Teaching device, robot system, and method for creating teaching program

Abstract

Provided is a teaching device with which it is possible to create a teaching program of a robot, with high work efficiency, by using a direct teaching function. A teaching device grips and moves a robot to which a work tool is attached, and teaches the robot work to be performed on a work target by using a direct teaching function. During teaching in which the direct teaching function is used, a first teaching condition in a first section is switched to a second teaching condition in a second section on the basis of a first input.

Description

Teaching device, robot system, and method for creating a teaching program

[0001] The present disclosure relates to a teaching device, a robot system, and a method for creating a teaching program.

[0002] Conventionally, there is known a direct teach function in which an instructor (operator) holds and moves a robot to which a working tool is attached, and teaches the position and orientation of the working tool with respect to a work piece (work).

[0003] The direct teach function is used when creating a machining (teaching) program for a robot. The instructor specifies a teaching point that determines the position and orientation of the working tool, for example, by actually moving the operation handle of the robot by hand. Here, a force sensor is attached to the robot, and based on the output of the force sensor, the weight (reaction force) when the instructor uses the direct teach function to move the operation handle by hand (holds and moves the robot) is controlled.

[0004] By the way, various proposals have been made regarding teaching techniques using the direct teach function of robots.

[0005] Japanese Patent Application Laid-Open No. 2019-018340, Japanese Patent Application Laid-Open No. 2019-202364

[0006] There is a demand for providing a teaching device, a robot system, and a method for creating a teaching program that can create a teaching program for a robot with high work efficiency using the direct teach function.

[0007] According to an embodiment of the present disclosure, there is provided a teaching device that holds and moves a robot to which a working tool is attached and teaches work using a direct teach function with respect to a work piece, and switches a first teaching condition in a first section to a second teaching condition in a second section based on a first input during teaching using the direct teach function.

[0008] Figure 1 is a schematic diagram showing an example of a robot system to which the teaching device according to this embodiment is applied. Figure 2 is a diagram showing an example of a screen displayed on the display unit in one embodiment of the teaching device according to this embodiment. Figure 3 is a diagram (part 1) illustrating an example of teaching processing in one embodiment of the teaching device according to this embodiment. Figure 4 is a diagram (part 2) illustrating an example of teaching processing in one embodiment of the teaching device according to this embodiment. Figure 5 is a diagram illustrating an example of pre-setting processing in one embodiment of the teaching device according to this embodiment. Figure 6 is a diagram illustrating an example of teaching program creation processing in one embodiment of the teaching device according to this embodiment. Figure 7 is a diagram illustrating another example of teaching processing in one embodiment of the teaching device according to this embodiment. Figure 8 is a diagram illustrating an example of a teaching button in the robot system shown in Figure 1. Figure 9 is a flowchart illustrating an example of processing in one embodiment of the method for creating a teaching program according to this embodiment.

[0009] Hereinafter, embodiments of the teaching device, robot system, and method for creating a teaching program according to this embodiment will be described in detail with reference to the attached drawings. In each drawing, identical or similar components are denoted by the same or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope of the invention and the meaning of terms as described in the claims.

[0010] Figure 1 is a schematic diagram showing an example of a robot system to which the teaching device according to this embodiment is applied. Here, Figure 1 shows an example of a welding robot system that performs welding (arc welding) on ​​a workpiece (object to be worked on) W, but the robot system to which the teaching device according to this embodiment is applied is not limited to a welding robot system. That is, it goes without saying that the teaching device according to this embodiment can be applied to various robot systems, such as a sealing robot system that applies adhesives or sealants to a workpiece W, or a painting robot system that paints on a workpiece W.

[0011] As shown in Figure 1, the robot system (welding robot system) 100 comprises a robot 1, a robot control device 2, a teaching control panel 3, a welding power supply 4, and a vision sensor (camera) 5. The robot control device 2 can be connected to a higher-level server 6 via, for example, a wired or wireless communication line. Furthermore, the robot 1 is not limited to industrial robots, but can be applied to various robots, including collaborative robots that work in cooperation with a worker (operator).

