JP2017039170A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot device which can enhance an efficiency of a work in cooperation with an operator.SOLUTION: A robot device 1 comprises a multi-joint arm mechanism 200, and executes a task in cooperation with an operator. The task comprises plural partial tasks, the plural partial tasks are shared by the robot device 1 and the operator. The robot device comprises: a storage part 110 which stores plural task programs in which one or more partial tasks are different and in which at least a fingertip locus, a fingertip operation and procedure for execution of one or more partial tasks which are in charge of the robot device 1 are described; and a control part 112 which controls the multi-joint arm mechanism according to one task program of the plural task programs selectively read out from the storage part 110.SELECTED DRAWING: Figure 4

Description

  Embodiments described herein relate generally to a robot apparatus.

  In recent years, the environment in which a robot is in the same space as an operator is increasing. The possibility of working in the vicinity of an operator is being investigated for industrial robots as well as nursing robots. The linear motion telescopic arm mechanism realized by the inventor does not have an elbow joint like the conventional vertical articulated arm mechanism, and there is no singular point. It suggests the possibility of working and working.

  An object is to provide a robot apparatus capable of improving the efficiency of collaborative work with an operator.

  The robot apparatus according to this embodiment includes an articulated arm mechanism and executes a task in cooperation with an operator. The task is composed of a plurality of partial tasks, and the plurality of partial tasks are shared by the robot apparatus and the worker, and a hand trajectory for executing one or more partial tasks in charge of the robot apparatus, A storage unit storing a plurality of task programs in which the one or more partial tasks are different and at least a hand operation and a procedure are described; and one of the plurality of task programs selectively read from the storage unit And a control unit for controlling the articulated arm mechanism according to the task program.

FIG. 1 is a diagram illustrating an example of a collaborative environment between a robot apparatus and an operator according to the present embodiment. FIG. 2 is an external perspective view of the robot apparatus of FIG. FIG. 3 is a diagram showing the configuration of the robot arm mechanism of FIG. FIG. 4 is a block diagram showing the configuration of the robot apparatus according to this embodiment. FIG. 5 is a plan view showing an outline of the three types of task programs stored in the task program storage unit of FIG. FIG. 6 is a plan view showing a hand trajectory of the robot apparatus according to the present embodiment. FIG. 7 is a flowchart showing a procedure for calculating the learning index by the learning index processing unit of FIG. FIG. 8 is a flowchart showing a task program change processing procedure by the system control unit of FIG. FIG. 9 is a diagram showing an example of a display screen displayed on the display unit in step S21 of FIG. FIG. 10 is a flowchart showing a procedure for dynamically changing the task time on the task program by the learning index processing unit of FIG.

  Hereinafter, the robot apparatus according to the present embodiment will be described with reference to the drawings. The robot apparatus according to the present embodiment supports work performed by the worker (referred to as an overall task) in order to increase the work efficiency of the worker. The work (whole task) is analyzed in advance and divided into a plurality of tasks (referred to as partial tasks) based on the characteristics of the worker and the characteristics of the robot apparatus. For example, if a skilled worker is a work that can be completed within a predetermined task time (whole task), an unfamiliar worker with low work proficiency performs the work (whole task). In some cases, the task cannot be completed within a predetermined task time. The robot apparatus according to the present embodiment takes over at least one partial task among a plurality of partial tasks, so that even an inexperienced worker can complete the work within a predetermined task time. To help.

  For example, the work (tube container packed with contents) transported on the transport line is packed into a rectangular paper box, and multiple boxing operations (overall tasks) until it is returned to the transport line, six parts here Divide into tasks. Of the six partial tasks, the first partial task is a task of transporting the tube container transported on the transport line onto the unloading shooter. The second partial task is a task of transporting the pre-assembled paper box from the stock table to the operator. The third partial task is a task of assembling a paper box. The fourth partial task is a task of filling the assembled paper box with a tube. The fifth partial task is a task of closing the lid of the paper box filled with the tube. The sixth partial task is a task for returning the finished product from the carry-in shooter to the conveyance line.

  The worker is in charge of at least three partial tasks (third, fourth, and fifth partial tasks) among the six partial tasks. The work that the worker performs at least is called unit work. Here, the unit work refers to work corresponding to the third, fourth, and fifth partial tasks. Unit work refers to the work from assembling an assembled paper box, filling the assembled paper box with a tube, and closing the lid of the paper box packed with the tube. The robot apparatus completes the first task other than the unit work (third, fourth, and fifth partial tasks) in order to complete the entire task within a predetermined task time according to the skill level of the unit work of the worker. Responsible for at least one of the second and sixth partial tasks, and supporting the work of the worker.

(Robot placement environment) Fig. 1
FIG. 1 is an external perspective view of a robot apparatus 1 according to this embodiment. The conveyor device 5 includes a linear conveyance line for continuously conveying the plurality of first and third workpieces 300 and 500 along a straight line. The transport line transports the first and third workpieces 300 and 500 placed on the transport line at a transport speed set in advance by an operator or the like. The stock table 6 is disposed in the vicinity of the robot apparatus 1. The stock table 6 stores a plurality of second works 400.

  For convenience of explanation, a flexible tube container is assembled with the first workpiece 300, an assembly-type empty box that houses the tube container (first workpiece 300) is assembled with the second workpiece 400, and the tube container (first workpiece 300). It is distinguished as a finished product (third work 500) packed in an empty box (second work 400).

A carry-out shooter (carry-out tray, tube tray) 60 and a carry-in shooter (carry-in tray, box tray) 70 are attached to the sides of the frame of the conveyor device 5. The carry-out shooter 60 is attached upstream of the carry-in line with respect to the carry-in shooter 70.
The carry-out shooter 60 is formed in a groove shape having an L-shaped cross section, for example. The carry-out shooter 60 is disposed so as to incline downward from the conveyance line. The first workpiece (tube container) 300 picked by the robot apparatus 1 is released to the carry-out shooter 60. The first workpiece 300 slides down the unloading shooter 60 and moves to the unloading position at the operator's hand. A hole is opened at the unloading position of the unloading shooter 60. When the first work 300 is present at the carry-out position of the carry-out shooter 60, the hole is blocked by the first work 300. A photoelectric sensor 95 is attached to the carry-out shooter 60 so that the optical axis is aligned with the hole. The photoelectric sensor 95 detects whether or not the first work 300 exists at the carry-out position of the carry-out shooter 60.

  The carry-in shooter 70 is formed in a groove shape having an L-shaped cross section, for example. The carry-in shooter 70 is disposed so as to tilt downward toward the conveyance line. The third workpiece 500, which is boxed by the operator and placed at an arbitrary position of the carry-in shooter 70, slides down to the carry-in position of the carry-in shooter 70 due to its inclination. A hole is opened in the carry-in position of the carry-in shooter 70. When the third work 500 is present at the carry-in position of the carry-in shooter 70, the hole is blocked by the third work 500. A photoelectric sensor 97 is attached to the carry-in shooter 70 so that the optical axis is aligned with this hole. The photoelectric sensor 97 detects whether or not the third workpiece 500 exists at the loading position of the loading shooter 70.

  A center line of the width of the transfer line (hereinafter referred to as a line center line) is a target line on the transfer line on which the first work 300 is placed, and the third work 500 after the first work 300 is boxed. This is the target line for the position to return.

