JP2014128857A - Robot teaching system and robot teaching method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide efficient and highly accurate teaching with simple operation irrespective of teaching operator's skill.SOLUTION: A robot teaching system in an embodiment comprises: a robot; a force sensor; a screen generation unit; adjustment units (a force condition adjustment unit, an operation condition adjustment unit); and a job creation unit. The robot includes an end effector (a hand). The force sensor, which is provided in the robot, measures a force applied to the end effector. The screen generation unit generates a teaching operation screen including information on guidance to a teaching operator. The adjustment units adjust job creation parameters for defining operation instructions if the teaching operator performs a predetermined operation including a content of revising an operation of the robot on the basis of a designation value of the teaching operator input to the teaching operation screen and a measured value of the force sensor. The job creation unit creates a job reflecting the parameters adjusted by the adjustment units.

Description

  The disclosed embodiments relate to a robot teaching system and a robot teaching method.

  Conventionally, various robot teaching systems for creating a job for operating such a robot, that is, for so-called “teaching” when a robot performs a predetermined assembling operation while contacting a workpiece using an end effector have been proposed. .

  Such a robot teaching system includes a portable dedicated device generally called a programming pendant, and a teacher teaches while operating the programming pendant to move the robot one by one (see, for example, Patent Document 1). ).

JP 2007-136588 A

  However, the conventional robot teaching system has room for further improvement in that it provides efficient and highly accurate teaching with a simple operation regardless of the skill level of the teacher.

  Specifically, first, the degree of skill of the teacher is required to operate the programming pendant described above. In addition, the contents of teaching vary depending on the type of work and work. In particular, in the case of work such as fitting workpieces, it is necessary to teach the robot in consideration of force control according to the contact state with the workpiece as well as simple position and orientation teaching.

  In order to maintain the accuracy of teaching in such a case, the conventional robot teaching system repeats trial and error (so-called trial and error) including visual recognition and tactile recognition even for a highly skilled instructor. There was a need to teach. For this reason, it is insufficient in that efficient and highly accurate teaching is performed with a simple operation regardless of the skill level of the teacher.

  One aspect of the embodiment is made in view of the above, and a robot teaching system and a robot teaching method capable of performing efficient and highly accurate teaching with a simple operation regardless of the skill level of the teacher The purpose is to provide.

  A robot teaching system according to an aspect of an embodiment includes a robot, a force sensor, a screen generation unit, an adjustment unit, and a job generation unit. The robot has an end effector. The force sensor is provided in the robot and measures a force applied to the end effector. The screen generation unit generates a teaching operation screen including guidance information for a teacher. The adjustment unit is an operation in a case where a predetermined operation including content for correcting the operation of the robot is performed based on the designated value of the teacher input on the teaching operation screen and the measurement value of the force sensor. Adjust the parameters for job creation that define the directive. The job generation unit generates the job reflecting the parameter adjusted by the adjustment unit.

  According to one aspect of the embodiment, efficient and highly accurate teaching can be performed with a simple operation regardless of the skill level of the teacher.

FIG. 1 is a schematic diagram illustrating an overall configuration of a robot teaching system according to an embodiment. FIG. 2 is a block diagram of the robot teaching system according to the embodiment. FIG. 3A is a schematic diagram (part 1) showing various operations constituting the fitting operation. Drawing 3B is a mimetic diagram (the 2) showing various operations which constitute fitting work. FIG. 3C is a schematic diagram (part 3) illustrating various operations constituting the fitting operation. FIG. 4A is a block diagram (part 1) of the operation condition adjustment unit. FIG. 4B is a block diagram (part 2) of the operating condition adjustment unit. FIG. 5A is an explanatory diagram (part 1) of the force condition adjustment process. FIG. 5B is an explanatory diagram (part 2) of the force condition adjustment process. FIG. 5C is an explanatory diagram (part 3) of the force condition adjustment process. FIG. 5D is an explanatory diagram (part 4) of the force condition adjustment process. FIG. 6A is a schematic diagram (part 1) illustrating an example of an operation procedure of force condition adjustment processing. FIG. 6B is a schematic diagram (part 2) illustrating an example of an operation procedure of force condition adjustment processing. FIG. 7A is an explanatory diagram (part 1) of the operating condition adjustment process. FIG. 7B is an explanatory diagram (part 2) of the operating condition adjustment process. FIG. 7C is an explanatory diagram (part 3) of the operating condition adjustment process. FIG. 8A is a schematic diagram (part 1) illustrating an example of an operation procedure of contact operation adjustment processing. FIG. 8B is a schematic diagram (part 2) illustrating an example of an operation procedure of the contact motion adjustment process. FIG. 9A is a schematic diagram (part 1) illustrating an example of an operation procedure of a search motion adjustment process. FIG. 9B is a schematic diagram (part 2) illustrating an example of an operation procedure of the search motion adjustment process. FIG. 10A is a schematic diagram (part 1) illustrating an example of an operation procedure of insertion motion adjustment processing. FIG. 10B is a schematic diagram (part 2) illustrating an example of an operation procedure of the insertion motion adjustment process. FIG. 11 is a flowchart illustrating a processing procedure executed by the robot teaching system according to the embodiment. FIG. 12 is a schematic diagram illustrating a configuration of a robot teaching system according to another embodiment.