[0012] Robot 1 is configured as a multi-joint robot (for example, a 6-axis robot) mounted on a base 10. A force sensor 10a is provided on the base 10, and a wrist section 12 and a welding torch (working tool) 13 are attached to the arm section 11. Note that the welding torch 13 is merely one example of a working tool (end effector), and when the robot system 100 is applied as a sealing robot system or a painting robot system, the working tool 13 will be replaced with a sealing tool or painting tool, etc.

[0013] Here, the force sensor 10a provided on the base 10 is for detecting and controlling the external force applied by the teacher to the robot 1 and the reaction force (weight) applied to the teacher. However, for example, torque sensors provided on motors (not shown) that drive each axis (e.g., six axes) of the robot 1 can also be used as force sensors. That is, torque sensors provided on each axis of the robot 1 can be used not only to detect the driving torque by the motor provided on each axis, but also to detect the external force applied by the teacher to the robot 1 in each axial direction. It should be noted that the direct teach function used by the teacher to grasp and move the robot 1 and teach it to perform tasks on the workpiece W is not limited to using the force sensor 10a or torque sensors described above, and various known direct teach functions can be applied.

[0014] The robot control device 2 controls the robot 1 to weld a predetermined location on the workpiece W with the tip 131 of the welding torch 13, based on, for example, a pre-installed program (processing program). The welding power supply 4 controls the power supplied to the welding torch 13 based on commands from the robot control device 2. The teaching control panel 3 is connected to the robot control device 2 by wire, for example, and the operator (teacher) teaches the operation of the robot 1 to which the welding torch 13 is attached via the robot control device 2 by operating the operation unit 32 while checking the image on the display unit 31. The vision sensor 5 is installed on the ceiling 50 of the factory where the robot 1 is installed, and captures images of the tip 131 of the welding torch 13 attached to the robot 1 and the workpiece W, so that the positional relationship between the two can be understood. A teaching button 120 is also provided on the wrist 12. The vision sensor 5 can be configured by, for example, a stereo camera or ToF (Time of Flight) camera capable of measuring distance, or multiple cameras installed in a location other than the ceiling 50 that can capture images from different angles.

[0015] In this embodiment, the teaching device allows a teacher to directly operate a robot 1 to which a welding torch 13 is attached, and to teach the work to the workpiece W using a direct teach function. The device can be configured to include at least one of a robot control device 2 and a teaching control panel 3. In the following description, the teaching control panel 3 will be mainly described as an example of the teaching device, but the robot control device 2 alone, or both the robot control device 2 and the teaching control panel 3, can also be used as the teaching device. When using only the robot control device 2 as the teaching device, it is preferable to provide the robot control device 2 with a display unit and an operation unit, etc.

[0016] In outline the configuration of the teaching device according to this embodiment, at least one of the robot control device 2 and the teaching operation panel 3 (teaching device) switches at least one of the weight and mode (first teaching condition) in a non-processing section (first section) where welding is not performed on the workpiece W with the welding torch 13, to at least one of the weight and mode (second teaching condition) in a processing section (second section) where welding is performed on the workpiece W with the welding torch 13, based on a first input. Here, the first input for switching between the first teaching condition and the second teaching condition can be generated, for example, based on the output of a teaching button 120 provided on the wrist portion 12 of the robot 1, or based on the output of a vision sensor 5 that can image both the workpiece W and the welding torch 13 (torch tip 131) and grasp the positional relationship between them.

[0017] Figure 2 shows an example of a screen displayed on the display unit in one embodiment of the teaching device according to this embodiment. Here, the display unit 31 of the teaching operation panel 3 is configured as a touch-operable display device, and the screen 310 displayed on the display unit 31 includes, for example, a menu area 310a for displaying and selecting a processing mode (mode), and a setting area 310b for displaying and adjusting the weight (the weight when the teacher grasps and moves the robot 1: reaction force).

