CN116670603A - Evaluation device for action track and evaluation method for action track - Google Patents

Abstract

An evaluation device (200) for an operation track (W) of a robot hand (50) is provided with: an arithmetic unit (210); and a storage unit (250) in which at least one of the data of the attention site of the robot hand (50) and the attention site of the workpiece (20) held by the robot hand, and the data of the operation orbit (W) of the robot hand (50) are stored, wherein the calculation unit (210) calculates a first vector (A1) indicating the movement direction of the robot hand (50) based on the data of the operation orbit (W) of the robot hand (50), calculates a second vector (A2) from the center of the robot hand (50) toward the attention site based on the data of the attention site, and calculates an evaluation value (B) of the operation orbit (W) of the robot hand (50) based on the first vector (A1) and the second vector (A2).

Description

Evaluation device for action track and evaluation method for action track

Technical Field

The technology disclosed in the present specification relates to a technology for evaluating an operation orbit of a robot hand.

Background

As one of industrial robots, there is a cooperative robot that cooperates with an operator to perform a predetermined operation. As conventional techniques related to cooperative robots, patent documents 1 and 2 exist.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2020-197790

Patent document 2: japanese patent application laid-open No. 2018-192556

Disclosure of Invention

Problems to be solved by the invention

When performing work around a robot, the robot hand or a workpiece held by the robot hand moves during the work, and therefore, the operator needs to pay attention to the operation track of the robot hand.

The technical problem disclosed in the present specification is to provide an evaluation device and an evaluation method for evaluating the movement track of a robot hand in order to call attention of an operator.

Means for solving the problems

The technology disclosed in the present specification is an evaluation device for an operation trajectory of a robot hand, comprising: an arithmetic unit; and a storage unit that stores at least one of data of an attention portion of the robot hand and an attention portion of a workpiece held by the robot hand, and data of an operation orbit of the robot hand, wherein the calculation unit calculates a first vector indicating a movement direction of the robot hand based on the data of the operation orbit of the robot hand, calculates a second vector indicating a direction of the attention portion with a center of the robot hand as a starting point based on the data of the attention portion, and calculates an evaluation value of the operation orbit of the robot hand based on the first vector and the second vector.

In this configuration, by evaluating the operation track of the robot hand, the attention of the operator who performs work around the robot can be called.

As an embodiment of the evaluation device disclosed in the present specification, the magnitude of the first vector may be constant irrespective of the attention site, and the magnitude of the second vector may be increased as the attention degree of the attention site is increased. The degree of attention can be determined based on any one of the shape, material, and temperature of the attention site. In addition, the determination may be made based on a combination of these. In this configuration, the operation track of the robot hand can be evaluated in consideration of the degree of attention of the attention site.

As one embodiment of the evaluation device disclosed in the present specification, the evaluation value may be an inner product of the first vector and the second vector. In this configuration, the movement trajectory of the robot hand can be evaluated based on the relationship between the movement direction of the robot hand and the direction of the attention site.

As one embodiment of the evaluation device disclosed in the present specification, the evaluation value may be a product of an inner product of the first vector and the second vector and a movement speed of the robot hand. In this configuration, the movement trajectory of the robot hand can be evaluated in consideration of the movement speed of the robot hand.

As an embodiment of the evaluation device disclosed in the present specification, the calculation unit may automatically correct the movement speed of the robot hand so that the evaluation value becomes equal to or less than a threshold value. In this configuration, the evaluation value can be suppressed to be equal to or less than the threshold value, and the risk of an operator working around the robot can be reduced.

As an embodiment of the evaluation device disclosed in the present specification, the evaluation result of the operation track may be displayed on the display unit. By displaying the evaluation result, the operator who performs the work around the robot can be attracted to the attention.

Effects of the invention

According to this technique, the motion trajectory of the robot hand can be evaluated. By evaluating the operation trajectory, the attention of the operator who performs the work around the robot can be called.

Drawings

Fig. 1 is a side view of a work robot.

Fig. 2 is a perspective view of a robot hand.

Fig. 3 is a block diagram of a work robot.

