressed with the built-in operating switch 23.

[0055] Fig. Figure 5 shows a perspective view of the robot to illustrate its operating direction during the direct teaching process. A tool coordinate system 90 is configured in the robot 8. The origin of the tool coordinate system 90 in this embodiment is fixed at the tool center point of hand 2. The position and orientation of the tool coordinate system 90 change along with hand 2. A world coordinate system 89 is configured in the robot 8. The world coordinate system 89 is a coordinate system in which the position of the origin and the orientation of the coordinate axes do not change even when the robot 1 is driven. The position of the tool center point in the world coordinate system 89 can be used as the position of the robot 1. The orientation of the tool coordinate system 90 with respect to the world coordinate system 89 can be used as the orientation of the robot 1.

[0056] A movement caused by applying an external force during the direct learning process can include a parallel movement in a direction defined in the tool coordinate system 90. For example, robot 1 can be driven in a parallel movement such that the origin of the tool coordinate system 90 moves only in the direction of one coordinate axis (X-axis, Y-axis, or Z-axis) of the tool coordinate system 90. For instance, if the direction of the external force applied by the operator is close to the direction in which the Y-axis of the tool coordinate system extends, robot 1 can be driven such that the tool center moves in the direction of the Y-axis without moving in the direction of the X-axis or the Z-axis.

[0057] Furthermore, the robot's operating direction can include a direction in which the robot rotates around a predetermined axis of rotation. For example, robot 1 can be driven such that hand 2 rotates around one of the coordinate axes without moving the origin of the tool coordinate system 90. For example, the position and orientation of robot 1 can be changed so that hand 2 rotates around the Y-axis of the tool coordinate system 90 as its axis of rotation.

[0058] The robot's operating direction can be selected from several parallel directions of movement and several rotary directions. For example, the robot can be controlled so that the tool coordinate system 90 moves in a predefined direction, regardless of the direction in which the external force is applied.

[0059] The robot's operating direction can also be set to combine parallel and rotary motion. Furthermore, the direction can be configured to follow a movement initiated by the operator moving or rotating hand 2 in a selected direction. In other words, the operator can execute a desired curved movement and a desired change in orientation.

[0060] The robot's maximum speed can be, for example, the maximum speed at a predetermined point on the robot or the work tool. For instance, the maximum speed at the tool's center point can be used. Alternatively, the rotational speed around the robot's drive axis can be used. The amplification factor for determining the robot's speed from the external force is a coefficient included in a formula for calculating the robot's speed from the magnitude of the external force. As the amplification factor increases, the robot's speed is controlled so that it increases with respect to the external force. Similarly, the amplification factor for determining the robot's acceleration from the external force is a coefficient included in a formula for calculating the robot's acceleration from the magnitude of the external force.By changing the gain factor for speed and the gain factor for acceleration, the operator's feel during the robot's direct training process can be modified. For example, adjusting the gain factor for speed and the gain factor for acceleration makes it possible to customize the feel of the robot from heavy to light when pushing it by hand to propel it.

[0061] Fig. 6 is a flowchart of the direct teaching process in the robot arrangement of the present embodiment. The flowchart of Fig. 6 includes a step for setting the operating parameter of the direct learning process by means of a changing device under the built-in operating switch 23 and the external computer 54.

[0062] In step 91, the selection unit 64 determines whether a signal is input from the external computer 54. If a signal is input from the external computer 54, the control continues to step 94. The selection unit 64 selects the operating parameter signal from the external computer 54. In step 94, the selection unit 64 switches off the lights 24 arranged around the built-in operating switch 23. Subsequently, in step 95, the setting unit 65 receives a command to set the operating parameter from the external computer 54. The control continues to step 96.

[0063] If, however, no signal is received from the external computer 54 in step 91, the controller proceeds to step 92. In other words, if the external computer 54 is not used to set the operating parameter of the direct learning process, the controller proceeds to step 92. The selection unit 64 selects the operating parameter signal from the built-in operating switch 23.

[0064] In step 92, the selection unit 64 switches on the lights 24 arranged around the built-in operating switch 23. Subsequently, in step 93, the setting unit 65 receives a command from the built-in operating switch 23.

[0065] Subsequently, in step 96, the setting unit 65 sets the operating parameter of the direct learning process based on the command from the built-in operating switch 23 or the command from the external computer 54. The setting unit 65 can also set the operating parameter of the direct learning process according to an operation of the changing device by the operator.