  The passage detection sensor 91 detects passage of a predetermined position (passage detection position) of the first workpiece 300 conveyed by the conveyance line. As the passage detection sensor 91, for example, a photoelectric sensor in which a light projecting unit and a light receiving unit that receives light projected from the light projecting unit and reflected from the work is integrated. The passage detection sensor 91 is provided in the vicinity of the transport line upstream of the carry-out shooter 60 so that the optical axis thereof is orthogonal to the transport direction of the transport line.

  The speed sensor 93 measures the transport speed of the transport line. For example, a sensor such as a rotary encoder is applied to the speed sensor 93. The rotary encoder is connected to the drive shaft of the roller. The speed sensor 93 is provided so that the roller contacts the conveyance line.

(Description of articulated arm mechanism) FIG.
The robot apparatus 1 includes an articulated arm mechanism 200 having a plurality of joint portions. In the multi-joint arm mechanism 200, one of a plurality of joint portions is constituted by a linear motion expansion / contraction joint. Hereinafter, the articulated arm mechanism 200 will be described.

  FIG. 2 is an external perspective view of the robot apparatus 1 of FIG. The robot apparatus 1 includes a substantially cylindrical base portion 10 and an arm portion 2 connected to the base portion 10. A wrist part 4 is attached to the tip of the arm part 2. An adapter (not shown) is provided on the rotation axis (sixth rotation axis RA6) of the sixth joint part of the wrist part 4. The robot hand 3 is attached via the adapter of the wrist part 4.

  The robot apparatus 1 has a plurality of, here, six joint portions J1, J2, J3, J4, J5, and J6. The plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially arranged from the base portion 10. In general, the first, second, and third joints J1, J2, and J3 are called the root three axes, and the fourth, fifth, and sixth joints J4, J5, and J6 change the posture of the robot hand 3. Called wrist 3 axis. The wrist 4 has fourth, fifth, and sixth joints J4, J5, and J6. At least one of the joint portions J1, J2, and J3 constituting the base three axes is a linear motion expansion / contraction joint. Here, the third joint portion J3 is configured as a linear motion expansion / contraction joint, particularly a joint portion having a relatively long expansion / contraction distance. The arm part 2 is a main component constituting the third joint part J3.

  The first joint portion J1 is a torsion joint centered on the first rotation axis RA1 that is supported, for example, perpendicularly to the base surface. The second joint portion J2 is a bending joint centered on the second rotation axis RA2 arranged perpendicular to the first rotation axis RA1. The third joint portion J3 is a joint in which the arm portion 2 expands and contracts linearly around a third axis (moving axis) RA3 arranged perpendicular to the second rotation axis RA2.

  The fourth joint portion J4 is a torsion joint centered on the fourth rotation axis RA4 that coincides with the third movement axis RA3, and the fifth joint portion J5 is a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4. It is a bending joint centered around. The sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is perpendicular to the fourth rotation axis RA4 and perpendicular to the fifth rotation axis RA5.

  The arm support body (first support portion) 11 constituting the base portion 10 has a cylindrical hollow structure formed around the first rotation axis RA1 of the first joint portion J1. The first joint portion J1 is attached to a fixed base (not shown). When the first joint portion J <b> 1 rotates, the first support portion 11 rotates along with the turning of the arm portion 2. In addition, the 1st support part 11 may be fixed to the grounding surface. In that case, the arm part 2 is provided in a structure that turns independently of the first support part 11. A second support part 12 is connected to the upper part of the first support part 11.

  The second support portion 12 has a hollow structure that is continuous with the first support portion 11. One end of the second support part 12 is attached to the rotating part of the first joint part J1. The other end of the 2nd support part 12 is open | released, and the 3rd support part 13 is rotatably fitted in 2nd rotating shaft RA2 of the 2nd joint part J2. The third support portion 13 has a hollow structure composed of a scale-shaped exterior that communicates with the first support portion 11 and the second support portion. The third support part 13 is accommodated in the second support part 12 and sent out as the second joint part J2 is bent and rotated. The rear part of the arm part 2 constituting the linear joint part J3 (third joint part J3) of the robot apparatus 1 is housed in a hollow structure in which the first support part 11 and the second support part 12 are continuous by contraction thereof. .

  The third support portion 13 is fitted to the lower end portion of the second support portion 12 so as to be rotatable about the second rotation axis RA2 at the lower end portion of the second support portion 13. Thereby, a second joint portion J2 as a bending joint portion around the second rotation axis RA2 is configured. When the second joint portion J2 is rotated, the arm portion 2 rotates in a vertical direction around the second rotation axis RA2 of the second joint portion J2 together with the wrist portion 4 and the robot hand 3, that is, performs a undulating operation.

  The fourth joint portion J4 is a torsional joint having a fourth rotation axis RA4 that typically coincides with the arm central axis along the expansion / contraction direction of the arm portion 2, that is, the third movement axis RA3 of the third joint portion J3. . When the fourth joint portion J4 rotates, the fourth joint portion J4 rotates around the fourth rotation axis RA4 together with the robot hand 3 from the fourth joint portion J4 to the tip. The fifth joint J5 is a bending joint having a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4 of the fourth joint J4. When the fifth joint portion J5 rotates, it rotates up and down together with the robot hand 3 from the fifth joint portion J5 to the tip. The sixth joint J6 is a bending joint having a sixth rotation axis RA6 perpendicular to the fourth rotation axis RA4 of the fourth joint J4 and perpendicular to the fifth rotation axis RA5 of the fifth joint J5. When the sixth joint J6 rotates, the robot hand 3 turns left and right.

  As described above, the robot hand 3 attached to the adapter of the wrist portion 4 includes the first, second, and third joint portions J1. J2. It is moved to an arbitrary position by J3, and is arranged in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6. In particular, the length of the linear motion expansion / contraction distance of the third joint portion J3 enables the robot hand 3 to reach a wide range of objects from the proximity position of the base portion 10 to the remote position. The third joint portion J3 is characterized by the length of the linear motion expansion / contraction distance realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3.

(Description of the linear motion expansion / contraction mechanism) FIG.
Hereinafter, the mechanism of the linear motion expansion joint J3 will be described.
The linear motion expansion / contraction mechanism has an arm portion 2. The arm unit 2 includes a first connection frame row 21 and a second connection frame row 22. The first connected frame row 21 includes a plurality of first connected frames 23. The 1st connection piece 23 is comprised by the substantially flat plate. The front and rear first connecting pieces 23 are connected in a row so as to be freely bent by pins at the end portions of each other. Thereby, the 1st connection top row | line | column 21 is provided with the property which can be bent inside and outside. The second linked frame row 22 includes a plurality of second linked frames 24. The second connecting piece 24 is configured as a short groove having a U-shaped cross section. The front and rear second connecting pieces 24 are connected in a row so as to be freely bent by pins at the bottom end portions of each other. Depending on the cross-sectional shape of the second connecting piece 24 and the connecting position by the pins, the second connecting piece row 22 can be bent inward, but cannot be bent outward.

The first first connected frame 23 in the first connected frame sequence 21 and the first second connected frame 24 in the second connected frame sequence 22 are connected by a connecting frame 27. For example, the connecting piece 27 has a shape obtained by combining the first connecting piece 23 and the second connecting piece 24.
When the arm portion 2 extends, the connecting piece 27 is the starting end, and the first and second connecting piece rows 21 and 22 are sent out from the opening of the third support portion 13. The first and second connection frame rows 21 and 22 are joined to each other in the vicinity of the opening of the third support portion 13. When the rear portions of the first and second connection top rows 21 and 22 are firmly held inside the third support portion 13, the joined state of the first and second connection top rows 21 and 22 is maintained. When the joined state of the first and second connection frame rows 21 and 22 is maintained, the bending of the first connection frame row 21 and the second connection frame row 22 is restricted. A columnar body having a certain rigidity is constituted by the first and second connecting piece rows 21 and 22 joined to each other and restrained from bending. The columnar body refers to a columnar rod body in which the first connection frame row 21 is joined to the second connection frame row 22.

