Robot teaching apparatus

Patent metadata

Field	Value
Publication number	US-11345019-B2
Application number	US-201815925448-A
Country	US
Kind code	B2
Filing date	Mar 19, 2018
Priority date	Apr 3, 2017
Publication date	May 31, 2022
Grant date	May 31, 2022

Abstract

A complicated motion program is taught, in a simple manner, to a lead-through teachable robot. Provided is a teaching apparatus for a robot, the teaching apparatus being provided with: a movement-instruction input portion that is attached to the robot and with which a movement instruction for the robot is input; and a command input portion with which it is possible to set at least one of a movement-trajectory defining command, a standby command, a speed-changing command, and a work-condition changing command at an arbitrary position on a movement pathway of the robot in a direction that corresponds to the movement instruction input via the movement-instruction input portion.

First claim

The invention claimed is:

1. A robot teaching apparatus, comprising:
a sensor that is attached to a robot and that detects a direction and a magnitude of a force applied to the robot; and
a liquid-crystal display device configured to switch and display a plurality of button groups that are different from each other, wherein the liquid-crystal display device:
displays a first button group of the plurality of button groups;
defines a movement trajectory of the robot in response to actuation of the displayed first button group and the direction and the magnitude of the force detected by the sensor;
displays a second button group of the plurality of button groups as an alternative to the first button group in response to defining the movement trajectory of the robot; and
defines at least one of a position of making the robot standby on the defined movement trajectory and a position of making a speed of the robot be changed on the defined movement trajectory in response to actuation of the displayed second button group.

2. The robot teaching apparatus according to claim 1 , wherein the liquid-crystal display device:
displays a third button group of the plurality of button groups as an alternative to the second button group in response to defining at least one of the position of making the robot standby on the defined movement trajectory and the position of making the speed of the robot be changed in the defined movement trajectory; and
defines a position of changing conditions of a work to be made by the robot on the defined movement trajectory in response to actuation of the displayed third button group.

3. The robot teaching apparatus according to claim 2 , wherein:
in response to actuation of a predetermined button of the second button group while the second button group is displayed, the liquid-crystal display device displays the first button group as an alternative to the second button group, and
in response to actuation of a predetermined button of the third button group while the third button group is displayed, the liquid-crystal display device displays the second button group as an alternative to the third button group.

Assignees

• Fanuc Corp

Inventors

• Hane Mikito
• Takahashi Hiromitsu

Classifications

• B25J13/06

  Control stands, e.g. consoles, switchboards · CPC title

• G05B19/427

  Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control (G05B19/423 takes precedence) · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/0081 Primary

  with leader teach-in means · CPC title