Teaching device, teaching method, and teaching program

Abstract

To provide a teaching device, a teaching method and a teaching program which can simply and accurately perform teaching.SOLUTION: When a state where an angle formed by a first arm and a second arm of a robot arm is set at a first angle θ1 is represented by a first posture, an angle formed by the first arm and the second arm is set at a second angle θ2 different from the first angle θ1 is represented by a second posture, and an angle formed by the first arm and the second arm is set at a third angle θ3 satisfying the first angle θ1 or larger and the second angle θ2 or smaller is represented by a third posture, a teaching device includes a first icon includes a display part for displaying a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm and a first operation part for performing an operation to specify the third posture of the robot arm, and an operation program generation part for generating an operation program on the basis of the third posture specified by the first operation part.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] In recent years, due to rising labor costs and labor shortages in factories, automation of tasks that have been performed manually using various robots and their peripheral devices is accelerating. Teaching devices that generate operation programs to be executed by such robots are known.

[0003] For example, the teaching device shown in Patent Document 1 displays a graphic image of a robot and touch keys for instructing the movement of movable parts such as the arms and wrists on a display screen with a touch panel. An operator operates the robot in the displayed direction by touching touch keys such as "up," "down," "right," "left," "forward," and "backward." The desired posture of the robot is then memorized, thereby teaching it. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-146782 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the teaching device described in Patent Document 1, it is difficult to imagine how to operate the touch keys as described above to cause the robot to assume a certain posture, making teaching difficult. [Means for solving the problem]

[0006] The teaching device of the present invention is a teaching device that generates an operation program for executing an operation of a robot having a robot arm having a first arm and a second arm rotatably connected to the first arm, a display unit that displays a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm, and a first operation unit that performs an operation to specify the third posture of the robot arm, when a first posture is defined as a state in which the angle formed by the first arm and the second arm of the robot arm is at a first angle, a second posture is defined as a state in which the angle formed by the first arm and the second arm is at a second angle different from the first angle, and a third posture is defined as a state in which the angle formed by the first arm and the second arm is at a third angle that is equal to or greater than the first angle and equal to or less than the second angle; and a motion program generating unit that generates the motion program based on the third attitude specified by the first operating unit.

[0007] The teaching method of the present invention includes a display step of displaying a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm, and a first operation unit for performing an operation to specify the third posture of the robot arm, when an angle formed by a first arm of a robot arm and a second arm rotatably connected to the first arm is at a first angle, a second posture when the angle formed by the first arm and the second arm is at a second angle different from the first angle, and a third posture when the angle formed by the first arm and the second arm is at a third angle that is greater than or equal to the first angle and less than or equal to the second angle; and an operation program generation step of receiving information on the third posture specified by the first operation unit, and generating an operation program for executing an operation of a robot equipped with the robot arm based on the received information on the third posture.

[0008] The teaching program of the present invention includes a display step of displaying a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm, and a first operation unit for performing an operation to specify the third posture of the robot arm, when an angle formed by a first arm of the robot arm and a second arm rotatably connected to the first arm is at a first angle, a second posture when the angle formed by the first arm and the second arm is at a second angle different from the first angle, and a third posture when the angle formed by the first arm and the second arm is at a third angle that is greater than or equal to the first angle and less than or equal to the second angle; and an operation program generation step of receiving information on the third posture specified by the first operation unit, and generating an operation program for executing an operation of a robot equipped with the robot arm based on the received information on the third posture. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing the overall configuration of a robot system equipped with a teaching device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram of the robot system shown in FIG. [Diagram 3] FIG. 3 is a diagram showing an example of a screen displayed on the display unit of the teaching device shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of a screen displayed on the display unit of the teaching device shown in FIG. [Diagram 5] FIG. 5 is a diagram showing the first icon shown in FIG. [Figure 6] FIG. 6 is a diagram showing the second icon shown in FIG. [Figure 7] FIG. 7 is a flowchart showing an example of a teaching method of the present invention. [Figure 8] FIG. 8 is a diagram showing a first operation unit, a first icon, and a second icon displayed on a display unit included in a teaching device according to a second embodiment of the present invention. [Figure 9]FIG. 9 is a diagram showing an example of a first icon and a second icon indicating a scalar robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First Embodiment Fig. 1 is a diagram showing an overall configuration of a robot system including a first embodiment of a teaching device of the present invention. Fig. 2 is a block diagram of the robot system shown in Fig. 1. Fig. 3 is a diagram showing an example of a screen displayed on a display unit of the teaching device shown in Fig. 1. Fig. 4 is a diagram showing an example of a screen displayed on a display unit of the teaching device shown in Fig. 1. Fig. 5 is a diagram showing a first icon shown in Fig. 3. Fig. 6 is a diagram showing a second icon shown in Fig. 3. Fig. 7 is a flowchart showing an example of a teaching method of the present invention.

[0011] The teaching device, teaching method, and teaching program of the present invention will be described in detail below based on the preferred embodiment shown in the attached drawings. For convenience of explanation, the +Z-axis direction in FIG. 1, i.e., the upper side, will be referred to as "upper", and the -Z-axis direction, i.e., the lower side, will be referred to as "lower". As for the robot arm, the base 11 side in FIG. 1 will be referred to as the "base end", and the opposite side, i.e., the end effector 20 side, will be referred to as the "tip". The Z-axis direction in FIG. 1, i.e., the up-down direction, will be referred to as the "vertical direction", and the X-axis and Y-axis directions, i.e., the left-right direction, will be referred to as the "horizontal direction".

[0012] As shown in FIG. 1, the robot system 100 includes a robot 1, a control device 3 that controls the robot 1, and a teaching device 4.

[0013] First, the robot 1 will be described. 1 is a single-arm, six-axis vertical articulated robot in this embodiment, and includes a base 11 and a robot arm 10. An end effector 20 can be attached to the tip of the robot arm 10. The end effector 20 may or may not be a component of the robot 1.

[0014] The robot 1 is not limited to the configuration shown in the figure, and may be, for example, a dual-arm articulated robot or a horizontal articulated robot.

[0015] Furthermore, a world coordinate system with an arbitrary position as its origin is set in the space in which the robot 1 exists. The world coordinate system is a coordinate system defined by an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other.

[0016] The base 11 is a support that drivably supports the robot arm 10 from below, and is fixed to, for example, a floor in a factory. The base 11 of the robot 1 is electrically connected to the control device 3 via a relay cable 18. Note that the connection between the robot 1 and the control device 3 is not limited to a wired connection as in the configuration shown in Fig. 1, and may be, for example, a wireless connection, or may be connected via a network such as the Internet.

