Information processing device, robot system, and teaching support method

Abstract

To provide an information processing device capable of teaching a robot without having to look up a register number in a manual. [Solution] An information processing device stores register numbers for multiple registers possessed by a robot. Each register number is associated with a different position among a predetermined number of teaching positions. An operation screen is configured to allow selection of one of the multiple teaching positions. When the information processing device receives input to select one of the multiple teaching positions, it displays a robot image indicating the selected teaching position on the operation screen. After the robot's posture is transitioned to the selected teaching position while the robot image is displayed, the information processing device, upon receiving a predetermined operation, transmits to the robot a command to register the robot's posture after the transition in the register with the register number associated with the selected teaching position.

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, a robot system, and a teaching support method. [Background technology]

[0002] Conventionally, as disclosed in Japanese Patent No. 6851535 (Patent Document 1), it has been necessary to teach a robot to learn the order of work, postures, and other movements. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6851535 Summary of the Invention [Problem to be solved by the invention]

[0004] During teaching, the robot is required to register information about each of a number of postures (positions) in a register with a predetermined register number. Therefore, when registering information about each posture in a register, the user must refer to the manual to find the register number. This makes teaching time-consuming.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide an information processing device, a robot system, and a teaching support method that enable teaching of a robot to be performed without manually looking up register numbers. [Means for solving the problem]

[0006] According to an aspect of the present disclosure, an information processing device supports teaching of a robot having multiple axes. The information processing device includes a display, display control means for displaying an operation screen for teaching on the display, communication means for communicating with the robot, and storage means for storing register numbers of multiple registers possessed by the robot. Each register number corresponds to a different teaching position from among a plurality of pre-specified teaching positions. The operation screen is configured to allow selection of one of the plurality of teaching positions. When the information processing device receives an input for selecting one of the plurality of teaching positions on the operation screen, the display control means displays a robot image indicating the selected teaching position on the operation screen. With the robot image displayed on the operation screen, after the robot's posture is transitioned to the selected teaching position based on a user operation, the information processing device, upon receiving a predetermined operation, transmits a command to the robot via the communication means to register the robot's posture after the transition in the register with the register number associated with the selected teaching position.

[0007] According to another aspect of the present disclosure, a robot system includes the information processing device described above and the collaborative robot described above.

[0008] According to yet another aspect of the present disclosure, a method for supporting teaching of a robot having multiple axes includes a step of displaying an operation screen for teaching on a display of an information processing device. The information processing device stores register numbers of multiple registers possessed by the robot, and each register number is associated with a different teaching position from among a plurality of pre-designated teaching positions. The operation screen is configured to allow selection of one of the multiple teaching positions. The teaching support method further includes a step of, when the information processing device receives an input selecting one of the multiple teaching positions on the operation screen, displaying a robot image indicating the selected teaching position on the operation screen; and, after the robot image is displayed on the operation screen and the robot's posture is transitioned to the selected teaching position based on a user operation, transmitting to the robot a command to register the robot's posture after the transition in the register with the register number associated with the selected teaching position based on the information processing device receiving a predetermined operation. [Effects of the Invention]

[0009] According to the present disclosure, teaching of a robot can be performed without manually looking up register numbers. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 illustrates a robot system. [Figure 2] FIG. 2 is a simplified diagram showing the structure of a robot main body. [Figure 3] FIG. 10 is a block diagram for further explaining the configurations of the collaborative robot and the tablet terminal. [Figure 4] FIG. 10 is a diagram for explaining a position register number. [Figure 5] 10A and 10B are diagrams illustrating the operation of the collaborative robot when picking up a workpiece from a pallet by hand. [Figure 6]10A and 10B are diagrams illustrating the operation of the collaborative robot when placing a workpiece on a pallet by hand. [Figure 7] FIG. 10 is a diagram showing an operation screen displayed on a display of a tablet terminal. [Figure 8] FIG. 10 is a diagram showing another operation screen displayed on the tablet terminal. [Figure 9] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 10] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 11] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 12] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 13] 10 is an operation screen showing a state in which a selection item is selected. [Figure 14] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 15] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 16] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 17] FIG. 10 is a diagram showing yet another operation screen displayed on the tablet terminal. [Figure 18] FIG. 10 is a flow chart for explaining the operation procedures on each operation screen and the operations of the tablet terminal and the collaborative robot. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment according to the present invention will be described with reference to the drawings. In the following description, the same parts and components are given the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated. Note that, in the following, the "position" of a robot refers to the "posture" of the robot. The position includes information on the rotation angle of each axis, which will be described later.

[0012] <A. Overview of the Robot System> FIG. 1 is a diagram showing the robot system of the present embodiment. As shown in FIG. 1, the robot system 1 includes a collaborative robot 2 and a tablet terminal (information processing device) 3.

[0013] The collaborative robot 2 is, in this example, a push-type robot cart. The collaborative robot 2 includes a cart unit 21 and a robot main body unit 22. The cart unit 21 includes a top surface portion 211, a gripping portion 212, a plurality of position fixing members 213, and traveling wheels (not shown). The gripping portion 212 is a portion that the user grips when moving the collaborative robot 2 to another place or the like. Each position fixing member 213 is a member that restricts the movement of the cart unit 21.

[0014] The tablet terminal 3 communicates with the collaborative robot 2. The tablet terminal 3 includes a touch screen 33. The tablet terminal 3 is operated by a user (operator) 900 who performs teaching on the collaborative robot 2. In this example, online teaching and direct teaching using the tablet terminal 3 are assumed, but the teaching method is not limited to this.

[0015] FIG. 2 is a diagram showing a simplified structure of the robot main body unit 22. As shown in FIGS. 1 and 2, the collaborative robot 2 (specifically, the robot main body unit 22) is, in this example, a 6-axis articulated robot. Specifically, the collaborative robot 2 is a 6-degree-of-freedom vertical articulated robot.

[0016] The robot main body unit 22 includes an end effector 290 as a tool. The end effector 290 is, in this example, a gripper. Specifically, the end effector 290 has a hand. In this example, the opening and closing of the hand are performed by a motor. However, it is not limited to this, and the opening and closing of the hand may be performed by air pressure. Note that the end effector 290 may use a pneumatic or magnetic suction head instead of the hand.

[0017] The end effector 290 has two hands 291 and 292. The hands 291 and 292 face in different directions. Note that, hereinafter, the hand 291 will also be referred to as "hand #1" and the hand 292 will also be referred to as "hand #2."

[0018] The robot main body 22 is installed on the top surface 211. The robot main body 22 includes a first axis (joint) 231, a second axis (joint) 232, a third axis (joint) 233, a fourth axis (joint) 234, and a fifth axis (joint) 235. Furthermore, the robot main body 22 includes two hands 291 and 292. R Therefore, a first sixth axis (joint) 236a and a second sixth axis (joint) 236b are further provided.

