JP2021098248A - Control method for robot system, robot system, manufacturing method for article using robot system, control program, and recording medium - Google Patents

Abstract

To provide a control method of a robot system for improving work efficiency of work for exchanging a robot device and an operator.SOLUTION: A robot system comprises a robot device, a sensor for detecting presence of an operator in a first area, and a control device for controlling the robot device. In a control method of the robot system, when the sensor detects the operator in the first area, the control device controls the robot device so that a predetermined part of the robot device approaches the operator.SELECTED DRAWING: Figure 3

Description

The present invention relates to a robot system.

In recent years, robot devices have been used in factories for the purpose of improving work efficiency. Above all, there is an increasing demand for collaborative robots that can work in collaboration with workers by ensuring the safety around the robot device. In such a collaborative robot, there is work in which the robot device and the worker interact with each other, such as delivery of an object such as a work for manufacturing an article between the robot device and the worker. When performing the above-mentioned work, in Patent Document 1 below, the work is once placed on the delivery section provided with the sensor by the robot device, and the worker receives the work from the delivery section. Further, when the worker takes out the work from the delivery part, the sensor of the delivery part detects the worker and limits the operation of the robot device.

Japanese Unexamined Patent Publication No. 2014-180725

However, the method described in Patent Document 1 has a problem that the work efficiency is lowered because the work is once placed on the delivery portion by the robot device and then received by the worker.

Further, since the work can be received only at the delivery part, the amount of movement of the worker during the work increases, and the work efficiency further decreases.

In view of the above problems, an object of the present invention is to provide a control method for a robot system that improves work efficiency.

In order to solve the above problems, the present invention is a control method for a robot system including a robot device, a sensor for detecting the presence of a worker in a first area, and a control device for controlling the robot device. The control device is characterized in that, when the operator is detected in the first area by the sensor, the control device controls a predetermined portion of the robot device so as to approach the worker. It was adopted.

According to the present invention, work efficiency can be improved.

It is a schematic diagram of the robot system 100 in the embodiment. It is a control block diagram of the robot system 100 in an embodiment. It is a flowchart in an embodiment. It is a state diagram in FIG. It is a state diagram in FIG. It is a state diagram in the modification of the embodiment. It is a schematic diagram of the robot system 100 in the embodiment. It is a flowchart in an embodiment. It is a state diagram in FIG. 7. It is a schematic diagram of the robot system 100 in the embodiment. It is a flowchart in an embodiment. It is a state diagram in FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. The configuration shown below is merely an example, and for example, a person skilled in the art can appropriately change the detailed configuration without departing from the spirit of the present invention. Further, the numerical values taken up in the present embodiment are reference numerical values and do not limit the present invention.

(1st Embodiment FIG. 1 is a schematic view which showed the robot system 100 in this embodiment. FIG. 1A is a plan view of the XYZ plane of the XYZ coordinate system. FIG. 1B is the XYZ. It is a plan view of the YZ plane of the coordinate system. In the following drawings, the arrows X, Y, Z in the drawing indicate the coordinate system of the entire robot system 100. Generally, in a robot system using a robot device, XYZ three dimensions are shown. As the coordinate system, in addition to the global coordinate system of the entire installation environment, a local coordinate system may be appropriately used for the robot hand, fingers, etc. depending on the convenience of control. In the present embodiment, the coordinate system of the entire robot system 100 is used. XYZ, the local coordinate system shall be represented by xyz.

As shown in FIG. 1, the robot system 100 includes an articulated robot arm main body 200, a robot hand main body 300, and a control device 400 that controls the operation of the entire robot device. Further, an external input device 500 is provided as a teaching device for transmitting teaching data to the control device 400. An example of the external input device 500 is a teaching pendant, which is used by an operator 600 to specify the positions of the robot arm main body 200 and the robot hand main body 300.

In the present embodiment, the case where the end effector provided at the tip of the robot arm main body 200 is the robot hand main body 300 will be described, but the present invention is not limited to this, and a tool or the like may be used.

The link 201 of the robot arm main body 200 is provided on the base 210. Further, the robot arm main body 200 has a plurality of joints, for example, three joints (three axes). The robot arm main body 200 has a plurality of (three) motors 211 to 213 that rotationally drive the joints J1 to J3 around each rotation axis.