[0017] In addition, a base coordinate system is set on the base 11, with an arbitrary position on the base 11 as the origin. The base coordinate system is a coordinate system defined by XA, YA, and ZA axes that are perpendicular to each other. This base coordinate system is associated with a world coordinate system, and a position defined in the base coordinate system can be defined in the world coordinate system.

[0018] In this embodiment, the robot arm 10 has an arm 12, an arm 13, an arm 14, an arm 15, an arm 16, and an arm 17, which are connected in this order from the base 11 side. The number of arms of the robot arm 10 is not limited to six, and may be, for example, one, two, three, four, five, or seven or more. The size of each arm, such as the overall length, is not particularly limited, and can be set appropriately.

[0019] The base 11 and the arm 12 are connected via a joint 171. The arm 12 is rotatable about a first rotation axis J1 that is parallel to the vertical direction with respect to the base 11. The first rotation axis J1 coincides with the normal line of the floor to which the base 11 is fixed.

[0020] The arm 12 and the arm 13 are connected via a joint 172. The arm 13 is rotatable about a second rotation axis J2 parallel to the horizontal direction as a rotation center with respect to the arm 12. The second rotation axis J2 is parallel to an axis perpendicular to the first rotation axis J1.

[0021] The arm 13 and the arm 14 are connected via a joint 173. The arm 14 is rotatable about a third rotation axis J3 that is parallel to the horizontal direction relative to the arm 13. The third rotation axis J3 is parallel to the second rotation axis J2.

[0022] The arm 14 and the arm 15 are connected via a joint 174. The arm 15 is rotatable relative to the arm 14 about a fourth rotation axis J4 that is parallel to the central axial direction of the arm 14. The fourth rotation axis J4 is perpendicular to the third rotation axis J3.

[0023] The arm 15 and the arm 16 are connected via a joint 175. The arm 16 is rotatable about a fifth rotation axis J5 relative to the arm 15. The fifth rotation axis J5 is perpendicular to the fourth rotation axis J4.

[0024] The arm 16 and the arm 17 are connected via a joint 176. The arm 17 is rotatable about a sixth rotation axis J6 relative to the arm 16. The sixth rotation axis J6 is perpendicular to the fifth rotation axis J5.

[0025] The arm 17 is a robot tip portion located at the most distal end side of the robot arm 10. The arm 17 can rotate together with the end effector 20 by being driven by the robot arm 10.

[0026] In addition, when the arm 12 is the first arm, the arm 13 is the second arm, the arm 14 is the third arm, the arm 15 is the fourth arm, the arm 16 is the fifth arm, and the arm 17 is the sixth arm, the robot arm 10 has the first arm connected to the base 11, the second arm connected to the first arm, the third arm connected to the second arm, the fourth arm connected to the third arm, the fifth arm connected to the fourth arm, and the sixth arm connected to the fifth arm. The first arm, the second arm, and the third arm belong to the root arm 10C, and the fourth arm, the fifth arm, and the sixth arm belong to the tip arm 10D. With this configuration, as described later, in teaching, it is possible to switch between a mode for adjusting the rotation angles of the joints 171 to 173 and a mode for adjusting the rotation angles of the joints 174 to 176, and the advantages described later can be more effectively exhibited.

[0027] In addition, a joint coordinate system is set for each of the joints 171 to 176. Each joint coordinate system is associated with a world coordinate system and a base coordinate system, and a position defined in each joint coordinate system can be defined in the world coordinate system and the base coordinate system.

[0028] The robot 1 includes motors M1, M2, M3, M4, M5, and M6 as driving units, and encoders E1, E2, E3, E4, E5, and E6. The motor M1 is built into the joint 171 and rotates the base 11 and the arm 12 relative to each other. The motor M2 is built into the joint 172 and rotates the arm 12 and the arm 13 relative to each other. The motor M3 is built into the joint 173 and rotates the arm 13 and the arm 14 relative to each other. The motor M4 is built into the joint 174 and rotates the arm 14 and the arm 15 relative to each other. The motor M5 is built into the joint 175 and rotates the arm 15 and the arm 16 relative to each other. The motor M6 is built into the joint 176 and rotates the arm 16 and the arm 17 relative to each other.

[0029] Additionally, encoder E1 is built into joint 171 and detects the position of motor M1. Encoder E2 is built into joint 172 and detects the position of motor M2. Encoder E3 is built into joint 173 and detects the position of motor M3. Encoder E4 is built into joint 174 and detects the position of motor M4. Encoder E5 is built into joint 175 and detects the position of motor M5. Encoder E6 is built into joint 176 and detects the position of motor M6.

[0030] The encoders E1 to E6 are electrically connected to the control device 3, and transmit position information of the motors M1 to M6, i.e., the amount of rotation, as an electric signal to the control device 3. Then, based on this information, the control device 3 drives the motors M1 to M6 via motor drivers D1 to D6 (not shown). In other words, controlling the robot arm 10 means controlling the motors M1 to M6.

[0031] In addition, in the robot 1, a force detection unit 19 that detects a force is detachably installed on the robot arm 10. The robot arm 10 can be driven with the force detection unit 19 installed. In this embodiment, the force detection unit 19 is a six-axis force sensor. The force detection unit 19 detects the magnitude of the force on three mutually orthogonal detection axes and the magnitude of the torque around the three detection axes. That is, it detects the force components in the directions of the mutually orthogonal X-axis, Y-axis, and Z-axis, the force component in the W direction around the X-axis, the force component in the V direction around the Y-axis, and the force component in the U direction around the Z-axis. In this embodiment, the Z-axis direction is the vertical direction. In addition, the force components in the directions of the respective axes can be called "translational force components," and the force components around the respective axes can be called "torque components." In addition, the force detection unit 19 is not limited to a six-axis force sensor, and may have another configuration.

[0032] In this embodiment, the force detection unit 19 is installed on the arm 17. Note that the location where the force detection unit 19 is installed is not limited to the arm 17, i.e., the arm located at the most distal end, and may be, for example, on another arm or between adjacent arms.

[0033] An end effector 20 can be detachably attached to the force detection unit 19. In this embodiment, the end effector 20 is configured as a hand having a pair of claws that can approach and separate from each other, and that grips and releases a workpiece with each claw. Note that the end effector 20 is not limited to the configuration shown in the figure, and may be a hand that grips a work object by suction. Also, the end effector 20 may be, for example, a polisher, a grinder, a cutting machine, or a tool such as a screwdriver or a wrench.

[0034] In addition, in the robot coordinate system, a tool center point TCP, which is a control point, is set at the tip of the end effector 20. In the robot system 100, by grasping the position of the tool center point TCP in the robot coordinate system, the tool center point TCP can be used as a reference for control.

