Teaching device
Patent Information
- Application Number
- JP2025542652
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Filing Date
- 2023-08-31
- Publication Date
- 2025-03-06
Abstract
Description
Teaching Device
[0001] The present disclosure relates to a teaching device.
[0002] Direct teaching is known in which an operator directly applies force to a robot to operate the robot and teach it (see, for example, Patent Documents 1 and 2).
[0003] Japanese Patent Application Laid-Open No. 3-123907 Japanese Patent Application Laid-Open No. 2008-110406
[0004] A set of operability parameters that determine the operability of direct teach is generally set as values specific to the robot's device. Performing direct teach using a set of operability parameters set as device-specific values can have disadvantages for users, such as difficulty in performing direct teach depending on the work content and the need for time to become accustomed to direct teach. Therefore, there is a need for technology that makes direct teach easier for users and enables them to efficiently perform direct teach tasks.
[0005] One aspect of the present disclosure is a teaching device that includes: a direct teach execution unit that generates a movement command for a robot in accordance with an operational force applied to the robot using an operational parameter group including one or more operational parameters; a parameter registration unit that accepts settings of one or more operational parameters and can register an operational parameter group including the set one or more operational parameters in a memory unit; and a parameter switching unit that switches an operational parameter group to be applied to the direct teach execution unit from among the one or more operational parameter groups registered in the memory unit in accordance with predetermined switching conditions.
[0006] These and other objects, features and advantages of the present invention will become more apparent from the detailed description of exemplary embodiments of the invention illustrated in the accompanying drawings.
[0007] FIG. 1 is a diagram showing the device configuration of a robot system according to one embodiment. FIG. 2 is a functional block diagram of a robot system according to a first embodiment. FIG. 3 is a diagram showing an example of a operability parameter setting screen according to the first embodiment. FIG. 4 is a functional block diagram of a robot system according to a second embodiment. FIG. 5 is a diagram showing an example of a operability parameter setting screen according to the second embodiment. FIG. 6 is a diagram showing an example of a program creation screen using icons. FIG. 7 is a functional block diagram of a robot system according to a third embodiment. FIG. 8 is a diagram showing an example of a operability parameter setting screen according to the third embodiment. FIG. 9 is a diagram showing another example of a operability parameter setting screen according to the third embodiment. FIG. 10 is a diagram showing an example of an input screen for accepting input of an evaluation of operability.
[0008] Next, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, like components or functional parts are designated by like reference numerals. The scales of these drawings have been changed appropriately to facilitate understanding. Furthermore, the embodiment shown in the drawings is one example for implementing the present invention, and the present invention is not limited to the illustrated embodiment.
[0009] First Embodiment FIG. 1 is a diagram showing the equipment configuration of a robot system 100 according to one embodiment. As shown in FIG. 1, the robot system 100 includes a robot 10, a robot controller 20 that controls the robot 10, and a teaching console 40 connected to the robot controller 20. The robot 10 can perform various tasks using an end effector mounted at the tip of its arm. The end effector is an external device that can be replaced depending on the application, such as a hand, a welding gun, or a tool. FIG. 1 shows an example configuration in which a coating nozzle 31 is attached as the end effector. In this case, the robot 10 can be used to apply cream, a coating agent supplied from a coating device 30, to a cake W, a workpiece.
[0010] As will be described in detail below, the robot system 100 is configured to be able to teach the robot 10 the operation details by direct teaching. In the configuration example shown in Fig. 1, the worker applies force directly to the application nozzle 31 to operate the robot 10 while applying cream to the cake W, thereby teaching the robot 10 the operation details (the operation of applying cream to the cake W).
[0011] In Figure 1, the robot 10 is illustrated as a vertical articulated robot as an example, but various types of robots may be used as the robot 10 depending on the work target, such as a horizontal articulated robot, a parallel link robot, or a dual-arm robot.
[0012] The robot control device 20 controls the operation of the robot 10 in accordance with an operation program or commands from the teaching pendant 40. The robot control device 20 may have a hardware configuration as a general computer having a processor, memory (ROM, RAM, non-volatile memory, etc.), a storage unit 22 (see FIG. 2), an operation unit, an input / output interface, a network interface, etc.
[0013] The teaching pendant 40 is used as an operation terminal for teaching the robot 10 and performing various settings. An information processing device such as a tablet terminal may be used as the teaching pendant 40. The teaching pendant 40 may have a hardware configuration as a general computer having a processor, memory (ROM, RAM, non-volatile memory, etc.), a storage device, an operation unit 43, a display unit 44, an input / output interface, a network interface, etc. (see FIG. 2 ). The teaching pendant 40 is provided with an enable switch 45. The enable switch 45 is a physical switch that allows the operator to manually operate the robot 10.
