Teaching pendant

Abstract

To provide a teaching pendant capable of smoothly and quickly performing teaching.SOLUTION: A teaching pendant that performs teaching of an operation program on a robot having a robot arm, includes a display unit to display a rectangular operation screen for performing operations during teaching. The operation screen has a first area positioned on the upper side and a second area positioned on the underside of the first area. In the first area, a first operation item related to teaching is displayed, and in the second area, a second operation item related to teaching for which operation frequency is lower than the first operation item is displayed.SELECTED DRAWING: Figure 4

Description

Technical Field

[0006] , , ,

[0001] The present invention relates to a teaching pendant.

Background Art

[0002] In recent years, in factories, due to the soaring labor costs and shortage of human resources, operations such as manufacturing, processing, and assembly are being carried out by robots having robotic arms, and the automation of operations that have been performed manually is accelerating. To perform operations with such robots, prior teaching, that is, teaching the robot the work content, is carried out. In this teaching, an operation program for the robot is generated using a teaching device such as a teaching pendant.

[0003] For example, the teaching pendant described in Patent Document 1 has an operation screen composed of a touch panel. When teaching, the operator holds the teaching pendant with the hand opposite to the dominant hand and touches the touch panel with the dominant hand to input items necessary for teaching and the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the teaching pendant described in Patent Document 1, regarding the arrangement of various operation items on the operation screen, sufficient consideration has not been given, so depending on how the teaching pendant is held, it may be difficult to perform touch operations. Due to such difficulty in operation, there is a problem that smooth and rapid teaching cannot be performed.

Means for Solving the Problems

[0006] The teaching pendant of the present invention is a teaching pendant that teaches an action program to a robot having a robotic arm, It includes a display unit that shows a rectangular operation screen for performing operations during instruction, The aforementioned operation screen has a first region located above it and a second region located below the first region. The first area displays the first operation item related to teaching, The second area is characterized in that it displays a second operation item relating to teaching that is performed less frequently than the first operation item. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 shows the overall configuration of a robot system equipped with the teaching pendant of the present invention. [Figure 2] Figure 2 is a block diagram of the robot system shown in Figure 1. [Figure 3] Figure 3 shows an operator giving instructions using the teaching pendant shown in Figure 1. [Figure 4] Figure 4 is a plan view of the teaching pendant shown in Figure 1, seen from the front. [Figure 5] Figure 5 shows an example of the operation screen displayed on the teaching pendant shown in Figure 1. [Figure 6] Figure 6 shows an example of the operation screen displayed on the teaching pendant shown in Figure 1. [Figure 7] Figure 7 shows an example of the operation screen displayed on the teaching pendant shown in Figure 1. [Figure 8] Figure 8 shows an example of the operation screen displayed on the teaching pendant shown in Figure 1. [Figure 9] Figure 9 shows an example of the operation screen displayed on the teaching pendant shown in Figure 1. [Figure 10]Figure 10 shows an example of the operation screen displayed on the teaching pendant shown in Figure 1. [Modes for carrying out the invention]

[0008] <Embodiment> Figure 1 shows the overall configuration of a robot system equipped with the teaching pendant of the present invention. Figure 2 is a block diagram of the robot system shown in Figure 1. Figure 3 shows an operator performing teaching using the teaching pendant shown in Figure 1. Figure 4 is a plan view of the teaching pendant shown in Figure 1, seen from the front. Figures 5 to 10 show examples of operation screens displayed on the teaching pendant shown in Figure 1.

[0009] The teaching pendant of the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

[0010] For the sake of clarity, in the following explanation, the robot arm will be referred to as the "base end" on the side with the base 11 in Figure 1, and the opposite side, i.e., the end effector 20 side, as the "tip end." Also, for the sake of clarity, in Figure 1, the X, Y, and Z axes are mutually orthogonal axes, and the +Z axis direction, i.e., the upper side, will be referred to as "up," and the -Z axis direction, i.e., the lower side, as "down." Furthermore, the Z axis direction in Figure 1, i.e., the up and down direction, will be referred to as the "vertical direction," and the X axis direction and Y axis direction, i.e., any direction on the X-Y plane, will be referred to as the "horizontal direction."

[0011] Furthermore, in Figures 4 to 10, the upper side of the figure is also referred to as the "upper side," the lower side as the "lower side," the right side as the "right side," and the left side as the "left side."

[0012] As shown in Figure 1, the robot system 100 comprises a robot 1, a control device 3 for controlling the robot 1, and the teaching pendant 4 of the present invention.

[0013] First, let me explain Robot 1. The robot 1 shown in Fig. 1 is a single-arm 6-axis vertical articulated robot in this embodiment, and includes a base 11 and a robot arm 10. Further, an end effector 20 can be attached to the tip of the robot arm 10. Note that the end effector 20 may be a component of the robot 1 or may be a separate member from the robot 1, that is, it may not be a component of the robot 1.

[0014] Note that the robot 1 is not limited to the illustrated configuration. For example, it may be a double-arm articulated robot. Further, the robot 1 may be a horizontal articulated robot.

[0015] The base 11 is a support that supports the robot arm 10 on its proximal end side so as to be drivable, and is fixed to, for example, the floor in a factory. The robot 1 is electrically connected to the control device 3 via a relay cable. Note that the connection between the robot 1 and the control device 3 is not limited to a wired connection as shown in the configuration of Fig. 1, and may be a wireless connection, for example.

