Teaching device, robot system, and program

Abstract

To provide a teaching device which can select and set a first mode or a second mode with an easy operation while achieving simplification of the device configuration, and to provide a robot system and a program.SOLUTION: A teaching device teaches a robot having a robot arm and includes: a device body which is held by a user to be used; a display unit provided at the device body; a posture detection unit which detects a posture of the device body; and a mode setting unit which selects a first mode for causing the robot to execute an operation program when the posture detected by the posture detection unit is a first posture and selects a second mode for teaching the robot when the posture detected by the posture detection unit is a second posture different from the first posture to set the selected mode.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] In recent years, due to rising labor costs and labor shortages in factories, robots with robotic arms have been used to perform tasks such as manufacturing, processing, assembly, and transportation of parts or products, thereby automating tasks that were previously performed manually. Such robots perform tasks by being taught by a teaching device such as that described in Patent Document 1.

[0003] The teaching device described in Patent Document 1 is composed of a tablet with a touch panel display. This teaching device has an automatic mode in which the robot executes a program, and a teaching mode in which teaching is performed. The mode is switched by pressing a switch (button) installed near the teaching device. By pressing the switch, a control unit of the teaching device receives a signal indicating that the switch has been pressed, and accordingly switches the mode between the automatic mode and the teaching mode. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-213645 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the configuration described in Patent Document 1, a switch for switching between modes is provided, but providing this switch causes a problem in that the device configuration of the teaching device becomes complicated. [Means for solving the problem]

[0006] The teaching device of the present invention is a teaching device for teaching a robot having a robot arm, A device body held by a user; A display unit provided on the device body; a posture detection unit for detecting the posture of the device body; and a mode setting unit that, when the posture detected by the posture detection unit is a first posture, selects a first mode in which the robot executes an operation program, and, when the posture detected by the posture detection unit is a second posture different from the first posture, selects a second mode in which instruction is given to the robot, and sets the selected mode.

[0007] The robot system of the present invention includes: a robot having a robot arm; A teaching device that teaches the robot, The teaching device includes: A device body held by a user; A display unit provided on the device body; a posture detection unit for detecting the posture of the device body; and a mode setting unit that, when the posture detected by the posture detection unit is a first posture, selects a first mode in which the robot executes an operation program, and, when the posture detected by the posture detection unit is a second posture different from the first posture, selects a second mode in which instruction is given to the robot, and sets the selected mode.

[0008] The program of the present invention is for teaching a robot having a robot arm, and is executed by a teaching device including a device main body held by a user, a display unit provided on the device main body, and an attitude detection unit that detects the attitude of the device main body, a first step in which the attitude detection unit detects the attitude of the device body; a second step of selecting a first mode for causing the robot to execute an operation program when the posture detected in the first step is a first posture, and selecting a second mode for teaching the robot when the posture detected in the first step is a second posture different from the first posture, and setting the selected mode. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an overall view showing a robot system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram of the robot system shown in FIG. [Diagram 3] FIG. 3 is a perspective view of the teaching device shown in FIG. [Figure 4] FIG. 4 is a plan view of the teaching device shown in FIG. 1 in a state where the first mode is set. [Diagram 5] FIG. 5 is a plan view of the teaching device shown in FIG. 1 in a state where the second mode is set. [Figure 6] FIG. 6 is a flowchart for explaining a program executed by the teaching device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A teaching device, a robot system, and a program according to the present invention will be described in detail below with reference to preferred embodiments shown in the accompanying drawings.

[0011] <Embodiment> Fig. 1 is an overall view showing a first embodiment of a robot system of the present invention. Fig. 2 is a block diagram of the robot system shown in Fig. 1. Fig. 3 is a perspective view of the teaching device shown in Fig. 1. Fig. 4 is a plan view of the teaching device shown in Fig. 1 in a state where a first mode is set. Fig. 5 is a plan view of the teaching device shown in Fig. 1 in a state where a second mode is set. Fig. 6 is a flow chart for explaining a program executed by the teaching device shown in Fig. 1.

[0012] In the following description, for ease of explanation, the side of the robot arm 10 facing the base 11 in FIG. 1 will be referred to as the "base end," and the opposite side, i.e., the side facing the end effector 20, will be referred to as the "tip."

[0013] As shown in FIG. 1, a robot system 100 includes a robot 1, a control device 3 that controls the robot 1, and a teaching device 4 that is an example of a teaching device of the present invention.

[0014] First, the robot 1 will be described. 1 is a single-arm, six-axis vertical articulated robot in this embodiment, and includes a base 11 and a robot arm 10. An end effector 20 can be attached to the tip of the robot arm 10. The end effector 20 may be a component of the robot 1, or may be a separate member from the robot 1, i.e., it does not have to be a component of the robot 1.

