CN114007819A

CN114007819A - Teaching device and teaching method

Info

Publication number: CN114007819A
Application number: CN202080046143.XA
Authority: CN
Inventors: 田边志功
Original assignee: Azbil Corp
Current assignee: Azbil Corp
Priority date: 2019-06-26
Filing date: 2020-06-17
Publication date: 2022-02-01
Also published as: JP7193207B2; WO2020262169A1; JP2021003766A

Abstract

The teaching device of the present invention includes: a torque sensor (11) that detects a torque generated by a pressing force applied to the distal end of a mechanical finger (102) of a manipulator (101) in the same direction as the gripping direction; a force calculation unit (12) that calculates, based on the torque detected by the torque sensor (11), the pressing force applied to the distal end of a mechanical finger (102) of the manipulator (101); a lock instruction receiving unit (14) that receives a servo lock instruction from a user; a robot control unit (15) that servo-locks the robot (101) according to the timing at which the lock instruction receiving unit (14) receives the servo-lock instruction; a decision instruction receiving unit (17) that receives a decision instruction from a user; and a force registering unit (18) that registers, as values and directions of gripping forces to be taught to the robot (101), values and directions of the pressing forces at the time when the decision instruction receiving unit (17) receives the decision instruction, among the pressing forces calculated by the force calculating unit (12) after the robot (101) is servo-locked by the robot control unit (15).

Description

Teaching device and teaching method

Technical Field

The present invention relates to a teaching device and a teaching method for directly teaching a gripping force to a robot.

Background

Conventionally, teaching apparatuses have been capable of directly teaching a position and an attitude of a robot arm by a user (see, for example, patent documents 1 and 2). On the other hand, in the conventional teaching device, teaching of the gripping force with respect to the robot is performed by setting the value and direction of the gripping force in accordance with a numerical value input by a user using a teaching device.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. H05-204441

Patent document 2: japanese patent laid-open No. H05-250029

Disclosure of Invention

Problems to be solved by the invention

As described above, in the conventional teaching device, the teaching of the gripping force of the robot is performed by receiving a numerical value input by a user using a teaching machine. However, in this case, the user must perform experiments in advance to confirm the numerical value to be input. Therefore, from the viewpoint of the number of working hours, teaching of the gripping force of the robot is relatively troublesome, and improvement is demanded.

The present invention has been made to solve the above-described problems, and an object thereof is to provide a teaching device capable of directly teaching a gripping force to a robot.

Means for solving the problems

The teaching device of the present invention is characterized by comprising: a torque sensor that detects a torque generated by a pressing force applied to a distal end of a mechanical finger of the manipulator in the same direction as the gripping direction; a force calculation unit that calculates a pressing force applied to the distal end of a mechanical finger of a manipulator based on the torque detected by the torque sensor; a lock instruction receiving unit that receives a servo lock instruction from a user; a robot control unit that servo-locks the robot at the time when the servo-lock instruction is received by the lock instruction receiving unit; a decision instruction receiving unit that receives a decision instruction from a user; and a force registering unit that registers, as values and directions of grasping forces to be taught to the robot, values and directions of the pushing forces at timings when the determination instruction is accepted by the determination instruction accepting unit, among the pushing forces calculated by the force calculating unit after the robot is servo-locked by the robot control unit.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, since the structure is as described above, the grasping force can be directly taught to the robot.

Drawings

Fig. 1 is a diagram showing a configuration example and an operation example of a teaching apparatus according to embodiment 1.

Fig. 2 is a block diagram showing an example of the configuration of the teaching device according to embodiment 1.

Fig. 3 is a diagram showing a configuration example and an operation example of the teaching device according to embodiment 2.

Fig. 4 is a block diagram showing an example of the configuration of the teaching device according to embodiment 2.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the drawings.

Embodiment 1.

The teaching device is a device for direct teaching of the gripping force applied by the user to the robot 101. In addition to the function relating to the direct teaching of the grasping force, the teaching device can also have a function relating to the direct teaching of the opening degree, but the function relating to the direct teaching of the opening degree is the same as in the related art, and therefore, the description thereof is omitted. As shown in fig. 1, the teaching device includes a torque sensor 11, a force calculation unit 12, and a force teaching unit 13.