[0019] The robot main body 22 further includes links 220 to 225, 226a, and 226b. Each link is a part of an arm. The link 220 is located below the first shaft 231. The link 220 is connected to the carriage 21 and the first shaft 231. The link 221 is connected to the first shaft 231 and the second shaft 232.

[0020] Similarly, link 222 is connected to second shaft 232 and third shaft 233. Link 223 is connected to third shaft 233 and fourth shaft 234. Link 224 is connected to fourth shaft 234 and fifth shaft 235. Link 225 is connected to fifth shaft 235 and sixth shafts 236a and 236b.

[0021] Links 226a and 226b are links within the end effector 290. Link 226a is connected to the first sixth shaft 236a and the hand 291. Link 226b is connected to the second sixth shaft 236b and the hand 292.

[0022] The robot main body 22 is provided with a motor (see FIG. 3) for driving each of the seven first to sixth axes 231 to 236b. Each axis (joint) moves when the motor is driven. In this example, servo motors are used as the motors. In this way, the collaborative robot 2 (more specifically, the robot main body 22) has multiple axes (the first to sixth axes) driven by different motors.

[0023] FIG. 3 is a block diagram for further explaining the configuration of the collaborative robot 2 and the tablet terminal 3. As shown in FIG. 3, the collaborative robot 2 includes seven motors 271, 272, 273, 274, 275, 276a, and 276b and seven drive units 281, 282, 283, 284, 285, 286a, and 286b in addition to the seven first to sixth axes 231 to 235, 236a, and 236b described above. Note that the motors 273, 274, 275, and 276a and the drive units 283, 284, 285, and 286a are not shown in FIG. 3. The collaborative robot 2 includes a control unit 251, a storage unit 252, a ROM (Read Only Memory) 253, a RAM (Random Access Memory) 254, and a communication unit 255. and Prepare further.

[0024] The control unit 251 includes a register group 2510. The register group 2510 includes a plurality of registers. Each register is assigned a number (hereinafter also referred to as a "register number"). Data is stored in each register. Some of the plurality of registers store data used for teaching the collaborative robot 2. For ease of explanation, the register numbers of such registers are also referred to as "position register numbers."

[0025] The storage unit 252 stores a control program 2521. The communication unit 255 includes a communication IF (Interface) 2551 and an antenna 2552.

[0026] The control unit 251 controls the overall operation of the collaborative robot 2. The control unit 251 is a functional block that is realized by the processor executing various programs such as a control program 2521.

[0027] The driving device 281 drives the motor 271 based on a command from the control unit 251. The first axis 231 is driven by the driving of the motor 271. Similarly, the driving devices 282 to 286b drive the motors 272 to 276b, respectively. The second to sixth axes 231 to 236b are driven by the driving of the motors 272 to 276b.

[0029] The communication unit 255 executes communication with the tablet terminal 3. The communication IF 2551 transmits radio waves via the antenna 2552. The communication IF 2551 sends the radio waves received by the antenna 2552 to the control unit 251.

[0030] The collaborative robot 2 further includes a plurality of sensors (not shown) that detect the value of the current flowing through each of the motors 271 to 276b.

[0031] In addition to the touch screen 33 described above, the tablet terminal 3 includes a control unit 31, a storage unit 32, and a communication unit 34. The control unit 31 includes a display control unit 311. The communication unit 34 includes a communication IF 341 and an antenna 342. The touch screen 33 includes a display 331 and a touch panel 332.

[0032] The control unit 31 controls the overall operation of the tablet terminal 3. The control unit 31 is a functional block realized by the processor executing various programs stored in the storage unit 32, etc. An input is notified to the control unit 31 by a touch operation by the user 900 on the touch panel 332. The display control unit 311 controls the display on the display 331.

[0033] The memory unit 32 stores the position register numbers of the plurality of registers that the collaborative robot 2 has. Each register number is associated with a different teaching position among the plurality of pre-specified teaching positions.

[0034] The communication unit 34 executes communication with the collaborative robot 2. The communication IF 341 transmits radio waves via the antenna 342. The communication IF 341 sends the radio waves received by the antenna 342 to the control unit 31.

[0035] <B. Position register number> FIG. 4 is a diagram for explaining the position register number. As shown in FIG. 4, each position register number is associated with a name, the necessity of teaching, a tool coordinate number, a user coordinate number, and remarks.

[0036] The "reference position of hand #1" of the position register number #1 represents the position where the work is picked up from pallet #1 whose identification information of the pallet is "#1" using hand #1 and the position where the work is placed on pallet #1 using hand #1. The "approach amount #1" of the position register number #2 is the amount for specifying the approach start position by hand #1 in the state where the work is not being gripped. Specifically, the "approach amount #1" indicates the separation distance from the reference position of hand #1. The "approach amount #2" of the position register number #7 is the amount for specifying the approach start position by hand #2 in the state where the work is being gripped. Specifically, the "approach amount #2" indicates the separation distance from the reference position of hand #1.

[0037] The "via position" of the position register number #3 is a position in the middle from the start position to the approach start position. The "start position" of the position register number #5 is the position where the collaborative robot 2 starts or ends its operation. The "reference position of hand #2" of the position register number #6 represents the position where the work is picked up from the pallet using hand #2 and the position where the work is placed on the pallet using hand #2.

[0038] The "start position," "way point," "approach amount #1," and "approach amount #2" are the same when using hand #1 and when using hand #2.

[0039] Teaching is required for the "reference position of hand #1," "intermediate position," "start position," and "reference position of hand #2." The user inputs values ​​for "approach amount #1" and "approach amount #2" on the operation screen described later.

[0040] It should be noted that tool coordinate #1 is the center position of the contact surface of hand #1 with the workpiece when hand #1 grips the workpiece. Tool coordinate #2 is the center position of the contact surface of hand #2 with the workpiece when hand #2 grips the workpiece. If no contact surface exists, tool coordinates #1 and #2 are virtual center positions. Tool coordinates are assigned separately for each hand so that approach amount #2 when gripping a workpiece can be determined by the user or automatically by the tablet terminal 3 or collaborative robot 2 based on approach amount #1.

[0041] Fig. 5 is a diagram for explaining the operation of the collaborative robot 2 when hand #1 picks up a workpiece from pallet #1. Referring to Fig. 5, when hand #1 picks up a workpiece from pallet #1, the collaborative robot 2 typically changes its position in the order of "start position," "intermediate position," "approach position #1 of hand #1," "reference position of hand #1," "approach position #2 of hand #1," "intermediate position," and "start position."