[0015] The robot 1 is not limited to the configuration shown in the figure, and may be, for example, a dual-arm articulated robot or a horizontal articulated robot.

[0016] The base 11 is a support that drivably supports the robot arm 10 at its base end, and is fixed to, for example, a floor in a factory. The base 11 of the robot 1 is electrically connected to the control device 3 via a relay cable. Note that the connection between the robot 1 and the control device 3 is not limited to a wired connection as in the configuration shown in Fig. 1, and may be, for example, a wireless connection. Also, the connection and communication may be performed via various external interfaces or a network such as the Internet.

[0017] In this embodiment, the robot arm 10 has a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17, which are connected in this order from the base end to the tip end. The number of arms of the robot arm 10 is not limited to six, and may be, for example, one, two, three, four, five, or seven or more. The size of each arm, such as the overall length, is not particularly limited, and can be set appropriately.

[0018] The base 11 and the first arm 12 are connected via a joint 171. The first arm 12 is rotatable around a first rotation axis extending in the Z-axis direction relative to the base 11. In this manner, the first rotation axis coincides with the normal line of the floor surface to which the base 11 is fixed, and the entire robot arm 10 can rotate in either the forward or reverse direction around the first rotation axis.

[0019] The first arm 12 and the second arm 13 are connected via a joint 172. The second arm 13 is capable of rotating with respect to the first arm 12 about a second rotation axis that extends in the horizontal direction.

[0020] The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable about a third rotation axis that extends horizontally relative to the second arm 13. The third rotation axis is parallel to the second rotation axis.

[0021] The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 is rotatable relative to the third arm 14 about a fourth rotation axis that is parallel to the central axial direction of the third arm 14. The fourth rotation axis is perpendicular to the third rotation axis.

[0022] The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable about a fifth rotation axis relative to the fourth arm 15. The fifth rotation axis is perpendicular to the fourth rotation axis.

[0023] The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable about a sixth rotation axis relative to the fifth arm 16. The sixth rotation axis is perpendicular to the fifth rotation axis.

[0024] The sixth arm 17 is a robot tip portion located at the most distal end side of the robot arm 10. The sixth arm 17 can be displaced together with the end effector 20 by being driven by the robot arm 10.

[0025] 1 has a gripping portion capable of gripping an object to be gripped such as a workpiece or a tool. When the end effector 20 is attached to the sixth arm 17, the tip of the end effector 20 becomes the tool center point TCP.

[0026] The robot 1 includes motors M1, M2, M3, M4, M5, and M6 as driving units, and encoders E1, E2, E3, E4, E5, and E6. The motor M1 is built into the joint 171 and rotates the first arm 12 relative to the base 11 around the first rotation axis. The motor M2 is built into the joint 172 and rotates the first arm 12 and the second arm 13 relatively around the second rotation axis. The motor M3 is built into the joint 173 and rotates the second arm 13 and the third arm 14 relatively around the third rotation axis. The motor M4 is built into the joint 174 and rotates the third arm 14 and the fourth arm 15 relatively around the fourth rotation axis. The motor M5 is built into the joint 175 and rotates the fourth arm 15 and the fifth arm 16 relatively around the fifth rotation axis. The motor M6 is built into the joint 176 and rotates the fifth arm 16 and the sixth arm 17 relatively around the sixth rotation axis.

[0027] Additionally, encoder E1 is built into joint 171 and detects the position of motor M1. Encoder E2 is built into joint 172 and detects the position of motor M2. Encoder E3 is built into joint 173 and detects the position of motor M3. Encoder E4 is built into joint 174 and detects the position of motor M4. Encoder E5 is built into fifth arm 16 and detects the position of motor M5. Encoder E6 is built into sixth arm 17 and detects the position of motor M6. Note that "detecting position" here refers to detecting the rotation angle of the motor, i.e., the amount of rotation including forward and reverse, and the angular velocity, and the detected information is referred to as "position information."

[0028] 2, motor drivers D1 to D6 are connected to corresponding motors M1 to M6, respectively, and control the driving of these motors. Motor drivers D1 to D6 are built into joints 171, 172, 173, 174, fifth arm 16, and sixth arm 17, respectively.

[0029] The encoders E1 to E6, the motors M1 to M6, and the motor drivers D1 to D6 are each electrically connected to the control device 3. Position information of the motors M1 to M6 detected by the encoders E1 to E6, i.e., the amount of rotation, is transmitted to the control device 3 as an electric signal. Then, based on this position information, the control device 3 outputs control signals to the motor drivers D1 to D6 shown in FIG. 2 to drive the motors M1 to M6. In other words, controlling the robot arm 10 means controlling the operation of the first arm 12 to the sixth arm 17 belonging to the robot arm 10 by controlling the driving of the motors M1 to M6.

