JP2016043457A - Robot and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot and a robot system which can recognize the state of a movable part.SOLUTION: A robot and a robot system according to the present invention each comprise a movable part, a display provided at the movable part, and a display controller that controls a display state of the display according to a control state of the movable part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robot and a robot system.

  A robot having a display for displaying an operation state is known (see Patent Document 1).

JP 2007-196298 A

However, although the operation state of the entire robot can be recognized, there is a problem that it is difficult to recognize the individual movable parts of the robot in association with the operation state of the movable part.
The present invention was created to solve such problems, and an object of the present invention is to provide a robot and a robot system that can recognize the state of a movable part.

  In order to achieve the above object, a robot and a robot system according to the present invention include a movable unit, a display unit provided in the movable unit, and a display control unit that controls the display state of the display unit in accordance with the control state of the movable unit. . In the above configuration, since the display unit is provided in the movable part, the movable part and the state of the movable part can be easily associated and recognized.

  Further, the display control unit may control the display state of the display unit according to the position control state of the movable unit. Thereby, the position and attitude | position of a movable part in the present and the future can be recognized easily. For example, in preparation for a change in the position or posture of the movable part, the operator can act so as not to interfere with the movable part.

  Further, the display control unit may control the display state of the display unit according to the state of force control of the movable unit. Thereby, the state of force acting on the movable part in the present or future can be recognized. For example, it is possible to recognize whether a force or moment is acting between the movable part and the workpiece, and when an abnormality or the like occurs, whether the workpiece can be damaged by the movable part, You can recognize the safety when handling. In a state where force control is performed, the position and posture of the movable part may not change. In this case, the operator may mistakenly recognize that no control is performed on the movable part while looking at the stationary movable part, but if force control is performed based on the display state of the display part Can be easily recognized.

  Further, the movable unit may be an end effector attached to the tip of the arm, and the display unit may include a plurality of light emitting units. In this configuration, the light emitting unit may be arranged at a position that is rotationally symmetric about the axis in the length direction of the arm. Thereby, the visibility of a display part is securable also in the end effector from which the direction visually recognized changes. Furthermore, since the posture change due to force control is recognized as a point, it is possible to easily recognize the copying state in the tool rotation direction, in particular, as compared to the continuous ring-shaped display.

  Furthermore, the display control unit may change the brightness of the display unit according to the control state of the movable unit. Thereby, the control state of a movable part can be recognized based on the brightness of a display part. The display control unit may change the length of at least one of the light emission period and the non-light emission period of the display unit according to the control state of the movable part. Thereby, the control state of the movable part can be recognized based on the length of at least one of the light emission period and the non-light emission period.

(1A) is a perspective view of the robot, (1B) is a block diagram of the control unit, and (1C) is a functional block diagram of the robot. (2A) is a perspective view of the end effector, (2B) is a table showing control contents for each operation, and (2C) is an operation explanatory diagram of the fitting member. (3A)-(3E) are operation | movement explanatory drawings of a fitting member.

Hereinafter, embodiments of the present invention will be described in the following order with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the corresponding component in each figure, and the overlapping description is abbreviate | omitted.
(1) Robot configuration:
(2) Configuration of control unit:
(3) Configuration of end effector:
(4) Mating process:
(4-1) Point contact operation:
(4-2) Line contact operation:
(4-3) Surface contact operation:
(4-4) Fitting operation:
(4-5) Abnormal recovery operation:
(5) Other embodiments:

(1) Robot configuration:
FIG. 1A is a perspective view of a robot 1 according to an embodiment of the present invention. As shown in FIG. 1A, the robot 1 includes an arm 10, an end effector 20, and a control unit 40. The arm 10 is a six-axis arm having three bending joints B1 to B3 and three torsional joints R1 to R3. The bending joints B <b> 1 to B <b> 3 are joints in which members constituting the arm 10 rotate around an axis orthogonal to the length direction of the arm 10. The torsional joints R <b> 1 to R <b> 3 are joints in which members constituting the arm 10 rotate about an axis in the length direction of the arm 10. The arm 10 includes a motor group (not shown in FIG. 1A) as a drive unit for operating the bending joints B1 to B3 and the torsional joints R1 to R3.