[0014] 2 is a functional block diagram of the robot system 100 according to the first embodiment. Hereinafter, the functions of the robot system 100 according to the first embodiment will be described with reference to the functional block diagram of FIG.
[0015] The robot 10 includes a motor 1 as a drive device, an encoder 2 for detecting the angular position of the joint, and a torque sensor 3 at each joint (represented by a dashed rectangle in FIG. 2 ). Based on feedback (e.g., the position and velocity of each axis) from the encoder 2 for each axis, the robot controller 20 can determine information such as the position, posture, and velocity of the robot 10. Furthermore, the robot controller 20 can calculate the operating force (force or moment) applied to a predetermined portion of the robot 10 (e.g., the application nozzle 31) based on the detected values from the torque sensors 3 for each axis and the position and posture information of the robot 10 (e.g., the position information of each axis). Instead of the torque sensors 3 for each axis, a force sensor attached to a predetermined position of the robot 10 (e.g., the robot flange) may be used to calculate the operating force (force or moment) applied to a predetermined portion of the robot 10.
[0016] The robot control device 20 includes a robot operation switching unit 121, a direct teach execution unit 122, a parameter switching unit 125, a parameter registration unit 126, and a program creation unit 127. The direct teach execution unit 122 includes an operation force detection unit 123 and a movement command generation unit 124. These functional blocks may be functional elements realized by the processor of the robot control device 20 executing software.
[0017] The robot operation switching unit 121 accepts an input to switch the operation of the robot 10 to direct teach. The robot operation switching unit 121 may accept a user input to switch the robot operation to direct teach, for example, via a user interface screen displayed on the display unit 44 of the teaching console 40. When the robot operation is set to direct teach, the direct teach execution unit 122 functions, allowing the operator to perform direct teach.
[0018] Direct teach is an operation mode in which an operator teaches the robot how to operate by directly operating the robot's arm, end effector, etc. In direct teach, the operation force detection unit 123 calculates the force (operation force) applied by the operator to the application nozzle 31 based on the output from the torque sensor 3 of each axis. The operation force is calculated, for example, as a value based on a predetermined coordinate system (tool coordinate system). The movement command generation unit 124 generates a movement command corresponding to the operation force using a operability parameter group specified by the parameter switching unit 125, and issues the command to the robot 10.
[0019] Here, an overview of the registration and application of a maneuverability parameter group according to this embodiment will be described. The maneuverability parameter group is a parameter group that determines the maneuverability of the robot in direct teach, and may include, for example, one or more of the following maneuverability parameters: (1) Start of movement (N) (2) Lightness (N) (3) Speed (mm / sec) (4) Acceleration time (sec) The maneuverability parameter "start of movement" is a parameter that specifies the maneuvering force required for the robot to start moving. The maneuverability parameter "lightness" specifies the maneuvering force required to move the robot. Setting "lightness" to a relatively large value can give the operator a sense of heavy operation. Setting "lightness" to a relatively small value can move the robot with less force, giving the operator a sense of light operation. The maneuverability parameter "speed" is a parameter that specifies the operating speed of the robot (e.g., target speed). The operability parameter "acceleration time" is a parameter that specifies the time (time constant) required for the robot to accelerate to a predetermined speed (for example, a predetermined ratio of the target speed specified by the operability parameter "speed"). The operator can register in advance multiple operability parameter groups, each of which is set with such parameters, depending on the work content. Then, the operator can select and apply a desired operability parameter group depending on the work content, for example, using direct teach.
[0020] The parameter registration unit 126 provides a function for setting and registering operability parameter groups that define the operability of direct teach. The function of the parameter registration unit 126 allows the operator to register multiple types of operability parameter groups in the robot control device 20. Depending on the work content, the operator can select, for example, a operability parameter group that provides light operability or a operability parameter group that provides heavy but stable operability, and apply it to direct teach.
[0021] The storage unit 22 is a storage device such as a non-volatile memory or a hard disk drive. The storage unit 22 stores the operability parameter groups registered by the operator. The storage unit 22 can also be considered as an operability parameter group storage unit.
