TEACHING DEVICE

Abstract

The present invention provides a teaching device comprising: a direct teaching execution unit which uses an operability parameter set containing one or more operability parameters to generate a movement command for a robot in response to an operator force exerted on the robot; a parameter registration unit which can accept one or more operability parameter settings and register in a memory unit an operability parameter set containing the set one or more operability parameters; and a parameter switching unit which, according to a designated switching condition, switches the operability parameter set to be applied to the direct teaching execution unit between one or more operability parameter sets registered in the memory unit.

Description

Area The present disclosure relates to a teaching device. background Direct teaching, which involves teaching by operating a robot by means of a direct force being applied to the robot by an operator, is known (see e.g. PTL 1 and PTL 2). Citation list Patent literature [PTL 1] Japanese unexamined patent publication (Kokai) No. H3-123907 A [PTL 2] Japanese unexamined patent publication (Kokai) No. 2008-110406 ​​A Summary Technical problem An operability parameter set that determines the operability of direct teaching is generally defined as device-specific values ​​for a robot. Performing direct teaching using an operability parameter set defined as device-specific values ​​has disadvantages for users, such as the difficulty of performing direct teaching depending on the task and the time required to become accustomed to it. Therefore, there is a need for technology that can simplify direct teaching for users and enable efficient task execution based on direct teaching. Solution to the problem One aspect of the present disclosure is a teaching device comprising: a direct teaching execution unit configured to generate a motion command to a robot based on an operator force exerted on the robot using an operability parameter set containing one or more operability parameters; a parameter registration unit configured to accept a setting of one or more operability parameters and capable of registering an operability parameter set containing the one or more set operability parameters in a memory unit; and a parameter switching unit configured to switch an operability parameter set applicable to the direct teaching execution unit between one or more operability parameter sets registered in the memory unit according to a predetermined switching condition. The objectives, features and advantages of the present invention, as well as further objectives, features and advantages, will become clearer from the detailed description of typical embodiments of the present invention, which are illustrated in the accompanying drawings. Brief description of the drawings Fig. 1 is a diagram representing a system configuration of a robot system according to one embodiment. Fig. 2 is a functional block diagram of a robot system according to a first embodiment. Fig. 3 is a diagram representing an example of an operability parameter settings screen according to the first embodiment. Fig. 4 is a functional block diagram of a robot system according to a second embodiment. Fig. 5 is a diagram representing an example of an operability parameter settings screen according to the second embodiment. Fig. 6 is a diagram representing an example of a program creation screen using symbols. Fig. 7 is a functional block diagram of a robot system according to a third embodiment. Fig. 8 is a diagram representing an example of an operability parameter settings screen according to the third embodiment.Figure 9 is a diagram showing another example of the usability parameter settings screen according to the third embodiment. Figure 10 is a diagram showing an example of an input screen for accepting an input for an evaluation of usability. Description of embodiments Embodiments of the present disclosure are described below with reference to the drawings. The same configuration section or functional section is identified by the same reference numeral in the referenced drawings. For clarity, the drawings may use different scales. Furthermore, the configurations shown in the drawings are examples of implementing the present invention, although the present invention is not limited to the configurations shown. First embodiment Fig. 1 is a diagram illustrating a system configuration of a robot system 100 according to one embodiment. As shown in Fig. 1, the robot system 100 comprises a robot 10, a robot controller 20 that controls the robot 10, and a teaching handheld operating device 40 connected to the robot controller 20. The robot 10 can perform various tasks using an end effector mounted at the end of the robot 10's arm. The end effector is an external device that can be exchanged depending on the application. Examples of end effectors include a hand, a welding pliers, and a tool. Fig. 1 shows a configuration example in which an application nozzle 31 is mounted as the end effector. In this case, the robot 10 can perform the task of applying cream, which serves as the application medium and is supplied by an application device 30, to a cake W, which serves as the workpiece. As described in detail below, the robot system 100 is configured to teach the robot 10 the task by direct teaching. In the configuration example shown in Fig. 1, an operator can perform the task of applying cream to the cake W while operating the robot 10 by directly applying force to the application nozzle 31, thereby teaching the robot 10 the task (the task of applying cream to the cake W). While in Fig. 1 it is assumed as an example that the robot 10 is a vertical articulated robot, depending on the task objective, different types of robots, such as a horizontal articulated robot, a parallel kinematic robot and a two-armed robot, can also be used as robot 10. The robot controller 20 controls the operation of the robot 10 according to an operating program or a command from the teaching handheld control unit 40. The robot controller 20 can have a hardware configuration that functions as a conventional computer, including a processor, memory (e.g., a ROM, a