  The end effector 20 is attached to the tip of the arm 10. By driving the six-axis arm 10, the end effector 20 can be in any posture (angle) at any position within a predetermined movable range. The end effector 20 is provided with a force sensor P and a ring light H. The force sensor P is a sensor that measures a triaxial force acting on the end effector 20 and a moment acting around the three axes. The ring light H includes a plurality (16) of LEDs (Light Emitting Diodes) as the light emitting part H1, and constitutes the display part of the present invention.

  The robot 1 is a general-purpose robot that can perform various operations by performing teaching. In the present embodiment, teaching for fitting the fitting member W to the fitted portion Q is performed on the control unit 40. The fitting member W is inserted into the holding portion K of the fitting base 100, and the robot 1 holds the fitting member W inserted into the holding portion K. Then, the robot 1 causes the fitting member W to be fitted into the fitted portion Q of the fitting base 100.

(2) Configuration of control unit:
The control unit 40 is a computer for controlling the robot 1. As in the present embodiment, the control unit 40 may be provided in the robot 1. In addition, a robot system may be configured with the control unit 40 and the robot 1 provided to be communicable with the robot 1 outside the robot 1. Of course, the control unit 40 may be realized by cooperation of a computer in the robot 1 and a computer outside the robot 1.

  FIG. 1B is a hardware block diagram of the control unit 40. The control unit 40 includes, for example, a CPU (Central Processing Unit) 41, a storage unit 42, and a communication unit 44, and communicates with the arm 10 via the communication unit 44. These components are connected to the bus Bus via an input / output mechanism (not shown) so that they can communicate with each other. The CPU 41 executes various programs stored in the storage unit 42. The storage unit 42 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), and the like. Various information, images, and programs processed by the control unit 40 are stored. The storage unit 42 may be an external storage device connected via a digital input / output port such as a USB instead of the one built in the control unit 40. The communication unit 44 includes, for example, a digital input / output port such as USB, an Ethernet port, and the like.

  FIG. 1C is a functional block diagram of the robot. The control unit 40 controls the arm 10 so that the fitting member W is fitted to the fitted portion Q. For this reason, the control unit 40 includes a position control unit M1, a force control unit M2, an output unit M3, and a display control unit M4. Some or all of these functional units are realized by, for example, the CPU 41 executing various programs stored in the storage unit 42. Some or all of these functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

  In the present embodiment, the control unit 40 outputs a control signal to the motor group 12 composed of motors corresponding to the joints B1 to B3 and the torsional joints R1 to R3 of the arm 10, respectively. The position control unit M1 sets a target position and a target posture of the end effector 20, and acquires a control amount of the motor group 12 for realizing the target position and posture. Specifically, the position control unit M1 sequentially acquires the current driving state of the motor group 12, and sequentially acquires the control amount of the motor group 12 that can realize the target position and posture. For example, the position control unit M1 acquires the control amount of the motor group 12 by feedback control such as PID (Proportional-Integral-Derivative) control.

  The force control unit M2 is a module that acquires control amounts that are sequentially commanded to the motor group 12 in the same manner as the position control unit M1. The force control unit M2 sets a target force and moment acting on the end effector 20, and acquires a control amount of the motor group 12 so that the target force and moment act on the end effector 20. Specifically, the force control unit M2 sequentially acquires the current force and moment acting on the end effector 20 from the force sensor P, and sequentially determines the control amount of the motor group 12 based on the current force and moment. get. For example, the force control unit M2 sets a mechanical impedance (inertia, damping coefficient, rigidity, etc.) according to an external force, and acquires a control amount of the motor group 12 so as to simulate the impedance. Further, the force control unit M2 resets the force sensor P in a state where the tip of the end effector 20 faces vertically downward without interfering with any object, and the force sensor P according to the posture of the end effector 20 Gravity compensation of the measurement result is performed.