[0022] The parameter switching unit 125 receives an input for selecting one operability parameter group from the multiple operability parameter groups registered in the storage unit 22. The parameter switching unit 125 may receive a user input for selecting one of the multiple registered operability parameter groups, for example, via a user interface screen of the teaching pendant 40. The parameter switching unit 125 applies the selected operability parameter group to the direct teach executing unit 122.
[0023] The program creation unit 127, for example, presents a program creation screen on the display unit 44 of the teaching pendant 40 and accepts operations for creating and editing an operation program for the robot 10. The program creation unit 127 has a function of providing a user interface for making various settings related to programming. The programming functions provided by the program creation unit 127 include programming using icons representing the functions of the robot.
[0024] FIG. 3 is a diagram showing an example of a maneuverability parameter setting screen 200 provided by the function of the parameter registration unit 126. The parameter registration unit 126 displays the maneuverability parameter setting screen 200 on the display unit 44 of the teaching pendant 40 and accepts input of maneuverability parameters via this maneuverability parameter setting screen 200. The maneuverability parameter setting screen 200 has input fields 201, 202, 203, and 204 for inputting "start of movement," "lightness," "speed," and "acceleration time," respectively. The new creation button 221 is a button for creating a new maneuverability parameter group. After pressing the new creation button 221 to input a maneuverability parameter group, the input maneuverability parameter group can be newly registered in the storage unit 22 by pressing the save button 222. The operator can also select an already registered maneuverability parameter group and adjust the parameter values of the selected maneuverability parameter group via the maneuverability parameter setting screen 200.
[0025] Note that while the operability parameter setting screen 200 in FIG. 3 shows an example in which each operability parameter is set by a numerical value, the operability parameter setting screen 200 may be configured, for example, so that each operability parameter can be changed by operating a slide bar.
[0026] According to the configuration of the first embodiment, the operator can pre-register multiple types of operability parameter groups. Then, the operator can switch between operability parameter groups depending on the content of the direct teach task. This configuration makes the direct teach task easier and allows the direct teach task to be performed appropriately and efficiently.
[0027] Furthermore, the operator can register operability parameters that suit his or her preferences, which makes direct teaching easier. Since it is also possible to adjust and register pre-registered operability parameters, the operator can adjust the operational feel to enable the operator to perform tasks that would have been difficult to teach using the device-specific operability parameters pre-registered in the robot. This also shortens the time it takes to become accustomed to direct teaching.
[0028] Second Embodiment A robot system 100A according to a second embodiment will be described with reference to Fig. 4 to Fig. 6. The equipment configuration of the robot system 100A according to the second embodiment is the same as the equipment configuration of the robot system 100 shown in Fig. 1, and therefore the equipment configuration of the robot system 100A will be described with reference to Fig. 1.
[0029] Fig. 4 is a functional block diagram of a robot system 100A according to the second embodiment. For ease of explanation, functional blocks in Fig. 4 that are the same as those in the first embodiment shown in Fig. 2 are assigned the same reference numerals. In the robot control device 20 according to the second embodiment, a parameter registration unit 126A and a parameter switching unit 125A have the functions described below regarding the registration and application of operability parameter groups.
[0030] FIG. 5 is a diagram showing an example of a operability parameter setting screen 300 provided by the parameter registration unit 126A. The parameter registration unit 126A provides a function for registering operability parameter groups in the form of icons. When the operator presses the New button 321, a setting screen corresponding to the operability parameter setting screen 200 shown in FIG. 3 is presented, and the operator can input operability parameters and register a new operability parameter group (icon). Furthermore, when the operator selects one of the pre-registered icons (operability aaa icon 301, operability bbb icon 302, operability ccc icon 303) and performs a predetermined operation (e.g., pressing the Set button 322), a setting screen corresponding to the operability parameter setting screen 200 shown in FIG. 3 is presented, and the operator can adjust the operability parameter group.
[0031] A group of operability parameters newly created or adjusted via the operability parameter setting screen 300 is registered in the storage unit 22 as an operability icon.
[0032] The parameter switching unit 125A may have a function of applying a group of operability parameters of one or more operability icons registered in the storage unit 22 to the direct teach execution unit 122 in response to an operation of dragging and dropping the icon from the display unit 44 onto a predetermined reception screen. A specific example of realizing such a function will be described with reference to FIG. 6.
[0033] 6 is a diagram showing an example of a program creation screen 400 presented by the function of the program creation unit 127. The program creation unit 127 may present such a program creation screen 400 on the display unit 44 of the teaching pendant 40. As shown in FIG. 6, the program creation screen 400 includes an icon display area 420 that displays a list of function icons, and a program creation area 430 in which icons are arranged to create a program. The program creation area 430 is sometimes referred to as a timeline because it is an area in which icons that make up a program are arranged in chronological order.
