Teaching device

Abstract

Provided is a teaching device capable of teaching a robot while ensuring the visibility of information necessary for teaching. A teaching device 3 for teaching an operation of a manipulator 2 comprises a display control unit 311 that displays a plurality of layers on a screen, wherein the display control unit 311: displays a virtual model of the manipulator 2 on a first layer; displays information required for teaching the manipulator 2 on a second layer that is a higher-order hierarchical layer than the first layer; and displays the virtual model displayed on the first layer so as to be transmitted through the second layer.

Description

Teaching Device

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

[0002] Patent Document 1 listed below discloses a programming device that creates a robot teaching program using operation-based blocks. In this programming device, a program is created via a user interface provided with an area for displaying blocks required for programming and a programming area for performing visual programming using blocks dragged from the block display area. In this user interface, the display of a detailed setting screen for setting block commands in detail can be switched between displayed and hidden.

[0003] Japanese Patent Application Laid-Open No. 2021-030397

[0004] However, in the programming device of Patent Document 1, when the detailed setting screen is displayed, the detailed setting screen is displayed over the programming area. Therefore, the visibility of the programming area where visual programming is performed is degraded.

[0005] Accordingly, an object of the present invention is to provide a teaching device that can perform teaching while ensuring the visibility of information required for robot teaching.

[0006] A teaching device according to one aspect of the present invention is a teaching device that teaches the operation of an industrial robot, comprising a display control unit that causes a plurality of layers to be displayed on a screen. The display control unit causes a virtual model of the industrial robot to be displayed on a first layer, causes information required for teaching the industrial robot to be displayed on a second layer that is an upper layer of the first layer, and causes the virtual model displayed on the first layer to be displayed in a state of being transparent through the second layer.

[0007] According to this embodiment, a virtual model of the industrial robot and information required for teaching the industrial robot are displayed on different layers of the screen used when teaching the movements of the industrial robot. The virtual model displayed on the first layer can be displayed in a way that makes it transparent to the second layer, which is a higher level that displays the information required for teaching the industrial robot. Therefore, the operator can teach the movements of the industrial robot while checking the information required for teaching the industrial robot displayed on the second layer, and also checking the virtual model on the first layer which is displayed transparently to the second layer.

[0008] In the above embodiment, the information required for teaching may include information for creating a work program for an industrial robot, as well as information for manipulating the position and orientation of a virtual model.

[0009] According to this embodiment, the operator can teach the operation of the industrial robot while checking the information for creating the industrial robot's work program and the information for manipulating the position and orientation of the virtual model displayed on the second layer, and also checking the position and orientation of the virtual model on the first layer which is displayed transparently through the second layer.

[0010] In the above embodiment, the size of the display area of ​​the second layer may be smaller than the size of the display area of ​​the first layer.

[0011] According to this embodiment, it is possible to secure a display area for the first layer that does not overlap with the display area of ​​the second layer, thereby improving the visibility of the virtual model.

[0012] In the above embodiment, the display control unit may, in accordance with the operator's instructions, superimpose the display area of ​​the second layer onto the entire display area of ​​the first layer.

[0013] In this configuration, the operator can view and confirm the information required for teaching the industrial robot in full screen as needed.

[0014] In the above embodiment, the display control unit may switch the display state of the second layer to a state in which the display content of the first layer is not transparent if the display area of ​​the second layer does not overlap the virtual model displayed on the first layer.

[0015] According to this embodiment, when the virtual model does not overlap the display area of ​​the second layer, the display content of the first layer can be prevented from being transparent to the second layer, thereby improving the visibility of the information required for teaching industrial robots.

[0016] In the above embodiment, if there are multiple display areas in the second layer, the display control unit may switch the display state of the display areas in the second layer that are not being operated by the operator to a state in which the virtual model displayed in the first layer is transparent, while switching the display state of the display area in the second layer that is being operated by the operator to a state in which the virtual model displayed in the first layer is not transparent.