Fig. 4 is a block diagram of the evaluation apparatus.

Fig. 5 is a perspective view showing an operation track of the robot hand.

Fig. 6 is a plan view showing an operation track of the robot hand.

Fig. 7 is an explanatory diagram of an evaluation method of the operation trajectory.

Fig. 8 is a diagram showing evaluation criteria of the operation track.

Fig. 9 is a diagram showing the evaluation result of the operation trajectory.

Fig. 10 is a diagram showing a display example of the evaluation result.

Fig. 11 is an evaluation sequence of the action trajectory.

Fig. 12 is a subroutine of S50.

Fig. 13 is a diagram showing a display example of the evaluation result.

Fig. 14 is a perspective view of the work robot.

Fig. 15 is an explanatory diagram of the attention site.

Fig. 16 is an explanatory diagram of the attention site.

Fig. 17 is a side view of the work robot.

Detailed Description

< embodiment 1>

1. Description of work robot 30 and evaluation device 200

The work robot 30 performs a predetermined operation such as machining or assembling the work piece 20 as a work object. The work robot 30 may be a cooperative robot that cooperates with an operator to perform a predetermined work, or may be a robot that performs a work alone.

As shown in fig. 1, the work robot 30 is a vertical multi-joint robot including a base portion 31, a rotating body 35, and an arm mechanism 41. In fig. 1, the vertical direction is referred to as the Z direction. Two directions orthogonal to the Z direction are set as an X direction and a Y direction. The same applies to other figures.

The rotating body 35 is attached to the base portion 31 via the shaft portion 33. The rotating body 35 can rotate in the circumferential direction (R direction) around the shaft 33.

The arm mechanism 41 is mounted on the rotating body 35. The arm mechanism 41 is constituted by a first arm 42, a second arm 43, and a third arm 44, and the arms 42 to 44 are independently operable (rotatable about a motor shaft).

As shown in fig. 2, a robot hand 50 is attached to the distal end of the third arm 44. The robot hand 50 has a cylindrical cylinder portion 51 and a pair of opposed clamping pieces 52, 53.

The pair of clamp pieces 52, 53 are opened and closed by air driving, and can hold the work piece 20 as a work object. Specifically, the workpiece 20 can be held such that the reference point of the workpiece 20 coincides with the hand center P. The datum point for the workpiece 20 may be the center of the workpiece.

The teaching device 150 is as follows: by remotely operating the work robot 30, the work such as moving the workpiece 20 is actually performed, and the work robot 30 is taught the operation.

Fig. 3 is a block diagram showing an electrical configuration of work robot 30. The work robot 30 includes a controller 81, a storage unit 83, and drive motors M1 to M4.

The drive motor M1 is mounted on the outer peripheral surface of the shaft 33. The drive motors M2 to M4 are assembled to the joint portions of the arms 42 to 44. The drive motors M1 to M4 are provided with position sensors S1 to S4, and can detect the rotation angle of the motor shaft.

The storage 83 stores a control program PX of the work robot 30. The control program PX is a program for controlling the rotation angle and rotation speed of each of the motors M1 to M4.

The controller 81 controls the drive motors M1 to M4 in accordance with the control program PX, thereby causing the work robot 30 to perform a predetermined operation such as moving the workpiece 20.

Fig. 4 is a block diagram of the evaluation device 200. The evaluation device 200 includes an arithmetic unit 210, a connection unit 220, an input unit 230, a display unit 240, and a storage unit 250, each of which is configured by a CPU or the like. The evaluation device 200 can be connected to the work robot 30 via the connection unit 220. The evaluation device 200 may be, for example, a notebook computer.

The evaluation device 200 is a device for evaluating the operation trajectory W of the robot hand 50, and the storage unit 250 stores an evaluation program PY for evaluating the operation trajectory W of the robot hand 50. The storage unit 250 stores data necessary for evaluating the operation track W.

The data required for evaluation of the operation trajectory W includes the following data (a) to (c). In addition, data of the movement speed V of the robot hand 50 may be included. When the attention site is located in both the robot hand 50 and the workpiece 20, (c) may be data of each attention site.

