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WO2025017864A1 - Dispositif de commande de robot - Google Patents

Dispositif de commande de robot Download PDF

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Publication number
WO2025017864A1
WO2025017864A1 PCT/JP2023/026406 JP2023026406W WO2025017864A1 WO 2025017864 A1 WO2025017864 A1 WO 2025017864A1 JP 2023026406 W JP2023026406 W JP 2023026406W WO 2025017864 A1 WO2025017864 A1 WO 2025017864A1
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WO
WIPO (PCT)
Prior art keywords
robot
control device
signal
change
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2023/026406
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English (en)
Japanese (ja)
Inventor
慎太郎 堀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to PCT/JP2023/026406 priority Critical patent/WO2025017864A1/fr
Priority to TW113122641A priority patent/TW202525530A/zh
Publication of WO2025017864A1 publication Critical patent/WO2025017864A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • This disclosure relates to a robot control device.
  • a robot device equipped with a robot and a work tool is driven based on an operation program.
  • the operation program includes operation command statements for driving the robot or the work tool. To generate the operation command statements, it is necessary to set teaching points for the position and orientation of the robot.
  • an operator can manually drive the robot using a teaching operation panel.
  • the operator can teach the desired position and posture of the robot as a teaching point.
  • an operator directly pushes or pulls the robot to change the position and posture of the robot.
  • An operation in which an operator directly moves the robot to teach a teaching point is called a direct teaching operation.
  • JP 2019-63916 A International Publication No. WO2011/036865A1 Japanese Patent Application Publication No. 1-271189
  • a robot that performs direct teaching operations is equipped with a sensor for detecting the external force with which a worker operates the robot.
  • the robot control device can drive the robot based on the magnitude and direction of the external force.
  • the robot control device must have the operation parameters of the direct teaching operation predefined. For example, the direction in which the robot is driven relative to the direction of the external force and the maximum speed of the robot must be set as operation parameters in advance.
  • the operation parameters are set by operating the teaching operation panel, which poses the problem that it takes time to set the operation parameters. For this reason, it is preferable to improve the workability of changing the operation parameters of direct teaching operations.
  • the robot control device includes a control device main body that receives a signal from a first change device that changes an operating parameter for driving the robot by the direct teaching operation and a signal from a second change device that changes the operating parameter.
  • the control device main body includes a selection unit that selects an operating parameter signal from one of the operating parameter signals from the first change device and the operating parameter signal from the second change device.
  • the control device main body includes a setting unit that sets the operating parameter based on the operating parameter signal corresponding to the operation of the one change device.
  • the control device main body includes a manual command unit that sends a command to drive the robot based on the operating parameter set in the setting unit.
  • FIG. 1 is a schematic diagram of a robot device according to a first embodiment.
  • 1 is a block diagram of a robot device according to a first embodiment.
  • FIG. FIG. 2 is a perspective view of an operator and a robot when performing a direct teaching operation.
  • FIG. 2 is an enlarged perspective view of a built-in control switch disposed on the wrist of the robot.
  • FIG. 13 is a perspective view of the robot for explaining the direction in which the robot moves by direct teaching operation.
  • 6 is a flowchart of a control for setting an operating parameter of a direct teaching operation in the first embodiment.
  • FIG. 13 is an enlarged perspective view of a robot of a robot apparatus according to a second embodiment.
  • FIG. 11 is a block diagram of a robot device according to a second embodiment.
  • FIG. 11 is a perspective view of a robot and a hand of another robot device according to the second embodiment.
  • the robot device of this embodiment includes a work tool, a robot, and a robot control device.
  • the robot control device is configured to control the operation of the work tool and the operation of the robot.
  • FIG. 1 shows a perspective view of the robot device in this embodiment.
  • FIG. 2 shows a block diagram of the robot device in this embodiment.
  • the robot device performs a predetermined task based on a predetermined operation program.
  • the robot device 8 in this embodiment performs the task of grasping a workpiece and transporting it to a predetermined position.
  • the robot device 8 includes a hand 2 as a work tool and a robot 1 that moves the hand 2.
  • the hand 2 in this embodiment grasps the workpiece by pinching it between two fingers.
  • Any work tool can be attached to the robot depending on the work to be performed by the robot device. For example, if the robot device is to perform arc welding, a welding torch can be attached to the robot as a work tool.
  • the robot 1 of this embodiment is a multi-joint robot including multiple joints.
  • the robot 1 includes a swivel base 13 supported on a base 14.
  • the base 14 is fixed to a stand 88.
  • the swivel base 13 rotates relative to the base 14.
  • the robot 1 includes an upper arm 11 and a lower arm 12 that are rotatably supported via joints. Furthermore, the upper arm 11 rotates around a rotation axis that is parallel to the direction in which the upper arm 11 extends.
  • the robot 1 includes a wrist 15 that is rotatably connected to the end of the upper arm 11.
  • the wrist 15 includes a flange 16 that is rotatably formed.
  • the hand 2 is supported by the flange 16.
  • the robot 1 in this embodiment has six joint axes, but is not limited to this form. Any robot that can move a work tool can be used.
  • the robot 1 includes a robot drive device that changes the position and posture of the robot 1.
  • the robot drive device includes a robot drive motor 19 that drives components such as the arm and wrist.
  • the hand 2 includes a tool drive device that drives the hand 2.
  • the tool drive device includes a pressure pump, a valve, and the like for driving the fingers of the hand 2.
