Teaching device

Abstract

To provide a teaching device 10 that can improve convenience for an operator M and improve work efficiency related to teaching an industrial machine 1.SOLUTION: A teaching device 10 is used to teach the machining mechanism section 3 of industrial machinery 1, and is equipped with a housing 11 that is large enough for an operator M to hold in his left hand, an operation reception unit 14 that is provided on the surface of the housing 11 facing the operator M and receives various operations from the operator M, and a control unit 16 that outputs a teaching signal based on the operations received by the operation reception unit 14 to the industrial machinery 1, and the operation reception unit 14 is characterized in that it is approximately cylindrical and supported on the housing 11 so as to be rotatable clockwise and counterclockwise as seen by the operator M holding the housing 11, and is equipped with a rotary dial 17a that receives rotational operations from the operator M, and a display unit 19 that is positioned inside the approximately cylindrical shape of the rotary dial 17a and displays various information related to the teaching.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a teaching device used for teaching industrial machines such as machine tools and industrial robots. [Background technology]

[0002] 2. Description of the Related Art Conventionally, in industrial machines such as machine tools and industrial robots, movements of objects to be taught are programmed and stored by teaching so that the machines can perform desired target movements.

[0003] For example, as in Patent Document 1, an operator checks various information displayed on the touch panel display of the industrial machinery and inputs the input information required for teaching into the touch panel display while operating a teaching device to teach the industrial machinery.

[0004] At this time, the operator teaches the industrial machine by going back and forth several times between a position where the operator can visually check the movement of the object to be taught and in front of the touch panel display in order to visually check the movement of the object to be taught.

[0005] However, in a teaching device such as that disclosed in Patent Document 1, the axis selection switch and magnification change switch are arranged on the housing, and scales indicating the rotation amount of the rotary dial and various indications related to the axis selection switch and magnification change switch are engraved on the housing, which tends to make the housing larger.

[0006] This makes it difficult for some workers to hold the teaching device, and it is inconvenient for the worker to carry it around for long periods of time while going back and forth between a position where the teaching target can be visually confirmed and in front of the touch panel display.

[0007] Therefore, when teaching industrial machinery using a teaching device such as that described in Patent Document 1, not only is the burden on the worker holding the teaching device heavy, but carrying around a large teaching device can also reduce work efficiency, leaving room for improvement. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 7397948 Summary of the Invention [Problem to be solved by the invention]

[0009] In view of the above-mentioned problems, an object of the present invention is to provide a teaching device that can improve convenience for workers and improve work efficiency related to teaching industrial machines. [Means for solving the problem]

[0010] The present invention is a teaching device used to teach a teaching target of industrial machinery, and is equipped with a housing that is large enough to be held in one hand by an operator, an operation reception unit that is provided on the surface of the housing facing the operator and receives various operations from the operator, and a control unit that outputs a teaching signal based on the operations received by the operation reception unit to the industrial machinery, and the operation reception unit is approximately cylindrical and supported on the housing so as to be rotatable clockwise and counterclockwise as seen by the operator holding the housing, and is equipped with a rotary dial that receives rotational operations by the operator, and a display unit that is located inside the approximately cylindrical shape of the rotary dial and displays various information related to the teaching.

[0011] The teaching object refers to a mechanical part that operates based on a teaching signal from a teaching device, a measuring probe that moves due to the operation of the mechanical part, and the like. The size that can be held in one hand refers to the so-called palm size, for example, a size that allows the operator to hold the side of the housing with the thumb and middle finger, or a size that allows the operator to reach both the top end of the housing and the operation reception section with their fingertips.

[0012] The various pieces of information related to the teaching include a scale indicating the amount of rotation of a rotary dial, a screen for selecting an axis or a magnification, and various pieces of information acquired from industrial machinery. The teaching signal is a signal that controls the operation of the industrial machine to be taught.

[0013] According to the present invention, convenience for workers can be improved and work efficiency relating to teaching industrial machines can be improved.

[0014] Specifically, because various pieces of information related to the teaching are displayed on the display unit of the operation reception unit, the operator giving the teaching can easily check the various pieces of information related to the teaching via the display unit of the teaching device even when the operator is located at a distance from the touch panel display of the industrial machine, for example. Therefore, the teaching device can reduce the opportunities for the operator to move around in conjunction with teaching the industrial machine.

[0015] Furthermore, by providing a display unit in the operation reception unit, the teaching device can reduce the vertical length of the housing as seen by the worker, compared to, for example, a case in which the operation reception unit and display unit are arranged side by side in the vertical direction as seen by the worker in a housing that can be held in one hand by the worker, thereby making the size of the housing more compact and improving portability.

[0016] This not only improves portability of the teaching device but also reduces the need for workers to travel, thereby improving convenience for workers and improving work efficiency related to teaching industrial machinery.

[0017] As an aspect of the present invention, the housing may be formed in a substantially egg shape when viewed from the operator. This configuration allows the housing to fit easily in one hand of the worker, making it easier to hold. This reduces the burden on the worker when holding the teaching device for a long period of time, improving the convenience for the worker.

[0018] In another aspect of the present invention, the operation receiving unit may be formed with an outer diameter smaller than the outer shape of the housing as seen by the worker, and the housing may be formed to a size that allows the rotary dial to be operated with the fingertips of the worker holding the housing.

[0019] With this configuration, the rotary dial can be operated not only by the hand of the worker not holding the housing, but also by the hand of the worker holding the housing, improving the operability of the rotary dial. As a result, the teaching device can improve convenience for workers and improve the efficiency of teaching work.

[0020] As another aspect of the present invention, the display unit may be configured as a touch panel display that displays the various types of information and accepts input operations by the worker regarding the various types of information. According to this configuration, for example, various information can be displayed on the display unit as a screen for axis selection or a screen for magnification selection, so that functionality can be expanded without the need to provide separate axis selection switches or magnification selection switches.

[0021] Therefore, by configuring the display unit of the teaching device as a touch panel display, it is possible to easily improve the functionality and reduce the size and weight of the teaching device. This allows the teaching device to be more portable without impairing convenience for the operator.

[0022] As another aspect of the present invention, the control unit may be configured to output to the display unit a scale screen on which a scale indicating the amount of rotation of the rotary dial is displayed. According to this configuration, it is not necessary to provide a scale on the housing that indicates the amount of rotation of the rotary dial, so the outer diameter of the rotary dial can be increased without increasing the size of the housing. Furthermore, in the teaching device, the display unit provided inside the rotary dial can also be enlarged, which improves the visibility of various information displayed on the display unit.

[0023] In addition, by outputting a scale indicating the amount of rotation of the rotary dial to the display unit, the degree of freedom in, for example, the scale spacing and scale design can be improved, so the teaching device can easily change the scale indicating the amount of rotation of the rotary dial depending on the content of the teaching, etc. This allows the teaching device to improve convenience for the operator without impairing the operability of the rotary dial.

[0024] As another aspect of the present invention, the control unit may be configured to output to the display unit an axis selection screen for selecting a coordinate axis of the coordinate system to be associated with the teaching signal. As another aspect of the present invention, the control unit may be configured to output to the display unit a magnification selection screen for selecting a magnification to be multiplied by the output value of the operation receiving unit according to the amount of rotation of the rotary dial.

[0025] According to this configuration, it is possible to expand the functionality without providing a separate axis selection switch or magnification selection switch, and to achieve a reduction in size and weight. This allows the teaching device to be more portable without impairing convenience for the operator.

[0026] As another aspect of the present invention, the control unit may be configured to output, to the display unit, coordinate information calculated based on the amount of rotation of the rotary dial as the position information of the teaching target. According to this configuration, even if an operator is away from the touch panel display of the industrial machine, the operator can easily grasp the state of the industrial machine that operates based on the teaching signal. This allows the teaching device to reduce the number of times the worker has to move around, thereby improving the efficiency of teaching work.