[0017] According to this embodiment, the display areas of the second layer, of which there are multiple, can be switched to display the virtual model of the first layer transparently, according to the operator's operation status. This makes it possible to improve the visibility of the information required for teaching the industrial robot displayed in the display area of ​​the second layer that the operator is operating.

[0018] In the above embodiment, the display control unit may further display an icon on the second layer for switching the display state of the first layer.

[0019] According to this embodiment, the icon for switching the display state of the first layer can be displayed at a higher level to improve visibility.

[0020] In the above embodiment, the display control unit may further display icons on the second layer, and in the area where the icons are displayed, the area where the icons related to safety are displayed may be displayed in a state in which the virtual model displayed on the first layer is not transparent.

[0021] This embodiment makes it possible to improve the visibility of safety-related icons.

[0022] According to the present invention, it is possible to provide a teaching device that can teach a robot while ensuring the visibility of the information necessary for teaching the robot.

[0023] This figure illustrates the configuration of a robot system including a teaching device according to an embodiment. This is an example of a screen displayed on the display unit. This is an example of a screen displayed on the display unit. This is an example of a screen displayed on the display unit. This is an example of a screen displayed on the display unit.

[0024] A preferred embodiment of the present invention will be described with reference to the attached drawings. In each drawing, components with the same reference numerals have the same or similar configuration. Also, since the drawings are schematic, the dimensions and proportions of each component may differ from those of the actual components.

[0025] Figure 1 is a diagram illustrating the configuration of a robot system 100 including a teaching device 3 according to an embodiment. The robot system 100 includes, for example, a robot control device 1, a manipulator (industrial robot) 2, a teaching device 3, an imaging unit 4, and a display unit 5. The imaging unit 4 and the display unit 5 may be included in the teaching device 3.

[0026] The robot control device 1 and the teaching device 3, the robot control device 1 and the manipulator 2, and the teaching device 3 and the imaging unit 4 and display unit 5 are connected by cables, wireless communication, or the like.

[0027] The manipulator 2 is a welding robot that performs arc welding on a workpiece (base material) according to the welding conditions set in the robot control device 1. The manipulator 2 has, for example, a multi-joint arm mounted on a base member fixed to the floor of a factory, and a welding torch (work tool) connected to the tip of the multi-joint arm as one of the work tools.

[0028] Manipulator 2 is a collaborative robot designed for joint work with humans and is capable of operating in response to external forces. Workers can directly apply external forces to Manipulator 2 by hand and move it accordingly, thereby directly controlling it. It should be noted that the industrial robots of this invention include both robots requiring safety fences that are not designed for human collaboration and collaborative robots designed for human collaboration.

[0029] The robot control device 1 is a control unit that controls the operation of the manipulator 2 according to preset welding conditions. The welding conditions include data items such as welding conditions, welding start position, welding end position, welding distance, welding torch position and orientation. The welding conditions also include data items such as welding current, welding voltage, welding speed, wire feeding speed and workpiece thickness.

[0030] The robot control device 1 includes, for example, a control unit 11, a storage unit 12, and a communication unit 13. The control unit 11 is a processor and controls the manipulator 2 by executing work programs and the like stored in the storage unit 12.

[0031] The memory unit 12 is a computer-readable recording medium that stores programs for realizing various functions of the robot control device 1 and various data used in those programs. The communication unit 13 is a communication interface that controls communication with the manipulator 2 and teaching device 3, which are connected via a network or the like.

[0032] The robot control device 1 may further include a welding power supply unit. The welding power supply unit supplies welding current, welding voltage, etc., to the manipulator 2 according to predetermined welding conditions in order to generate an arc between the tip of the welding wire and the workpiece. The welding power supply unit may be provided separately from the robot control device 1.

[0033] The teaching device 3 is a device that performs processing when an operator teaches the operation of the manipulator 2, and is, for example, a tablet-type teach pendant. The teaching device 3 includes, for example, a control unit 31, a storage unit 32, and a communication unit 33.