[0016] In this embodiment, the robot arm 10 includes a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17, and these arms are connected in this order from the base 11 side. Note that 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. Further, the sizes such as the overall length of each arm are not particularly limited and can be set as appropriate.

[0017] The base 11 and the first arm 12 are connected via a joint 171. The first arm 12 is rotatable about a first rotation axis extending parallel to the vertical direction with respect to the base 11 as a rotation center. The first rotation axis coincides with the normal line of the floor surface of the floor to which the base 11 is fixed.

[0018] The first arm 12 and the second arm 13 are connected via a joint 172. The second arm 13 is rotatable around a second pivot axis that extends horizontally relative to the first arm 12. The second pivot axis is parallel to an axis perpendicular to the first pivot axis.

[0019] The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable relative to the second arm 13 around a third pivot axis that extends horizontally. The third pivot axis is parallel to the second pivot axis.

[0020] The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 is rotatable relative to the third arm 14 around a fourth pivot axis that is parallel to the central axis direction of the third arm 14. The fourth pivot axis is perpendicular to the third pivot axis.

[0021] The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable relative to the fourth arm 15 around the fifth pivot axis as its pivot point. The fifth pivot axis is perpendicular to the fourth pivot axis.

[0022] The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable relative to the fifth arm 16 around the sixth pivot axis. The sixth pivot axis is perpendicular to the fifth pivot axis.

[0023] Furthermore, the sixth arm 17 is the robot's tip, located at the very front of the robot arm 10. This sixth arm 17 can be displaced together with the end effector 20 by the drive of the robot arm 10.

[0024] The end effector 20 shown in Figure 1 has a gripping portion that can hold a workpiece or tool. When the end effector 20 is attached to the sixth arm 17, the tip of the end effector 20 becomes the tool center point TCP.

[0025] Robot 1 includes motors M1, M2, M3, M4, M5, and M6 as drive units, and encoders E1, E2, E3, E4, E5, and E6. Motor M1 is built into joint 171 and rotates the first arm 12 relative to the base 11 around the first rotation axis. Motor M2 is built into joint 172 and rotates the first arm 12 and the second arm 13 relative to each other around the second rotation axis. Motor M3 is built into joint 173 and rotates the second arm 13 and the third arm 14 relative to each other around the third rotation axis. Motor M4 is built into joint 174 and rotates the third arm 14 and the fourth arm 15 relative to each other around the fourth rotation axis. Motor M5 is built into joint 175 and rotates the fourth arm 15 and the fifth arm 16 relative to each other around the fifth pivot axis. Motor M6 is built into joint 176 and rotates the fifth arm 16 and the sixth arm 17 relative to each other around the sixth pivot axis.

[0026] Furthermore, 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 the fifth arm 16 and detects the position of motor M5. Encoder E6 is built into the sixth arm 17 and detects the position of motor M6. Note that "detecting position" here refers to detecting the rotation angle of the motor, that is, the amount of rotation including forward and reverse, and angular velocity, and the detected information is called "position information".

[0027] As shown in Figure 2, motor drivers D1 to D6 are connected to the corresponding motors M1 to M6, respectively, and control the drive of the motors. Motor drivers D1 to D6 are built into joints 171, 172, 173, 174, the fifth arm 16, and the sixth arm 17, respectively.

[0028] Encoders E1 to E6, motors M1 to M6, and motor drivers D1 to D6 are each electrically connected to the control device 3. The position information of motors M1 to M6, i.e., the amount of rotation, detected by encoders E1 to E6, is transmitted to the control device 3 as an electrical signal. Based on this position information, the control device 3 outputs control signals to motor drivers D1 to D6 shown in Figure 2, driving motors M1 to M6. In other words, controlling the robot arm 10 means controlling the driving of motors M1 to M6, and thereby controlling the operation of the first arm 12 to the sixth arm 17 belonging to the robot arm 10.

[0029] Furthermore, in robot 1, a force detection unit 19 for detecting force is detachably installed on the base 11 or the robot arm 10. The force detection unit 19 has at least one force sensor. The robot arm 10 can be driven with the force detection unit 19 installed. The force sensor constituting the force detection unit 19 is a sensor capable of detecting force and its direction, and in this embodiment, it is a 6-axis force sensor. The force sensor of the force detection unit 19 detects the magnitude of force on three mutually orthogonal detection axes and the magnitude of torque around these three detection axes. That is, it detects force components in the axial directions of the mutually orthogonal X, Y, and Z axes, as well as force components in the W direction around the X axis, force components in the V direction around the Y axis, and force components in the U direction around the Z axis. These X, Y, and Z axes are axes in the robot coordinate system. Furthermore, the force detector of the force detection unit 19 is not limited to a 6-axis force sensor, but may have other configurations. Also, the force detector of the force detection unit 19 may be pre-installed inside the base 11 or the robot arm 10.

[0030] The force detector of the force detection unit 19 can be detachably attached to the end effector 20. In this embodiment, the end effector 20 is composed of a hand having a pair of claws that can move closer to and further apart from each other, and each claw grips and releases a workpiece or tool. The force detector attached to this end effector 20 can detect the magnitude and direction of the reaction force of the gripping force when the workpiece is gripped by both claws.