[0027] In another aspect of the present invention, when the control unit receives an operation from the worker to change the orientation of the various information, it may change the orientation of the various information according to the received orientation and output it to the display unit.

[0028] With this configuration, even if the worker holding the casing changes the way the teaching device is held so that the top is facing down, the worker can reliably check the various information displayed on the display unit.

[0029] This allows greater freedom in the design of the teaching device's housing, so that, for example, the housing can be shaped to accommodate both right-handed and left-handed people, or to allow the operator to choose how to hold it. Therefore, the teaching device allows the operator to hold the housing in a manner that is easy for the operator to hold, thereby improving convenience for the operator.

[0030] In another aspect of the present invention, the operation receiving unit may be equipped with a receiver that receives an identifier assigned to a transmitter owned by the worker, and the control unit may be configured to accept an operation by the worker if the received identifier is an identifier that allows the operation.

[0031] According to this configuration, the workers who can operate the teaching device can be limited, thereby improving security and safety compared to when an unspecified number of workers are allowed to teach industrial machinery.

[0032] As another aspect of the present invention, the operation receiving section may include a push switch that receives a push operation by the worker. According to this configuration, the operator's pressing operation can be accepted without providing a separate press switch from the operation acceptance unit, which allows the teaching device to improve its functionality while preventing an increase in the size of its housing.

[0033] As a further aspect of the present invention, an emergency stop switch may be provided on an end surface of the housing in the vertical direction as seen by the worker holding the housing. According to this configuration, the operation reception unit and the emergency stop switch are arranged on different surfaces of the housing, so that the housing can be prevented from becoming large even when the emergency stop switch is provided.

[0034] Furthermore, the teaching device can position the emergency stop switch in a position that is difficult for the operator holding the housing to reach, thereby ensuring that the emergency stop switch is exposed to the operator's hands and preventing the movement of the emergency stop switch from being obstructed by the operator's hands holding the housing. This allows the teaching device to ensure the operability of the emergency stop switch without compromising portability.

[0035] As another aspect of the present invention, an enable switch may be provided on a side surface of the housing in the width direction as seen from the worker holding the housing. According to this configuration, the operation reception unit and the enable switch are arranged on different surfaces of the housing, so that the housing can be prevented from becoming large even when the enable switch is provided.

[0036] Furthermore, the teaching device can place the enable switch in a position that is easily accessible to the operator holding the housing, allowing the operator to operate the enable switch with one hand while holding the housing, and operate the rotary dial with the other hand. This allows the teaching device to improve the operability of the rotary dial and the enable switch, thereby improving the efficiency of teaching work.

[0037] The present invention also provides a teaching device used to teach industrial machinery having a camera that captures an image of a teaching target, characterized in that it comprises a rotary dial that is approximately cylindrical and can rotate clockwise and counterclockwise as seen by an operator, and that accepts rotational operations by the operator, a display unit that is positioned inside the approximately cylindrical shape of the rotary dial and displays various information related to the teaching, and a control unit that outputs moving images obtained from the camera to the display unit.

[0038] The teaching object refers to a mechanical part that operates based on a teaching signal from a teaching device, a measuring probe that moves due to the operation of the mechanical part, and the like. According to the present invention, convenience for workers can be improved and work efficiency relating to teaching industrial machines can be improved.

[0039] Specifically, since the rotary dial is equipped with a display unit on the roughly cylindrical inside, workers can easily check various information related to teaching, even when they are located away from the touch panel display of the industrial machinery, for example.

[0040] Furthermore, since moving images acquired from a camera capturing images of the target of teaching on industrial machinery are displayed on the display unit, the worker can easily check the movement of the target from a position away from the target.

[0041] This reduces the need for the operator to move around while teaching the industrial machine, thereby improving the convenience for the operator and increasing the work efficiency related to teaching the industrial machine.

[0042] As an aspect of the present invention, the control unit may be configured to display a ruler screen having dimensional scale markings at predetermined intervals superimposed on the moving image. With this configuration, for example, the operator can easily grasp the distance from the current position of the teaching target to the target position by looking at the ruler screen displayed on the display unit. Therefore, the teaching device can improve convenience for the operator and improve the efficiency of teaching work.

[0043] As another aspect of the present invention, the control unit may be configured to output a teaching signal for controlling the operation of the camera to the industrial machine when the control unit receives a rotation operation of the rotary dial by the worker. In another aspect of the present invention, the control unit may be configured to, when receiving a rotation operation of the rotary dial by the worker, output to the industrial machine a teaching signal that controls the amount of light from a lighting unit of the industrial machine that illuminates the teaching target.

[0044] With this configuration, the camera operation or the light intensity of the lighting unit can be controlled from a position away from the touch panel display of the industrial machine, reducing the need for the worker to move around. As a result, the teaching device can improve convenience for the worker and improve the efficiency of teaching work. [Effects of the Invention]

[0045] According to the present invention, it is possible to provide a teaching device that can improve convenience for workers and improve work efficiency related to teaching industrial machines. [Brief explanation of the drawings]

[0046] [Figure 1] FIG. 1 is a schematic explanatory diagram illustrating an outline of an industrial machine to which a teaching device is connected. [Figure 2] FIG. 2 is a block diagram showing the internal configuration of the industrial machine and the teaching device. [Figure 3] FIG. 2 is an external perspective view showing the appearance of the teaching device as seen from diagonally above. [Figure 4] FIG. 2 is a front view showing the appearance of the teaching device; [Figure 5] FIG. 3 is an explanatory diagram illustrating an outline of a function table. [Figure 6] 4 is a flowchart showing the processing operation of the teaching device. [Figure 7] FIG. 3 is an explanatory diagram illustrating an outline of a screen displayed on an operation display unit. [Figure 8] FIG. 3 is an explanatory diagram illustrating an outline of a screen displayed on an operation display unit. [Figure 9] FIG. 3 is an explanatory diagram illustrating an outline of a screen displayed on an operation display unit. [Figure 10] FIG. 10 is an explanatory diagram illustrating another way of holding the teaching device. DETAILED DESCRIPTION OF THE INVENTION

[0047] An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, a teaching device 10 used for teaching an industrial machine 1 such as a machine tool or an industrial robot will be described with reference to FIGS. 1 to 5. FIG.

[0048] 1 is a schematic diagram illustrating an industrial machine 1 connected to a teaching device 10, and FIG. 2 is a block diagram showing the internal configuration of the industrial machine 1 and the teaching device 10. As shown in FIG. 3 is a perspective view of the teaching device 10 as seen from diagonally above, FIG. 4 is a front view of the teaching device 10, and FIG. 5 is an explanatory diagram illustrating an outline of the function table 162. As shown in FIG.

[0049] In addition, arrow X in FIG. 3 indicates the width direction of the teaching device 10 (hereinafter referred to as the width direction X), arrow Y in FIG. 3 indicates the up-down direction of the teaching device 10 (hereinafter referred to as the up-down direction Y), and arrow Z in FIG. 3 indicates the depth direction of the teaching device 10 (hereinafter referred to as the depth direction Z). Furthermore, in the vertical direction Y, the emergency stop switch 12 side is considered to be above the teaching device 10, and in the depth direction Z, the side on which the operation reception unit 14 is located is considered to be the front of the teaching device 10 as seen by the operator holding the teaching device 10.

[0050] First, an industrial machine 1 in this embodiment is, for example, a machine tool that processes a workpiece W fixed to a table 2, as shown in FIG. As shown in FIGS. 1 and 2, this industrial machine 1 is equipped with a processing mechanism unit 3 that moves relative to a workpiece W and processes the workpiece W, and an operation display unit 4 that displays various information to an operator.