[0042] As explained based on Figure 4, information on the "start position" is stored in the register with position register number #5. Information on the "intermediate position" is stored in the register with position register number #3. Information on the "reference position of hand #1" is stored in the register with position register number #1. "Approach position #1 of hand #1" is determined by the reference position of hand #1 and approach amount #1 stored in the register with position register number #2. "Approach position #2 of hand #1" is determined by the reference position of hand #1 and approach amount #2 stored in the register with position register number #7.

[0043] Therefore, when hand #1 picks up a workpiece from pallet #1, collaborative robot 2 first calculates the amount of rotation of each axis of collaborative robot 2 by referring to the register data (position data) of position register #5 and the register data of position register #3, and transitions from the start position to the intermediate position.

[0044] Next, the collaborative robot 2 transitions from the intermediate position to the approach position #1 of the hand #1 by further referring to the register data of the position register #1 and the register data of the position register #2. Thereafter, the collaborative robot 2 transitions from the approach position #1 of the hand #1 to the reference position of the hand #1 by referring to the register data of the position register #1. The collaborative robot 2 closes the hand #1 at the reference position of the hand #1 to grasp the workpiece on the pallet #1.

[0045] Next, the collaborative robot 2 transitions from the reference position of hand #1 to approach position #2 of hand #1 by further referring to the data in the register of position register #1 and the data in the register of position register #7. After that, the collaborative robot 2 transitions from approach position #2 of hand #1 to the intermediate position by referring to the data in the register of position register #3. Finally, the collaborative robot 2 transitions from the intermediate position to the start position by referring to the data in the register of position register #5. Through this series of processes, the collaborative robot 2 grasps the workpiece on pallet #1 and transports the workpiece from pallet #1 to the start position.

[0046] Fig. 6 is a diagram for explaining the operation of the collaborative robot 2 when placing a workpiece on pallet #1 with hand #1. As shown in Fig. 6, when placing a workpiece on pallet #1 with hand #1, the collaborative robot 2 typically changes its position in the order of "start position," "intermediate position," "approach position #2 of hand #1," "reference position of hand #1," "approach position #1 of hand #1," "intermediate position," and "start position."

[0047] In this way, compared to when hand #1 picks up a workpiece from pallet #1, the order of "hand #1 approach position #1" and "hand #1 approach position #2" is swapped.

[0048] Therefore, when placing a workpiece on pallet #1 with hand #1, collaborative robot 2 first calculates the amount of rotation of each axis of collaborative robot 2 by referring to the register data of position register #5 and the register data of position register #3, and transitions from the start position to the intermediate position.

[0049] Next, the collaborative robot 2 transitions from the intermediate position to the approach position #2 of hand #1 by further referring to the data in the register of position register #1 and the data in the register of position register #7. Thereafter, the collaborative robot 2 transitions from the approach position #2 of hand #1 to the reference position of hand #1 by referring to the data in the register of position register #1. The collaborative robot 2 places the workpiece on pallet #1 by opening hand #1 at the reference position of hand #1.

[0050] Next, the collaborative robot 2 further refers to the register data of position register #1 and the register data of position register #2, thereby transitioning from the reference position of hand #1 to approach position #1 of hand #1. Thereafter, the collaborative robot 2 refers to the register data of position register #3, thereby transitioning from the reference position of hand #1 to approach position #1 of hand #1. 1 The collaborative robot 2 transitions from the intermediate position to the start position by referring to the data in position register #5. Finally, the collaborative robot 2 transitions from the intermediate position to the start position. Through this series of processes, the collaborative robot 2 places the workpiece on pallet #1 and then returns to the start position.

[0051] It is also possible to treat "approach position #1 of hand #1" and "approach position #2 of hand #1" as one position without distinguishing between them. In this case, the change in position of the collaborative robot 2 when hand #1 picks up a workpiece from pallet #1 will match the change in position of the collaborative robot 2 when hand #1 places a workpiece on pallet #1.

[0052] (Other position register number for pallet) Next, we will explain the position register numbers not shown in Figure 4. For pallet #2, whose pallet identification information is "#2", position register numbers #11 to #17 are used instead of position register numbers #1 to #7. For example, position register number #11 ofThe "reference position of hand #1" indicates the position where the workpiece is picked up from pallet #2 and the position where the workpiece is placed on pallet #2. Similarly, for pallet #3, whose pallet identification information is "#3", position register numbers #21 to #27 are used instead of position register numbers #1 to #7. For example, position register number #21 of The "reference position of hand #1" represents the position where the workpiece is picked up from pallet #3 and the position where the workpiece is placed on pallet #3.

[0053] Pallet #1 is a pallet on which workpieces are arranged, for example, in a grid pattern. Pallet #2 is a pallet on which workpieces are arranged, for example, in a staggered pattern. Since the arrangement of workpieces differs for each pallet, a position register number is assigned to each pallet as described above.

[0054] (machine position register number) Above, the position register numbers related to the pallet were explained. Below, the position register numbers related to the processing machine will be explained. An example will be explained in which a workpiece is transported to the processing machine. In this example, the processing machine has two spindles. In detail, when the user 900 is facing the processing machine, the processing machine is located on the left side. left It has a main shaft and a right main shaft located on the right side.

[0055] Position register number #101 is associated with the "position in front of the processing machine." The position in front of the processing machine is the origin position when the collaborative robot 2 extends its arm toward the door separating the inside and outside of the processing chamber of the processing machine. Specifically, the position in front of the processing machine is the position when the first axis 231 is rotated so that the arm of the collaborative robot 2 does not hit the processing machine. More specifically, the position in front of the processing machine is the position where the collaborative robot 2 can go without interfering with the standby position in front of the door, which will be described later. The position in front of the processing machine corresponds to the "start position" described above for the pallet.

[0056] The "waiting position in front of the door of the processing machine" is associated with the position register number #102. The waiting position in front of the door of the processing machine is a position where it will not hit even if the door of the processing machine is closed. The waiting position in front of the door of the processing machine is a position where the arm of the collaborative robot 2 can immediately enter the processing machine. The waiting position in front of the door of the processing machine is a passing position when the door is closed.

[0057] The "entry position of the left spindle (hand #1)" is associated with the position register number #103. The entry position of the left spindle (hand #1) is a passing position when attaching the workpiece to the left spindle of the processing machine with hand #1. The entry position of the left spindle (hand #1) is a passing position when the door of the processing machine is open.

[0058] The "clamping position of the left spindle (hand #1)" is associated with the position register number #105. The clamping position of the left spindle (hand #1) is the position of the collaborative robot 2 when the left spindle of the processing machine and hand #1 are gripping the workpiece together.