[0034] The control unit 31 is a processor that controls each part of the teaching device 3 by executing programs stored in the memory unit 32. The functions of the control unit 31 will be described later.

[0035] The memory unit 32 is a computer-readable recording medium that stores programs for realizing various functions of the teaching device 3 and various data used in those programs. The communication unit 33 is a communication interface that controls communication with the robot control device 1, imaging unit 4, and display unit 5, which are connected via a network.

[0036] The imaging unit 4 is, for example, a 3D camera equipped with a distance measuring sensor, and also functions as a 2D camera. It is preferable to position the imaging unit 4 in a location that can capture at least the workspace including the workpiece. The imaging unit 4 may also be provided in the teaching device 3.

[0037] A distance measuring sensor is a sensor capable of measuring the distance to an object. Examples of distance measuring sensors that can be used include LiDAR (Light Detection and Ranging) sensors, millimeter-wave sensors, ultrasonic sensors, and the like.

[0038] Here, the imaging unit 4 does not necessarily need to be equipped with a distance measurement sensor; it may be equipped with a distance measurement sensor separately from the imaging unit 4, or the distance measurement sensor may be omitted. If the distance measurement sensor is omitted, it is preferable to calculate the 3D coordinate data corresponding to the object based on multiple images of the object taken from multiple different positions. In this case, a known 3D measurement method using stereo imaging can be used.

[0039] The display unit 5 is, for example, a display device having a touch panel, which displays images (2D and 3D) of the subject captured by the imaging unit 4 and accepts input such as operation instructions from the operator. The display unit 5 may also be provided in the teaching device 3.

[0040] As shown in Fig. 1, the control unit 31 of the teaching device 3 includes, for example, a display control unit 311 as a functional configuration. The display control unit 311 causes a plurality of layers to be displayed on the screen of the display unit 5. The plurality of layers will be specifically described below.

[0041] The display control unit 311 causes a virtual model of the manipulator 2 to be displayed on a first layer which is the lowest layer. As the virtual model of the manipulator 2, it is preferable to display a 3D model of the manipulator 2. The virtual model of the manipulator 2 may be displayed in conjunction with the actual manipulator 2, or may be displayed not in conjunction with the actual manipulator 2. Further, the virtual model may be an image, a picture, a real photograph, or the like.

[0042] With reference to Fig. 2, the virtual model 2m of the manipulator 2 displayed on the first layer will be described. Near the center of a screen 5S shown in Fig. 2, the virtual model 2m of the manipulator 2 is displayed. The virtual model 2m is displayed on the first layer which is the lowest layer among the plurality of layers. This screen 5S is a screen for creating a work program for the manipulator 2. This screen 5S is displayed by turning on a program button 5p provided near the left end of the uppermost stage.

[0043] Returning to the description of Fig. 1. The display control unit 311 causes information required for teaching the manipulator 2 to be displayed on a second layer which is an upper layer of the first layer. The information required for teaching includes, for example, information related to the work program of the manipulator 2 and information related to the position and posture of the virtual model 2m.

[0044] The information related to the work program includes, for example, information displayed on a program screen described later. This program screen also includes a screen for setting detailed conditions for each command. The information related to the position and posture of the virtual model 2m includes, for example, information displayed on an operation panel screen described later. A specific description will be given with reference to Fig. 3.

[0045] On the screen 5S of Fig. 3, in addition to the virtual model 2m of the manipulator, a program area 5c corresponding to a program screen, an operation panel area 5d corresponding to an operation panel screen, an icon area 5e, and the like are displayed. The virtual model 2m of the manipulator is displayed on a first layer. The program area 5c, the operation panel area 5d, and the icon area 5e are displayed on a second layer that is an upper hierarchy of the first layer. Note that the program area 5c, the operation panel area 5d, and the icon area 5e may each be displayed on different layers.