[0051] Furthermore, the industrial machine 1 is equipped with a camera 5 and a lighting unit 6 arranged facing the workpiece W, an input / output unit 7 to which external devices are connected, and a taught control unit 8 that controls the operations of these units. More specifically, the processing mechanism section 3 is configured so that a cutting tool and a measurement probe 9 can be attached, and so that the cutting tool and the measurement probe 9 can be slid in three directions, that is, the X axis, the Y axis, and the Z axis.

[0052] The operation display unit 4 is configured, for example, with a touch panel display, and has the functions of accepting operations from the operator, outputting a signal indicating the accepted operation to the taught control unit 8, and displaying various information based on a control signal from the taught control unit 8. For example, the operation display unit 4 displays a screen showing the state of the machining mechanism unit 3 and the machining state of the workpiece W.

[0053] The camera 5 is also positioned so that it can capture images of the workpiece W and the vicinity of the measurement probe 9 as subjects. The camera 5 has a function of adjusting the viewing angle based on a control signal from the taught control unit 8, a function of capturing an image of the subject based on a control signal from the taught control unit 8, and a function of outputting an image signal capturing the image of the subject to the taught control unit 8.

[0054] The lighting unit 6 is also arranged to illuminate the vicinity of the workpiece W and the measurement probe 9. The lighting unit 6 has a function of turning on and off based on a control signal from the taught control unit 8, and a function of changing the light intensity based on a control signal from the taught control unit 8.

[0055] The input / output unit 7 is configured with, for example, a USB (Universal Serial Bus) etc. The input / output unit 7 has a function of connecting to the teaching device 10 via a connection cable C and a function of transmitting and receiving various information to and from the teaching device 10.

[0056] The taught control unit 8 is composed of hardware such as a CPU and a memory, and software such as a control program. This taught control unit 8 has processing functions related to the exchange of various signals with the processing mechanism unit 3, camera 5, and lighting unit 6, processing functions related to the exchange of various signals via the input / output unit 7, and the function of controlling the operation of each unit connected via a specified bus.

[0057] In the industrial machine 1 having the above-described configuration, the movements of the machining mechanism unit 3 are stored by programming taught using the teaching device 10 so that the machining mechanism unit 3 can perform desired operations. The teaching device 10 used to teach such industrial machinery 1 is configured, as shown in Figures 3 and 4, with an emergency stop switch 12, an enable switch 13, and an operation reception unit 14 that is approximately circular in front view arranged in a housing 11 that is approximately egg-shaped when viewed from the front.

[0058] The teaching device 10 is configured to be operable by power supply from the industrial machine 1 via a connection cable C. As shown in Figure 4, the housing 11 of this teaching device 10 is a palm-sized egg-shaped device, and is formed in a roughly egg-shaped shape when viewed from the front, so that when an operator M holds it in his / her left hand, the entire device can be held in the operator M's left hand.

[0059] Specifically, the housing 11 is formed to a size that allows the tips of the thumb and middle finger of the worker M to rest on both sides in the width direction X as seen from the worker M, and the back surface to be covered by the palm of the worker M.

[0060] More specifically, the housing 11 is slightly larger than the outer diameter of the operation receiving unit 14 described later, and is sized so that the operation receiving unit 14 (the rotary dial 17a described later) can be operated with the fingertips of the operator M holding the housing 11.

[0061] Although detailed illustration is omitted, the back surface of the housing 11, which is covered by the left hand of the operator M, is composed of a curved surface formed by rotating the approximately egg-shaped outer shape when viewed from the front around the vertical direction Y as the rotation axis. As shown in Figures 3 and 4, the teaching device 10 has an emergency stop switch 12 arranged on the upper end surface of the housing 11, and a connection cable C connected to the industrial machine 1 is connected to the lower end surface of the housing 11.

[0062] Furthermore, the teaching device 10 has an enable switch 13 arranged on the left side of the housing 11 in the width direction X as seen by the worker M, and an operation reception unit 14 arranged in front of the front side (towards the worker M) of the housing 11 in the depth direction Z.

[0063] Continuing to describe the above-mentioned teaching device 10 in more detail, as shown in FIG. 2, the teaching device 10 includes an emergency stop switch 12, an enable switch 13, and an operation reception unit 14 that receive operations from the worker M, an input / output unit 15 to which the connection cable C is connected, and a control unit 16 that controls the operations of these units.

[0064] Specifically, the emergency stop switch 12 is a push button switch that forcibly stops the operation of the processing mechanism part 3 of the industrial machine 1, and has the function of detecting a pressing operation by the worker M and the function of outputting a pressing signal indicating the pressing operation by the worker M to the control part 16.

[0065] In addition, the enable switch 13 is a push button switch that accepts a pressing operation by the worker M to allow the operation of the industrial machine 1, and has the function of accepting a pressing operation by the worker M and the function of outputting a pressing signal indicating the pressing operation by the worker M to the control unit 16.

[0066] As shown in Figures 2 and 3, the operation reception unit 14 is equipped with a rotation operation reception unit 17 that receives a rotation operation by the worker M, a press operation reception unit 18 that receives a press operation by the worker M, a display unit 19 that displays various information related to the instruction, and an RFID reader 20 that reads an IC tag (not shown) owned by the worker M.

[0067] In more detail, as shown in Figures 2 to 4, the rotation operation receiving unit 17 is composed of a rotary dial 17a, which is a cylindrical body that is approximately circular when viewed from the front and can rotate clockwise and counterclockwise around the depth direction Z as the rotation axis when viewed from the operator M holding the housing 11, and a rotary encoder 17b that supports the rotary dial 17a so that it can rotate freely and is fixed to the housing 11.

[0068] This rotary operation receiving unit 17 has the function of detecting the rotary operation of the rotary dial 17a by the worker M, and the function of outputting an output signal of an output value indicating the amount of rotary operation of the rotary dial 17a to the control unit 16.

[0069] As shown in Figures 2 and 4, the pressing operation receiving unit 18 has four pressing switches arranged at predetermined intervals in the circumferential direction along the outer peripheral edge of the rotary dial 17a, radially inside the rotary dial 17a.

[0070] The four push-down switches are covered by a design panel (reference numeral omitted) that is substantially annular in front view. The pressing operation receiving unit 18 has a function of detecting a pressing operation by the worker M and a function of outputting a pressing signal indicating a pressing by the worker M to the control unit 16.

[0071] More specifically, the four push switches are composed of an upper push switch 18a, which is located above the center of the rotary dial 17a when viewed from the front, and a right push switch 18b, a lower push switch 18c, and a left push switch 18d, which are located at 45-degree intervals clockwise from the upper push switch 18a, as shown in FIG.

[0072] As shown in Figures 3 and 4, the display unit 19 is a touch panel display arranged radially inside the pressing operation receiving unit 18, and is configured to be able to display a screen that is approximately circular in front view and has approximately the same outer diameter as the inner diameter of the pressing operation receiving unit 18.

[0073] This display unit 19 has the function of displaying various information based on control signals from the control unit 16, the function of detecting touch operations by the worker M, and the function of outputting position information indicating the position of the detected touch operation to the control unit 16.

[0074] 4, the RFID reader 20 is disposed inside the operation reception unit 14 so as to overlap the display unit 19. The RFID reader 20 has a function of reading an identifier unique to the worker M that is attached to an IC tag that the worker M possesses, and a function of outputting the read identifier to the control unit 16.

[0075] The input / output unit 15 is configured with, for example, a USB (Universal Serial Bus) etc. The input / output unit 15 has a function of connecting to the industrial machine 1 via a connection cable C and a function of transmitting and receiving various information to and from the industrial machine 1.

[0076] The control unit 16 is composed of hardware such as a CPU and memory, and software such as a control program. The control unit 16 has a processing function for transmitting and receiving various signals to and from the emergency stop switch 12, the enable switch 13, and the operation reception unit 14, and a function for controlling the operation of each unit connected via a predetermined bus.