[0066] In step 97, the operator performs the direct learning process. In other words, the force detection unit 66 detects an external force exerted by the operator based on the output of the force sensor 22. The manual control unit 67 controls the robot 1 based on the operating parameters, the magnitude of the external force, and the direction of the external force.

[0067] When the position and orientation of robot 1 are at the desired position and orientation, the state detection unit 61 detects the robot's position and orientation. The learning point setting unit 62 can then define the robot's position and orientation as the learning point. The operator then repeats the process described above to set the learning point. The command statement generation unit 63 can then generate the operating program's command statement based on the learning points. In this way, the program generation unit 60 can generate the operating program 32.

[0068] In robot arrangement 8, the operating parameters of the robot's direct learning process can be set using the external computer 54, in addition to the operating switch 23 built into the robot 1. Using this configuration, the operating parameters can be set on the large display unit 55 of the external computer 54. For example, a list of the operating parameters for the direct learning process can be displayed on the display unit 55, and each of the operating parameters can be adjusted. Therefore, work efficiency when setting the operating parameters is improved.

[0069] Furthermore, there may be cases where, in addition to the operating parameters of the robot's direct learning process, parameters of other devices need to be set. For example, it may be necessary to set the parameters of a machine tool that processes the workpiece, in addition to the robot's operating parameters. Even in such a case, the robot and machine tool parameters can be set in a single operation using the external computer 54. This improves work efficiency when setting the robot's operating parameters and the machine tool parameters.

[0070] The robot controller of the present embodiment does not include a teach pendant, but is not limited to this form. The teach pendant can be connected to the main control unit. In this case, the operating parameters of the direct teaching process can be set using the teach pendant. The selection unit can choose the signal of the operating parameter of the direct teaching process in the priority order of the external computer, the built-in operating switch, and the teach pendant. Second embodiment

[0071] With reference to the Fig. Sections 7 to 15 describe a robot controller and a robot arrangement according to a second embodiment. In the robot arrangement of the present embodiment, the first modification device and the second modification device differ from those of the robot arrangement of the first embodiment.

[0072] Fig. Figure 7 shows an enlarged view of a tip section of a robot of the robot arrangement according to the present embodiment. Fig. Figure 8 shows a block diagram of the robot arrangement according to the present embodiment. With reference to Fig. 7 and Fig. 8 comprises a robot arrangement 9 of the present embodiment, comprising a robot 7 in which the built-in operating switch and the light are not provided. The hand 2 and the control main body 4 are the same as the hand 2 and the control main body 4 of the robot arrangement 8 of the first embodiment.

[0073] The first changing device of the robot arrangement 9 of the present embodiment is a teach pendant 49 connected to the control main body 4. The second changing device of the robot arrangement 9 is an external operating switch 25, which is attached to the robot 7 or the hand 2.

[0074] Fig. Figure 9 shows a top view of the teach pendant of the robot setup. Referring to the Fig. Sections 7 to 9 of the teach pendant 49 comprise a computing unit 52, which performs arithmetic operations and processes information. The computing unit 52 includes a CPU as the processor. The teach pendant 49 also includes a display unit 50, which displays information related to the control of the robot arrangement 9, and an input unit 51, through which the operator inputs any desired information. The display unit 50 can be configured as a display field, for example, a liquid crystal display. The input unit 51 can be configured as an input device, for example, a button 51a, a keyboard, and a rotary knob.

[0075] The display part 50 of the present embodiment comprises a touch panel-type display. The operator can input information by pressing or tracing an image of a key displayed on the display part 50. In other words, the touch panel-type display functions as both a display and input unit. It should be noted that the teach pendant can be configured as a mobile device, for example, a tablet.

[0076] The teach pendant 49 of the present embodiment is configured to communicate with the main control unit 4 via a communication line 53. Alternatively, the teach pendant can be configured to communicate wirelessly with the main control unit 4. The teach pendant 49 is small enough to be carried by the operator. The operator can manually control the robot 7 by operating the input unit 51. After the robot 7 has been controlled, the teach pendant 49 can define a learning point.

[0077] The external control switch 25 is a control switch that is attached to an outer surface of the working tool or an outer surface of the robot. The external control switch can be designed to be removable from the working tool or the robot.