[0031] The end effector 20 is not limited to the configuration shown in the figure, and may, for example, have a suction part that grips the workpiece or tool by suction. Furthermore, the end effector 20 may be, for example, a polishing machine, grinding machine, cutting machine, spray gun, laser light irradiator, screwdriver, wrench, or other tool.

[0032] Next, the control device 3 and the teaching pendant 4 will be described. As shown in Figure 1, in this embodiment, the control device 3 is installed at a location separate from the robot 1. However, the configuration is not limited to this, and the control device 3 may be built into the base 11. The control device 3 also has the function of controlling the drive of the robot 1 and is electrically connected to the various parts of the robot 1 described above. The control device 3 has a control unit 31, a storage unit 32, and a communication unit 33. These parts are connected to each other so as to be able to communicate with each other, for example, via a bus.

[0033] The control unit 31 is composed of, for example, a CPU (Central Processing Unit) and reads and executes various programs, such as operation programs, stored in the memory unit 32. Signals generated by the control unit 31 are transmitted to each part of the robot 1 via the communication unit 33, and signals from each part of the robot 1 are received by the control unit 31 via the communication unit 33. This allows the robot arm 10 to perform predetermined tasks under predetermined conditions.

[0034] The memory unit 32 stores various programs and other data executed by the control unit 31. Examples of the memory unit 32 include a configuration that includes volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and a removable external storage device.

[0035] The communication unit 33 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. In this case, communication may be performed via a server (not shown) or via a network such as the Internet.

[0036] As shown in Figures 1 and 2, the teaching pendant 4 is a command device for teaching and has a display unit, a display 40. This display 40 also serves as an operation unit for teaching motion programs to the robot arm 10. That is, it has the function of creating and inputting motion programs. The display 40 is a touch panel, and various operations and information inputs related to teaching are performed by the operator using their finger or a stylus. The display 40 is made of, for example, liquid crystal, organic EL, etc., and can display the operation screen D, which will be described later, in color or monochrome. Furthermore, the touch panel method in the display 40 may be either pressure-sensitive or capacitive.

[0037] Furthermore, the display 40 may be square, or it may be a landscape configuration with the top and bottom edges being the longer sides and the left and right edges being the shorter sides. However, a portrait configuration with the top and bottom edges being the shorter sides and the left and right edges being the longer sides is more preferable because it allows for greater flexibility in the layout of the display items within the first area A1 and the second area A2, which will be described later. In the following explanation, we will assume that the display 40 is portrait-oriented.

[0038] The teaching pendant 4 includes, in addition to the display 40, a housing 400, a control unit 41, a storage unit 42, and a communication unit 43. The control unit 41, storage unit 42, and communication unit 43 are housed within the housing 400. The display 40 is provided on one side of the housing 400, i.e., on surface 4A, as shown in Figures 3 and 4. However, the configuration is not limited to this; the storage unit 42 may be connected from the outside of the housing 400. Furthermore, the display 40 may be provided so as to constitute a part of the housing 400, or the housing 400 and the display 40 may be provided separately, connected via a cable.

[0039] The control unit 41 is composed of at least one processor, such as a CPU (Central Processing Unit), and reads and executes various programs, such as teaching programs, stored in the memory unit 42. The control unit 41 also has a function to control the operation of the display 40. Specifically, the control unit 41 displays a rectangular operation screen D on the display 40 and generates an operation program for the robot 1 based on information input from the operation screen D by touching a desired location. The operation screen D is also a display screen that can display items necessary for teaching, as described later. Note that the generation of the operation program also includes modification of the operation program. The operation program generated by the control unit 41 is stored in the memory unit 42 and transmitted to the control device 3 via the communication unit 43. This allows the control device 3 to specify a program that causes the robot arm 10 to perform a predetermined task under predetermined conditions.

[0040] The memory unit 42 stores various programs that the control unit 41 can execute. Examples of the memory unit 42 include a configuration that includes volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and a removable external storage device. The memory unit 42 also stores the operation programs created by the control unit 41.

[0041] The communication unit 43 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. In this case, communication may be performed via a server (not shown) or via a network such as the Internet. The communication unit 43 transmits information about the operation program stored in the storage unit 42 to the control device 3. The communication unit 43 can also receive information stored in the storage unit 32 and store it in the storage unit 42.

[0042] The display 40 displays an operation screen D that forms a rectangle in the plan view of Figure 4. That is, the display 40 displays an operation screen D having a short side 40A, a short side 40B, a long side 40C, and a long side 40D. The short side 40A is located at the top of Figure 4, the short side 40B is located at the bottom of Figure 4, the long side 40C is located on the left side of Figure 4, and the long side 40D is located on the right side of Figure 4.

[0043] Furthermore, in the plan view of Figure 4, the housing 400 has four rounded corners, forming a vertically elongated rectangle. That is, the edge on the short side 40A is the short side 400A, the edge on the short side 40B is the short side 400B, the edge on the long side 40C is the long side 400C, and the edge on the long side 40D is the long side 400D.