[0034] When programming, the operator selects the programming tab 461. When the operator selects an icon arranged in the program creation area 430 and selects the details tab 462, a setting screen for making detailed settings for the icon is displayed. Such a function for supporting user operations on icons may be provided as a function of the program creation unit 127.
[0035] 6 , the icon display area 420 of the program creation screen 400 includes a trajectory teaching icon 401 corresponding to a function of teaching a trajectory to the robot 10 by direct teaching. The icon display area 420 further includes a operability aaa icon 301, a operability bbb icon 302, and a operability ccc icon 303 corresponding to three types of operability parameter groups registered by the function of the parameter registration unit 126A. The operator can specify the operability icon to be applied to the trajectory teaching icon 401, for example, by the following procedure: (a1) Place the trajectory teaching icon 401 in the program creation area 430. (a2) Select the trajectory teaching icon 401 placed in the program creation area 430 and press the details tab 462 to open a details setting screen for the trajectory teaching icon 401. (a3) A desired operability icon is selected from the icon display area 420 and dragged and dropped onto a predetermined location (e.g., the teaching start button) in the detailed setting screen, thereby applying the operability parameter group of the selected operability icon to direct teaching using the trajectory teaching icon 401. The function of applying the operability icon to direct teaching using these steps (a1) to (a3) may be provided by cooperation between the program creation unit 127 and the parameter switching unit 125A.
[0036] As described above, the function of registering and applying an operability parameter group using an icon allows the operator to apply a desired operability parameter group (operability icon) to direct teach with a more intuitive and easier operation.
[0037] The parameter registration unit 126A may have a function for automatically adjusting the operability parameter group in an interactive manner while allowing the operator to actually experience the feel of operating the robot 10. The parameter registration unit 126A may present such an interactive user interface screen on the display unit 44 of the teaching pendant 40. The parameter registration unit 126A may provide such an interactive operability parameter adjustment function, for example, by the following procedure: (Step 1) Allow the user to operate the robot (direct teach) with a predetermined initial operability parameter group. (Step 2) Accept an evaluation of the operability feel via the user interface. (Step 3) Change the operability parameters in a direction that improves the user's evaluation based on the user's evaluation. (Step 4) Repeat (Step 1) to (Step 3) until a predetermined ending operation is performed. (Step 5) Register the adjusted operability parameter group in the storage unit 22.
[0038] In step 2, for example, evaluations such as "easy to operate," "difficult to operate," "slow to operate," and "light to operate" may be accepted. In step 3, if the user's evaluation of the initial operation parameter set is "difficult to operate," the parameter registration unit 126A may adopt a method of adjusting the initial operation parameter set to a set of operability parameters that have an operating feel opposite to that of the initial operation parameter set. Fig. 10 shows an example of an input screen (user interface) 350 presented on the display unit 44 in step 2. The input screen 350 has an input field 351 where the user inputs an evaluation.
[0039] Alternatively, in step 2, predetermined questions may be presented to the user via the user interface, and answers (evaluations) to the questions may be received from the user. In this case, the predetermined questions regarding operability may include, for example, one or more of the following: (Question 1) "Does the operation feel heavy?" If the operator answers "it feels heavy" to this question, the parameter registration unit 126A may, for example, shift the operability parameters of "start of movement" and "lightness" in a direction that makes the robot's movement lighter, so as to make the operation feel lighter. (Question 2) "Is the robot's tracking ability good?" If the operator answers "the tracking ability is poor" to this question, the parameter registration unit 126A may, for example, shift the operability parameters of "speed" and "acceleration time" in a direction that improves the robot's tracking ability. (Question 3) "Is the robot's movement stable?" If the operator answers this question with "not stable," the parameter registration unit 126A shifts the operability parameters, for example, "start of movement," "lightness," and "speed," in the direction of making the robot's movements relatively heavier and more stable.
[0040] As described above, in the configuration of the second embodiment, the operator can also pre-register multiple types of operability parameter groups. The operator can then switch between operability parameter groups depending on the content of the direct teach task. This configuration makes the direct teach task easier and allows the direct teach task to be performed appropriately and efficiently.
[0041] Third Embodiment A robot system 100B according to a third embodiment will be described with reference to Fig. 7 to Fig. 9. The equipment configuration of the robot system 100B according to the third embodiment is the same as the equipment configuration of the robot system 100 shown in Fig. 1, and therefore the equipment configuration of the robot system 100B will be described with reference to Fig. 1.