[0077] Furthermore, the control unit 16 has a function of generating a pulse signal according to the amount of rotational operation of the rotational operation receiving unit 17, and outputting the generated pulse signal to the industrial machinery 1 as a teaching signal for controlling the operation of the processing mechanism unit 3, as well as a processing function for processing various information obtained from the industrial machinery 1.

[0078] In addition, the control unit 16 stores worker information 161 in which workers who are permitted to use the teaching device 10 are registered, and a function table 162 in which the allocation of functions to each part of the operation reception unit 14 is registered.

[0079] Specifically, the worker information 161 registers the identifier of the worker M who is authorized to use the teaching device 10, among the worker-specific identifiers assigned to the IC tag owned by the worker M, the work content that the worker M can perform, and the work history of the worker M, in association with each other.

[0080] On the other hand, as shown in FIG. 5, the function table 162 registers five operation modes classified on the screen displayed on the display unit 19 in association with functions to be assigned to the operations of the display unit 19, the rotation operation receiving unit 17, and the pressing operation receiving unit 18.

[0081] For example, as shown in FIG. 5, the function table 162 registers that in an authentication mode in which an authentication screen described later is displayed on the display unit 19, touch operations on the display unit 19 are enabled and acceptance of operations on the rotation operation acceptance unit 17 and the press operation acceptance unit 18 is disabled.

[0082] Furthermore, the function table 162 stores the following information: in an operation mode in which the display unit 19 displays an operation screen described later, touch operation of the display unit 19 is enabled, the rotation operation of the rotation operation receiving unit 17 is assigned to generate a pulse signal, and the pressing operation of the right-side press switch 18b is assigned to transition to a menu mode described later.

[0083] Furthermore, in the operation mode, the function table 162 stores the following information: pressing the left push switch 18d assigns the end of teaching, pressing the upper push switch 18a assigns the selection of a coordinate axis (to be described later), and pressing the lower push switch 18c assigns the selection of an output magnification (to be described later).

[0084] Furthermore, as shown in FIG. 5, the function table 162 stores the following information: in a menu mode in which a menu screen (described later) is displayed on the display unit 19, touch operation on the display unit 19 is enabled, item selection is assigned to the rotation operation of the rotation operation receiving unit 17, and confirmation of the selected item is assigned to the press operation of the right press switch 18b.

[0085] Furthermore, in the menu mode, the function table 162 registers that pressing the left push switch 18d causes a transition to the driving mode, and that pressing the upper push switch 18a and the lower push switch 18c is disabled.

[0086] Furthermore, as shown in FIG. 5, the function table 162 stores the following information: in the camera mode in which a camera screen (described later) is displayed on the display unit 19, touch operation on the display unit 19 is disabled, the rotation operation of the rotation operation receiving unit 17 is assigned to generate a pulse signal, and the press operation of the right press switch 18b is assigned to transition to a lighting mode (described later).

[0087] Furthermore, in the camera mode, the function table 162 is registered such that pressing the left push switch 18d is assigned to return to the previous screen, and pressing the upper push switch 18a and the lower push switch 18c is assigned to adjust the viewing angle of the camera 5.

[0088] Furthermore, as shown in FIG. 5, the function table 162 has registered therein the following settings: in a lighting mode in which a brightness adjustment screen, which will be described later, is displayed on the display unit 19, touch operations on the display unit 19 are disabled, the light intensity adjustment of the lighting unit 6 is assigned to the rotation operation of the rotation operation acceptance unit 17, and acceptance of the press operation of the right press switch 18b is disabled.

[0089] Furthermore, in the lighting mode, the function table 162 is registered so that pressing the left push switch 18d is assigned to return to the previous screen, and pressing the upper push switch 18a and the lower push switch 18c is assigned to adjust the light intensity of the lighting unit 6.

[0090] Next, the processing operations in the teaching device 10 having the above-described configuration will be described with reference to FIGS. Note that Figure 6 shows a flowchart of the processing operation of the teaching device 10, and Figures 7 to 9 are explanatory diagrams outlining the screens displayed on the display unit 19, with Figure 7(a) showing an explanatory diagram explaining the authentication screen 200 and Figure 7(b) showing an explanatory diagram explaining the driving screen 210.

[0091] In addition, Figure 8(a) shows an explanatory diagram explaining the menu screen 220, Figure 8(b) shows an explanatory diagram explaining the warning screen 230, Figure 9(a) shows an explanatory diagram explaining the video screen 240, and Figure 9(b) shows an explanatory diagram explaining the brightness adjustment screen 250.

[0092] First, when the control unit 16 of the teaching device 10 starts processing operations due to external power supply via the connection cable C, the control unit 16 displays a start screen (not shown) on the display unit 19 prompting the worker M to read the IC tag. At this time, the worker M follows the instructions on the start screen to hold his / her IC tag over the display unit 19 and have the RFID reader 20 read the identifier of the IC tag.

[0093] When the RFID reader 20 acquires the read identifier, the control unit 16 authenticates the worker M based on the worker information 161, as shown in FIG. 6, displays an authentication screen 200 showing the authentication results on the display unit 19, and transitions to authentication mode (step S101).

[0094] On this authentication screen 200, as shown in FIG. 7(a), the worker ID field 201 displays the unique identifier of the worker that has been read, and the work content corresponding to the unique identifier of the worker extracted from the worker information 161 is displayed in the work authority field 202. Furthermore, the authentication screen 200 displays an operation start icon 203 as a button icon that accepts a touch operation by the worker M who starts operation.

[0095] When the authentication screen 200 is displayed, the control unit 16 determines whether or not an operation to transition to the operation mode has been accepted, as shown in FIG. 6 (step S102). Specifically, since the display unit 19 in the authentication mode of the function table 162 is set to enable touch operation, the control unit 16 determines whether the operator M has pressed the operation start icon 203 on the authentication screen 200 by a touch operation.

[0096] If the control unit 16 has not detected that the operation start icon 203 has been pressed (step S102: No), the control unit 16 waits for the process to finish until the operation start icon 203 is pressed by a touch operation. On the other hand, if pressing of the operation start icon 203 is detected (step S102: Yes), the control unit 16 displays the operation screen 210 on the display unit 19, which displays various information for teaching the industrial machine 1, and transitions to operation mode (step S103).

[0097] On this operation screen 210, as shown in FIG. 7(b), for example, a magnification selection icon 211, an axis selection icon 212, an origin icon 213, and a camera switching icon 214 that can be touched by the operator M are displayed.

[0098] Furthermore, on the operation screen 210, a coordinate information field 215 is displayed in the center of the screen, which displays coordinate information based on the output value of the rotation operation receiving unit 17 multiplied by an output magnification factor described later, and a scale axis 216 and markings 217 indicating the rotation position of the rotary dial 17a are displayed along the outer edge of the screen.

[0099] Specifically, the magnification selection icon 211 is displayed as an icon that accepts an operation to change the output magnification by which the output value of the rotation operation receiving unit 17 is multiplied according to the amount of rotation of the rotary dial 17a when the rotary dial 17a is rotated. This magnification selection icon 211 is displayed so that a mark (symbol omitted) indicating the currently selected position points to one of the characters "1," "10," or "100" indicating the output magnification.

[0100] The axis selection icon 212 is displayed as an icon for accepting an operation to change the coordinate axes of the three-dimensional coordinate system associated with a teaching signal when the teaching signal is output to the industrial machine 1. The coordinate axes of the three-dimensional coordinate system are set to the sliding direction of the machining mechanism unit 3 associated with the teaching signal. This magnification selection icon 211 is displayed so that a mark (symbol omitted) indicating the currently selected position points to one of the letters "X," "Y," and "Z" indicating the coordinate axes of the motion coordinate system.

[0101] The origin icon 213 is displayed as an icon that accepts an operation to set all of the coordinate information in the coordinate information field 215, which will be described later, to "0". The camera switching icon 214 is displayed as an icon that accepts an operation to change the operation screen 210 displayed on the display unit 19 to a moving image screen 240 that displays moving images acquired from the camera 5 of the industrial machine 1.