RAM, and non-volatile memory), a storage unit 22 (see Fig. 2), an operator unit, an input / output interface, and a network interface. The training handheld device 40 is used as an operator terminal for teaching the robot 10 and configuring various settings of the robot 10. An information processing device, such as a tablet computer or the like, can be used as the training handheld device 40. The training handheld device 40 can have a hardware configuration that functions like a conventional computer, including a processor, memory (e.g., ROM, RAM, and non-volatile memory), a storage device, an operator unit 43, a display unit 44, an input / output interface, and a network interface (see Fig. 2). The training handheld device 40 is equipped with an enable switch 45. The enable switch 45 is a physical switch that allows an operator to manually control the robot 10. Fig. 2 is a functional block diagram of the robot system 100 according to a first embodiment. The functions of the robot system 100 according to the first embodiment are described below with reference to the functional block diagram in Fig. 2. The robot 10 comprises at each joint (represented by a dashed rectangle in Fig. 2) a motor 1, which serves as a drive device, a encoder 2 for detecting the angular position of the joint, and a torque sensor 3. The robot controller 20 can determine information such as the position, attitude, and speed of the robot 10 based on feedback (e.g., the position and speed of the axis) from the encoder 2 at each axis. Furthermore, the robot controller 20 can calculate the operating force (the force and the torque) exerted on a specific part of the robot 10 (e.g., the application nozzle 31) based on a detected value from the torque sensor 3 at each axis and the position and attitude information of the robot 10 (the position information of each axis).The operating force (the force and the torque) applied to the specific part of the robot 10 can be calculated using a force sensor installed at a predetermined position of the robot 10 (e.g. the flange of the robot) instead of the torque sensor 3 on each axis. The robot controller 20 comprises a robot operating switching unit 121, a direct teaching execution unit 122, a parameter switching unit 125, a parameter registration unit 126, and a program creation unit 127. The direct teaching execution unit 122 comprises an operator force sensing unit 123 and a motion command generation unit 124. The functional blocks can be functional elements that are implemented by the execution of software by a processor of the robot controller 20. The robot operating switch unit 121 accepts an input to switch the robot 10's operation to direct teaching. For example, the robot operating switch unit 121 can accept a user input to switch the robot's operation to direct teaching via a user interface screen displayed on the display unit 44 of the teaching handheld control device 40. When the robot operation is set to direct teaching, the direct teaching execution unit 122 is activated, enabling direct teaching by an operator. Direct teaching is an operating mode in which an operator teaches a robot a process by directly operating the robot's arm and end effector. During direct teaching, the operator force sensing unit 123 calculates the force (operator force) exerted by the operator on the application nozzle 31, based on the output from the torque sensor 3 on each axis. For example, the operator force is calculated as a value based on a predetermined coordinate system (a tool coordinate system). The motion command generation unit 124 generates a motion command based on the operator force, using an operability parameter set specified by the parameter switching unit 125, and sends the command to the robot 10. An overview of a mode for registering and applying an operability parameter set according to the present embodiment is described. The operability parameter set is a set of parameters that determines the operability of the robot during direct teaching and may, for example, include one or more operability parameters as described below: (1) Movement start (N) (2) Ease of movement (N) (3) Speed ​​(mm / s) (4) Acceleration time (s) The operability parameter "Movement start" is a parameter that defines the operating force required for the robot to begin moving. The operability parameter "Lightness" defines the operating force required to move the robot. Setting "Lightness" to a relatively high value can make the robot feel heavy to operate. Setting "Lightness" to a relatively low value allows the robot to be moved with little force, which can make it feel light to operate. The operability parameter "Speed" is a parameter that defines the robot's operating speed (e.g., a target speed). The operability parameter "Acceleration time" is a parameter that defines the time (the time constant) required for the robot to accelerate to a predetermined speed (e.g.,The system accelerates at a predetermined ratio to the target speed specified by the operability parameter "speed". The operator can register multiple types of operability parameter sets, with such parameters in each operability parameter set being configured according to the task. The operator can then, for example, select and apply a desired operability parameter set corresponding to the task of direct teaching. The parameter registration unit 126 has a function for setting and registering an operability parameter set that defines the operability of direct teaching. The function of the parameter registration unit 126 allows an operator to register multiple types of operability parameter sets in the robot controller 20. Depending on the task, the operator can select an operability parameter set that, for example, offers easy operability, or an operability parameter set that offers heavy and stable operability, and apply the selected operability parameter set to direct teaching. Storage unit 22 is a storage device that includes, for example, non-volatile memory or a hard disk drive. Storage unit 22 stores an operator parameter set registered by an operator. Storage unit 22 can also be configured as an operator parameter set storage unit. The parameter switching unit 125 accepts input to