Dual arm robot teaching system having multiple teaching modes

Abstract

The present invention relates to a dual arm robot teaching system having multiple teaching modes. The system comprises: a telemanipulator having a plurality of joints and corresponding to a manipulator to be taught; and a controller for controlling a tool mounted on the manipulator. The controller is coupled to a wrist module provided in the telemanipulator, and at least one of the direction or angle of the controller with respect to the wrist module can be changed to switch teaching modes.

Description

Dual-arm robot teaching system with multiple teaching modes

[0001] The present invention relates to a system for teaching a dual-arm robot.

[0002] Industrial robots have primarily been used for simple, repetitive tasks, based on their high-speed, high-precision, and high-power capabilities. Recently, dual-arm robots have been developed to overcome these limitations and perform complex tasks similar to those performed by humans.

[0003] In order to perform a task using a dual-arm robot, a process of teaching the movements of the robot arm, the manipulator, is necessary, and there are two methods of teaching the robot: indirect teaching and direct teaching.

[0004] In the case of indirect teaching, robot movements can be taught step by step while directly observing the robot's movements using a teaching pendant. This is performed by an expert with specialized knowledge of robot control, and the teaching time may be long.

[0005] Meanwhile, in the case of direct teaching, there is an advantage in that the user can intuitively control the robot's movements, making robot teaching easy, but there is a problem in that there is a time delay between unit movements and a large force may be required when directly teaching the robot.

[0006] The technical problem to be solved through embodiments of the present invention is to provide a dual-arm robot teaching system having multiple teaching modes to improve the convenience of a user teaching the motion of the robot.

[0007] The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art of the present invention from the description below.

[0008] In order to solve the above-described problem, a dual-arm robot teaching system according to an embodiment of the present invention comprises: a telemanipulator having a plurality of joints corresponding to a manipulator as a teaching target; and a controller for controlling a tool mounted on the manipulator; wherein the controller is coupled to a wrist module mounted on the telemanipulator, and at least one of a direction and an angle of the controller relative to the wrist module is changed to enable switching of the teaching mode.

[0009] The above teaching mode may include a first direction mode in which the front directions of the user and the dual-arm robot teaching system face each other, and a second direction mode in which the front directions of the user and the dual-arm robot teaching system match.

[0010] Additionally, the teaching mode may include a first angle mode in which the axial direction of the wrist module and the axial direction of the controller are aligned, and a second angle mode in which the axial direction of the wrist module and the axial direction of the controller intersect.

[0011] Meanwhile, the teaching mode can be set as a combination of any one of the first and second direction modes and any one of the first and second angle modes.

[0012] According to an embodiment of the present invention, by including a first input means for controlling the operation of a tool and a second input means for selecting a manipulator control mode in a controller coupled to a wrist module of a telemanipulator, remote control of the manipulator and teaching of a dual-arm robot can be facilitated.

[0013] According to another embodiment of the present invention, a dual-arm robot teaching system capable of selecting gravity compensation and position control modes is provided, thereby improving the ease and accuracy of teaching by a user.

[0014] According to another embodiment of the present invention, by changing at least one of the direction and angle of a controller relative to a wrist module of a telemanipulator to switch the teaching mode, it is possible to easily teach the motion of a dual-arm robot according to the teaching and working environment.

[0015] FIG. 1 is a perspective view showing an exemplary form of a dual-arm robot according to one embodiment of the present invention.

[0016] FIG. 2 is a perspective view showing the configuration of a dual-arm robot teaching system according to one embodiment of the present invention.

[0017] Figure 3 is a drawing for explaining an example of a manipulation module provided in a dual-arm robot teaching system.

[0018] Fig. 4 is a perspective view illustrating an example of the configuration of frames provided in a dual-arm robot teaching system.

[0019] Fig. 5 is a perspective view illustrating an example of the configuration of a support member provided in a dual-arm robot teaching system.

[0020] Fig. 6 illustrates the configuration of a manipulator remote control device according to one embodiment of the present invention.

[0021] Fig. 7 is a perspective view illustrating examples of stoppers provided in a telemanipulator.

[0022] Fig. 8 is a perspective view illustrating an example of the configuration of a wrist module included in a telemanipulator.