[0035] In addition, a tip coordinate system is set for the tool center point TCP, with the origin being an arbitrary position of the tool center point TCP, for example, the tip. The tip coordinate system is a coordinate system defined by mutually orthogonal XB, YB, and ZB axes. This tip coordinate system is associated with the world coordinate system and the base coordinate system, and a position defined in the tip coordinate system can be defined in the world coordinate system and the base coordinate system.

[0036] Next, the control device 3 will be described. 1 and 2, in this embodiment, the control device 3 is installed at a position separate from the robot 1. However, this is not limiting, and the control device 3 may be built into the base 11. The control device 3 has a function of controlling the driving of the robot 1 and is electrically connected to each part of the robot 1 described above. The control device 3 has a drive control unit 31, a storage unit 32, and a communication unit 33. These parts are connected to each other so as to be able to communicate with each other via a bus, for example.

[0037] The drive control unit 31 is composed of a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), and reads and executes various programs and the like stored in the storage unit 32. A command signal generated by the drive control unit 31 is transmitted to the robot 1 via the communication unit 33. This enables the robot arm 10 to perform a predetermined task.

[0038] The storage unit 32 stores various programs executable by the drive control unit 31. Examples of the storage unit 32 include a volatile memory such as a random access memory (RAM), a non-volatile memory such as a read only memory (ROM), and a removable external storage device. The storage unit 32 stores an operation program generated by the teaching device 4.

[0039] The communication unit 33 transmits and receives signals to and from each part of the robot 1 and the teaching device 4 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

[0040] Next, the teaching device 4 will be described. 1 and 2, the teaching device 4 has a function of creating and inputting an operation program for the robot arm 10. The teaching device 4 includes a display unit 40, a display control unit 41, an operation program generating unit 42, a storage unit 43, and a communication unit 44. The teaching device 4 is not particularly limited, and examples thereof include a tablet, a personal computer, a smartphone, and a teaching pendant.

[0041] The display unit 40 is, for example, a liquid crystal screen, and displays a teaching screen, which will be described later. In the present embodiment, the display unit 40 is a touch panel, and also serves as an input unit. However, the present invention is not limited to this configuration, and may be configured to perform various operations using an input device, such as a keyboard or a mouse, separate from the display unit 40.

[0042] The display control unit 41 is composed of, for example, a CPU (Central Processing Unit), and reads and executes a display program that is a part of the teaching program of the present invention stored in the storage unit 43. That is, the display control unit 41 controls the power supply conditions to the display unit 40, thereby causing the display unit 40 to display a desired screen.

[0043] The operation program generating unit 42 is composed of, for example, a CPU (Central Processing Unit), and reads out and executes an operation generation program, which is a part of the teaching program of the present invention stored in the storage unit 43. As a result, as will be described later, an operation program to be executed by the robot 1 can be generated and teaching can be performed. Note that teaching refers to generating an operation program and storing the generated operation program in the storage unit 32 of the control device 3 or the storage unit 43 of the teaching device 4.

[0044] The storage unit 43 stores various programs and the like that can be executed by the display control unit 41 and the operation program generation unit 42. Examples of the storage unit 43 include a volatile memory such as a random access memory (RAM), a non-volatile memory such as a read only memory (ROM), and a removable external storage device.

[0045] The communication unit 44 transmits and receives signals to and from the control device 3 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

[0046] Above is a brief description of the configuration of the robot system 100. Next, a display screen D that is displayed on the display unit 40 when teaching is performed will be described.

[0047] The display screen D is a screen displayed on the display unit 40 when teaching is performed. Teaching refers to generating an operation program and storing it in the memory unit 43 of the teaching device 4 or the memory unit 43 of the control device 3. There are two types of teaching: direct teaching, in which an operator applies a direct force to the robot arm 10 to change the posture of the robot arm 10 and memorize the posture, and indirect teaching, in which an operator operates the teaching device 4 to specify the posture of the robot arm 10 and memorize the posture. Of these, the present invention relates to indirect teaching. Also, memorizing a posture refers to memorizing the rotation angles of the joints 171 to 176.

[0048] 3 and 4, the display screen D has a first display area DA, a second display area DB, and a third display area DC. The first display area DA and the second display area DB are located on the right side of the display screen D, and the third display area DC is located on the left side of the display screen D. The first display area DA and the second display area DB are arranged in this order from the top.

[0049] A switching button 500 is displayed in the first display area DA, and pressing the switching button 500 makes it possible to switch between the state shown in FIG. 3 and the state shown in FIG.

[0050] In the state shown in Figure 3, the first display area DA displays the virtual robot 10A, a first operation unit 501, a first operation unit 502, a first operation unit 503, a first icon 504, a second icon 505, a first icon 506, a second icon 507, a first icon 508, and a second icon 509.

[0051] The virtual robot 10A is located at approximately the center of the first display area DA, and displays the position of each rotation axis in the virtual robot 10A. A first operation unit 501, a first icon 504, and a second icon 505 are displayed below the virtual robot 10A. In this embodiment, the first operation unit 501 is configured as a slide bar extending in the left-right direction in FIG. 3, and is used to specify the rotation angle of the joint 171. The first operation unit 501 can adjust the rotation angle of the arm 12 around the first rotation axis J1 and change the posture of the robot arm 10 by operating the round knob to move it left and right while pressing it.

[0052] A first icon 504 is displayed on the left side of the first operation unit 501, and a second icon 505 is displayed on the right side of the first operation unit 501. A pattern that shows a schematic representation of the robot arm 10 is displayed in the first icon 504, and the color of the portion that corresponds to the arm 12 is displayed in a color different from the surrounding color. The first icon 504 shows the posture of the robot arm 10 in which the joint 171 is rotated in the direction of the arrow in the first icon 504.

[0053] When the round knob of the first operation unit 501 is positioned at the leftmost position in the left-right direction, the robot arm 10 assumes a posture in which the joint 171 is rotated to the maximum in the direction of the arrow in the first icon 504. On the other hand, when the round knob of the first operation unit 501 is positioned at the rightmost position in the left-right direction, the robot arm 10 assumes a posture in which the joint 171 is rotated to the maximum in the direction of the arrow in the second icon 505.

[0054] Furthermore, when the round knob of the first operating unit 501 is located at a midway position in the left-right direction, the position of the round knob in the left-right direction corresponds to the position of the joint 171 in the rotation direction. This makes it easy to know how much to rotate the arm 12. Furthermore, with the first operating unit 501, the round knob can be moved by continuously sliding, so the rotation angle of the joint 171 can be selected while being continuously changed.