[0018] The menu area 310a displays four types of icons, such as "Free" mode 311, "Translation" mode 312, "Rotation" mode 313, and "Custom" mode 314. The instructor selects a mode by touching one of these four icons 311 to 314. The setting area 310b displays a weight setting button 315 and a weight display unit 316 so that the instructor can adjust and check the weight when moving the robot 1 using the direct teach function. Here, the weight adjustment using the weight setting button 315 in the setting area 310b can be adjusted in percentage display (0% to 100%) for each mode selected in the menu area 310a. In this specification, 0% is the heaviest weight and 100% is the lightest weight.

[0019] In summary, the icons displayed in the menu area 310a are not limited to the four types of icons 311 to 314 described above, but may be a greater number of icons of various types depending on the task to which the robot system 100 is applied and the specifications of the robot 1. Furthermore, the weight adjustment in the setting area 310b is not limited to the weight setting button 315 and movement buttons as shown in Figure 2, but can be done in various ways, such as directly inputting a numerical value.

[0020] Figures 3 and 4 illustrate an example of teaching processing in one embodiment of the teaching device according to this embodiment. They illustrate a case in which a teacher grasps a robot 1 to which a welding torch 13 is attached, and uses the direct teach function to move the welding torch 13 (robot 1) to weld two workpieces (work targets) W1 and W2 along a welding line L. Here, Figures 3(a) and 4(a) show the relationship between the welding line L of the workpieces W1 and W2 and the welding torch 13, and Figures 3(b) and 4(b) show the screen 310 displayed on the display unit 31 of the teaching operation panel 3 (teaching device).

[0021] First, in the section where the operator uses the direct teach function to move the welding torch 13 (torch tip 131) from an arbitrary position to the welding start position shown in Figure 3(a), that is, in the non-processing section where no welding work is performed, the mode is preferably "free" mode 311, which allows the teacher to move the robot 1 (welding torch 13) freely, and the weight is preferably "light (e.g., 80%)", which allows the teacher to move the robot 1 at high speed. In other words, in the non-processing section, the mode is preferably "free" mode 311, and the weight is preferably light and allows for high-speed movement.

[0022] Then, based on the first input, the mode and weight (first teaching condition) for the non-processing section are switched to the mode and weight (second teaching condition) for the processing section where welding is performed. In the processing section where the operator uses the direct teach function to move the welding torch 13 along the welding line L from the welding start position shown in Figure 3(a) to the welding end position shown in Figure 4(a), it is preferable to switch to a mode and weight suitable for teaching the welding of workpieces W1 and W2 by the welding torch 13.

[0023] Specifically, for the processing section in which the operator moves the welding torch 13 along the welding line L using the direct teach function, the default mode is preferably the "parallel movement" mode 312, which performs welding in a straight line, and the weight is preferably "heavy (e.g., 10%)", which allows the teacher to subtly move the robot 1. In other words, in the processing section, the mode is preferably the "parallel movement" mode 312, and the weight is preferably heavy to enable precise movement control. It should be noted that the processing section can also be set to be the vicinity of the welding line L, i.e., the vicinity of the workpieces W1 and W2, rather than the welding line L (from the welding start position to the welding end position) in which the welding torch 13 actually welds the workpieces W1 and W2.

[0024] Here, the first input can be generated based on the output of the teaching button 120 on the wrist 12 of the robot 1, or based on the output of the vision sensor 5 that images the robot 1 (the tip 131 of the welding torch 13) and the workpieces W1 and W2 (welding line L). Specifically, the first input can be generated, for example, by the teacher pressing and holding the teaching button 120 on the wrist 12, or by pressing it twice in a short period of time (double-pushing). Alternatively, the first input can also be generated when the vision sensor 5 determines that the tip 131 of the welding torch 13 has come close to the workpieces W1 and W2 (for example, to a distance of several centimeters to several tens of centimeters). The teaching in the processing section performed by the operator using the direct teach function will be described in detail later with reference to Figure 7.