Further, an arm motor driver 240 for controlling the motors 211 to 213 is provided inside the base 210. In the present embodiment, the embodiment in which the arm motor driver 240 is provided on the base 210 will be described as an example, but the arm motor driver 240 may be provided on each of the motors 211 to 213 or the control device 400.

In the robot arm main body 200, a plurality of links 201 and 202 and a robot hand main body 300 are rotatably connected by joints J1 to J3. The links 201 and 202 are connected in series in order from the base 210, which is the base end side of the robot arm body 200, to the robot hand body 300, which is the tip end side.

From the figure, the base 210 of the robot arm main body 200 and the link 201 are connected by a joint J1 that rotates in the direction of the arrow around the X axis. The rotation of the motor 211 is transmitted to the link 201 by a transmission mechanism (not shown), and the link 201 can rotate about the X-axis in the direction of the arrow in the figure.

The link 201 and the link 202 of the robot arm main body 200 are connected by a joint J2 that rotates in the direction of the arrow around the Y axis. The rotation of the motor 212 is transmitted to the link 202 by a transmission mechanism (not shown), and the link 202 can rotate around the Y axis in the direction of the arrow in the figure.

The link 202 of the robot arm main body 200 and the robot hand main body 300 are connected by a joint J3 that rotates in the direction of an arrow around a predetermined axis on the XZ plane. The rotation of the motor 213 is transmitted to the robot hand body 300 by a transmission mechanism (not shown), and the robot hand body 300 can rotate about an axis in the direction of the arrow in the figure.

The robot hand body 300 grips an object such as a part or a tool. The robot hand main body 300 of the present embodiment opens and closes the finger portion by a drive mechanism (not shown) to grip or open the work W placed on the work table 700. It suffices if the work W can be gripped so as not to be displaced relative to the robot arm main body 200.

As described above, the robot arm main body 200 directs the end effector (robot hand main body 300) of the robot arm main body 200 to a predetermined direction in any three-dimensional posture at an arbitrary three-dimensional position as long as it is within the movable range. Can be done. The robot arm main body 200 can move the robot hand main body 300 to an arbitrary position to perform a desired work. The desired work is, for example, a work of grasping the work W, assembling it to a predetermined work, manufacturing an article, passing the work W to the worker 600, and the like.

That is, the robot hand body 300, which is an end effector, is called a hand regardless of whether the robot hand body 300 is holding an object or not.

The robot hand body 300 may be, for example, an end effector such as a pneumatically driven air hand. Further, the robot hand body 300 can be attached to the link 202 by a semi-fixed means such as a screw stopper, or can be attached by a detachable means such as a latch stopper. In particular, when the robot hand body 300 is removable, a method of controlling the robot arm body 200 to attach / detach or replace a plurality of types of robot hand bodies 300 arranged at supply positions by the operation of the robot arm body 200 itself. Is also possible.

Next, the area sensor 800 in this embodiment will be described with reference to FIGS. 1 (a) and 1 (b). From FIG. 1B, the area sensor 800 detects the position of the worker 600 around the robot arm system 100 in a non-contact and real-time manner, and transmits the position information of the worker 600 to the control device 400.

The area sensor 800 outputs invisible light radially so as to cover the areas 801 to 803 of FIG. 1B, and the worker 600 blocks the output light to detect the position of the worker 600. ..

Further, the area sensor 800 determines in which area of the areas 801 to 803 the worker 600 exists based on the detected position of the worker 600, and transmits the determination result to the control device 400. In the present embodiment, the area sensor 800 determines in which area the worker 600 exists, but the control device 400 may determine. Further, in the present embodiment, the area 801 is treated as an area for stopping the robot system 100, the area 802 is treated as an area where the worker 600 and the robot system 100 cooperate, and the area 803 is treated as an area for detecting the worker 600. Details of each area will be described later.

FIG. 2 is a block diagram showing the configuration of the robot system 100 according to the present embodiment. The control device 400 is composed of a computer, and includes a CPU (Central Processing Unit) 401 as a control unit (processing unit).

Further, the control device 400 includes a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, and an HDD (Hard Disk Drive) 404 as storage units. Further, the control device 400 includes a recording disk drive 405, and is communicably connected to each device via the bus 410, various interfaces 406 to 409, and 411 to 413.