[0102] The coordinate information column 215 is coordinate information indicating the coordinate position in a three-dimensional coordinate system calculated based on the teaching signal as the position information of the processing mechanism unit 3, and displays the coordinate position in the X-axis direction, the coordinate position in the Y-axis direction, and the coordinate position in the Z-axis direction.

[0103] The scale axis 216 has its radial center at approximately the center of the display unit 19 when viewed from the front, and is composed of a circular axis that is smaller than the outer diameter of the display unit 19, and dividing lines that divide the axis at predetermined intervals in the circumferential direction.

[0104] The mark 217 is disposed radially outward of the scale axis 216 and is displayed as a substantially triangular mark that indicates the current rotation position of the rotary dial 17a. The mark 217 rotates around the approximate center of the display unit 19 when viewed from the front, following the rotation of the rotary dial 17a.

[0105] In step S103 of FIG. 6, when the operation screen 210 is displayed, the control unit 16 determines whether or not an operation to transition to the menu mode has been accepted, as shown in FIG. 6 (step S104). Specifically, since the right push switch 18b in the operation mode of the function table 162 is assigned with the function of transitioning to the menu mode, the control unit 16 determines whether the operator M has pressed the right push switch 18b.

[0106] If the control unit 16 has not detected that the right push switch 18b has been pushed (step S104: No), the control unit 16 determines whether or not the operator M has performed an axis selection operation or a magnification selection operation (step S105). Specifically, since the display unit 19 in the operation mode of the function table 162 is enabled for touch operation, the control unit 16 determines whether or not it has detected a touch operation by the operator M to press the axis selection icon 212 or the magnification selection icon 211.

[0107] Alternatively, since the selection of a coordinate axis is assigned to the pressing operation of the upper push switch 18a in the operation mode of the function table 162, and the selection of an output magnification is assigned to the pressing operation of the lower push switch 18c, the control unit 16 determines whether or not the pressing operation of the upper push switch 18a or the lower push switch 18c has been detected.

[0108] If the operator M's touch operation on the display unit 19, the operation of pressing the upper push switch 18a, or the operation of pressing the lower push switch 18c is not detected (step S105: No), the control unit 16 proceeds to step S107 and determines whether the enable switch 13 is in the on state.

[0109] On the other hand, if the control unit 16 detects that the operator M has touched the display unit 19, pressed the upper push switch 18a, or pressed the lower push switch 18c (step S105: Yes), the control unit 16 changes the coordinate axes or output magnification of the motion coordinate system in accordance with the operation of the operator M (step S106).

[0110] Specifically, when the operator M touches the axis selection icon 212 or presses the upper push switch 18a, the control unit 16 changes the coordinate axis of the operating coordinate system of the processing mechanism unit 3 associated with the teaching signal. For example, as shown in FIG. 7(b), when the current coordinate axis indicated by the axis selection icon 212 is the "Y axis," the control unit 16 changes the coordinate axis to the "Z axis."

[0111] Alternatively, when the worker M touches the magnification selection icon 211 or presses the lower push switch 18c, the control unit 16 changes the output magnification by which the output value corresponding to the rotation operation amount of the rotation operation receiving unit 17 is multiplied. For example, as shown in FIG. 7(b), if the current output magnification indicated by the magnification selection icon 211 is "10", the control unit 16 changes the output magnification to "100".

[0112] Thereafter, as shown in FIG. 6, the control unit 16 determines whether the enable switch 13 is in the on state (step S107), and if the enable switch 13 is in the off state (step S107: No), the process proceeds to step S110, which will be described later.

[0113] On the other hand, if the enable switch 13 is in the on state (step S107: Yes), the control unit 16 determines whether the rotary dial 17a has been rotated (step S108), and if the rotary dial 17a has not been rotated (step S108: No), the control unit 16 proceeds to step S110, which will be described later.

[0114] In step S108, if the rotary dial 17a is rotated (step S108: Yes), the control unit 16 outputs a teaching signal based on the amount of rotation of the rotary dial 17a to the industrial machine 1 via the input / output unit 15 (step S109).

[0115] At this time, the control unit 16 generates a pulse signal calculated based on the output value corresponding to the rotational operation amount of the rotary dial 17a and the output magnification selected in step S105. Furthermore, the control unit 16 generates a teaching signal by associating the generated pulse signal with coordinate axis information indicating the coordinate axis selected in step S105, and outputs the generated teaching signal to the industrial machine 1.

[0116] Thereafter, as shown in FIG. 6, the control unit 16 determines whether or not an operation to end the teaching by the operator M has been accepted (step S110). Specifically, since the end of teaching is assigned to the left push switch 18d in the operation mode of the function table 162, the control unit 16 determines whether or not the operator M has pressed the left push switch 18d.

[0117] If the control unit 16 detects that the left push switch 18d has been pushed down (step S110: Yes), the control unit 16 returns the process to step S101 and repeats the processes from step S101 to step S111, which will be described later, until the power supply is interrupted.

[0118] On the other hand, if the control unit 16 has not detected that the left push switch 18d has been pressed (step S110: No), the control unit 16 returns the process to step S104 and repeats the processes from step S104 to step S111 described later until the left push switch 18d is pressed.

[0119] Also, in step S104 of FIG. 6, if an operation to transition to the menu mode (pressing the right-side push switch 18b) is received (step S104: Yes), the control unit 16 displays the menu screen 220 on the display unit 19 and transitions to the menu mode (step S111).

[0120] This menu screen 220 displays, for example, as shown in Figure 8(a), an operation start icon 221 for transitioning to operation mode, an authentication icon 222 for transitioning to authentication mode, a camera icon 223 for transitioning to camera mode, which will be described later, and a lighting icon 224 for transitioning to lighting mode, which will be described later.

[0121] Furthermore, the menu screen 220 displays a setting icon 225 for entering a setting mode in which various settings are made, an exit icon 226 for exiting the menu mode and returning to the operation mode, and an item name field 227 showing the name of the currently selected item.

[0122] At this time, since the display unit 19 in the menu mode of the function table 162 is enabled for touch operation, the control unit 16 determines whether any of the icons on the menu screen 220 has been pressed by the operator M through a touch operation, and transitions to the operation mode corresponding to the pressed icon.

[0123] Alternatively, since item selection is assigned to the rotary operation receiving unit 17 in the menu mode of the function table 162, the control unit 16 determines whether or not a rotary operation of the rotary dial 17a by the worker M has been received, and changes the currently selected icon according to the amount of rotation of the rotary dial 17a.

[0124] Furthermore, since the right-side push switch 18b in the menu mode of the function table 162 is assigned the function of confirming the selected item, the control unit 16 determines whether or not a push operation of the right-side push switch 18b has been accepted, and if a push operation of the right-side push switch 18b has been accepted, the control unit 16 transitions to an operation mode corresponding to the currently selected icon.

[0125] When the end icon 226 is pressed on the menu screen 220, the control unit 16 advances the processing to step S105 as shown in FIG. 6, determines whether or not the operator M has performed an axis selection operation or a magnification selection operation, and then performs the processing from step S105 to step S110.

[0126] Furthermore, regardless of the processing flow from step S101 to step S111 in Figure 6 described above, when the emergency stop switch 12 is pressed, the control unit 16 outputs a warning screen 230 displaying the message "Emergency" to the display unit 19, as shown in Figure 8(b), and outputs a teaching signal to the industrial machine 1 to stop the operation of the processing mechanism unit 3, thereby bringing the industrial machine 1 to an emergency stop.

[0127] Also, although a detailed flowchart is not shown, when the camera switch icon 214 on the operation screen 210 in Figure 7(b) is pressed by a touch operation by the worker M, the control unit 16 displays the moving image screen 240 on the display unit 19 and switches to camera mode.