[0078] The external control switch 25 of the present embodiment is attached to the outer circumferential surface of the hand 2. The external control switch 25 comprises several buttons 25a. One of the buttons 25a of the external control switch 25 can correspond to an operating parameter of the direct learning process. For example, if the first button 25a is a button for setting the robot's operating direction, the robot's operating direction can be switched each time this button 25a is pressed. The robot's operating directions include a direction of parallel movement, in which the position moves without changing the orientation; a direction of rotary movement, in which the orientation rotates; a direction in which parallel movement and rotary movement are combined; and any other selected direction.

[0079] Furthermore, the second button 25a of the external control switch 25 can be configured as a button for setting the robot's maximum speed. Each press of this button 25a cycles through the maximum speed settings. For example, the maximum speed can be cycled through 50 mm / s, 100 mm / s, and 250 mm / s. Pressing button 25a when the maximum speed is set to 250 mm / s will also reset the maximum speed to 50 mm / s.

[0080] The control system, which toggles the operating parameter setting with each button press, allows the operating parameter of the direct learning process to be changed with a small number of buttons. Furthermore, the operator can easily modify the operating parameter of the direct learning process.

[0081] It should be noted that the external control switch 25 of the present embodiment comprises several buttons, but is not limited to this form. The external control switch can be configured to allow the input of a parameter. For example, the external control switch can include a slider with a knob. By moving the knob, the setpoint of the operating parameter can be adjusted to any desired value. For example, the maximum speed of the robot can be configured to be continuously changed and set to any desired value.

[0082] As with the robot arrangement 8 of the first embodiment, the selection unit 64 can stop receiving a signal from the teach pendant 49 as the first change device when it receives a signal from the external control switch 25 as the second change device. In other words, the signal of the operating parameter of the direct teaching process can be preferentially received from the external control switch 25.

[0083] Fig. Display 10 shows an image of the display section when the operating parameter of the direct teaching process is set using the teach pendant. Display section 50 shows image 71 for changing the setting of the operating parameter. When image 71 is displayed, communication between the external operating switch 25 and the main control unit 4 is stopped. The signal from the teach pendant 49 is selected at the selection unit 64. The setting unit 65 sets the operating parameter of the direct teaching process based on the signal received from the teach pendant 49. Image 71 shows a button 71a for changing the operating direction of the robot 7 and a slider 71b for changing the maximum speed of the robot.

[0084] The operator can change the robot's direction of travel by pressing change button 71a. Furthermore, the operator can change the robot's maximum speed by pressing and simultaneously moving slider 71b. This allows the operating parameter to be set using the teach pendant 49 if the operating parameter signal is not received from the external control switch 25.

[0085] If, however, the external control switch 25 is actuated, a signal for setting the operating parameter is transmitted from the external control switch 25 to the program generation unit 60. The selection unit 64 selects the signal from the external control switch 25 and stops receiving the signal from the teach pendant 49. The setting unit 65 receives the signal from the external control switch 25. The external control switch 25 includes, for example, button 25a for changing the robot's direction of travel and button 25a for incrementally changing the robot's maximum speed. When the operator presses button 25a of the external control switch 25, the setting unit 65 sets the robot's direction of travel or sets the robot's maximum speed.

[0086] Fig. 11 displays images on the teach pendant's display section when a signal is received from the external control switch. The setting unit 65 transmits a signal received from the external control switch 25 to the teach pendant 49. When the setting unit 65 receives a signal from the external control switch 25, the display section 50 shows an image for changing the operating parameter in a pale color. In this example, signals of all types of operating parameters are received from the external control switch. The processing unit 52 performs a control operation so that a button 72a and a slider 72b are displayed in a pale color. This control allows the operator to see that the operating parameter displayed in the pale color on the teach pendant cannot be changed. The operator can see that the signal from the external control switch 25 is the preferred option.

[0087] In this context, there is a case where the operator uses the teach pendant to change the operating parameter setting during a period in which the setting unit 65 receives a signal from the external control switch 25. For example, the operator might press button 72a of Figure 72. In this case, the display unit 50, as shown in Figure 73, displays Figure 73a, prompting the operator to change the operating parameter using the external control switch. With this control, if the operator mistakenly uses the teach pendant 49, they will be notified that the change to the operating parameter setting has been stopped by the teach pendant 49.

[0088] In the example shown in Figure 72, several types of operating parameters are predefined, and the settings of all operating parameters are changed using the external control switch 25. A pale-colored image for changing all operating parameters is displayed in the display section 50. However, there are cases where only some of the operating parameters are set using the external control switch 25. In this case, the operating parameters other than those set with the external control switch 25 can be set using the teach pendant 49.