(a) The data of the motion trajectory W of the robot hand 50,

(b) The data of the robot hand 50 and the workpiece 20,

(c) Data of the attention site of the robot hand 50 or the workpiece 20.

2. Evaluation method for action track W

The evaluation device 200 calculates an evaluation value B of the operation trajectory W based on the first vector A1 and the second vector A2.

Fig. 5 and 6 show an example of the operation track W of the robot hand 50. "P1" to "P4" are the centers of the robot hands 50. Robot hand 50 holding work piece 20 Is moved by the motion rail W.

The work 20 has a shape long in one direction, and has triangular protruding portions 21 and 22 on both sides. In addition, "O" shown in fig. 6 is the center of the work robot 30 (the center of the shaft 33).

The first vector A1 is a vector indicating the movement direction of the robot hand 50. When the motion trajectory W of the robot hand 50 is configured by a plurality of continuous motions, the first vector A1 is calculated for each motion.

In the above case, the motion trajectory W is constituted by a first motion of the robot hand 50 moving from "P1" to "P2", a second motion of the robot hand moving from "P2" to "P3", and a third motion of the robot hand moving from "P3" to "P4".

In the case of the first operation of the robot hand 50 moving from "P1" to "P2", the first vector A1 is a vector directed downward from "P1" to a point "P2". That is, the vector is a vector in the direction of a straight line L1 connecting the two points P1 and P2.

In the case of the second operation in which the robot hand 50 moves from "P2" to "P3", the first vector A1 is a vector directed downward from "P2" to a point "P3". That is, the vector is a vector in the direction of the straight line L2 connecting the two points P2 and P3.

In the third operation of the robot hand 50 moving from "P3" to "P4", the first vector A1 is a vector directed downward from "P3" to a point "P4". That is, the vector is a vector in the direction of a straight line L3 connecting the two points P3 and P4. In this way, the first vector A1 changes in orientation according to each operation of the robot hand 50.

The second vector A2 is a vector indicating the direction of the attention site of the robot hand 50 or the attention site of the workpiece 20 held by the robot hand 50.

The noted location may be determined by the operator based on the shape of the robot hand 50 and the workpiece 20. Alternatively, the determination may be made automatically by a computer.

In this example, one (right side) of the protruding portions 21, 22 on both sides of the workpiece has a sharper shape than the other (left side) of the protruding portion 22. Therefore, the tip portion M of one protruding portion 21 is set as the attention portion 25 (see fig. 7).

The second vector A2 can be calculated based on the data of the attention site 25. Specifically, the second vector A2 is directed in a direction from the center P of the robot hand 50 toward the attention portion 25.

In this example, since the front end portion M of the workpiece 20 is the attention point 25, the second vector A2 is a vector directed toward the front end portion M of the workpiece 20 held by the hand 50 with the center P of the robot hand 50 as a starting point. That is, the vector is a vector in the direction of a straight line PM connecting the center P of the robot hand 50 and the front end portion M of the workpiece 20 (see fig. 7).

The magnitude (length) of the first vector A1 is constant irrespective of the degree of attention of the attention portion 25.

The higher the attention of the attention portion 25, the larger the size (length) of the second vector A2.

The degree of attention can be determined based on the shape of the attention site 25. For example, the sharper the attention portion 25 is, the higher the attention degree is. The degree of attention can be set to 3 levels of "high", "medium", "low", and the like, for example. The attention degree may be determined by the operator based on a predetermined evaluation criterion, or may be automatically determined by a computer. Note that the setting of the degree is not limited to 3 levels, but may be 2 levels or 4 levels.

The evaluation value B of the operation trajectory W is an inner product of the first vector A1 and the second vector A2, and can be obtained by the expression (1). The sign "·" indicates the inner product.

B=a1·a2= |a1||a2|COS θ … (1)

|a1| is the magnitude of the first vector and |a2| is the magnitude of the second vector. In addition, "θ" is the angle of the two vectors A1, A2 (fig. 7: the angle formed).