select an operability parameter set from a plurality of types of operability parameter sets registered in the memory unit 22. For example, the parameter switching unit 125 can accept user input to select an operability parameter set from a plurality of types of registered operability parameter sets via the user interface screen of the teaching handheld device 40. The parameter switching unit 125 applies the selected operability parameter set to the direct teaching execution unit 122. For example, the program creation unit 127 displays a program creation screen on the display unit 44 of the training handheld device 40 and accepts operations for creating and editing the operating program of the robot 10. The program creation unit 127 has a function for providing a user interface for configuring various settings related to programming. Programming functions provided by the program creation unit 127 include programming based on symbols that represent the functions of the robot. Fig. 3 is a diagram illustrating an example of an operability parameter 200 settings screen provided by the parameter registration unit 126. The parameter registration unit 126 displays the operability parameter 200 settings screen on the display unit 44 of the training handheld device 40 and accepts input of operability parameters via the operability parameter 200 settings screen. The operability parameter 200 settings screen contains input fields 201, 202, 203, and 204 for entering "Movement Start," "Lightness," "Speed," and "Acceleration Time," respectively. The "Create New" button 221 is a button for creating a new set of operability parameters.By pressing the Save button 222 after pressing the Create New button 221 and entering an usability parameter set, the entered usability parameter set can be newly registered in memory unit 22. Furthermore, an operator can select an already registered usability parameter set and adjust parameter values ​​related to the selected usability parameter set via the Usability Parameter Settings screen 200. It should be noted that the operability parameter setting screen 200, while the operability parameter setting screen 200 in Fig. 3 shows an example of configuring each operability parameter by a numerical value, may, for example, be set up so that each operability parameter can be changed by operating a slider. According to such a configuration as in the first embodiment, an operator can pre-register multiple sets of operability parameters. The operator can then switch between operability parameter sets according to the specific task of direct teaching. Such a configuration simplifies direct teaching tasks and enables their proper and efficient execution. Furthermore, the operator can register preferred usability parameters, thus simplifying the direct teaching process. A pre-registered set of usability parameters can be adjusted and recorded, allowing the operator to customize the feel of a teaching task. This is difficult to achieve with a device-specific set of usability parameters pre-registered in the robot, ensuring the teaching task is performed appropriately. Additionally, this approach can also reduce the time required to become accustomed to direct teaching. Second embodiment A robot system 100A according to a second embodiment is described with reference to Figs. 4, 5 to 6. Since the system configuration of the robot system 100A according to the second embodiment is the same as the system configuration of the robot system 100 shown in Fig. 1, the system configuration of the robot system 100A is described with reference to Fig. 1. Fig. 4 is a functional block diagram of the robot system 100A according to the second embodiment. For the sake of simplicity, functional blocks in Fig. 4 that are identical to the functional blocks in the first embodiment shown in Fig. 2 are designated with the same reference numerals. In the robot controller 20 according to the second embodiment, the parameter registration unit 126A and the parameter switching unit 125A have the functions described below with regard to the registration and application of an operability parameter set.Fig. 5 is a diagram illustrating an example of an operability parameter 300 settings screen provided by the parameter registration unit 126A. The parameter registration unit 126A has a function for registering an operability parameter set in a symbol format. When an operator presses the "Create New" button 321, a settings screen corresponding to the operability parameter 200 settings screen shown in Fig. 3 is displayed, and the operator can then enter operability parameters and register a new operability parameter set (a symbol). Furthermore, if the operator selects a symbol from pre-registered symbols (operability-aaa symbol 301, operability-bbb symbol 302, and operability-ccc symbol 303) and performs a predetermined operation (e.g.,(a process of pressing the setting button 322), a setting screen is displayed which corresponds to the setting screen for operability parameter 200, as shown in Fig. 3, and the operator can adjust the operability parameter set. The operability parameter set created or modified via the operability parameter settings screen 300 is registered in memory unit 22 as an operability symbol. The parameter switching unit 125A can have a function to apply an operability parameter set, represented by the dragged-and-dropped symbol, to the direct teaching execution unit 122 in response to a drag-and-drop operation of one or more operability symbols registered in the memory unit 22 onto a predetermined acceptance screen on the display unit 44. A specific implementation example of such a function is described with reference to Fig. 6. Fig. 6 is a diagram illustrating an example of a program creation screen 400 displayed by the function of the program creation unit 127. The program creation unit 127 can display such a program creation screen 400 on the display unit 44 of the teaching handheld device 40. As shown in Fig. 6, the program creation screen 400 comprises a symbol display area 420 for displaying a list of function symbols and a program creation area 430 for creating a program by placing symbols. The program creation area 430 is an area in