[0089] Fig. Figure 12 displays images on the display when some of the operating parameters are set using the teach pendant. The selection unit 64 selects the operating parameter signal received from the external control switch 25, and for the operating parameter signal not received from the external control switch 25, it selects the signal received from the teach pendant 49. Then, the setting unit 65 sets the operating parameter received from the external control switch 25 based on the actuation of the external control switch 25, and sets the other operating parameter based on the actuation of the teach pendant 49.

[0090] At this point, the display unit 50 can show an image in a pale color for setting the operating parameter, which is adjusted using the external control switch 25. For example, the robot's direction of travel can be set using the external control switch 25, and the robot's maximum speed can be set using the teach pendant 49. In this case, image 74 shows a button 74a for switching the robot's direction of travel in a pale color. A slider 74b for setting the robot's maximum speed is shown in normal color density.

[0091] The operator can change the operating direction by pressing button 25a of the external control switch 25. In this case, the currently set operating direction is displayed on the display unit 50. In other words, the display of the operating parameter on the display unit 50 switches according to the action of the external control switch 25. The maximum speed of the robot can be changed by moving slider 74b while holding the slider 74b displayed on the display unit 50 with a finger.

[0092] In this case, the display section 50 shows a notification image 75 when the operator uses the teach pendant 49 to change the operating parameter set by the external control switch 25. Image 75 contains an image 75a prompting the operator to change the operating parameter setting using the external control switch 25. In this example, if button 74a is pressed to change the robot's direction of travel, an image 75a may be displayed prompting the operator to perform the operation using the external control switch 25. This control allows the operator to recognize that a predetermined operating parameter cannot be adjusted using the teach pendant 49.

[0093] It should be noted that in the present embodiment, the image for changing the setting of the operating parameter set by the second changing device is displayed in a pale color, but the configuration is not limited to this form. A control can be performed to delete the image for changing the operating parameter set by the second changing device.

[0094] In the embodiments described above, the respective operating parameters are redefined or modified, but the configuration is not limited to this form. The operator can specify a parameter group that includes several types of operating parameters. By switching the parameter group, multiple operating parameters can then be set in a single operation.

[0095] The external control switch 25 can include a button for switching the parameter group. The setting unit 65 switches the parameter group each time the operator presses the button. The setting unit 65 can adjust the operating parameters contained in the parameter group.

[0096] Fig. Figure 13 shows an image on the display section where the parameter group is shown. Figure 76, displayed by display section 50, shows several types of operating parameters set in a parameter group. The "Input" line indicates that this parameter group is to be changed using the external control switch 25. Furthermore, the robot's direction of movement is only parallel, and the robot's maximum speed is set to 100 mm / s. In this case, the parameter group is displayed as suitable for palletizing.

[0097] As another example of a parameter group, one is configured where the robot's operating direction is only rotational and which is used during the teach-in phase for aligning a work tool with a small speed increase. Multiple such groups of operating parameters can be created.

[0098] Fig. Figure 14 shows an image on the display unit that appears when setting the parameter group of the present embodiment. In an image 77 displayed by the display unit 50, the robot's operating direction can be set using a button 77a and the robot's maximum speed using a slider 77b. Finally, by pressing a confirmation button 77c, several operating parameters contained in a parameter group can be confirmed and saved in memory 42. For example, the parameter group can be added to or modified within a file of parameter groups stored in memory 42.

[0099] In this way, parameter groups can be created and saved in advance, and the second change device can switch between parameter groups. Furthermore, the first change device can be configured to switch between parameter groups. This control system allows multiple operating parameters to be set in a single operation, reducing the time required to set operating parameters. Because parameter groups are created in advance by a specialist, even an operator unfamiliar with the method of setting operating parameters can select a parameter group according to the operation to be performed by the robot, such as palletizing, and set multiple operating parameters.

[0100] Fig.Figure 15 is a perspective view showing a robot arrangement with an additional external control switch according to the present embodiment. A robot arrangement 10 includes a hand 3 as a working tool. The hand 3 comprises several suction cups 3a and a support element 3b that supports the suction cups 3a. The hand 3 is configured to suction a plate-shaped workpiece by reducing the pressure inside the multiple suction cups 3a. Because the support element 3b is arranged over a wide area in the hand 3, it is difficult for the operator to operate the external control switch when it is located near the flange 16 of the robot 7.