The higher the attention of the attention portion 25, the smaller the angle θ of the two vectors A1, A2, the larger the evaluation value B obtained by the expression (1).

The higher the attention of the attention portion 25, the smaller the angle θ of the two vectors A1 and A2, and the more attention the operator needs to pay attention to the motion of the robot hand 50 and the motion of the workpiece 20 held by the robot hand 50. Therefore, when the work is performed around the robot, the risk increases as the evaluation value B increases, and the operator needs to pay attention. In addition, the smaller the evaluation value B, the smaller the risk and the smaller the necessity of attention. In this way, the operation orbit W of the robot hand 50 can be evaluated using the evaluation value B. That is, for an operator who performs work around the robot, the risk of the operation of the robot hand 50 can be evaluated.

Note that, when the angle θ is small, the reason for this is that when the angle θ is small, the movement direction of the robot hand 50 is substantially aligned with the direction of the attention portion 25 of the workpiece 20, and therefore, when the operator is in the movement direction of the robot hand 50, the attention portion 25 moves toward the operator.

In this embodiment, the operation trajectory W of the robot hand 50 is composed of a first operation for moving from P1 to P2, a second operation for moving from P2 to P3, and a third operation for moving from P3 to P4, and thus the evaluation value B is calculated for each of the above operations.

Since the angles θ of the two vectors A1 and A2 are from small to large in the order of the first operation, the second operation, and the third operation as shown in the expression (2), the evaluation values B1 to B3 are from large to small in the order of the evaluation value B1 of the first operation, the evaluation value B2 of the second operation, and the evaluation value B3 of the third operation as shown in the expression (3).

θ1 < θ2 < θ3 … (2)

B3 < B2 < B1 … (3)

Therefore, the risk is high to low in the order of the first, second, and third operations with the largest evaluation value B, and the operator needs to pay attention.

In this example, as shown in fig. 8 and 9, the evaluation value B is compared with the threshold values K1 and K2, and the operation track W is evaluated in 3 grades of "small", "medium", and "large". The classification is not limited to 3 classes, but may be 2 classes of "small" and "large". In addition, the number of the stages may be 4 or more.

Fig. 10 is a display example of the evaluation result of the operation track W. The evaluation result can be displayed on the display unit 240 of the evaluation device 200. "O" shown in fig. 10 is the center of the work robot 30 (the center of the shaft 33). In this example, the first vector A1 is used to represent the motion trajectory W of the robot hand 50.

That is, the first actions from P1 to P2, the second actions from P2 to P3, and the third actions from P3 to P4 are represented using 3 first vectors a11, a12, a13. The display color is changed according to the level of the evaluation value B, and the first vectors a11 to a13 are displayed.

For example, when the evaluation value B is "large", the display color is "red", when the evaluation value B is "medium", the display color is "yellow", and when the evaluation value B is "small", the display color is "blue".

In this example, since the evaluation value B1 of the first operation is "large", the first vector a11 of the first operation is displayed in "red". Since the evaluation value B2 of the second operation is "medium" and the evaluation value B3 of the third operation is "small", the first vector a12 of the second operation is displayed in "yellow" and the first vector a13 of the third operation is displayed in "blue".

In this way, by changing the display color of the first vectors a11 to a13 indicating the respective operations of the robot hand 50, the evaluation result of the respective operations of the robot hand 50 can be presented to the operator. That is, the degree of risk of each operation (red: high risk, blue: low risk) can be presented by the display color of the first vectors a11 to a13.

Next, an evaluation sequence of the operation trajectory W is described (see fig. 11). The evaluation sequence is composed of 7 steps S10 to S70, and is executed before the work of the work robot 30 starts.

First, in S10, the operator registers data of the robot hand 50 and the workpiece 20 with the evaluation device 200.

The data of the robot hand 50 includes data of the outer shape of the robot hand 50 and coordinates of the center P. The center P may be the center of the cylinder portion 51. The data of the workpiece 20 includes data of an outer shape of the workpiece 20 and a reference point (center coordinates). The registration of data can be performed using predetermined application software. The registered data of the robot hand 50 and the workpiece 20 are stored in the storage unit 250.