[0023] FIGS. 9 to 11 are drawings for explaining embodiments of the configuration of a controller included in a manipulator remote control device.

[0024] Figures 12 to 16 are drawings for explaining embodiments of teaching modes according to the direction of the controller.

[0025] Figures 17 and 18 are drawings for explaining embodiments of teaching modes according to the angle of the controller.

[0026] FIGS. 19 to 22 are drawings for explaining embodiments of a method for teaching a dual-arm robot using multiple teaching modes.

[0027] The advantages and / or features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0029] FIG. 1 illustrates an exemplary form of a dual-arm robot according to one embodiment of the present invention. The dual-arm robot (100) may include two arms (110, 120), a body (130), a lower body (140), and a mobile body (150).

[0030] Referring to FIG. 1, two arms (110, 120) are respectively coupled to the left and right sides of the body (130), and the arm (110) coupled to one side may include a first manipulator (111) and a first tool (112) coupled to an end thereof, and the arm (120) coupled to the other side may include a second manipulator (121) and a second tool (122) coupled to an end thereof.

[0031] The first and second manipulators (111, 121) each include multiple joints and may have 7 degrees of freedom (DOF), but the present invention is not limited thereto.

[0032] Meanwhile, the first and second tools (112, 122) are removably connected to the end of the first manipulator (111) and the end of the second manipulator (121), respectively, and may be a two-finger to five-finger gripper depending on the usage environment, but the present invention is not limited thereto.

[0033] Meanwhile, a camera (135) can be attached to the body part (130), and the image captured by the camera (135) can be transmitted to the dual-arm robot teaching system according to the embodiment of the present invention and displayed in real time, thereby enabling intuitive teaching of the dual-arm robot (100).

[0034] The lower body (140) includes a plurality of joints to enable adjustment of the rotation, angle, and height of the body (130), and may have six degrees of freedom (DOF), but the present invention is not limited thereto.

[0035] The mobile unit (150) is a means for moving the dual-arm robot (100) and may include a plurality of wheels and a driving module for rotating each wheel.

[0036] Meanwhile, the mobile unit (150) can drive autonomously by recognizing the surrounding environment using multiple sensors.

[0037] In the above, referring to FIG. 1, an embodiment of the present invention has been described by taking as an example a mobile dual-arm robot as the teaching object of the present invention, but the present invention is not limited thereto and may be applied to various robots including one or more manipulators, for example, industrial robots, collaborative robots, humanoid robots, etc.

[0038] FIG. 2 illustrates the configuration of a dual-arm robot teaching system according to one embodiment of the present invention. The dual-arm robot teaching system (200) can be configured to include two manipulator remote control devices (210, 220) and frames (230, 231).

[0039] Referring to FIG. 2, a first manipulator remote control device (210) and a second manipulator remote control device (220) can be respectively coupled to the left and right sides of the upper frame (230).

[0040] The first manipulator remote control device (210) may be configured to include a first telemanipulator (211) and a first controller (212) coupled to an end thereof, and the second manipulator remote control device (220) may be configured to include a second telemanipulator (221) and a second controller (222) coupled to an end thereof.

[0041] The first and second telemanipulators (211, 221) may correspond to the first and second manipulators (111, 121) of the dual-arm robot (100), respectively, and the first and second controllers (212, 222) may correspond to the first and second tools (112, 122) of the dual-arm robot (100), respectively.

[0042] For example, the first and second telemanipulators (211, 221) may have a plurality of joints corresponding to the first and second manipulators (111, 121), and may each have 7 degrees of freedom (DOF), but the present invention is not limited thereto.

[0043] Meanwhile, the first and second controllers (212, 222) can be detachably coupled to the ends of the first telemanipulator (211) and the second telemanipulator (221), respectively.

[0044] The first controller (212) may include a first input means for controlling the operation of the first tool (112) provided in the dual-arm robot (100), and a second input means for selecting a control mode of the first manipulator (111).

[0045] Additionally, the second controller (222) may include a first input means for controlling the operation of the second tool (122) provided in the dual-arm robot (100) and a second input means for selecting a control mode of the second manipulator (121).

[0046] For example, if the first and second tools (112, 122) provided in the dual-arm robot (100) are grippers, the first input means provided in each of the first and second controllers (212, 222) can be used to control the stroke operation for gripping the corresponding gripper.