[0044] Furthermore, as shown in Figure 3, an enable switch 401 is provided on the other side of the housing 400, i.e., the back surface 4B. The enable switch 401 functions as a so-called safety switch; when pressed, it allows the robot 1 to be operated while teaching is performed, but when released, the operation of the robot 1 stops.

[0045] The operator performs teaching operations while holding the teaching pendant 4 in their hand. For example, as shown in Figure 3, the operator supports the teaching pendant 4 from the back side 4B with the palm of their left hand and touches the operation screen D of the display 40 with their right hand. During teaching, the operator maintains the position of pressing the enable switch 401 with the fingers of their left hand while supporting the teaching pendant 4 with their left hand and touching the operation screen D with only the fingers of their right hand. In order to stabilize the posture of the teaching pendant 4, the operator often supports it by resting the lower short side 400B of the housing 400 against their abdomen. In this position, the posture of the teaching pendant 4 is such that the distance between the operation screen D and the operator's body gradually increases from the bottom to the top of the housing 400, and in most cases, the short side 400A is tilted to a position slightly closer to the operator than the position furthest from the operator (hereinafter simply referred to as the "tilted posture"). In such cases, a problem arises in the area of ​​the operation screen D of the display 40 near the abdomen, i.e., the lower part of the operation screen D, where the right hand interferes with the abdomen, making touch operation difficult. In contrast, the present invention can solve this problem. This will be explained in detail below.

[0046] As shown in Figure 4, the operation screen D displayed on the display 40 has a first area A1, a second area A2, a third area A3, and a fourth area A4. In Figure 4, the first area A1 is shown by a dashed line, the second area A2 by a double dashed line, and the third area A3 and the fourth area A4 are shown by diagonal lines in opposite directions.

[0047] The first region A1 and the second region A2 are arranged side by side along the longer side of the operation screen D, that is, along the vertical direction in Figure 4, from the shorter side 40A to the shorter side 40B. In other words, on the operation screen D displayed on the display 40, the first region A1 is located on the upper side and the second region A2 is located on the lower side. The first region A1 and the second region A2 do not overlap, and the sum of the areas of the first region A1 and the second region A2 is substantially equal to the total area of ​​the operation screen D.

[0048] The area ratio S1 / S2 of the area S1 of the first region A1 to the area S2 of the second region A2 is not particularly limited, but is preferably 0.1 ≤ S1 / S2 ≤ 10, and more preferably 0.25 ≤ S1 / S2 ≤ 4. Furthermore, the boundary between the first region A1 and the second region A2 may be fixed or movable in the vertical direction within the operation screen D.

[0049] Furthermore, the third region A3 overlaps with a part of the first region A1, i.e., the upper part in this embodiment, and does not overlap with the second region A2.

[0050] Furthermore, the position of the third region A3 relative to the first region A1 may be fixed or it may be movable in the vertical direction.

[0051] The fourth region A4 has a longitudinal shape extending in the direction of the longer side of the operation screen D, that is, in the vertical direction in Figure 4, and overlaps with the first region A1 and the second region A2, respectively. In this embodiment, the fourth region A4 is located to the right of the operation screen D, that is, it is biased toward the longer side 40D and is arranged parallel to the longer side 40D.

[0052] Furthermore, the position of the fourth region A4 relative to the first region A1 and the second region A2 may be fixed or movable in the left-right direction.

[0053] Area 1A1 displays the first operational item related to instruction. Area 2A2 displays the second operational item related to instruction. The second operational item is an operational item that is performed less frequently than the first operational item. These will be explained in order below.

[0054] The first set of operational items includes, for example, "specifying the position and orientation of the robot arm," "inputting the motion program," and "performing a test run." These items can be selectively displayed by operating the third set of operational items, which will be described later. In the following explanation, operational items will also be simply referred to as "items."

[0055] As shown in Figure 5, the "Specify the position and orientation of the robot arm" section includes the "Jogging" section, the "Jog Distance" section, and the "Teach Points" section, as shown on the left side of the first region A1.

[0056] The "Jogging" item has two fields: "Mode" and "Speed".

[0057] The "Mode" section includes buttons B1 labeled "World," B2 labeled "Tool," B3 labeled "Local," B4 labeled "Joint," and B5 labeled "ECP." Button B1 is for selecting the coordinate system set in the space where the robot 1 is installed. Button B2 is for selecting a coordinate system with the tip of the end effector 20 as the origin. Button B3 is for selecting a coordinate system with any point set on the base 11 as the origin. Button B4 is for selecting a coordinate system with any point set on each joint of the robot 1 as the origin. Button B5 is for selecting a coordinate system customized by the operator.

[0058] By selecting one of these buttons B1 to B5 and performing touch operations, the coordinate system of robot 1 can be selected and set.

[0059] To the right of the "Mode" item, the "Speed" item is displayed. The "Speed" item has a button B6 labeled "Slow" and a button B7 labeled "Fast". Button B6 is the button to select the low-speed mode. Button B7 is the button to select the high-speed mode. By selecting these buttons B6 and B7 alternately and using touch operation, the movement speed of the robot arm 10 during teaching can be set.

[0060] The "Jog Distance" setting is for configuring the running conditions of Robot 1 and includes three buttons: button B8 labeled "Short," button B9 labeled "Medium," and button B10 labeled "Long." By selecting one of these buttons B8-B10 and performing a touch operation, the running conditions of Robot 1 can be selected and set.