[0128] This moving image screen 240 displays, for example as shown in Figure 9(a), a moving image of the workpiece W and the measurement probe 9 as subjects superimposed on a dimension axis 241 consisting of a vertical axis and a horizontal axis.

[0129] Specifically, the dimension axis 241 is composed of a vertical axis with dimension scales inscribed at predetermined intervals on a vertical line along the up-down direction Y, and a horizontal axis with dimension scales inscribed at predetermined intervals on a horizontal line along the width direction X.

[0130] At this time, since the generation of a pulse signal is assigned to the rotation operation receiving unit 17 in the camera mode of the function table 162, when the control unit 16 receives a rotation operation of the rotary dial 17a by the worker M, it generates a pulse signal corresponding to the amount of rotation operation of the rotary dial 17a, as in step S109, and outputs it to the industrial machine 1 as a teaching signal for controlling the operation of the processing mechanism unit 3.

[0131] In addition, since the upper push switch 18a and the lower push switch 18c in the camera mode of the function table 162 are assigned to adjust the field of view, when the control unit 16 receives, for example, an operation to press the upper push switch 18a by the worker M, it outputs an instruction signal to the industrial machine 1 to control the operation of the camera 5 so as to enlarge the subject of the moving image.

[0132] Furthermore, when the control unit 16 receives a press operation on the right push switch 18b in the camera mode in which the moving image screen 240 is displayed on the display unit 19, the control unit 16 displays the brightness adjustment screen 250 on the display unit 19 and transitions to the lighting mode, because the right push switch 18b in the camera mode in the function table 162 is assigned to transition to the lighting mode.

[0133] On this brightness adjustment screen 250, as shown in FIG. 9(b), for example, a light amount field 251 showing the current light amount and a moving image field 252 showing the moving image acquired from the camera 5 are displayed.

[0134] In this case, since light intensity adjustment is assigned to the rotary operation receiving unit 17 in the lighting mode of the function table 162, when the rotary dial 17a is operated by the worker M, the control unit 16 outputs an instruction signal to the industrial machine 1 to increase or decrease the light intensity of the lighting unit 6 according to the amount of rotation of the rotary dial 17a.

[0135] Alternatively, since light intensity adjustment is assigned to the upper push switch 18a and the lower push switch 18c in the lighting mode of the function table 162, when the upper push switch 18a is pressed by, for example, the worker M, the control unit 16 outputs an instruction signal to the industrial machine 1 to increase the light intensity of the lighting unit 6.

[0136] The teaching device 10 configured in this manner is equipped with a display unit 19 in the operation reception unit 14, thereby reducing the size of the housing 11 to a size that can be held in one hand by the worker M, and by displaying various information related to teaching on the display unit 19, the worker M has to move around less when teaching the industrial machine 1.

[0137] As described above, the teaching device 10 of this embodiment used for teaching the machining mechanism section 3 of the industrial machine 1 includes a housing 11 that is large enough for the operator M to hold in his left hand. Furthermore, the teaching device 10 is provided on the front side of the housing 11 facing the worker M, and is equipped with an operation reception unit 14 that receives various operations by the worker M, and a control unit 16 that outputs a teaching signal based on the operations received by the operation reception unit 14 to the industrial machine 1.

[0138] The operation receiving unit 14 of the teaching device 10 is approximately cylindrical and supported on the housing 11 so as to be rotatable clockwise and counterclockwise as seen by the operator M holding the housing 11, and is equipped with a rotary dial 17a that receives rotational operations by the operator M.

[0139] Furthermore, the operation reception unit 14 is provided with a display unit 19 that is disposed inside the substantially cylindrical shape of the rotary dial 17a and that displays various information related to teaching. According to this configuration, convenience for the worker M can be improved, and the work efficiency related to teaching the industrial machine 1 can be improved.

[0140] Specifically, various pieces of information related to the teaching are displayed on the display unit 19 of the operation reception unit 14, so the operator M giving the teaching can easily check various pieces of information related to the teaching via the display unit 19 of the teaching device 10, even if the operator M is located, for example, at a distance from the operation display unit 4 of the industrial machine 1. Therefore, the teaching device 10 can reduce the opportunities for the operator M to move in conjunction with teaching the industrial machine 1.

[0141] Furthermore, by providing the display unit 19 in the operation reception unit 14, the teaching device 10 can reduce the length of the housing 11 in the vertical direction Y as seen by the worker M, compared to, for example, a case in which the operation reception unit and the display unit are arranged side by side in the vertical direction Y as seen by the worker M in a housing that can be held in one hand by the worker M, thereby making the size of the housing 11 more compact and improving portability.

[0142] As a result, the teaching device 10 not only improves portability but also reduces the need for the worker M to travel, thereby improving convenience for the worker M and improving work efficiency related to teaching the industrial machine 1.

[0143] Furthermore, since the housing 11 is formed in a generally egg-shaped shape when viewed from the front from the operator M, the housing 11 of the teaching device 10 fits easily in the left hand of the operator M, improving ease of holding the housing 11. This reduces the burden on the operator M caused by holding the teaching device 10 for a long period of time, improving convenience for the operator M.

[0144] In addition, since the housing 11 is formed in a generally egg shape when viewed from the front, the teaching device 10 can reliably expose the emergency stop switch 12 arranged on the top end surface of the housing 11 to the left hand of the operator M holding the housing 11. Therefore, the teaching device 10 can ensure reliable operability of the emergency stop switch 12.

[0145] The operation receiving unit 14 is formed with an outer diameter smaller than the outer shape of the housing 11 when viewed from the operator M. Furthermore, the housing 11 is formed with a size that allows the operator M holding the housing 11 to operate the rotary dial 17a with the fingertips.

[0146] According to this configuration, the rotary dial 17a can be operated not only with the right hand of the worker M who is not holding the housing 11, but also with the left hand of the worker M who is holding the housing 11, thereby improving the operability of the rotary dial 17a. Therefore, the teaching device 10 can improve convenience for the worker M and improve the efficiency of work related to teaching.

[0147] The display unit 19 is configured as a touch panel display that displays various information and accepts input operations by the worker M for the various information. According to this configuration, for example, a screen for axis selection and an operation screen 210 for magnification selection can be displayed as various information to be displayed on the display unit 19, so that the functionality can be expanded without providing a separate axis selection switch or magnification selection switch.

[0148] Therefore, by configuring the display unit 19 of the teaching device 10 as a touch panel display, it is possible to easily improve the functionality and reduce the size and weight of the device. As a result, the teaching device 10 can improve portability without impairing convenience for the worker M.

[0149] The control unit 16 may also be configured to output to the display unit 19 an operation screen 210 on which a scale axis 216 indicating the amount of rotation of the rotary dial 17a is displayed. According to this configuration, it is not necessary to provide a scale indicating the amount of rotation of the rotary dial 17a on the housing 11, so the outer diameter of the rotary dial 17a can be increased without increasing the size of the housing 11. Furthermore, in the teaching device 10, the display unit 19 provided inside the rotary dial 17a can also be enlarged, so that the visibility of various information displayed on the display unit 19 can be improved.

[0150] In addition, by outputting the scale axis 216 indicating the amount of rotation of the rotary dial 17a to the display unit 19, the degree of freedom in designing, for example, the scale intervals and the scale axis 216 can be improved, and therefore the teaching device 10 can easily change the scale axis 216 indicating the amount of rotation of the rotary dial 17a depending on the content of the teaching, etc. As a result, the teaching device 10 can improve convenience for the operator M without impairing the operability of the rotary dial 17a.

[0151] The control unit 16 is also configured to output to the display unit 19 an operation screen 210 for selecting a coordinate axis of the coordinate system to be associated with the teaching signal. The control unit 16 is also configured to output to the display unit 19 an operation screen 210 for selecting a magnification by which to multiply the output value of the operation reception unit 14 according to the amount of rotation of the rotary dial 17a.