[0055] Also, a first operation unit 502, a first icon 506, and a second icon 507 are displayed on the left side of the virtual robot 10A. In this embodiment, the first operation unit 502 is configured as a slide bar extending in the vertical direction in FIG. 3, and is used for performing an operation to specify the rotation angle of the joint 172. The first operation unit 502 can adjust the rotation angle of the arm 13 around the second rotation axis J2 and change the posture of the robot arm 10 by operating the round knob of the first operation unit 502 to move it up and down while pressing it.

[0056] A first icon 506 is displayed above the first operation unit 502, and a second icon 507 is displayed below the first operation unit 501. A pattern that diagrammatically shows the robot arm 10 is displayed in the first icon 506, and the color of the portion that corresponds to the arm 13 is displayed in a color different from the surrounding color. The first icon 506 shows the posture of the robot arm 10 in which the joint 172 is rotated in the direction of the arrow in the first icon 506.

[0057] When the round knob of the first operation unit 502 is positioned at the topmost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 172 is rotated to the maximum extent in the direction of the arrow in the first icon 506. On the other hand, when the round knob of the first operation unit 502 is positioned at the bottommost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 172 is rotated to the maximum extent in the direction of the arrow in the second icon 507.

[0058] Furthermore, when the round knob of the first operating unit 502 is located at a midpoint in the vertical direction, the position of the round knob in the vertical direction corresponds to the position of the joint 172 in the rotational direction. This makes it easy to know how far to rotate the arm 13. Furthermore, with the first operating unit 502, the round knob can be moved by continuously sliding, so that the rotation angle of the joint 172 can be selected while being continuously changed.

[0059] Also, a first operation unit 503, a first icon 508, and a second icon 509 are displayed on the right side of the virtual robot 10A. In this embodiment, the first operation unit 503 is configured as a slide bar extending in the vertical direction in Fig. 3, and is used for performing an operation to specify the rotation angle of the joint 173. The first operation unit 503 can adjust the rotation angle of the arm 14 around the third rotation axis J3 and change the posture of the robot arm 10 by operating the round knob of the first operation unit 503 to move it up and down while pressing it.

[0060] A first icon 508 is displayed above the first operation unit 503, and a second icon 509 is displayed below the first operation unit 503. A pattern that diagrammatically shows the robot arm 10 is displayed in the first icon 508, and the color of the portion that corresponds to the arm 14 is displayed in a color different from the surrounding color. The first icon 508 shows the posture of the robot arm 10 with the joint 173 rotated in the direction of the arrow in the first icon 508.

[0061] When the round knob of the first operation unit 503 is positioned at the topmost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 173 is rotated to the maximum in the direction of the arrow in the first icon 508. On the other hand, when the round knob of the first operation unit 503 is positioned at the bottommost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 173 is rotated to the maximum in the direction of the arrow in the second icon 509.

[0062] Furthermore, when the round knob of the first operating unit 503 is located at a midpoint in the vertical direction, the position of the round knob in the vertical direction corresponds to the position of the joint 173 in the rotational direction. This makes it easy to know how much to rotate the arm 14. Furthermore, with the first operating unit 503, the round knob can be moved by continuously sliding, so that the rotation angle of the joint 173 can be selected while being continuously changed.

[0063] Next, a switched state will be described as shown in Fig. 4. In the state shown in Fig. 4, the virtual robot 10A, the first operation unit 511, the first operation unit 512, the first operation unit 513, the first icon 514, the second icon 515, the first icon 516, the second icon 517, the first icon 518, and the second icon 519 are displayed in the first display area DA.

[0064] A first operation unit 511, a first icon 514, and a second icon 515 are displayed on the right side of the virtual robot 10A. In this embodiment, the first operation unit 511 is configured as a slide bar extending in the vertical direction in FIG. 4, and is used to specify the rotation angle of the joint 174. The first operation unit 511 can adjust the rotation angle of the arm 15 around the fourth rotation axis J4 and change the posture of the robot arm 10 by operating the round knob of the first operation unit 511 to move it up and down while pressing it.

[0065] A first icon 514 is displayed above the first operation unit 511, and a second icon 515 is displayed below the first operation unit 511. A pattern that diagrammatically shows the robot arm 10 is displayed in the first icon 514, and the color of the portion that corresponds to the arm 15 is displayed in a color different from the surrounding color. The first icon 514 shows the posture of the robot arm 10 with the joint 174 rotated in the direction of the arrow in the first icon 514.

[0066] When the round knob of the first operation unit 511 is positioned at the topmost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 174 is rotated to the maximum in the direction of the arrow in the first icon 514. On the other hand, when the round knob of the first operation unit 511 is positioned at the bottommost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 174 is rotated to the maximum in the direction of the arrow in the second icon 515.

[0067] Furthermore, when the round knob of the first operating unit 511 is located at a midpoint in the vertical direction, the position of the round knob in the vertical direction corresponds to the position of the joint 174 in the rotation direction. This makes it easy to know how far to rotate the arm 15. Furthermore, with the first operating unit 511, the round knob can be moved by continuously sliding, so that the rotation angle of the joint 174 can be selected while being continuously changed.

[0068] In addition, a first operation unit 512, a first icon 516, and a second icon 517 are displayed below the virtual robot 10A. In this embodiment, the first operation unit 512 is configured as a slide bar extending in the left-right direction in FIG. 4, and the joints 175 The first operating unit 512 is used to specify the rotation angle of the arm 16 around the fifth rotation axis J5, and thereby change the posture of the robot arm 10 by operating the round knob by pressing it and moving it left or right.

[0069] A first icon 516 is displayed on the left side of the first operation unit 512, and a second icon 517 is displayed below the first operation unit 512. A pattern that shows a schematic representation of the robot arm 10 is displayed in the first icon 516, and the color of the portion that corresponds to the arm 16 is displayed in a color different from the surrounding color. The first icon 516 shows the posture of the robot arm 10 with the joint 175 rotated in the direction of the arrow in the first icon 516.

[0070] When the round knob of the first operation unit 512 is positioned at the leftmost position in the left-right direction, the robot arm 10 assumes a posture in which the joint 175 is rotated to the maximum in the direction of the arrow in the first icon 516. On the other hand, when the round knob of the first operation unit 512 is positioned at the rightmost position in the left-right direction, the robot arm 10 assumes a posture in which the joint 175 is rotated to the maximum in the direction of the arrow in the second icon 517.

[0071] Furthermore, when the round knob of the first operating unit 512 is located halfway in the left-right direction, the position of the round knob in the left-right direction corresponds to the position of the joint 175 in the rotation direction. This makes it easy to know how much to rotate the arm 16. Furthermore, with the first operating unit 512, the round knob can be moved by continuously sliding, so the rotation angle of the joint 175 can be selected while being continuously changed.

