US 12,138,786 B2
Teaching device, teaching method, and recording medium
Yoshiki Nagashima, Shiojiri (JP); and Masaaki Hagio, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Feb. 8, 2022, as Appl. No. 17/666,588.
Claims priority of application No. 2021-020161 (JP), filed on Feb. 10, 2021.
Prior Publication US 2022/0250237 A1, Aug. 11, 2022
Int. Cl. B25J 9/00 (2006.01); B25J 9/04 (2006.01); B25J 9/16 (2006.01); G06F 3/04817 (2022.01)
CPC B25J 9/0081 (2013.01) [B25J 9/042 (2013.01); B25J 9/1689 (2013.01); G06F 3/04817 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A teaching device generating an operation program for executing an operation of a robot having a base and a robot arm including a proximal arm coupled to the base and a distal arm coupled to a side opposite to the base of the proximal arm, the teaching device comprising:
a display unit displaying
a first operation unit accepting an operation of designating the proximal arm of the robot arm and changing an attitude of the robot arm and
a second operation unit accepting an operation of designating a position of a control point set for the robot arm and changing the attitude of the robot arm; and
an operation program generation unit generating the operation program, based on the attitude designated at the first operation unit or the second operation unit,
wherein the display unit has a switching button for switching between a mode for accepting an operation of designating the proximal arm and changing the attitude of the robot arm and a mode for accepting an operation of designating the distal arm and changing the attitude of the robot arm.