[0042] 7 is a functional block diagram of a robot system 100B. In addition to the functions described above for the robot control device 20 according to the second embodiment, the robot control device 20 according to the third embodiment is configured such that a parameter switching unit 125B can automatically switch between operability parameter groups in accordance with switching conditions included in the operability parameter groups.
[0043] 8 is a diagram showing an example of a maneuverability parameter setting screen 200B provided by the parameter registration unit 126A. The maneuverability parameter setting screen 200B includes input fields 201 to 204 for "start of movement," "lightness," "speed," and "acceleration time" described in FIG. 3 , as well as an input field 205 for setting switching conditions for automatically switching between maneuverability parameter groups. The parameter switching unit 125B selects one of the multiple maneuverability parameter groups registered in the storage unit 22 that satisfies the switching conditions described in the maneuverability parameter group, and applies the selected parameter to the direct teach execution unit 122.
[0044] The automatic switching condition is, for example, any of the following: A condition related to a signal. A condition related to the position or posture of the robot. A login user name.
[0045] The "signal-related condition" as the automatic switching condition is, for example, a signal indicating that an external device, such as an end effector or a peripheral device, has started operating, or a signal indicating that an internal safety function has been activated. For example, suppose a operability parameter group designated as "coating nozzle operation signal on" is registered in the input field 205. In this case, the parameter switching unit 125B can select the operability parameter group designated as "coating nozzle operation signal on" in the input field 205 from the multiple registered operability parameter groups and apply it to the direct teach execution unit 122 in response to the activation signal from the coating nozzle 31 being turned on. Also, suppose a operability parameter group designated as "coating nozzle operation signal off" is registered in the input field 205. In this case, the parameter switching unit 125B can select the operability parameter group designated as "coating nozzle operation signal off" in the input field 205 from the multiple registered operability parameter groups and apply it to the direct teach execution unit 122 in response to the activation signal from the coating nozzle 31 being turned off.
[0046] 1, in an application example in which a cake W is decorated by a robot 10, a light operational feel is preferable when moving to the cream application position because no work is involved, and a heavier operational feel (lower target speed) and more gradual acceleration and deceleration (longer acceleration time) when operating the application nozzle 31 to squeeze out the cream allows the cream to be applied easily and beautifully. Therefore, by configuring the operation parameter group applied to direct teach to be switchable by the operation signal of the application nozzle 31 as described above, it becomes possible to dynamically switch the operation parameter group according to the work content and accurately proceed with direct teach.
[0047] Furthermore, by using a "signal-related condition" as an automatic switching condition, it is possible to automatically switch the operability based on a safety-related signal. For example, consider a case in which the robot control device 20 has a safety function that stops the robot 10 when an external force acting on the robot 10 or the speed of the robot 10 exceeds a threshold, and the operability of the robot 10 is switched based on a signal indicating whether the safety function is enabled or disabled. When the safety function is enabled, the robot 10 can be operated with both hands. On the other hand, when the safety function is disabled, one hand is required to press an enable switch (e.g., an enable switch that can be held in one hand, such as the enable switch 45 on the teaching console 40), making direct teaching somewhat inconvenient. Therefore, by specifying a signal indicating whether the safety function is enabled or disabled as a switching condition, it is possible to switch the operability by providing a standard operability when the safety function is enabled (when operation is possible with both hands) and a slightly lighter operability for easier operation when the safety function is disabled (when the robot 10 must be operated with one hand).
[0048] By using a "condition related to the robot's position or posture" as an automatic switching condition, it becomes possible to switch the operability parameter group according to the position and posture of the robot 10. Referring to the equipment configuration in FIG. 1 , a hose 30a from the coating device 30 is connected to the robot 10. In this case, depending on the position and posture of the robot 10, the tension of the hose 30a may affect the movement of the robot 10. Therefore, by switching the operability parameter group according to the position of the robot 10, it becomes possible to mitigate the influence of the tension of the hose 30a. For example, in a position where the robot 10 is susceptible to the influence of the hose tension, a operability parameter group that provides a slightly heavier feel when operating the robot 10 can be applied, thereby enabling operation that mitigates the influence of the tension of the hose 30a.
[0049] In addition, since there is generally a strong correlation between the position of a robot and the work content, configuring the robot to switch between operability parameter groups depending on the position of the robot enables operation equivalent to switching between operability parameter groups depending on the work content.