  The output unit M3 generates a control signal to be output to the motor group 12 by combining (for example, linearly combining) the control amount output from the position control unit M1 and the control amount output from the force control unit M2. In addition, the control part 40 can also validate both position control by the position control part M1, and force control by the force control part M2, and can also invalidate either one. In the present embodiment, the control signal is a signal modulated by PWM (Pulse Width Modulation). With the above configuration, the arm 10 can be driven so that the end effector 20 assumes a target posture at the target position and a target force and moment act on the end effector 20. Further, the output unit M3 outputs a control signal for controlling the end effector 20.

  The display control unit M4 controls the display state of the ring light H according to the control state of the end effector 20 as a movable unit. Note that the state of the end effector 20 also depends on the state of the arm 10. Therefore, the control state of the end effector 20 means a position control and force control state executed by the position control unit M1 and the force control unit M2 on the arm 10 and the end effector 20. The display control unit M4 acquires the state of position control and force control from the position control unit M1 and the force control unit M2, and controls the display state of the ring light H according to the acquired state. Specifically, the display control unit M4 generates a drive current to be supplied to each light emitting unit H1 constituting the ring light H.

(3) Configuration of end effector:
FIG. 2A is a perspective view of the end effector 20. The end effector 20 includes a force sensor P, a ring light H, a gripper 22, chucks 23 and 23, and elastic members 24 and 24. The end effector 20 has a columnar columnar portion 20 a centering on an axis T extending in the length direction of the arm 10, and a force sensor P and a ring light H are provided on the columnar portion 20 a. The 16 light emitting portions H1 are arranged at positions that are rotationally symmetric about the axis T in the length direction of the arm 10. That is, the 16 light-emitting portions H1 are arranged in a ring shape along the side surface of the cylindrical portion 20a, and perpendiculars (two-dot chain lines) drawn from the adjacent light-emitting portions H1 to the axis T intersect at the axis T. All angles to be 360/16 = 22.5 degrees.

  The gripper 22 includes an actuator for approaching and separating the chucks 23, 23 as gripping units, and the actuator is controlled by a control signal from the output unit M <b> 3 of the control unit 40. The tips of the chucks 23 and 23 face the tip direction of the arm. The surfaces of the chucks 23, 23 facing each other in the direction approaching each other are parallel to each other, and elastic members 24, 24 are attached to the tip portions of the facing surfaces, respectively.

  In the present embodiment, the elastic members 24, 24 are configured as follows. The elastic members 24 and 24 are formed of a urethane resin having a hardness of Shore A 90 in a rectangular plate shape. The thickness of the chucks 23 and 23 in the moving direction is 2 mm, and the length in the direction orthogonal to the moving direction is respectively It is formed to be 20 mm and 10 mm. However, the elastic members 24 and 24 may be members having elasticity exceeding a predetermined standard, and may be formed of a synthetic resin other than urethane, or may have different thicknesses and lengths.

  The fitting member W includes a fitting portion Wa and a gripping portion Wb. The fitting part Wa is a part having substantially the same shape as the fitted part Q, and is a part fitted to the fitted part Q. Strictly, the fitting portion Wa has a shape that is smaller than the fitting portion Q by a predetermined tolerance, and the tolerance is smaller than the positional accuracy that the arm 10 and the end effector 20 can control. . In this embodiment, the fitting part Wa is a rectangular parallelepiped. The gripping portion Wb is a rectangular parallelepiped having the same width as the fitting portion Wa and a smaller thickness than the fitting portion Wa. The chucks 23 and 23 hold the grip portion Wb in the thickness direction via the elastic members 24 and 24. The contact range C of the elastic members 24 and 24 in the grip portion Wb is the central portion of the two surfaces in the thickness direction of the grip portion Wb. Therefore, when the chucks 23 and 23 hold the fitting member W, only the elastic members 24 and 24 are in contact with the fitting member W, and members other than the elastic members 24 and 24 are not in contact with the fitting member W.