[0101] In the robot arrangement 10 of the present embodiment, an external control switch 26 is arranged at an end section of the hand 3. The external control switch 26 comprises a grip section 26b, which is a section gripped by the operator, and several buttons 26a for setting the operating parameters. The external control switch 26 is designed to communicate with the control unit's main control body 4 via a communication line 27.

[0102] The external control switch 26 can be positioned separately from the robot. This allows for easy modification of the direct learning process's operating parameters when working on large workpieces. By using the external control switch as a secondary adjustment device, it can be positioned to suit the robot's shape or the operator's hand, making it easily accessible. The operator can select the switch's position within the robot assembly. Easily operated, the external control switch improves the direct learning process's efficiency. The external control switch can be connected, for example, via a plug-in connection.For example, a plug of the external control switch can be connected to a plug of a communication line that is located on a robot main body and communicates with the control main body.

[0103] Furthermore, in the present embodiment, the second changing device is the external control switch attached to the robot or hand. For example, a work tool comprising a main body containing a built-in switch for changing the operating parameters of the direct learning process can be used as the second changing device in the present embodiment. This work tool is connected to the robot and can communicate with the robot controller, thus functioning as an external control switch attached to the robot. Examples of such a work tool include a hand that grasps a workpiece, an application device that applies a liquid such as an adhesive, and a laser head that performs laser processing.

[0104] Furthermore, the second changing device of the present embodiment is not limited to the external control switch attached to the robot or the hand, but a changing device located in a position separate from the robot and the hand can also be used. For example, it is possible to use a foot pedal designed to be operated by the foot and located on the robot's base.

[0105] Since other configurations, operating modes and effects are identical to those of the first embodiment, their description is not repeated.

[0106] The robot control according to at least one of the embodiments described above has the effect of improving the work efficiency of the direct learning process.

[0107] The present disclosure has been described in detail so far, but is not limited to the individual embodiments described above. These embodiments may be supplemented, replaced, modified, partially deleted, or the like, without deviating from the scope of the present disclosure or from the core of the present disclosure as defined by the content of the claims and their equivalents. Furthermore, these embodiments may also be implemented in combination. For example, the sequence of individual operations and the sequence of individual processes in the embodiments described above are presented as examples and are not limited to these sequences. The same applies if numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0108] The following supplementary remarks are disclosed with regard to the embodiment described above and modified examples. Supplementary Note 1

[0109] Robot controller 5, 6, configured to perform a direct teaching process to teach a teaching point by an operator directly operating a robot 1, wherein the robot controller comprises: a control main body 4 configured to receive a signal from a first change device configured to change an operating parameter for driving the robot using a direct learning process, and to receive a signal from a second change device configured to change the operating parameter, the main control body comprises: a selection unit 64 configured to select the operating parameter signal from one changing device under the operating parameter signal from the first changing device and the operating parameter signal from the second changing device; a setting unit 65, which is configured to set the operating parameter based on the signal of the operating parameter according to an operation of a changing device; and a manual command unit 67, which is configured to transmit a command that drives the robot based on the operating parameter set by the setting unit. Supplementary Note 2

[0110] Robot control from supplementary note 1, wherein the selection unit stops receiving the signal from the first changing device when it receives the signal from the second changing device. Supplementary Note 3

[0111] Robot control from supplementary note 1, wherein the operating parameter is an operating direction of the robot, a maximum speed of the robot, a gain to determine a speed of the robot from an external force exerted by an operator action, or a gain to determine an acceleration from the external force exerted by the operator action. Supplementary note 4

[0112] Robot control from one of Supplementary Notes 1 to 3, wherein the first changing device is an operating switch 23 built into the robot and wherein the second changing device is an external computer 54 connected to the control main body. Supplementary note 5

[0113] Robot control from supplementary note 4, which includes a light-emitting element attached to the robot, the light-emitting element is switched on when the setting unit receives the signal from the built-in operating switch, and the light-emitting element is switched off when the setting unit does not receive a signal from the built-in operating switch. Supplementary Note 6

[0114] Robot control from supplementary note 4, which further includes several light-emitting elements arranged on the robot, the built-in operating switch includes several buttons to change several types of operating parameters, wherein the multiple light-emitting elements and the multiple buttons of the built-in operating switch are configured according to the multiple types of operating parameters, wherein the light-emitting element corresponding to the operating parameter for which the setting unit receives the signal from the external computer is switched off, and the light-emitting element corresponding to the operating parameter for which the setting unit receives the signal from the built-in operating switch is switched on. Supplementary note 7