  Hereinafter, embodiments of a robot teaching system and a robot teaching method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

  In the following, description will be given by taking as an example the case where the work content of the predetermined work taught to the robot is a fitting work for fitting workpieces. Hereinafter, the end effector is referred to as a “hand”. The programming pendant may be described as “PP”.

  FIG. 1 is a schematic diagram illustrating an overall configuration of a robot teaching system 1 according to the embodiment. As shown in FIG. 1, the robot teaching system 1 includes a control device 10, a PC (Personal Computer) 20, a robot 30, and a programming pendant 40.

  The control device 10 is a controller that includes an arithmetic processing device, a storage device, and the like. Details of the control device 10 will be described later with reference to FIG.

  The control device 10 is connected to various devices of the robot teaching system 1 including the PC 20, the robot 30, and the programming pendant 40 so as to be able to transmit information. Here, the connection form does not matter. Therefore, it may be a wired connection or a wireless connection.

  Further, the control device 10 includes a force condition file 12a, an operation condition parameter 12b, and job information 12c. The force condition file 12a is information including force control parameters used for force control described later.

  The operation condition parameter 12b is information including parameters used in each operation of “contact operation”, “probe operation”, and “insertion operation” constituting the fitting work. Details of each operation will be described later with reference to FIGS. 3A to 3C and the like. The job information 12c is information including a job generated as a teaching result. The job is a program in which an operation command of a device such as the robot 30 controlled by the control device 10 is defined. As described later, the job is interpreted and executed by the control device 10 so that the robot 30 and the hand 32 operate. It has become.

  In FIG. 1, the control device 10 with one housing is shown, but the control device 10 is not limited to this. For example, the control device 10 is associated with each of various devices to be controlled and is connected to be able to transmit information to each other. A plurality of housings may be used.

  The PC 20 is a terminal device for performing teaching operation and monitor display such as force, position and state. Here, the PC 20 is taken as an example, but it may be a tablet terminal or the like as long as it is a device that can be operated by a teacher and display various information.

  The robot 30 includes an arm 31, a hand 32, and a force sensor 33. The arm 31 has a plurality of joints having a plurality of structural members and servo motors that move the respective structural members. The hand 32 is an end effector attached to the terminal movable portion of the arm 31.

  The force sensor 33 is a force sensor that is attached between the arm 31 and the hand 32, that is, the wrist portion of the robot 30. The force sensor 33 is preferably a 6-axis sensor capable of measuring a three-dimensional three-directional force and torsion. Hereinafter, the values measured and output by the force sensor 33 may be collectively referred to as “measured values”.

  The programming pendant 40 functions as a terminal that operates the robot 30 as necessary. As shown in FIG. 1, the “fitting operation” in the present embodiment means that the robot 30 grasps the male work W1 (first work) with the hand 32 and the female work W2 (first work). 2). Hereinafter, the work W1 and the work W2 are collectively referred to as a work W.

  FIG. 1 shows an example in which the robot 30 is a single-arm robot having one arm. However, the number of arms is not questioned, and two robots are applied to the robot teaching system 1. A multi-arm robot having the above arms may be used.

  Next, a block configuration of the robot teaching system 1 according to the embodiment will be described with reference to FIG. FIG. 2 is a block diagram of the robot teaching system 1 according to the embodiment. In FIG. 2, only the components necessary for the description of the robot teaching system 1 are shown, and descriptions of general components are omitted.

  First, the control device 10 will be described. As shown in FIG. 2, the control device 10 includes a control unit 11 and a storage unit 12. The control unit 11 further includes a force condition adjustment unit 11a, an operation instruction unit 11b, an operation condition adjustment unit 11c, and a job generation unit 11d.

  The storage unit 12 is a storage device such as a hard disk drive or a non-volatile memory, and stores a force condition file 12a, an operation condition parameter 12b, and job information 12c.

  The control unit 11 performs overall control of the control device 10. The force condition adjustment unit 11a performs a force condition adjustment process for adjusting a force control parameter registered in advance in the force condition file 12a based on the operation of the teacher acquired by the operation acquisition unit 21a of the PC 20.

  The force condition file 12a includes a job for moving the robot 30 in the force condition adjustment process of the force condition adjustment unit 11a as a default job. The force condition adjustment unit 11a uses the default job as an operation instruction unit. 11b, the operation instruction unit 11b interprets information included in the predetermined job, generates an operation command to each joint (servo motor) of the robot 30, and operates the robot 30.

  Here, the programming pendant 40 is used for a preparatory operation such as moving the control point to the reference position when operating the robot 30, but this may be included in the default job.

  Then, the force condition adjusting unit 11a acquires a force feedback value obtained by operating the robot 30 from the force sensor 33, and adjusts the force control parameter of the force condition file 12a based on the force feedback value.

  The operation instruction unit 11b operates the robot 30 based on the default job notified from the force condition adjustment unit 11a. The operation instruction unit 11b also operates the robot 30 based on a notification from an operation condition adjustment unit 11c described later.

  Based on the teacher's operation acquired by the operation acquisition unit 21a of the PC 20 and the force control parameter adjusted by the force condition adjustment unit 11a, the operation condition adjustment unit 11c performs the above-described “contact operation”, “ An operation condition adjustment process for adjusting the operation condition parameter 12b that defines the operation conditions of the “search operation” and the “insertion operation” is performed.