  • the robot 1 is provided with a position detector 18 that outputs the rotational position of the joint axis of the robot 1.
  • the position detector 18 is, for example, configured with an encoder attached to an electric motor.
  • the robot control device 5 can detect the position and posture of the robot 1 from the output of the position detector 18.
  • the robot device 8 is equipped with a robot control device 5.
  • the robot control device 5 is equipped with a control device main body 4 including an arithmetic processing device (computer) having a CPU (Central Processing Unit) as a processor.
  • the arithmetic processing device has a RAM (Random Access Memory) and a ROM (Read Only Memory), etc., which are connected to the CPU via a bus.
  • the operation program 32 includes operation commands for driving the robot 1 and the hand 2. In this embodiment, the robot 1 and the hand 2 transport the workpiece by being driven based on the operation program 32.
  • the control device main body 4 includes a memory unit 42 that stores information related to the control of the robot device 8.
  • the memory unit 42 can be configured with a non-transitory storage medium capable of storing information.
  • the memory unit 42 can be configured with a storage medium such as a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium.
  • the robot operation program 32 in which the robot's operations are defined, is stored in the memory unit 42.
  • the control device main body 4 includes an operation control unit 43 that sends operation commands for the robot.
  • the control device main body 4 includes a robot drive unit 45 that includes an electric circuit that supplies electricity to the robot drive device, and a tool drive unit 44 that includes an electric circuit that supplies electricity to the tool drive device.
  • the operation control unit 43 sends operation commands for driving the robot 1 to the robot drive unit 45 based on the operation program 32.
  • the robot drive unit 45 supplies electricity to the robot drive motor 19 based on the operation commands.
  • the operation control unit 43 sends operation commands for driving the hand 2 to the tool drive unit 44 based on the operation program 32.
  • the tool drive unit 44 supplies electricity to the hand drive device based on the operation commands.
  • the operation control unit 43 corresponds to a processor that operates according to the operation program 32.
  • the operation control unit 43 is configured to be able to read information stored in the storage unit 42.
  • the processor functions as the operation control unit 43 by reading the operation program 32 and implementing the control defined in the operation program 32.
  • Figure 3 shows a perspective view of the robot and the worker when the worker is performing a direct teaching operation.
  • the robot device 8 of this embodiment is configured so that a teaching point can be taught by a direct teaching operation.
  • the worker 87 changes the position and posture of the robot by directly pushing or pulling the robot 1 or the hand 2.
  • the position and posture of the robot are stored in the memory unit 42 as a teaching point.
  • the worker 87 changes the position and posture of the robot by grabbing and moving the hand 2 with his or her hand.
  • the robot device 8 is equipped with a sensor for detecting the external force applied to the robot 1 by the operator 87 during direct teaching operations.
  • a force sensor 22 is disposed between the flange 16 and the hand 2.
  • any sensor can be used, such as a sensor including a strain sensor or a capacitance sensor.
  • a sensor capable of detecting force components in six axis directions can be used.
  • the force sensor 22 detects forces in the directions of three orthogonal axes (X-axis, Y-axis, and Z-axis) of the sensor coordinate system, and moments (Mx, My, Mz) as forces in the directions of axes (W-axis, P-axis, and R-axis) around the three axes.
  • the sensor for detecting the external force applied by the worker can be placed in any position.
  • a force sensor may be placed on the base.
  • Any sensor that has the function of detecting an external force can be used.
  • the sensor for detecting an external force can be configured as a torque sensor placed on each drive shaft of the robot.
  • the robot control device 5 of this embodiment functions as a teaching device.
  • the control device main body 4 generates an operation program 32 based on teaching points.
  • the memory unit 42 stores a generation program 33 for generating the operation program 32 by a direct teaching operation.
  • the generation program 33 corresponds to a computer program of the teaching device for performing a direct teaching operation.
  • the control device main body 4 includes a program generation unit 60 that generates and modifies the operation program 32.
  • the program generation unit 60 operates based on the generation program 33.
  • the program generation unit 60 performs control to change the position and posture of the robot 1 so that the component of the robot 1 moves based on the direction in which the force is applied.
  • the program generation unit 60 includes a force detection unit 66 that detects the direction and magnitude of the force and torque applied to the component members by the worker.
  • the force detection unit 66 detects the magnitude and direction of the external force applied to the robot 1 based on the output of the force sensor 22.
  • the program generation unit 60 includes a manual command unit 67 that generates a motion command to drive the robot 1 based on the magnitude and direction of the external force detected by the force detection unit 66 and the motion parameters of the direct teaching operation.
  • the manual command unit 67 generates a motion command to drive the robot 1 so that the robot 1 drives based on the external force applied by the operator.
  • the manual command unit 67 sends a motion command to the motion control unit 43 to drive the robot drive motor 19.
  • the motion control unit 43 drives the robot 1 based on the command signal from the manual command unit 67 while the direct teaching operation is being performed. In this way, the operator can directly operate the robot 1 to change the position and posture of the robot to generate teaching points.
  • the program generation unit 60 includes a state acquisition unit 61 that acquires the position and posture of the robot 1.
  • the state acquisition unit 61 detects the position and posture of the robot 1 based on the output of the position detector 18.
  • the program generation unit 60 includes a teaching point setting unit 62 that sets the position and posture of the robot 1 acquired by the state acquisition unit 61 as a teaching point.
  • the program generation unit 60 includes a command statement generation unit 63 that generates command statements for operations included in the operation program 32 based on the teaching points set by the teaching point setting unit 62.