[0046] Display and non-display of the program area 5c can be switched by toggling on and off a display switching button 5a provided at the lower left end of the screen 5S. Display and non-display of the operation panel area 5d can be switched by toggling on and off a display switching button 5b provided at the lower right end of the screen 5S.

[0047] The program area 5c is an area for performing so-called visual programming, in which programming is performed while arranging blocks for defining each instruction of a work program in work order. The work program is constituted by an instruction group such as a movement instruction and a welding instruction, for example.

[0048] The operation panel area 5d is an area for operating the position and posture of the virtual model 2m. Specifically, in the operation panel area 5d, the X coordinate, Y coordinate, Z coordinate, roll angle R, pitch angle P, and yaw angle Y of the robot coordinate system can be set for each axis of the manipulator 2. The position and posture of the virtual model 2m change according to the values set in the operation panel area 5d.

[0049] The icon area 5e is an area for displaying icons for switching the display state of the first layer. Examples of the icons provided in the icon area 5e include an icon for switching display / non-display of a weld line, an icon for switching display / non-display of the virtual model 2m, and an icon for switching between 3D display and 2D display.

[0050] Here, it is preferable that the size of the display area of ​​the second layer be smaller than the size of the display area of ​​the first layer. This ensures that the display area of ​​the first layer does not overlap with the display area of ​​the second layer, thereby improving the visibility of the virtual model 2m.

[0051] Returning to the explanation of Figure 1, the display control unit 311 displays the virtual model 2m of the manipulator 2, which is displayed on the first layer, in a state where it is transparent to the second layer. This will be explained in detail with reference to Figures 4 and 5.

[0052] In the screen 5S of Figure 4, the virtual model 2m of the manipulator 2 displayed on the first layer is shown transparently through the program area 5c displayed on the second layer.

[0053] In the screen 5S of Figure 5, the virtual model 2m of the manipulator 2 displayed on the first layer is shown transparently through the program area 5c, the operation panel area 5d, and the icon area 5e displayed on the second layer.

[0054] Thus, even if the display area of ​​the second layer is superimposed on the display area of ​​the first layer, the operator can still create a work program and manipulate the position and orientation of the virtual model 2m while checking the virtual model 2m displayed on the first layer.

[0055] Returning to the explanation of Figure 1, the display control unit 311 may, in accordance with the operator's instructions, superimpose the display area of ​​the second layer onto the entire display area of ​​the first layer. For example, if the operator inputs an instruction to display the program area 5c in full screen, the display control unit 311 will display the program area 5c in full screen. In this case, the program area 5c displayed on the second layer will be superimposed onto the entire display area of ​​the first layer. Therefore, the operator can display and check information related to the work program in full screen as needed.

[0056] In this case, it is preferable to display the virtual model 2m of the manipulator 2, which is displayed on the first layer, in a state that allows the program area 5c, which is displayed on the second layer, to be transparent.

[0057] On the other hand, if full-screen display of the program area 5c is instructed, the information displayed in the program area 5c may be moved to the first layer and displayed, and only the first layer may be displayed. In other words, the entire second layer may be hidden, and the virtual model 2m of the manipulator 2 and the information displayed in the program area 5c may be displayed on the first layer.

[0058] Furthermore, the display control unit 311 may switch the display state of the second layer to a state where the display content of the first layer is not transparent when the display area of ​​the second layer does not overlap with the virtual model 2m displayed on the first layer. This makes it possible to prevent the display content of the first layer from being transparent to the second layer when the virtual model 2m does not overlap the display area of ​​the second layer, thereby improving the visibility of the information required for teaching the manipulator 2.

[0059] Furthermore, if there are multiple display areas in the second layer, the display control unit 311 may switch the display state of the display areas in the second layer that are not being operated by the operator to a state that allows the virtual model 2m displayed in the first layer to be transparent, while switching the display state of the display area in the second layer that is being operated by the operator to a state that does not allow the virtual model 2m displayed in the first layer to be transparent. This makes it possible to improve the visibility of the information required for teaching the manipulator 2 that is displayed in the display area of ​​the second layer that is being operated by the operator. The display area being operated by the operator may be determined, for example, by the operator's touch operation or the position of the cursor.