  Here, these operations are schematically shown in FIGS. 3A to 3C. 3A to 3C are schematic diagrams (No. 1) to (No. 3) illustrating various operations constituting the fitting work. As shown in FIG. 3A, the “contact operation” is an operation in which the workpiece W1 gripped by the hand 32 is brought into contact with the workpiece W2 at a position that does not enter the hole of the workpiece W2 (see an arrow 301 in the drawing). Thereby, the contact distance mentioned later will be acquired.

  As shown in FIG. 3B, the “probing operation” is an operation of swinging the workpiece W1 around the hole of the workpiece W2 while pressing the workpiece W1 against the workpiece W2 (see the arrow 302 in the drawing) (see FIG. 3B). (See arrow 303 in the figure). As a result, a search cycle to be described later is acquired.

  As shown in FIG. 3C, the “insertion operation” is an operation for inserting the workpiece W1 into the hole of the workpiece W2. As a result, the upper and lower thresholds of the insertion amount to be described later are acquired.

  The robot teaching system 1 according to the present embodiment divides the fitting operation into the three steps shown in FIGS. 3A to 3C and individually adjusts the operating condition parameter 12b, thereby accurately performing the fitting operation on the robot 30. Can be taught.

  Then, the operation condition adjustment unit 11c causes the robot 30 to perform each of these three “contact operations”, “search operation”, and “insertion operation” via the operation instruction unit 11b, and obtains a force feedback value obtained thereby. Is acquired from the force sensor 33.

  Note that the operation condition parameter 12b includes predetermined operation conditions of “contact operation”, “probing operation”, and “insertion operation” in advance as default parameters, and the operation condition adjustment unit 11c sets the default parameters. The operation instruction unit 11b is notified and the operation instruction unit 11b causes the robot 30 to operate.

  Then, the operating condition parameter 12b is adjusted based on the acquired force feedback value. At this time, the acquired force feedback value and status of the state transition are sequentially displayed on the PC 20 side.

  The teacher can input a readjustment value based on the monitor display result. When the readjustment value is input from the teacher, the operating condition adjustment unit 11c can be input via the operation acquisition unit 21a of the PC 20. This is acquired and the robot 30 is operated.

  Then, the operating condition parameter 12b is readjusted based on the force feedback value. By repeating this, the operating condition parameter 12b is optimized.

  Next, FIG. 4A and FIG. 4B show a block configuration of the operation condition adjustment unit 11c. 4A and 4B are block diagrams (No. 1) and (No. 2) of the operating condition adjustment unit 11c.

  As shown in FIGS. 4A and 4B, the operation condition adjustment unit 11c includes a contact operation adjustment unit 11ca, a probe operation adjustment unit 11cb, and an insertion operation adjustment unit 11cc. The contact operation adjusting unit 11ca adjusts the operation condition parameter 12b related to the above-described “contact operation”.

  Further, the search operation adjusting unit 11cb adjusts the operation condition parameter 12b related to the above-described “probe operation”. Further, the insertion operation adjusting unit 11cc adjusts the operation condition parameter 12b related to the above-described “insertion operation”.

  Here, as shown in FIG. 4A, the contact operation adjustment unit 11ca, the search operation adjustment unit 11cb, and the insertion operation adjustment unit 11cc individually input force control parameters from the force condition file 12a, and individually operate condition parameters 12b. It is good also as adjusting. In such a case, there is an advantage that fine and precise adjustment can be performed for each process.

  Further, as shown in FIG. 4B, the force control parameter and the operation condition parameter 12b of the force condition file 12a are successively taken over from the contact operation adjustment unit 11ca, and finally the insertion operation adjustment unit 11cc updates the operation condition parameter 12b. It is good as well.

  In such a case, the adjustment in the three steps can be automatically performed as a series of operations, and there is an advantage that it can contribute to the efficiency of teaching.

  The operation procedure related to the operation condition adjustment process will be described later with reference to FIGS. 7A to 10B.

  Returning to the description of FIG. 2, the job generation unit 11d will be described. The job generation unit 11d performs processing for generating job information 12c reflecting the adjusted operation condition parameter 12b based on the teacher's operation acquired by the operation acquisition unit 21a of the PC 20. That is, the job generation unit 11d defines an operation command for performing a predetermined work including the content for correcting the operation of the robot 30 based on the designated value in the operation of the teacher and the measurement value of the force sensor 33. Job information 12c in which parameters for job generation are adjusted is generated.

  Next, the PC 20 will be described. The PC 20 includes a control unit 21 and a storage unit 22. In addition, an operation unit 23 and a display unit 24 are provided outside.

  The control unit 21 includes an operation acquisition unit 21a, a screen generation unit 21b, and a display control unit 21c. The storage unit 22 is a storage device such as a hard disk drive or a nonvolatile memory, and stores guidance information 22a.

  The control unit 21 performs overall control of the PC 20. The operation acquisition unit 21a acquires a teacher's operation from the operation unit 23, which is an operation device such as a keyboard and a mouse, and the contents are displayed on the screen generation unit 21b, the force condition adjustment unit 11a of the control device 10, the operation condition adjustment unit 11c, and the like. The job generation unit 11d is notified.

  The screen generation unit 21b generates a display screen for teaching support according to the notified operation content. At this time, the screen generation unit 21b generates a display screen that appropriately reflects the latest situation of the force condition file 12a and the operation condition parameter 12b, the guidance message to the teacher included in the guidance information 22a, and the like.