  • the program generation unit 60 corresponds to a processor that operates based on the generation program 33.
  • the processor functions as the program generation unit 60 by implementing the control defined in the generation program 33.
  • Each of the units, the state acquisition unit 61, the teaching point setting unit 62, the command statement generation unit 63, the force detection unit 66, and the manual command unit 67, corresponds to a processor that operates based on the generation program 33.
  • the processor functions as each of the units by implementing the control defined in the generation program 33.
  • the operation control unit 43 corresponds to a processor that operates based on the generation program 33.
  • the robot control device 5 of this embodiment is equipped with a change device that changes the operating parameters for driving the robot 1 by direct teaching operation.
  • the robot control device 5 is equipped with multiple change devices.
  • the robot control device 5 includes a built-in operation switch 23 as a first change device and an external computer 54 as a second change device. Each change device is connected to the control device main body by a communication line or wirelessly.
  • the motion parameters for performing direct teaching operations include parameters for defining and limiting the motion of the robot during direct teaching operations.
  • the motion parameters include the directions in which the robot can move, the maximum speed of the robot, a gain for determining the speed of the robot from external forces due to the operator's operation, and a gain for determining the acceleration of the robot from external forces due to the operator's operation.
  • the operator must set these motion parameters related to the driving of the robot before performing a direct teaching operation.
  • FIG. 4 shows an oblique view of the built-in operation switch of the robot device of the first embodiment of this embodiment.
  • the built-in operation switch is an operation switch that is built into the robot or the hand.
  • the built-in operation switch 23 of this embodiment is built into the wrist 15. In other words, the built-in operation switch 23 is integrated into the wrist 15.
  • the built-in operation switch 23 has a button 23a arranged thereon for changing the settings of the operating parameters.
  • the built-in operation switch 23 is configured so as to be capable of communicating with the program generation unit 60 of the control device main body 4 via a communication line. A signal for pressing the button 23a is sent to the program generation unit 60.
  • the built-in operation switch 23 of this embodiment has multiple buttons 23a arranged thereon.
  • the operating parameters of the direct teaching operation are changed using a teaching operation panel connected to the main body of the control device.
  • the operator releases his/her hand from the robot and holds the teaching operation panel to perform the operation.
  • the operator can operate each button 23a while grasping the spherical part of the wrist 15.
  • the operator can set the operating parameters without moving his/her hand 2, which is being held to change the position and posture of the robot, with little to no movement of the hand. This allows the operating parameters to be set in a short time, improving the workability of the direct teaching operation.
  • setting the operating parameters in this embodiment includes defining new operating parameters and changing operating parameters.
  • One button 23a of the built-in operation switch 23 can correspond to one operation parameter.
  • one button 23a can correspond to the maximum speed of the robot.
  • a number of maximum speeds are predefined and stored in the memory unit 42.
  • the maximum speed values are, for example, 50 mm/sec, 100 mm/sec, and 250 mm/sec.
  • the built-in operation switch 23 is configured to emit a signal that changes the maximum speed setting value in sequence each time the maximum speed button 23a is pressed.
  • the built-in operation switch can be configured so that pressing the maximum speed button 23a with a plus mark printed thereon increases the maximum speed setting value, and pressing the button 23a with a minus mark printed thereon decreases the maximum speed setting value.
  • the robot 1 of this embodiment includes a light 24 as a light-emitting member that lights up or goes out depending on the operating parameters set by the built-in operation switch 23.
  • a plurality of lights 24 are arranged.
  • the lights 24 are, for example, LEDs (Light Emitting Diodes).
  • the lights 24 of this embodiment are arranged adjacent to the built-in operation switch 23.
  • the lights 24 are also arranged near the button 23a of the built-in operation switch 23.
  • the operating parameter settings may be formed so as to be distinguishable by the lighting pattern of the light 24.
  • a lighting pattern in which the light blinks while it is lit may be used.
  • the number of blinks may be changed according to a setting such as the maximum speed.
  • the operating parameter settings may be confirmed by the external computer 54.
  • the second change device of the robot device 8 of the first embodiment is an external computer 54 connected to the control device main body 4 via a communication line 59.
  • the external computer 54 of this embodiment is a notebook type personal computer.
  • the external computer 54 is configured with an arithmetic processing device (computer) having a CPU as a processor.
  • the external computer 54 includes a storage unit 58 that stores information related to the robot device 8.
  • the storage unit 58 can be configured with a non-transitory storage medium capable of storing information.
  • the storage unit 58 can be configured with a storage medium such as a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium.
  • the external computer 54 has a display unit 55 that displays information related to the operating parameters of the direct teaching operation.
  • the display unit 55 can be configured with a display panel such as a liquid crystal panel.
  • the external computer 54 includes an input unit 56 into which the operator inputs any information.
  • the input unit 56 can be configured with an input member such as a keyboard, a mouse, or a dial.
  • the external computer 54 has an arithmetic processing unit 57 that acquires information through the operation of the input unit 56, performs arithmetic processing internally, and controls the images displayed on the display unit 55.
  • the arithmetic processing unit 57 corresponds to a CPU as a processor.
  • the processor functions as the arithmetic processing unit 57 by operating according to a predetermined program.
  • the external computer 54 is configured so that the operator can directly set the operating parameters of the teaching operation by operating the input unit 56.
  • the external computer 54 can employ packet communication as a communication method for communicating with the control device main body 4. For example, a signal sent from the external computer 54 to the program generation unit 60 can be sent as a packet.