The torque sensor 11 is a detection sensor that is attached to the robot hand 101 and detects a torque (a moment component about an axis (1 axis or more)) generated by a pressing force in the same direction as the gripping direction applied to the distal end of the mechanical finger 102 of the robot hand 101. The torque sensor 11 is mounted on a joint portion or a root portion of the mechanical finger 102 on the robot arm 101.

The force calculation unit 12 calculates a pressing force applied to the distal ends of the mechanical fingers 102 of the robot hand 101 based on the torque detected by the torque sensor 11. At this time, the force calculation unit 12 subtracts an initial value (a detection value in a state where no force is applied to the robot 101) from a detection value of the torque sensor 11, and calculates a pressing force applied to the distal end of the mechanical finger 102 included in the robot 101 based on the difference value and the length of the robot up to the mounting position.

The force teaching unit 13 registers and teaches the gripping force of the robot 101 based on the pressing force calculated by the force calculation unit 12. As shown in fig. 2, the force teaching section 13 includes a lock instruction receiving section 14, a robot control section 15, a notification section 16, a determination instruction receiving section 17, a force registration section 18, and a recording section 19.

The force calculation unit 12 and the force teaching unit 13 are realized by a Processing circuit such as a system lsi (large Scale integration), a cpu (central Processing unit) that executes a program stored in a memory, or the like.

The lock instruction receiving unit 14 receives a servo lock instruction from a user. The servo lock instruction is an instruction input to the teaching device by the user when the robot 101 is servo-locked. The user inputs a servo lock instruction using, for example, an operation button (not shown) provided in the robot 101 or an operation button provided in the teaching device (not shown).

The robot control unit 15 servo-locks the robot 101 at the timing when the servo-lock instruction is received by the lock instruction receiving unit 14.

The notification unit 16 notifies the pressing force calculated by the force calculation unit 12 in real time. Information indicating the pressing force notified by the notification unit 16 is displayed on a display device (not shown).

The notification unit 16 is not necessarily configured as a teaching device, and may not be provided in the teaching device. For example, in the direct teaching of the gripping force, the notification unit 16 is not necessary when the user does not need to perform the teaching while confirming the pressing force applied to the robot 101.

The decision instruction receiving unit 17 receives a decision instruction from the user. The determination instruction is an instruction input to the teaching device when the user is performing direct teaching of the gripping force or when determining the gripping force to be taught to the robot 101. The user inputs a determination instruction using, for example, an operation button provided in the robot 101 or an operation button provided in the teach pendant.

The force registering unit 18 registers, in the recording unit 19, the value and direction of the pressing force at the time when the determination instruction is received by the determination instruction receiving unit 17 among the pressing forces calculated by the force calculating unit 12 after the robot 101 is servo-locked by the robot control unit 15, as the value and direction of the gripping force taught to the robot 101.

The recording unit 19 is constituted by an hdd (hard Disk drive), a dvd (digital Versatile Disk), a memory, or the like.

In addition, fig. 2 shows a case where the recording section 19 is provided inside the teaching device, but the present invention is not limited thereto, and the recording section 19 may be provided outside the teaching device.

Further, the teaching device may perform direct teaching of the grasping force separately from direct teaching of the opening degree, or may perform direct teaching of the grasping force simultaneously with the direct teaching of the opening degree.

Next, an example of direct teaching of the gripping force using the teaching apparatus shown in fig. 1 and 2 will be described. The following shows a case where the grasping force when the robot 101 grasps an object (not shown) is taught as shown in fig. 1.

Here, when the user directly teaches the opening degree to the robot 101, the opening degree is easily visually captured by the user, and the opening degree is relatively easily reproduced. On the other hand, when the user wants to teach the gripping force directly to the robot 101, the gripping force is difficult to visually capture for the user, and reproduction of the gripping force is difficult. Therefore, in the teaching device according to embodiment 1, direct teaching of the gripping force is realized by using the torque sensor 11 capable of detecting the torque generated by the pressing force applied to the robot 101.