Then, in S20, the operator determines whether or not there is a portion of the robot hand 50 and the workpiece 20 that is considered to be required to be noted, based on the data of the robot hand 50 and the workpiece 20 registered in S10.

When there is a part considered to be needed for attention, the operator registers the attention part 25 with the evaluation device 200 using the input unit 230. For example, when it is considered that attention is required to the protruding portion 21 of the workpiece 20, the protruding portion 21 is input as the attention portion 25 and stored in the storage portion 250. Specifically, the positional information (coordinates) of the protruding portion 21 on the workpiece 20 is stored as the positional information of the attention portion 25.

The operator inputs and registers the attention of the attention site 25 together with the attention site 25. The degree of attention can be determined based on the shape of the attention site 25. The sharper the attention portion 25 is, the higher the attention is set. In this example, the attention is set to 3 levels of "high", "medium", "low", and the like. The information of the degree of attention is stored in the storage unit 250.

Then, in S30, the worker teaches the operation of the robot hand 50 to the work robot 30. The teaching of the operation is performed by remotely operating the work robot 30 by the teaching device 150, and actually performing the work such as moving the workpiece 20.

By teaching the operation to the work robot 30, control data (control program PX) of the work robot 30 is obtained. The control data is data of the shaft values and the rotational speeds of the motors M1 to M4 for executing the taught operations.

In S40, the operator reads control data of the work robot 30 from the controller 81. When the control data is read, the arithmetic unit 210 generates data of the motion trajectory W of the robot hand 50 based on the read control data, the data of the arm mechanism 40, the data of the robot hand 50, and the like.

The data of the operation orbit W is coordinate data of the center points P1 to P4 of the movement of the robot hand 50, and is stored in the storage unit 250.

In S50, the computing unit 210 of the evaluation device 200 calculates an evaluation value B of the operation track W. When the motion trajectory W is configured by a plurality of continuous motions, the evaluation value B is calculated for each motion.

Specifically, as shown in fig. 6, the operation trajectory W of the robot hand 50 is configured of three consecutive operations, that is, a first operation to move from P1 to P2, a second operation to move from P2 to P3, and a third operation to move from P3 to P4, and thus the evaluation value B is calculated for each of the above operations.

As shown in fig. 12, the evaluation value B can be calculated by 3 steps of S51, S53, and S55.

S51 is a step of calculating a first vector A1. In S51, the computing unit 210 reads data of the operation orbit W of the robot hand 50 from the storage unit 250. Then, based on the read data of each motion of the motion track W, a first vector A1 of each motion is calculated.

S53 is a step of calculating a second vector A2. In S53, the computing unit 210 reads out the data of the attention site 25 from the storage unit 250, and calculates the second vector A2 based on the read-out data of the attention site 25.

S55 is a step of calculating an inner product of the first vector A1 calculated in S51 and the second vector A2 calculated in S53. The inner product can be calculated by the above equation (1). The calculation unit 210 performs S55 the calculation for each operation of the robot hand 50. Thus, an evaluation value B for each operation is obtained.

Thereafter, the process proceeds to S60, and the computing unit 210 compares the evaluation values B1 to B3 of the respective operations with the threshold values K1 and K2, and classifies the result (see fig. 9).

Thereafter, the process proceeds to S70, and the computing unit 210 displays the evaluation result of the operation trajectory W on the display unit 240. For example, as shown in fig. 10, the display colors of the first vectors a11 to a13 are changed and displayed according to the rank of the evaluation values B1 to B3 of the respective operations.

The evaluation device 200 is detachable from the work robot 30, and can be detached after the evaluation result is displayed, thereby enabling work.

3. Description of effects

In this configuration, the operator can know in advance whether or not there is a risk around the robot based on the evaluation result of the operation track W of the robot hand 50, and can be notified to the operator. This technique is effective for risk evaluation of the surrounding work of the work robot 30.

< embodiment 2>

In embodiment 1, the evaluation value B of the operation track W is calculated by the expression (1). In embodiment 2, the evaluation value B of the operation track W is calculated by expression (4).