[0059] Teaching is also required for the "position in front of the processing machine", the "waiting position in front of the door of the processing machine", the "entry position of the left spindle (hand #1)", and the "clamping position of the left spindle (hand #1)".

[0060] Note that each position register number related to the pallet and the processing machine described above is an example, and there are position register numbers other than these.

[0061] <C. Teaching operation> As described above, for the pallet, teaching is required for the "reference position of hand #1", the "passing position", the "start position", and the "reference position of hand #2". For the processing machine, teaching is required for the "position in front of the processing machine", the "waiting position in front of the door of the processing machine", the "entry position of the left spindle (hand #1)", and the "clamping position of the left spindle (hand #1)". Therefore, below, the operation screen when performing teaching for the pallet and the operation screen when performing teaching for the processing machine will be described.

[0062] (c1. Palette related) Fig. 7 is a diagram showing an operation screen G1 displayed on the display 331 of the tablet terminal 3. As shown in Fig. 7, the operation screen G1 includes display areas 501, 502 for displaying images, an input field 503 for inputting identification information (number) of a palette, and a selection field 504 for selecting a palette name.

[0063] The operation screen G1 further includes a selection field 505 for selecting the hand that will pick up the workpiece from hand #1 and hand #2, and a selection field 506 for selecting the hand that will place the workpiece from hand #1 and hand #2. Note that "H1" represents hand #1, and "H2" represents hand #2.

[0064] The operation screen G1 further includes an input field 507 for setting the approach amount [mm] when no workpiece is being gripped, an input field 508 for setting the approach amount [mm] when a workpiece is being gripped, and a button 509 for saving the settings input using the operation screen G1.

[0065] The operation screen G1 is configured to allow selection of one of a plurality of teaching positions. Specifically, in this example, in order to allow selection of one of a plurality of teaching positions, the operation screen G1 further includes a plurality of selection items 510, 520, and 530. One selection item is selected from the three selection items 510 to 530 by a touch operation or the like by the user 900. The selection item 510 is an item for setting the reference position of the hand #1. The selection item 520 is an item for setting the intermediate position. The selection item 530 is an item for setting the start position.

[0066] When the user 900 selects the selection item 510, the tablet terminal 3 transitions the screen displayed on the display 331 from the operation screen G1 to the operation screen G2. Specifically, when the tablet terminal 3 receives an input to select the "reference position of hand #1" from multiple teaching positions on the operation screen G1, the display control unit 311 transitions the screen from the operation screen G1 to the operation screen G2.

[0067] It should be noted that operation screens G2, G4, and G6, which will be described later, show a state in which a selection item has been selected, but other teaching positions can also be selected on the operation screens G2, G4, and G6.

[0068] Fig. 8 is a diagram showing an operation screen G2 displayed on the tablet terminal 3. As shown in Fig. 8, the tablet terminal 3 changes the display mode of the selection items 510 so that the user 900 can see that the top selection item 510 has been selected.

[0069] Selection item 510 includes a position register number 511 of the teaching position, a character string 512 indicating the name of the teaching position, and a button 513 associated with the teaching position. Specifically, position register number 511 is "#1" and character string 512 is "reference position of hand #1."

[0070] Furthermore, the display control unit 311 displays robot images 581 and 582 indicating the selected teaching position (specifically, the "reference position of hand #1") in the display areas 501 and 502 of the operation screen G2, respectively. In this example, the robot image 581 is an image showing the periphery of the end effector 290. The robot image 582 is an image showing the entire robot main body 22 of the collaborative robot 2.

[0071] With the robot images 581 and 582 displayed on the operation screen G2, the user 900 transitions the position of the collaborative robot 2 to the reference position of the hand #1 based on a user operation. This transition is performed by manual operation using a jog dial or the like, or by directly moving the collaborative robot 2 with the hand. The operation screen for the jog dial is prepared separately.

[0072] Since the robot images 581 and 582 are displayed on the operation screen G2, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 581 and 582 with reference to the robot images 581 and 582.

[0073] After the collaborative robot 2 has been transitioned to the reference position of the hand #1, the user 900 selects the button 513. When the button 513 is selected, the display control unit 311 transitions the screen from the operation screen G2 to the operation screen G3.

[0074] Fig. 9 is a diagram showing an operation screen G3 displayed on the tablet terminal 3. As shown in Fig. 9, the operation screen G3 has a screen configuration in which an image object 540 is superimposed on the operation screen G2. The image object 540 includes a button 541 and a button 542.

[0075] When the user 900 selects the button 541, the tablet terminal 3 transmits a command to the collaborative robot 2 via the communication unit 34 to register the position after the transition in the register with the position register number #1 associated with the reference position of the hand #1. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G3 to the operation screen G2 (FIG. 8).

[0076] In this case, the collaborative robot 2 registers the position set based on the operation screen G2 as the reference position of the hand #1. Specifically, the control unit 251 of the collaborative robot 2 stores information on the position set based on the operation screen G2 in the register with position register number #1 in the register group 2510.

[0077] When the user 900 selects the button 542, the screen is switched from the operation screen G3 to the operation screen G2 (FIG. 8) without transmitting the above command.

[0078] Fig. 10 is a diagram showing operation screen G4 displayed on tablet terminal 3. As shown in Fig. 10, operation screen G4 is a screen showing a state in which selection item 520 is selected instead of selection item 510. Operation screen G4 is a screen displayed after transition from operation screen G2. In this case, tablet terminal 3 changes the display mode of selection item 520 so that user 900 can see that selection item 520 has been selected.

[0079] Selection item 520 includes position register number 521 of the teaching position, character string 522 indicating the name of the teaching position, and button 523 associated with the teaching position. Specifically, position register number 521 is "#3" and character string 522 is "passing position."

[0080] Furthermore, the display control unit 311 displays robot images 583 and 584 indicating the selected teaching position (specifically, the "way position") in the display areas 501 and 502, respectively. In this example, the robot image 583 is an image showing the periphery of the end effector 290. The robot image 584 is an image showing the entire robot main body 22 of the collaborative robot 2.

[0081] With the robot images 583 and 584 displayed on the operation screen G4, the user 900 transitions the robot's position to a transit position based on the user's operation. The transition is performed by manual operation using a jog dial or the like, or by directly moving the collaborative robot 2 with one's hand.

[0082] Since the robot images 583 and 584 are displayed on the operation screen G4, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 583 and 584 with reference to the robot images 583 and 584.

[0083] After the collaborative robot 2 has been transitioned to the intermediate position, the user 900 selects the button 523. When the button 523 is selected, the display control unit 311 transitions the screen from the operation screen G4 to an operation screen (not shown) in which the image object 540 shown in Fig. 9 is superimposed on the operation screen G4. The position register number of the image object 540 on this operation screen (hereinafter also referred to as "operation screen G5") is #3, not #1.