  • the external computer 54 can also send and receive information in the form of numerical values to and from the control device main body.
  • the numerical value of the robot's maximum speed can be sent from the external computer 54 to the program generation unit 60.
  • the directions in which the robot can move can also be defined as numbers, and these directions in which the robot can move can be sent from the external computer 54 to the program generation unit 60.
  • the number zero can be defined as movement in any direction. These numbers can then be used to send the directions in which the robot can move to the program generation unit 60.
  • the second change device is a notebook computer, but is not limited to this form.
  • the second change device can be configured with any change device different from the first change device and the teaching operation panel.
  • the external computer may be configured with a tablet terminal.
  • the control device main body 4 receives an operating parameter signal from the built-in operation switch 23 as a first change device and an operating parameter signal from the external computer 54 as a second change device.
  • the control device main body 4 includes a selection unit 64 that selects the operating parameter signal from one of the change devices, the built-in operation switch 23 or the external computer 54.
  • the selection unit 64 stops receiving signals from the built-in operation switch 23 when a signal is being received from the external computer 54. For example, when an operator is setting operation parameters using the external computer 54, the selection unit 64 stops receiving signals of the operator's operation using the built-in operation switch 23.
  • the selection unit 64 automatically selects the change device that changes the operating parameters, but this is not limited to the embodiment.
  • the selection unit may be configured so that the change device that receives the operating parameter signal can be specified by the operator.
  • the program generation unit 60 includes a setting unit 65 that sets the operation parameters based on the signal of the operation parameters corresponding to the operation of one of the change devices selected by the selection unit 64.
  • Each of the units, the selection unit 64 and the setting unit 65 corresponds to a processor that operates based on the generation program 33.
  • the processor performs the control defined in the generation program 33, thereby functioning as each unit.
  • the selection unit 64 when the selection unit 64 is receiving a signal from the second change device, it can stop receiving a signal from the first change device.
  • receiving a signal for changing an operation parameter from the external computer 54 takes priority over the built-in operation switch 23.
  • the program generation unit 60 sets the operation parameters based on a signal corresponding to the operation of the external computer 54 by the worker.
  • the operating parameters that can be set by the second change device can be preferentially set by operating the second change device.
  • the operating parameters that cannot be set by the second change device can be set using the first change device.
  • the operating parameters set by the setting unit 65 are saved in a file of operating parameters stored in the memory unit 42.
  • the manual command unit 67 uses the operation parameters set in the setting unit 65 to send commands to the operation control unit 43 to drive the robot 1 in response to the operator's direct operation of the robot.
  • the selection unit 64 when the setting unit 65 receives a signal from the built-in operation switch 23, the selection unit 64 turns on the light 24. The operator can know that the operating parameters can be set using the built-in operation switch 23. Also, when the setting unit 65 does not receive a signal from the built-in operation switch 23, the selection unit 64 turns off the light 24. The operator can know that the operating parameters cannot be set using the built-in operation switch 23.
  • the built-in operation switch 23 may include multiple buttons 23a to change multiple types of operation parameters.
  • multiple lights 24 may be built into the robot 1. The multiple lights 24 and multiple buttons 23a are formed to correspond to multiple types of operation parameters.
  • the light 24 corresponding to the operating parameter for which the setting unit 65 receives a signal from the external computer 54 can be turned off, and the light 24 corresponding to the operating parameter for which the setting unit 65 receives a signal from the built-in operation switch 23 can be turned on.
  • the selection unit 64 can turn on the light 24 corresponding to the operating parameter to be changed by the built-in operation switch 23, and turn off the light 24 corresponding to the operating parameter to be changed by the external computer 54.
  • the first button 23a and the first light 24 of the built-in operation switch 23 are defined as the button and light corresponding to the maximum speed of the robot.
  • the second button 23a and the second light 24 of the built-in operation switch 23 are defined as the button and light corresponding to the direction in which the robot can operate.
  • the external computer 54 can change the maximum speed of the robot, but it may not be possible to change the direction in which the robot can move.
  • the selection unit 64 can receive a signal of an operating parameter related to the maximum speed of the robot from the external computer 54, and receive an operating parameter related to the direction of movement of the robot from the built-in operation switch 23.
  • the selection unit 64 can select an operating parameter signal received from the second change device.
  • the selection unit 64 can select an operating parameter signal other than the operating parameters received from the second change device from the first change device.
  • the setting unit 65 can set the operating parameters received from the second change device based on the operation of the second change device, and set operating parameters other than the operating parameters received from the second change device based on the operation of the first change device.
  • the selection unit 64 can turn off the light 24 corresponding to the robot's maximum speed and turn on the light 24 corresponding to the direction in which the robot can operate. By checking the state of the lights 24, the worker can know which buttons for the operating parameters can be operated with the built-in operation switch 23.
  • Figure 5 shows an oblique view of the robot, explaining the directions in which the robot can operate during direct teaching operations.
  • a tool coordinate system 90 is set in the robot device 8.
  • the tool coordinate system 90 has its origin set at the tool tip point of the hand 2.
  • the position and orientation of the tool coordinate system 90 changes along with the hand 2.
  • a world coordinate system 89 is set in the robot device 8.
  • the world coordinate system 89 is a coordinate system in which the position of the origin and the orientation of the coordinate axes do not change even when the robot 1 is driven.
  • the position of the robot 1 can be the position of the tool tip point in the world coordinate system 89.
