Teaching apparatus and teaching method for robots

Patent metadata

Field	Value
Publication number	US-11148299-B2
Application number	US-201816203027-A
Country	US
Kind code	B2
Filing date	Nov 28, 2018
Priority date	Nov 28, 2017
Publication date	Oct 19, 2021
Grant date	Oct 19, 2021

Abstract

There is provided a teaching apparatus that teaches a robot, in particular an industrial robot, a task by direct teaching. The teaching apparatus includes a wearable display that displays information in a worker's visual field, an acquisition section that acquires position and posture data capable of specifying a position and a posture of an industrial robot, and a production section that produces information to be displayed on the wearable display. When a worker operates the robot using the teaching apparatus, the apparatus produces state information that indicates at least one of a position and a posture of the robot relative to a reference object located around the robot, based on position and posture data as acquired and displays the produced information on the wearable display. There is also provided a teaching method having teaching functions equivalent to those of the apparatus.

First claim

What is claimed is:

1. A teaching apparatus that teaches an industrial robot a task by direct teaching, comprising:
a wearable display that is wearable by a worker;
an acquisition section configured to acquire position and posture data capable of specifying a position and a posture of the robot relative to a reference object; and
a production section configured to produce state information to be displayed on the wearable display, the state information being provided in a visual field of the worker by the wearable display,
wherein, when a worker operates the robot for the direct teaching, the production section is configured to produce the state information that indicates i) the position and posture of the robot relative to the reference object and ii) a distance between a workpiece held by the robot and the reference object; and
the wearable display is configured to display the produced state information.

2. The teaching apparatus according to claim 1 , wherein the production section is configured to produce the state information that indicates the information about the distance is displayed on the reference object.

3. The teaching apparatus according to claim 2 , wherein the reference object for the position and posture is different from the reference object for the distance.

4. The teaching apparatus according to claim 2 , wherein the robot is a virtually reproduced robot.

5. The teaching apparatus according to claim 4 , wherein
the production section is configured to produce the state information that indicates the position of the robot relative to the reference object and a posture of the robot relative to the reference object, and
the apparatus comprises a notification section configured to provide a notification when the distance is smaller than a predetermined reference distance, and when a tilt of the robot, which is the posture of the robot relative to the object, is at an angle larger than a predetermined reference angle.

6. The teaching apparatus according to claim 2 , wherein the robot is an actually present robot.

7. The teaching apparatus according to claim 6 , wherein the reference object is a virtually reproduced reference object.

8. The teaching apparatus according to claim 6 , wherein the reference object is an actually present reference object.

9. The teaching apparatus according to claim 6 , wherein the production section takes an orientation of a wrist of the robot as being a posture of the robot to produce the state information.

10. The teaching apparatus according to claim 6 , wherein
the production section is configured to produce the state information that indicates the position of the robot relative to the reference object and a posture of the robot relative to the reference object, and
the apparatus comprises a notification section that configured to provide a notification when the distance is smaller than a predetermined reference distance, and when a tilt of the robot, which is the posture of the robot relative to the object, is at an angle larger than a predetermined reference angle.

11. The teaching apparatus according to claim 6 , wherein the state information is displayed in a mode perpendicular or parallel to the reference object irrespective of the posture of the robot, the state information being displayed on a surface of the reference object located in a direction in which the robot moves, or in a space between the robot and the reference object located in a direction in which the robot moves, or at a position adjacent to another piece of state information displayed on a surface of the reference object, so as not to overlap with a wrist of the robot, a tool mounted to the wrist, or a workpiece handled by the tool.

12. The teaching apparatus according to claim 2 , wherein the reference object is a virtually reproduced reference object.

13. The teaching apparatus according to claim 2 , wherein the reference object is an actually present reference object.

14. The teaching apparatus according to claim 2 , wherein the state information is displayed in a mode perpendicular or parallel to the reference object irrespective of the posture of the robot, the state information being displayed on a surface of the reference object located in a direction in which the robot moves, or in a space between the robot and the reference object and located in a direction in which the robot moves, or at a position adjacent to another piece of state information displayed on a surface of the reference object, so as not to overlap with a wrist of the robot, a tool mounted to the wrist, or a workpiece handled by the tool.

15. The teaching apparatus according to claim 1 , wherein the production section is configured to take an orientation of a wrist of the robot as being the posture of the robot to produce the state information.

16. The teaching apparatus according to claim 1 , wherein,
the production section is configured to produce the state information that indicates the position of the robot relative to the reference object and a posture of the robot relative to the reference object, and
the apparatus comprises a notification section configured to provide a notification when the distance is smaller than a predetermined reference distance, and when a tilt of the robot, which is the posture of the robot relative to the object, is at an angle larger than a predetermined reference angle.

17. The teaching apparatus according to claim 1 , wherein the reference object is a virtually reproduced reference object.

18. The teaching apparatus according to claim 1 , wherein the reference object is an actually present reference object.

19. The teaching apparatus according to claim 1 , wherein the production section takes an orientation of a wrist of the robot as being a posture of the robot to produce the state information.

20. The teaching apparatus according to claim 1 , wherein the state information is displayed in a mode perpendicular or parallel to the reference object irrespective of the posture of the robot, the state information being displayed on a surface of the reference object located in a direction in which the robot moves, or in a space between the robot and the reference object located in a direction in which the robot moves, or at a position adjacent to another piece of state information displayed on a surface of the reference object, so as not to overlap with a wrist of the robot, a tool mounted to the wrist, or a workpiece handled by the tool.

21. A teaching method of teaching an industrial robot a task by direct teaching, comprising:
acquiring position and posture data capable of specifying a position and a posture of the robot relative to a reference object;
producing state information to be displayed on a wearable display worn by a worker who teaches the robot a task for the direct teaching, the state information being provided in a visual field of the worker by the wearable display,
wherein the producing step produces the state information that indicates, at least, the position of the robot relative to the reference object, based on the acquired position and posture data, and the state information that indicates the position of the robot including information showing a distance between a workpiece held by the robot and the reference object; and
enabling the wearable display to display the produced state information.

Assignees

• Denso Wave Inc

Inventors

• Yui Daisuke

Classifications

• B25J13/06 Primary

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• B25J9/1605

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• B25J19/021

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• B25J9/1656

  characterised by programming, planning systems for manipulators · CPC title

• G05B2219/39451

  Augmented reality for robot programming · CPC title