[0084] When the user 900 selects the button 541 on the operation screen G5, the tablet terminal 3 receives, via the communication unit 34, the position register number # 3 The display control unit 311 transmits a command to the collaborative robot 2 to register the position after the transition in the register. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G5 to the operation screen G4 (FIG. 10).

[0085] In this case, the collaborative robot 2 registers the position set based on the operation screen G4 as a transit position. Specifically, the control unit 251 of the collaborative robot 2 stores information on the position set based on the operation screen G4 in the register with position register number #3 in the register group 2510.

[0086] When the user 900 selects the button 542, the screen is switched from the operation screen G5 to the operation screen G4 without transmitting the command.

[0087] FIG. 11 is a diagram showing operation screen G6 displayed on tablet terminal 3. As shown in FIG. 11, operation screen G6 is a screen showing a state in which selection item 530 is selected. Operation screen G6 is a screen displayed after transition from operation screen G4. In this case, tablet terminal 3 changes the display mode of selection item 530 so that user 900 knows that selection item 530 has been selected.

[0088] Selection item 530 includes a position register number 531 of the teaching position, a character string 532 indicating the name of the teaching position, and a button 533 associated with the teaching position. Specifically, position register number 531 is "#5" and character string 532 is "start position."

[0089] Furthermore, the display control unit 311 displays robot images 585 and 586 indicating the selected teaching position (specifically, the "start position") in the display areas 501 and 502, respectively. In this example, the robot image 585 is an image showing the periphery of the end effector 290. The robot image 586 is an image showing the entire robot main body 22 of the collaborative robot 2.

[0090] With the robot images 585 and 586 displayed on the operation screen G6, the user 900 moves the robot to its starting position based on a user operation. This movement is performed manually using a jog dial or the like, or by directly moving the collaborative robot 2 with one's hand.

[0091] Since the robot images 585 and 586 are displayed on the operation screen G6, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 585 and 586, referring to the robot images 585 and 586.

[0092] After the collaborative robot 2 has been moved to the start position, the user 900 selects the button 533. When the button 533 is selected, the display control unit 311 transitions the screen from the operation screen G6 to an operation screen (not shown) in which the image object 540 shown in Fig. 9 is superimposed on the operation screen G6. The position register number of the image object 540 on this operation screen (hereinafter also referred to as "operation screen G7") is #5, not #1.

[0093] When the user 900 selects the button 541 on the operation screen G7, the tablet terminal 3 sends the following message via the communication unit 34: startA command to register the position after the transition in the register with position register number #5 associated with the position is transmitted to the collaborative robot 2. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G7 to the operation screen G6 (FIG. 11). When the user 900 selects the button 542, the screen is switched from the operation screen G7 to the operation screen G6 without transmitting the command.

[0094] In this case, the collaborative robot 2 registers the position set based on the operation screen G6 as the start position. Specifically, the control unit 251 of the collaborative robot 2 stores information on the position set based on the operation screen G6 in the register with position register number #5 in the register group 2510.

[0095] When hand #2 is selected in selection fields 505 and 506, a selection item showing the reference position of hand #2 is displayed in the same manner as selection items 510 to 530.

[0096] By a series of operations using the above operation screens G1 to G7, teaching for the "reference position of hand #1", the "intermediate position", the "start position", and the "reference position of hand #2" is completed.

[0097] (c2. Processing machine related) In the following description, a processing machine having two main spindles (a left main spindle and a right main spindle) will be taken as an example.

[0098] Fig. 12 is a diagram showing an operation screen G11 displayed on the display 331 of the tablet terminal 3. As shown in Fig. 12, the operation screen G11 includes display areas 601, 602 for displaying images, a selection field 603 for selecting identification information (machine number name) of the processing machine, and an input field 604 for inputting the IP address of the processing machine.

[0099] The operation screen G11 further includes a selection field 605 for selecting the hand that will load (pick) the workpiece from hand #1 and hand #2, and a selection field 606 for selecting the hand that will unload (place) the workpiece from hand #1 and hand #2. 1 further includes a selection field 607 for selecting the left spindle or the right spindle as the spindle for loading a workpiece, and a selection field 608 for selecting the left spindle or the right spindle as the spindle for unloading a workpiece. Note that "L.SP" in the drawing indicates the left spindle.

[0100] Operation screen G1 1 The operation screen G1 further includes an input field 609 for setting the approach amount [mm] for the left spindle when the collaborative robot 2 is not gripping a workpiece, and an input field 610 for setting the approach amount [mm] for the left spindle when the collaborative robot 2 is gripping a workpiece. 1 further includes an input field 611 for setting the approach amount [mm] for the right spindle when the collaborative robot 2 is not holding a workpiece, and an input field 612 for setting the approach amount [mm] for the right spindle when the collaborative robot 2 is holding a workpiece.

[0101] Operation screen G1 1 is the operation screen G1 1 The operation screen G1 further includes a button 613 for saving the settings input using the 1 is configured to be able to select one of a plurality of teaching positions. Specifically, in this example, in order to be able to select one of a plurality of teaching positions, the operation screen G1 1 further includes a plurality of selection items 620, 630, 640, and 650 (FIGS. 13 to 1 7 (See FIG. 10.) User 900 selects one of four selection items 620 to 650 by touch operation or the like.

[0102] It should be noted that operation screens G14, G16, and G18, which will be described later, show a state in which a selection item has been selected, but even on the operation screens G14, G16, and G18, other teaching positions can be selected.

[0103] 13 is an operation screen G12 showing a state in which the selection item 620 is selected. As shown in Fig. 13, the tablet terminal 3 changes the display mode of the selection item 620 so that the user 900 can see that the top selection item 620 has been selected.

[0104] Selection item 620 includes a position register number 621 of the teaching position, a character string 622 indicating the name of the teaching position, and a button 623 associated with the teaching position. Specifically, position register number 621 is "#101," and character string 622 is "Front position of processing machine."

[0105] Furthermore, the display control unit 311 displays robot images 681 and 682 indicating the selected teaching position (specifically, the "front position of the processing machine") in the display areas 601 and 602 of the operation screen G12, respectively. In this example, the robot image 681 is an image of the collaborative robot 2 viewed from diagonally behind. The robot image 682 is an image of the collaborative robot 2 viewed from the side.

[0106] With the robot images 681 and 682 displayed on the operation screen G12, the user 900 moves the position of the robot to a position in front of the processing machine based on a user operation. This movement is performed by manual operation using a jog dial or the like, or by directly moving the collaborative robot 2 by hand.