  • the orientation of the robot 1 can be the orientation of the tool coordinate system 90 relative to the world coordinate system 89.
  • the movement when an external force is applied in a direct teaching operation can include a parallel movement in a direction determined by the tool coordinate system 90.
  • a parallel movement the robot 1 can be driven so that the origin of the tool coordinate system 90 moves only in the direction of one of the coordinate axes (X-axis, Y-axis, or Z-axis) of the tool coordinate system 90.
  • the robot 1 can be driven so that the tool tip point moves in the Y-axis direction without moving in the X-axis and Z-axis directions.
  • the directions in which the robot can operate can include directions in which it rotates around a predetermined rotation axis.
  • the robot 1 can be driven so that the hand 2 rotates around one coordinate axis without moving the origin of the tool coordinate system 90.
  • the position and posture of the robot 1 can be changed so that the hand 2 rotates around the Y axis of the tool coordinate system 90, which is the rotation axis.
  • one of these multiple parallel movement directions and multiple rotational movement directions can be selected as the direction in which the robot can operate.
  • the robot can be driven so that the tool coordinate system 90 moves in one predetermined direction regardless of the direction in which an external force is applied.
  • the directions in which the robot can operate can be determined as a combination of parallel and rotational movements. Furthermore, the direction can be set so as to follow the operator's movements of moving and rotating the hand 2 in any direction. In other words, the operator can perform any curved movement and any change in posture.
  • the maximum speed of the robot for example, the maximum moving speed of a predetermined point of the robot or the work tool can be used.
  • the maximum moving speed of the tool tip point can be used.
  • the rotation speed around the drive shaft of the robot can be used.
  • the gain for determining the speed of the robot from the external force is a coefficient included in the calculation formula for determining the speed of the robot from the magnitude of the external force. The larger the gain, the greater the speed of the robot is controlled to be relative to the external force.
  • the gain for determining the acceleration of the robot from the external force is a coefficient included in the calculation formula for determining the acceleration of the robot from the magnitude of the external force.
  • FIG. 6 shows a flowchart of the direct teaching operation in the robot device of this embodiment.
  • the flowchart in FIG. 6 includes a process of setting the operating parameters of the direct teaching operation using one of the change devices, the built-in operation switch 23 and the external computer 54.
  • step 91 the selection unit 64 determines whether or not a signal has been input from the external computer 54. If a signal has been input from the external computer 54 in step 91, control proceeds to step 94.
  • the selection unit 64 selects the operating parameter signal from the external computer 54.
  • step 94 the selection unit 64 turns off the lights 24 arranged around the built-in operation switch 23.
  • step 95 the setting unit 65 receives a command from the external computer 54 to set the operating parameters. Control proceeds to step 96.
  • control proceeds to step 92.
  • the external computer 54 is not being used to set the operating parameters of the direct teaching operation, control proceeds to step 92.
  • the selection unit 64 selects the operating parameter signal from the built-in operation switch 23.
  • step 92 the selection unit 64 turns on the lights 24 arranged around the built-in operation switch 23.
  • step 93 the setting unit 65 receives a command from the built-in operation switch 23.
  • step 96 the setting unit 65 sets the operating parameters of the direct teaching operation based on a command from the built-in operation switch 23 or a command from the external computer 54.
  • the setting unit 65 can set the operating parameters of the direct teaching operation in response to the operator's operation of the change device.
  • step 97 the operator performs a direct teaching operation. That is, the force detection unit 66 detects the external force applied by the operator based on the output of the force sensor 22.
  • the manual command unit 67 drives the robot 1 based on the operation parameters, the magnitude of the external force, and the direction of the external force.
  • the state acquisition unit 61 acquires the robot's position and posture.
  • the teaching point setting unit 62 can set the robot's position and posture at this time as a teaching point. The worker then repeats the task of setting the teaching points described above.
  • the command statement generation unit 63 can then generate a command statement for the operation program based on the teaching point. In this way, the program generation unit 60 can generate the operation program 32.
  • the operating parameters of the robot's direct teaching operation can be set on the external computer 54.
  • the operating parameters can be set on the screen of the large display unit 55 of the external computer 54.
  • a list of operating parameters for direct teaching operations can be displayed on the display unit 55, and each operating parameter can be set. This improves the efficiency of the work of setting operating parameters.
  • parameters of other devices may be set.
  • parameters of a machine tool that processes a workpiece may be set. Even in such a case, the parameters of the robot and the machine tool can be set at the same time using the external computer 54. This improves the efficiency of the work of setting the operating parameters of the robot device and the parameters of the machine tool.
  • the robot control device of this embodiment does not include a teaching operation panel, but is not limited to this form.
  • a teaching operation panel can be connected to the control device main body.
  • the operating parameters of the direct teaching operation can be set on the teaching operation panel.
  • the selection unit can select the signals of the operating parameters of the direct teaching operation in the following order of priority: external computer, built-in operation switch, and teaching operation panel.
  • FIG. 7 shows an enlarged view of the tip of the robot of the robot device of this embodiment.
  • FIG. 8 shows a block diagram of the robot device of this embodiment.
  • the robot device 9 of this embodiment includes a robot 7 that does not have a built-in operation switch or light.
  • the hand 2 and the control device main body 4 are similar to the hand 2 and the control device main body 4 of the robot device 8 of the first embodiment.
  • the first change device of the robot device 9 in this embodiment is the teaching operation panel 49 connected to the control device main body 4.