[0152] According to this configuration, it is possible to expand the functionality without providing a separate axis selection switch or magnification selection switch, and to achieve a reduction in size and weight. As a result, the teaching device 10 can improve portability without impairing convenience for the worker M.

[0153] The control unit 16 is also configured to output, as position information of the processing mechanism unit 3, coordinate information calculated based on the amount of rotation of the rotary dial 17a to the display unit 19. According to this configuration, even if the worker M is away from the operation display unit 4 of the industrial machine 1, for example, the worker M can easily grasp the state of the industrial machine 1 operating based on the teaching signal. As a result, the teaching device 10 can reduce the number of times the worker M has to move, thereby improving the efficiency of work related to teaching.

[0154] The operation reception unit 14 is also provided with an RFID reader 20 that receives an identifier attached to an IC tag that the worker M possesses. Furthermore, the control unit 16 is configured to accept the operation by the worker M if the received identifier is an identifier that permits the operation.

[0155] According to this configuration, the workers M who can operate the teaching device 10 can be limited, thereby improving security and safety compared to when an unspecified number of workers M can teach the industrial machine 1.

[0156] The operation receiving unit 14 also includes push switches (upper push switch 18a, right push switch 18b, lower push switch 18c, and left push switch 18d) that receive push operations by the worker M.

[0157] According to this configuration, it is possible to accept the pressing operation of the operator M without providing a separate press switch from the operation accepting unit 14. Therefore, the teaching device 10 can improve its functionality while preventing the housing 11 from becoming larger.

[0158] The teaching device 10 also includes an emergency stop switch 12 on the upper end surface of the housing 11 in the vertical direction Y as seen by the operator M holding the housing 11. According to this configuration, the operation reception unit 14 and the emergency stop switch 12 are arranged on different surfaces of the housing 11, so that even if the emergency stop switch 12 is provided, the size of the housing 11 can be prevented from increasing.

[0159] Furthermore, the teaching device 10 can place the emergency stop switch 12 in a position that is difficult for the hand of the worker M holding the housing 11 to reach. Therefore, the teaching device 10 can reliably expose the emergency stop switch 12 from the hand of the worker M holding the housing 11, and can prevent the movement of the emergency stop switch 12 from being obstructed by the hand of the worker M holding the housing 11. This allows the teaching device 10 to ensure the operability of the emergency stop switch 12 without compromising portability.

[0160] Furthermore, the teaching device 10 may be provided with an enable switch 13 on a side surface of the housing 11 in the width direction as seen from the operator M holding the housing 11. According to this configuration, the operation reception unit 14 and the enable switch 13 are arranged on different surfaces of the housing 11, so that even if the enable switch 13 is provided, the size of the housing 11 can be prevented from increasing.

[0161] Furthermore, the teaching device 10 can place the enable switch 13 in a position that is easily accessible by the hand of the operator M holding the housing 11. Therefore, the operator M can operate the enable switch 13 with the left hand that holds the housing 11, and operate the rotary dial 17a with the right hand. As a result, the teaching device 10 can improve the operability of the rotary dial 17a and the enable switch 13, thereby improving the efficiency of teaching work.

[0162] The teaching device 10 of this embodiment is a device used to teach the industrial machine 1, which has a camera 5 that captures images of the machining mechanism unit 3. The teaching device 10 has a substantially cylindrical shape that can rotate clockwise and counterclockwise as seen by the operator M, and is provided with a rotary dial 17a that accepts rotational operation by the operator M.

[0163] Furthermore, the teaching device 10 is equipped with a display unit 19 that is arranged inside the approximately cylindrical shape of the rotary dial 17a and displays various information related to teaching, and a control unit 16 that outputs moving images acquired from the camera 5 to the display unit 19.

[0164] According to this configuration, convenience for the worker M can be improved, and the work efficiency related to teaching the industrial machine 1 can be improved. Specifically, the rotary dial 17a is provided with a display unit 19 inside the approximately cylindrical shape, so that the worker M can easily check various information related to the instruction even when, for example, he is in a position away from the operation display unit 4 of the industrial machine 1.

[0165] Furthermore, moving images obtained from the camera 5 that captures the processing mechanism part 3 of the industrial machine 1 are displayed on the display part 19, so the worker M can easily check the movement of the processing mechanism part 3 from a position away from the processing mechanism part 3.

[0166] As a result, the teaching device 10 can reduce the number of times the worker M has to move in association with teaching the industrial machine 1. Therefore, the teaching device 10 can improve convenience for the worker M and improve work efficiency related to teaching the industrial machine 1.

[0167] The control unit 16 is also configured to display a moving image screen 240 with dimensional scales engraved at predetermined intervals superimposed on the moving image. According to this configuration, for example, the operator M can easily grasp the distance from the current position of the processing mechanism unit 3 to the target position from the moving image screen 240 displayed on the display unit 19. Therefore, the teaching device 10 can improve convenience for the operator M and improve the efficiency of work related to teaching.

[0168] Furthermore, the control unit 16 is configured to output a teaching signal for controlling the operation of the camera 5 to the industrial machine 1 when receiving a rotation operation of the rotary dial 17a by the worker M. In addition, when the control unit 16 receives a rotation operation of the rotary dial 17a by the worker M, it outputs a teaching signal to the industrial machine 1 to control the light intensity of the lighting unit 6 of the industrial machine 1 that illuminates the processing mechanism unit 3.

[0169] According to this configuration, the operation of the camera 5 or the light intensity of the lighting unit 6 can be controlled from a position away from the operation display unit 4 of the industrial machine 1, thereby reducing the need for the worker M to move. Therefore, the teaching device 10 can improve convenience for the worker M and improve the efficiency of work related to teaching.

[0170] In correspondence between the configuration of this invention and the above-mentioned embodiment, The teaching subject of this invention corresponds to the machining mechanism unit 3 of the embodiment, Similarly, The scale screen, axis selection screen, and magnification selection screen correspond to the operation screen 210. The scale corresponds to the scale axis 216, The transmitter is compatible with IC tags. The receiver is compatible with RFID Reader 20. The push switches correspond to an upper push switch 18a, a right push switch 18b, a lower push switch 18c, and a left push switch 18d. The ruler screen corresponds to the video screen 240, The present invention is not limited to the configurations of the above-described embodiments, and many other embodiments can be obtained.

[0171] Specifically, the above-described industrial machine 1 is one example, and is not limited to the configuration of the above-described embodiment, and may be an industrial machine equipped with an appropriate teaching target that is taught by the teaching device 10. Furthermore, although the housing 11 of the teaching device 10 is generally oval-shaped when viewed from the front, this is not limited to this and the housing 11 may be, for example, generally rectangular when viewed from the front, generally circular when viewed from the front, or generally oblong when viewed from the front.

[0172] Furthermore, the teaching device 10 has the emergency stop switch 12 on the top surface of the housing 11 and the enable switch 13 on the left side surface of the housing 11, but this is not limited to this, and the emergency stop switch 12 and the enable switch 13 may be located in any appropriate position.

[0173] Furthermore, the teaching device 10 is provided with an emergency stop switch 12, an enable switch 13, and an operation reception unit 14 in a housing 11 that is roughly egg-shaped when viewed from the front, but this is not limited to this, and the teaching device may not be provided with the emergency stop switch 12 and / or the enable switch 13.

[0174] Furthermore, although four push-down switches are arranged radially inside the rotary dial 17a, this is not limiting and push-down switches may be arranged along the circumferential surface of the rotary dial 17a. In this case, the push-down switches may be configured to rotate in accordance with the rotation of the rotary dial, or may not rotate in accordance with the rotation of the rotary dial.

