Teaching apparatus and robot system

Patent metadata

Field	Value
Publication number	US-9981380-B2
Application number	US-201514753401-A
Country	US
Kind code	B2
Filing date	Jun 29, 2015
Priority date	Jul 1, 2014
Publication date	May 29, 2018
Grant date	May 29, 2018

Abstract

A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, includes a display section that displays a screen for setting the predetermined position and attitude, an operation section that allows the screen to be operated, and a computation section that computes the predetermined position and attitude, in which the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device, and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and in which the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude.

First claim

What is claimed is:

1. A teaching apparatus for a robot configured to move a work object, the teaching apparatus comprising:
a memory configured to store computer-readable instructions;
a display configured to display the work object and teaching instructions for the robot;
a screen configured to display operating commands including first and second operating commands of the robot;
an input device configured to allow the screen to accept the operating commands; and
a processor configured to execute the computer-readable instructions so as to:
cause an imaging device to capture an image of the work object grasped by a hand of the robot, the imaging device configured to output the captured image; and
calculate a hand position and attitude based on the captured image when the work object is aligned at a target position and attitude,

wherein the screen is divided into first and second screen areas,
the processor is configured to cause the first screen area to accept the first operating command via the input device so as to operate the robot such that the work object is placed in a desired position within an imaging range of the imaging device, and
the processor is configured to cause the second screen area to accept the second operating command via the input device so as to operate the robot such that the work object is aligned at the target position and attitude.

2. The teaching apparatus according to claim 1 ,
wherein either or both of the first screen area and the second screen area include a region in which the captured image obtained by the imaging device is displayed.

3. The teaching apparatus according to claim 1 ,
wherein either or both of the first screen area and the second screen area include a region in which a work procedure is displayed.

4. The teaching apparatus according to claim 1 ,
wherein the processor is configured to calculate a relative position and attitude between the target position and attitude and a predetermined position and attitude by using the captured image based on the first operating command,
the processor is configured to acquire the target position and attitude based on the second operating command, and
the processor is configured to calculate the predetermined position and attitude by using the calculated relative position and attitude and the target position and attitude.

5. A robot system comprising:
a robot having a hand, the robot being configured to move a work object; and
a teaching apparatus configured to teach a predetermined position and attitude to the robot, the teaching apparatus includes:
a display configured to display the work object and teaching instructions for the robot;
a screen configured to display operating commands including first and second operating commands of the robot;
an input device configured to allow the screen to accept the operating commands; and
a processor configured to execute the computer-readable instructions so as to:
cause an imaging device to capture an image of the work object grasped by a hand of the robot, the imaging device configured to output the captured image; and
calculate a hand position and attitude based on the captured image when the work object is aligned at a target position and attitude,

wherein the screen is divided into first and second screen areas,
the processor is configured to cause the first screen area to accept the first operating command via the input device so as to operate the robot such that the work object is placed in a desired position within an imaging range of the imaging device, and
the processor is configured to cause the second screen area to accept the second operating command via the input device so as to operate the robot such that the work object is aligned at the target position and attitude.

Assignees

• Seiko Epson Corp

Inventors

• Setsuda Nobuyuki
• Rupert Alan

Classifications

• G05B19/425

  Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector · CPC title

• G05B2219/39107

  Pick up article, object, measure, test it during motion path, place it · CPC title

• Y10S901/03

  Teaching system · CPC title

• B25J9/1679 Primary

  characterised by the tasks executed · CPC title

• G05B2219/40053

  Pick 3-D object from pile of objects · CPC title