  When the arm portion 2 contracts, the first and second connecting piece rows 21 and 22 are pulled back to the opening of the third support portion 13. The first and second connection frame rows 21 and 22 constituting the columnar body are separated from each other inside the third support portion 13. The separated first and second connecting frame rows 21 and 22 are returned to a bendable state, bent inward in the same direction, and stored in the first support portion 11 in a substantially parallel manner.

(Description of Robot Hand) FIG.
The robot hand 3 includes a gripping mechanism for picking the first work (tube container) 300 by gripping, and a suction mechanism for picking the second work (paper box) 400 and the third work (finished product) 500 by suction. Prepare.

  The robot hand 3 has a hand body 31. The hand main body 31 has a prismatic shape, and includes an attachment portion on an upper end surface thereof. The robot hand 3 is attached to the adapter (joint part J6) of the wrist part 4 through this attachment part. An air chuck box 32 is attached below the hand body 31. The air chuck box 32 has a pair of sliders 34. The pair of sliders 34 are supported so as to be able to approach / separate. The air chuck box 32 has an air cylinder (not shown). A pair of air tubes (not shown) are connected to the air cylinder. Each of the pair of air tubes is connected to a compression type air pump (not shown). A pair of solenoid valves (not shown) are interposed in the pair of air tubes. The opening and closing of one solenoid valve and the opening and closing of the other solenoid valve are controlled in opposite phases by a solenoid valve driver 301 described later. When one solenoid valve is opened and the other solenoid valve is closed, the pair of sliders 34 are moved in the approaching direction. When one solenoid valve is closed and the other solenoid valve is opened, the pair of sliders 34 are moved away from each other. A direction in which the pair of sliders 34 approach / separate is referred to as a slide direction.

  A pair of grip portions 35 are attached to the pair of sliders 34. The holding part 35 has a substantially cylindrical appearance. A pad (suction pad) 40 is attached to the tip of the grip portion 35. The pad 40 is formed into a cylindrical body with, for example, a silicone resin as an elastic material. A bellows shape, preferably a 1.5 step bellows shape is formed on the body portion. A pair of air tubes are connected to the pair of gripping portions 35. Each of the pair of air tubes is connected to the above-described air pump. A piping path is formed in the grip portion 35 from the connection port of the air tube to the tip thereof. Thereby, a piping path from the air pump to the tip of the grip portion 35 is secured. The air pump may be either a compression type or a vacuum type, but here it will be described as a compression pump. The pad 40 of the gripping part 35 and the air pump are connected by two piping paths, a negative pressure path and a positive pressure path. A negative pressure valve and an ejector are interposed in the negative pressure path. A positive pressure valve is interposed in the positive pressure path. The negative pressure valve and the positive pressure valve are electromagnetic valves. The solenoid valve driver 301 controls the opening / closing of the negative pressure valve and the opening / closing of the positive pressure valve in opposite phases.

  A negative pressure path is secured when the negative pressure valve is open and the positive pressure valve is closed. When the negative pressure path is secured, the compressed air generated by the air pump is supplied to the ejector via the negative pressure valve. The ejector has an intake port, a nozzle, and an exhaust port. A rear portion of the pad 40 is connected to the intake port. The compressed air supplied to the ejector is ejected from the nozzle and is discharged from the exhaust port as a bundle of high-speed air. Then, the internal pressure of the chamber of the ejector is lowered, whereby air is sucked from the intake port, and the air sucked from the intake port is exhausted from the exhaust port together with the compressed air. Thereby, a negative pressure is generated in the pad 40 connected to the intake port. A positive pressure path is secured when the positive pressure valve is open and the negative pressure valve is closed. When the positive pressure path is secured, the compressed air generated by the air pump is directly supplied to the pad 40. As a result, a positive pressure is generated in the pad 40.

  When the picking operation by gripping the robot hand 3 is started, the solenoid valve driver 301 controls the opening and closing of the plurality of solenoid valves, and the pair of sliders 34 is moved in the approaching direction, and negative pressure is generated on the pad 40. . The robot hand 3 sucks the first work 300 while holding the first work 300 between the pair of pads 40. By attaching the suction pad 40 to the tip of the grip part 35, the suction force by the pad 40 is added to the grip force of the work by the grip part 35, and the frictional force between the surface of the first work 300 and the contact surface of the pad 40 is obtained. Increases more than that of gripping alone. Accordingly, the holding force of the first workpiece 300 by the robot hand 3 is improved.

  When the release operation of the gripping mechanism of the robot hand 3 is started, the solenoid valve driver 301 controls the opening and closing of the plurality of solenoid valves, the pair of sliders 34 are moved away from each other, and positive pressure is generated on the pad 40. The Thereby, the robot hand 3 can release the first workpiece 300 picked by gripping.

  A pair of suction pads 38 are attached to the pair of sliders 34. The suction pad 38 is formed into a cylindrical body with, for example, a silicone resin as an elastic material. The tip surface of the suction pad 38 is referred to as a suction surface that sucks the workpiece. The body portion of the suction pad 38 is formed into a bellows shape. The suction pad 38 sucks the workpiece in the axial direction of the cylindrical body. The suction pad 38 is attached to the slider 34 so that the suction direction is perpendicular to the sliding direction. A pair of air tubes are connected to the pair of suction pads 38. Each of the pair of air tubes is connected to the above-described air pump. The suction pad and the air pump are connected by two systems of piping paths, a negative pressure path and a positive pressure path. A negative pressure valve and an ejector are interposed in the negative pressure path. A positive pressure valve is interposed in the positive pressure path. The negative pressure valve and the positive pressure valve are electromagnetic valves. The solenoid valve driver 301 controls the opening / closing of the negative pressure valve and the opening / closing of the positive pressure valve in opposite phases. A negative pressure path is secured when the negative pressure valve is open and the positive pressure valve is closed. When the negative pressure path is secured, negative pressure is generated in the suction pad 38. A positive pressure path is secured when the positive pressure valve is open and the negative pressure valve is closed. When the positive pressure path is secured, positive pressure is generated at the suction pad 38.

  When the picking operation by suction of the robot hand 3 is started, the solenoid valve driver 301 controls the opening and closing of the plurality of solenoid valves, and negative pressure is generated at the suction pad 38. When the suction surface of the suction pad 38 is in close contact with the second and third workpieces 400 and 500, the air in the closed space defined by these surfaces and the cylindrical portion of the suction pad 38 is sucked by the ejector. Thereby, the robot hand 3 can pick the second and third workpieces 400 and 500 by suction. When the release operation of the suction mechanism of the robot hand 3 is started, the solenoid valve driver 301 controls the opening and closing of the plurality of solenoid valves, and a positive pressure is generated at the suction pad 38. Thereby, the robot hand 3 can release the second and third workpieces 400 and 500 picked by suction.

(Graphic symbol display of the robot apparatus 1) FIG.
FIG. 3 is a diagram showing the articulated arm mechanism 200 of FIG. In the multi-joint arm mechanism 200, three degrees of freedom of position are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 that constitute the root three axes. In addition, three posture degrees of freedom are realized by the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 constituting the wrist three axes.