(4) Mating process:
FIG. 2B is a table showing the control content of the control unit 40 in the fitting process. Hereinafter, each operation | movement performed by a fitting process according to the table | surface of FIG. 2B is demonstrated in order. FIG. 2B shows the direction of position control executed by the position control unit M1 in each of the operations. Control for instructing the motor group 12 by the position control unit M1 to set the target position and posture for the position and posture in the direction corresponding to the column marked with ○ in FIG. 2B. Get the quantity. Further, FIG. 2B shows the direction of force control executed by the force control unit M2 in each of the operations. The force control unit M2 acquires a control amount to be commanded to the motor group 12 according to the force or moment in the direction corresponding to the column marked with ◯ in FIG. 2B. The number attached below ○ means the target force in force control. The column marked with ○ but without the target force is the target for controlling the motor group 12 so that the magnitude of the force or moment is in a normal range (for example, a range that does not cause meshing). Means that. In FIG. 2B, the display control content of the ring light H executed by the display control unit M4 is shown in each operation.

FIG. 2C is an explanatory diagram of a reference direction in the description of the fitting process. First, with reference to the direction on the paper surface shown in FIG. 2A, the direction passing through the fitting member W up and down (thickness direction) is defined as the X direction, and the direction through the fitting member W in the depth (width direction) is defined as Y. A direction passing through the fitting member W in the lateral direction (length direction) is defined as a Z direction. Postures (rotational angles) around the axes in the X, Y, and Z directions are expressed as A _X , A _Y , and A _Z, and forces in the X, Y, and Z directions are expressed as F _X , F _Y , and F _Z , respectively. The moments about the X, Y, and Z directions are expressed as M _X , M _Y , and M _Z , respectively. The position and direction in which the chucks 23 and 23 hold the fitting member W are known, and the robot 1 can recognize the X, Y, and Z directions while holding the fitting member W. However, errors may be included in the X, Y, and Z directions recognized by the robot 1.

  As shown in FIG. 2C, the upper surface of the fitted portion Q is defined as the fitted plane Q1, and the straight line at the end opposite to the fitting direction D in the fitted plane Q1 is the fitted straight line Q1a. Define. The fitting direction D is a direction in which the fitting member W is fitted, and is a direction parallel to the fitted plane Q1. Further, the upper surface of the fitting member W in the X direction (thickness direction) is defined as a fitting plane W1, and the straight line at the end in the direction perpendicular to the fitting direction D (Y direction (width direction)) in the fitting plane W1. Is defined as a fitting straight line W1a.

First, in executing the fitting process, the control unit 40 performs an initial operation (step S90). In the initial operation, the control unit 40 resets the force sensor P. At this time, the control unit 40 controls the position of the arm 10 to a target position and posture where the tip of the end effector 20 can be directed vertically downward without interfering with any object. Next, the control unit 40 starts gravity compensation of the measurement result of the force sensor P. As described above, based on the measurement result of the force sensor P, the force control unit M2 can appropriately control the force of the arm 10.
In the period during which the initial operation is performed, the display control unit M4 performs display control of the ring light H so that all the light emitters H always emit no light.

(4-1) Point contact operation:
Next, the control unit 40 performs a point contact operation (step S100). The point contact operation is an operation for bringing the fitting member W and the fitted portion Q into point contact. In the point contact operation, the control unit 40 performs position control for moving the fitting member W to a target position in the Z direction. In the point contact operation, the control unit 40 performs force control so that the force F _Z in the Z direction becomes the target 4N.

  FIG. 3A is an operation explanatory view showing a state of the fitting member W after the line contact operation. In the present embodiment, the fitting member W is positioned at the target position in the Z direction (the fitting member W) in a state in which the surface in the Z direction is in contact with the corner portion J of the fitted portion Q and a force of 4N is acting. To the rear of the fitted part Q). Here, since position control is not performed for the positions in the X and Y directions and the postures in the respective directions, the positions of the X and Y directions and the respective directions are determined so that the fitting member W moves to the target position in the Z direction. By changing the posture, the fitting straight line W1a that is the end in the width direction of the fitting plane W1 can be brought into point contact with the fitted straight line Q1a. The target position in the Z direction in the point contact operation is a position where teaching is performed in advance so that the fitting straight line W1a and the fitting straight line Q1a are in point contact.