  The screen generation unit 21b delivers the generated display screen to the display control unit 21c. The display control unit 21c appropriately displays the received display screen on the display unit 24 that is a display device such as a display.

  Next, details of the force condition adjustment process will be described. First, after describing the content of the force condition adjustment process using FIGS. 5A to 5D, an example of a specific operation procedure will be described using FIGS. 6A and 6B.

  5A to 5D are explanatory views (No. 1) to (No. 4) of the force condition adjustment process. FIGS. 6A and 6B are schematic diagrams (No. 1) and (No. 2) showing an example of the operation procedure of the force condition adjustment process.

The force condition adjustment process of the present embodiment uses impedance control represented by the following equation (1) as a force control model.

  As shown in FIG. 5A, the impedance control parameter, that is, the force control parameter includes an inertia coefficient M, a viscosity coefficient D, and a spring coefficient K. In the force condition adjustment process, the inertia coefficient M and the spring coefficient K are fixed. use.

  That is, in the force condition adjustment process, when a constant force command is given, the viscosity coefficient D is automatically adjusted so as to quickly follow the command. In the above formula (1), the units in parentheses indicate the translation direction in the former and the rotation direction in the latter.

  The force condition adjustment process includes a first adjustment step and a second adjustment step. In the first adjustment step, the workpiece W1 is pressed against the workpiece W2 with a slight force for a predetermined time, and a viscosity limit value that can maintain contact stability without divergence is obtained.

  FIG. 5B shows a state where the force waveform is not diverged after starting from the initial viscosity value, that is, the contact stability is maintained. FIG. 5C shows an unstable contact state in which the force waveform diverges.

  That is, in the first adjustment step of the force condition adjustment process, a viscosity limit value is obtained so that the force waveform shown in FIG. 5B is obtained.

Further, as shown in FIG. 5D, in the second adjustment step, a force command is given to repeatedly contact the workpiece W, and a viscosity value at which the response of the force feedback value F _fb at that time is good is obtained.

  That is, the viscosity is such that the force response does not cause hunting as in condition A and does not delay as in condition C but follows as fast as in condition B with respect to the force command (see rectangular wave in the figure). Adjust the value.

  And this force condition adjustment process is implement | achieved by receiving operation of a teacher by the force condition adjustment screen shown to FIG. 6A, for example. It should be noted that all display screen examples used in the following description including FIG. 6A are displayed on the display unit 24 of the PC 20.

  In addition, all such display screen examples may be collectively referred to as “teach operation screens”. Further, input values input by the instructor on the “teach operation screen” may be collectively referred to as “specified values”.

  As shown in FIG. 6A, the force condition adjustment screen includes a guidance screen. The guidance screen is an area for outputting teaching support information to the teacher. For example, as shown in FIG. 6A, a guidance message indicating an operation procedure such as “1. Select a robot” is displayed.

  Further, as shown in FIG. 6A, a guide diagram for assisting the understanding of the teacher can be displayed together with the guidance screen. For example, FIG. 6A shows an example in which the robot name of the robot to be taught and the name of the coordinate system are displayed.

  Accordingly, it is possible to support the teacher so that the teaching can be performed with few errors and high accuracy regardless of the skill level of the teacher.

  Then, the instructor performs an operation necessary for adjusting the force control parameter according to the content of the guidance screen.

  For example, the force condition adjustment screen of FIG. 6A has input items in the upper right region, and the teacher includes the “file number” of the force condition file 12a, “robot” to be taught, “Coordinate system”, “tool number”, “mating direction”, and the like are input.

  Then, the teacher executes the force condition adjustment process by pressing an “adjustment execution” button arranged in the lower right part of the force condition adjustment screen. In the lower right area of the force condition adjustment screen, the force control parameter to be adjusted is displayed as “adjustment target parameter”, and the teacher can know the current value of the force control parameter by such display. .

  It should be noted that “X”, “Y”, “Z” of the viscosity coefficient D, which is the “adjustment target parameter” shown in FIG. It is the axis segment. These are “a”, “b”, “c”, “d”, “e”, and “f” in order before adjustment.

  6B shows an example of the force condition adjustment screen after the “adjustment execution” button in FIG. 6A is pressed and the force condition adjustment process is executed once. As shown in FIG. 6B, the guidance screen is also displayed on the force condition adjustment screen after the processing is executed, and the next operation of the teacher is supported.

  For example, FIG. 6B shows an example in which guidance is displayed as “Check the monitor and readjust from the operation screen if there is a warning. If there is an error, please cancel the processing”.

  As shown in the guidance display, for example, a state monitor indicated by “normal”, “warning”, and “error” can be displayed on the force condition adjustment screen after the process is executed. In addition, although the lighting lamp-like state monitor is illustrated here, of course, it is not restricted to this. The teacher can select the next operation according to the guidance screen and the display content of the state monitor.

  Further, for example, as shown in FIG. 6B, a force waveform based on a measurement value of the force sensor 33 may be displayed as a waveform monitor. By performing the monitor display such as the status monitor and the waveform monitor, it is possible to support the teacher so that the teacher can perform highly accurate teaching with few errors regardless of the skill level of the teacher.

