Teaching device, robot system, teaching device control method, and control program

Abstract

To make a user easily grasp an operation region of a robot.SOLUTION: A robot system 1 comprises a robot arm 2, a photographic camera 4 for taking an image of the robot arm 2, and a teaching device 5. The teaching device 5 has a display part 53 that displays an image of its peripheral area including the robot arm 2, and a control part 58. The control part 58 acquires an operation region of the robot arm 2, and makes the operation region displayed in the state of being superposed on an image of the robot arm 2 displayed on the display part 53.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a teaching device for teaching a robot, a robot system, a control method for a teaching device, and a control program.

Background Art

[0002] There is known a teaching device that teaches and stores the operation of a robot performing work. In the teaching device described in Patent Document 1, when the operation range is edited after creating a robot operation simulation, the edited operation range is displayed as an image in a virtual space.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique described in Patent Document 1 above, the operation range (operation area) of the robot can only be confirmed on a digital image. The present invention has been made in view of the above circumstances, and an object thereof is to make it easier for a user to grasp the operation area of a robot.

Means for Solving the Problems

[0005] The teaching device according to the present invention includes a display unit that displays an image of its peripheral area including the robot, an acquisition unit that acquires the operation area of the robot, and a display control unit that superimposes and displays the operation area on the image of the robot displayed on the display unit. and is provided with.

Effects of the Invention

[0006] According to the present invention, it becomes easier for the user to grasp the operation area of the robot.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0009] [Configuration of Robot System] FIG. 1 is a diagram showing a robot system 1 according to the present embodiment. As shown in this figure, the robot system 1 includes a robot arm 2, a photographing camera 4, and a teaching device 5.

[0010] The robot arm 2 corresponds to an example of the robot according to the present invention and is a vertical articulated robot in the present embodiment. Specifically, the robot arm 2 has a base portion 21, a plurality of arms 22, an end effector 23, a plurality of joint portions 24, and a controller 28 (see FIG. 2). However, the robot according to the present invention is not limited to a vertically articulated robot.

[0011] The plurality of arms 22 are connected in series with each other, with a base portion 21 fixed to an environment (for example, a factory floor, an arm holding base, etc., not shown) as a base end portion. The end effector 23 is connected to the tip of the plurality of arms 22. The end effector 23 is provided with a motor 231 for driving the end effector 23 and an encoder 232 for detecting the position (speed) of the motor 231 and outputting it to the controller 28 (see FIG. 2). The plurality of joint portions 24 rotatably connect the base portion 21, the plurality of arms 22, and the end effector 23. Each joint portion 24 is provided with a motor 241 for driving the arm 22 (or the end effector 23) connected to the tip side of the joint portion 24 and an encoder 242 for detecting the position (speed) of the motor 241 and outputting it to the controller 28 (see FIG. 2). The controller 28 controls the operations of each part of the robot arm 2 based on a control command from the teaching device 5. Specifically, the controller 28 drives each motor 241 and outputs the information detected by each encoder 242 to the teaching device 5.

[0012] The imaging camera 4 is an example of the imaging unit according to the present invention, and images the robot arm 2 and its surroundings. The captured image (video) is output to the teaching device 5 and displayed on the display unit 53. The imaging camera 4 of the present embodiment is a camera capable of shooting a moving image at a predetermined frame rate. However, the imaging camera 4 is not particularly limited as long as it can acquire an image of the peripheral area including the robot arm 2.

[0013] FIG. 2 is a block diagram showing a schematic control configuration of the robot system 1. As shown in this figure, the teaching device 5 is a computer that controls the entire robot system 1 including the teaching of the robot arm 2. Specifically, the teaching device 5 includes an operation unit 52, a display unit 53, a storage unit 56, and a control unit 58.

[0014] The operation unit 52 is an operation means for a user (the operator of the robot arm 2) to perform various operations for operating the teaching device 5, and includes, for example, a pointing device such as a mouse and a keyboard.