  The robot coordinate system Σb is a coordinate system having an arbitrary position on the first rotation axis RA1 of the first joint portion J1 as an origin. In the robot coordinate system Σb, three orthogonal axes (Xb, Yb, Zb) are defined. The Zb axis is an axis parallel to the first rotation axis RA1. The Xb axis and the Yb axis are orthogonal to each other and orthogonal to the Zb axis. The hand coordinate system Σh is a coordinate system having an arbitrary position (hand reference point) of the hand device 3 attached to the wrist 4 as an origin. For example, when the hand device 3 is a two-finger hand, the position of the hand reference point (hereinafter simply referred to as the hand) is defined as the center position between the two fingers. In the hand coordinate system Σh, three orthogonal axes (Xh, Yh, Zh) are defined. The Zh axis is an axis parallel to the sixth rotation axis RA6. The Xh axis and the Yh axis are orthogonal to each other and orthogonal to the Zh axis. For example, the Xh axis is an axis parallel to the front-rear direction of the hand device 3. The hand posture is a rotation angle around each of three orthogonal axes of the hand coordinate system Σh with respect to the robot coordinate system Σb (rotation angle around the Xh axis (yaw angle) α, rotation angle around the Yh axis (pitch angle) β, Zh axis It is given as the surrounding rotation angle (roll angle) γ.

  The first joint portion J1 is disposed between the first support portion 11 and the second support portion 12, and is configured as a torsion joint with the rotation axis RA1 as the center. The rotation axis RA1 is arranged perpendicular to the reference plane BP of the base on which the fixing portion of the first joint portion J1 is installed.

  The 2nd joint part J2 is comprised as a bending joint centering on rotating shaft RA2. The rotation axis RA2 of the second joint portion J2 is provided in parallel to the Xb axis on the spatial coordinate system. The rotation axis RA2 of the second joint portion J2 is provided in a direction perpendicular to the rotation axis RA1 of the first joint portion J1. Further, the second joint portion J2 is offset with respect to the first joint portion J1 in two directions, that is, the direction of the first rotation axis RA1 (Zb axis direction) and the Yb axis direction perpendicular to the first rotation axis RA1. The second support 12 is attached to the first support 11 so that the second joint J2 is offset in the two directions with respect to the first joint J1. A virtual arm rod portion (link portion) that connects the second joint portion J2 to the first joint portion J1 has a crank shape in which two hook-shaped bodies whose tips are bent at right angles are combined. This virtual arm rod part is comprised by the 1st, 2nd support bodies 11 and 12 which have a hollow structure.

  The third joint portion J3 is configured as a linear motion telescopic joint with the movement axis RA3 as the center. The movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2 of the second joint portion J2. In the reference posture in which the rotation angle of the second joint portion J2 is zero degrees, that is, the undulation angle of the arm portion 2 is zero degrees and the arm portion 2 is horizontal, the movement axis RA3 of the third joint portion J3 is the second joint The rotation axis RA2 of the part J2 and the rotation axis RA1 of the first joint part J1 are provided in a direction perpendicular to the rotation axis RA2. On the spatial coordinate system, the movement axis RA3 of the third joint portion J3 is provided in parallel to the Yb axis perpendicular to the Xb axis and the Zb axis. Further, the third joint portion J3 is offset with respect to the second joint portion J2 in two directions, that is, the direction of the rotation axis RA2 (Yb axis direction) and the direction of the Zb axis orthogonal to the movement axis RA3. The third support 13 is attached to the second support 12 so that the third joint J3 is offset in the two directions with respect to the second joint J2. The virtual arm rod portion (link portion) that connects the third joint portion J3 to the second joint portion J2 has a hook-shaped body whose tip is bent vertically. This virtual arm rod portion is constituted by the second and third supports 12 and 13.

The fourth joint portion J4 is configured as a torsion joint with the rotation axis RA4 as the center. The rotation axis RA4 of the fourth joint part J4 is arranged to substantially coincide with the movement axis RA3 of the third joint part J3.
The fifth joint J5 is configured as a bending joint with the rotation axis RA5 as the center. The rotation axis RA5 of the fifth joint portion J5 is disposed so as to be substantially orthogonal to the movement axis RA3 of the third joint portion J3 and the rotation axis RA4 of the fourth joint portion J4.
The sixth joint portion J6 is configured as a torsion joint with the rotation axis RA6 as the center. The rotation axis RA6 of the sixth joint portion J6 is disposed so as to be substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5. The sixth joint J6 is provided to turn the hand device 3 as a hand effector left and right. The sixth joint portion J6 may be configured as a bending joint whose rotation axis RA6 is substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5.

  In this way, one bending joint portion of the base three axes of the plurality of joint portions J1-J6 is replaced with a linear motion expansion / contraction joint portion, and the second joint portion J2 is offset in two directions with respect to the first joint portion J1. Then, by offsetting the third joint portion J3 in two directions with respect to the second joint portion J2, the robot arm mechanism of the robot apparatus 1 according to the present embodiment eliminates the singularity posture structurally.

(Configuration of Robot Device 1) FIG.
FIG. 4 is a block diagram showing a configuration of the robot apparatus 1 of FIG. The robot apparatus 1 includes an articulated arm mechanism 200. Stepping motors are provided as actuators in the joint portions J1, J2, J3, J4, J5, and J6 of the multi-joint arm mechanism 200, respectively. The stepping motor is driven by the driver unit 201. The driver unit 201 drives the stepping motor according to the control signal from the operation control device 100. Specifically, the control signal from the motion control device 100 includes a position command that commands the position (joint variable) or speed of each stepping motor and a torque command that commands the generated torque of each stepping motor. The position command and the torque command are repeatedly supplied from the control device 100 at a constant cycle (control cycle Δt). A rotary encoder 202 that outputs a pulse at every fixed rotation angle is connected to the drive shaft of each stepping motor. The output pulse from the rotary encoder 202 is added / subtracted by a counter. The joint variable is calculated by multiplying the accumulated pulse counted by the counter by the step angle.

  The robot hand 3 includes an electromagnetic valve driver for controlling the opening and closing of a plurality of solenoid valves in order to control the opening and closing of the pair of sliders 34 and the ON / OFF of the vacuum suction function of the pair of pads 40 and the pair of suction pads 38. 301 is provided.

  The operation control apparatus 100 includes a system control unit 101. The system control unit 101 includes a CPU (Central Processing Unit), a semiconductor memory, and the like, and controls the operation control apparatus 100 in an integrated manner. A display control unit 108, a task program storage unit 110, a learning index processing unit 111, and a task controller 112 are connected to the system control unit 101 via a control / data bus 120. A display unit 80 such as a liquid crystal display is connected to the display control unit 108. The driver unit 201 is connected to the operation control apparatus 100 via a driver unit interface (I / F) 109. An operation unit 82 including input devices such as a mouse and a keyboard is connected to the operation control apparatus 100 via an operation unit interface (I / F) 107. Although details will be described later, a passage detection sensor 91, a speed sensor 93, photoelectric sensors 95 and 97, and a pressure sensor 99 are connected to the operation control apparatus 100 via interfaces (I / F) 102-106, respectively.