[0115] Robot control from one of the supplementary notes 1 to 3, wherein the first modification device is a teach pendant 49 connected to the control main body, and wherein the second changing device is an external control switch 25, 26 which is attached to the robot or a working tool. Supplementary Note 8

[0116] Robot control from supplementary note 7, wherein The teach pendant includes a display part 50, which is configured to display an image for setting the operating parameter, and The display unit deletes or hides the image used to set the operating parameter when the setting unit receives a signal from the external control switch. Supplementary note 9

[0117] Robot control from supplementary note 7, wherein the teach pendant includes a display part 50, which is configured to display an image for setting the operating parameter, and wherein the display part shows an image 73a which prompts the operator to change the operating parameter using the external control switch when the operator activates the teach pendant to change the operating parameter during a period in which the setting unit receives the signal from the external control switch. Supplementary Note 10

[0118] Robot control from supplementary note 7, wherein the external control switch includes a button 25a which toggles a setting of the operating parameter, and the setting unit switches the robot's operating direction each time the operator presses the button. Supplementary Note 11

[0119] Robot control from supplementary note 7, wherein the external control switch includes a button 25a which toggles a setting of the operating parameter, and the setting unit switches the robot's maximum speed each time the operator presses the button. Supplementary Note 12

[0120] Robot control from supplementary note 7, wherein a parameter group with several types of operating parameters is predefined, the external operating switch includes a button 25a that switches the parameter group, and the setting unit sets the several operating parameters contained in the parameter group by switching the parameter group each time the operator presses the button. Supplementary Note 13

[0121] Robot control according to supplementary note 1, wherein a variety of operating parameter types are defined, The selection unit selects the signal of the operating parameter received from the second changing device, and the signal of the operating parameter other than the one received from the second changing device selects the signal received from the first changing device, and The setting unit sets the operating parameter received from the second changing device based on an operation of the second changing device and sets the other operating parameter as the operating parameter received from the second changing device based on an operation of the first changing device. Supplementary Note 14

[0122] Robot control from supplementary note 13, wherein the first changing device comprises a display part 50 which is configured to display an image for setting the operating parameter, and wherein the display part 50 deletes or hides the image for setting the operating parameter set by the second changing device. Supplementary Note 15

[0123] Robot control from supplementary note 13, wherein the first changing device comprises a display part 50 which is configured to display an image for setting the operating parameter, and wherein the display part shows an image 75a which prompts the operator to change the operating parameter with the second changing device when an operator operates the first changing device to change the operating parameter set by the second changing device. List of reference symbols 1.7 robots 2, 3 hands 4 Control main body 5, 6 Robot control 15 Wrist 23 Built-in operating switch 23a key 24 lights 25, 26 external control switch 25a, 26a key 49 Teach pendant 50 Display section 51 Input section 54 External computer 55 Display section 56 Input section 60 Program generation unit 64 selection unit 65 setting unit 67 Manual command unit Images 71 to 77 71a, 72a, 74a, 77a key 71b, 72b, 74b, 77b Slider QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-63916 A

[0003] WO 2011 / 036865 A1

[0003] JP 1-271189 A

[0003]