which symbols constituting a program are placed in chronological order and can therefore be referred to as a timeline. When performing programming, an operator selects the programming tab 461. If the operator selects a symbol placed in the programming area 430 and then selects the details tab 462, a settings screen is displayed for configuring detailed settings of the symbol. Such a function to support a user operation on a symbol can be provided as a function of the programming unit 127. As shown in Fig. 6, the symbol display area 420 of the program creation screen 400 includes a trajectory teach symbol 401, which relates to a function for teaching a trajectory to the robot 10 by direct teaching. The symbol display area 420 further includes the operability aaa symbol 301, the operability bbb symbol 302, and the operability ccc symbol 303, which relate to the three types of operability parameter sets registered by the function of the parameter registration unit 126A. For example, an operator can specify an operability symbol to be applied to the trajectory teaching symbol 401 by the following steps: (a1) Placing the trajectory teaching symbol 401 in the program creation area 430. (a2) Opening a detailed settings screen for the trajectory teaching symbol 401 by selecting the trajectory teaching symbol 401 placed in the program creation area 430 and pressing the Details tab 462.(a3) Applying an operability parameter set, represented by a desired operability symbol, to direct teaching based on the trajectory teaching symbol 401 by selecting the operability symbol from the symbol display area 420 and dragging and dropping it onto a predetermined part of the detailed settings screen (e.g., a teach start button). Such a function for applying an operability symbol to direct teaching through steps (a1) to (a3) ​​can be provided by cooperation between the program creation unit 127 and the parameter switching unit 125A. With the function to register and apply an operability parameter set using symbols, as described above, an operator can apply a desired operability parameter set (a desired operability symbol) through a more intuitive and simpler process of direct teaching.The parameter registration unit 126A can have a function for automatically and interactively adjusting an operability parameter set, while allowing an operator to actually experience the feel of operating the robot 10. The parameter registration unit 126A can display such an interactive user interface screen on the display unit 44 of the teaching handheld operator device 40. For example, the parameter registration unit 126A can provide such an interactive adjustment function for operability parameters by the following steps: (Step 1) Allowing a user to operate (directly teach) the robot with a predetermined initial operability parameter set. (Step 2) Accepting an evaluation regarding the feel of the robot via the user interface. (Step 3) Changing the operability parameters in a direction that improves the user's evaluation, based on the user's evaluation.(Step 4) Repeat from (Step 1) to (Step 3) until a predetermined termination operation is performed. (Step 5) Register the adapted operability parameter set in memory unit 22. For example, in step 2, ratings such as "easy to use," "difficult to use," "heavy to use," and "easy to use" can be assumed. In step 3, if the user rates the initial operability parameter set as "difficult to use," the parameter registration unit 126A can apply a procedure to adapt the initial operability parameter set to an operability parameter set with an opposite user experience. Figure 10 shows an example of an input screen (a user interface) 350 displayed on the display unit 44 in step 2. The input screen 350 is provided with an input field 351 so that a user can enter a rating. Alternatively, in step 2, a predetermined question can be presented to the user via the user interface, and the user's answer (the rating) to the question can be accepted. In this case, the predetermined operability questions can include one or more of the following: (Question 1) "Does the operation feel heavy?" If the operator's answer to the question is "heavy," the parameter registration unit 126A, for example, shifts the operability parameters "Movement Initiation" and "Ease of Operation" in a direction that smooths the robot's movement to make the operating experience easier.(Question 2) "Is the robot's following behavior excellent?" If the operator's answer to the question is "poor following behavior," the parameter registration unit 126A, for example, shifts the operability parameters "speed" and "acceleration time" in a direction that improves the robot's following behavior. (Question 3) "Is the robot's movement stable?" If the operator's answer to the question is "poor stability," the parameter registration unit 126A, for example, shifts the operability parameters "movement start," "ease of movement," and "speed" in a direction that makes the robot's movement relatively heavier and more stable. As described above, in the second embodiment's configuration, an operator can also pre-register multiple sets of operability parameter sets. The operator can then switch between operability parameter sets according to the direct teaching task. Such a configuration simplifies the direct teaching task and enables its proper and efficient execution. Third embodiment A robot system 100B according to a third embodiment is described with reference to Figures 7, 8 to 9. Since the system configuration of the robot system 100B according to the third embodiment is the same as the system configuration of the robot system 100 shown in Figure 1, the system configuration of the robot system 100B is described with reference to Figure 1. Fig. 7 is a functional block diagram of the robot system 100B. The robot controller 20 according to the third embodiment is configured such that the parameter switching unit 125B can automatically switch an operability parameter set according to a switching condition contained in the operability parameter set, in addition to the aforementioned functions described with respect to the robot controller 20 according to the second embodiment. Fig. 8 is a diagram