(Description of Sensors of Operation Control Device) FIG.
A passage detection sensor 91 is connected to the operation control device 100 via a passage detection sensor I / F 102. As the passage detection sensor 91, a photoelectric sensor in which a light projecting unit and a light receiving unit that receives light projected from the light projecting unit and reflected from the work is integrated. The passage detection sensor 91 sends an electrical signal (passage detection signal) indicating passage detection to the operation control device 100 when the light projected from the light projecting unit is blocked, that is, when the first workpiece 300 passes. Send.

  A speed sensor 93 is connected to the operation control apparatus 100 via a speed sensor I / F 103. As the speed sensor 93, for example, an arbitrary sensor such as a rotary / linear encoder is applied. The speed sensor 93 measures the transport speed of the transport line and transmits an electrical signal representing the measured transport speed to the operation control apparatus 100 at a predetermined interval.

  A photoelectric sensor 95 is connected to the operation control apparatus 100 via a photoelectric sensor I / F 104. As the photoelectric sensor 95, a photoelectric sensor in which a light projecting unit and a light receiving unit that receives light projected from the light projecting unit and reflected by the work is integrated. The photoelectric sensor 95 transmits an electric signal to the operation control device 100 at a predetermined cycle. The photoelectric sensor 95 transmits an electrical signal corresponding to the code “0” to the operation control device 100 while the light projected from the light projecting unit is not blocked, and the light projected from the light projecting unit receives the first light. While being blocked by one workpiece 300, an electrical signal corresponding to the code “1” is transmitted to the operation control device 100.

  A photoelectric sensor 97 is connected to the operation control apparatus 100 via a photoelectric sensor I / F 105. The photoelectric sensor 97 is a photoelectric sensor in which a light projecting unit and a light receiving unit that receives light projected from the light projecting unit and reflected from the work are integrated. The photoelectric sensor 97 transmits an electrical signal to the operation control device 100 at a predetermined cycle. The photoelectric sensor 97 transmits an electrical signal corresponding to the code “0” to the operation control device 100 while the light projected from the light projecting unit is not blocked, and the light projected from the light projecting unit receives the first light. While being blocked by the three workpieces 500, an electrical signal corresponding to the code “1” is transmitted to the motion control device 100.

  A pressure sensor 99 is connected to the operation control apparatus 100 via a pressure sensor I / F 106. The pressure sensor 99 measures the internal pressure of the suction unit 38 of the robot hand 3 and transmits an electrical signal representing the measured pressure value to the operation control device 100 at a predetermined interval.

  An operation unit 82 is connected to the operation control apparatus 100 via an operation unit I / F 107. The operation unit 82 functions as an input interface for an operator to input an instruction to the robot apparatus 1. The operation unit 82 includes input devices such as a mouse, a keyboard, and a touch panel. In addition, the operation unit 82 includes a restart switch for inputting an instruction to restart a task that has been interrupted in a task program switching process described later.

A display unit 80 is connected to the operation control apparatus 100. Examples of the display unit 80 typically include a CRT display, a liquid crystal display, an organic EL display, a plasma display, and the like. The system control unit 101 generates data on the display screen of the worker's proficiency index and writes it in the frame memory of the display control unit 108. The display control unit 108 reads out the data written in the frame memory and displays it on the display unit 80.
A driver unit 201 is connected to the operation control apparatus 100 via a driver unit I / F 109.

(Description of Task Program Storage Unit of Operation Control Device) FIG.
The task program storage unit 110 stores data files of a plurality of task programs. A code representing the proficiency level is associated with each of the plurality of task programs. The task program is provided by prior teaching. The task program is a sequence program in which a procedure for causing the robot apparatus 1 to execute a task is described along with a time scale. The task program includes the movement trajectory of the hand reference point or wrist reference point (hereinafter referred to as the hand reference point), the work point on the movement trajectory, the work content at the work point, the work time, the travel time between work points, etc. Is described. The work point is given by the position of the hand reference point of the robot hand 3 and the hand posture of the robot hand 3. These are given in the robot coordinate system. The work point may be given as a joint variable vector. The joint variable vector means six variables of the joint portions J1-J6, that is, six variables of the rotation angles of the rotary joint portions J1, J2, J4-J6 and the arm expansion / contraction distance of the linear motion expansion / contraction joint portion J3.

  The proficiency index processing unit 111 calculates a proficiency index value as basic information for improving the work proficiency of the worker based on the outputs of the photoelectric sensors 95 and 97. Typically, an operator takes the tube 300 from the shooter 60, packs it in a box, and measures the time taken to put it on the shooter 70 based on the outputs of the photoelectric sensors 95 and 97. It can be said that the shorter the time), the higher the skill level of the worker. Details of the learning index calculation processing by the learning index processing unit 111 will be described later.

  The task controller 112 generates a command value for each control cycle Δt in accordance with the task program loaded by the system control unit 101, and transmits the generated command value to the driver unit 201 and the solenoid valve driver 301.

(Description of a plurality of task programs stored in the task program storage unit) FIG.
FIG. 5 is a plan view showing an outline of three types of task programs stored in the task program storage unit 110 of FIG. The task program storage unit 110 stores data of a plurality of, here, three task programs. In each of the plurality of task programs, a procedure for executing one or more partial tasks is described, and the partial tasks described in each of the plurality of task programs are different from each other. The task program is selected so that the task handled by the robot apparatus 1 decreases as the worker's work proficiency level increases.

  Specifically, the first task program describes a procedure for executing the first partial task, the second partial task, and the sixth partial task, and is associated with the proficiency level “low”. When the first task program is loaded, among the entire tasks, the robot apparatus 1 supports the worker's work by executing the first, second, and sixth partial tasks. The worker only needs to perform work corresponding to the third, fourth, and fifth partial tasks. The entire task is completed by the cooperative work between the robot apparatus 1 and the worker. The second task program describes a procedure for executing the first partial task and the sixth partial task, and is associated with the proficiency level “medium”. In the third task program, a procedure for executing the sixth partial task is described, and is associated with the proficiency level “high”.

(Explanation of task program proficiency level “low” overall task) FIG.
FIG. 6 is a plan view showing a hand trajectory of the robot apparatus 1 according to the present embodiment. FIG. 6 is a plan view showing the trajectory described in the first task program of FIG. 5 and the work points on the trajectory. The first task program is associated with the proficiency level “low” and is loaded when the proficiency level of the unit work of the worker is low. In the first task program, the start point (end point) of the task is expressed as P0, and the work points are expressed as P1, P2, P3, P4, P5, P6, and P7. These points are described in the robot coordinate system of the robot apparatus 1, for example. The work points P1 and P2 are set above the line center line. The work point P2 is set downstream of the transport line from the work point P1. The work point P3 is set on the carry-out shooter 60. The work point P4 is set on the stock table 6. The work point P5 is set within a range (within the work range) that the worker can reach. The work point P6 is set above the carry-in position on the carry-in shooter 70. The work point P7 is set downstream of the transport line from the work point P2.

  The work content is described in the task program so that a predetermined work is performed by the robot apparatus 1 at the work points P1, P3, P4, and P6. Specifically, as the work content, a picking operation by gripping is described at the work point P1. The work point P3 describes a release operation by the gripping mechanism. In the work points P4 and P6, a picking operation by suction is described. The work point P7 describes the release operation by the suction mechanism.

  When the first task program (low level) is loaded into the task controller 112 by the system control unit 101, the robot apparatus 1 executes the first, second, and sixth partial tasks according to the control of the task controller 112.