A ROM 402, a RAM 403, an HDD 404, a recording disk drive 405, and various interfaces 406 to 409 and 411 to 413 are connected to the CPU 401 via a bus 410.

The ROM 402 stores a program 430 for causing the CPU 401 to execute arithmetic processing. The CPU 401 executes each step of the robot control method based on the program 430 recorded (stored) in the ROM 402.

The RAM 403 is a storage device that temporarily stores various data such as the calculation processing result of the CPU 401. The HDD 404 is a storage device that stores the arithmetic processing results of the CPU 401 and various data acquired from the outside.

The recording disc drive 405 can read various data, programs, and the like recorded on the recording disc 431.

The external input device 500 is connected to interface 406. The CPU 401 receives input of teaching data from the external input device 500 via the interface 406 and the bus 410.

The arm motor driver 240 is connected to the interface 409. The CPU 401 outputs the command value data of each joint to the arm motor driver 240 via the bus 410 and the interface 409 at predetermined time intervals.

Similarly, a motor and a motor driver (not shown) that drive the robot hand body 300 are also connected to the interface 411 and are provided so as to be able to communicate with the CPU 401 via the bus 410. The CPU 401 outputs the command value data of each finger to the robot hand main body 300 via the bus 410 and the interface 411 at predetermined time intervals.

A monitor 421 is connected to the interface 407, and various images are displayed on the monitor 421 under the control of the CPU 401. The interface 408 is connected to an external storage device 422, which is a storage unit such as a rewritable non-volatile memory or an external HDD.

In the present embodiment, the case where the computer-readable recording medium is the HDD 404 and the program 430 is stored in the HDD 404 will be described, but the present invention is not limited to this. The program 430 may be recorded on any recording medium as long as it can be read by a computer.

For example, as a recording medium for supplying the program 430, a ROM 402, a recording disk 431, an external storage device 422, or the like may be used. As a specific example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory, a ROM, or the like can be used as the recording medium.

Although the description is omitted, the joints J1 to J3 are provided with sensor units 221 to 223 in which an encoder for detecting the rotation position of each joint and a torque sensor for detecting the torque applied to each joint are integrated. ing. The sensor units 221 to 223 described above are configured to be able to communicate with the CPU 401 via the interface 413 and the bus 410. The CPU 401 can feedback-control the position of each link by using the detected values from the sensor units 221 to 233. Further, the torque sensor can detect the contact with the worker 600 by detecting the torque applied to each joint when the worker 600 comes into contact with the robot arm main body 200 or the robot hand main body 300.

Next, the control flow in this embodiment will be described in detail with reference to FIGS. 3 and 4. FIG. 3 is a flowchart showing the control flow in the present embodiment. FIG. 4 is a state diagram of the robot system 100 and the operator 600 in each step of the flowchart of FIG. The robot system 100 selectively executes work 1 and work 2 depending on the position of the worker 600. The work 1 is a work of assembling the work W or processing it with a tool or the like to manufacture the article M. The work 2 is a work of handing over the manufactured article M to the worker 600. Further, it is assumed that the control flow described with reference to FIG. 3 is executed while the robot system 100 assembles and processes the work W to manufacture the article M.

From FIG. 3, first, in S101, it is detected whether or not the worker 600 exists in the area 801. Since the area 801 is an area in the immediate vicinity of the robot system 100, the operator 600 may be in danger depending on the operation of the robot system 100. Therefore, when the worker 600 is detected in the area 801 by S101: YES, the process proceeds to S102, the robot system 100 is immediately stopped, and the work by the robot system 100 is stopped (FIG. 4-1 (a)). ). This ensures the safety of the worker 600.

If the worker 600 is not detected in the area 801 from S101: NO, the process proceeds to S103 to detect whether or not the worker 600 exists in the area 802. Area 802 is an area in which the robot system 100 and the worker 600 cooperate with each other while ensuring the safety of the worker 600. Therefore, from S103: YES, when the worker 600 is detected in the area 802, the process proceeds to S104.

In S104, it is determined whether or not the article M to be delivered to the worker 600 is made. S104: If there is no article M from NO, the process proceeds to S108, which will be described later. S104: If the article M is made from YES, the process proceeds to S105.