[0061] The "Jog Distance" item has input units N1 labeled "J1", N2 labeled "J2", N3 labeled "J3", N4 labeled "J4", N5 labeled "J5", and N6 labeled "J6". Input unit N1 is an input unit for inputting the rotation angle of the joint between the first arm 12 and the second arm 13. Input unit N2 is an input unit for inputting the rotation angle of the joint between the second arm 13 and the third arm 14. Input unit N3 is an input unit for inputting the rotation angle of the joint between the third arm 14 and the fourth arm 15. Input unit N4 is an input unit for inputting the rotation angle of the joint between the fourth arm 15 and the fifth arm 16. Input unit N5 is an input unit for inputting the rotation angle of the joint between the fifth arm 16 and the sixth arm 17. Input unit N6 is an input unit for inputting the rotation angle of the joint between the sixth arm 17 and the force detection unit 19.

[0062] Each input section N1 to N6 allows you to input a numerical value into the display field of the selected input section. By entering a desired numerical value, such as "-999.999", in each input section N1 to N6, you can set the rotation angle of each joint.

[0063] Below the "Jog Distance" section, the "Teach Points" section has two fields: "Point File Name" and "Point". The "Point File Name" field is for selecting the location where the teaching information will be saved. The "Point" field is for setting the name of the teaching point. Each of these fields displays a selection from a dropdown menu, and the field is set by touching the displayed selection.

[0064] The items described above are related to "specifying the position and orientation of the robot arm." By setting these items, the position of the control points of the robot arm 10 and the orientation of the robot arm can be specified. Here, the position of the control points of the robot arm 10 also includes the position of the tool center point TCP shown in Figure 1.

[0065] As shown in Figure 6, the "Input of Action Program" item is where you construct the action program using the robot language on the programming screen DP. For example, if you start teaching from the "Specify Robot Arm Position and Orientation" item shown in Figure 5 and switch to the programming screen DP midway through, the program corresponding to the teaching content up to that point will be automatically written in the robot language. Note that teaching can also be performed using only the programming screen DP.

[0066] Note that input operations may be performed using external input devices, etc., not shown in the diagram, on the programming screen (DP).

[0067] As shown in Figure 7, the "Perform Test Run Operation" section includes buttons B11 labeled "Slow" for setting the test run speed, B12 labeled "Medium", B13 labeled "Fast", B14 labeled "Start", B15 labeled "Stop", and B16 labeled "Continue Execution".

[0068] Selecting button B11 will perform a test run at low speed. Selecting button B12 will perform a test run at medium speed. Selecting button B13 will perform a test run at high speed.

[0069] Additionally, touching button B14 initiates a test run. Touching button B15 during the test run temporarily pauses the operation of the robot arm 10, and touching button B16 while paused resumes the test run.

[0070] These three items—"specifying the position and orientation of the robot arm," "inputting the motion program," and "performing the test run"—are typical examples of items that are relatively frequently operated during training, i.e., items that require relatively frequent touch operations. Here, "relatively frequently" means above average. Furthermore, these three items can be said to be of higher importance than the second operational item during training.

[0071] Next, we will explain the second operation item displayed in area A2. The second set of operational items includes, for example, "modification of teaching information," "robot arm settings," and "hand operation settings."

[0072] As shown in Figure 8, the "Modify Teaching Information" item displayed in the second area A2, i.e., the point data, is an item for editing the order of the teaching points that have been taught so far. The point names, i.e., a list of points that store the position and orientation of the robot arm 10, are displayed in a table format, and each point can be selected, and the selected points can be cut, copied, or pasted.

[0073] As shown in Figure 9, the "Robot Arm Settings" item allows you to individually set whether each joint 171 to 176 of the robot arm 10 is fixed or not. In other words, for a specified joint among joints 171 to 176, this item sets whether the arms connected through that joint are rotatable or immobile. The "Robot Arm Settings" item displays joint symbols "J1" to "J6" corresponding to joints 171 to 176, and to the right of each joint symbol, there is an on / off switch SW. By touching each switch SW, you can select a desired joint among joints 171 to 176 and set whether the arms connected through that joint are rotatable or not.

[0074] The "Hand Operation Settings" section, although not illustrated, is used to set the timing and type of operation for activating the end effector 20.

[0075] These three items—"Modification of teaching information," "Robot arm settings," and "Hand operation settings"—are typical examples of items that are less frequently operated during teaching compared to the first operation item mentioned above; in other words, items that are not frequently touch-operated. Furthermore, these three items can be said to be of lower importance than the first operation item during teaching.

[0076] As mentioned above, the first set of operational items, "specifying the position and orientation of the robot arm," "inputting the motion program," and "performing the test run," are relatively frequently performed during teaching, while the second set of operational items, "modifying the teaching information," "setting the robot arm," and "setting the hand operation," are less frequently performed during teaching than the first set of operational items. On the operation screen D of the display 40, the first set of operational items is displayed on the upper side, i.e., on the short side 40A, and the second set of operational items, which are less frequently performed than the first set of operational items, is placed on the lower side, i.e., on the short side 40B.