  When the passage detection signal is output from the passage detection sensor 91, the task controller 112 moves the hand reference point from the start point P0 to the work point P1, P2, P3, P4 to P5. A picking operation by gripping the robot hand 3 is performed from the work point P1 to the work point P2, and a release operation of the gripping mechanism is performed at the work point P3. By the operation of the robot apparatus 1 from the work point P1 to the work point P3, the first partial task is completed, and the first work (tube container) 300 transported on the transport line is transported onto the carry-out shooter 60.

  A picking operation by suction of the robot hand 3 is performed at the work point P4 and moved to the work point P5. The task controller 112 returns the hand reference point from the work point P5 to the start point P0 via the work points P6 and P7 when the pressure value measured by the pressure sensor 99 decreases by a predetermined width. The operation of the robot apparatus 1 from the work point P4 to the work point P5 completes the second partial task, and the second work 400 before assembly is transferred from the stock table 6 to the operator.

  At the work point P6, the picking operation by the suction of the robot hand 3 is performed, and at the work point P7, the suction mechanism is released. By the operation of the robot apparatus 1 from the work point P6 to the work point P7, the sixth partial task is completed, and the third work 500 placed on the carry-in shooter 70 is returned to the transfer line.

  When the second task program (middle level) is loaded into the task controller 112 by the system control unit 101, the robot apparatus 1 executes the first and sixth partial tasks according to the control of the task controller 112. When the passage detection signal is output from the passage detection sensor 91, the task controller 112 returns the hand reference point from the start point P0 to the start point P0 via the work points P1, P2, P3, P6, and P7. Let A picking operation by gripping the robot hand 3 is performed from the work point P1 to the work point P2, and a release operation of the gripping mechanism is performed at the work point P3. By the operation of the robot apparatus 1 from the work point P1 to the work point P3, the first partial task is completed, and the first work (tube container) 300 transported on the transport line is transported onto the carry-out shooter 60. A picking operation by suction of the robot hand 3 is performed at the work point P6, and a release operation of the suction mechanism is performed at the work point P7. By the operation of the robot apparatus 1 from the work point P6 to the work point P7, the sixth partial task is completed, and the third work 500 placed on the carry-in shooter 70 is returned to the transfer line.

  When the third task program (high level) is loaded into the task controller 112 by the system control unit 101, the robot apparatus 1 executes the sixth partial task according to the control of the task controller 112. When the code associated with the electrical signal output from the photoelectric sensor 97 changes from “0” to “1”, the task controller 112 changes the hand reference point from the start point near the work point P6. Return to the starting point via work points P6 and P7. A picking operation by suction of the robot hand 3 is performed at the work point P6, and a release operation of the suction mechanism is performed at the work point P7. By the operation of the robot apparatus 1 from the work point P6 to the work point P7, the sixth partial task is completed, and the third work 500 placed on the carry-in shooter 70 is returned to the transfer line.

(Detailed description of the proficiency index processing unit) FIG.
FIG. 7 is a flowchart showing a learning index calculation processing procedure by the learning index processing unit 111 of FIG. The entire task (the entire operation of taking the tube 300 from the transfer line and filling it into an empty box and returning the box to the transfer line) is repeatedly performed in cooperation with the operator and the robot apparatus 1.

(Process S11)
Based on the output of the photoelectric sensor 95, the start time Tc1 is measured. Specifically, the time Tc1 when the code associated with the voltage signal output from the photoelectric sensor 95 changes from “1” to “0” is measured. This time Tc1 is the time when the operator picks up the first workpiece 300 that has been placed at the unloading position of the shooter 60. After the operator picks up the first workpiece 300, the worker starts unit work. That is, the time Tc1 is substantially equivalent to the start time when the worker starts the unit work. This unit work is a series of work units from taking the tube 300 from the shooter 60, filling it into an empty box, and placing the box on the shooter 70.

(Process S12)
Based on the output of the photoelectric sensor 97, the end time Tc2 is measured. Specifically, the time Tc2 when the code associated with the voltage signal output from the photoelectric sensor 97 changes from “0” to “1” is measured. This time Tc2 is the time when the third workpiece 500 placed at an arbitrary position of the carry-in shooter 70 is conveyed to the carry-in position by the operator. After the operator picks up the first workpiece 300, the worker packs the first workpiece 300 into the second workpiece 400, places the third workpiece 500 that has been boxed in an arbitrary position on the carry-in shooter 70, and performs unit work Exit. That is, the time Tc2 is substantially equivalent to the end time when the worker finishes the unit work.

(Process S13)
A unit work time Ttax is calculated based on the outputs of the photoelectric sensors 95 and 97. Specifically, the elapsed time Ttax from the start time Tc1 to the end time Tc2 is calculated by calculating the time length from the start time Tc1 measured in the step S11 to the end time Tc2 measured in the step S12. This elapsed time Ttax is substantially equivalent to the unit work time from the start of the unit work to the end thereof.

(Step S14)
Data of the unit work time Ttax calculated in step S13 is stored in a temporary storage unit such as a RAM of the learning index processing unit 111. The data of the unit work time Ttax is stored in a main storage device (not shown) with the measurement date and time, the number of times of collection, the robot identification number, and the worker identification number added as attribute information.

(Process S15)
Until the collection condition is satisfied, the processes from step S11 to step S14 are repeated. When the collection condition is satisfied, the process proceeds to the next step S16. For example, the collection condition is defined by the number of collections or the collection period. The number of times of collection is set to 10 times, for example, and the collection period is set in advance to, for example, the accumulated work time obtained by multiplying the working hours (8 hours) for one day of the worker by 5 days. Here, description will be made assuming that the collection condition ends when the number of collection times reaches 10. The process from step S11 to step S14 is repeated 10 times, that is, the unit work is performed 10 times by the worker, and the unit work time (Ttax1, Ttax2,..., Ttax9, Ttax10) for 10 times is collected. . The unit work time collected for the first time is expressed as Ttax1. The unit work time Ttax1 represents the work time of the unit work performed by the worker for the first time after starting work.

(Process S16)
Based on the unit work time (Ttax1, Ttax2,..., Ttax9, Ttax10) collected in the processes from step S11 to step S15, a proficiency index is calculated. Examples of the learning index include average work time Tave, longest work time Tlong, shortest work time Tshort, and standard deviation Tσ of the learning index. One of these may be calculated as a proficiency index, or some of these may be calculated. Here, the average work time Tave, the longest work time Tlong, and the shortest work time Tshort are calculated as learning indexes.

  The timing at which the learning index calculation processing by the learning index processing unit 111 described in FIG. 7 is executed is set in advance by the operator. For example, the learning index calculation process is set to be automatically repeated after the task is started. The learning index calculation process is repeatedly executed at a predetermined elapsed time, for example, once every 30 minutes. The learning index calculation process is repeatedly executed every time the collection condition is satisfied. The learning index calculation process may be started when the operation unit 82 is provided with a start button for the learning index calculation process and the operator presses the start button.

(Detailed description of the proficiency index processing unit) FIGS. 8 and 9
FIG. 8 is a flowchart showing a task program change processing procedure by the system control unit 101 of FIG. Here, the second task program (middle level) is loaded in the task controller 112. The learning index processing unit 111 calculates average working time, longest working time, and shortest working time as learning indices.