[0072] Also, a first operation unit 513, a first icon 518, and a second icon 519 are displayed on the left side of the virtual robot 10A. In this embodiment, the first operation unit 513 is configured as a slide bar extending in the vertical direction in Fig. 4, and is used to perform an operation to specify the rotation angle of the joint 176. The first operation unit 513 can adjust the rotation angle of the arm 17 around the sixth rotation axis J6 and change the posture of the robot arm 10 by operating the round knob of the first operation unit 513 to move it up and down while pressing it.

[0073] A first icon 518 is displayed above the first operation unit 513, and a second icon 519 is displayed below the first operation unit 511. A pattern that diagrammatically shows the robot arm 10 is displayed in the first icon 518, and the color of the portion that corresponds to the arm 17 is displayed in a color different from the surrounding color. The first icon 518 shows the posture of the robot arm 10 with the joint 174 rotated in the direction of the arrow in the first icon 518.

[0074] When the round knob of the first operation unit 513 is positioned at the topmost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 176 is rotated to the maximum extent in the direction of the arrow in the first icon 518. On the other hand, when the round knob of the first operation unit 513 is positioned at the bottommost position in the vertical direction, the robot arm 10 assumes a posture in which the joint 176 is rotated to the maximum extent in the direction of the arrow in the second icon 519.

[0075] Furthermore, when the round knob of the first operating unit 513 is located at a midpoint in the vertical direction, the position of the round knob in the vertical direction corresponds to the position of the joint 176 in the rotational direction. This makes it easy to know how much to rotate the arm 17. Furthermore, with the first operating unit 513, the round knob can be moved by continuously sliding, so the rotation angle of the joint 176 can be selected while being continuously changed.

[0076] By operating the first operation units 501, 502, 503, 511, 512 and 513 using such a first display area DA, the robot arm 10 can be set to a desired posture, and by pressing a teach button (not shown), the posture can be stored in the storage unit 43. Moreover, by adjusting the posture in this manner a desired number of times, for example, a work start posture, a mid-work posture and a work end posture of the robot arm 10 can be stored and taught.

[0077] Furthermore, when the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513 are operated, the virtual robot 10B in the third display area DC changes its posture based on the information input from each operation unit. The virtual robot 10B is a three-dimensional simulation image of the robot arm 10. Furthermore, the third display area DC displays three axes defined by the world coordinate system.

[0078] In this way, the display unit 40 has the third display area DC which is a virtual robot display area displaying the virtual robot 10B, and the third display area DC displays the virtual robot 10B in a posture linked to the operations of the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513. This allows the operator to teach the virtual robot 10B while checking it.

[0079] In addition, in accordance with a change in the posture of the virtual robot 10B, the robot arm 10 may change its posture in conjunction with the virtual robot 10B, or the robot arm 10 may not necessarily change its posture in conjunction with the virtual robot 10B.

[0080] Thus, the teaching device 4 of the present invention is a teaching device that generates an operation program for executing the operation of the robot 1 equipped with the robot arm 10 having at least one joint. As shown in Fig. 5 and Fig. 6, when the angle between the arm 12, which is the first arm of the robot arm 10, and the arm 13, which is the second arm, is the first angle θ1, the second angle is the second angle, which is different from the first angle θ1, and the third angle is the third angle θ3, which satisfies the first angle θ1 or more and the second angle θ2 or less, the teaching device 4 of the present invention includes a display unit 40 that displays a first icon 506 indicating the first attitude of the robot arm 10, a second icon 507 indicating the second attitude of the robot arm 10, a first operation unit 502 that performs an operation to specify the third attitude of the robot arm 10, and an operation program generation unit 42 that generates an operation program based on the third attitude specified by the first operation unit 502. This allows the operator to perform teaching while understanding how the posture of the robot arm 10 will change depending on the direction in which the first operation unit 502 is operated. Therefore, the teaching device 4 allows accurate and easy teaching.

[0081] In the above, the explanation focuses on joint 172, first operation unit 502, first icon 506, and second icon 507, but the same effect can be said for joint 171, joint 173, joint 174, joint 175, and joint 176, and the corresponding operation units and icons (same below).

[0082] In addition, the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513 have a slide bar that can continuously change the third angle θ3. This allows fine adjustment of the posture and allows accurate teaching. Note that "continuously" in this specification refers to increments of angles small enough (for example, 0.1°) that the robot arm 10 appears to be moving continuously.

[0083] 5 and 6, when focusing on the joint 172, the first icon 506 and the second icon 507 distinguishably display the rotating arm 13 among the arms 12 and 13 connected via the joint 172. This allows the worker to know at a glance which arm is to be rotated when changing the posture of the robot arm 10.

[0084] In the first icon 506 and the second icon 507, an arrow is displayed as an indicator showing the direction in which the rotating arm will move. This allows the worker to know at a glance which arm is to be rotated when changing the posture of the robot arm 10, i.e., when operating the slide bar.

[0085] In addition, the first angle θ1 is an angle indicating the movable limit of the joint 172 or an angle within 20° from the movable limit, and the second angle θ2 is an angle indicating the movable limit of the joint 172 or an angle within 20° from the movable limit. This allows teaching to be performed using substantially the entire range of motion.

[0086] In this way, the posture of the robot arm 10 can be adjusted by using the first display area DA, and teaching can be performed at a desired posture. Such posture adjustment in the first display area DA uses a joint coordinate system set for each joint. Therefore, when teaching is to be performed while changing the posture significantly, teaching is performed using the first display area DA.

[0087] In particular, as shown in FIG. 3, it is possible to switch between a mode for adjusting the rotation angles of the joints 171 to 173 and a mode for adjusting the rotation angles of the joints 174 to 176. That is, the display unit 40 has a switching button 500 for switching between a mode for performing an operation for changing the posture of the robot arm 10 by specifying the base arm 10C and a mode for performing an operation for changing the posture of the robot arm 10 by specifying the tip arm 10D. By adjusting the rotation angles of the joints 171 to 173, the posture of the robot arm 10 can be changed relatively greatly, and by adjusting the rotation angles of the joints 174 to 176, the posture of the robot arm 10 can be changed relatively slightly. Therefore, by appropriately switching between such modes and performing teaching, the posture of the robot arm 10 can be switched more quickly. Therefore, it is highly convenient and teaching can be performed more quickly.

[0088] Also displayed in the first display area DA is a hand alignment button 53. When the hand alignment button 53 is pressed, the posture of the robot arm 10 can be adjusted so that the Z axis of the tip coordinate system set in the tool center point TCP is aligned with the Z axis of the world coordinate system, without changing the position of the tool center point TCP.

[0089] Above, the first display area DA has been described. Next, the second display area DB will be described. As shown in Fig. 3 and Fig. 4, in the second display area DB, second operation unit 601, second operation unit 602, second operation unit 603, second operation unit 604, second operation unit 605, second operation unit 606, hand operation unit 607, and hand operation unit 608 are displayed.