[0060] Furthermore, the display control unit 311 displays the icons on the second layer in a way that prevents the virtual model 2m displayed on the first layer from being transparent, specifically for icons related to safety. This improves the visibility of the safety-related icons. Examples of safety-related icons include icons for instructing an emergency stop and icons for instructing the release of an abnormality.

[0061] As described above, according to the teaching device 3 of the embodiment, a virtual model 2m of the manipulator 2 and information required for teaching the manipulator 2 can be displayed on different layers of the screen used when teaching the operation of the manipulator 2, and the virtual model 2m displayed on the lowest-level first layer can be displayed in a state that is transparent to the higher-level second layer which displays the information required for teaching the manipulator 2.

[0062] This allows the operator to teach the operation of the manipulator 2 while simultaneously checking the information required for teaching the manipulator 2 displayed on the second layer, and also checking the virtual model 2m of the manipulator 2 on the first layer, which is displayed transparently through the second layer.

[0063] Therefore, according to the teaching device 3 of this embodiment, it is possible to teach the operation of the manipulator 2 while ensuring the visibility of the information necessary for teaching the manipulator 2.

[0064] It should be noted that the present invention is not limited to the embodiments described above, and can be implemented in various other forms without departing from the spirit of the invention. For this reason, the above embodiments are merely illustrative in all respects and should not be interpreted restrictively.

[0065] For example, the embodiment described above describes the case where the first layer is the lowest level, but the first layer is not limited to being the lowest level. The first layer may be at a lower level than the second layer.

[0066] Furthermore, although the above-described embodiment used a welding robot manipulator 2, the invention is not limited to this. The present invention can be applied to industrial robots, including handling robots that perform picking and other operations, and cutting and polishing robots that perform cutting and polishing operations.

[0067] 1...Robot control device, 2...Manipulator, 2m...Virtual model, 3...Teaching device, 4...Imaging unit, 5...Display unit, 11...Control unit, 12...Storage unit, 13...Communication unit, 31...Control unit, 32...Storage unit, 33...Communication unit, 100...Robot system, 311...Display control unit

Claims

1. A teaching device for teaching the operation of an industrial robot, comprising a display control unit that displays multiple layers on a screen, wherein the display control unit displays a virtual model of the industrial robot on a first layer, displays information required for teaching the industrial robot on a second layer which is a higher layer than the first layer, and displays the virtual model displayed on the first layer in a state that allows the second layer to pass through.

2. The teaching device according to claim 1, wherein the information required for teaching includes information for creating a work program for the industrial robot, and information for manipulating the position and orientation of the virtual model.

3. The teaching device according to claim 1, wherein the size of the display area of ​​the second layer is smaller than the size of the display area of ​​the first layer.

4. The teaching device according to claim 1, wherein the display control unit displays the display area of ​​the second layer superimposed on the entire display area of ​​the first layer in accordance with the operator's instructions.

5. The teaching device according to claim 1, wherein the display control unit switches the display state of the second layer to a state in which the display content of the first layer is not transparent when the display area of ​​the second layer does not overlap the virtual model displayed on the first layer.

6. The teaching device according to claim 1, wherein, when there are multiple display areas in the second layer, the display control unit switches the display state of the display areas in the second layer that are not being operated by the operator to a state in which the virtual model displayed in the first layer is transparent, while switching the display state of the display areas in the second layer that are being operated by the operator to a state in which the virtual model displayed in the first layer is not transparent.

7. The teaching device according to claim 1, wherein the display control unit further displays an icon on the second layer for switching the display state of the first layer.

8. The teaching device according to claim 1, wherein the display control unit further displays icons on the second layer, and in the area where the icons are displayed, the area where the icons related to safety are displayed is displayed in a way that does not show through the virtual model displayed on the first layer.

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