B= |a1| a2|COS theta x V … (4)

V is the moving speed of the robot hand 50.

By including the movement speed V of the robot hand 50 in the calculation of the evaluation value B, the movement trajectory W of the robot hand 50 can be evaluated in consideration of the movement speed V.

In addition, when the movement speed V is used in the calculation of the evaluation value B, the movement speed V may be automatically corrected so that the evaluation value B becomes equal to or smaller than the threshold value K. The threshold K is K1 and K2 described in embodiment 1 (see fig. 8).

For example, when the "evaluation value B" is larger than the "threshold value K2", the movement speed V may be automatically corrected so that the movement speed V is slower than before the correction, thereby satisfying the expression (5).

K2 Not less than |A1| a2|COS theta x V … (5)

Since the evaluation value B can be set to "K2" or less by correcting the movement speed V, the risk of an operator working around the robot can be reduced. Further, the movement speed V is preferably corrected in units of operation of the work robot 30.

< embodiment 3>

Embodiment 3 differs from embodiment 1 in the method for displaying the evaluation result of the operation track W.

Fig. 13 is a display example of the evaluation result of the operation track W. "O" shown in fig. 13 is the center of the work robot 30 (the center of the shaft 33). In this example, the periphery of the work robot 30 is divided into 4 work areas S1 to S4, and the evaluation result of the operation orbit W is displayed for each of the areas S1 to S4.

For example, if the region S4 is set, the evaluation value B1 of the first operation included in the region S4 is set to the evaluation value B1 of the operation track W of the region S4. In the display example of fig. 10, the evaluation value B of the operation track W is indicated by character information such as "large", "medium", or "small" for each of the areas S1 to S4.

In the case where a plurality of operations are included in the same area S, the largest evaluation value B among the evaluation values B of the plurality of operations may be set as the evaluation value B of the operation track W in the area S.

By displaying the evaluation value B of each of the areas S1 to S4, it is possible to present whether or not the work areas S1 to S4 which are likely to come in and go out during the work are at risk, whether or not attention is required, and whether or not the material is judged.

As shown in fig. 13, the first vectors a11 to a13 may be displayed together in addition to the evaluation results of the respective areas S1 to S4. In addition, as in embodiment 1, the display colors of the first vectors a11 to a13 may be changed according to the "evaluation value B".

The embodiments have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the scope of the claims includes various modifications and alterations to the specific examples described above.

(1) In embodiment 1, as an example of the work robot, a vertical multi-joint robot 30 is illustrated. The work robot is not limited to the vertical multi-joint robot. For example, the SCARA robot (horizontal multi-joint robot) 300 shown in fig. 14 may be used.

(2) In embodiment 1, the chuck type holding structure is exemplified as the holding structure of the robot hand 50 for the workpiece 20, but the holding structure may be a holding structure using negative pressure.

(3) In embodiment 1, the evaluation results (specifically, the evaluation values B1 to B3) of the operation track are displayed on the display unit 240, thereby calling the operator to pay attention to the operation. The method of using the evaluation result is not limited to display. A warning sound may also be emitted. For example, the buzzer may be sounded for the purpose of calling the attention of the operator during the first operation period in which the evaluation value B is large.

(4) In embodiment 1, the tip end portion of the right protruding portion 21 of the workpiece 20 is set as the attention portion, but the attention portion may be a plurality of points. For example, as shown in fig. 15, the tip ends of the protruding portions 21 and 22 on both sides of the workpiece 20 may be regarded as the noted portions 25A and 25B, respectively. "A2a" is a second vector of the attention portion 25A, and "A2B" is a second vector of the attention portion 25B. When there are a plurality of attention sites, the evaluation value B is calculated for each of the attention sites for each operation. The operation trajectory W may be evaluated by using the evaluation value B having the worst condition, that is, the largest value, as the evaluation value B of the operation.