[0077] Furthermore, as shown in Figures 3 and 4, the teaching pendant 4 of the present invention has the advantage of being easy to operate when the operator holds the rectangular operation screen D in a vertical orientation and touches it.

[0078] As mentioned above, when an operator supports the teaching pendant 4 with one hand while resting the lower short side 400B of the housing 400 against their abdomen and touches the operation screen D with the other hand, the teaching pendant 4 assumes the aforementioned tilted position. In this case, sufficient space is created between the upper side of the operation screen D, i.e., the first area A1, and the operator's body, so touching the first operation item displayed in the first area A1 can be performed without hindrance. On the other hand, the space between the lower side of the operation screen D, i.e., the second area A2, and the operator's body is narrower than the space above, so the operator must carefully touch the second operation item while taking care not to let their hand interfere with their abdomen. However, since the second operation item is operated less frequently than the first operation item, even if the touching of the second operation item is performed carefully, there is almost no problem of the total time required being long. Therefore, teaching operations can be performed smoothly and quickly.

[0079] As described above, the teaching pendant 4 teaches an operation program to the robot 1 having a robot arm 10. The teaching pendant 4 also includes a display unit 40 that displays a rectangular operation screen D on which operations are performed during teaching. The operation screen D has a first area A1 located above it and a second area A2 located below it. The first area A1 displays the first operation items related to teaching, and the second area A2 displays the second operation items related to teaching that are performed less frequently than the first operation items. With this configuration, by devising the arrangement of the first area A1 and the second area A2, the first operation items can be performed without hindrance while ensuring sufficient operating space, and the second operation items, which are performed less frequently than the first operation items, can be performed more carefully, but because they are performed less frequently, they do not require a long time. Therefore, teaching can be performed smoothly and quickly.

[0080] Furthermore, the operation screen D is vertically oriented. This increases the flexibility in the layout of items displayed within the first area A1 and the second area A2.

[0081] Furthermore, the first operation item includes at least one selected from the group consisting of specifying the position and orientation of the robot arm 10, inputting an operation program, and performing a test run operation. This allows at least one of the operations among specifying the position and orientation of the robot arm 10, inputting an operation program, and performing a test run operation to be performed smoothly and quickly. Thus, teaching can be performed more smoothly and quickly.

[0082] In addition, while the first area A1 is configured to allow switching between, or selectively displaying, the items "specifying the position and orientation of the robot arm," "inputting the operation program," and "performing the test run," the present invention is not limited to this, and may also be configured to display only one of these items, or two of these items.

[0083] Furthermore, the second operation item includes at least one selected from the group consisting of modifying the teaching information, setting the robot arm 10, and setting the hand. In this way, by displaying items with a lower frequency of operation than the first operation item in the second area A2, teaching can be performed more smoothly and quickly.

[0084] In addition, while the second area A2 is configured to allow switching between, or selectively displaying, the items "Modification of teaching information," "Robot arm settings," and "Hand operation settings," the present invention is not limited to this, and may also be configured to display only one of these items, or two of these items.

[0085] In addition, area A2 displays the following items: "Current teaching status," "Force applied to the robot arm," and "Status of communication equipment." Each of these items is a button, and by selecting and touching them as appropriate, the corresponding item will be selected and displayed.

[0086] As shown in Figures 5 and 10, the "Current Teaching Status" includes the "Current Position" item and the simulation image DS.

[0087] The "Current Teaching Status" and "Current Position" are displayed on the long side 40C of the second region A2, i.e., in a position biased towards the left side. In the "Current Position" section, the rotation angles of each joint 171 to 176 are displayed to the right of the corresponding joint symbols "J1" to "J6". There are also switch buttons that allow switching the coordinate system of robot 1. The switch buttons include button B17 labeled "World", button B18 labeled "Joint", and button B19 labeled "Pulse". The coordinate systems that can be switched by touching these buttons B17 to B19 are as described above.

[0088] Furthermore, buttons B17 to B19 are located in the upper part of the second area A2. This ensures that even when teaching with the teaching pendant 4 in the aforementioned tilted position, buttons B17 to B19 are at a reasonable distance from the operator's body, making them easy to operate.

[0089] The simulation image DS is an image of a virtual robot arm corresponding to the robot arm 10, and is created to take the same posture as the robot arm 10 during teaching. In other words, when the posture of the robot arm 10 during teaching changes, the posture of the virtual robot arm in the simulation image DS also changes accordingly.

[0090] The items "Forces applied to the robot arm" and "Status of communication equipment" are displayed overlaid on the second area A2.

[0091] As shown in Figure 10, the "Forces applied to the robot arm" item is displayed as a "Force Monitor" at the bottom of the second region A2, showing a graph G that displays the forces detected by the force detection unit 19 over time. In graph G, it is possible to select whether the vertical axis represents force or torque. In the illustrated configuration, the force components in the X-axis direction, Y-axis direction, and Z-axis direction are displayed using different colors.

[0092] The "Communication Device Status" item is displayed as I / O Monitor DM to the right of "Force Monitor." In the illustrated configuration, the communication status with external communication devices such as safety devices and alarm devices is distinguished by color, and a list of these is displayed in a table format. If the communication status with a displayed communication device deteriorates, for example, the color of the circle will change.