[0025] Furthermore, in the section where the operator uses the direct teach function to move the welding torch 13 from the welding end position shown in Figure 4(a) to any position, i.e., in the non-processing section where no welding is performed, the mode is preferably a "free" mode 311 in which the teacher can move the robot 1 freely, and the weight is preferably "light (e.g., 80%)" in which the teacher can move the robot 1 at high speed. In other words, contrary to the switching from the first teaching condition to the second teaching condition described above, the mode and weight (second teaching condition) in the processing section where welding is performed are switched to the mode and weight (first teaching condition) in the non-processing section based on the second input. Here, the second input can be generated based on the output of the teaching button 120 on the wrist part 12 of the robot 1, or based on the output of the vision sensor 5 that images the robot 1 (tip 131 of the welding torch 13) and the workpieces W1, W2 (welding line L).

[0026] Figure 5 is a diagram illustrating an example of the pre-setting process in one embodiment of the teaching device according to this embodiment. As described above, in one embodiment of the teaching device according to this embodiment, for example, the mode and weight in the non-processing section (first section) (first teaching condition), and the mode and weight in the processing section (second section) (second teaching condition) can be set in advance. That is, the mode and weight in the non-processing section and the processing section can be set in advance before the teacher moves the welding torch 13 using the direct teach function to teach the processing program.

[0027] As shown in Figure 5, the pre-setting process is, for example, an example of the display on the display unit 31 of the teaching control panel 3. On the "Teaching Setup" screen, for example, "Normal Teaching Mode (non-processing area setting area)" 31a and "Weld Teaching Mode (processing area setting area)" 31b are displayed. Specifically, in Figure 5, in the "non-processing area setting area" 31a, the weight of the "Free" mode of "Default motion type" is changed (set) to 80%, and in the "processing area setting area" 31b, the weight of the "Translation" mode of "Default motion type" is changed to 10%.

[0028] Here, the pre-setting process for the mode and weight in the non-processing section and the processing section (first teaching condition for the non-processing section and second teaching condition for the processing section) can be performed not only by a teaching device including at least one of the robot control device 2 and the teaching operation panel 3, but also, for example, by a higher-level server 6 connected to the robot control device 2 via a communication line. For example, the pre-setting of the mode and weight in the non-processing section and the processing section can be performed by a server 6 located at a location away from the factory where the welding robot system 100 is installed. It goes without saying that the "non-processing area setting region" 31a and "processing area setting region" 31b in the display unit 31 shown in Figure 5 are merely examples, and various changes and modifications are possible.

[0029] Figure 6 is a diagram illustrating an example of the teaching program creation process in one embodiment of the teaching device according to this embodiment. Figure 6(a) shows an example of the teaching program creation screen 320, and Figure 6(b) shows an example of the mode and weight setting (adjustment) screen 310 for the non-processing section and the processing section.

[0030] As shown in Figure 6(a), the teaching program creation screen 320 includes a timeline display area 320a and a menu display area 320b, where icons 321 to 32m that instruct various processes are displayed. The teacher can create a teaching program by touching and selecting the most suitable icons 321 to 32m in the menu display area 320b and sequentially moving and arranging them in the timeline display area 320a. The icons 321 to 32m displayed in the menu display area 320b include, for example, icons that specify various processes such as the welding start position, welding point position, and welding end position, but various known teaching program creation screens can also be used as appropriate.

[0031] Figure 6(b) corresponds to Figure 2 mentioned above. For example, when the "Free" mode 311 is selected, a pre-set weight (e.g., 100%) is displayed, but this pre-set weight can be adjusted (e.g., to 80%). As mentioned earlier, the mode and weight setting screen 310 can be modified and transformed in various ways.