illustrating an example of an operability parameter setting screen 200B provided by the parameter registration unit 126A. In addition to the input fields 201 to 204 for "Movement Start," "Lightness," "Speed," and "Acceleration Time" described in Fig. 3, the operability parameter setting screen 200B includes an input field 205 for setting a switching condition for automatically switching an operability parameter set. The parameter switching unit 125B selects an operability parameter set that satisfies the switching condition described in the operability parameter set from a plurality of types of operability parameter sets registered in the memory unit 22 and applies the operability parameter set to the direct teaching execution unit 122. For example, the automatic switching condition is one of the following: - a condition relating to a signal, - a condition relating to the position or attitude of the robot, - a username A “condition with respect to a signal” as an automatic switching condition refers to a signal indicating that an external device, such as an end effector or peripheral device, has been activated, or to a signal indicating that a safety function has been activated as an internal function. For example, it is assumed that an operability parameter set specifying “the application nozzle activation signal is on” is registered in input field 205. In this case, in response to an activation signal being switched on by the application nozzle 31, the parameter switching unit 125B can select the operability parameter set specifying “the application nozzle activation signal is on” in input field 205 from a plurality of types of registered operability parameter sets and apply the operability parameter set to the direct teaching execution unit 122.Furthermore, it is assumed that an operability parameter set specifying "the application nozzle activation signal is off" is registered in input field 205. In this case, in response to the activation signal from the application nozzle 31 being switched off, the parameter switching unit 125B can select the operability parameter set specifying "the application nozzle activation signal is off" in input field 205 from the plurality of registered operability parameter sets and apply the operability parameter set to the direct teaching execution unit 122. In an application example where the robot 10 decorates a cake W with the system configuration shown in Fig. 1, the operating feel is preferably light when the dispensing nozzle 31 is moved to the position where cream is applied, since no task is involved; and when the dispensing nozzle 31 is activated to dispense the cream, the cream can be applied more easily and neatly by making the operating feel heavier (reducing the target speed) and furthermore by making acceleration and deceleration more gradual (increasing the acceleration time). Accordingly, a configuration as described above, in which an operability parameter set applicable to direct gauging can be switched according to the activation signal from the dispensing nozzle 31, enables accurate execution of direct gauging by dynamically switching the operability parameter set according to the task content. Furthermore, using a "condition related to a signal" as an automatic switching condition also allows for automatic switching of the operating feel based on a safety-related signal. For example, it is assumed that the robot controller 20 has a safety function to stop the robot 10 if an external force acting on the robot 10 or the speed of the robot 10 exceeds a threshold, and that the operability of the robot 10 is switched according to a signal indicating whether the safety function is enabled or disabled. When the safety function is enabled, the robot 10 can be operated with both hands; conversely, when the safety function is disabled, one hand must press a release switch (e.g., a one-handed release switch, such as the release switch 45 on the teaching handheld device 40), which makes direct teaching somewhat impractical.Therefore, allowing the specification of a signal indicating whether the safety function is enabled or disabled as a switching condition enables switching the operability, such as setting the operating feel to a standard level when the safety function is enabled (when operation can be performed with both hands), and setting the operating feel to a slightly lighter level to facilitate operation when the safety function is disabled (when one-handed operation of the robot 10 is required). Using a "condition related to the position or attitude of the robot" as an automatic switching condition enables a process for switching an operator parameter set according to the position and attitude of the robot 10. Referring to the system configuration in Fig. 1, a hose 30a is connected from the application device 30 to the robot 10. In this case, the movement of the robot 10 can be influenced by the tension of the hose 30a, depending on the position and attitude of the robot 10. Accordingly, switching the operator parameter set according to the position of the robot 10 allows for a reduction in the effect of the tension of the hose 30a.For example, at a position where the robot 10 is likely to be affected by the tension of the hose, applying an operability parameter set that provides a slightly heavier operating feel enables a process to mitigate the effect of the tension of the hose 30a. Furthermore, since the position of the robot is generally often closely related to the task content, a configuration in which an operability parameter set is switched according to the position of the robot enables a process that is equivalent to switching the operability parameter set according to the task content. Furthermore, the ability to switch an operability parameter set according to the position of the robot enables a process for defining a specific area within a workspace as an operationally restricted area. For example, by setting an operability parameter set such that the operating speed of robot 10 is sufficiently low (or the speed is zero) when the robot is within a certain range, the range can be defined as an operationally restricted area in which the movement of the robot is restricted. Allowing