In S105, the article M is gripped by the robot hand body 300, each joint of the robot system 100 is operated at a predetermined speed, and the robot hand body 300, which is a predetermined part of the robot system 100, is brought close to the worker 600 (FIG. 4-1 (b)). Further, when approaching, force control is executed in which the detected values of the torque sensors of the sensor units 221 to 223 are fed back to the control of each joint. By doing so, the article M can be delivered regardless of the position of the worker 600 in the area 802. At the time of delivery, it is determined whether or not the article M has been delivered by detecting a change in the force generated when the worker 600 tries to receive the article M with a predetermined condition, for example, a torque sensor of the sensor units 221 to 223. To do.

If it is determined that the article M has been delivered to the worker 600, the process proceeds to S106, and it is determined whether or not all the articles M that have been manufactured at the present time have been delivered to the worker 600. S106: If NO, the process returns immediately before S105 and the delivery of the article M is continued. S106: If YES, the process proceeds to S110.

From S103: NO, if the worker 600 is not detected in the area 802, the process proceeds to S107 to detect whether or not the worker 600 exists in the area 803. S107: If the worker 600 is detected in the area 803 from YES, the process proceeds to S108.

The area 803 is an area farther than the area in which the robot system 100 can detect the worker 600 with respect to the robot system 100 and cooperates with the worker 600. Therefore, although the worker 600 is in a relatively close position, it becomes an aria that cannot cooperate with the worker 600. Therefore, in S108, in order to advance the work of the work W and improve the efficiency while ensuring the safety of the worker 600, each joint of the robot arm main body 200 is operated at a predetermined speed or less to assemble and process the work W. (Fig. 4-2 (c)). Similarly, if S104: NO, each joint is operated at a predetermined speed or less in S108 to perform work on the work W. Since it can be determined that the worker 600 exists in the area where the area sensor 800 can detect the worker 600 at the time of proceeding to S104, the work W is performed while ensuring the safety of the worker 600. Let me.

The predetermined speed is a speed at which the danger to the worker 600 is reduced even if the robot arm main body 200 and the robot hand main body 300 come into contact with the worker 600 by any chance. By doing so, it is possible to perform the work on the work W while ensuring the safety of the worker 600. Then proceed to S110.

If the worker 600 is not detected in the area 803 from S107: NO, it can be determined that the worker 600 does not exist in the areas 801, 802, and 803, and the process proceeds to S109. In S109, since it can be determined that the worker 600 does not exist around the robot system 100, the work on the work W is executed by operating each joint at a speed higher than a predetermined speed (FIG. 4-2 (d)). )). Since the worker 600 does not exist in each area, the safety of the worker 600 is ensured, and the robot system 100 can be operated at high speed. Then proceed to S110.

In S110, it is determined whether or not a predetermined number of articles M have been manufactured. If a predetermined number has not been manufactured, the process returns from S110: NO to immediately before S101 to detect the worker 600 and execute the work on the work W again.

If a predetermined number of articles M have been manufactured, the process proceeds from S110: YES to S111. In S111, it is determined whether or not a predetermined number of articles M have been delivered to the worker 600. If it has not been delivered, S111: NO returns immediately before S101 to detect the worker 600 and deliver the article M. If a predetermined number of articles M have been delivered to the worker 600, the control flow is terminated from S111: YES.

As described above, in the present embodiment, the article M can be delivered regardless of where the worker 600 is in the area 802 which is the area for delivering the article M (the area where the article M is collaborated). Therefore, it is possible to improve the work efficiency of the work in which the robot device and the worker interact with each other. Further, since the robot hand body 300 approaches the worker 600, the movement of the worker 600 with respect to the delivery of the work can be reduced, and the work efficiency can be further improved.

Further, even if the worker 600 is in a position relatively close to the robot system 100 and in a position where collaboration cannot be performed, the work W can be performed by reducing the operating speed of the robot system 100. , Work efficiency can be improved.

Further, a plurality of areas are set, such as an area for stopping the robot system 100, an area for collaborating with the robot system 100 and the worker 600, and an area for restricting the operation of the robot system 100 and performing work on the work W. .. By preparing a plurality of areas in this way, the robot system 100 can be made to perform an appropriate operation according to the place where the worker 600 exists, and the safety of the worker 600 can be ensured and the work efficiency can be improved. Can be done.