[0032] Figure 7 is a diagram illustrating another example of the teaching process in one embodiment of the teaching device according to this embodiment, and illustrates a case in which a teacher grasps a robot 1 to which a welding torch 13 is attached, and uses the direct teach function to move the robot 1 (welding torch 13) to teach the operation of welding three workpieces (work targets) W1, W2, and W3 along welding lines L1, L2, and L3. Here, Figure 7(a) shows when the operator moves the welding torch 13 (torch tip 131) to the welding start position using the direct teach function, and Figure 7(b) shows when the operator moves the welding torch 13 to the welding end position using the direct teach function.

[0033] First, in the section where the operator uses the direct teach function to move the tip 131 of the welding torch 13 from an arbitrary position to the welding start position shown in Figure 7(a), i.e., in the non-processing section where no welding work is performed, the mode is preferably "free" mode 311, which allows the teacher to freely move the welding torch 13 (robot 1), and the weight is preferably "light (e.g., 80%)", which allows the teacher to move the robot 1 at high speed. In other words, in the non-processing section, the mode is preferably "free" mode 311, and the weight is preferably light and allows for high-speed movement.

[0034] Then, based on the first input, the mode and weight (first teaching condition) for the non-processing section are switched to the mode and weight (second teaching condition) for the processing section where welding is performed. In the processing section where the operator uses the direct teach function to move the welding torch 13 along the welding lines L1, L2, L3 from the welding start position shown in Figure 7(a) to the welding end position shown in Figure 7(b), the mode and weight are switched to those suitable for teaching the welding of workpieces W1, W2, W3 by the welding torch 13. Here, the first input can be generated, for example, based on the operator pressing and holding or double-pressing the teaching button 120 on the wrist unit 12. As mentioned above, the first input can also be generated when it is determined that the tip 131 of the welding torch 13 is near the workpieces W1 to W3 (W1, W2) in the image captured by the vision sensor 5, for example, as shown by the dashed line welding torch 13 in Figure 7(a).

[0035] Specifically, for example, for a section (welding section P1) in which the operator moves the welding torch 13 along the welding line L1 using the direct teach function, the mode is set to the "parallel movement" mode 312, which performs welding in a straight line, and the weight is set to "heavy (e.g., 20%)", which allows the teacher to move the robot 1 accurately, and the teaching point (a circle on the welding line L1) is specified. Similarly, for a section (welding section P2) in which the operator moves the welding torch 13 along the welding line L2 using the direct teach function, the mode is set to the "rotation" mode 313, which performs welding in a circular (rotational) direction, and the weight is set to "heavy (e.g., 10%)", which allows the teacher to move the robot 1 even more accurately than in a straight line, and the teaching point (a circle on the welding line L2) is specified.

[0036] Furthermore, for the section where the operator moves the welding torch 13 along the welding line L3 using the direct teach function (welding section P3), the mode is set to the "parallel movement" mode 312 for linear welding, and the weight is set to "heavy (e.g., 20%)" so that the teacher can accurately move the robot 1, and the teaching point (a circle on the welding line L3) is specified. Then, for the section where the operator moves the welding torch 13 along the welding line L4 using the direct teach function (welding section P4), the mode is set to the "parallel movement" mode 312 for linear welding, and the weight is set to "heavy (e.g., 20%)" so that the teacher can accurately move the robot 1, and the teaching point is specified. Note that the teaching points on each welding line L1 to L4 of the processing section can be specified, for example, by the teacher briefly pushing (one-push) the teaching button 120 on the wrist 12.

[0037] Furthermore, in the section where the operator moves the welding torch 13 from the welding end position shown in Figure 7(b) to any position using the direct teach function, i.e., in the non-processing section where no welding work is performed, the mode is preferably a "free" mode 311 in which the teacher can move the robot 1 freely, and the weight is preferably "light (e.g., 80%)" in which the teacher can move the robot 1 at high speed. In other words, based on the second input, the mode and weight (second teaching condition) in the processing section where welding is performed are switched to the mode and weight (first teaching condition) in the non-processing section. The second input can be generated based on the output of the teaching button 120 on the wrist 12 of the robot 1, or based on the output of the vision sensor 5 that images the tip 131 of the welding torch 13 and the workpieces W1, W2, W3 (welding lines L1, L2, L3).