the specification of a "username" as an automatic toggling condition enables a process to switch an operability parameter set according to the user performing direct teaching. For example, it is assumed that a user A registers an operability parameter set A in the robot controller 20, in which preferred parameter settings and the user A's username are described as a switching condition, and that a user B registers an operability parameter set B in the robot controller 20, in which preferred parameter settings and the user B's username are described as a switching condition. In this case, the parameter switching unit 125B can, for example, when user A enters their username via the teaching handheld device 40 and begins using the robot system 100B, apply the operability parameter set A with respect to user A's username to direct teaching. Thus, according to the present embodiment, an operability parameter set can be switched adaptively according to the operating state of the robot 10, the operating state of each device included in the robot system 100B, or the user. In the third embodiment configuration, an operator can also pre-register multiple sets of operability parameters. The operator can then switch between operability parameter sets according to the specific task of direct teaching. This configuration simplifies direct teaching tasks and enables their appropriate and efficient execution. Next, a modified example of the third embodiment is described, in which an operability parameter set includes a specification of a "direction to be applied". Fig. 7 shows the functional block diagram of this modified example. Fig. 9 is a diagram illustrating an example of an operability parameter 200C setting screen provided by the parameter registration unit 126A in this modified example. In addition to the input fields 201 to 205 for "start of movement", "ease", "speed", "acceleration time", and a toggle condition shown in Fig. 8, the operability parameter 200C setting screen includes an input field 206 for specifying a "direction to be applied" with respect to an operability parameter set. If a “direction to be applied” is specified in an operability parameter set to be applied, the direct teaching execution unit 122 applies the operability parameter set to the direction specified by the “direction to be applied” with respect to the direction of movement of the robot 10. Examples of a format for specifying a “direction to be applied” may include: - a format for specifying a direction with respect to a coordinate system (e.g., the Z direction of a tool coordinate system), - a format for specifying a direction with respect to a plane, and - a format for specifying a direction in a vector format. An example of the “format for specifying a direction with respect to a coordinate system” is described. For example, an application of applying cream to cake W in the system configuration shown in Fig. 1 is considered. Assuming the direction of cream application is the Z-direction of the tool coordinate system, it is ideal that the robot 10 does not move too much in the Z-direction in response to the operator force during cream application (i.e., the robot 10 is insensitive to the operator force in the Z-direction). On the other hand, a more sensitive operator response in the XY direction relative to the Z-direction is preferred.For example, such a user experience can be achieved by registering an operability parameter set C and an operability parameter set D as described below: - Operability parameter set C: an operability parameter set in which operability parameters are configured so that the robot is insensitive to operator force (e.g., configured to increase the acceleration time and decrease the speed), and the "direction to be applied" is described as the Z-direction of the tool coordinate system. - Operability parameter set D: an operability parameter set in which operability parameters are configured to make the robot sensitive to operator force (e.g., configured to make the acceleration time relatively shorter and the speed relatively higher), and the "direction to be applied" is described as the XY-direction of the tool coordinate system. The direct teaching execution unit 122 can generate an operating command based on the process information (motion information) of the robot 10 such that the operability parameter set C is applied in the Z direction and the operability parameter set D in the XY direction. Such a process enables an ideal user experience in the aforementioned application of applying the cream. The "Format for Specifying a Direction with Respect to a Plane" is a method for defining a plane by specifying three points within a workspace (the world coordinate system) and then specifying a direction with respect to the plane. For example, defining a direction along the plane as the XY direction and the plane's normal direction as the Z direction allows a specification such as "the Z direction of a plane C" in this format. This format is useful, for instance, when specifying directions with respect to the surface of a workbench within a workspace. For example, "the format for specifying a direction in a vector format" refers to a way of specifying a "direction to be applied" in vector notation with respect to the origin of the world coordinate system. This method has the advantage that a user can specify a direction easily and intuitively. It should be noted that the configuration described above, which includes a specification of an “applicable direction” in an operability parameter set, can be applied to the aforementioned first or second embodiment. The foregoing is a description of the first embodiment up to the third embodiment. The flexibility of the system configuration is described. The functional arrangements shown in the functional block diagrams (Fig. 2, Fig. 4, and Fig. 7) in the aforementioned embodiment are examples, and various modifications to the functional arrangements are possible. For example, while the functional blocks such as robot operating switching unit 121, execution unit for direct teaching 122, parameter switching unit 125, parameter recording unit 126, program creation unit 127, and the like are shown in the