[0030] An end effector 20 can be detachably attached to the tip of the robot arm 10. In this embodiment, the end effector 20 is configured as a hand having a pair of claws that can move toward and away from each other and that grips and releases a workpiece or tool with each claw. A force detector attached to this end effector 20 can detect the magnitude and direction of the reaction force to the gripping force when a workpiece is gripped by both claws.

[0031] The end effector 20 is not limited to the configuration shown in the figure, and may be, for example, a configuration having an adsorption part that grips a workpiece or a tool by adsorption of the adsorption part. Also, the end effector 20 may be, for example, a polisher, a grinder, a cutting machine, a spray gun, a laser light irradiator, a screwdriver, a wrench, or other tool.

[0032] The robot 1 uses such an end effector 20 to drive each part of the robot arm 10 and the end effector 20 in accordance with an operation program described below to perform a desired task. Examples of the tasks include manufacturing, processing, assembly, disassembly, transport, and selection of parts or products, and hereinafter these are simply referred to as "tasks."

[0033] Next, the control device 3 and the teaching device 4 will be described. As shown in Fig. 1, in this embodiment, the control device 3 is installed at a position separate from the robot 1. However, this is not limiting, and the control device 3 may be built into the base 11. The control device 3 has a function of controlling the driving of the robot 1, and is electrically connected to each part of the robot 1 described above. As shown in Fig. 2, the control device 3 has a control unit 31, a storage unit 32, and a communication unit 33. These parts are connected to each other so as to be able to communicate with each other, for example, via a bus.

[0034] The control unit 31 includes one or more processors. The control unit 31 is configured with, for example, a CPU (Central Processing Unit), and reads and executes various programs such as operation programs stored in the storage unit 32. Signals generated by the control unit 31 are transmitted to each part of the robot 1 via the communication unit 33, and signals from each part of the robot 1 are received by the control unit 31 via the communication unit 33. This enables the robot arm 10 to perform a predetermined task under predetermined conditions.

[0035] The storage unit 32 stores various programs and the like executed by the control unit 31. Examples of the storage unit 32 include a configuration having a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read Only Memory), a removable external storage device, and the like.

[0036] The communication unit 33 includes an interface circuit, and can transmit and receive signals to and from the robot 1 or the teaching device 4 using an external interface such as a wired local area network (LAN), wireless LAN, wi-fi, or Bluetooth (registered trademark). The communication unit 33 may include a terminal for connecting a cable for wired communication, or an antenna for wireless communication. In this case, communication may be performed via a server (not shown), or via a network such as the Internet.

[0037] 1, 2 and 3, the teaching device 4 is a device that teaches the robot 1, that is, that creates an operation program to be executed by the robot 1. The teaching device 4 also functions as a command device that causes the robot 1 to execute an operation program. The teaching device 4, and in particular the device main body 5, is composed of a tablet terminal having a display 40, which is a touch-type display that also serves as a display unit and an input operation unit.

[0038] That is, the display 40, which is the display unit, has an input operation function. This allows the user to perform input operations while looking at the display 40. This allows the user to perform input operations easily, quickly, and accurately.

[0039] The display 40 is configured with, for example, a liquid crystal, an organic EL, or the like, and can display various display screens in color or monochrome. The display 40 displays a first display screen DA and a second display screen DB, etc., which will be described later.

[0040] The display 40 has a rectangular shape, but is not limited to this configuration and may have any shape, such as a square, trapezoid, triangle, hexagon, octagon, circle, or ellipse.

[0041] The input operation function refers to a function for inputting information, switching screens, etc., by tapping, long-touching, swiping, pinching, dragging, etc.

[0042] The configuration is not limited to the above, and may be a teaching pendant or a personal computer in which the display unit and the input operation unit are separate or separable. In this case, the input operation unit is composed of a keyboard, a mouse, etc.

[0043] 1, 2, and 3, the teaching device 4 includes a device body 5 that is held by a user when in use, a holder 6, and a posture detection unit 7. As shown in FIG. 1, the teaching device 4 is used when the user holds the device body 5 in a state where the user can view the display 40.

[0044] The device main body 5 is configured as a plate-shaped housing, and has a display 40 on one side. The device main body 5 includes a control unit 41, a storage unit 42, and a communication unit 43 built therein.

[0045] The control unit 41 shown in FIG. 2 is configured with at least one processor such as a CPU (Central Processing Unit), and reads and executes various programs stored in the storage unit 42, such as the program of the present invention.