[0090] The second operation unit 601 is a button labeled "+X." By pressing a portion corresponding to the second operation unit 601, the posture of the robot arm 10 can be changed so that the tool center point TCP moves to the +X axis side in the world coordinate system.

[0091] The second operation unit 602 is a button labeled "-X." By pressing a portion corresponding to the second operation unit 602, the posture of the robot arm 10 can be changed so that the tool center point TCP moves to the -X side in the world coordinate system.

[0092] The second operation unit 603 is a button labeled "+Y." By pressing a portion corresponding to the second operation unit 603, the posture of the robot arm 10 can be changed so that the tool center point TCP moves to the +Y side in the world coordinate system.

[0093] The second operation unit 604 is a button labeled "-Y." By pressing a portion corresponding to the second operation unit 604, the posture of the robot arm 10 can be changed so that the tool center point TCP moves to the -Y side in the world coordinate system.

[0094] The second operation unit 605 is a button labeled "+Z." By pressing a portion corresponding to the second operation unit 605, the posture of the robot arm 10 can be changed so that the tool center point TCP moves to the +Z side in the world coordinate system.

[0095] The second operation unit 606 is a button labeled "-Z." By pressing a portion corresponding to the second operation unit 606, the posture of the robot arm 10 can be changed so that the tool center point TCP moves to the -Z side in the world coordinate system.

[0096] The hand operation unit 607 is a button that displays a schematic diagram of the end effector 20. By pressing a part corresponding to the hand operation unit 607, the posture of the robot arm 10 can be changed so that the robot arm 10 moves straight in the direction in which the end effector 20 is facing.

[0097] The hand operation unit 608 is a button that displays a schematic diagram of the end effector 20. By pressing a part corresponding to the hand operation unit 608, the posture of the robot arm 10 can be changed so that the robot arm 10 moves straight in the opposite direction to the direction in which the end effector 20 is facing.

[0098] In this way, the display unit 5 displays the second operation units 601-606 for performing an operation to change the posture of the robot arm 10 by specifying the position of the tool center point TCP, which is a control point set on the robot arm 10. This allows the posture of the robot arm 10 to be changed more finely, and more accurate teaching can be performed.

[0099] In addition, by displaying the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513, which change the posture relatively greatly, and the second operation unit 601, the second operation unit 602, the second operation unit 603, the second operation unit 604, the second operation unit 605, and the second operation unit 606, which change the posture relatively finely, the operator can select the most suitable operation unit according to the posture to be changed and perform teaching. Therefore, the posture of the robot arm 10 can be changed more accurately and quickly. As a result, it is convenient and teaching can be performed more quickly.

[0100] Further, the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512 and the first operation unit 513 perform an operation to change the posture of the robot arm 10 in a joint coordinate system set in the joints of the robot arm 10, and the second operation unit 601, the second operation unit 602, the second operation unit 603, the second operation unit 604, the second operation unit 605 and the second operation unit 606 perform an operation to change the posture of the robot arm 10 in a world coordinate system set in the space in which the robot 1 exists. In this way, since a desired coordinate system can be selected from different coordinate systems to change the posture, it is highly convenient. In addition, without being limited to the above configuration, the second operation unit 601, the second operation unit 602, the second operation unit 603, the second operation unit 604, the second operation unit 605 and the second operation unit 606 may perform an operation to change the posture of the robot arm 10 in the tip coordinate system, may perform an operation to change the posture of the robot arm 10 in the base coordinate system, or may perform an operation to change the posture of the robot arm 10 in an object coordinate system set for the work.

[0101] In addition, the display unit 40 displays the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513, and the second operation unit 601, the second operation unit 602, the second operation unit 603, the second operation unit 604, the second operation unit 605, and the second operation unit 606 in one direction, vertically arranged in the illustrated configuration. This increases the options for which operation unit to operate on one screen, improving convenience. Furthermore, as illustrated, the screen is simple, so even beginners can easily understand.

[0102] Next, the teaching method of the present invention will be described with reference to the flowchart shown in FIG. First, in step S101, the display screen D shown in Fig. 3 or 4 is displayed. The operator operates the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513, or the second operation unit 601, the second operation unit 602, the second operation unit 603, the second operation unit 604, the second operation unit 605, and the second operation unit 606, so that the posture of the robot arm 10 becomes a desired posture.

[0103] Next, in step S102, information on an operation performed on the display screen D is accepted. That is, information on the specified posture of the robot arm 10 is acquired.

[0104] As described above, in the teaching device 4, when the worker operates the display screen D, the worker can operate the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, and the first operation unit 513 while looking at the first icon and the second icon, so teaching can be performed while understanding how the posture of the robot arm 10 changes depending on in which direction the first operation unit 501 is operated. Therefore, the teaching device 4 can perform teaching accurately and easily.

[0105] Also, on the display screen D, the first operation unit 501, the first operation unit 502, the first operation unit 503, the first operation unit 511, the first operation unit 512, the first operation unit 513, and the second operation unit 601, the second operation unit 602, the second operation unit 603, the second operation unit 604, the second operation unit 605, and the second operation unit 606 are displayed. This allows the operator to select the optimum operation unit according to the posture to be changed and perform teaching. Therefore, the posture of the robot arm 10 can be switched more accurately and quickly. As a result, it is convenient and teaching can be performed even more quickly. In addition, for example, after a relatively large posture change, fine adjustment can be performed in detail.

[0106] Next, in step S103, an operation program is generated. That is, the operation program is generated based on the information on the posture of the robot arm 10 received in step S102. That is, a program is created to drive the robot arm 10 so that the posture of the robot arm 10 is set to a posture specified by the operator in an arbitrary order.

[0107] Next, in step S104, it is determined whether or not the process is complete. The determination in this step is made based on whether or not a completion button (not shown) is pressed. If it is determined in step S104 that the process is not complete, the process returns to step S103 and the following steps are repeated.

[0108] As described above, as shown in FIG. 5 and FIG. 6, when focusing on joint 172, the teaching method of the present invention includes a display step of displaying a first icon 506 indicating the first posture of robot arm 10, a second icon 507 indicating the second posture of robot arm 10, and a first operation unit 502 for performing an operation to specify the third posture of robot arm 10, when the angle between arm 12 which is the first arm of robot arm 10 and arm 13 which is the second arm of robot arm 10 is a first angle θ1, a second posture is when the angle between arm 12 and arm 13 is a second angle θ2 different from the first angle θ1, and a third posture is when the angle between arm 12 and arm 13 is a third angle θ3 which satisfies the first angle θ1 or more and the second angle θ2 or less, and an operation program generation step of generating an operation program based on information of the third posture specified by the first operation unit 501. This allows the operator to perform teaching while understanding how the posture of the robot arm 10 will change depending on the direction in which the first operation unit 502 is operated. Therefore, the teaching device 4 allows accurate and easy teaching.