[0015] The display unit 53 is, for example, a liquid crystal display, an organic electroluminescence display, or other display, and displays various information based on a display signal from the control unit 58. In the present embodiment, a captured image of the robot arm 2 acquired by the imaging camera 4 and the like are displayed. Note that the display unit 53 may be a touch panel that also serves as a part of the operation unit 52, or may perform voice output. Further, the display unit 53 may be a portable device such as a tablet PC or a smartphone, or may be an HMD (head-mounted display) or the like worn on the body.

[0016] The storage unit 56 is a memory configured to include, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory), stores various programs and data, and also functions as a working area for the control unit 58. In the storage unit 56 of the present embodiment, a teaching control program 561 for executing a teaching control process (see FIG. 3) described later is stored in advance. Further, the storage unit 56 has an image storage area 562 for storing images captured by the imaging camera 4.

[0017] The control unit 58 is configured to include, for example, a CPU (Central Processing Unit), and controls the operations of each part of the teaching device 5. Specifically, based on the operation content of the operation unit 52, the control unit 58 causes the display unit 53 to display various information, expands a program stored in advance in the storage unit 56, and executes various processes in cooperation with the expanded program. Note that the teaching device 5 may be a tablet PC or a smartphone. In that case, the imaging camera 4 may be a camera mounted on the main body.

[0018] [Teaching Control Process] Next, the teaching control process executed during the operation teaching to the robot arm 2 will be described. FIG. 3 is a flowchart showing the procedure of the teaching control process, and FIGS. 4 to 6 are diagrams showing display examples of the display unit 53 in the teaching control process.

[0019] The teaching control process is a process that performs predetermined control including display control of the display unit 53 during operation teaching for teaching an operation to the robot arm 2. This teaching control process is executed by the control unit 58 of the teaching device 5 reading out and expanding the teaching control program 561 from the storage unit 56 along with the start of work based on a user operation on the teaching device 5.

[0020] As shown in FIG. 3, when the teaching control process is executed, first, an operator (user) teaches an operation to the robot arm 2 (step S1). Here, a series of operations in a predetermined work (for example, pick & place of an object) are taught. The user teaches an operation to the robot arm 2 by, for example, operating a teaching pendant or direct teach to indicate points (for example, a start point and an end point) of the end effector 23. The points indicated by the user may be representative points of the end effector 23, for example, the TCP (tool center point). At this time, the peripheral area including the robot arm 2 is photographed by the photographing camera 4, and the image is output to the teaching device 5 and displayed on the display unit 53. In the present embodiment, the image of the robot arm 2 is displayed in real time.

[0021] Next, the control unit 58 calculates the operation area of the robot arm 2 based on the teaching content in step S1 (step S2). Here, the control unit 58 calculates the (moving) path of the end effector 23 based on the points of the end effector 23 input in step S1. Then, the control unit 58 calculates the operations of each part of the robot arm 2 to realize this based on the path of the end effector 23, and obtains the operation area (operation range). In addition, in the calculation of this step, as a model of the robot arm 2, a simple model combined with simple shape elements such as a rectangular parallelepiped may be used.

[0022] Next, the control unit 58 displays the operation area calculated in step S2 on the display unit 53 (step S3). Here, for example, as shown in FIG. 4, the operation area 61 calculated in step S2 is converted into a CG and displayed superimposed on the image 60 of the robot arm 2 displayed on the display unit 53. In this way, since the operation area 61 is superimposed on the image of the actual robot arm 2, the user can more easily grasp the operation area of the robot arm 2 sensuously compared to the case where it is displayed on a CG model, for example. Note that the display mode of the operation area is not particularly limited, and any mode can be used as long as the user can visually recognize it as indicating the operation area of the robot arm 2. Specifically, the display mode of the operation area may be, for example, a mode in which the inside and / or the outer edge of the area is highlighted with respect to other image parts by color, pattern, line type, etc. This display mode may be set in advance or may be changed by the user as appropriate. In addition to the operation area, for example, the points and paths of the end effector 23 may be displayed on the display unit 53 (see FIG. 5). Such display may be performed at the time of the above steps S1 and S2.