[0050] Furthermore, by making it possible to switch the maneuverability parameter set depending on the robot's position, it is also possible to operate the robot so that a certain area in the workspace is designated as a movement restriction area. For example, by setting the maneuverability parameter set so that the movement speed of the robot 10 is sufficiently slow (or so that the speed is zero) when the robot 10 is within a certain area, the certain area can be designated as a movement restriction area in which the movement of the robot is restricted.
[0051] By allowing the "login user name" to be specified as an automatic switching condition, it becomes possible to switch the operability parameter group depending on the user performing direct teach. For example, assume that user A registers operability parameter group A, which describes user A's login name as a switching condition along with his / her preferred parameter settings, in the robot control device 20, and user B registers operability parameter group B, which describes user B's login name as a switching condition along with his / her preferred parameter settings, in the robot control device 20. In this case, for example, when user A inputs his / her login name via the teaching pendant 40 to start using the robot system 100B, the parameter switching unit 125B can refer to the input login name and apply the operability parameter group A corresponding to user A's login name to direct teach.
[0052] As described above, according to the configuration of this embodiment, it is possible to adaptively switch the operability parameter group depending on the operating state of the robot 10, the operating state of each device included in the robot system 100B, or the user.
[0053] In the configuration of the third embodiment, too, the operator can pre-register multiple types of operability parameter groups. The operator can then switch between operability parameter groups depending on the content of the direct teach task. This configuration makes the direct teach task easier and allows the direct teach task to be performed appropriately and efficiently.
[0054] Next, as a modification of the third embodiment, a configuration example will be described in which the maneuverability parameter group includes a designation of the "direction of application." FIG. 7 is used as a functional block diagram of this modification. FIG. 9 is a diagram showing an example of a maneuverability parameter setting screen 200C provided by the parameter registration unit 126A in this modification. The maneuverability parameter setting screen 200C includes an input field 206 for designating the "direction of application" of the maneuverability parameter group, in addition to the input fields 201 to 205 for "start of movement," "lightness," "speed," "acceleration time," and switching conditions shown in FIG. 8.
[0055] If a "direction to apply" is specified in the group of operability parameters to be applied, the direct teach execution unit 122 applies the group of operability parameters in the direction specified in the "direction to apply" with respect to the direction of movement of the robot 10.
[0056] The format for specifying the "direction to be applied" can be, for example: a format for specifying the direction based on a coordinate system (e.g., the Z direction of the tool coordinate system), a format for specifying the direction based on a plane, or a format for specifying in vector format.
[0057] An example of a "form for specifying a direction based on a coordinate system" will be described. Consider an application in which cream is applied to a cake W using the equipment configuration shown in FIG. 1 . If the cream application direction is the Z direction of the tool coordinate system, ideally, the robot 10 should not move much in the Z direction in response to the operating force when applying the cream (i.e., the robot 10 should be insensitive to the operating force in the Z direction). On the other hand, a more sensitive operating feel is required in the X and Y directions than in the Z direction. This operating feel can be achieved, for example, by registering the following operability parameter groups C and D. Operable parameter group C: A operability parameter group in which the operability parameters are set so that the robot is insensitive to the operating force (e.g., a long acceleration time and a slow speed), and the "applied direction" is described as the Z direction of the tool coordinate system. Operable parameter group D: A operability parameter group in which the operability parameters are set so that the robot is sensitive to the operating force (e.g., a relatively short acceleration time and a relatively high speed), and the "applied direction" is described as the X and Y directions of the tool coordinate system.
[0058] The direct teach executing unit 122 can generate an operation command to apply operability parameter set C to the Z direction and operability parameter set D to the X and Y directions based on the operation information (movement information) of the robot 10. Such an operation can achieve an ideal operation feel in the application of applying the cream described above.
[0059] The "format for specifying a direction based on a plane" is a method for specifying a plane by specifying three points in the workspace (world coordinate system), and then specifying a direction based on that plane. For example, if the directions along the plane are defined as the X and Y directions, and the normal direction of the plane is defined as the Z direction, then in this format, you can specify something like "the Z direction of plane C." This format is useful, for example, when specifying a direction based on the surface of a workbench in the workspace.
[0060] The "method of specifying in vector format" is a method of expressing the "direction to be applied" as a vector notation with the origin of the world coordinate system as the reference point, for example. This method has the advantage that the user can intuitively specify the direction easily.
[0061] The configuration described here in which the operability parameter group includes a designation of the "direction of application" may be applied to the first or second embodiment.