Further, a modified example of this embodiment is shown in FIG. The robot system 100 of FIG. 5 includes a trolley 900 capable of mounting a predetermined number of articles M. From FIG. 5A, the robot arm main body 200 performs work on the work W when the safety of the worker 600 is ensured as described above. Then, the manufactured article M is placed on the trolley 900.

Then, when a predetermined number of articles M are placed on the trolley 900 and the worker 600 is detected in the area 802, the robot arm main body 200 brings the trolley 900 closer to the worker 600 as shown in FIG. 5 (b). By doing so, the manufactured articles M can be collectively delivered to the worker 600, so that the work efficiency can be further improved.

By mounting a sensor capable of detecting a load on the trolley 900 and configuring it to enable wireless communication with the control device 400, the presence or absence of the article M can be detected and transmitted to the control device 400, and the delivery of the article M is executed. You can check if it is. Further, when the delivery completion switch is mounted on the trolley 900 and the delivery of the article M is completed, the delivery completion switch of the article M may be confirmed by the worker 600 pressing the delivery completion switch.

Explaining with reference to the flowchart of FIG. 3, it is confirmed in S104 whether or not a predetermined number of articles M are placed on the carriage 900. Then, in S105, the dolly 900 is brought close to the worker 600. Then, in S106, it is confirmed by pressing the above-mentioned sensor or the delivery completion switch whether the delivery of the article M is completed. From the above, it is possible to confirm the delivery of the article M using the dolly 900.

(Second embodiment)
In the first embodiment described above, the operator is detected by using the optical area sensor, but the present invention is not limited to this. For example, the present invention can be applied to a vision sensor using an image pickup device or the like. It will be described in detail below.

In the following, a portion of the hardware and control system configuration different from that of the first embodiment will be illustrated and described. Further, it is assumed that the same configuration and operation as described above are possible for the same parts as those in the first embodiment, and detailed description thereof will be omitted.

FIG. 6 shows a schematic view of the robot system 100 in this embodiment. FIG. 6A is a plan view of the XZ plane of the XYZ coordinate system. FIG. 6B is a plan view of the YZ plane of the XYZ coordinate system. The difference from the first embodiment is that the vision sensor 810 is provided.

From FIG. 6A, the vision sensor 810 is a pan / tilt camera capable of pan / tilt / zoom. The vision sensor 810 can change the imaging viewpoint by driving an imaging unit (not shown) in the pan direction and the tilt direction, and can detect the operator 600. Further, it is possible to measure the distance to the worker 600 by performing three-dimensional measurement by image processing.

From FIG. 6B, the vision sensor 810 is provided on the robot arm 200 and detects the position of the worker 600 in the areas 801 to 803 in real time. It is a sensor that detects the positions of the head and hands of the worker 600 by further performing image processing and transmits the positions to the control device 400.

Next, the control flow in this embodiment will be described in detail with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing the control flow in the present embodiment. The difference from the first embodiment is that the step of S205 is designed instead of S105. FIG. 8 is a state diagram in S205. For the sake of brevity, only S205 will be described in detail below.

In S205, the position of the hand of the worker 600 is detected by the vision sensor 810. Then, the robot arm main body 200 is controlled so that the article M approaches the vicinity of the hand of the worker 600 (FIG. 8).

By doing so, the article M can be brought close to a position where the worker 600 can easily receive it. Further, since the hand is detected and brought closer, the robot hand body 300 can be brought closer to the worker 600 while avoiding the head of the worker 600. Further, in order to ensure the safety of the worker 600, the head or face of the worker 600 is always detected, and when the hand approaches the head or face of the worker 600 to a predetermined distance or less, the head or face of the worker 600 is always detected. , The delivery of the article M is interrupted. As a result, the safety of the worker 600 can be ensured.

(Third Embodiment)
In the first embodiment and the second embodiment described above, the robot arm body 200 is extended to deliver the article M to the worker 600, but the present invention is not limited to this. For example, the robot arm main body 200 may be provided with a moving mechanism such as a wheel, and the robot arm main body 200 itself may approach the worker 600 to deliver the work. It will be described in detail below.

In the following, parts of hardware and control system configurations different from those of the first embodiment and the second embodiment will be illustrated and described. Further, it is assumed that the same configurations and operations as described above are possible for the same parts as those of the first embodiment and the second embodiment, and detailed description thereof will be omitted.