  • the second change device of the robot device 9 is the external operation switch 25 attached to the robot 7 or the hand 2.
  • Figure 9 shows a plan view of the teaching operation panel of the robot device.
  • the teaching operation panel 49 includes an arithmetic processing unit 52 that performs calculations and processes information.
  • the arithmetic processing unit 52 includes a CPU as a processor.
  • the teaching operation panel 49 includes a display unit 50 for displaying information related to the control of the robot device 9, and an input unit 51 for the operator to input any information.
  • the display unit 50 can be configured with a display panel such as a liquid crystal display panel.
  • the input unit 51 can be configured with input members such as buttons 51a, a keyboard, and a dial.
  • the display unit 50 of this embodiment includes a touch panel type display panel.
  • the worker can input information by pressing or tracing the button images displayed on the display unit 50.
  • the touch panel type display panel functions as a display unit and an input unit.
  • the teaching operation panel may be configured as a mobile terminal such as a tablet.
  • the teaching operation panel 49 in this embodiment is configured to communicate with the control device main body 4 via a communication line 53.
  • the teaching operation panel may be configured to communicate with the control device main body 4 wirelessly.
  • the teaching operation panel 49 is formed small so that it can be carried by hand by an operator. The operator can manually drive the robot 7 by operating the input unit 51.
  • the teaching operation panel 49 makes it possible to specify a teaching point after driving the robot 7.
  • the external operation switch 25 is an operation switch that is attached to the outer surface of the work tool or the outer surface of the robot.
  • the external operation switch may be formed so as to be removable from the work tool or the robot.
  • the external operation switch 25 in this embodiment is attached to the outer periphery of the hand 2.
  • the external operation switch 25 includes multiple buttons 25a.
  • One button 25a of the external operation switch 25 can correspond to one operation parameter of the direct teaching operation.
  • the first button 25a may be a button for setting the operable direction of the robot.
  • the operable directions of the robot include a direction of parallel movement in which the position moves without changing the posture, a direction of rotational movement in which the posture rotates, a direction that combines parallel movement and rotational movement, and any direction.
  • the second button 25a of the external operation switch 25 can also be set as a button for setting the maximum speed of the robot. Each time this button 25a is pressed, the maximum speed can be switched. For example, the maximum speed setting can be switched in the order of 50 mm/sec, 100 mm/sec, and 250 mm/sec. Furthermore, by pressing button 25a when the maximum speed setting is 250 mm/sec, the maximum speed setting can be returned to 50 mm/sec.
  • the operation parameters of the direct teaching operation can be changed with a small number of buttons.
  • the operator can easily change the operation parameters of the direct teaching operation.
  • the external operation switch 25 is composed of multiple buttons, but is not limited to this form.
  • the external operation switch may be configured to allow input of parameters.
  • the external operation switch may include a slider with a knob. By moving the knob, the set value of the operation parameter can be set to any value. For example, the maximum speed of the robot can be continuously changed and set to any value.
  • the selection unit 64 when the selection unit 64 is receiving a signal from the external operation switch 25 as the second change device, it can stop receiving a signal from the teaching operation panel 49 as the first change device. In other words, it can preferentially receive a signal of the operating parameter of the direct teaching operation from the external operation switch 25.
  • FIG. 10 shows an image on the display when setting operating parameters for direct teaching operation on the teaching operation panel.
  • the display unit 50 displays an image 71 for changing the settings of operating parameters.
  • image 71 is displayed, communication between the external operation switch 25 and the control device main body 4 is stopped.
  • the selection unit 64 selects a signal from the teaching operation panel 49.
  • the setting unit 65 sets the operating parameters for direct teaching operation using the signal received from the teaching operation panel 49.
  • the image 71 displays a button 71a for changing the directions in which the robot 7 can operate, and a slider 71b for changing the maximum speed of the robot.
  • the operator can change the direction in which the robot can operate by pressing the change button 71a.
  • the operator can also change the maximum speed by moving the slider 71b while pressing it. In this way, when an operating parameter signal is not received from the external operation switch 25, the operating parameters can be set on the teaching operation panel 49.
  • the external operation switch 25 transmits a signal to the program generation unit 60 to set operation parameters.
  • the selection unit 64 selects the signal from the external operation switch 25 and stops receiving signals from the teaching operation panel 49.
  • the setting unit 65 receives the signal from the external operation switch 25.
  • the external operation switch 25 includes a button 25a that changes the direction in which the robot can operate and a button 25a that changes the maximum speed of the robot in stages.
  • the setting unit 65 sets the direction in which the robot can operate and the maximum speed of the robot.
  • Figure 11 shows an image of the display unit of the teaching operation panel when a signal is being received from the external operation switch.
  • the setting unit 65 transmits a signal received from the external operation switch 25 to the teaching operation panel 49.
  • the display unit 50 displays an image for changing the operating parameters in a light color.
  • signals for all types of operating parameters are received from the external operation switch.
  • the calculation processing unit 52 controls the button 72a and slider 72b to be displayed in a light color. This control lets the operator know that the operating parameters displayed in a light color on the teaching operation panel cannot be changed. The operator can know that the signal from the external operation switch 25 has been selected with priority.
  • the operator may operate the teaching operation panel to change the settings of the operating parameters.
  • the operator may press button 72a in image 72.
  • the display unit 50 displays image 73a notifying the operator to change the operating parameters with the external operation switch.
  • image 72 multiple types of operating parameters are determined in advance, and the settings of all of the operating parameters are changed by the external operation switch 25.