[0046] Furthermore, the control unit 41 has a function of selecting and setting a first mode or a second mode, which will be described later, and a function of controlling the operation of the display 40. Hereinafter, among the processors, the processor that selects and sets the mode will be referred to as a mode setting unit 41A, the processor that controls the operation of the display 40 will be referred to as a display control unit 41B, and the processor that determines whether or not an enable switch 62, which will be described later, has been pressed will be referred to as a determination unit 41C.

[0047] The storage unit 42 stores various programs executable by the control unit 41. Examples of the storage unit 42 include a configuration having a volatile memory such as a random access memory (RAM), a non-volatile memory such as a read only memory (ROM), and a removable external storage device. The storage unit 42 stores various programs such as the program of the present invention and programs for executing the first and second modes described below. However, the present invention is not limited to this configuration, and the program of the present invention may be stored in the storage unit 32 or in an external storage device.

[0048] The communication unit 43 includes an interface circuit, and can transmit and receive signals to and from the control device 3 and an enable switch 62 installed in the holder 6, which will be described later, using an external interface such as a wired local area network (LAN), wireless LAN, wi-fi, or Bluetooth (registered trademark). In this case, the communication may be performed via a server (not shown), or via a network such as the Internet. The communication unit 43 transmits information related to the operation program stored in the storage unit 42 to the control device 3. The communication unit 43 can also receive information stored in the storage unit 32 and store the information in the storage unit 42.

[0049] As shown in FIG. 2 and FIG. 3, in this embodiment, the attitude detection unit 7 is built into the device body 5 and is configured with an inertial sensor 71 that detects the attitude of the device body 5. For example, an IMU (Inertial Measurement Unit) or the like can be used as the inertial sensor 71. When an arbitrary point of the inertial sensor 71 is set as the origin and three mutually orthogonal axes are set as the x-axis, y-axis, and z-axis, the inertial sensor 71 detects at least one of a total of six types of acceleration along the x-axis, acceleration along the y-axis, acceleration along the z-axis, angular velocity around the x-axis, angular velocity around the y-axis, and angular velocity around the z-axis. In this embodiment, the inertial sensor 71 detects the angular velocity around the z-axis, and determines whether the attitude of the device body 5 is the first attitude or the second attitude from the detected angular velocity. The z-axis is parallel to the normal to the display 40.

[0050] The inertial sensor 71 is electrically connected to the control unit 41, and the detection value detected by the inertial sensor 71 is transmitted to the control unit 41 as an electrical signal and is used for mode selection and setting, which will be described later. Here, "selecting and setting a mode" means alternatively selecting and setting a first mode and a second mode, which will be described later. Similarly, "not selecting and setting a mode" means not selecting or setting a mode at all. "Mode switching" means changing from the first mode to the second mode, or vice versa, and is essentially synonymous with "mode selection and setting."

[0051] The posture detection unit 7 is not limited to the above configuration as long as it is capable of detecting the posture of the device body 5, and may be, for example, a contact or non-contact vibration sensor. A pressure-sensitive sensor or the like may be used as a contact vibration sensor. An electrodynamic, servo, strain gauge, eddy current, capacitance, ultrasonic, optical sensor or the like may be used as a non-contact vibration sensor.

[0052] 3, the holder 6, which is a holding tool, is attached to the device body 5 when in use. The holder 6 is detachable from the device body 5, and when attached, it fixedly holds the device body 5. Therefore, the device body 5 is held together with the holder 6 by the user when in use.

[0053] In this way, by attaching the holder 6 to the device body 5 and using it, the device body 5 can be held safely and securely, and as a result, the device body 5 can be operated easily and appropriately.

[0054] Such a holder 6 includes a holder body 61 and an enable switch 62 .

[0055] The holder body 61 has a rectangular plate shape in a plan view. The holder body 61 supports the device body 5 from its back side, i.e., the side opposite to the display 40. That is, when the holder 6 is attached to the device body 5, the back side of the device body 5 contacts the attachment surface 63 of the holder body 61. However, this is not limited to the configuration, and the holder body 61 may be, for example, frame-shaped. In addition, although not shown, for example, a gripping portion or engagement portion in the shape of a protrusion or ring may be provided on the back side of the holder body 61, i.e., the surface opposite to the attachment surface 63 of the device body 5.

[0056] The holder body 61 has a pair of hooks 611. Each hook 611 is provided at one of the four corners of the holder body 61, which is located on a diagonal line. The hook 611 is configured with a claw portion that hooks onto the corner of the device body 5 to hold the device body 5. The device body 5 can be removed from the holder 6 by releasing the hook of the hook 611. The configuration, number, and formation position of the hook 611 are not limited to the configuration shown in the figure. The holder body 61 can be made of, for example, a hard or soft resin material, various rubbers, or elastomers (elastic materials) such as polyurethane, etc. The material of the holder body 61 may be transparent, translucent, or opaque.