  For example, an operation screen when readjustment is required is displayed in the lower left area of the force condition adjustment screen after execution of the process. According to the instructions on the guidance screen shown in FIG. 6B, if the status monitor is “warning”, the instructor can input items such as “coordinate system”, “mating direction”, and “command value” from the operation screen. Re-input is performed, and the “setting complete” button is pressed to instruct re-adjustment.

  For example, the adjustment result is displayed in the lower right area. Here, an example is shown in which the viscosity coefficient D is adjusted to “a ′”, “b ′”, “c ′”, “d ′”, “e ′”, “f ′” in order from the top ( (See the closed curve 601 in the figure). The teacher can confirm the adjusted value based on the adjustment result.

  Then, as shown in FIG. 6B, if the “normal” status monitor is lit, the teacher confirms the adjustment result and presses the “end” button to end the force condition adjustment processing. If the status monitor is “error”, the “cancel” button is pressed to cancel the force condition adjustment process.

  Next, details of the operation condition adjustment processing will be described. 7A to 7C are explanatory diagrams (No. 1) to (No. 3) of the operating condition adjustment process.

  The operation condition adjustment process of the present embodiment is based on the force control parameter adjusted in the force condition adjustment process and the operation of the teacher, and the above-described “contact operation”, “search operation”, and “insertion operation” in the fitting operation. The operating condition parameter 12b that defines each operating condition is adjusted.

  Here, as the operation condition parameter 12b, as shown in FIG. 7A, for the contact operation, the “contact distance” from the workpiece W1 to the workpiece W2 is adjusted. Further, as shown in FIG. 7B, the “probing period” (probing amount) or the like is adjusted for the searching operation. Further, as shown in FIG. 7C, the “insertion amount threshold lower limit”, the “insertion amount threshold upper limit”, and the like are adjusted for the insertion operation.

  These “contact distance”, “search period”, “insertion amount threshold lower limit”, and “insertion amount threshold upper limit” need to be adjusted to set values suitable for the shape of the workpiece W. Therefore, in the operation condition adjustment process, the robot 30 is operated based on the teacher's operation in accordance with the guidance, and the shape of the workpiece W is determined based on the feedback value of the force and the feedback value of the position from the robot 30 (each servo motor). The operating condition parameter 12b is adjusted while measuring.

  Next, an example of a specific operation procedure of the operation condition adjustment process will be described with reference to FIGS. 8A to 10B. 8A and 8B are schematic diagrams (No. 1) and (No. 2) showing an example of the operation procedure of the contact movement adjustment process.

  FIGS. 9A and 9B are schematic diagrams (No. 1) and (No. 2) showing an example of the operation procedure of the search motion adjustment process. FIGS. 10A and 10B are schematic diagrams (No. 1) and (No. 2) showing an example of the operation procedure of the insertion operation adjustment process.

  First, the case of the contact operation will be described. As shown in FIG. 8A, the contact movement adjustment screen is configured to include a guidance screen in the same manner as the force condition adjustment screen (FIGS. 6A and 6B).

  Here, on the guidance screen, for example, as shown in FIG. 8A, “1. Teach the fitting start position P1 (several millimeters above the hole) with PP” or “2. A guidance message indicating the operation procedure is displayed, such as “Teach the position P2 (position not entering the hole) shifted by several mm to PP”.

  Further, as shown in FIG. 8A, a guidance diagram corresponding to the guidance message can be displayed together on the guidance screen.

  Accordingly, it is possible to support the teacher so that the teaching can be performed with few errors and high accuracy regardless of the skill level of the teacher. Then, the teacher performs an operation necessary for adjusting the operation condition parameter 12b related to the contact operation according to the content of the guidance screen.

  For example, the contact operation adjustment screen of FIG. 8A has an operation screen in the lower left area, and the teacher inputs, for example, “command value” or the like in the input item of the operation screen. Prior to the teacher's input operation, a default value included in the operation condition parameter 12b is displayed as an input item on the operation screen.

  Further, for example, on the right side of the contact operation adjustment screen, a monitor display area such as a state monitor and a waveform monitor similar to the force condition adjustment screen (see FIG. 6B) is provided.

  In such a monitor display area, a force waveform (see waveform monitor (force) in the figure) and a state transition waveform (see waveform monitor (state transition) in the figure) obtained by moving the robot 30 in the contact movement adjustment process. ), Position waveform (see waveform monitor (position) in the figure) and the like.

  When the instructor teaches according to the guidance message using the PC 20 and inputs a command value or the like and presses the “setting complete” button, the “start” button functions in the programming pendant 40. . The teacher presses the “start” button to execute the contact operation adjustment process. After the setting by the PC 20, the robot 30 is started by the programming pendant 40, so that when one worker teaches using the programming pendant 40 in the vicinity of the robot, another worker can use the PC 20. This prevents the robot 30 from operating. In the fitting function, the operation of the robot 30 can be started only from the programming pendant 40. The same applies to the following search operation and insertion operation.

  FIG. 8B shows an example of the contact operation adjustment screen after the “setting complete” button in FIG. 8A is pressed and the contact operation adjustment process is executed once. As shown in FIG. 8B, the guidance screen is also displayed on the contact operation adjustment screen after the processing is executed, and the next operation of the teacher is supported.

  For example, in FIG. 8B, as in FIG. 6B, “Check the monitor and readjust from the operation screen if there is a warning. If there is an error, cancel the processing.” An example is shown.