[0093] The aforementioned simulation image DS, force monitor graph G, and I / O monitor DM are all images intended solely for visual display and are not subject to touch operation. Therefore, it is acceptable for them to be displayed in the second area A2, which is less user-friendly than the first area A1.

[0094] In this way, at least one item selected from the group consisting of the current teaching status, the force applied to the robot arm 10, and the status of the communication equipment is superimposed on a part of the second area A2. This allows operations in the first area A1 to be performed while viewing at least one of the current teaching status, the force applied to the robot arm 10, and the status of the communication equipment. Therefore, teaching can be performed more smoothly and quickly.

[0095] Next, I will explain area 3A3. As shown in Figures 4 and 5, the operation screen D has a third area A3. The third area A3 overlaps with a part of the first area A1 and does not overlap with the second area A2. The third area A3 is located in the upper part of the first area A1, i.e., towards the short side 40A, and is positioned along the long side direction of the short side 40A, i.e., the longitudinal direction. The third operation item is displayed in the third area A3.

[0096] The third operation item is not particularly limited, but in this embodiment, it relates to a "selection operation" for selecting a first operation item displayed in the first area A1. That is, as shown in Figure 10, the third operation item has a selection operation button B20 for performing the selection operation. When the selection operation button B20 is touched, a list of each item of the first operation item is displayed in a pull-down menu, and a selection is made by selectively selecting one of the displayed items, and the display in the first area A1 switches to the selected item. In addition to the selection operation using the pull-down menu, buttons representing each item of the first operation item may be provided, and items may be switched by touching each button.

[0097] Having such a third area A3 allows the user to operate the first operation item in the first area A1 while simultaneously switching the displayed first operation item at the desired timing. In particular, because the third area A3 overlaps with the first area A1, the user can perform the selection operation of the third operation item while visually viewing the first operation item displayed in the first area A1, resulting in excellent visibility and operability of the items.

[0098] Thus, the operation screen D has a third area A3 that overlaps with a part of the first area A1 and does not overlap with the second area A2. The third area A3 displays the selection items for the first operation items displayed in the first area A1 as a third operation item. This allows the user to operate the first operation item in the first area A1 and immediately switch the displayed first operation item at the desired timing. Therefore, teaching can be performed more smoothly and quickly.

[0099] As shown in Figure 10, the third area A3 further displays the status of the control device 3 that controls the operation of the robot arm 10 as five icon DIs. The five icon DIs are located on the longer side 40D of the selection operation button B20 and are arranged at predetermined intervals along the longitudinal direction of the shorter side 40A. Each icon DI displays the words "Motor," "Safeguard," "EStop," "Error," and "Warning." These icon DIs change color when an abnormality occurs. This allows the operator to immediately know that an abnormality has occurred in the control device 3.

[0100] In this way, the status of the control device 3, which controls the operation of the robot arm 10, is also displayed in the third area A3. This allows for immediate notification of the current status of the control device 3 and any changes in its status.

[0101] Note that the display of the status of the control device 3 in the third region A3 may be omitted. In this case, it is preferable to notify the status of the control device 3 by means of a warning sound, voice, or illumination of a light-emitting element.

[0102] Next, we will explain area 4A4. As shown in Figures 4 and 5, the operation screen D has a fourth area A4. The fourth area A4 overlaps the first area A1 and the second area A2, respectively, and has a longitudinal shape extending along the long side 40D. In the illustrated configuration, the fourth area A4 is positioned off-center towards the long side 40D. The fourth operation item is displayed in the fourth area A4.

[0103] The fourth operation item is not particularly limited, but in this embodiment, it is at least one of "hard button guide" or "monitor switching". "Hard button guide" is an item that displays how to operate mechanical buttons provided on any part of the housing 400, although it is not shown in the figure. "Monitor switching" is an item that switches which robot to teach, for example, when the teaching pendant 4 is connected to multiple robots 1.

[0104] In area A4 of the fourth region, six buttons B21 are arranged vertically at predetermined intervals, and each button B21 is assigned either the "Hard Button Guide" or "Monitor Switching" function.

[0105] The fourth region A4 is a longitudinally shaped region that extends vertically across the first region A1 and the second region A2, making it suitable for arranging the multiple buttons B21 and multiple icons. In this embodiment, the multiple buttons B21 are arranged in a single row along the longitudinal direction of the fourth region A4, but it is not limited to this, and may be arranged in two or more rows.

[0106] The aforementioned "hard button guide" and "monitor switching" are items with little direct relevance to the instruction. By placing these fourth operation items in the fourth area A4, the first area A1 and the second area A2 can be effectively utilized. Furthermore, the assignment of button B21 can be set according to the requirements. Thus, instruction can be performed more easily and smoothly.

[0107] Furthermore, the fourth operation item displayed in area A4 is not limited to the "hard button guide" and "monitor switching" mentioned above. The fourth operation item may be related to the instruction, unrelated to the instruction, or a mixture of both.

[0108] Thus, the operation screen D has a fourth area A4 that overlaps with the first area A1 and the second area A2, forming a longitudinal shape extending in the direction of the longer side of the rectangle, and the fourth operation item is displayed in the fourth area A4. This allows the desired item to be displayed overlaid on either the first area A1 or the second area A2, regardless of its relevance to the instruction. As a result, the first area A1 and the second area A2 can be used effectively, and instruction can be performed more smoothly and efficiently.