[0057] The enable switch 62 is a switch that selects whether to permit or prohibit mode selection, which will be described later. The enable switch 62 is configured as a mechanical switch, and permits mode selection when pressed, and prohibits mode selection when not pressed. This makes it possible to prevent unintentional mode switching.

[0058] The enable switch 62 is provided on one of the hooks 611. This allows the user to easily operate the enable switch 62 while looking at the display 40.

[0059] The enable switch 62 may be of another mechanical type, such as a key switch. The enable switch 62 is not limited to a mechanical switch and may be an electronic switch. Examples of the electronic switch include a capacitance type and a pressure-sensitive type.

[0060] The position where the enable switch 62 is formed is not limited to the hook portion 611, but may be, for example, the back side of the holder body 61, i.e., the surface opposite to the surface that supports the device body 5, or the side of the holder body 61.

[0061] The enable switch 62 has a signal transmission unit 621 that transmits a signal indicating that the enable switch 62 has been pressed. As shown in Fig. 2, the signal transmission unit 621 is connected to the control unit 41 via the communication unit 43 wirelessly or via a wire, and the signal transmitted by the signal transmission unit 621 is received by the communication unit 43 and used by the determination unit 41C to determine whether the enable switch 62 has been pressed.

[0062] When the determination unit 41C determines that the enable switch 62 is pressed, the mode selection and setting described below are permitted. On the other hand, when the determination unit 41C determines that the enable switch 62 is not pressed, the mode selection and setting described below are not permitted.

[0063] Such a teaching device 4 has a first mode and a second mode, and these modes are selected and used alternatively.

[0064] The first mode is a mode in which the robot 1 executes an operation program. The "operation program" referred to here is a program that can be executed by the robot 1 to perform work, and includes a program created in the second mode and a program input from outside. The first mode also includes an automatic mode and a manual mode. The manual mode is a mode in which a user operates an operation screen (not shown) to execute a program, and includes a manual low-speed mode, a manual high-speed mode, and the like. The manual high-speed mode may belong to the second mode.

[0065] The second mode is a mode for teaching the robot 1. "Teaching" means creating an operation program for the work to be performed by the robot 1. Teaching includes direct teaching, in which an external force is directly applied to the robot arm 10 to change the posture and store the posture in chronological order, indirect teaching, in which the posture is stored in chronological order while operating the second display screen DB described later, and a combination of these.

[0066] By switching between the first mode and the second mode as necessary, it is possible to cause the robot 1 to perform a task or to teach the robot 1 at a desired timing.

[0067] Conventionally, the mode was changed by operating a mechanical switch (manual switch) provided on a holder corresponding to the holder 6. The conventional mechanical switch was provided separately from the switch corresponding to the enable switch 62. Such a configuration would result in a complicated device configuration. Therefore, the present invention is configured so that the user can change the mode by changing the attitude of the device main body 5, that is, select and set the first mode and the second mode. This simplifies the device configuration compared to the conventional configuration, and allows mode change with a simple operation. A specific description will be given below.

[0068] First, as shown in Fig. 4, a case will be described in which the user holds the teaching device 4 in a position in which the display 40 is horizontally long when viewed from the user (hereinafter referred to as "first position"). In this case, the position detection unit 7 detects the position of the device body 5 and transmits a detection signal corresponding to the first position to the control unit 41. The control unit 41 determines that the device body 5 is in the first position based on the received signal. As a result, the mode setting unit 41A selects and sets the first mode corresponding to the first position from the first mode and the second mode.

[0069] Note that "setting the first mode" refers to storing the first mode as the mode to be executed from now on in the storage unit 42. The same applies to the second mode described below.

[0070] Moreover, the attitude detection unit 7 may have an attitude determination unit (not shown) that determines whether the device body 5 is in the first attitude or the second attitude based on a detection signal detected by the inertial sensor 71, and transmits a signal related to the determination result, i.e., a signal indicating that the device body 5 is in the first attitude, to the control unit 41. The same applies to the second mode described below.

[0071] In the first mode, the first display screen DA as shown in FIG. 4 is displayed on the display 40. The first display screen DA is a screen on which the operation program is displayed in the robot language 8. When the operation program of the robot 1 is executed in the first mode, the operation program is displayed in the robot language 8, so that it is possible to grasp what process is currently being performed, what process will be performed in the future, the operation conditions during the currently performed process, and the like. The robot language 8 displays a combination of letters, numbers, symbols, etc. in one line, or in multiple lines with line breaks. In particular, when an operation program is displayed in the robot language 8, the length of one line of characters becomes long because of the large number of characters. Therefore, by displaying it on the horizontally long display 40, it is possible to reduce line breaks as much as possible and make the contents easier to grasp.