[0107] Since the robot images 681 and 682 are displayed on the operation screen G12, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 681 and 682 with reference to the robot images 681 and 682.

[0108] After the collaborative robot 2 has been moved to a position in front of the processing machine, the user 900 selects the button 623. When the button 623 is selected, the display control unit 311 transitions the screen from the operation screen G12 to the operation screen G13.

[0109] Fig. 14 is a diagram showing an operation screen G13 displayed on the tablet terminal 3. As shown in Fig. 14, the operation screen G13 has a screen configuration in which an image object 660 is superimposed on the operation screen G12. The image object 660 includes a button 661 and a button 662.

[0110] When the user 900 selects the button 661, the tablet terminal 3 transmits to the collaborative robot 2, via the communication unit 34, a command to register the position after the transition in the register with the position register number #101 associated with the previous position of the processing machine. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G13 to the operation screen G12 (FIG. 13).

[0111] In this case, the collaborative robot 2 registers the position set based on the operation screen G12 as the front position of the processing machine. Specifically, the control unit 251 of the collaborative robot 2 stores information on the position set based on the operation screen G12 in the register with position register number #101 in the register group 2510.

[0112] When the user 900 selects the button 662, the command is not transmitted and the screen changes from the operation screen G13 to the operation screen G12 (see FIG. 13 ) can be switched to.

[0113] FIG. 15 is a diagram showing an operation screen G14 displayed on the tablet terminal 3. As shown in FIG. 15, the operation screen G14 is a screen showing a state in which the selection item 630 is selected instead of the selection item 620. The operation screen G14 is a screen displayed after transition from the operation screen G12. In this case, the tablet terminal 3 , selection The display mode of the selection item 630 is changed so that the user 900 can see that the selection item 630 has been selected.

[0114] Selection item 630 includes a position register number 631 of the teaching position, a character string 632 indicating the name of the teaching position, and a button 633 associated with the teaching position. Specifically, position register number 631 is "#102," and character string 632 is "standby position in front of the door of the processing machine."

[0115] Furthermore, the display control unit 311 displays robot images 683 and 684 indicating the selected teaching position (specifically, the "waiting position in front of the door of the processing machine") in the display areas 601 and 602, respectively. In this example, the robot image 683 is an image of the collaborative robot 2 viewed from diagonally behind. The robot image 684 is an image of the collaborative robot 2 viewed from the side.

[0116] With the robot images 683 and 684 displayed on the operation screen G14, the user 900 transitions the position of the robot to a standby position in front of the door of the processing machine based on a user operation. This transition is performed by manual operation using a jog dial or the like, or by directly moving the collaborative robot 2 by hand.

[0117] Since the robot images 683, 684 are displayed on the operation screen G14, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 683, 684, referring to the robot images 683, 684.

[0118] After the collaborative robot 2 has been transitioned to a standby position in front of the door of the processing machine, the user 900 selects the button 633. When the button 633 is selected, the display control unit 311 transitions the screen from the operation screen G14 to an operation screen (not shown) in which the image object 660 shown in Fig. 14 is superimposed on the operation screen G14. In the image object 660 on this operation screen (hereinafter also referred to as "operation screen G15"), the position register number is #102 instead of #101.

[0119] When the user 900 selects the button 661 on the operation screen G15, the tablet terminal 3 transmits to the collaborative robot 2, via the communication unit 34, a command to register the position after the transition in the register with the position register number #102 associated with the waiting position in front of the door of the processing machine. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G15 to the operation screen G14 ( FIG. 15 ). When the user 900 selects the button 662, the command is not transmitted and the screen is switched from the operation screen G15 to the operation screen G14.

[0120] In this case, the collaborative robot 2 registers the position set based on the operation screen G14 as a standby position in front of the door of the processing machine. Specifically, the control unit 251 of the collaborative robot 2 stores information about the position set based on the operation screen G14 in the register with position register number #102 in the register group 2510.

[0121] 16 is a diagram showing an operation screen G16 displayed on the tablet terminal 3. As shown in FIG. 16, the operation screen G16 is a screen showing a state in which the selection item 640 is selected. The operation screen G16 is a screen displayed after transition from the operation screen G14. In this case, the tablet terminal 3 changes the display mode of the selection item 640 so that the user 900 can see that the selection item 640 has been selected.

[0122] Selection item 640 includes a position register number 641 of the teaching position, a character string 642 indicating the name of the teaching position, and a button 643 associated with the teaching position. Specifically, position register number 641 is "#103," and character string 642 is "Left spindle entry position (hand #1)."

[0123] Furthermore, the display control unit 311 displays the selected teaching position (specifically, "Left spindle entry position (hand #1) 」) are displayed in the display areas 601 and 602, respectively. In this example, the robot image 685 is an image of the collaborative robot 2 viewed from behind. The robot image 686 is an image of the collaborative robot 2 viewed from diagonally above to the right.

[0124] With the robot images 685 and 686 displayed on the operation screen G16, the user 900 transitions the position of the robot to the left spindle's entry position (hand #1) based on a user operation. This transition is performed by manual operation using a jog dial or the like, or by directly moving the collaborative robot 2 with one's hand.

[0125] Since the robot images 685, 686 are displayed on the operation screen G16, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 685, 686 with reference to the robot images 685, 686.

[0126] After the collaborative robot 2 has been transitioned to the entry position (hand #1) of the left spindle, the user 900 selects the button 643. When the button 643 is selected, the display control unit 311 transitions the screen from the operation screen G16 to an operation screen (not shown) in which the image object 660 shown in Fig. 14 is superimposed on the operation screen G16. The position register number of the image object 660 on this operation screen (hereinafter also referred to as "operation screen G17") is #103.

[0127] When the user 900 selects the button 661 on the operation screen G17, the tablet terminal 3 transmits to the collaborative robot 2, via the communication unit 34, a command to register the position after the transition in the register with the position register number #103 associated with the entry position (hand #1) of the left spindle. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G17 to the operation screen G16 (FIG. 16).

[0128] In this case, the collaborative robot 2 registers the position set based on the operation screen G16 as the entry position (hand #1) of the left spindle. Specifically, the control unit 251 of the collaborative robot 2 stores information about the position set based on the operation screen G16 in the register with position register number #103 in the register group 2510.

[0129] When the user 900 selects the button 662, the screen is switched from the operation screen G17 to the operation screen G16 without transmitting the above command.

[0130] 17 is a diagram showing an operation screen G18 displayed on the tablet terminal 3. As shown in FIG. 17, the operation screen G18 is a screen showing a state in which the selection item 650 is selected. The operation screen G18 is a screen displayed after transition from the operation screen G16. In this case, the tablet terminal 3 changes the display mode of the selection item 650 so that the user 900 can see that the selection item 650 has been selected.