  • An image for changing all of the operating parameters is displayed dimmed on the display unit 50.
  • the operating parameters other than the operating parameters set by the external operation switch 25 can be set by the teaching operation panel 49.
  • Figure 12 shows an image of the display unit when some of the operating parameters are set on the teaching operation panel.
  • the selection unit 64 selects the operating parameter signal received from the external operation switch 25, and selects the signal received from the teaching operation panel 49 for the operating parameter signal other than the operating parameters received from the external operation switch 25.
  • the setting unit 65 sets the operating parameters received from the external operation switch 25 based on the operation of the external operation switch 25, and sets the operating parameters other than the operating parameters received from the external operation switch 25 based on the operation of the teaching operation panel 49.
  • the display unit 50 can display a lightly colored image for setting the operating parameters to be set by the external operation switch 25.
  • the directions in which the robot can move may be set by the external operation switch 25, and the maximum speed of the robot may be set by the teaching operation panel 49.
  • the button 74a for switching the directions in which the robot can move is displayed lightly.
  • the slider 74b for setting the maximum speed of the robot is displayed in normal darkness.
  • the operator can change the direction in which the robot can move by pressing the button 25a of the external operation switch 25.
  • the currently set direction in which the robot can move is displayed on the display unit 50. That is, the display of the operation parameters on the display unit 50 changes in response to the operation of the external operation switch 25.
  • the maximum speed of the robot can be changed by pressing and moving the slider 74b displayed on the display unit 50 with a finger.
  • the display unit 50 displays a notification image 75.
  • the image 75 includes an image 75a that notifies the worker to change the operating parameter settings by the external operation switch 25.
  • an image 75a can be displayed that notifies the worker to operate by the external operation switch 25. This control allows the worker to know that a specified operating parameter cannot be operated by the teaching operation panel 49.
  • the image for changing the settings of the operating parameters set by the second change device is displayed in a lighter color, but this is not limited to the above. It is also possible to implement control to erase the image for changing the operating parameters set by the second change device.
  • each operation parameter is newly defined or changed, but this is not limited to the above.
  • the operator can define a parameter group in advance that includes multiple types of operation parameters. Then, by switching between parameter groups, multiple operation parameters can be set at once.
  • the external operation switch 25 may include a button for switching between parameter groups.
  • the setting unit 65 switches between parameter groups each time the operator presses the button.
  • the setting unit 65 can set the operating parameters included in the parameter group.
  • Figure 13 shows an image of the display unit showing a parameter group.
  • image 76 displayed by display unit 50 multiple types of operation parameters set in the parameter group are displayed.
  • this parameter group can be changed by external operation switch 25.
  • the robot's movement direction is translation only, and the maximum speed of the robot is set to 100 mm/sec. It is displayed that the parameter group here is suitable for teaching palletizing.
  • a parameter group is a parameter group used when teaching a work tool posture where the robot can only move in a rotational direction and a small speed gain is set. Multiple groups of such motion parameters can be created.
  • FIG. 14 shows an image on the display unit when setting a parameter group in this embodiment.
  • Image 77 displayed on display unit 50 is configured so that the directions in which the robot can move can be set using buttons 77a, and the maximum speed of the robot can be set using slider 77b.
  • the multiple operating parameters included in the parameter group can be confirmed and stored in memory unit 42. For example, they can be added to or changed in the parameter group file saved in memory unit 42.
  • parameter groups are created and stored in advance, and the second change device can switch between parameter groups.
  • the first change device may be configured to switch between parameter groups. This control makes it possible to set multiple operation parameters at once. The time required to set operation parameters can be shortened. Furthermore, by having an expert create parameter groups in advance, even an operator who is not familiar with how to set operation parameters can select a parameter group according to the work to be performed by the robot device, such as palletizing, and set multiple operation parameters.
  • FIG 15 shows a perspective view of a robot device equipped with another external operation switch in this embodiment.
  • the robot device 10 includes a hand 3 as a work tool.
  • the hand 3 includes a number of suction cups 3a and a support member 3b that supports the suction cups 3a.
  • the hand 3 is configured to suck a plate-shaped workpiece by reducing the pressure inside the number of suction cups 3a. Since the support member 3b of the hand 3 is arranged over a wide area, there is a problem that if the external operation switch is attached near the flange 16 of the robot 7, it is difficult for the worker to operate the external operation switch.
  • the external operation switch 26 is disposed at the end of the hand 3.
  • the external operation switch 26 includes a gripping portion 26b that is held by the operator and a number of buttons 26a for setting operation parameters.
  • the external operation switch 26 is configured to communicate with the control device main body 4 via a communication line 27.
  • the external operation switch 26 can be placed at a location away from the robot. This makes it easy to change the operating parameters of the direct teaching operation when working on a large workpiece. In this way, by employing the external operation switch as the second change device, the external operation switch can be placed at any location for ease of operation depending on the shape of the robot or the shape of the hand. The worker can select the location on the robot device where the external operation switch is placed. This makes it easier for the worker to operate the external operation switch, improving the workability of the direct teaching operation.
  • the external operation switch can be connected, for example, using a plug-in method. For example, the plug of the external operation switch can be connected to the plug of a communication line that is placed on the robot body and communicates with the control device body.
  • the second change device is an external operation switch attached to a robot or a hand.
  • a work tool having a built-in switch arranged on the main body for changing the operating parameters of a direct teaching operation can be adopted.