[0072] In the first mode, the first display screen DA is not displayed on the display 40, and the display 40 may be in a blacked-out state, for example.

[0073] As shown in FIG. 5, a case will be described in which the user holds the teaching device 4 in a position in which the display 40 is vertically long when viewed from the user (hereinafter referred to as the "second position"). In this case, the position detection unit 7 detects the position of the device body 5 and transmits a detection signal corresponding to the second position to the control unit 41. The control unit 41 determines that the device body 5 is in the second position based on the received signal. As a result, the mode setting unit 41A selects and sets the second mode corresponding to the second position from the first mode and the second mode.

[0074] In the second mode, a second display screen DB as shown in Fig. 5 is displayed on the display 40. The second display screen DB has an operation button 201 for teaching, and a simulation image 202 of a virtual robot 1A corresponding to the robot 1. A plurality of operation buttons 201 are provided, including a button for moving a control point of the virtual robot 1A or the robot arm 10 of the robot 1, such as a tool center point TCP, and a button (teaching button) for storing the position and the posture of the robot arm 10. The posture of the virtual robot 1A in the simulation image 202 is changed and displayed in response to the operation of the operation button 201. Such control is performed by the display control unit 41B.

[0075] The area in which the operation buttons 201 are displayed and the area in which the simulation image 202 is displayed are aligned vertically in Fig. 5. The area in which the operation buttons 201 are displayed and the area in which the simulation image 202 is displayed are aligned in this order from the top of Fig. 5 as viewed by the user.

[0076] When teaching is performed in the second mode, the operation button 201 and the virtual robot 1A are displayed, so that teaching can be performed accurately, quickly, and smoothly. In particular, the operation button 201 and the virtual robot 1A are arranged vertically, so that when the user operates the operation button 201, the user's hand does not obstruct the view of the virtual robot 1A, so that teaching can be performed more accurately, quickly, and smoothly. Furthermore, although not shown, in the second mode, a list of point files of teaching points may be checked, and even in this checking, the list is arranged vertically, which has the advantage of making it easy to understand the list.

[0077] In this way, mode switching can be achieved by a simple operation of rotating the device body 5 by about 90° while holding it to select either the first attitude or the second attitude. Also, unlike the conventional method, there is no need to provide a mechanical switch (manual switch) for mode switching, and the device configuration of the teaching device 4 can be simplified.

[0078] As described above, the teaching device 4 is a device for teaching the robot 1 having the robot arm 10, and includes the device body 5 held by a user, the display 40 as a display unit provided on the device body 5, the attitude detection unit 7 for detecting the attitude of the device body 5, and the mode setting unit 41A for selecting a first mode for making the robot 1 execute an operating program when the attitude detected by the attitude detection unit 7 is a first attitude, and selecting a second mode for teaching the robot 1 when the attitude detected by the attitude detection unit 7 is a second attitude different from the first attitude, and setting the selected mode. This allows the teaching device 4 to select and set the mode without providing a manual switch for mode switching. Therefore, the first mode and the second mode can be selected and set by a simple operation while simplifying the device configuration of the teaching device 4.

[0079] The robot system 100 includes a robot 1 having a robot arm 10 and a teaching device 4 for teaching the robot 1. The teaching device 4 includes a device body 5 held by a user, a display 40 provided on the device body 5 as a display unit, a posture detection unit 7 for detecting the posture of the device body 5, and a mode setting unit 41A for selecting a first mode for making the robot 1 execute an operating program when the posture detected by the posture detection unit 7 is a first posture, and selecting a second mode for teaching the robot 1 when the posture detected by the posture detection unit 7 is a second posture different from the first posture, and setting the selected mode. This allows the teaching device 4 to select and set the mode without providing a manual switch for mode switching. Therefore, the first mode and the second mode can be selected and set by a simple operation while simplifying the device configuration of the teaching device 4.

[0080] In the robot system 100 and teaching device 4 as described above, the first posture and the second posture are not limited to the configurations shown in the drawings, and may be other postures.

[0081] Furthermore, the teaching device 4 may have a mode other than the first and second modes.

[0082] The attitude detection unit 7 is provided in the device body 5. This allows the attitude of the device body 5 to be directly detected, and the attitude can be detected more accurately. The attitude detection unit 7 may be provided in the holder 6.

[0083] The display 40 as a display unit has a rectangular shape, and the first position is a position in which the display 40 is long in the horizontal direction when viewed from the user, and the second position is a position in which the display 40 is long in the vertical direction when viewed from the user. This allows for an appropriate screen layout for each of the first and second modes, and improves usability in each mode.