On the other hand, when the user presses the robot hand 101 against the object while freely moving the robot hand 101, the pressing force is cancelled by the reaction force from the object, and therefore the torque sensor 11 cannot detect the torque. Therefore, direct teaching of the gripping force of the robot 101 cannot be performed in this state. Therefore, in the teaching device according to embodiment 1, the servo lock state (stationary state) is set in a state where the robot 101 is away from the object. Thus, when the user applies the pressing force to the robot hand 101 in this state, only the pressing force is applied to the robot hand 101, and the torque sensor 11 can detect the torque generated by the pressing force.

In the direct teaching of the gripping force, the user first inputs a servo lock instruction to the teaching device.

Then, the robot control unit 15 servo-locks the robot 101.

Then, the user presses the tip of the robot finger 102 of the robot hand 101 with a hand. At this time, the torque sensor 11 calculates a torque generated by the pressing force applied to the distal end of the mechanical finger 102 of the robot hand 101, and the force calculation unit 12 calculates the pressing force based on the torque. In fig. 1, an arrow denoted by reference numeral 501 indicates the pressing force applied by the user.

The notification unit 16 notifies the pressing force calculated by the force calculation unit 12 in real time, and the display device displays information indicating the pressing force. Thus, the user can also adjust the pressing force to be applied to the mechanical finger 102 while monitoring the pressing force that has been applied to the mechanical finger 102.

Then, when the user determines the optimum gripping state based on the pressing force of the finger of the user from the mechanical finger 102, the user inputs a determination instruction to the teaching device.

Then, the force registering unit 18 registers the value and direction of the pressing force at the time when the determination instruction is input, as the value and direction of the gripping force taught to the robot 101, in the recording unit 19.

Through the above operations, the user can teach the gripping force to the robot 101.

As described above, according to embodiment 1, the teaching apparatus includes: a torque sensor 11 that detects a torque generated by a pressing force applied to the distal end of the mechanical finger 102 of the robot hand 101 in the same direction as the gripping direction; a force calculation unit 12 that calculates a pressing force applied to the distal ends of the mechanical fingers 102 of the robot hand 101 based on the torque detected by the torque sensor 11; a lock instruction receiving unit 14 that receives a servo lock instruction from a user; a robot control unit 15 that servo-locks the robot 101 at the timing when the servo-lock instruction is received by the lock instruction receiving unit 14; a decision instruction receiving unit 17 that receives a decision instruction from a user; and a force registering unit 18 that registers, as a value and a direction of a gripping force to be taught to the robot 101, a value and a direction of the pressing force at a timing at which the determination instruction is received by the determination instruction receiving unit 17, among the pressing forces calculated by the force calculating unit 12 after the robot 101 is servo-locked by the robot control unit 15. Thus, the teaching device according to embodiment 1 can directly teach the gripping force to the robot 101.

Embodiment 2.

The teaching device according to embodiment 1 has been described as using the torque sensor 11 for detecting the torque generated by the pressing force applied to the robot 101 in the same direction as the gripping direction. In contrast, the teaching device according to embodiment 2 shows a case where the force sensor 21 that detects the pressing force applied to the robot 101 in the direction opposite to the gripping direction is used.

The teaching device is a device for direct teaching of the gripping force applied by the user to the robot 101. In addition to the function relating to the direct teaching of the grasping force, the teaching device can also have a function relating to the direct teaching of the opening degree, but the function relating to the direct teaching of the opening degree is the same as in the related art, and therefore, the description thereof is omitted. As shown in fig. 3, the teaching device includes a force sensor 21 and a force teaching section 22.

The force sensor 21 is a sensor that is attached to the robot hand 101 and detects a pressing force applied to the distal end of the robot finger 102 of the robot hand 101 in a direction opposite to the gripping direction. As the force sensor 21, a force sensor or the like that detects a force component in one or more axial directions is used.

In fig. 3, the force sensor 21 is attached to the tip portion of a robot finger 102 of the robot hand 101. However, the force sensor 21 is not limited to this, and may be attached to a portion capable of detecting the pressing force applied to the distal end of the mechanical finger 102.