[0062] The above is the description of the first to third embodiments.
[0063] Here, the flexibility of the system configuration will be described. The functional layouts in the functional block diagrams ( FIGS. 2 , 4 , and 7 ) in the above-described embodiments are merely examples, and various modifications of the functional layouts are possible. For example, in the functional block diagram shown in FIG. 2 , functional blocks such as the robot operation switching unit 121, the direct teach execution unit 122, the parameter switching unit 125, the parameter registration unit 126, and the program creation unit 127 are illustrated as being located within the robot control device 20. However, a configuration in which at least some or all of these functional blocks are located within the teaching pendant 40 is also possible. For example, a configuration in which the program creation unit 127, the robot operation switching unit 121, the parameter switching unit 125, the operation parameter group storage unit, and the parameter registration unit 126, which are related to the user interface function, are located within the teaching pendant 40, and the direct teach execution unit 122 is located within the robot control device 20 is also possible.
[0064] Although the application of cream to a cake has been described as an example of the use of the above-described embodiment, the functions of the above-described embodiment can also be applied to a painting device that applies paint, a sealing device that applies sealant, a gluing device that applies adhesive, a laser processing device, etc.
[0065] As described above, the teaching pendant 40 and the robot control device 20 function together to provide the direct teach function, and therefore the entire function consisting of the teaching pendant 40 and the robot control device 20 can be positioned as a teaching device (indicated by the symbol 50 in Figure 1).
[0066] The functional blocks in the functional block diagrams shown in Figures 2, 4, and 7 may be realized by one or more processors of the robot control device or teaching operation panel executing various software stored in a storage device, or may be realized by a configuration mainly based on hardware such as an ASIC (Application Specific Integrated Circuit).
[0067] The programs for executing the various procedures, algorithms, etc. related to the above-mentioned embodiments can be recorded on various computer-readable recording media (e.g., semiconductor memories such as ROM, EEPROM, and flash memory, magnetic recording media, and optical discs such as CD-ROM and DVD-ROM).
[0068] As described above, according to each embodiment, the operator can register multiple types of operability parameter groups in advance. Then, the operator can switch between operability parameter groups depending on the content of the direct teach task. This configuration makes the direct teach task easier and allows the direct teach task to be performed appropriately and efficiently.
[0069] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values or mathematical expressions are used in the description of the above-described embodiments.
[0070] The following supplementary notes are further provided regarding the above-described embodiment and modified examples: (Supplementary Note 1) A teaching device (50) including: a direct teach execution unit (122) that generates a movement command for a robot (10) in accordance with an operational force applied to the robot (10) by using a maneuverability parameter group including one or more maneuverability parameters, a parameter registration unit (126, 126A) that accepts settings of one or more maneuverability parameters and is capable of registering a maneuverability parameter group including the set one or more maneuverability parameters in a storage unit (22), and a parameter switching unit (125, 125A, 125B) that switches a maneuverability parameter group to be applied to the direct teach execution unit from among the one or more maneuverability parameter groups registered in the storage unit in accordance with a predetermined switching condition. (Supplementary Note 2) The teaching device (50) according to Supplementary Note 1, wherein the predetermined switching condition includes a user input specifying a maneuverability parameter group, and the parameter switching unit (125, 125A) applies to the direct teach execution unit a maneuverability parameter group specified by the user input from among one or more maneuverability parameter groups registered in the storage unit. (Supplementary Note 3) The teaching device (50) according to Supplementary Note 1, wherein the predetermined switching condition includes a predetermined automatic switching condition included in the one or more maneuverability parameter groups registered in the storage unit, and the parameter switching unit (125B) selects a maneuverability parameter group that satisfies the predetermined automatic switching condition from the one or more maneuverability parameter groups registered in the storage unit and applies it to the direct teach execution unit. (Supplementary Note 4) The teaching device (50) according to Supplementary Note 3, wherein the predetermined automatic switching condition includes any one of a condition related to a signal, a condition related to a position or posture of a robot, and a login user name. (Supplementary Note 5) The teaching device (50) according to Supplementary Note 4, wherein the condition relating to the signal is whether or not a signal indicating that an internal function of the teaching device or an external device is in operation is on.(Supplementary Note 6) The teaching device (50) according to Supplementary Note 1, wherein the one or more maneuverability parameter groups registered in the storage unit (22) include a designation of a direction in which the maneuverability parameter groups are to be applied, and the direct teach execution unit (122) generates a movement command for the robot so that the maneuverability parameter groups are applied to a movement direction of the robot corresponding to the designation of the direction to be applied in the maneuverability parameter groups. (Supplementary Note 7) The teaching device (50) according to Supplementary Note 6, wherein the designation of the direction to be applied is written in a format that designates a direction based on a predetermined coordinate system, a format that designates a direction based on a predetermined plane, or a vector format. (Supplementary Note 8) The teaching device (50) according to any one of Supplementary Notes 1 to 7, wherein the parameter registration unit (126A) applies a predetermined operability parameter group to the direct teach execution unit, allows a user to operate the robot, receives a user's evaluation of the operability feel of the robot via a user interface, changes setting values of the operability parameter group to be applied to the direct teach execution unit based on the evaluation so that the user's evaluation is higher, and registers the changed operability parameter group in the storage unit. (Supplementary Note 9) The teaching device (50) according to Supplementary Note 2, wherein the parameter registration unit (126A) is configured to be able to register operability parameter groups in the storage unit in the form of icons, and the parameter switching unit (125A) receives an operation of dragging and dropping one of the icons of one or more operability parameter groups registered in the storage unit onto a predetermined reception screen on a display unit, and applies the operability parameter group of the dragged-and-dropped icon to the direct teach execution unit.