[0047] Meanwhile, the first and second manipulators (111) provided in the dual-arm robot (100) can be controlled according to either a torque control or a position control mode, and in this case, the second input means provided in each of the first and second controllers (212, 222) can be used to select the control mode of the corresponding manipulator.

[0048] For example, when torque control is selected via the second input means, a gravity compensation mode may be applied to the telemanipulator for controlling the motion of the manipulator, making it easier to remotely control or teach the manipulator.

[0049] An operation module (235) can be attached to the upper frame (230), and an image captured by the camera (135) of the two-arm robot (100) can be displayed in real time on the operation module (235).

[0050] Accordingly, the user can easily remotely control or teach the dual-arm robot (100) while checking the image according to the field of view of the dual-arm robot (100) through the operation module (235).

[0051] According to one embodiment of the present invention, the dual-arm robot teaching system (200) can control the operation of the dual-arm robot (100) in any one of a plurality of operating modes.

[0052] For example, among the multiple operation modes, the first mode may be a dual-arm mode for controlling the operation of the first and second manipulators (111, 121) provided in the dual-arm robot (100).

[0053] In dual-arm mode, the movements of the first and second manipulators (111, 121) can be controlled or taught using the first and second manipulator remote control devices (210, 220) provided in the dual-arm robot teaching system (200).

[0054] Meanwhile, the second mode may be a tilting mode for controlling the angle of the body (130) of the dual-arm robot (100), and the third mode may be a mobile mode for controlling the movement of the dual-arm robot (100).

[0055] In tilting mode, the movement of the lower body (140) can be controlled or taught using the operation module (235) provided in the dual-arm robot teaching system (200), thereby controlling or teaching the angle of the body (130).

[0056] And in mobile mode, the movement of the dual-arm robot (100) can be controlled or taught by controlling the movement of the mobile unit (150) using the operation module (235) provided in the dual-arm robot teaching system (200).

[0057] Referring to FIG. 3, the operation module (235) can be detachably coupled to the operation module holder (236) fixed to the upper frame (130).

[0058] The user can control or teach the operation of the dual-arm robot (100) by selecting one of the above-described operating modes through a button or switch of the operation module (235).

[0059] As another example, switching of the operating mode may be performed through a specific motion of at least one of the first and second manipulator remote control devices (210, 220) or through voice recognition.

[0060] Additionally, the dual-arm robot teaching system (200) may further include a support member (240) for supporting frames (230, 231) to which the first and second manipulator remote control devices (210, 220) are combined.

[0061] The support member (240) is connected to the upper frame (230) with the lower frame (231) in between, and the height can be adjusted.

[0062] Using such a support member (240), the height of the upper frame (230) to which the first and second manipulator remote control devices (210, 220) are coupled left and right can be adjusted, and accordingly, the user can use the first and second manipulator remote control devices (210, 220) at a height that is easy to operate.

[0063] Referring to FIG. 4, the upper frame (230) may be equipped with an operation module (235) as described above and a communication module (237) for communication with the two-arm robot (100).

[0064] The dual-arm robot teaching system (200) can transmit a signal to control the operation of the dual-arm robot (100) through the communication module (237).

[0065] Meanwhile, the lower frame (231) may be provided with a support fixing member (232) to limit the height adjustment of the support member (240).

[0066] Referring to FIG. 5, the support member (240) may be configured to include a support connecting member (241) and a plurality of supports (242, 243, 244).

[0067] The support connecting member (241) has a lower frame (231) inserted and connected therein, and the plurality of support members (242, 243, 244) may have a pipe shape that can be manually adjusted in height.

[0068] Meanwhile, the support connecting member (241) and the plurality of supports (242, 243, 244) can be detachably connected, making it easy to transport and install the support member (240), and thus, the user can control or instruct the operation of the dual-arm robot (100) in various environments.

[0069] The dual-arm robot teaching system (200) may further include a VR (Virtual Reality) device for displaying the movement of the dual-arm robot (100), in which case the user may wear the VR device and control or teach the movement of the dual-arm robot (100) in a virtual reality environment.