[0175] Furthermore, the operation receiving unit 14 is provided with a press operation receiving unit 18 having four press switches, but this is not limited to this, and the operation receiving unit 14 may be provided with a press operation receiving unit 18 having one or more press switches. Alternatively, the operation receiving unit 14 may not include the pressing operation receiving unit 18. In this case, the pressing operation by the worker M is received on the display unit 19 configured as a touch panel display.

[0176] Furthermore, the display unit 19 is configured as a touch panel display, but is not limited to this, and may be configured as a liquid crystal display that displays various information related to teaching. Furthermore, the operation reception unit 14 is provided with the RFID reader 20 in the embodiment, but is not limited to this, and the operation reception unit 14 may not be provided with the RFID reader 20.

[0177] Furthermore, the transmitter and receiver for identifying worker M are the worker's IC tag and the RFID reader 20 of the teaching device 10, but this is not limited to this and any suitable configuration of transmitter and receiver may be used as long as it is capable of reading the worker's unique identifier.

[0178] Furthermore, the functions to be assigned to the operations of the display unit 19, the rotation operation receiving unit 17, and the pressing operation receiving unit 18 are not limited to the contents registered in the function table 162, but may be assigned as appropriate taking into account the information to be displayed on the display unit 19, the operation mode, or convenience. Furthermore, the scale axis 216 of the driving screen 210 may be output to the display unit 19 with the scale intervals changed according to the selected magnification.

[0179] Furthermore, the authentication screen 200, operation screen 210, menu screen 220, warning screen 230, moving image screen 240 and brightness adjustment screen 250 displayed on the display unit 19 are not limited to the designs and layouts illustrated in the above-described embodiments, and may have any appropriate designs and layouts.

[0180] Furthermore, the explanation has been given using information displayed on the authentication screen 200, the operation screen 210, the menu screen 220, the warning screen 230, the moving image screen 240, and the brightness adjustment screen 250, but this is not limited to this, and the information displayed on each screen may be of any appropriate content as long as it is various information related to instructions.

[0181] Furthermore, the flow of processing operations from step S101 to step S111 in FIG. 6 is an example, and the present invention is not limited to this, and any other appropriate processing operation flow may be used. Furthermore, when the moving image screen 240 of Figure 9(a) is displayed on the display unit 19, when the operation of the upper push switch 18a or the lower push switch 18c by the worker M is accepted, the viewing angle of the camera 5 is adjusted, but this is not limited to this, and in addition to adjusting the viewing angle, an operation to change the orientation of the camera 5 may also be accepted.

[0182] Alternatively, based on an operation received by the operation receiving unit 14, one camera 5 may be selected from the multiple cameras 5 installed on the industrial machine 1, and video from the selected camera 5 may be displayed on the video screen 240.

[0183] Furthermore, in the above embodiment, the teaching device 10 is configured to be operated by the worker M with his left hand, but this is not limiting, and the teaching device 10 may be configured to be operable by the worker M with his right hand.

[0184] Furthermore, as shown in Figure 10, which is an explanatory diagram illustrating another way of holding the teaching device 10, the teaching device 10 may be turned upside down so that the emergency stop switch 12 is positioned downward as viewed from the operator M, and the operator M may operate the teaching device 10 with his or her right hand.

[0185] At this time, the worker M presses the setting icon 225 on the menu screen 220 to set the orientation of the screen output on the display unit 19 to be rotated 180 degrees. Then, as shown in FIG. 10, the control unit 16 rotates the screen output to the display unit 19 by 180 degrees around the approximate center of the display unit 19 when viewed from the front.

[0186] With this configuration, even if the operator M holding the housing 11 changes the way the teaching device 10 is held so that the top of the device is facing down, the operator M can reliably check the various information displayed on the display unit 19.

[0187] This allows the teaching device 10 to have greater freedom in the design of the housing 11, so that, for example, the shape of the housing 11 can be made to accommodate both right-handed and left-handed people, or can be made to allow the worker M to choose how to hold it. Therefore, the teaching device 10 allows the worker M to hold the housing 11 in a manner that is easy for the worker M to hold, thereby improving convenience for the worker M. [Explanation of symbols]

[0188] 1. Industrial machinery 3…Processing mechanism section 5. Camera 6...Lighting section 10...Teaching device 11...Housing 12...Emergency stop switch 13...Enabling switch 14...Operation reception section 16...Control unit 17a...Rotary dial 18a...Upper push switch 18b...Right-side push switch 18c...Lower push switch 18d...Left-side push switch 19...Display section 20...RFID reader 210...Driving screen 216...Scale axis 240...Moving image screen

Claims

1. A teaching device used to teach a teaching target of an industrial machine, A housing that can be held by a worker in one hand, an operation receiving unit provided on a surface of the housing facing the operator and configured to receive various operations by the operator; a control unit that outputs a teaching signal based on the operation accepted by the operation accepting unit to the industrial machine, The operation reception unit a rotary dial having a substantially cylindrical shape supported on the housing so as to be rotatable clockwise and counterclockwise as viewed from the operator holding the housing, and adapted to be rotated by the operator; A display unit is provided which is disposed inside the approximately cylindrical portion of the rotary dial and displays various information related to teaching. Teaching device.

2. The housing is formed in a substantially egg shape when viewed from the operator. The teaching device according to claim 1 .

3. The operation reception unit The outer diameter is formed to be smaller than the outer diameter of the housing as seen from the operator, The housing includes: The rotary dial is formed to a size that allows the operator to operate the rotary dial with the fingertips of the operator holding the housing. The teaching device according to claim 1 .

4. The display unit a touch panel display that displays the various information and accepts input operations by the worker regarding the various information; The teaching device according to claim 1 .

5. The control unit A scale screen displaying a scale indicating the amount of rotation of the rotary dial is output to the display unit. The teaching device according to claim 1 .

6. The control unit An axis selection screen for selecting a coordinate axis of the coordinate system to be associated with the teaching signal is output to the display unit. The teaching device according to claim 1 .

7. The control unit A magnification selection screen for selecting a magnification by which to multiply an output value of the operation reception unit according to the rotation amount of the rotary dial is output to the display unit. The teaching device according to claim 1 .

8. The control unit is configured to output, to the display unit, coordinate information calculated based on the amount of rotation of the rotary dial as position information of the teaching target. The teaching device according to claim 1 .

9. The control unit When an operation by the worker to change the orientation of the various information is received, the orientation of the various information is rotated 180 degrees and output to the display unit. The teaching device according to claim 1 .

10. The operation reception unit a receiver for receiving an identifier assigned to a transmitter owned by the worker; The control unit If the received identifier is an identifier that permits operation, the operation by the worker is accepted. The teaching device according to claim 1 .

11. The operation reception unit A push switch that accepts a push operation by the worker is provided. The teaching device according to claim 1 .

12. An emergency stop switch is provided on an end surface of the housing in the vertical direction as seen from the worker holding the housing. The teaching device according to claim 1 .

13. An enable switch is provided on a side surface of the housing in the width direction as seen from the worker holding the housing. The teaching device according to claim 1 .

14. A teaching device used for teaching an industrial machine, the teaching device having a camera for capturing an image of a teaching target, a rotary dial that is substantially cylindrical and rotatable clockwise and counterclockwise as seen by an operator and that accepts a rotation operation by the operator; a display unit disposed inside the substantially cylindrical rotary dial and displaying various information related to teaching; a control unit that outputs the moving image acquired from the camera to the display unit. Teaching device.

15. The control unit A ruler screen with dimensional scales engraved at predetermined intervals is displayed superimposed on the moving image. The teaching device according to claim 14.

16. The control unit When the rotary dial is rotated by the worker, a teaching signal for controlling the operation of the camera is output to the industrial machine. The teaching device according to claim 14.

17. The control unit When the rotary dial is rotated by the operator, a teaching signal for controlling the amount of light of a lighting unit of the industrial machine that illuminates the teaching target is output to the industrial machine. The teaching device according to claim 14.

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