  Also, for example, the contact distance as the measurement result is displayed in the lower part of the guidance screen (see the closed curve 801 in the figure). The teacher can confirm the measurement value based on the measurement result.

  Then, for example, an operation screen when readjustment is required is displayed in the lower left area of the contact operation adjustment screen after the process is executed. If the instruction on the guidance screen shown in FIG. 8B is followed and the status monitor is “warning”, the instructor re-enters the input item such as “command value” from the operation screen, and the “setting complete” button Will be instructed to readjust.

  Then, as shown in FIG. 8B, if the “normal” status monitor is lit, the instructor confirms each waveform monitor and measurement result and presses the “end” button to end the contact operation adjustment process. . If the status monitor is “error”, the “cancel” button is pressed to cancel the contact operation adjustment process.

  Next, the case of the search operation will be described. As shown in FIG. 9A, the search motion adjustment screen has basically the same screen layout as the contact motion adjustment screen (FIGS. 8A and 8B).

  That is, on the guidance screen, for example, as shown in FIG. 9A, “1. Teach position P3 (within 2 mm) shifted in the horizontal direction from P1 with PP” or “2. A guidance message indicating the operation procedure such as “Press the completion button.” Is displayed.

  In addition, a guidance diagram corresponding to the guidance message is also displayed on the guidance screen.

  Accordingly, it is possible to support the teacher so that the teaching can be performed with few errors and high accuracy regardless of the skill level of the teacher. Then, the teacher performs an operation necessary for adjusting the operation condition parameter 12b related to the search operation in accordance with the content of the guidance screen.

  For example, the teacher inputs “search period”, “command value”, and the like from the input items on the lower left operation screen. Prior to the teacher's input operation, a default value included in the operation condition parameter 12b and a current value inherited from the previous process are displayed as input items on the operation screen.

  Then, the instructor performs teaching according to the guidance message using the programming pendant 40 (PP) and inputs a search cycle, a command value, etc., and presses a “setting complete” button to perform a search operation adjustment process. Run.

  FIG. 9B shows an example of a search operation adjustment screen after the “setting complete” button in FIG. 9A is pressed and the search operation adjustment process is executed once. As shown in FIG. 9B, the guidance screen is also displayed on the search motion adjustment screen after the processing is executed, and the next operation of the teacher is supported.

  For example, in FIG. 9B, “Check the monitor and if it is a warning, readjust the search cycle so that it enters the hole appropriately from the operation screen. If there is an error, cancel the process.” An example in which guidance is displayed is shown.

  Then, according to the instructions on the guidance screen shown in FIG. 9B, if the status monitor is “warning”, the instructor re-enters “search period” from the lower left operation screen, and presses the “setting complete” button. Pressing this button instructs re-adjustment.

  Then, as shown in FIG. 9B, if the “normal” status monitor is lit, the teacher confirms each waveform monitor and presses the “end” button to end the search operation adjustment process. If the status monitor is “error”, the “cancel” button is pressed to cancel the search operation adjustment process.

  Next, the case of the insertion operation will be described. As shown in FIG. 10A, the insertion motion adjustment screen is basically configured with the same screen layout as the contact motion adjustment screen (FIGS. 8A and 8B).

  That is, on the guidance screen, for example, as shown in FIG. 10A, “1. Move to the position P3 and then press the setting completion button” or “2. Insert into the bottom of the hole and measure the amount of insertion. A guidance message indicating the operation procedure is displayed.

  In addition, a guidance diagram corresponding to the guidance message is also displayed on the guidance screen.

  Accordingly, it is possible to support the teacher so that the teaching can be performed with few errors and high accuracy regardless of the skill level of the teacher. Then, the teacher performs an operation necessary for adjusting the operation condition parameter 12b regarding the insertion operation in accordance with the content of the guidance screen.

  For example, the teacher inputs “threshold 1”, “threshold 2”, “command value”, and the like from the input items on the lower left operation screen. Prior to the teacher's input operation, a default value included in the operation condition parameter 12b and a current value inherited from the previous process are displayed as input items on the operation screen.

  Then, the instructor performs teaching according to the guidance message using the programming pendant 40 (PP), inputs threshold value 1, threshold value 2, command value, etc., and presses the “setting complete” button to perform insertion operation. Execute the adjustment process.

  FIG. 10B shows an example of the insertion operation adjustment screen after the “setting complete” button in FIG. 10A is pressed and the insertion operation adjustment process is executed once. As shown in FIG. 10B, the guidance screen is also displayed on the insertion operation adjustment screen after the processing is executed, and the next operation of the teacher is supported.

  For example, in FIG. 10B, “Check the monitor, and if it is a warning, adjust the thresholds 1 and 2 so that the insertion amount is within the range of the thresholds 1 and 2 from the operation screen. Please cancel the process. ”Shows an example of guidance display.

  Further, for example, the measured value of the insertion amount is displayed on the operation screen (see the closed curve 1001 in the figure).

  10B, if the status monitor is “warning”, the instructor re-enters “threshold 1” and “threshold 2” from the operation screen on the lower left side. The user presses the “Setting Complete” button to instruct re-adjustment.

  Then, as shown in FIG. 10B, if the “normal” status monitor is lit, the teacher confirms each waveform monitor and presses the “end” button to end the insertion operation adjustment process. If the status monitor is “error”, the “cancel” button is pressed to cancel the insertion operation adjustment process.