[0070] As described above, the dual-arm robot teaching system (200) according to an embodiment of the present invention described with reference to FIGS. 2 to 5 may have configurations corresponding to the dual-arm robot (100) illustrated in FIG. 1, and for the convenience of the user's operation, may have a size smaller than that of the dual-arm robot (100), for example, about 2 / 3 of the size, but the present invention is not limited thereto.

[0071] Hereinafter, with reference to FIGS. 6 to 11, embodiments of the configuration and operation of a manipulator remote control device according to the present invention will be described.

[0072] The manipulator remote control device according to an embodiment of the present invention may be any one of the first and second manipulator remote control devices (210, 220) provided in the dual-arm robot teaching system (200) described with reference to FIGS. 2 to 5, and therefore, a description of the same configuration and operation will be omitted below.

[0073] FIG. 6 illustrates the configuration of a manipulator remote control device according to one embodiment of the present invention, and the manipulator remote control device (300) can be configured to include a telemanipulator (310) and a controller (320).

[0074] Referring to FIG. 6, the telemanipulator (310) has a plurality of joints corresponding to the manipulator to be controlled, and may include a shoulder module (311), an elbow module (312), and a wrist module (313), each of which is composed of one or more joints.

[0075] For example, the telemanipulator (310) may have the same seven degrees of freedom (DOF) as the manipulator being controlled, in which case the shoulder module (311) may be composed of three joints, the elbow module (312) may be composed of one joint, and the wrist module (313) may be composed of three joints.

[0076] Meanwhile, the telemanipulator (310) may be provided with one or more stoppers to limit the rotation angle of one or more of the plurality of joints.

[0077] For example, as illustrated in FIG. 7, the manipulator remote control device (300) may be provided with five stoppers (3111, 3112, 3113, 3121, 3131).

[0078] Specifically, the shoulder module (311) may be provided with first, second, and third stoppers (3111, 3112, 3113) for limiting the rotation angles in the roll direction, pitch direction, and yaw direction, respectively.

[0079] The first, second, and third stoppers (3111, 3112, 3113) are arranged adjacent to the rotational parts of the three actuators included in the shoulder module (311), respectively, so as to limit the rotational angle of the adjacent actuators.

[0080] By the first, second, and third stoppers (3111, 3112, and 3113), the roll rotation angle of the shoulder module (311) can be limited to 0 to 180 degrees, the pitch rotation angle can be limited to -135 to 135 degrees, and the yaw rotation angle can be limited to -120 to 120 degrees, but the present invention is not limited thereto.

[0081] Meanwhile, the elbow module (312) may be provided with a fourth stopper (3121) to limit the rotation angle in the pitch direction.

[0082] The fourth stopper (3121) is positioned adjacent to the rotating part of the actuator included in the elbow module (312) to limit the rotation angle of the actuator.

[0083] By the fourth stopper (3121), the pitch rotation angle of the elbow module (312) can be limited to -150 degrees to 0 degrees, but the present invention is not limited thereto.

[0084] Additionally, the wrist module (313) may be provided with a fifth stopper (3131) to limit the rotation angle in the pitch direction.

[0085] The fifth stopper (3131) is positioned adjacent to a rotating part of an actuator for pitch rotation among the actuators included in the wrist module (313), so as to limit the rotation angle of the actuator.

[0086] By the fifth stopper (3131), the pitch rotation angle of the wrist module (313) can be limited to -100 degrees to 115 degrees, but the present invention is not limited thereto.

[0087] Meanwhile, the controller (320) is for controlling a tool mounted on a manipulator, which is a control target, and can be coupled to a wrist module (313) equipped on a telemanipulator (310).

[0088] For example, the controller (320) may be detachably coupled to the wrist module (313), and the angle with respect to the wrist module (313) may be changed when coupled.

[0089] To this end, as illustrated in FIG. 8, the wrist module (313) is configured to be rotatable about the first and second rotation axes, so that the user can change the usage angle of the controller (320) by rotating the wrist module (313) about at least one of the first and second rotation axes when the controller (320) is coupled.

[0090] As another example, a pan-tilt module may be separately provided for rotating the wrist module (313) about at least one of the first and second rotation axes.

[0091] In this case, when the controller (320) is coupled to the wrist module (313), the pan-tilt module can be operated to change the usage angle of the controller (320).