[0038] Figure 8 is a diagram illustrating an example of a teaching button in the robot system shown in Figure 1. Figure 8(a) shows a configuration in which one teaching button 120 is provided on the wrist portion 12, similar to Figure 1, and Figure 8(b) shows a configuration in which three teaching buttons 121, 122, and 123 are provided on the wrist portion 12.

[0039] As shown in Figure 8(a), if only one teaching button 120 is provided on the wrist portion 12, the system identifies whether it is a first input, a second input, or a teaching point based on how the teaching button 120 is pressed (long press, double press, etc.). In contrast, as shown in Figure 8(b), if multiple (for example, three) teaching buttons 121 to 123 are provided on the wrist portion 12, the system can distinguish between a first input, a second input, a teaching point, or a mode selection using different teaching buttons. Various known configurations for these teaching buttons can be used as appropriate.

[0040] Figure 9 is a flowchart illustrating an example of processing in one embodiment of the teaching program creation method according to this embodiment. As shown in Figure 9, when the example of processing in one embodiment of the teaching program creation method according to this embodiment starts, in step ST1, the weight and mode of direct teaching in the non-processing section are set, and then the process proceeds to step ST2, where the weight and mode of direct teaching in the processing section are set.

[0041] Here, the setting process for the modes and weights (first teaching conditions for the non-processing section and second teaching conditions for the processing section) in steps ST1 and ST2 can be pre-set using the direct teach function before the teacher moves the welding torch 13 and teaches the processing program, as explained with reference to Figure 5. This pre-setting process can be performed not only by a teaching device including at least one of the robot control device 2 and the teaching operation panel 3, but also, for example, by a higher-level server 6 connected to the robot control device 2 via a communication line.

[0042] Further, proceed to step ST3, use the weight and mode of the non-processing section, move the robot 1 by direct teaching, and proceed to step ST4. In step ST4, it is determined whether the first input has been received. If it is determined that the first input has not been received (NO), the process returns to step ST3, and the same process is repeated until it is determined in step ST4 that the first input has been received. On the other hand, in step ST4, if it is determined that the first input has been received (YES), proceed to step ST5, and use the weight and mode of the processing section to move the robot 1 by direct teaching. That is, for example, as described with reference to FIG. 7, the instructor holds the robot 1 to which the welding torch 13 is attached, and uses the direct teaching function to move the robot 1 (welding torch 13) to teach the operation of welding the three workpieces W1, W2, and W3 along the welding lines L1, L2, and L3.

[0043] Then, proceed to step ST6 and determine whether the second input has been received. In step ST6, if it is determined that the second input has not been received (NO), the process returns to step ST5, and the same process is repeated until it is determined in step ST6 that the second input has been received. On the other hand, in step ST6, if it is determined that the second input has been received (YES), proceed to step ST7, and again use the weight and mode of the non-processing section to move the robot 1 by direct teaching, and an example of the process in an embodiment of the method for creating a teaching program ends (END). Note that the process shown in FIG. 9 is merely an example, and it is needless to say that various changes and modifications are possible.

[0044] Thus, according to an embodiment of the method for creating a teaching program according to this embodiment, it is possible to create a teaching program for a robot with high work efficiency using the direct teaching function.