[0071] REFERENCE SIGNS LIST 1 Motor 2 Encoder 3 Torque sensor 10 Robot 20 Robot control device 22 Memory unit 30 Coating device 31 Coating nozzle 40 Teaching operation panel 43 Operation unit 44 Display unit 45 Enabling switch 50 Teaching device 100, 100A, 100B Robot system 121 Robot operation switching unit 122 Direct teach execution unit 123 Operation force detection unit 124 Movement command generation unit 125, 125A, 125B Parameter switching unit 126, 126A Parameter registration unit 127 Program creation unit
Claims
1. A teaching device comprising: a direct teach execution unit that generates a movement command for a robot in response to an operating force applied to the robot using an operability parameter group including one or more operability parameters; a parameter registration unit that accepts the setting of one or more operability parameters and is capable of registering the operability parameter group including the one or more set operability parameters in a memory unit; and a parameter switching unit that switches the operability parameter group to be applied to the direct teach execution unit from among the one or more operability parameter groups registered in the memory unit in accordance with predetermined switching conditions.
2. A teaching device as described in claim 1, wherein the predetermined switching condition includes a user input specifying a group of operability parameters, and the parameter switching unit applies to the direct teach execution unit the group of operability parameters specified by the user input from among one or more groups of operability parameters registered in the memory unit.
3. A teaching device as described in claim 1, wherein the predetermined switching condition includes a predetermined automatic switching condition included in one or more operability parameter groups registered in the memory unit, and the parameter switching unit selects an operability parameter group that satisfies the predetermined automatic switching condition from the one or more operability parameter groups registered in the memory unit and applies the selected operability parameter group to the direct teach execution unit.
4. A teaching device according to claim 3, wherein the predetermined automatic switching conditions include any one of a condition related to a signal, a condition related to a position or posture of the robot, and a login user name.
5. The teaching device according to claim 4, wherein the condition relating to the signal is whether or not a signal indicating that an internal function or an external device of the teaching device is in operation is on.
6. A teaching device as described in claim 1, wherein one or more operability parameter groups registered in the memory unit include a designation of a direction in which the operability parameter group is to be applied, and the direct teach execution unit generates a movement command for the robot so that the operability parameter group is applied to a movement direction of the robot corresponding to the designation of the direction of application in the operability parameter group.
7. The teaching device according to claim 6, wherein the direction to be applied is specified in a format that specifies the direction based on a specified coordinate system, a format that specifies the direction based on a specified plane, or a vector format.
8. A teaching device as described in any one of claims 1 to 7, wherein the parameter registration unit applies a predetermined group of operability parameters to the direct teach execution unit, allows a user to operate the robot, accepts a user's evaluation of the operability feel of the robot via a user interface, changes setting values of the group of operability parameters to be applied to the direct teach execution unit based on the evaluation so as to increase the user's evaluation, and registers the changed group of operability parameters in the memory unit.
9. The teaching device of claim 2, wherein the parameter registration unit is configured to be able to register an operability parameter group in the form of an icon in the memory unit, and the parameter switching unit receives an operation of dragging and dropping one of the icons of one or more operability parameter groups registered in the memory unit onto a predetermined reception screen on the display unit, and applies the operability parameter group of the dragged-and-dropped icon to the direct teach execution unit.