[0023] Next, the control unit 58 determines whether to execute a correction mode for correcting (changing) the operation of the robot arm 2 (step S4). The control unit 58 executes the correction mode, for example, when a user performs an execution operation of the correction mode. For example, when the user confirms (visually recognizes) the operation area 61 displayed on the display unit 53 and determines that the robot arm 2 may come into contact with the surrounding object B during operation, the user performs an execution operation of the correction mode. If it is determined not to execute the correction mode (step S4; No), the control unit 58 ends the teaching control process.

[0024] On the other hand, in step S4, when it is determined that the correction mode is to be executed (step S4; Yes), the control unit 58 changes the operation of the robot arm 2 based on a user operation (step S5). Here, the user changes, for example, the point or path of the end effector 23 in the operation of the robot arm 2 by jogging operation or direct teaching. In the present embodiment, for example, as shown in FIG. 5, when it is set that the end effector 23 moves along a first path P1 from a first starting point S1 to a first ending point L1, the operation is changed so that it moves from a second starting point S2 to a second ending point L2. The control unit 58 may display the input second starting point S2 and second ending point L2 on the display unit 53.

[0025] Next, the control unit 58 calculates the operation area of the robot arm 2 that reflects the change in step S5 (step S6). Here, similar to step S2, the control unit 58 calculates the operations of the respective parts of the robot arm 2 based on the changed point or path of the end effector 23, and obtains the operation area. At this time, the control unit 58 may display the calculated changed second path P2 on the display unit 53.

[0026] Next, the control unit 58 displays the operation area of the robot arm 2 calculated in step S2 on the display unit 53 in a display mode different from the operation area before the change (step S7). In the present embodiment, for example, as shown in FIG. 5, the changed operation area 62 from the preset operation area 61 is displayed in a color different from that of the operation area 61 (for example, a darker color). Then, for example, when the changed operation area 62 is updated as a specified one by a user approval operation, only the operation area 62 is displayed on the display unit 53.

[0027] Note that the display mode of the operation area to be made different before and after the change is not limited to color, and any mode that allows the user to visually recognize the difference may be used. For example, as shown in FIG. 6, the line type of the outer edge of the operation area may be made different. In the example of FIG. 6, the robot arm 2 is a scalar robot that operates exclusively on a plane, and a planar (two-dimensional) image from above is displayed on the display unit 53. On the display unit 53, when the original path P1 for moving the end effector from the starting point S to the ending point L is changed to a new path P2 that avoids the surrounding object B, the operation area 61 is changed to a new operation area 62. The original operation area 61 is displayed by a dashed line, and the new operation area 62 is displayed by a solid line. Thus, for example, when a two-dimensional display is sufficient, a simple display mode such as making the line type of the outer edge of the operation area different may be used. Also, the display mode of the operation area that is made different before and after the change may be other than color and line type, for example, patterns within the area, presence or absence of blinking, etc. However, it is preferable that the operation area after the change is emphasized more than the one before the change (for example, a darker color, a pattern with higher density, a thicker line, etc.).

[0028] Next, the control unit 58 determines whether to end the correction mode (step S8). The control unit 58 ends the correction mode, for example, when an end operation of the correction mode is performed by the user. In step S8, when it is determined not to end the correction mode (step S8; No), the control unit 58 transfers the process to step S5 described above and continues the process of the correction mode. On the other hand, when it is determined to end the correction mode (step S8; Yes), the control unit 58 ends the correction mode and ends the teaching control process.

[0029] [Technical effects of this embodiment] As described above, according to this embodiment, the operation area of the robot arm 2 is superimposed and displayed on the image 60 of the actual robot arm 2 displayed on the display unit 53. Thereby, compared with the conventional case where the operation area of the robot could only be confirmed on a digital image, it becomes easier for the user to intuitively grasp the spatial range of the operation area. As a result, contact between the robot arm 2 and the surrounding object B can be suitably avoided.