[0045] The method for creating a teaching program according to the embodiment described above can be implemented as a program (a program for creating a teaching program) that causes a computer (arithmetic processing unit) to execute processing. This program for creating a teaching program may also be provided by recording it on a computer-readable non-temporary recording medium or a non-volatile semiconductor memory, and may also be provided via wired or wireless connection. Examples of computer-readable non-temporary recording media include optical discs such as CD-ROMs (Compact Disc Read Only Memory) and DVD-ROMs, or hard disk drives. Examples of non-volatile semiconductor memory include PROMs (Programmable Read Only Memory) and flash memory. Distribution from a server device may be via a wired or wireless LAN (Local Area Network), or via a WAN such as the Internet. The program (computer program) may also be provided in the form of a computer program product.

[0046] As described in detail above, according to the teaching device, robot system, and method for creating a teaching program of this embodiment, it becomes possible to create a robot teaching program with high work efficiency using the direct teaching function.

[0047] While this disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the spirit of this disclosure derived from the claims and their equivalents. Furthermore, these embodiments can be implemented in combination. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0048] With respect to the above embodiments and modifications, the following additional notes are disclosed. [Addendum 1] A teaching device (2, 3) that grasps and moves a robot (1) to which a work tool (13) is attached, and teaches a work to a work object (W, W1 to W3) using a direct teach function, wherein during teaching using the direct teach function, the teaching device (2, 3) switches the first teaching condition in the first section to the second teaching condition in the second section based on a first input. [Addendum 2] The teaching device (2, 3) according to Addendum 1, wherein the first input is generated based on the output of teaching buttons (120, 121 to 123) attached to the robot (1). [Addendum 3] The teaching device (2, 3) according to Addendum 1, wherein the first input is generated based on the output of a vision sensor (5) that images the robot (1) and the work object (W, W1 to W3). [Note 4] The teaching device (2, 3) according to any one of Notes 1 to 3, wherein the first section is a non-processing section in which the work object (W, W1 to W3) is not processed by the work tool (13), the second section is a processing section in which the work object (W, W1 to W3) is processed by the work tool (13), and in the processing section, the teaching device (2, 3) according to any one of Notes 1 to 3 teaches the processing points on the work object (W, W1 to W3) by the work tool (13) based on the processing point input. [Note 5] The teaching device (2, 3) according to Note 4, wherein the processing point input is generated based on the output of teaching buttons (120, 121 to 123) attached to the robot (1). [Note 6] The teaching device (2, 3) according to any one of Notes 1 to 5, wherein during teaching using the direct teaching function, the teaching device (2, 3) according to any one of Notes 1 to 5 switches the teaching conditions in the second section to the teaching conditions in the first section based on the second input. [Note 7] The teaching device (2, 3) according to Note 6, wherein the second input is generated based on the output of teaching buttons (120, 121-123) attached to the robot (1). [Note 8] The teaching device (2, 3) according to any one of Notes 1 to 7, wherein the first teaching condition and the second teaching condition include at least one of the weight and mode when the robot (1) is grasped and moved.[Appendix 9] The weights and modes in the first teaching condition and the second teaching condition are those of the teaching devices (2, 3) described in Appendix 8, which are preset. [Appendix 10] The teaching devices (2, 3) include a display unit (31), and the display unit (31) adjusts the weights in the first teaching condition and the second teaching condition and displays them as percentages, for the teaching devices (2, 3) described in Appendix 8 or paragraph of Appendix 9. [Appendix 11] The modes in the first teaching condition and the second teaching condition include at least one of a free mode for moving the working tool (13) in any direction, a translational mode for moving the working tool (13) without changing the posture of the tip thereof, a rotational mode for fixing the position of the tip of the working tool (13) and only changing the posture, and a direction-specifying mode for moving the tip of the working tool (13) only in a specified direction, for the teaching devices (2, 3) described in any one of Appendices 8 to 10. [Appendix 12] The teaching device includes at least one of a robot control device (2) for controlling the robot (1) based on a machining program, and a teaching operation panel (3) connected to the robot control device (2) for teaching the robot (1), for the teaching devices (2, 3) described in any one of Appendices 1 to 11. [Appendix 13] A robot (1) system comprising the teaching device (2, 3) described in any one of Appendices 1 to 12, and the robot (1) to which the working tool (13) is attached. [Appendix 14] A method for creating a teaching program for gripping and moving a robot (1) to which a working tool (13) is attached and teaching operations to a work target (W, W1 to W3) using a direct teach function, wherein during teaching using the direct teach function, the first teaching condition in the first section is switched to the second teaching condition in the second section based on a first input. [Appendix 15] Further, the first teaching condition and the second teaching condition preset at least one of the weight and the mode when gripping and moving the robot (1), for the method for creating a teaching program described in Appendix 14.