(Process S21)
In practice, during the work period, a learning index confirmation screen is displayed on the display unit 80 in response to a learning confirmation processing instruction input by the operator via the operation unit 82. FIG. 9 is a diagram showing a display screen example displayed on the display unit 80 in step S21 of FIG. In the display unit 80, an average work time, a longest work time, and a shortest work time are used as proficiency indicators, and information for specifying a task program that is currently operating, and a plurality of tasks that can be selected by the operator, here three kinds of tasks A program list is displayed with each attribute information. The attribute information is a proficiency level (high level, medium level, low level) supported by each task program. Other attribute information, for example, a list of partial tasks corresponding to each task program, and specific task contents such as trajectories, procedures, work contents described in each task program may be displayed. .

(Step S22)
Three levels of proficiency (high, medium, and low) are selected by the operator through the operation unit 82 with reference to the average work time, the longest work time, and the shortest work time as learning indicators of the worker.

(Step S23)
The selected proficiency level is compared with the proficiency level of the currently running task program. When the selected proficiency level is not different from the proficiency level of the currently active task program, that is, when the proficiency level of the worker is maintained unchanged, the task program change processing by the system control unit 101 is terminated. . When the selected proficiency level is different from the proficiency level of the currently active task program, that is, when the proficiency level of the worker is changed, the next step S24 is executed.

(Process S24)
When changing the task program, the system control unit 101 interrupts the work (task) for safety. A control signal indicating an interruption instruction is output from the system control unit 101 to the task controller 112.

(Step S25)
Under the control of the system control unit 101, a task program corresponding to the proficiency level selected in step S22 is loaded from the task program storage unit 110 to the task controller 112.

(Step S26)
The system control unit 101 displays a task change guide on the display unit 80 in order to notify the worker in advance that the task program is changed, that is, the work range in which the worker works is changed. .

(Step S27)
The system control unit 101 determines that the predetermined time including the notification period prepared for the worker to recognize that the work range is changed elapses from the work (task) interruption time in S24 or the operation unit 82. The robot apparatus 1 is placed in a standby state until an operation resumption command is input via the operator.

(Step S28)
When a predetermined time has elapsed since the interruption of the work (task), or when a restart instruction is input by the operator via the operation unit 82, a new notification is sent from the system control unit 101 to the task controller 112. A control signal for restarting the task is output in accordance with the loaded task program, and work (task) is restarted.

(Description of Task Time Dynamic Change Processing) FIG.
FIG. 10 is a flowchart showing a processing procedure for dynamically changing the task time on the task program by the system control unit 101 of FIG. This process is also executed during the actual work period.

(Process S31)
First, work (task) is started. This task will be described on the assumption that the robot apparatus 1 is operating with a task program of a proficiency level (medium).

(Process S32)
The learning index processing unit 111 calculates an average work time Tave, which is typically selected from the learning indices in advance as basic data for task time change.

(Step S33)
For example, a lower limit and an upper limit of the working time indicating that the proficiency level is medium are set in advance, and a range from the lower limit to the upper limit (referred to as a standard range) is calculated by the system control unit 101 in S32. The average working times Tave are compared. When the average work time Tave is within the standard range, the process returns to step S32 and waits for completion of calculation of the average work time Tave of the next cycle.

  When the worker's work is slow and the skill level of the worker is low, the average work time Tave exceeds the standard range, that is, the average work time Tave becomes longer than the upper limit of the standard range. At that time, the process proceeds to step S34. When the worker's work is fast and the skill level of the worker is high, the average work time Tave is less than the standard range, that is, the average work time Tave is shorter than the lower limit of the standard range. At that time, the process proceeds to step S35.

(Process S34)
When the average work time Tave is longer than the upper limit of the standard range, it means that the work time that the worker spends on the unit work is longer on average on average than the worker with a medium proficiency level. Accordingly, the loaded task program of the proficiency level (medium) is corrected, and the task time TTstan of the first partial task among the partial tasks supported by the robot apparatus 1 is changed to a task time TTshort shorter than that. . For example, the time required to move the hand reference point of the hand 3 of the robot arm mechanism 2 from the starting point P0 to P3 via the work points P1 and P2, is shortened from TTstan to TTshort.

  TTshort may be a predetermined fixed value, or may be a variable value that varies according to the average work time Tave. When TTshort is set to a variable value, for example, the task time TTshort is calculated by the average intermediate time Tave and the task time TTshort, which is an intermediate value in the standard range, that is, an intermediate skill level In this case, the average work time and the task time TTstan are corrected so as to be within the total time.

  By correcting the task time of the first partial task by the robot apparatus 1 to be short, it is possible to increase the time that the worker can spend on unit work, thereby suppressing the extension of the task time of the entire task. .

(Process S35)
When the average work time Tave is shorter than the lower limit of the standard range, it means that the work time that the worker spends on the unit work is on average shorter than that of the medium-level worker. Therefore, the loaded task program of the medium level is modified, and the task time TTstan of the first partial task among the partial tasks supported by the robot apparatus 1 is changed to a task time TTlong longer than that. . For example, the time required to move the hand reference point of the hand 3 of the robot arm mechanism 2 from the start point P0 to P3 via the work points P1 and P2, is extended from TTstan to TTlong.

  TTlong may be a predetermined fixed value, or may be a variable value that varies according to the average work time Tave. When TTlong is set to a variable value, for example, the task time TTlong is the sum of the average work time Tave and the task time TTlong, which is an intermediate value in the standard range; In this case, the average work time and the task time TTstan are corrected so as to be about the total time.

  By correcting the task time of the first partial task to be long, the robot apparatus 1 grips the first work (tube) 300 on the transfer line with the hand 3 of the robot arm mechanism 2 and transfers it to the work point P3. The operation can be executed at a low speed. As a result, the probability that the first work 300 will drop off before the first work 300 picked on the transport line is transported to the work point P3 can be reduced more than that when the moving speed is high. It becomes possible. Further, by correcting the task time of the first partial task, it is possible to lengthen the period of the picking operation by gripping the first work 300, and to improve the success probability of picking the first work 300 on the transfer line. be able to.

(Process S36)
The processes of steps S32-S34 and S35 are repeated until the work is completed. During the work period, the task time of the robot apparatus is dynamically changed according to the fluctuation of the work speed of the worker. The worker cannot continuously work at a constant speed during the work period. Even in this case, the work time given to the worker by dynamically changing the task time of the robotic device is reduced. Thus, it is possible to suppress fluctuations in the overall task time. That means that when multiple workers with different proficiency levels are lined up on the transport line and repeat the work, the overall work efficiency of the multiple workers can be improved for workers with relatively high proficiency levels. To do.

  The robot apparatus 1 according to the present embodiment replaces the elbow joint with a linear motion expansion / contraction joint, for example, offsets the second joint portion J2 in two directions with respect to the first joint portion J1, and with respect to the second joint portion J2. Thus, the singularity posture is structurally eliminated by offsetting the third joint portion J3 in two directions. Thereby, the operator can only be aware of the turning of the arm unit 2 and can be said to have high movement predictability and high safety. Further, since the arm portion 2 of the linear motion expansion / contraction joint portion J3 moves in a linear category from the hand tip to the base portion 10, the operator can easily predict the movement of the arm portion 2 from the movement of the hand tip. In addition, it is not necessary to perform a sharp turning operation to avoid a singular point. From the above, the robot apparatus 1 according to the present embodiment does not require a safety fence and can work in cooperation with an operator.