FIG. 9 shows a schematic view of the robot system 100 in this embodiment. FIG. 9A is a plan view of the XZ plane of the XYZ coordinate system. FIG. 9B is a plan view of the YZ plane of the XYZ coordinate system. The difference from the first embodiment is that the robot arm main body 200 is provided with the wheel 230, and the vision sensor 820 and the area 804 monitored by the vision sensor 820 are provided.

From FIGS. 8A and 8B, the vision sensor 820 is a pan / tilt camera capable of pan / tilt / zoom, similar to the vision sensor 820. The vision sensor 820 can change the imaging viewpoint by driving an imaging unit (not shown) in the pan direction and the tilt direction, and can detect the operator 600. Further, it is possible to measure the distance to the worker 600 by performing three-dimensional measurement by image processing. The area 804 is an area outside the areas 801 to 803 with respect to the robot arm main body 200.

The wheel 230 is provided with a motor (not shown), and the robot arm body 200 self-propells when the wheel 230 is driven by the motor.

Here, while the robot system 200 is working on the work W, the worker 600 does not invade the area 802, the production of the predetermined number of articles M is completed, the articles M are placed on the trolley 900, and the articles M are left. Consider the case where the work is handed over to the worker 600. At that time, rather than waiting for the worker 600 to invade the area 802, it is better to deliver the worker 600 to the worker 600 in the area 804. In the following, the delivery of the article M in the area 804 will be described in detail.

FIG. 10 is a flowchart showing the control flow in the present embodiment. As a premise, it is assumed that the work of completing the production of a predetermined number of articles M, placing them on the trolley 900, and leaving the articles M is the work of delivering the articles M to the worker 600.

First, from S301, the vision sensor 820 determines whether or not the worker 600 exists in the area 804. If the worker 600 does not exist in the area 804, the process proceeds from S301: NO to S302, waits for a predetermined time on the spot, and detects the worker 600 again in S301.

If the worker 600 is detected in the area 804, the process proceeds to S303 from S301: YES, and the robot arm main body 200 is brought closer to the worker 600 by using the wheel 230. At that time, the robot hand body 300 brings the dolly 900 closer to the worker 600 together with the robot arm body 200. FIG. 11 is a phase diagram in S303.

When the robot arm body 200 and the trolley 900 are brought close to each other, they are brought close to each other at a predetermined speed or less so that they will not be injured even if they come into contact with the operator. Further, the vision sensor 810 is used to bring the worker 600 closer to the area 802 so that the worker 600 does not exist in the area 801.

Then, in S304, it is determined whether or not all the manufactured articles M have been received by the worker M. The method of determination is the same as that of the first embodiment. S304: If NO, the process proceeds to S305, waits for a predetermined time in the vicinity of the worker 600, returns to just before S304, and determines whether the article M has been delivered.

If all the articles M are delivered to the worker 600, the process proceeds from S304: YES to S306, the robot arm body 200 and the trolley 900 are returned to the vicinity of the workbench 700 for processing the work W, and the flow is completed. To do.

As described above, according to the present embodiment, the article M can be delivered to the worker 600 more quickly, so that the work efficiency can be improved. Further, since the worker 600 is detected by using a plurality of sensors, by detecting the worker 600 early, it is possible to realize smooth delivery with less waiting time of the worker 600.

The processing procedures of the various embodiments described above have been described specifically as being executed by the control device 400. However, a software control program capable of executing the above-mentioned functions and a recording medium on which the program is recorded may be mounted on the external input device 500 for implementation.

Therefore, a software control program capable of executing the above-mentioned functions, a recording medium on which the program is recorded, and a communication device constitute the present invention.

Further, in the above embodiment, the case where the computer-readable recording medium is ROM or RAM and the control program is stored in the ROM or RAM has been described, but the present invention is not limited to such a mode. Absent.

The control program for carrying out the present invention may be recorded on any recording medium as long as it is a computer-readable recording medium. For example, an HDD, an external storage device, a recording disk, or the like may be used as the recording medium for supplying the control program.

(Other embodiments)
Further, in the various embodiments described above, the case where the robot arm main body 200 uses an articulated robot arm having a plurality of joints has been described, but the number of joints is not limited to this. Although the vertical multi-axis configuration is shown as the type of robot device, the same configuration as above can be implemented for joints of different types such as parallel link type.