  Next, a processing procedure executed by the robot teaching system 1 according to the embodiment will be described with reference to FIG. FIG. 11 is a flowchart illustrating a processing procedure executed by the robot teaching system 1 according to the embodiment.

  As shown in FIG. 11, when the teacher selects the default force condition file 12a (step S101), the force condition adjustment unit 11a automatically adjusts the force control parameter (step S102).

  Then, the contact operation adjusting unit 11ca of the operation condition adjusting unit 11c adjusts the contact operation (step S103). Specifically, the operation condition parameter 12b related to the contact operation is adjusted.

  Then, the search operation adjustment unit 11cb of the operation condition adjustment unit 11c adjusts the search operation (step S104). Specifically, the operation condition parameter 12b related to the search operation is adjusted.

  Then, the insertion operation adjustment unit 11cc of the operation condition adjustment unit 11c adjusts the insertion operation (step S105). Specifically, the operating condition parameter 12b related to the insertion operation is adjusted.

  Then, the job generation unit 11d generates a job reflecting the adjusted operation condition parameter 12b (step S106), and the process ends.

  As described above, the robot teaching system according to the embodiment includes a robot, a force sensor, a screen generation unit, an adjustment unit (force condition adjustment unit, operation condition adjustment unit), and a job generation unit.

  The robot has an end effector (hand). The force sensor is provided in the robot and measures a force applied to the end effector. The screen generation unit generates a teaching operation screen including guidance information for a teacher.

  The adjustment unit is an operation for performing a predetermined operation including content for correcting the operation of the robot based on the designated value of the teacher input on the teaching operation screen and the measurement value of the force sensor. Adjust the parameters for job creation that define the directive. The job generation unit generates the job reflecting the parameter adjusted by the adjustment unit.

  Therefore, according to the robot teaching system according to the embodiment, efficient and highly accurate teaching can be performed with a simple operation regardless of the skill level of the teacher.

  In the above-described embodiment, when the input of the teacher is obtained for each of the force condition adjustment unit, the contact operation adjustment unit, the search operation adjustment unit, and the insertion operation adjustment unit, and the force control parameter or the operation condition parameter is individually adjusted. Was illustrated.

  However, the present invention is not limited to this. For example, a series of adjustments may be continuously automated. Specifically, if an input of information necessary for adjusting the force control parameter is received from the instructor, then the search is performed from the force condition adjustment unit to the contact operation adjustment unit and from the contact operation adjustment unit to the search operation adjustment unit. The adjustment result of the previous process may be successively inherited from the operation adjustment unit to the insertion operation adjustment unit.

  At this time, for parameters that require input based on the geometric shape of the workpiece, the shape of the workpiece is estimated to some extent by a position feedback value, etc., and an adjustment value corresponding to this is calculated and received by each adjustment unit. Just give it.

  In the above-described embodiment, the case where a job for one fitting operation is generated is taken as an example. However, the fitting operation is performed according to, for example, a robot type, a workpiece type, a robot posture difference, and the like. The conditions are different. In addition, even in the same type of fitting work, it is conceivable that there may be a difference in operating conditions depending on the working environment.

  Therefore, it is necessary to individually teach these, but it is inefficient to do it from the beginning each time. Therefore, as another embodiment, an example in which individual teachings are shared and used will be described.

  FIG. 12 is a schematic diagram showing a configuration of a robot teaching system 1 ′ according to another embodiment. In FIG. 12, only components necessary for the description are illustrated in a simplified manner.

  As shown in FIG. 12, the process of sequentially adjusting the force condition file 12a and the operation condition parameter 12b of the control apparatus 10 and generating the job information 12c based thereon has already been described. Therefore, the history of this process (see the closed curve 1201 in the figure) may be recorded as the trace information 12d.

  In such a case, in performing the next teaching, the teaching efficiency can be improved by referring to the trace information 12d. For example, in the case of fitting work of almost the same type, it is possible to teach almost automatically by tracing the trace information 12d without performing manual input or the like.

  In addition, even if it is not the same type of fitting work, if it is the same work environment (for example, the same factory), more practical parameters can be extracted from the trace information 12d as default values and used. Therefore, it is possible to contribute to the efficiency of teaching.

  Similarly, as shown in FIG. 12, the robot teaching system 1 ′ may include a learning device 50. The learning device 50 is a device that systematically creates a database of the force condition file 12a, the operation condition parameter 12b, and the job information 12c adjusted and generated by the teaching executed in the control device 10.

  For example, FIG. 12 shows an example in which a learning DB (database) systematized for each category such as robot, work, and posture is constructed. As a result, the control device 10 extracts the force condition file 12a, the operation condition parameter 12b, and the job information 12c that are close to the current teaching condition from each learning DB of the learning device 50 in advance for performing one teaching. Can be used. Therefore, the current teaching can be performed very efficiently.

  Further, these learning DBs may be shared between factories via a network, for example, as shown as factory A, factory B, and factory C in FIG. In such a case, for example, if the contents are taught in the factory A, the factory B and the factory C do not need to teach from the beginning, which can greatly contribute to the efficiency of robot teaching in the entire company.

  In FIG. 12, the trace information 12 d and the learning device 50 are configured as separate units of the control device 10, but may be included in the control device 10.