FIG. 3B is a cross-sectional view taken along line AA (FIG. 3A) showing the fitting member W after the point contact operation. As shown in the figure, the fitting straight line W1a of the fitting member W is in point contact with the fitted straight line Q1a of the fitted part Q at one point. In this embodiment, the fitting straight line W1a and the fitted straight line Q1a are brought into point contact by moving the fitting member W in the Z direction. However, the fitting member W is moved by moving the fitting member W in the X direction. The mating straight line W1a and the fitted straight line Q1a may be brought into point contact.
In the period in which the point contact operation is performed, the display control unit M4 performs display control of the ring light H so that all the light emitters H always emit light.

(4-2) Line contact operation:
Next, the control unit 40 performs a line contact operation (step S110). The line contact operation refers to the fitting plane W1 while maintaining the state in which the fitting straight line W1a constituting the end of the fitting plane W1 perpendicular to the fitting direction D is in point contact with the fitted straight line Q1a. Is an operation for bringing line into contact with the fitted straight line Q1a. In the line contact operation, the control unit 40 performs position control for moving the fitting member W to a target position in the X direction. In the point contact operation, the control unit 40 performs force control so that the force F _Z in the Z direction becomes the target 4N.

  As shown in FIGS. 3A and 3B, the fitting member W is kept in the X direction target while maintaining the state in which the surface in the Z direction is in contact with the corner portion J of the fitted portion Q and the force of 4N is acting. (A target position for bringing the fitting member W closer to the fitted plane Q1). Here, since position control is not performed for the positions in the Y direction and the Z direction and the posture in each direction, the position in the Y direction and the Z direction and each direction in which the fitting member W tries to move to the target position in the X direction. The fitting plane W1 can be brought into line contact with the fitted straight line Q1a by changing the posture. The target position in the X direction in the line contact operation is a position where teaching is performed in advance so that the fitting plane W1 and the fitted straight line Q1a are in line contact.

  FIG. 3C is an operation explanatory diagram illustrating a state of the fitting member W after the line contact operation. FIG. 3D is a cross-sectional view taken along the line AA (FIG. 3C) showing a state of the fitting member W after the line contact operation. As shown in the figure, the fitting plane W1 of the fitting member W is in line contact with the fitted straight line Q1a of the fitted part Q.

Thus, while maintaining the state where the fitting straight line W1a is in point contact with the point on the fitted straight line Q1a, the fitting plane W1 including the fitting straight line W1a is in line contact with the fitted straight line Q1a. It is possible to prevent the fitting plane W1 from making a line contact with a ridge line other than the fitted straight line Q1a by mistake. That is, the fitting plane W1 and the fitted straight line Q1a can be surely brought into line contact.
In the period when the line contact operation is performed, the display control unit M4 performs display control of the ring light H so that all the light emitters H always emit light.

(4-3) Surface contact operation:
Next, the control unit 40 performs a surface contact operation (step S120). The surface contact operation refers to the fitting plane while maintaining the state in which the fitting plane W1 is in line contact with the mating straight line Q1a constituting the end of the mating plane Q1 in the direction opposite to the fitting direction D. This is an operation for bringing W1 into surface contact with the mating plane Q1. In the surface contact operation, the control unit 40 performs position control for rotating the fitting member W so that the posture _AY about the Y-direction axis becomes the target posture _AY . In the point contact operation, the control unit 40 performs force control so that the forces F _X and F _Z in the X direction and the Z direction become the target 3N.

As shown in FIGS. 3C and 3D, the fitting plane W1 and the fitted straight line Q1a are in line contact, and a force of 3N (the resultant force in the direction of the one-dot chain line arrow) is acting in each of the X and Z directions. The fitting member W tries to rotate to a target posture A _Y around the axis in the Y direction (a target posture in which the fitting plane W1 is parallel to the mating plane Q1). Thereby, the fitting member W can be rotated around the to-be-fitted straight line Q1a, and the fitting plane W1 can be brought into surface contact with the to-be-fitted plane Q1.
FIG. 3E is an operation explanatory diagram illustrating a state of the fitting member W after the surface contact operation. The target posture _AY about the axis in the Y direction in the surface contact operation is a position where the fitting plane W1 and the mating plane Q1 are taught in advance so as to make surface contact.