[0131] Selection item 650 includes a position register number 651 of the teaching position, a character string 652 indicating the name of the teaching position, and a button 653 associated with the teaching position. Specifically, position register number 651 is "#105," and character string 652 is "Left spindle clamp position (hand #1)."

[0132] Furthermore, the display control unit 311 displays the selected teaching position (specifically, "Clamp position of left spindle (hand #1)") 」 ) are displayed in the display areas 601 and 602, respectively. In this example, the robot image 687 is an image of the end effector 290 of the collaborative robot 2 seen from the side. The robot image 688 is an image of the collaborative robot 2 seen from behind. In the display area 601, an image 6871 of the end effector 290, an image 6872 of the workpiece, and an image 6873 of the left spindle are displayed.

[0133] With the robot images 687 and 688 displayed on the operation screen G18, the user 900 transitions the position of the robot to the clamp position (hand #1) of the left spindle based on a user operation. This transition is performed by manual operation using a jog dial or the like, or by directly moving the collaborative robot 2 with one's hand.

[0134] Since the robot images 687, 688 are displayed on the operation screen G18, the user 900 can simply move the position of the collaborative robot 2 to the position indicated by the robot images 687, 688 with reference to the robot images 687, 688.

[0135] After the collaborative robot 2 has been transitioned to the clamp position (hand #1) of the left spindle, the user 900 selects the button 653. When the button 653 is selected, the display control unit 311 transitions the screen from the operation screen G18 to an operation screen (not shown) in which the image object 660 shown in Fig. 14 is superimposed on the operation screen G18. The position register number of the image object 660 on this operation screen (hereinafter also referred to as "operation screen G19") is #105.

[0136] When the user 900 selects the button 661 on the operation screen G19, the tablet terminal 3 transmits to the collaborative robot 2, via the communication unit 34, a command to register the position after the transition in the register with position register number #105 associated with the clamp position (hand #1) of the left spindle. When the command is transmitted, the display control unit 311 switches the screen from the operation screen G19 to the operation screen G18 (FIG. 17).

[0137] In this case, the collaborative robot 2 registers the position set based on the operation screen G18 as the clamp position (hand #1) of the left spindle. Specifically, the control unit 251 of the collaborative robot 2 stores information about the position set based on the operation screen G18 in the register with position register number #105 in the register group 2510.

[0138] When the user 900 selects the button 662, the screen is switched from the operation screen G19 to the operation screen G18 without transmitting the above command.

[0139] (c3. Processing flow) FIG. 18 is a flow diagram for explaining the operation procedures on each of the operation screens G11 to G19, the operation of the tablet terminal 3, and the operation of the collaborative robot 2.

[0140] 18, the user 900 selects one of a plurality of teaching positions (step S1). Specifically, the user 900 selects one of a plurality of selection items. For example, with respect to the pallet, the user 900 selects one of a plurality of selection items 510, 520, and 530. With respect to the processing machine, the user 900 selects one of a plurality of selection items 620, 630, 640, and 650.

[0141] When a selection item is selected, the position register number is specified on the tablet terminal 3 (step S2). The tablet terminal 3 displays a robot image indicating the selected teaching position. operation The user 900 then uses the jog dial or his / her hands to move the collaborative robot 2 so that the collaborative robot 2 is positioned at the selected teaching position (step S4). When an operation using the jog dial is performed, the collaborative robot 2 moves its position based on the operation (step S101).

[0142] After that, the user 900 selects the "Memory" buttons 513, 523, 533, 623, 633, 643, 653 and another "Memory" button 541, 661 (see FIGS. 9 and 14) (step S5). The tablet terminal 3 transmits a command to the collaborative robot 2 to register the position of the collaborative robot 2 after transition in the register of the position register number associated with the selected teaching position (step S6). When the collaborative robot 2 receives the command from the tablet terminal 3, it registers the position after transition in the register of the designated position register number (step S102).

[0143] (c4. Supplementary Note) The start position and the pre-position of the processing machine are examples of the "operation start position" of the present disclosure. The via position, the standby position in front of the door of the processing machine, and the intrusion position of the left spindle (hand #1) are examples of the "relay position" of the present disclosure. The reference position of hand #1, the reference position of hand #2, and the clamp position of the left spindle (hand #1) are examples of the "delivery position" of the present disclosure. <00005​​​​​​​​​​​​​​​(1) The tablet terminal 3 supports teaching of the collaborative robot 2 having multiple axes 231-235, 236a, 236b. The tablet terminal 3 includes a display 331, a display control unit 311 that displays an operation screen for teaching on the display 331, a communication unit 34 that communicates with the collaborative robot 2, and a storage unit 32 that stores position register numbers of multiple registers possessed by the collaborative robot 2. Each position register number corresponds to a different teaching position among multiple pre-specified teaching positions.

[0148] The operation screen is configured to allow selection of one of a plurality of teaching positions. When the tablet terminal 3 receives an input to select one of a plurality of teaching positions (selection items 510, 520, 530, 620, 630, 640, 650) on the operation screen, the display control unit 311 displays a robot image indicating the selected teaching position on the operation screen.

[0149] With the robot image displayed on the operation screen, the position of the robot is transitioned to a selected teaching position based on user operation, and then, based on the tablet terminal 3 receiving a predetermined operation, the tablet terminal 3 sends a command to the collaborative robot 2 via the communication unit 34 to register the position of the collaborative robot 2 after the transition in the register of the position register number associated with the selected teaching position.

[0150] With this configuration, when the tablet terminal 3 receives an input on the operation screen to select one of multiple teaching positions, it sends a command to register the position of the collaborative robot 2 after the transition to the register with the position register number associated with the selected teaching position. This eliminates the need for the user to refer to a manual to find the position register number when registering information about each position in a register. Therefore, the tablet terminal 3 makes it possible to teach the collaborative robot 2 without having to manually find the position register number.

[0151] Furthermore, during teaching, a robot image showing the selected teaching position is displayed on the operation screen, so that the user 900 can easily transition the position of the collaborative robot 2 to the selected teaching position by referring to the robot image.

[0152] (2) The multiple teaching positions include an operation start position (start position, position in front of the processing machine), an intermediate position (way position, standby position in front of the processing machine door, entry position of the left spindle (hand #1)), and a transfer position where the workpiece is transferred between the pallet or the processing machine (reference position of hand #1, reference position of hand #2, clamp position of the left spindle (hand #1)). The operation screen further includes a first input item (input fields 507, 508, 609 to 612) for inputting an approach amount for specifying an approach position between the intermediate position and the transfer position. With this configuration, the approach amount can also be set on the operation screen where the teaching position is set.