[0109] Furthermore, the fourth operation item displayed in the fourth area A4 is at least one of either the hard button guide or the monitor switching. This makes it easy to operate the hard button guide or the monitor switching. In addition, the first area A1 and the second area A2 can be effectively utilized. Note that the display of the fourth operation item in area A4 may be omitted.

[0110] Although the teaching pendant of the present invention has been described in the illustrated embodiment, the present invention is not limited thereto. Furthermore, each part of the teaching pendant can be replaced with any structure that can perform a similar function. In addition, any structure may be added.

[0111] In the teaching pendant housing, while the four corners of the four corners are rounded in a plan view, the present invention is not limited to this, and the housing may be square in a plan view, or have any other shape.

[0112] Furthermore, the items displayed in the first to fourth areas of the operation screen D are not limited to those mentioned above.

[0113] Furthermore, each item displayed in the first to fourth areas may be configured to be movable within the area in which it is displayed, or to a different area, for example, by dragging. In addition, each item displayed in the first to fourth areas may be configured to appear and disappear, and to be resized. [Explanation of symbols]

[0114] 1...Robot, 3...Control device, 4...Teaching pendant, 4A...Front, 4B...Back, 10...Robot arm, 11...Base, 12...First arm, 13...Second arm, 14...Third arm, 15...Fourth arm, 16...Fifth arm, 17...Sixth arm, 19...Force detection unit, 20...End effector, 31...Control unit, 32...Memory unit, 33...Communication unit, 40...Display, 40A...Short side, 40B...Short side, 40C...Long side, 40D...Long side, 41...Control unit, 42...Memory unit, 4 3...Communication unit, 100...Robot system, 171...Joint, 172...Joint, 173...Joint, 174...Joint, 175...Joint, 176...Joint, 400...Housing, 400A...Short side, 400B...Short side, 400C...Long side, 400D...Long side, 401...Enable switch, A1...First area, A2...Second area, A3...Third area, A4...Fourth area, B1...Button, B2...Button, B3...Button, B4...Button, B5...Button, B6...Button, B7...Button, B8...Button, B9...Button B10...button, B11...button, B12...button, B13...button, B14...button, B15...button, B16...button, B17...button, B18...button, B19...button, B20...selection operation button, B21...button, D...operation screen, D1...motor driver, D2...motor driver, D3...motor driver, D4...motor driver, D5...motor driver, D6...motor driver, DI...icon, DM...I / O monitor DP...Programming screen, DS...Simulation image, E1...Encoder, E2...Encoder, E3...Encoder, E4...Encoder, E5...Encoder, E6...Encoder, G...Graph, M1...Motor, M2...Motor, M3...Motor, M4...Motor, M5...Motor, M6...Motor, N1...Input section, N2...Input section, N3...Input section, N4...Input section, N5...Input section, N6...Input section, SW...Switch, TCP...Tool center point

Claims

1. A teaching pendant for teaching a robot with a robotic arm an action program, It includes a display unit that shows a rectangular operation screen for performing operations during instruction, The aforementioned operation screen has a first region located above it and a second region located below the first region. The first area displays a first operation item related to teaching, The second area displays a second operation item relating to a teaching that is performed less frequently than the first operation item. The aforementioned display unit is a touch panel. The first operation item includes specifying the position and orientation of the robot arm, The second operation item includes a simulation image showing an image of a virtual robot arm corresponding to the robot arm, A teaching pendant characterized in that, in the simulation image, when the posture of the robot arm being taught is changed, the posture of the virtual robot arm is similarly changed.

2. The teaching pendant according to claim 1, wherein the operation screen is vertically oriented.

3. The teaching pendant according to claim 1 or 2, wherein the second operation item is at least one selected from the group consisting of modifying teaching information, setting the robot arm, and setting the hand.

4. A teaching pendant according to any one of claims 1 to 3, wherein at least one item selected from the group consisting of the current teaching status, the force applied to the robot arm, and the status of the communication device is superimposed on a part of the second region.

5. The aforementioned operation screen has a third region that overlaps with a part of the first region and does not overlap with the second region. The teaching pendant according to any one of claims 1 to 4, wherein the third area displays, as a third operation item, an item for selecting the first operation item displayed in the first area.

6. The teaching pendant according to claim 5, wherein the state of the control device that controls the operation of the robot arm is further displayed in the third region.

7. The operation screen has a fourth region that overlaps with the first region and the second region respectively, and has a longitudinal shape extending in the direction of the longer side of the rectangle. The teaching pendant according to any one of claims 1 to 6, wherein the fourth area displays the fourth operation item.

8. The teaching pendant according to claim 7, wherein the fourth operation item is at least one of a hard button guide or monitor switching.

9. A teaching pendant for teaching an action program to a robot having a robotic arm, It includes a display unit that shows a rectangular operation screen for performing operations during instruction, The aforementioned operation screen has a first region located above it and a second region located below the first region. The first area displays a first operation item related to teaching, The second area displays a second operation item relating to a teaching that is performed less frequently than the first operation item. The aforementioned display unit is a touch panel. The teaching pendant is characterized in that the first operation item includes an item on the programming screen that constructs the operation program using a robot language.

Images