[0030] Further, according to the present embodiment, when the operation area of the robot arm 2 is changed, the changed operation area 62 is displayed on the display unit 53 in a display mode different from the previous one. This enables the user to more easily perceive the change in the spatial range due to the change in the operation area.

[0031] [Others] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above embodiments. For example, in the above embodiment, the case where the teaching device 5 operates one robot arm 2 is illustrated, but the teaching device 5 may operate a plurality of robot arms 2. Specifically, for example, as shown in FIG. 7, when operating two robot arms 2 (2a, 2b), the control unit 58 causes the display unit 53 to display images 60 of the two robot arms 2, and displays the operation areas 61 (61a, 61b) of each robot arm 2 on the images 60. At this time, the control unit 58 causes the display unit 53 to display the overlapping portion 64 that overlaps between the operation areas 61 of the two robot arms 2 in a display mode different from each operation area 61. Further, the control unit 58 causes the display unit 53 to display the interference portion 65 that interferes with each other in consideration of the operation timings of the two robot arms 2 among the overlapping portions 64 in a display mode different from any of the operation areas 61 and the overlapping portion 64. The difference in the display mode in this case is not particularly limited, but in the present embodiment, in the order of each operation area 61, the overlapping portion 64, and the interference portion 65, a more emphasized display mode is adopted. This enables the user to intuitively grasp the spatial range in which the two robot arms 2 can interfere (collide). Note that the operation areas 61a and 61b of the two robot arms 2 may be displayed in different display modes. Similarly, for two or more robot arms 2, each operation area 61, the overlapping portion 64, and the interference portion 65 may be displayed.

[0032] In the above embodiment, when the operation of the robot arm 2 is changed, the operation area after the change is calculated and displayed together with the operation area before the change. However, even when a setting change that does not change the operation but may change the operation area is made, the (re)calculation and display of the operation area may be similarly performed. Examples of such setting changes include cases where an object (e.g., a tool) to be held by the end effector 23 is exchanged due to a change in the workpiece or the like.

Explanation of Reference Numerals

[0033] 1 Robot system 2, 2a, 2b Robot arm (robot) 4 Imaging camera (imaging unit) 5 Teaching device 23 End effector 28 Controller 52 Operation unit 53 Display unit 58 Control unit (acquisition unit, display control unit, change unit) 60 Image of the robot 61 Operation area (before operation change) 62 Operation area (after operation change) 64 Overlapping part 65 Interference part 561 Teaching control program

Claims

1. A display unit that displays an image of the robot and its surrounding area; An acquisition unit that acquires the operation area of the robot; A display control unit that superimposes and displays the operation area on the image of the robot displayed on the display unit; An instruction device comprising the above.

2. Comprising a modification unit that modifies the operation area based on a user operation, The display control unit causes the display unit to display the modified operation area in a display mode different from that before the modification. The instruction device according to Claim 1.

3. The display unit displays images of a plurality of the robots, The display control unit causes the display unit to display an overlapping portion that overlaps among the operation areas of the plurality of robots in a display mode different from each operation area. The instruction device according to Claim 1.

4. Among the overlapping portions, the display control unit causes the display unit to display an interference portion that interferes with each other in consideration of the operation timing of the plurality of robots in a display mode different from any of each operation area and the overlapping portion. The instruction device according to Claim 3.

5. An instruction device according to any one of Claims 1 to 4, and A photographing unit that acquires an image of the robot; A robot system comprising the above.

6. A control method for an instruction device comprising a display unit that displays an image of the robot and its surrounding area, the method comprising: A control unit, An acquisition step of acquiring the operation area of the robot, A display control step of superimposing and displaying the operation area on the image of the robot displayed on the display unit; A control method for an instruction device that executes the above.

7. A control program for an instruction device comprising a display unit that displays an image of the robot and its surrounding area, the program causing a computer to Function as An acquisition unit that acquires the operation area of the robot, A display control unit that superimposes and displays the operation area on the image of the robot displayed on the display unit; A control program for an instruction device.

Images