(5) In embodiment 1, a part of the workpiece 20 is set as the attention portion 25, but a part of the robot hand 50 may be set as the attention portion. For example, as shown in fig. 16, both ends of the clamp pieces 52, 53 may be noted as the attention portions 55A, 55B. "A2a" is a second vector of the attention site 55A, and "A2B" is a second vector of the attention site 55B.

The evaluation of the operation trajectory W is not limited to the case where the robot hand 50 moves while holding the workpiece 20, and may be directed to the case where the workpiece 20 is not held and moves.

(6) In embodiment 1, the evaluation value B of the operation track W is calculated by the expression (1), and in embodiment 2, the evaluation value B of the operation track W is calculated by the expression (4). The evaluation value B is not limited to the expression (1) and the expression (4) as long as it is calculated based on the first vector A1 and the second vector A2, and may be calculated by other methods. For example, the calculation may be performed based on only the angle θ of the two vectors A1 and A2.

(7) In embodiment 1, the magnitude of the second vector A2 is determined according to the degree of attention of the attention portion 25, but may be set to a constant value independently of the degree of attention, similarly to the first vector A1.

(8) In embodiment 1, "attention degree" is determined based on the shape of the attention portion 25. The "degree of attention" can be determined based on any one of the shape, material, and temperature of the attention portion 25. In addition, it can be determined based on a combination thereof. When the shape is used as the determination element, the sharper the shape of the attention portion 25, the higher the degree of attention. When the material is used as the determination element, the degree of attention is higher as the material of the attention portion 25 is harder. When the temperature is used as the determination element, the higher the temperature of the attention portion 25 is, the higher the attention degree is.

(9) In embodiment 1, the first vector A1 and the second vector A2 are two-dimensional (XY) vectors, but the first vector A1 and the second vector A2 may be three-dimensional (XYZ) vectors.

(10) As shown in fig. 17, this technique can also be applied to a work robot 330 that moves using a conveyor 310 such as an AGV (Automatic Guided Vehicle: automated guided vehicle). The workpiece 20 is not limited to the shape disclosed in the embodiment, and may have other shapes.

Description of the reference numerals

20. Workpiece

25. Attention site

30. Work robot

50. Robot hand

200. Evaluation device

210. Calculation unit

240. Display unit

250. Storage unit

A1 First vector

A2 Second vector

Evaluation value of B

W-shaped action track

Claims (7)

1. An evaluation device for an action track of a robot hand, comprising:

an arithmetic unit; a kind of electronic device with high-pressure air-conditioning system

A storage section for storing the data of the first storage section,

the storage unit stores at least one of data of an attention portion of the robot hand and an attention portion of a workpiece held by the robot hand, and data of an operation orbit of the robot hand,

the calculation unit calculates a first vector indicating a movement direction of the robot hand based on data of an operation orbit of the robot hand,

the calculation unit calculates a second vector indicating a direction of the attention site from a center of the robot hand based on the data of the attention site,

the calculation unit calculates an evaluation value of the motion trajectory of the robot hand based on the first vector and the second vector.

2. The evaluation device according to claim 1, wherein,

the magnitude of the first vector, independent of the attention location, is constant,

the higher the attention of the attention portion, the larger the magnitude of the second vector.

3. The evaluation device according to claim 1 or 2, wherein,

the evaluation value is an inner product of the first vector and the second vector.

4. The evaluation device according to claim 1 or 2, wherein,

the evaluation value is a product of an inner product of the first vector and the second vector and a movement speed of the robot hand.

5. The evaluation device according to claim 4, wherein,

the calculation unit corrects the movement speed of the robot hand so that the evaluation value becomes equal to or less than a threshold value.

6. The evaluation device according to any one of claims 1 to 5, wherein,

the evaluation result of the operation track is displayed on the display unit.

7. A method for evaluating an action track of a robot hand, wherein,

calculating a first vector representing a moving direction of the robot hand based on data of an action orbit of the robot hand;

calculating a second vector from the center of the robot hand toward the attention site based on data of the attention site of the robot hand or an attention site of a workpiece held by the robot hand; a kind of electronic device with high-pressure air-conditioning system

And calculating an evaluation value of the motion trajectory of the robot hand based on the first vector and the second vector.