The force teaching section 22 registers and teaches the gripping force to the robot 101 based on the pressing force detected by the force sensor 21. As shown in fig. 4, the force teaching section 22 includes a lock instruction receiving section 23, a robot control section 24, a notification section 25, a determination instruction receiving section 26, a force registration section 27, and a recording section 28. The force teaching section 22 is realized by a processing circuit such as a system LSI, a CPU that executes a program stored in a memory, or the like.

The lock instruction receiving unit 23 receives a servo lock instruction from a user. The servo lock instruction is an instruction input to the teaching device by the user when the robot 101 is servo-locked. The user inputs a servo lock instruction using, for example, an operation button provided in the robot 101 or an operation button provided in the teach pendant.

The robot control unit 24 servo-locks the robot 101 at the timing when the servo-lock instruction is received by the lock instruction receiving unit 23.

The notification unit 25 notifies the pressing force detected by the force sensor 21 in real time. Information indicating the pressing force notified by the notification unit 25 is displayed on a display device.

Note that the notification unit 25 is not necessarily configured as a teaching device, and may not be provided in the teaching device. For example, when the user does not need to perform teaching while confirming the pressing force applied to the robot 101 in the direct teaching of the gripping force, the notification section 25 is not necessary.

The decision instruction receiving unit 26 receives a decision instruction from the user. The determination instruction is an instruction input to the teaching device when the user is performing direct teaching of the gripping force or when determining the gripping force to be taught to the robot 101. The user inputs a determination instruction using, for example, an operation button provided in the robot 101 or an operation button provided in the teach pendant.

The force registering unit 27 registers, in the recording unit 28, the value and the opposite direction of the pressing force at the time when the determination instruction is received by the determination instruction receiving unit 26 among the pressing forces detected by the force sensor 21 after the robot 101 is servo-locked by the robot control unit 24, as the value and the direction of the gripping force taught to the robot 101.

The recording unit 28 is constituted by an HDD, a DVD, a memory, or the like.

In fig. 4, the case where the recording unit 28 is provided inside the teaching device is shown, but the present invention is not limited thereto, and the recording unit 28 may be provided outside the teaching device.

Next, an example of direct teaching of the gripping force using the teaching apparatus shown in fig. 3 and 4 will be described. The following shows a case where the grasping force when the robot 101 grasps the object is taught as shown in fig. 3.

Here, when the user directly teaches the opening degree to the robot 101, the opening degree is easily visually captured by the user, and the opening degree is relatively easily reproduced. On the other hand, when the user wants to teach the gripping force directly to the robot 101, the gripping force is difficult to visually capture for the user, and reproduction of the gripping force is difficult. Therefore, in the teaching device according to embodiment 2, direct teaching of the gripping force is realized by using the force sensor 21 capable of detecting the pressing force applied to the robot 101.

Then, the robot control unit 24 servo-locks the robot 101.

Then, the user presses the tip of the robot finger 102 of the robot hand 101 with a hand. At this time, the force sensor 21 detects the pressing force. In fig. 3, an arrow denoted by reference numeral 502 indicates the pushing force applied by the user.

The notification unit 25 notifies the pressing force detected by the force sensor 21 in real time, and the display device displays information indicating the pressing force. Thus, the user can also adjust the pressing force to be applied to the mechanical finger 102 while monitoring the pressing force that has been applied to the mechanical finger 102.

Then, the force registering unit 27 registers the value of the pressing force at the time when the determination instruction is input and the reverse direction to the recording unit 28 as the value and the direction of the gripping force taught to the robot arm 101.

As described above, according to embodiment 2, the teaching apparatus includes: a force sensor 21 that detects a pressing force applied to the distal end of the mechanical finger 102 of the robot arm 101 in a direction opposite to the gripping direction; a lock instruction receiving unit 23 that receives a servo lock instruction from a user; a robot control unit 24 that servo-locks the robot 101 at the timing when the servo-lock instruction is received by the lock instruction receiving unit 23; a decision instruction receiving unit 26 that receives a decision instruction from a user; and a force registering unit 27 that registers, as a value and a direction of a gripping force to be taught to the robot 101, a value and a direction of a pressing force at a timing at which the determination instruction is received by the determination instruction receiving unit 26 among the pressing forces detected by the force sensor 21 after the robot 101 is servo-locked by the robot control unit 24. Thus, the teaching device according to embodiment 2 can directly teach the gripping force to the robot 101.