[0049] 1 Robot 2 Robot control device (teaching device) 3 Teaching control panel (teaching device) 4 Welding power supply 5 Vision sensor (camera) 6 Server 10 Base 10a Force sensor 11 Arm section 12 Wrist section 13 Welding torch (working tool) 31 Display unit 31a Non-processing area setting area 31b Processing area setting area 32 Operation unit 50 Ceiling 100 Robot system 120, 121-123 Teaching button 131 Torch tip 310, 320 Screen 310a Menu area 310b Setting area 311-314 Menu button (icon) 315 Weight setting button 316 Weight display unit L, L1-L4 Welding line P1-P4 Welding section W, W1-W3 Workpiece (work target)

Claims

1. A teaching device that grasps and moves a robot to which a work tool is attached, and teaches a work to a work object using a direct teach function, wherein during teaching using the direct teach function, the teaching device switches the first teaching conditions in the first section to the second teaching conditions in the second section based on a first input.

2. The teaching device according to claim 1, wherein the first input is generated based on the output of a teaching button attached to the robot.

3. The teaching device according to claim 1, wherein the first input is generated based on the output of a vision sensor that images the robot and the work object.

4. The teaching device according to any one of claims 1 to 3, wherein the first section is a non-processing section in which the work object is not processed by the work tool, the second section is a processing section in which the work object is processed by the work tool, and in the processing section, the teaching device teaches the processing points on the work object by the work tool based on the processing point input.

5. The teaching device according to claim 4, wherein the machining point input is generated based on the output of a teaching button attached to the robot.

6. A teaching device according to any one of claims 1 to 5, wherein during teaching using the direct teaching function, the second teaching condition in the second section is switched to the first teaching condition in the first section based on a second input.

7. The teaching device according to claim 6, wherein the second input is generated based on the output of a teaching button attached to the robot.

8. The teaching device according to any one of claims 1 to 7, wherein the first teaching condition and the second teaching condition include at least one of the weight and mode when the robot is grasped and moved.

9. The teaching device according to claim 8, wherein the weight and mode in the first teaching condition and the second teaching condition are preset.

10. The teaching device according to claim 8 or 9, wherein the teaching device includes a display unit, the display unit adjusts the weights in the first teaching condition and the second teaching condition and displays them as a percentage.

11. The teaching device according to any one of claims 8 to 10, wherein the modes in the first teaching condition and the second teaching condition include at least one of a free mode for moving the work tool in any direction, a translation mode for moving the work tool without changing the orientation of the tip, a rotation mode for fixing the position of the tip of the work tool and changing only its orientation, and a direction-specified mode for moving the tip of the work tool only in a specified direction.

12. The teaching device according to any one of claims 1 to 11, wherein the teaching device includes at least one of a robot control device that controls the robot based on a machining program, and a teaching control panel connected to the robot control device for teaching the robot.

13. A robot system comprising: a teaching device according to any one of claims 1 to 12; and the robot to which the work tool is attached.

14. A method for creating a teaching program that grasps and moves a robot to which a work tool is attached, and teaches a work to a work object using a direct teach function, wherein during teaching using the direct teach function, the first teaching condition in the first section is switched to the second teaching condition in the second section based on the first input.

15. The method for creating a teaching program according to claim 14, wherein the first teaching condition and the second teaching condition pre-set at least one of the weight and mode when the robot is grasped and moved.

Images