[0153] (3) Collaborative robot 2 has hand #1 and hand #2. The transfer positions include a first transfer position for hand #1 and a second transfer position for hand #2. The position register number associated with the transfer position for hand #1 and the position register number associated with the transfer position for hand #2 are different from each other. The operation screen further includes a second input item (selection fields 505, 605) for specifying which of hand #1 and hand #2 will grip the workpiece. With this configuration, user 900 can perform teaching for each hand after specifying the hand that will grip the workpiece.

[0154] (4) Teaching is performed to move the workpiece from the pallet on which the workpiece is placed. The operation screen further includes a third input item (input field 503) for setting an identification number for designating the type of the pallet. The plurality of teaching positions are different according to the type of the pallet. Each of the position register numbers of the operation start position, the relay position, and the delivery position is different according to the identification number of the pallet. The above-described predetermined operation is performed with the identification number set in the third input item. According to such a configuration, teaching can be executed for each type of pallet regardless of which of the different types of pallets is used.

[0155] (5) Teaching is performed to move the workpiece into the processing chamber of the processing machine that processes the workpiece. The delivery position is the position where the workpiece is delivered to the spindle in the processing chamber. According to such a configuration, teaching is also possible for the operation of delivering the workpiece to the spindle.

[0156] (6) The processing machine has a first spindle (for example, a left spindle) and a second spindle (for example, a right spindle) as spindles, and after processing the workpiece using the first spindle, the workpiece can be further processed using the second spindle. The operation screen further includes a fourth input item (selection field 607) for designating each of the spindle to which the workpiece is delivered and the spindle that receives the workpiece as the first or second spindle. According to such a configuration, teaching is possible even when the workpiece is processed using two spindles.

[0157] <E. Modified Example> In the above, the collaborative robot 2 has been described as an example of the robot, but it is not limited to the collaborative robot. The above-described content can be applied to robots that require teaching (specifically, direct teaching).

[0158] Although the tablet terminal 3 has been described as an example of the information processing device, the present invention is not limited to this. The information processing device may be a laptop computer, a smartphone, or the like. The information processing device is not particularly limited, but from the viewpoint of convenience, it is preferable that the information processing device can be operated near the collaborative robot 2.

[0159] The embodiments disclosed herein are merely examples and are not limited to the above. The scope of the present invention is defined by the claims, and it is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0160] 1 Robot system, 2 Collaborative robot, 3 Tablet terminal, 21 Cart unit, 22 Robot main body unit, 31, 251 Control unit, 32, 252 Memory unit, 33 Touch screen, 34, 255 Communication unit, 211 Top surface unit, 212 Grip unit, 213 Position fixing member, 220, 221, 222, 223, 224, 225, 226a, 226b Link, 231 First axis, 232 Second axis, 233 Third axis, 234 Fourth axis, 235 Fifth axis, 236a, 236b Sixth axis, 290 End effector, 291, 292 Hand, 311 Display control unit, 331 Display, 332 Touch panel, 501, 502, 601, 602 Display area, 503, 507, 508, 604, 609, 610, 611, 612 Input field, 504, 505, 506, 603, 605, 606, 607, 608 Selection field, 510, 520, 530, 620, 630, 640, 650 Selection item, 540, 660 Image object, 581-586, 681-688 Robot image, 2510 Register group, G1-G4, G6, G11, G12 ~ G14,G16,G18 operation screen.

Claims

1. An information processing device that supports teaching of a robot having multiple axes, The display and a display control means for displaying an operation screen for performing the teaching on the display; communication means for communicating with the robot; a storage means for storing register numbers of a plurality of registers possessed by the robot, Each of the register numbers is associated with a different teaching position among a plurality of pre-specified teaching positions, the operation screen is configured to allow selection of one of the plurality of teaching positions, when the information processing device receives an input to select one of the plurality of teaching positions on the operation screen, the display control means displays a robot image indicating the selected teaching position on the operation screen; With the robot image displayed on the operation screen, the robot's posture is transitioned to the selected teaching position based on user operation, and then, based on the information processing device receiving a predetermined operation, the information processing device sends, via the communication means, a command to the robot to register the robot's posture after the transition in the register of the register number associated with the selected teaching position.

2. the plurality of teaching positions include an operation start position, a relay position, and a transfer position where a workpiece is transferred between a pallet or a processing machine, The information processing apparatus according to claim 1 , wherein the operation screen further includes a first input item for inputting an approach amount for specifying an approach position between the relay position and the delivery position.

3. the robot has a first hand and a second hand; the transfer positions include a first transfer position for the first hand and a second transfer position for the second hand; a register number associated with the transfer position of the first hand and a register number associated with the transfer position of the second hand are different from each other, The information processing apparatus according to claim 2 , wherein the operation screen further includes a second input item for specifying which of the first hand and the second hand is to grip the workpiece.

4. the teaching is performed to move the workpiece from the pallet on which the workpiece is placed, the operation screen further includes a third input item for setting an identification number that designates the type of the pallet, the plurality of teaching positions differ depending on the type of the pallet, the register number of the operation start position, the register number of the relay position, and the register number of the delivery position are each different depending on the identification number of the pallet, The information processing apparatus according to claim 3 , wherein the predetermined operation is performed in a state where the identification number has been set in the third input item.

5. the robot is a collaborative robot; the teaching is performed to move the workpiece into a machining chamber of a machining machine that processes the workpiece; The information processing apparatus according to claim 2 , wherein the transfer position is a position where the workpiece is transferred to a spindle in the machining chamber.

6. the processing machine has a first spindle and a second spindle as the spindles, and is capable of processing the workpiece using the first spindle and then further processing the workpiece using the second spindle; The information processing apparatus according to claim 5 , wherein the operation screen further includes a fourth input item for designating the first spindle and the second spindle as the spindle that transfers the workpiece and the spindle that receives the workpiece, respectively.

7. An information processing device according to any one of claims 1 to 6; and a robot system comprising the robot.

8. A teaching support method for a robot having multiple axes, comprising: a step of displaying an operation screen for performing the teaching on a display of an information processing device; the information processing device stores register numbers of a plurality of registers possessed by the robot, and each of the register numbers is associated with a different teaching position among a plurality of pre-designated teaching positions; the operation screen is configured to allow selection of one of the plurality of teaching positions, When the information processing device receives an input for selecting one of the plurality of teaching positions on the operation screen, a robot image showing the selected teaching position is displayed on the operation screen; The support method further includes a step of, after the robot image is displayed on the operation screen and the robot's posture is transitioned to the selected teaching position based on a user operation, sending to the robot an instruction to register the robot's posture after the transition in the register of the register number associated with the selected teaching position based on the information processing device receiving a predetermined operation.

Images