Claims

[1] Robot controller (5, 6) configured to perform a direct teaching process to teach a teaching point by an operator (87) who directly operates a robot (1, 7), wherein the robot controller (5, 6) comprises: a control body (4) configured to receive a signal from a first change device (23, 49) configured to change an operating parameter for driving the robot using a direct learning process, and to receive a signal from a second change device (25, 26, 54) configured to change the operating parameter, wherein the control body (4) comprises: a selection unit (64) configured to select the operating parameter signal from a change device under the operating parameter signal from the first change device (23, 49) and the operating parameter signal from the second change device; a setting unit (65) configured to set the operating parameter based on the operating parameter signal according to an operation of a changing device; and a manual command unit (67) configured to transmit a command that drives the robot (1, 7) based on the operating parameter set by the setting unit (65). [2] Robot control (5, 6) according to claim 1, wherein the selection unit (64) stops receiving the signal from the first change device (23, 49) when it receives the signal from the second change device (25, 26, 54). [3] Robot control (5, 6) according to claim 1, wherein the operating parameter is an operating direction of the robot (1, 7), a maximum speed of the robot (1, 7), an amplification for determining a speed of the robot (1, 7) from an external force exerted by an actuation of the operator (87) or an amplification for determining an acceleration from the external force exerted by the actuation of the operator (87). [4] Robot control (5, 6) according to one of claims 1 to 3, wherein the first modification device (23, 49) is an operating switch (23) built into the robot (1, 7) and the second modification device (25, 26, 54) is an external computer (54) connected to the main control body (4). [5] Robot control (5, 6) according to claim 4, which further comprises a light-emitting element (24), which is attached to the robot (1, 7), wherein the light-emitting element (24) is switched on when the setting unit (65) receives the signal from the built-in operating switch (23), and the light-emitting element (24) is switched off when the setting unit (65) does not receive a signal from the built-in operating switch (23). [6] Robot control (5, 6) according to claim 4, which further comprises several light-emitting elements (24) attached to the robot (1, 7), wherein the built-in operating switch (23) includes several buttons (23a) to change several types of operating parameters, the multiple light-emitting elements (24) and the multiple buttons (23a) of the built-in operating switch (23) are designed according to the multiple types of operating parameters, the light-emitting element (24) that corresponds to the operating parameter for which the setting unit (65) receives the signal from the external computer (54) is switched off, and the light-emitting element (24) that corresponds to the operating parameter for which the setting unit (65) receives the signal from the built-in operating switch (23) is switched on. [7] Robot control (5, 6) according to one of claims 1 to 3, wherein the first modification device (23, 49) is a teach pendant (49) connected to the control main body (4), and the second changing device (25, 26, 54) is an external control switch (25, 26) which is attached to the robot (1, 7) or a working tool. [8] Robot control (5, 6) according to claim 7, wherein the teach pendant (49) includes a display part (50) configured to display an image for setting the operating parameter, and The display part deletes or hides the image for setting the operating parameter when the setting unit (65) receives a signal from the external control switch (25, 26). [9] Robot control (5, 6) according to claim 7, wherein the teach pendant (49) includes a display part (50) configured to display an image for setting the operating parameter, and the display part shows an image that prompts the operator (87) to change the operating parameters using the external control switch (25, 26) when the operator (87) activates the teach pendant (49) to change the operating parameters during a period in which the setting unit (65) receives the signal from the external control switch (25, 26). [10] Robot control (5, 6) according to claim 7, wherein the external control switch (25, 26) includes a button (25a, 26a) that toggles a setting of the operating parameter, and The setting unit (65) switches the operating direction of the robot each time the operator (87) presses the button (25a, 26a). [11] Robot control (5, 6) according to claim 7, wherein the external control switch (25, 26) includes a button (25a, 26a) that toggles a setting of the operating parameter, and The setting unit (65) switches the maximum speed of the robot every time the operator (87) presses the button. [12] Robot control (5, 6) according to claim 7, wherein a parameter group with several types of operating parameters is predefined, the external control switch (25, 26) includes a button that switches the parameter group, and The setting unit (65) sets the several operating parameters contained in the parameter group by switching the parameter group each time the operator (87) presses the button. [13] Robot control (5, 6) according to claim 1, wherein a variety of operating parameter types are defined, The selection unit (64) selects the signal of the operating parameter received from the second changing device (25, 26, 54), and the signal of the operating parameter other than the operating parameter received from the second changing device (25, 26, 54) selects the signal received from the first changing device (23, 49), and The setting unit (65) sets the operating parameter received from the second changing device (25, 26, 54) based on an operation of the second changing device (25, 26, 54) and sets the other operating parameter as the operating parameter received from the second changing device (25, 26, 54) based on an operation of the first changing device (23, 49). [14] Robot control (5, 6) according to claim 13, wherein the first modification device (23, 49) comprises a display part (50) configured such that that it displays an image for setting the operating parameter, and The display part deletes or hides the image for setting the operating parameter set by the second changing device (25, 26, 54). [15] Robot control (5, 6) according to claim 13, wherein the first modification device (23, 49) comprises a display part (50) configured such that that it displays an image for setting the operating parameter, and the display part (50) shows an image that prompts the operator (87) to change the operating parameter with the second changing device (25, 26, 54) when the operator (87) operates the first changing device (23, 49) to change the operating parameter set by the second changing device (25, 26, 54).

Images