[0109] 5 and 6, when focusing on joint 172, the teaching program of the present invention is for executing a display step of displaying a first icon 506 indicating the first posture of robot arm 10, a second icon 507 indicating the second posture of robot arm 10, and a first operation unit 502 for performing an operation to specify the third posture of robot arm 10, when the angle formed by arm 12, which is the first arm of robot arm 10, and arm 13, which is the second arm, of robot arm 10 is a first angle θ1, the second posture is when the angle formed by arm 12 and arm 13 is a second angle θ2 different from the first angle θ1, and the third posture is when the angle formed by arm 12 and arm 13 is a third angle θ3 that satisfies the first angle θ1 or more and the second angle θ2 or less, and a display step of displaying a first icon 506 indicating the first posture of robot arm 10, a second icon 507 indicating the second posture of robot arm 10, and a first operation unit 502 for performing an operation to specify the third posture of robot arm 10, and an operation program generation step of generating an operation program based on information of the third posture specified by the first operation unit 501. This allows the operator to perform teaching while understanding how the posture of the robot arm 10 will change depending on the direction in which the first operation unit 502 is operated. Therefore, the teaching device 4 allows accurate and easy teaching.

[0110] The teaching program of the present invention may be stored in the memory unit 43, or may be stored in a recording medium such as a CD-ROM, or may be stored in a storage device connectable via a network, etc.

[0111] <Second embodiment> FIG. 8 is a diagram showing a first operation unit, a first icon, and a second icon displayed on a display unit included in a teaching device according to a second embodiment of the present invention.

[0112] The second embodiment will be described below, but in the following description, the differences from the first embodiment will be mainly described, and a description of similar points will be omitted.

[0113] 8, in this embodiment, first operation section 701, first operation section 702, first operation section 703, first operation section 704, first operation section 705, first operation section 706, first operation section 707, first operation section 708, first operation section 709, first operation section 710, first operation section 711, and first operation section 712 are displayed in first display area DA. In this embodiment, first operation sections 701 to 712 are configured as buttons that correspond to the sections that are pressed.

[0114] A first operation portion 701, a first operation portion 702, a first icon 504, and a second icon 505 are displayed side by side in this order from the right side.

[0115] A "+" symbol is displayed on first operation unit 701. By pressing a portion corresponding to first operation unit 701, the rotation angle of joint 171 can be changed stepwise (for example, in 5° increments) in the direction of the arrow in first icon 504.

[0116] The symbol "- " is displayed on first operation unit 702. By pressing a portion corresponding to first operation unit 702, the rotation angle of joint 171 can be changed stepwise in the direction of the arrow in second icon 505.

[0117] Below the first operation unit 701, the first operation unit 702, the first icon 504, and the second icon 505, the first operation unit 703, the first operation unit 704, the first icon 506, and the second icon 507 are displayed in this order from the right side.

[0118] A "+" symbol is displayed on first operation unit 703. By pressing a portion corresponding to first operation unit 703, the rotation angle of joint 172 can be changed stepwise in the direction of the arrow in first icon 506.

[0119] The symbol "- " is displayed in first operation unit 704. By pressing a portion corresponding to first operation unit 704, the rotation angle of joint 172 can be changed stepwise in the direction of the arrow in second icon 507.

[0120] Below the first operation unit 703, the first operation unit 704, the first icon 506, and the second icon 507, the first operation unit 705, the first operation unit 706, the first icon 508, and the second icon 509 are displayed in this order from the right side.

[0121] A "+" symbol is displayed on first operation unit 705. By pressing a portion corresponding to first operation unit 705, the rotation angle of joint 173 can be changed stepwise in the direction of the arrow in first icon 508.

[0122] The symbol "- " is displayed in first operation unit 706. By pressing a portion corresponding to first operation unit 706, the rotation angle of joint 173 can be changed stepwise in the direction of the arrow in second icon 509.

[0123] Below the first operation unit 705, the first operation unit 706, the first icon 508, and the second icon 509, the first operation unit 707, the first operation unit 708, the first icon 514, and the second icon 515 are displayed in this order from the right side.

[0124] A "+" symbol is displayed on first operation unit 707. By pressing a portion corresponding to first operation unit 707, the rotation angle of joint 174 can be changed stepwise in the direction of the arrow in first icon 514.

[0125] The symbol "- " is displayed in first operation unit 708. By pressing a portion corresponding to first operation unit 708, the rotation angle of joint 174 can be changed stepwise in the direction of the arrow in second icon 515.

[0126] Below the first operation unit 707, the first operation unit 708, the first icon 514, and the second icon 515, the first operation unit 709, the first operation unit 710, the first icon 516, and the second icon 517 are displayed in this order from the right side.

[0127] A "+" symbol is displayed on first operation unit 709. By pressing a portion corresponding to first operation unit 709, the rotation angle of joint 175 can be changed stepwise in the direction of the arrow in first icon 516.

[0128] The symbol "- " is displayed on the first operation unit 710. By pressing a portion corresponding to the first operation unit 710, the rotation angle of the joint 175 can be changed stepwise in the direction of the arrow in the second icon 517.

[0129] Below first operation unit 709, first operation unit 710, first icon 516, and second icon 517, first operation unit 711, first operation unit 712, first icon 518, and second icon 519 are displayed in this order from the right side.

[0130] A "+" symbol is displayed on first operation unit 711. By pressing a portion corresponding to first operation unit 711, the rotation angle of joint 176 can be changed stepwise in the direction of the arrow in first icon 518.

[0131] The symbol "- " is displayed in first operation unit 712. By pressing a portion corresponding to first operation unit 712, the rotation angle of joint 176 can be changed stepwise in the direction of the arrow in second icon 519.

[0132] By appropriately pressing the first operation units 701 to 712 while changing the posture of the robot arm 10 and teaching it, it is possible to teach it while rotating the joints 171 to 176 in stages.

[0133] In this way, the first operation units 701 to 712 have buttons that can change the rotation angle of each joint in stages, which makes it possible to change the posture of the robot arm 10 more accurately than in the first embodiment.

[0134] Although the teaching device, teaching method, and teaching program of the present invention have been described in the illustrated embodiments, the present invention is not limited to these. Furthermore, each configuration and step of the teaching device, teaching method, and teaching program can be replaced with any configuration and step that can achieve the same function. Furthermore, any step may be added.

[0135] The screens shown in Figures 3 and 4 may be designed for beginners, and an experienced worker may provide instruction by selecting an expert screen (e.g., Figure 5 in JP 2006-289531 A) rather than selecting the screens shown in Figures 3 and 4.