[0084] Note that the present invention is not limited to the above configuration, and the first position may be a position in which the display 40 is vertically long when viewed from the user, and the second position may be a position in which the display 40 is horizontally long when viewed from the user.

[0085] In the first mode, the display 40 as a display unit displays a first display screen DA on which an operating program is displayed in a robot language 8, and in the second mode, displays a second display screen DB having operation buttons 201 for teaching and a simulation image 202 of a virtual robot 1A corresponding to the robot 1. This makes it possible to improve usability in each of the first and second modes.

[0086] The teaching device 4 includes a holder 6 that detachably supports the device body 5, and the holder 6 has an enable switch 62 that selects whether to permit or prohibit the selection of a mode in the mode setting unit 41A. This makes it possible to prevent the mode from being unintentionally switched.

[0087] The teaching device 4 includes a determination unit 41C that determines whether the enable switch 62 is pressed down, and when the determination unit 41C determines that the enable switch 62 is pressed down, the mode setting unit 41A selects and sets the first mode and the second mode, and when the determination unit 41C determines that the enable switch 62 is not pressed down, the mode setting unit 41A does not select and set the first mode and the second mode. This makes it possible to prevent the mode from being unintentionally switched.

[0088] In the present invention, the operation method, function, installation location, etc. of the enable switch 62 are not limited to those described above. Also, the enable switch 62 itself may be omitted.

[0089] Furthermore, in the present invention, when the device main body 5 is rotated 180° from the attitude shown in Fig. 4, that is, when the device main body 5 is turned upside down from the attitude shown in Fig. 4, the attitude detection unit 7 detects the attitude and transmits a detection signal to the control unit 41. In this case, since the display 40 is in a landscape orientation as seen by the user, the display 40 is configured to display the first display screen DA when the enable switch 62 is pressed. In this case, the top and bottom of the first display screen DA are oriented in the same direction as that shown in Fig. 4.

[0090] Similarly, when the device main body 5 is rotated 180° from the attitude shown in Fig. 5, that is, when the device main body 5 is turned upside down from the attitude shown in Fig. 5, the attitude detection unit 7 detects the attitude and transmits a detection signal to the control unit 41. In this case, since the display 40 is in a portrait orientation when viewed from the user, the display 40 is configured to display the second display screen DB when the enable switch 62 is pressed. In this case, the top and bottom of the second display screen DB are oriented in the same direction as that shown in Fig. 5.

[0091] Next, a flow chart of an example of the program of the present invention will be described with reference to FIG.

[0092] First, in step S101, the determination unit 41C determines whether or not the enable switch 62 is pressed. The determination in this step is made based on whether or not the communication unit 43 has received a signal transmitted by the signal transmission unit 621.

[0093] If it is determined in step S101 that the enable switch 62 is pressed, then in step S102, the attitude detection unit 7 detects the attitude of the device body 5. That is, in step S102, the control unit 41 receives an electrical signal output by the inertial sensor 71. This step S102 is the first step.

[0094] On the other hand, if it is determined in step S101 that the enable switch 62 is not pressed, step S101 is repeated until the enable switch 62 is pressed.

[0095] Note that until the enable switch 62 is pressed, the current mode (first mode or second mode) is maintained regardless of the attitude of the device body 5. In other words, the current screen (first display screen DA or second display screen DB) displayed on the display 40 is maintained.

[0096] Next, in step S103, a mode is selected and set. That is, when the attitude determined based on the signal received from the inertial sensor 71 is the first attitude, the control unit 41 selects and sets the first mode, and when the attitude determined is the second attitude, the control unit 41 selects and sets the second mode. This step S103 is the second step.

[0097] Next, in step S104, a display screen is selected and displayed on the display 40. That is, a screen to be displayed on the display 40 is selected according to the mode set in step S103. When the first mode is set, for example, a first display screen DA as shown in Fig. 4 is displayed, and when the second mode is set, for example, a second display screen DB as shown in Fig. 5 is displayed.

[0098] Next, in step S105, it is determined whether or not the process is complete. The determination in this step is made based on, for example, whether or not a completion button (not shown) is pressed. If it is determined in step S105 that the process is complete, the execution of the program is terminated. On the other hand, if it is determined in step S105 that the process is not complete, the process returns to step S101 and the subsequent steps are repeated.

[0099] The determination of whether or not the process is completed in step S105 is not limited to the above, and can also be performed, for example, by starting a timer included in the control unit 41 and checking whether or not a predetermined time has elapsed.