functional block diagram in Fig. 2 under the assumption that the functional blocks are arranged in the robot controller 20, there may also be a configuration example in which at least some or all of the functional blocks are arranged in the teaching handheld operating device 40.For example, there may be a configuration in which the program creation unit 127, the robot operating switching unit 121, the parameter switching unit 125, the operability parameter set storage unit and the parameter registration unit 126, which relate to the user interface function, are arranged in the teaching hand-held operating device 40 and the direct teaching execution unit 122 is arranged in the robot controller 20. While the task of arranging cream on a cake has been described as an application of the aforementioned embodiment, the task is merely an example. The functions described in the aforementioned embodiments are also applicable to a coating device for applying paint, a sealing device for applying a sealing material, an adhesive device for applying an adhesive, a laser processing device, and the like. As described above, since the teaching hand-held device 40 and the robot controller 20 function integrally to provide the direct teaching function, the overall function consisting of the teaching hand-held device 40 and the robot controller 20 can be considered a teaching device (designated by a reference numeral 50 in Fig. 1). The functional blocks in the functional block diagrams shown in Fig. 2, Fig. 4 and Fig. 7 can be implemented by executing various types of software stored in a memory device by one or more processors in the robot controller or the teaching handheld device, or can be implemented by a configuration that is mainly hardware-based, such as an application-specific integrated circuit (ASIC). The program for executing various steps, algorithms and the like according to the aforementioned embodiments can be recorded on various computer-readable storage media (e.g. semiconductor memories such as a ROM, an EEPROM and a flash memory; a magnetic storage medium; and optical data carriers such as a CD-ROM and a DVD-ROM). As described above, according to each embodiment, an operator can pre-register multiple sets of operability parameters. The operator can then switch between operability parameter sets according to the specific task of direct teaching. Such a configuration facilitates direct teaching and enables its proper and efficient execution. While the present disclosure has been described in detail, it is not limited to each of the aforementioned embodiments. Various additions, substitutions, modifications, partial deletions, and the like may be made to the embodiments without departing from the spirit of the present disclosure or from the scope of the present disclosure derived from the content described in the claims and their equivalents. Furthermore, the embodiments may be implemented in combination. For example, the sequence of operations or the processing sequence in the aforementioned embodiments is described as an example and is not limited to it. The above also applies if a numerical value or a mathematical expression is used in the description of the aforementioned embodiments. The following supplementary remarks are further described with regard to the aforementioned embodiments and their modified examples. (Supplementary Note 1) Teaching device (50), comprising: a direct teaching execution unit (122) configured to generate a motion command to the robot (10) based on an operator force exerted on the robot (10) using an operator parameter set containing one or more operator parameters; a parameter registration unit (126, 126A) configured to accept the setting of one or more operator parameters and capable of registering an operator parameter set containing the one or more set operator parameters in a memory unit (22); and a parameter switching unit (125, 125A, 125B) configured to switch an operator parameter set applicable to the direct teaching execution unit between one or more operator parameter sets registered in the memory unit according to a predetermined switching condition. (Supplementary Note 2) Teaching device (50) according to supplementary note 1, wherein the predetermined switching condition includes a user input to specify an operability parameter set, and the parameter switching unit (125, 125A) is configured to apply the operability parameter set specified by the user input from one or more operability parameter sets registered in the memory unit to the execution unit for direct teaching. (Supplementary Note 3) Teaching device (50) according to supplementary note 1, wherein the predetermined switching condition includes a predetermined automatic switching condition contained in the one or more operability parameter sets registered in the memory unit, and the parameter switching unit (125B) is configured to select an operability parameter set satisfying the predetermined automatic switching condition from the one or more operability parameter sets registered in the memory unit and to apply the selected operability parameter set to the direct teaching execution unit. (Supplementary Note 4) Teaching device (50) according to supplementary note 3, wherein the predetermined automatic switching condition includes a condition relating to a signal, a condition relating to a position or attitude of a robot and a user name. (Supplementary Note 5) Teaching device (50) according to supplementary note 4, wherein the condition with respect to a signal refers to whether a signal indicating that an internal function of the teaching device or an external device is activated is switched on. (Supplementary Note 6) Teaching device (50) according to supplementary note 1, wherein the one or more operability parameter sets registered in the storage unit (22) contain a specification of a direction in which an operability parameter set is applied, and the direct teaching execution unit (122) is configured to generate a motion command to the robot such that an operability parameter set is applied to a direction of movement of the robot which corresponds to the specification of the direction to be applied in the operability parameter