  In this way, the fitting plane W1 is in surface contact with the mating plane Q1 including the mating straight line Q1a while maintaining the state where the mating straight line Q1a and the mating plane W1 are in line contact. It is possible to prevent the mating plane W1 from erroneously contacting the surface other than the mating plane Q1. That is, the fitting plane W1 and the mating plane Q1 can be reliably brought into surface contact.

  In the period in which the surface contact operation is performed, the display control unit M4 sets a light emission period in which all the light emitters H emit light simultaneously and a non-light emission period in which all the light emitters H do not emit light simultaneously. To do. In the period in which the surface contact operation is performed, the display control unit M4 performs display control of the ring light H so that the light emission period and the non-light emission period alternate. In the period in which the surface contact operation is performed, the display control unit M4 sets the length of the light emission period to 0.2 seconds and sets the length of the non-light emission period to 0.2 seconds.

(4-4) Fitting operation:
Next, the control unit 40 performs a fitting operation (step S130). The fitting operation refers to the fitting member W while maintaining the state in which the fitting plane W1 is in surface contact with the fitted plane Q1 which is a plane parallel to the fitting direction D of the fitted part Q. It is the operation | movement for making it fit to the to-be-fitted part Q by moving. In the fitting operation, the control unit 40 performs position control for moving the fitting member W to a target position in the Z direction. Further, in the fitting touch operation, the control unit 40 performs force control so that the force F _Z in the Z direction becomes the target 10N, and displaces the impedance in the force control in the Z direction as compared with other operations. Set so that is less likely to occur. Thereby, until the surface of the fitting member W in the Z direction hits the surface of the fitted portion Q in the fitting direction D, the fitting member W can be pushed in strongly and reliably. The control unit 40, by the force control with a predetermined force F _X also in the X direction, can be kept in contact with the fitted plane Q1 fitting plane W1 in surface.

  In the period during which the fitting operation is performed, the display control unit M4 performs display control of the ring light H so that the light emission period and the non-light emission period alternate. Specifically, in the period during which the fitting operation is performed, the display control unit M4 sets the length of the light emission period to 1 second and sets the length of the non-light emission period to 1 second.

  In the configuration described above, since the ring light H is provided in the end effector 20 as the movable part, the end effector 20 and the state of the end effector 20 can be easily associated and recognized.

  Further, the display control unit M4 controls the display state of the ring light H according to the state of force control of the arm 10 and the end effector 20. Thereby, the state of the force currently acting on the end effector 20 can be recognized. Specifically, when the ring light H emits light during the period in which the point contact operation, the line contact operation, the surface contact operation, and the fitting operation are performed, a target force acts between the end effector 20 and the fitting member W. Can be recognized.

  Further, the display control unit M4 controls the display state of the ring light H in accordance with the position control state of the end effector 20. Thereby, the position and attitude | position of the end effector 20 in the present and the future can be recognized easily. Specifically, the ring light display control is performed so that the light emission period and the non-light emission period are 0.2 seconds during the surface contact operation period, so that the posture of the fitting member W is rotated about the axis in the Y direction. I can recognize you.

  Further, the light emitting portion H1 is disposed at a position that is rotationally symmetric about the axis T in the length direction of the arm 10. Thereby, the visibility of the ring light H can be ensured also in the end effector 20 whose viewing direction changes.

  Moreover, in the structure demonstrated above, the fitting member W which does not have a curved surface can be fitted to the to-be-fitted part Q. FIG. In addition, in a state where the fitted plane Q1 and the fitted plane W1 are in surface contact, the fitting member W can be positioned with respect to the fitted part Q in the direction orthogonal to the fitted plane W1. Furthermore, by moving the fitting member W in a state where the mating plane Q1 and the mating plane W1 are in surface contact, that is, in a state where the mating plane W1 slides with respect to the mating plane Q1, it is ensured. The fitting member W can be moved in the fitting direction D.