[0092] The controller (320) may include a first input means for controlling the operation of a tool attached to a manipulator to be controlled, and a second input means for selecting a control mode of the manipulator.

[0093] For example, if the tool mounted on the manipulator is a gripper, the first input means of the controller (320) may be a trigger for controlling the stroke of the gripper, and the gripping motion of the gripper may be controlled according to the angle or position of the trigger.

[0094] Meanwhile, the second input means of the controller (320) may be a button for selecting the control mode of the manipulator between the torque control mode and the position control mode.

[0095] Referring to FIGS. 9 to 11, the controller (320) is coupled to the end of the wrist module (313) and may be configured to include a trigger (321) and a button (322).

[0096] The trigger (321) may be configured to include a trigger (3211), a housing (3212), an encoder board (3213), and a magnet (3214).

[0097] When the user pulls or pushes the trigger (3211) of the trigger (321) to change its position, the encoder board (3213) can detect the magnetic force of the neodymium magnet (3214) and recognize the movement direction of the trigger (3211).

[0098] Meanwhile, the trigger (3211) can be positioned and its direction fixed by the frictional force between the rotation shaft and the housing (3212).

[0099] As described above, when the trigger (3211) of the trigger (321) is pulled or pushed, the distance between the fingers of the gripper mounted on the manipulator is changed accordingly, so that the stroke motion of the gripper can be controlled or taught.

[0100] For example, when a user pulls the trigger (3211) of the trigger (321), the gripper of the manipulator may perform an action of gripping an object, and when the trigger (3211) is pushed, the gripper of the manipulator may perform an action of releasing the grip of the object. However, the present invention is not limited to this, and the opposite action may also be possible.

[0101] Additionally, when the user removes his / her finger from the trigger (3211) of the trigger (3211), the position of the trigger (3211) is not fixed and may return to the original position.

[0102] And the control mode for the manipulator can be switched using the button (322) of the controller (320).

[0103] For example, when the user presses the button (322), the torque control mode is applied, and the gravity compensation function is activated, allowing the telemanipulator (310) to be easily moved.

[0104] Meanwhile, when the user releases the finger holding the button (322), the mode switches from torque control mode to position control mode, so that the posture of the telemanipulator (310) can be maintained.

[0105] With reference to FIGS. 12 to 22 below, embodiments of a dual-arm robot teaching system having multiple teaching modes will be described.

[0106] Among the configurations and operations of the dual-arm robot teaching system described below, the description of those identical to those described above with reference to FIGS. 1 to 11 will be omitted.

[0107] As described above, the dual-arm robot teaching system includes a telemanipulator having a plurality of joints corresponding to a manipulator that is a teaching target, and a controller for controlling a tool mounted on the manipulator, and the controller is coupled to a wrist module mounted on the telemanipulator.

[0108] A dual-arm robot teaching system according to another embodiment of the present invention has a plurality of teaching modes, and the teaching modes can be switched by changing at least one of the direction and angle of a controller relative to a wrist module of a telemanipulator.

[0109] For example, the teaching mode may include a first direction mode in which the front directions of the user and the dual-arm robot teaching system face each other, and a second direction mode in which the front directions of the user and the dual-arm robot teaching system match.

[0110] Figures 12 to 16 illustrate examples of teaching modes according to the direction of the controller.

[0111] Referring to FIG. 12, a first manipulator remote control device (210) and a second manipulator remote control device (220) are connected to the left and right sides of the upper frame (230), and first and second controllers (212, 222) can be coupled to the ends of the first and second telemanipulators (211, 221) in a specific direction, respectively.

[0112] FIG. 12 (a) is a view from the front of the dual-arm robot teaching system, and FIG. 12 (b) is a view from the rear of the dual-arm robot teaching system, in which the triggers (2121, 2221) and buttons (2122, 2222) of the first and second controllers (212, 222) can be coupled to the first and second wrist modules (2113, 2213), respectively, in a direction facing the rear.

[0113] The teaching mode described with reference to FIG. 12 may be a first direction mode in which the front directions of the user and the dual-arm robot teaching system face each other, but the present invention is not limited thereto.