In the present invention, any combination of the embodiments, or any modification of the constituent elements of the embodiments may be made within the scope of the present invention, or any constituent element may be omitted from the embodiments.

Industrial applicability

The teaching device of the present invention can directly teach a gripping force to a robot, and is suitable for use in teaching devices for directly teaching a gripping force to a robot, and the like.

Description of the symbols

11 … torque sensor

12 … force calculating unit

13 … force teaching part

14 … lock instruction receiving unit

15 … robot control unit

16 … notification part

17 … decision instruction receiving part

18 … force registration section

19 … recording part

21 … force sensor

22 … force teaching part

23 … lock instruction receiving part

24 … robot control unit

25 … informing part

26 … decision instruction receiving part

27 … force registration section

28 … recording part

101 … robot

102 … mechanical fingers.

Claims

1. A teaching device, characterized in that it has:

a torque sensor that detects a torque generated by a pushing force in the same direction as the gripping direction applied to the tips of the mechanical fingers of the manipulator;

a force calculation unit that calculates a pressing force applied to the tips of the mechanical fingers included in the manipulator based on the torque detected by the torque sensor;

a lock instruction accepting unit, which accepts a servo lock instruction from a user;

a manipulator control unit, which performs servo locking on the manipulator according to the moment when the locking instruction accepting unit accepts a servo locking instruction;

a decision instruction accepting unit that accepts a decision instruction from a user; and

A force registering unit which, among the pressing forces calculated by the force calculating unit after the robot control unit has servo-locked the robot arm, has a value of the pressing force at the time when the decision instruction accepting unit receives a decision instruction, and The direction is registered as the value and direction of the gripping force taught to the robot.

2. The teaching device according to claim 1, characterized in that:

A notification unit is provided which notifies the pressing force calculated by the force calculation unit in real time.

3. The teaching device according to claim 1 or 2, characterized in that:

The force calculation unit calculates the pressing force applied to the manipulator based on the difference value obtained by subtracting the initial value from the detection value of the torque sensor and the manipulator length to the mounting position.

4. A teaching device, characterized in that it has:

a force sensor that detects a pushing force in a direction opposite to the gripping direction applied to the tips of the mechanical fingers possessed by the manipulator;

A force registering unit which, among the pressing forces detected by the force sensor after the robot is servo-locked by the robot control unit, receives the value of the pressing force at the time when the decision instruction accepting unit receives the decision instruction, and The reverse direction is registered as the value and direction of the gripping force taught to the robot.

5. The teaching device according to claim 4, characterized in that:

A notification unit is provided which notifies the pressing force detected by the force sensor in real time.

6. A teaching method, which is a teaching method of a teaching device provided with a torque sensor that detects a pressing force in the same direction as the gripping direction applied to the tip of a finger of a manipulator The resulting torque, the teaching method is characterized by:

a force calculation step of calculating a pushing force applied to the tips of the mechanical fingers of the manipulator based on the torque detected by the torque sensor;

The locking instruction accepting step, accepting the servo locking instruction from the user;

The manipulator control step is to perform servo locking on the manipulator at the moment when the servo locking instruction is accepted in the locking instruction accepting step;

a decision instruction accepting step for accepting a decision instruction from the user; and

A force registration step, wherein the value of the pushing force at the time when a decision instruction is accepted in the decision instruction accepting step among the pushing forces calculated in the force calculation step after the robot is servo-locked in the robot control step and direction are registered as the value and direction of the gripping force taught to the robot.

7. A teaching method, which is a teaching method of a teaching device provided with a force sensor that detects a pressing force in a direction opposite to a grasping direction applied to a tip end of a mechanical finger of a manipulator, The teaching method is characterized by:

A force registration step, wherein among the pressing forces detected by the force sensor after the robot is servo-locked in the robot control step, the value of the pressing force at the time when the decision instruction is accepted in the decision instruction accepting step, and The reverse direction is registered as the value and direction of the gripping force taught to the robot.