  Further, elastic members 24 and 24 sandwiched between the fitting member W and the chucks 23 and 23 are provided at contact portions between the fitting member W and the chucks 23 and 23 as gripping portions. As a result, even when a force or moment that changes the posture of the fitting member W is applied in a state where the fitting member W is in contact with the fitted portion Q, the elastic members 24 and 24 are elastically deformed, Can absorb forces and moments. In other words, in order to suppress a change in the posture of the fitting member W, it is possible to reduce the force control of the robot according to the force and moment acting on the fitting member W.

(4-5) Abnormal recovery operation:
When the controller 40 detects an abnormality based on the measurement result of the force sensor P, the controller 40 performs an abnormality recovery operation. For example, in the fitting operation, when the fitting member W is moved to a target position in the Z direction and the force or moment exceeding a predetermined threshold is measured by the force sensor P, the control unit 40 may detect an abnormality as the fitting member W is engaged with the fitted portion Q.

  In this embodiment, the control part 40 performs position control which moves the fitting member W to the orthogonal direction of the fitting plane W1 as abnormality recovery operation | movement. That is, as indicated by an arrow V1 in FIG. 3C, the control unit 40 performs position control for moving the fitting member W (including vibration) in the X direction. Note that the control unit 40 may perform force control that causes the fitting member W to exert a force that causes acceleration to move the fitting member W in the X direction, as indicated by an arrow V1 in FIG. 3C. Thereby, the position control and force control of the fitting member W are performed so as to eliminate the surface contact between the fitting plane W1 and the mating plane Q1 and the line contact between the mating plane W1 and the mating straight line Q1a. Can do. Therefore, when position control and force control of the fitting member W are performed so as to make surface contact between the fitting plane W1 and the mating plane Q1 and line contact between the mating plane W1 and the mating straight line Q1a. The abnormality that occurred can be resolved.

Moreover, in this embodiment, the control part 40 performs position control which rotates the fitting member W around the to-be-fitted straight line Q1a as abnormality recovery operation | movement. That is, as indicated by an arrow V2 in FIG. 3C, the control unit 40 performs position control to change (including vibration) the posture _AY of the fitting member W around the Y-direction axis. Note that, as indicated by an arrow V2 in FIG. 3C, the control unit 40 causes the fitting member to generate a moment that generates angular acceleration that changes the posture _AY of the fitting member W about the Y-direction axis. Force control applied to W may be performed. As described above, in the surface contact operation, the fitting plane W1 can be brought into surface contact with the mating plane Q1 including the mating straight line Q1a by rotating the fitting member W around the mating straight line Q1a. Yes, but abnormalities can occur during this process. Thus, the abnormality which occurred in the surface contact operation can be eliminated by the same position control or force control as in the surface contact operation.

  Moreover, in this embodiment, the control part 40 performs position control which moves the fitting member W in the direction orthogonal to the to-be-fitted straight line Q1a and parallel to the fitting plane W1 as abnormality recovery operation | movement. That is, as indicated by an arrow V3 in FIG. 3C, the control unit 40 performs position control for moving the fitting member W in the Z direction (including vibration). Note that the control unit 40 may perform force control that causes the fitting member W to apply a force that generates an acceleration that moves the fitting member W in the Z direction, as indicated by an arrow V3 in FIG. 3C. Further, as indicated by an arrow V4 in FIG. 3C, the control unit 40 moves the fitting member W in a direction orthogonal to the fitted straight line Q1a and parallel to the fitted plane Q1 (including vibration). Position control to be performed may be performed, or force control to apply a force in the direction may be performed. Here, in a state where the fitting member W is not in contact with the fitting portion Q, the fitting member is orthogonal to the fitting straight line Q1a and parallel to the fitting plane W1 or the fitting plane Q1. By moving W, the fitting straight line W1a can be brought into point contact with the fitted straight line Q1a, but an abnormality may occur in this process. In this manner, the abnormality that occurs when the fitting straight line W1a is brought into point contact with the fitted straight line Q1a can be eliminated by position control or force control in a direction parallel to the process.