  • This work tool functions as an external operation switch attached to the robot by being connected to the robot and being able to communicate with the robot's control device.
  • work tools include a hand that grips a workpiece, an application device that applies liquid such as adhesive, and a laser head that performs laser processing.
  • the second change device in this embodiment is not limited to an external operation switch attached to the robot or hand, but can be a change device arranged away from the robot and hand.
  • a foot pedal designed to be operated by the foot and placed on the installation surface of the robot can be used.
  • At least one embodiment of the robot control device described above has the effect of improving the work efficiency of direct teaching operations.
  • the control device main body includes a selection unit 64 for selecting an operation parameter signal from one of the operation parameter signals from the first change device and the operation parameter signal from the second change device;
  • a setting unit 65 that sets the operation parameters based on a signal of the operation parameters corresponding to the operation of one of the change devices;
  • a manual command unit 67 that outputs a command to drive the robot based on the operation parameters set in the setting unit.
  • Appendix 3 A robot control device as described in Appendix 1, wherein the operation parameters are a direction in which the robot can move, a maximum speed of the robot, a gain for determining the speed of the robot from an external force due to operation by a worker, or a gain for determining the acceleration from an external force due to operation by a worker.
  • the first change device is a built-in operation switch 23 built into the robot, The robot control device according to any one of appendixes 1 to 3, wherein the second change device is an external computer 54 connected to the control device main body.
  • a light emitting member is provided on the robot, When the setting unit receives a signal from the built-in operation switch, the light-emitting member lights up.
  • the robot control device according to claim 4, wherein the light emitting member is turned off when the setting unit does not receive a signal from the built-in operating switch.
  • a plurality of light emitting members are disposed on the robot,
  • the built-in operation switch includes a plurality of buttons for changing a plurality of types of operating parameters; the plurality of light emitting members and the plurality of buttons of the built-in operation switch are formed to correspond to a plurality of types of operating parameters;
  • the light emitting members corresponding to the operating parameters for which the setting unit receives a signal from the external computer are turned off.
  • the first change device is a teaching pendant 49 connected to the control device main body. 4.
  • the second change device is an external operation switch 25, 26 attached to the robot or the work tool.
  • the teaching pendant has a display unit 50 for displaying an image for setting operation parameters, A robot control device as described in Appendix 7, wherein when the setting unit receives a signal from an external operation switch, the display unit erases or dims an image for setting operation parameters.
  • the teaching pendant has a display unit 50 for displaying an image for setting operation parameters, A robot control device as described in Appendix 7, wherein when an operator operates the teaching operation panel to change an operation parameter while the setting unit is receiving a signal from the external operation switch, the display unit displays an image 73a notifying the operator to change the operation parameter using the external operation switch.
  • the external operation switch has a button 25a for switching the setting of the operation parameters, 8.
  • the robot control device according to claim 7, wherein the setting unit switches the direction in which the robot can operate each time the worker presses the button.
  • the external operation switch has a button 25a for switching the setting of the operation parameters, 8.
  • the robot control device according to claim 7, wherein the setting unit switches the maximum speed of the robot each time the worker presses the button.
  • a parameter group including a plurality of types of operation parameters is determined in advance,
  • the external operation switch includes a button 25a for switching parameter groups,
  • the setting unit switches the parameter group each time the operator presses the button, and sets the plurality of operation parameters included in the parameter group.
  • the selection unit selects the signal of the operation parameter received from the second change device, and selects the signal of the operation parameter other than the operation parameter received from the second change device, the signal received from the first change device;
  • a robot control device as described in Appendix 1, wherein the setting unit sets the operation parameters received from the second change device based on the operation of the second change device, and sets operation parameters other than the operation parameters received from the second change device based on the operation of the first change device.
  • the first change device has a display unit 50 that displays an image for setting an operation parameter,
  • the robot control device according to claim 13, wherein the display unit erases or fades an image for setting the operation parameters to be set by the second change device.
  • the first change device has a display unit 50 that displays an image for setting an operation parameter,
  • the robot control device described in Appendix 13 wherein when an operator operates the first change device to change the operating parameters set by the second change device, the display unit displays an image 75a notifying the operator to change the operating parameters by the second change device.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif de commande de robot qui comprend un corps de dispositif de commande qui reçoit un signal provenant d'un premier dispositif de changement qui change un paramètre de fonctionnement destiné à entraîner un robot dans une opération d'apprentissage direct et un signal provenant d'un deuxième dispositif de changement qui change le paramètre de fonctionnement. Le corps de dispositif de commande comprend : une unité de sélection qui choisit, entre le signal de paramètre de fonctionnement provenant du premier dispositif de changement et le signal de paramètre de fonctionnement provenant du deuxième dispositif de changement, un signal de paramètre de fonctionnement provenant de l'un des dispositifs de changement ; et une unité de réglage qui règle le paramètre de fonctionnement sur la base du signal de paramètre de fonctionnement correspondant au fonctionnement de l'un des dispositifs de changement.
PCT/JP2023/026406 2023-07-19 2023-07-19 Dispositif de commande de robot Pending WO2025017864A1 (fr)

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PCT/JP2023/026406 WO2025017864A1 (fr) 2023-07-19 2023-07-19 Dispositif de commande de robot
TW113122641A TW202525530A (zh) 2023-07-19 2024-06-19 機器人控制裝置

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PCT/JP2023/026406 WO2025017864A1 (fr) 2023-07-19 2023-07-19 Dispositif de commande de robot

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