[0114] Referring to FIG. 13, the triggers (2121, 2221) and buttons (2122, 2222) of the first and second controllers (212, 222) may be coupled to the first and second wrist modules (2113, 2213), respectively, with the triggers (2121, 2221) and buttons (2122, 2222) of the first and second controllers (212, 222) facing forward.

[0115] The teaching mode described with reference to Fig. 13 may be a second direction mode in which the front directions of the user and the dual-arm robot teaching system are identical, but the present invention is not limited thereto.

[0116] Referring to Fig. 14, the dual-arm robot teaching system (200) and the dual-arm robot (100) that is the teaching target can be set so that their front directions are aligned.

[0117] In the first direction mode, as illustrated in Fig. 14, the user can teach the movement of the dual-arm robot (100) while visually observing the front of the dual-arm robot (100) while facing the front of the dual-arm robot teaching system (200).

[0118] Additionally, the user can control the height of the support member (240) to operate the dual-arm robot teaching system (200) at a height that is easy to teach, thereby teaching the motion of the dual-arm robot (100).

[0119] Referring to FIG. 15, a user can lower the height of the dual-arm robot teaching system (200) using a support member (240) to teach the motion of the dual-arm robot (100) while sitting on a chair.

[0120] Meanwhile, in the second direction mode, as illustrated in FIG. 16, the user can teach the dual-arm robot (100) while visually observing the movement of the dual-arm robot (100) in the front direction of the dual-arm robot teaching system (200) while being positioned at the rear of the dual-arm robot teaching system (200).

[0121] As described above, switching between the first and second direction modes can be achieved by reversing the direction of the controller (212) relative to the wrist module (2113).

[0122] To this end, the controller (212) can be detachably attached to the wrist module (2113) so that the direction in which it is coupled can be changed, and the user can switch the direction mode by detaching the controller (212) from the wrist module (2113) and then coupling it to the wrist module (2113) in the opposite direction, i.e., in a direction rotated 180 degrees.

[0123] As another example, the teaching mode may include a first angular mode in which the axial direction of the wrist module and the axial direction of the controller are aligned, and a second angular mode in which the axial direction of the wrist module and the axial direction of the controller intersect.

[0124] Figures 17 and 18 illustrate examples of teaching modes according to the angle of the controller.

[0125] Referring to (a) of FIG. 17, in the first angle mode, the controller (212) can be coupled to the wrist module (2113) so that the vertical axis (a1) direction of the wrist module (2113) and the vertical axis (a2) direction of the controller (212) have an angle that matches each other.

[0126] Meanwhile, in the first angle mode, as shown in (a) of Fig. 18, the manipulator (111) and the tool (122) of the dual-arm robot (100) that is the teaching target are set in a direction that intersects each other, for example, in an orthogonal direction, so that it can be easy to teach work on an object located at the front lower side of the dual-arm robot (100).

[0127] Referring to (b) of FIG. 17, in the second angle mode, the controller (212) can be coupled to the wrist module (2113) so that the vertical axis (a1) direction of the wrist module (2113) and the vertical axis (a2) direction of the controller (212) have an angle at which they intersect each other.

[0128] Here, the angle (θ) between the vertical axis (a1) of the wrist module (2113) and the vertical axis (a2) of the controller (212) may be 90 degrees, but the present invention is not limited thereto, and may be changed in a certain angle unit within a range of 0 degrees to 180 degrees.

[0129] Meanwhile, in the second angle mode, as shown in (b) of Fig. 18, the manipulator (111) and tool (122) of the dual-arm robot (100) that is the teaching target are set to face the same direction, making it easy to teach work on an object located in front of the dual-arm robot (100).

[0130] For switching between the first and second angle modes as described above, the wrist module (2113) may be provided with a rotation axis for changing the angle of the controller (212).

[0131] For example, the use angle of the controller (212) may change as the controller (212) rotates about one or more axes of rotation of the wrist module as described with reference to FIG. 8.

[0132] The user can switch the angle mode by detaching the controller (212) from the wrist module (2113) and then reattaching it to the wrist module (2113) at the desired angle of use.

[0133] Additionally, the wrist module (2113) may include a driving unit for changing the direction or angle of the controller (212) as described above.