(5) Other embodiments:
In the embodiment, the presence / absence of light emission of the ring light H, the light emission period, and the length of the non-light emission period are changed according to the control state of the end effector 20, but other display states are changed as the display state of the ring light H. May be. For example, the display control unit M4 may change the brightness of the light emitting unit H1 of the ring light H according to the control state of the end effector 20. Specifically, the display control unit M4 may perform control so that the brightness of the light emitting unit H1 increases as the position change amount or the angle change amount in the position control increases, or the target force or moment in the force control increases. You may control so that the brightness of the light emission part H1 becomes large, so that it is large. Thereby, the control state of the end effector 20 can be recognized based on the brightness of the light emitting unit H1.

  Further, the display control unit M4 may change the emission color of the light emitting unit H1 of the ring light H according to the control state of the end effector 20. Thereby, the control state of the end effector 20 can be recognized based on the light emission color of the light emission part H1. Further, the display control unit M4 may change the number of lights emitted from the light emitting unit H1 of the ring light H according to the control state of the end effector 20. Thereby, the control state of the end effector 20 can be recognized based on the number of light emission of the light emission part H1.

  Further, the display control unit M4 may change the display state of the ring light H according to the position control scheduled to be performed after a predetermined period of time, not the position control currently being performed. Similarly, the display control unit M4 may change the display state of the ring light H in accordance with force control that is scheduled to be performed after a predetermined period of time, instead of force control that is currently being performed. Further, the display control unit M4 may change the length of the light emission period and the non-light emission period according to the moving distance and the rotation angle in the position control, and the magnitude of the target force and moment in the position control. The length of the light emission period or the non-light emission period may be changed according to the above. Further, the display control unit M4 may change the display state of the ring light H depending on whether or not an abnormality recovery operation is being performed.

  Here, the movable portion may be a member that can be moved by the robot 1, and the portion other than the tip of the arm 10 may be the movable portion, and the ring light H may be provided at a location other than the tip of the arm 10. Good. Further, the light emitter H1 of the ring light H is not necessarily an LED, but may be any element that can emit light (such as a light bulb or an EL (Electroluminescence) element). Further, the display unit does not necessarily have to be the ring light H in which the light emitter H1 is arranged in a ring shape, and only needs to include at least one light emitter H1. In the display unit, the light emitters H1 may be arranged linearly. Of course, the display control unit M4 may perform display control of the ring light H when the robot 1 performs work other than the fitting work.

  DESCRIPTION OF SYMBOLS 1 ... Robot, 10 ... Arm, 12 ... Motor group, 20 ... Control part, 20 ... End effector, 22 ... Gripper, 23 ... Chuck, 24 ... Elastic member, 40 ... Control part, 41 ... CPU, 42 ... Memory | storage part, 44 ... Communication unit, 100 ... Mating base, B1-B3 ... Bending joint, R1-R3 ... Torsional joint, C ... Contact range, D ... Mating direction, H ... Ring light, H1 ... Light emitter, K ... Holding unit, M1 ... Position control unit, M2 ... Force control unit, M3 ... Output unit, P ... Force sensor, Q ... Fitted portion, Q1 ... Fitted plane, Q1a ... Fitted straight line, W ... Fitted member, W1: mating plane, W1a: mating straight line.

Claims (7)

Moving parts;
A display unit provided in the movable unit;
A display control unit for controlling the display state of the display unit according to the control state of the movable unit;
Robot equipped with. The display control unit controls a display state of the display unit according to a position control state of the movable unit;
The robot according to claim 1. The display control unit controls a display state of the display unit according to a state of force control of the movable unit;
The robot according to claim 1 or 2. The movable part is an end effector attached to the tip of an arm,
The display unit includes a plurality of light emitting units,
The light emitting unit is disposed at a position that is rotationally symmetric about the longitudinal axis of the arm.
The robot according to any one of claims 1 to 3. The display control unit changes the brightness of the display unit according to a control state of the movable unit.
The robot according to any one of claims 1 to 4. The display control unit changes a length of at least one of a light emission period and a non-light emission period of the display unit according to a control state of the movable part.
The robot according to any one of claims 1 to 5. Moving parts;
A display unit provided in the movable unit;
A display control unit for controlling the display state of the display unit according to the control state of the movable unit;
A robot system comprising:

Images