set. (Supplementary Note 7) Teaching device (50) according to supplementary note 6, wherein the specification of the direction to be applied is described in a format for specifying a direction with respect to a predetermined coordinate system, a format for specifying a direction with respect to a predetermined plane or a vector format. (Supplementary Note 8) Teaching device (50) according to any of Supplementary Notes 1 to 7, wherein the parameter registration unit (126A) is configured to: apply a predetermined operability parameter set to the direct teaching execution unit, allow a user to operate the robot, receive a user evaluation regarding the robot's operability feel via a user interface, modify, based on the evaluation, a setting value of the operability parameter set applied to the direct teaching execution unit in such a way as to improve a user evaluation, and register a modified operability parameter set in the memory unit. (Supplementary Note 9) Teaching device (50) according to supplementary note 2, wherein the parameter registration unit (126A) is configured to allow the registration of an operability parameter set in the storage unit in a symbol format, and the parameter switching unit (125A) is configured to accept on a display unit a drag-and-drop operation of one of the symbols representing one or more operability parameter sets registered in the storage unit onto a predetermined acceptance screen and to apply an operability parameter set represented by the drag-and-drop symbol to the direct teaching execution unit. Reference symbol list 1 Motor 2 Encoder 3 Torque sensor 10 Robot 20 Robot controller 22 Memory unit 30 Application device 31 Application nozzle 40 Teaching handheld device 43 Operating unit 44 Display unit 45 Release switch 50 Teaching device 100, 100A, 100B Robot system 121 Robot operating switching unit 122 Execution unit for direct teaching 123 Operator force detection unit 124 Motion command generation unit 125, 125A, 125B Parameter switching unit 126, 126A Parameter registration unit 127 Program creation unit QUOTES INCLUDED IN THE DESCRIPTION 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 JP 3-123907 A

[0002] JP 2008-110406 ​​A

[0002]

Claims

Teaching device comprising: a direct teaching execution unit configured to generate a motion command to a robot based on an operator force exerted on the robot using an operability parameter set containing one or more operability parameters; a parameter registration unit configured to accept a setting of one or more operability parameters and to be able to register an operability parameter set containing the one or more set operability parameters in a memory unit; and a parameter switching unit configured to switch an operability parameter set applicable to the direct teaching execution unit between one or more operability parameter sets registered in the memory unit according to a predetermined switching condition. Teaching device according to claim 1, wherein the predetermined switching condition includes a user input for specifying an operability parameter set, and the parameter switching unit is configured to apply the operability parameter set specified by the user input from one or more operability parameter sets registered in the storage unit to the execution unit for direct teaching. Teaching device according to claim 1, wherein the predetermined switching condition includes a predetermined automatic switching condition contained in the one or more operability parameter sets registered in the memory unit, and the parameter switching unit is configured to select an operability parameter set satisfying the predetermined automatic switching condition from the one or more operability parameter sets registered in the memory unit and to apply the selected operability parameter set to the direct teaching execution unit. Teaching device according to claim 3, wherein the predetermined automatic switching condition comprises a condition relating to a signal, a condition relating to a position or attitude of a robot and a user name. Teaching device according to claim 4, wherein the condition with respect to a signal relates to whether a signal indicating that an internal function of the teaching device or an external device is activated is switched on. Teaching device according to claim 1, wherein the one or more operability parameter sets registered in the storage unit contain a specification of a direction in which an operability parameter set is applied, and the direct teaching execution unit is configured to generate a motion command to the robot such that an operability parameter set is applied to a direction of movement of the robot that corresponds to the specification of the direction to be applied in the operability parameter set. Teaching device according to claim 6, wherein the specification of the direction to be applied is described in a format for specifying a direction with respect to a predetermined coordinate system, a format for specifying a direction with respect to a predetermined plane or a vector format. Teaching device according to any one of claims 1 to 7, wherein the parameter registration unit is configured to: apply a predetermined operability parameter set to the direct teaching execution unit, allow a user to operate the robot, receive a user rating regarding the robot's operability feel via a user interface, modify, based on the rating, a setting value of the operability parameter set applied to the direct teaching execution unit in such a way as to improve a user rating, and register a modified operability parameter set in the memory unit. Teaching device according to claim 2, wherein the parameter registration unit is configured to allow an operability parameter set to be registered in the storage unit in a symbol format, and the parameter switching unit is configured to accept on a display unit a drag-and-drop operation of one of the symbols representing one or more operability parameter sets registered in the storage unit onto a predetermined acceptance screen and to apply an operability parameter set represented by the drag-and-drop symbol to the direct teaching execution unit.

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