Further, the various embodiments described above are applied to a machine capable of automatically performing expansion / contraction, bending / stretching, vertical movement, horizontal movement or turning operation, or a combined operation thereof based on information of a storage device provided in the control device. It is possible.

The present invention is not limited to the above-described embodiment, and many modifications can be made within the technical idea of the present invention. Moreover, the effects described in the embodiments of the present invention merely list the most preferable effects arising from the present invention, and the effects according to the present invention are not limited to those described in the embodiments of the present invention. For example, the robot system of the present invention can be applied in the amusement field.

100 Robot system 200 Robot arm body 201-202 Link 210 Base 211-213 Motor 221-223 Sensor 230 Wheel 300 Robot hand body 400 Control device 500 External input device 600 Worker 700 Work table 800 Area sensor 801, 802, 803, 804 Area 900 trolley

Claims (20)

Robot device and
A sensor that detects the presence of an operator in the first area,
A control method for a robot system including a control device for controlling the robot device.
The control device is
When the worker is detected in the first area by the sensor,
Controlling a predetermined portion of the robot device so as to approach the worker.
A control method characterized by that. In the control method according to claim 1,
The first area is an area where the worker can move and the robot device and the worker can collaborate with each other.
A control method characterized by that. In the control method according to claim 1 or 2,
The control device is
When the robot device is brought close to the worker, the speed of the predetermined portion is set to be equal to or lower than the predetermined speed.
A control method characterized by that. In the control method according to any one of claims 1 to 3,
The control device is
The robot device is controlled so that the predetermined portion of the robot device approaches the first portion of the worker.
A control method characterized by that. In the control method according to claim 4,
The first part is the hand of the worker.
A control method characterized by that. In the control method according to any one of claims 1 to 5,
The control device is
The robot device is controlled so that the predetermined portion of the robot device does not approach the second portion of the worker.
A control method characterized by that. In the control method according to claim 6,
The second part is the head of the worker.
A control method characterized by that. In the control method according to any one of claims 1 to 7.
The sensor can detect the presence of the worker in the second area and can detect the presence of the worker.
The control device is
When the worker is detected in the second area,
Stop the robot device,
A control method characterized by that. In the control method according to any one of claims 1 to 8,
The control device is
When the worker is detected in the first area after satisfying a predetermined condition while processing the object by the robot device.
Limiting the operation of the robot device,
A control method characterized by that. In the control method according to claim 9,
The predetermined condition is a case where the article to be delivered to the worker is not manufactured.
A control method characterized by that. In the control method according to any one of claims 1 to 10.
The robot device can be moved
The control device is
When a predetermined condition is satisfied, the robot device is moved to bring the robot device closer to the worker.
A control method characterized by that. In the control method according to claim 11,
The control device is
When the robot device is brought close to the worker, the robot device is controlled so that the worker is not located in the second area due to the approach of the robot device.
A control method characterized by that. In the control method according to claim 11 or 12,
The predetermined condition is when a predetermined number of articles are manufactured.
A control method characterized by that. In the control method according to any one of claims 1 to 13.
The robot system is equipped with a dolly.
The control device is
Bringing the dolly closer to the worker by the predetermined portion.
A control method characterized by that. In the control method according to any one of claims 1 to 14,
The sensor is an imaging device.
A control method characterized by that. In the control method according to any one of claims 1 to 15,
The predetermined site is an end effector,
A control method characterized by that. Robot device and
A sensor that detects the presence of an operator in the first area,
A robot system including a control device for controlling the robot device.
The control device is
When the worker is detected in the first area by the first sensor,
Controlling a predetermined portion of the robot device so as to approach the worker.
A robot system characterized by that. Robot device and
A sensor that detects the presence of an operator in the first area,
A method for manufacturing an article using a robot system including a control device for controlling the robot device.
The control device is
When the worker is detected in the first area by the first sensor while manufacturing the article by the robot device,
Under certain conditions
Whether to limit the operation of the robot device and continue the production of goods,
Bringing a predetermined part of the robot device closer to the worker.
A method of manufacturing an article, characterized in that. A control program capable of executing the control method according to any one of claims 1 to 16. A computer-readable recording medium containing the control program according to claim 19.

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