  The robot apparatus 1 according to the present embodiment divides the entire task into a plurality of partial tasks, and supports at least one partial task among the plurality of partial tasks. The partial task assigned to the robot apparatus 1 can be changed according to the work efficiency of the worker. Specifically, the robot apparatus 1 stores a plurality of task programs respectively corresponding to a plurality of proficiency levels. The plurality of task programs include different partial tasks. The robot apparatus 1 calculates a proficiency index representing the work efficiency of the worker during actual work, and displays the calculation result on the display unit 80. The operator refers to the displayed proficiency index, and selects the proficiency level of the operator from a plurality of proficiency levels. The robot apparatus 1 reads out a task program corresponding to the proficiency level selected by the operator from the task program storage unit 110 and loads it into the task controller 112. Thereby, the robot apparatus 1 can change the partial task in charge according to the work efficiency of the worker who is actually working. Here, the task program is changed according to the proficiency level selected by the operator. However, the task program may be automatically changed according to the calculated proficiency index.

  Also, the robot apparatus 1 according to the present embodiment divides the entire task into a plurality of partial tasks, and supports at least one partial task among the plurality of partial tasks. The task time of the partial task that the robot apparatus 1 is in charge of can be dynamically corrected during the actual operation according to the work efficiency (skill level) of the worker. Specifically, during actual work, the robot apparatus 1 calculates a proficiency index representing the work efficiency of the worker, for example, an average work time, and compares the average work time with a preset standard range. . The task program is modified to change the task time of the partial task in charge of the robot apparatus 1 depending on whether the average work time is within the standard range, below the standard range, or above the standard range. When the average work time is within the standard range, that is, when the skill level of the worker is “medium”, the task time of the robot apparatus 1 is corrected to the standard time. When the average work time exceeds the standard range, that is, when the worker's proficiency level is “low”, the task time of the robot apparatus 1 is corrected to be shorter than the standard time, and the time that the worker spends on the work Increase. When the average work time is below the standard range, that is, when the worker's proficiency level is “high”, the task time of the robot device 1 is corrected to be longer than the standard time, and the work accuracy of the robot device 1 is improved. Let

  As described above, the robot apparatus 1 according to the present embodiment can increase or decrease the partial tasks in charge according to the proficiency level (working efficiency) of cooperating workers. Further, the robot apparatus 1 according to the present embodiment can increase or decrease the task time of the partial task in charge according to the proficiency level (working efficiency) of the collaborating workers. For example, even if a plurality of workers with different proficiency levels are arranged in line work, the worker is changed, or the worker temporarily lowers work efficiency for some reason. The overall work efficiency of the line work can be maintained by changing the partial task assigned to the robot apparatus 1 or by correcting the task time of the partial task assigned to the robot apparatus 1.

  In the above description, it has been described that the task time of the task in charge of the robot apparatus is dynamically changed in accordance with the proficiency level of the worker. However, the change target is not limited to the task time. For example, the number of workpieces (tubes) picked at once with a hand may be changed according to the proficiency level of the worker. When the proficiency level of the worker is medium, pick two pieces at a time with the hand. When the proficiency level of the worker is high, pick three pieces at once with the hand and work. If the proficiency level is low, pick one workpiece at a time with the hand.

  Also, when the level of proficiency of workers is medium or high, when releasing a workpiece (tube) picked with a hand to a shooter or the like, the direction of releasing the workpiece is not aligned, while the proficiency level of the worker May be added to the robot apparatus so that the surface side of the workpiece is always aligned in one direction.

  Of course, in addition to dynamically changing the task time of the task that the robot device is in charge of according to the level of proficiency of the worker, the number of workpieces picked at once by the hand and / or the direction of release of the workpieces May be used.

  In the above description, the worker's working time or the average time thereof is calculated as an index for measuring the proficiency level of the worker. However, the present invention is not limited to this. For example, the indicators for measuring the proficiency level of workers include the number of workpieces retained, the ratio of the number of non-defective workpieces to the number of workpieces (yield), and the usage rate of auxiliary machines that assist workers such as empty box assembly machines. May be.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 80 ... Display part, 82 ... Operation part, 91 ... Passage detection sensor, 93 ... Speed sensor, 95, 97 ... Photoelectric sensor, 99 ... Pressure sensor, 100 ... Operation control apparatus, 101 ... System control part, 102 ... Passage detection sensor I / F, 103 ... Speed sensor I / F, 104, 105 ... Photoelectric sensor I / F, 106 ... Pressure sensor I / F, 107 ... Operation unit I / F, 108 ... Display control unit, 109 ... Driver unit I / F F, 110 ... task program storage unit, 111 ... learning index processing unit, 112 ... task controller, 200 ... articulated arm mechanism, 201 ... driver unit (joint part J1-J6), 202 ... rotary encoder, 301 ... solenoid valve driver .

Claims (12)

In a robotic device that performs tasks in cooperation with workers,
The task is composed of a plurality of partial tasks, and the plurality of partial tasks are shared between the robot apparatus and the worker,
A plurality of task programs in which the one or more partial tasks are different are stored in which at least a hand trajectory, a hand movement, and a procedure for executing one or two or more partial tasks in charge of the robot apparatus are described. A storage unit;
A control unit that controls execution of one or more partial tasks handled by the robot device according to a task program of the plurality of task programs selectively read from the storage unit; Robot device to do.   The robot apparatus according to claim 1, further comprising a measuring unit that measures a work time required to complete one or more partial tasks handled by the worker.   The robot apparatus according to claim 2, further comprising a display unit that displays at least one of the measured work time and an index value derived from the work time together with an attribute list of the plurality of task programs.   The robot apparatus according to claim 3, further comprising an operation unit that allows an operator to select one task program from the plurality of task programs.   3. The apparatus according to claim 2, further comprising a selection unit that selects one task program from the plurality of task programs based on at least one of the measured work time and an index value derived from the work time. The robot apparatus described.   The articulated arm mechanism includes a base, a joint for torsional rotation about the first axis, and a joint for rotation by bending about a second axis perpendicular to the first axis, with respect to a substantially center line of the base 2. The robot apparatus according to claim 1, further comprising: a joint portion for linear expansion and contraction along a third axis orthogonal to the second axis. In a robotic device that performs tasks in cooperation with workers,
The task is composed of a plurality of partial tasks, and the plurality of partial tasks are shared between the robot apparatus and the worker,
A storage unit for storing a task program in which a hand trajectory, a hand motion and a procedure for executing one or more partial tasks in charge of the robot apparatus are described together with a task time;
A control unit that controls execution of one or more partial tasks handled by the robot apparatus according to the task program read from the storage unit;
A measuring unit that measures the working time required to complete one or more partial tasks handled by the worker;
The robot apparatus, wherein the control unit changes the task time on the task program based on at least one of the measured work time and an index value derived from the work time.   The robot apparatus according to claim 7, wherein the controller shortens the task time when the measured work time or the index value is longer than a standard value.   8. The robot apparatus according to claim 7, wherein the control unit extends the task time when the measured work time or the index value is shorter than a standard value.   The robot apparatus according to claim 8 or 9, wherein the control unit maintains the task time when the measured work time or the index value is within a standard range.   The robot apparatus according to claim 7, wherein the control unit dynamically changes the task time while executing a task in cooperation with the worker. In a robotic device that performs tasks in cooperation with workers,
The task is composed of a plurality of partial tasks, and the plurality of partial tasks are shared between the robot apparatus and the worker,
A storage unit for storing a task program in which a hand trajectory, a hand motion and a procedure for executing one or more partial tasks in charge of the robot apparatus are described together with a task time;
A control unit that controls execution of one or more partial tasks handled by the robot apparatus in accordance with the task program read from the storage unit and dynamically changes the task time on the task program. The robot apparatus characterized by doing.

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