[0136] In the above embodiments, the six-axis articulated robot has been described, but the present invention can also be applied to a horizontal articulated robot, a so-called SCARA robot. In this case, the first operation unit, the first icon, and the second icon can be configured as shown in FIG. [Explanation of symbols]

[0137] 1...robot, 3...control device, 4...teaching device, 5...display unit, 10...robot arm, 10A...virtual robot, 10B...virtual robot, 10C...base arm, 10D...tip arm, 11...base, 12...arm, 13...arm, 14...arm, 15...arm, 16...arm, 17...arm, 18...relay cable, 19...force detection unit, 20...end effector, 31...drive control unit, 32...storage unit, 33...communication unit, 40...display unit, 41...display control unit, 42...operation program generation unit, 43...storage unit, 44...communication unit, 53...hand alignment button, 100...robot system 171... joint, 172... joint, 173... joint, 174... joint, 175... joint, 176... joint, 500... switching button, 501... first operation unit, 502... first operation unit, 503... first operation unit, 504... first icon, 505... second icon, 506... first icon, 507... second icon, 508... first icon, 509... second icon, 511... first operation unit, 512... first operation unit, 513... first operation unit, 514... first icon, 515... second icon, 516... first icon, 517... second icon, 518... first icon, 519... second icon, 601 ...second operation unit, 602...second operation unit, 603...second operation unit, 604...second operation unit, 605...second operation unit, 606...second operation unit, 607...hand operation unit, 608...hand operation unit, 701...first operation unit, 702...first operation unit, 703...first operation unit, 704...first operation unit, 705...first operation unit, 706...first operation unit, 707...first operation unit, 708...first operation unit, 709...first operation unit, 710...first operation unit, 711...first operation unit, 712...first operation unit, D...display screen, DA...first display area, DB...second display area, DC...third display area, D1...motor driver, D2 ...motor driver, D3...motor driver, D4...motor driver, D5...motor driver, D6...motor driver, E1...encoder, E2...encoder, E3...encoder, E4...encoder, E5...encoder, E6...encoder, J1...1st rotating axis, J2...2nd rotating axis, J3...3rd rotating axis, J4...4th rotating axis, J5...5th rotating axis, J6...6th rotating axis, M1...motor, M2...motor, M3...motor, M4...motor, M5...motor, M6...motor, TCP...tool center point, θ1...1st angle,θ2…the second angle,

Claims

1. A teaching device that generates an operation program for executing an operation of a robot having a robot arm including a first arm and a second arm rotatably connected to the first arm, a display unit that displays a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm, and a first operation unit that performs an operation to specify the third posture of the robot arm, when a first posture is defined as a state in which the angle formed by the first arm and the second arm of the robot arm is at a first angle, a second posture is defined as a state in which the angle formed by the first arm and the second arm is at a second angle different from the first angle, and a third posture is defined as a state in which the angle formed by the first arm and the second arm is at a third angle that is equal to or greater than the first angle and equal to or less than the second angle; a motion program generating unit that generates the motion program based on the third attitude specified by the first operation unit, the first operation unit has a slide bar capable of continuously changing the third angle, The first icon is arranged on one end side of the slide bar in an extending direction, and the second icon is arranged on the other end side of the slide bar in an extending direction, When the slide bar is operated from the second icon side to the first icon side, the angle between the first arm and the second arm decreases toward the first angle, A teaching device characterized in that, when the slide bar is operated from the first icon side to the second icon side, the angle formed by the first arm and the second arm increases toward the second angle.

2. The teaching device according to claim 1 , wherein the first icon and the second icon display a rotating arm of the first arm and the second arm in a distinguishable manner.

3. The teaching device according to claim 2 , wherein the first icon and the second icon display an indicator indicating a direction in which one of the first arm and the second arm that rotates moves.

4. the first angle is an angle indicating a movable limit of the robot arm or an angle within 20° of the movable limit, 4. The teaching device according to claim 1, wherein the second angle is an angle indicating the movable limit of the robot arm or an angle within 20[deg.] from the movable limit.

5. the display unit has a virtual robot display unit that displays a virtual robot, The teaching device according to claim 1 , wherein the virtual robot display unit displays the virtual robot in a posture linked to the operation of the first operation unit.

6. The teaching device according to any one of claims 1 to 5, wherein the display unit displays a second operation unit for specifying a position of a control point set on the robot arm and performing an operation to change the posture of the robot arm.

7. The teaching device according to claim 1 , wherein in the first icon and the second icon, one of the first arm and the second arm is displayed in a color different from the color of the other arm.

8. a display step of displaying a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm, and a first operation unit for performing an operation to specify the third posture of the robot arm, when an angle formed by a first arm of the robot arm and a second arm rotatably connected to the first arm is at a first angle, a second posture when the angle formed by the first arm and the second arm is at a second angle different from the first angle, and a third posture when the angle formed by the first arm and the second arm is at a third angle that satisfies the first angle or more and the second angle or less; and a motion program generating step of receiving information on the third posture specified by the first operation unit and generating a motion program for executing a motion of the robot including the robot arm based on the received information on the third posture, the first operation unit has a slide bar capable of continuously changing the third angle, In the display step, the first icon is arranged on one end side of the slide bar in an extending direction, and the second icon is arranged on the other end side of the slide bar in an extending direction. When the slide bar is operated from the second icon side to the first icon side, the angle between the first arm and the second arm decreases toward the first angle, A teaching method characterized in that, when the slide bar is operated from the first icon side to the second icon side, the angle formed by the first arm and the second arm increases toward the second angle.

9. a display step of displaying a first icon indicating the first posture of the robot arm, a second icon indicating the second posture of the robot arm, and a first operation unit for performing an operation to specify the third posture of the robot arm, when an angle formed by a first arm of the robot arm and a second arm rotatably connected to the first arm is at a first angle, a second posture when the angle formed by the first arm and the second arm is at a second angle different from the first angle, and a third posture when the angle formed by the first arm and the second arm is at a third angle that satisfies the first angle or more and the second angle or less; receiving information on the third posture specified by the first operation unit, and generating an operation program for executing an operation of the robot including the robot arm based on the received information on the third posture; the first operation unit has a slide bar capable of continuously changing the third angle, In the display step, the first icon is arranged on one end side of the slide bar in an extending direction, and the second icon is arranged on the other end side of the slide bar in an extending direction. When the slide bar is operated from the second icon side to the first icon side, the angle between the first arm and the second arm decreases toward the first angle, a teaching program, characterized in that, when the slide bar is operated from the first icon side to the second icon side, the angle formed by the first arm and the second arm increases toward the second angle.

Images