[0100] Thus, the program is for teaching the robot 1 having the robot arm 10, and is executed by the teaching device 4 including the device body 5 held by the user, the display 40 as a display unit provided on the device body 5, and the attitude detection unit 7 for detecting the attitude of the device body 5, and is for executing the following steps: a first step in which the attitude detection unit 7 detects the attitude of the device body 5; and a second step in which, if the attitude detected in the first step is a first attitude, the first mode for causing the robot 1 to execute an operation program is selected, and, if the attitude detected in the first step is a second attitude different from the first attitude, the second mode for teaching the robot 1 is selected and the selected mode is set. According to such a program, the teaching device 4 can select and set the mode without providing a manual switch for switching the mode. Therefore, the first mode and the second mode can be selected and set by a simple operation while simplifying the device configuration of the teaching device 4.

[0101] The program of the present invention may be stored in the memory unit 42 of the teaching device 4, or in the memory unit 32 of the control device 3, or in another memory unit possessed by the robot system 100 or another memory unit connectable to the robot system 100 (particularly the teaching device 4) directly or via a network, or even in any memory device outside the robot system.

[0102] Although the teaching device, robot system, and program of the present invention have been described above with reference to the illustrated embodiments, the present invention is not limited thereto. Furthermore, each part of the robot system can be replaced with any structure that can perform the same function. Furthermore, any structure may be added.

[0103] Furthermore, the program of the present invention may include an additional program for executing any desired process. [Explanation of symbols]

[0104] 1...robot, 1A...virtual robot, 3...control device, 4...teaching device, 5...device body, 6...holder, 7...posture detection unit, 8...robot language, 10...robot arm, 11...base, 12...first arm, 13...second arm, 14...third arm, 15...fourth arm, 16...fifth arm, 17...sixth arm, 20...end effector, 31...control unit, 32...storage unit, 33...communication unit, 40...display, 41...control unit, 41A...mode setting unit, 41B...display control unit, 41C...determination unit, 42...storage unit, 43...communication unit, 61...holder body, 62...enable switch, 63...mounting surface, 71...inertial sensor, 100...robot system, 171...joint, 172...joint, 173...joint, 174...joint, 175...joint, 176...joint, 201...operation button, 202...simulation image, 611...hook, 621...signal transmission section, D1...motor driver, D2...motor driver, D3...motor driver, D4...motor driver, D5...motor driver, D6...motor driver, DA...first display screen, DB...second display screen, E1...encoder, E2...encoder, E3...encoder, E4...encoder, E5...encoder, E6...encoder, M1...motor, M2...motor, M3...motor, M4...motor, M5...motor, M6...motor, TCP...tool center point

Claims

1. A teaching device for teaching a robot having a robot arm, A device body held by a user; A display unit provided on the device body; a posture detection unit for detecting the posture of the device body; a mode setting unit that, when the posture detected by the posture detection unit is a first posture, selects a first mode for causing the robot to execute an operation program, and, when the posture detected by the posture detection unit is a second posture different from the first posture, selects a second mode for teaching the robot, and sets the selected mode.

2. The teaching device according to claim 1 , wherein the attitude detection unit is provided in the device body.

3. The display portion is rectangular, the first position is a position in which the display unit is horizontally elongated as viewed from the user, The teaching device according to claim 1 , wherein the second orientation is an orientation in which the display unit is vertically long as seen by the user.

4. The teaching device according to claim 1 , wherein the display unit has an input operation function.

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

6. a holder for detachably supporting the device body, 4. The teaching device according to claim 1, wherein the holder has an enable switch for selecting whether to permit or prohibit the selection of a mode in the mode setting section.

7. a determination unit that determines whether the enable switch is pressed, The teaching device of claim 6, wherein when the judgment unit judges that the enable switch is pressed, the mode setting unit selects and sets the first mode and the second mode, and when the judgment unit judges that the enable switch is not pressed, the mode setting unit does not select and set the first mode and the second mode.

8. A robot having a robot arm; A teaching device that teaches the robot, The teaching device includes: A device body held by a user; A display unit provided on the device body; a posture detection unit for detecting the posture of the device body; a mode setting unit that, when the posture detected by the posture detection unit is a first posture, selects a first mode in which the robot executes an operation program, and, when the posture detected by the posture detection unit is a second posture different from the first posture, selects a second mode in which teaching is performed to the robot, and sets the selected mode.

9. A program executed by a teaching device for teaching a robot having a robot arm, the teaching device including a device main body held by a user, a display unit provided on the device main body, and a posture detection unit for detecting the posture of the device main body, a first step in which the attitude detection unit detects the attitude of the device body; a second step of selecting a first mode for causing the robot to execute an operation program when the posture detected in the first step is a first posture, and selecting a second mode for teaching the robot when the posture detected in the first step is a second posture different from the first posture, and setting the selected mode.

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