[0134] For example, the direction or angle of a controller (212) coupled to a wrist module (2113) can be automatically changed using a pan-tilt module having one degree of freedom (DOF) or two degrees of freedom (DOF), and a user can select a teaching mode including a direction of use or an angle of use, etc., from the operation module (235) to operate the pan-tilt module.

[0135] Meanwhile, the direction or angle of the controller (212) can be manually changed by loosening and re-tightening the bolt without a separate pan-tilt module.

[0136] As another example, the teaching mode may be set to a combination of any one of the first and second directional modes described above and any one of the first and second angular modes.

[0137] FIG. 19 illustrates a teaching mode in which the first direction mode and the first angle mode are combined, in which a user can teach the operation of a dual-arm robot (100) by holding a vertical controller (212) that matches the wrist module (2113) while facing the front of a dual-arm robot teaching system (200).

[0138] Fig. 20 illustrates a teaching mode in which the first direction mode and the second angle mode are combined, in which a user can teach the operation of a dual-arm robot (100) by holding a vertical controller (212) orthogonal to a wrist module (2113) while facing the front of a dual-arm robot teaching system (200).

[0139] Meanwhile, Fig. 21 shows a teaching mode in which the second direction mode and the first angle mode are combined, and the user can teach the operation of the dual-arm robot (100) by holding the vertical controller (212) that matches the wrist module (2113) while facing the same direction as the front direction of the dual-arm robot teaching system (200).

[0140] Figure 22 illustrates a teaching mode in which the second direction mode and the second angle mode are combined, in which a user can teach the operation of the dual-arm robot (100) by holding the controller (212) in a vertical direction orthogonal to the wrist module (2113) while facing the same direction as the front direction of the dual-arm robot teaching system (200).

[0141] Although the embodiments of the present invention have been described above by taking as an example the application of the manipulator remote control device and teaching system according to the present invention to a dual-arm robot, the present invention is not limited thereto and can be applied to various robots including one or more manipulators.

[0142] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims

1. In a system for teaching the movement of a dual-arm robot, A telemanipulator having a plurality of joints corresponding to the manipulator being the teaching object; and A controller for controlling a tool mounted on the above manipulator; The above controller It is coupled to the wrist module equipped in the above telemanipulator, A dual-arm robot teaching system having multiple teaching modes, characterized in that at least one of the direction and angle of the controller based on the wrist module is changed to enable switching of the teaching mode.

2. In the first paragraph, the teaching mode is A first direction mode in which the front directions of the user and the above-mentioned dual-arm robot teaching system face each other, A dual-arm robot teaching system having a plurality of teaching modes including a second direction mode in which the front direction of the user and the dual-arm robot teaching system are identical.

3. In the first paragraph, the teaching mode is A first angle mode in which the axial direction of the wrist module and the axial direction of the controller are identical, A dual-arm robot teaching system having a plurality of teaching modes including a second angular mode in which the axial direction of the wrist module intersects the axial direction of the controller.

4. In the second and third paragraphs, the teaching mode is A dual-arm robot teaching system having a plurality of teaching modes set to a combination of any one of the first and second directional modes and any one of the first and second angular modes.

5. In paragraph 2, A dual-arm robot teaching system having a plurality of teaching modes in which switching between the first and second direction modes is performed by reversing the direction of the controller based on the wrist module.

6. In paragraph 3, A dual-arm robot teaching system having multiple teaching modes in which the angle between the axial direction of the wrist module and the axial direction of the controller can be changed in a certain angle unit within a range of 0 to 180 degrees.

7. In paragraph 1, The above controller The above controller is detachable from the wrist module so that the direction of the controller can be changed, The above wrist module A dual-arm robot teaching system having multiple teaching modes, each having a rotation axis for changing the angle of the controller.

8. In the first paragraph, the wrist module A dual-arm robot teaching system having a plurality of teaching modes, including a driving unit for changing at least one of the direction and angle of the controller.

9. In paragraph 1, The above dual-arm robot teaching system and the dual-arm robot having multiple teaching modes in which the front direction is consistent.

10. In paragraph 1, An upper frame to which the above telemanipulators are connected on both sides; a lower frame for supporting the upper frame; and A dual-arm robot teaching system having a plurality of teaching modes, further comprising a support member for adjusting the height of the upper frame, the support member being coupled to the lower frame.

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