  In the above-described embodiment, the fitting work is taken as an example, but the type of work is not questioned as long as it is a predetermined work while contacting the work.

  For example, a copying operation along the workpiece may be used. In the case of such a copying operation, after dividing the operation into “touch” and “follow”, the operation condition parameter may be adjusted for each “touch” and “follow”. Moreover, you may apply to the operation | work which performs only a contact.

  In the above-described embodiment, the operation unit and the display unit are configured as separate bodies. However, for example, the operation unit and the display unit may be integrated with a multi-touch touch panel or the like.

  In the above-described embodiment, the case where the robot is a so-called humanoid robot having arms has been described as an example, but the robot may not be a humanoid.

  Moreover, the control apparatus mentioned above can be comprised with a computer, for example. In this case, the control unit is a CPU (Central Processing Unit), and the storage unit is a memory. Each function of the control unit can be realized by loading a program created in advance into the control unit and executing the program.

  Further, for example, in the above-described embodiment, the PC and the programming pendant are configured as separate control devices. However, the PC function is added to the programming pendant for operating the robot, and the control device is integrated. It may be configured. Alternatively, a programming pendant function may be added to the PC to form an integrated control device.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1, 1 'Robot teaching system 10 Control apparatus 11 Control part 11a Force condition adjustment part (1st adjustment part)
11b Operation instruction unit 11c Operation condition adjustment unit (second adjustment unit)
11ca contact operation adjustment unit 11cb probe operation adjustment unit 11cc insertion operation adjustment unit 11d job generation unit 12 storage unit 12a force condition file 12b operation condition parameter 12c job information 12d trace information 20 PC
DESCRIPTION OF SYMBOLS 21 Control part 21a Operation acquisition part 21b Screen generation part 21c Display control part 22 Storage part 22a Guidance information 23 Operation part 24 Display part 30 Robot 31 Arm 32 Hand 33 Force sensor 40 Programming pendant 50 Learning apparatus A, B, C Factory W, W1, W2 Workpiece

A robot teaching system according to an aspect of an embodiment includes a robot, a force sensor, a screen generation unit, an adjustment unit, and a job generation unit. The robot has an end effector. The force sensor is provided in the robot and measures a force applied to the end effector. The screen generation unit generates a teaching operation screen that includes a guidance message indicating a teacher's operation procedure and a guide diagram drawn in association with the content of the guidance message . The adjustment unit is an operation in a case where a predetermined operation including content for correcting the operation of the robot is performed based on the designated value of the teacher input on the teaching operation screen and the measurement value of the force sensor. Adjust the parameters for job creation that define the directive. The job generation unit generates the job reflecting the parameter adjusted by the adjustment unit.

Claims (9)

A robot having an end effector;
A force sensor provided on the robot for measuring a force applied to the end effector;
A screen generator for generating a teaching operation screen including guidance information for a teacher;
A job for defining an operation command for performing a predetermined work including content for correcting the operation of the robot based on the designated value of the teacher input on the teaching operation screen and the measurement value of the force sensor An adjustment unit for adjusting parameters for generation;
A robot teaching system, comprising: a job generation unit that generates the job reflecting the parameter adjusted by the adjustment unit. The parameter is
A force control parameter relating to the force control of the robot, and an operation condition parameter relating to an operation condition of the robot,
The adjustment unit is
A first adjustment unit for adjusting the force control parameter;
The robot teaching system according to claim 1, further comprising: a second adjusting unit that adjusts the operation condition parameter. The second adjustment unit includes:
The robot teaching system according to claim 2, wherein the predetermined condition is divided into a plurality of operations performed by the robot, and the operation condition parameter in the plurality of operations is adjusted. The predetermined operation is:
A fitting operation for fitting the first workpiece to the second workpiece,
The second adjustment unit includes:
The fitting operation includes a contact operation for bringing the first workpiece into contact with the second workpiece, a search operation for searching for a shape of the second workpiece with the first workpiece, and the first workpiece as the first workpiece. 4. The robot teaching system according to claim 3, wherein the operation condition parameter in the contact operation, the search operation, and the insertion operation is adjusted after being divided into an insertion operation to be inserted into the second workpiece. The second adjustment unit includes:
The robot teaching system according to claim 4, wherein the operation condition parameters for each of the contact operation, the search operation, and the insertion operation are individually adjusted. The second adjustment unit includes:
5. The robot teaching system according to claim 4, wherein the operation condition parameter is continuously adjusted while sequentially taking over the operation condition parameter from the contact operation to the search operation and from the search operation to the insertion operation. . The screen generator is
The teaching operation screen including a guidance message indicating an operation procedure of the teacher and a guide diagram corresponding to the content of the guidance message is generated as the guidance information. The robot teaching system according to one. The screen generator is
When the adjustment of the parameter is performed by the adjustment unit, the teaching operation screen including a state monitor indicating the state of the adjustment and a waveform monitor based on a measurement value of the force sensor is generated. The robot teaching system according to any one of claims 1 to 7. A measurement process for measuring the force applied to the end effector of the robot;
A screen generation step for generating a teaching operation screen including guidance information for a teacher;
A job for defining an operation command for performing a predetermined work including content for correcting the operation of the robot based on the designated value of the teacher input on the teaching operation screen and the measured value of the measuring step An adjustment process for adjusting parameters for generation;
And a job generation step of generating the job reflecting the parameter adjusted in the adjustment step.

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