JP2022184267A - robot system - Google Patents

Abstract

To provide a robot system capable checking an action of a movement path of a robot without performing complicated processing and safely operating the robot.SOLUTION: A configuration of a robot system 100 includes a robot 110, an action control unit 122 for controlling an action of the robot 110, a robot monitoring unit 124 for limiting the action of the robot 110, and a storage unit 126 for storing an action checking table 130 for the robot 110. The action checking table 130 stores action checking data for a movement path of the robot 110 from a starting point to an end point.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot system that can be operated safely.

Industrial machines such as robot hands are used at production sites such as factories. Such industrial machines are connected to and controlled in operation by a controller. For example, Patent Literature 1 discloses a control method for a robot device and a robot device.

In the method for controlling a robot device disclosed in Patent Document 1, the control device includes a difference detection step of extracting the difference between before and after the teaching data is changed, and the influence of the control step related to the difference extracted in the difference detection step on the operation of the robot arm. Execute the impact range determination process to determine the range. Then, the control device executes an information addition step of adding operation confirmation information indicating that the confirmation operation has not been performed to the control step of moving the robot arm included in the influence range.

JP-A-2016-83730

However, in the control method of the robot apparatus of Patent Document 1, when one control program is changed, all the control programs included in the influence range of the change are corrected, and the presence or absence of operation confirmation information is confirmed. must be added. Such a control method can be sufficiently handled if the control program is simple, but if the control program is complicated, it is extremely difficult to reliably check the operation of all control programs. .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot system capable of safely operating a robot by confirming the movement path of the robot without performing complicated processing. there is

In order to solve the above problems, a representative configuration of a robot system according to the present invention includes a robot, a motion control section for controlling the motion of the robot, a robot monitoring section for limiting the motion of the robot, and a motion confirmation of the robot. The storage unit storing the table and the operation confirmation table store operation confirmation data of the movement route from the start point to the end point of the robot.

According to the above configuration, if the movement confirmation table stores the movement confirmation data of the movement path, the movement control section causes the robot to move along the movement path. On the other hand, if the movement confirmation table does not store the movement confirmation data of the movement path, the movement control section restricts the movement of the robot by the robot monitoring section. Therefore, by referring to the operation confirmation table, it is possible to determine whether or not the movement route has been confirmed. As a result, it is possible to check the operation of the movement path of the robot without performing complicated processing, and to operate the robot safely.

The operation confirmation data may include intermediate positions through which the robot passes from the start point to the end point. According to such a configuration, it is possible to store the moving route of the robot including intermediate intermediate positions.

According to the present invention, it is possible to provide a robot system capable of confirming the operation of the movement path of the robot without performing complicated processing and operating the robot safely.

It is a figure explaining the whole robot system composition concerning this embodiment. It is a figure explaining the example of an operation check table. 4 is a flowchart for explaining the operation of the robot system of this embodiment; It is a figure explaining the input of the operation confirmation data of the moving route which operation confirmation is incomplete.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in these embodiments are merely examples for facilitating understanding of the invention, and do not limit the invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant description, and elements that are not directly related to the present invention are omitted from the drawings. do.

FIG. 1 is a diagram for explaining the overall configuration of a robot system 100 according to this embodiment. A robot system 100 includes a robot 110 and a robot controller 120 . The robot control device 120 includes a motion control section 122 that controls the motion of the robot 110 , a robot monitoring section 124 that restricts the motion of the robot 110 , and a storage section 126 . The robot monitoring unit 124 may be operated by the same CPU as the robot control device 120, or may be operated by a different CPU (additional board, etc.).

The storage unit 126 stores an operation program and various conditions such as a movable range and an operation speed. Further, as a feature of the robot system 100 of this embodiment, the storage unit 126 stores an operation confirmation table 130 of the robot 110 .

FIG. 2 is a diagram illustrating an example of the operation confirmation table 130. As shown in FIG. As shown in FIG. 2, the operation confirmation table 130 stores operation confirmation data for each movement route of the robot 110 when the start point of the robot 110 is ABCDEFG and the end point of the robot 110 is ABCDEFG other than the start point. For a travel route for which operation confirmation has been completed, the end point is stored as operation confirmation data. On the other hand, "NULL" is entered for movement routes for which operation confirmation has not been completed because there is no operation confirmation data.

Further, as shown in FIG. 2, for example, the moving path of the robot when the starting point is either C or F and the other is the ending point includes an intermediate via position F'. In this way, when intermediate transit positions are included, the intermediate transit positions are stored in the operation check table 130 . According to such a configuration, it is possible to preferably avoid a situation in which the robot interferes with other robots or the like when it moves linearly between C and F, for example.

There are various types of motions of the robot 110, such as linear interpolation, axis interpolation, arc interpolation, etc., by designating a start point and an end point. Therefore, the operation check table 130 should be provided for each complement type. This enables the robot 110 to operate optimally in any complement type.

FIG. 3 is a flowchart for explaining the operation of the robot system 100 of this embodiment. 3, control of the robot 110 based on the operation confirmation table 130 of FIG. 2 will be described. Also, in the operation of the robot system 100 of the present embodiment shown in FIG. 3, it is assumed that the robot 110 is moved with E as the end point (when the command is to move to E).

First, the motion control unit 122 sets the end point of movement of the robot 110 to E (S202). Then, the motion control unit 122 refers to the motion confirmation table 130 stored in the storage unit 126 to determine whether the current position of the robot 110 is the start point A (whether or not the previous command is to move A). It judges (S204). If the current position of the robot 110 is the start point A (YES in S204), the motion control unit 122 instructs the robot 110 to move the robot 110 from the start point A to the end point. An instruction to move to E is transmitted (S206).

If the current position of the robot is not the start point A (NO in S204), the motion control unit 122 determines whether the current position of the robot 110 is the start point B (S208). If the current position of the robot 110 is the start point B (YES in S208), the motion control unit 122 moves the robot 110 from the start point B to the end point because the motion confirmation of the movement route from E to B has been completed. An instruction to move to E is transmitted (S210).

If the current position of the robot 110 is not the start point B (NO in S208), the motion control unit 122 determines whether the current position of the robot 110 is the start point C (S212). If the current position of the robot 110 is the start point C (YES in S212), the motion control unit 122 instructs the robot 110 to move the robot 110 from the start point B to the end point. An instruction to move to E is transmitted (S214).

If the current position of the robot 110 is not the starting point C (NO in S212), the motion control unit 122 determines whether the current position of the robot is the starting point D (S216). If the current position of the robot 110 is the start point D (YES in S216), the motion control unit 122 instructs the robot 110 to move the robot 110 from the start point D to the end point. An instruction to move to E is transmitted (S218).

If the current position of the robot 110 is not the start point D (NO in S216), the motion control unit 122 determines whether the current position of the robot 110 is the start point E (S220). If the current position of the robot is the start point E (YES in S220), the movement path does not exist in the operation confirmation table 130 because the start point and the end point are the same. Therefore, the motion control unit 122 does not move the robot 110 (S222).

If the current position of the robot 110 is not the start point E (NO in S220), the motion control unit 122 determines whether the current position of the robot 110 is the start point F (S224). If the current position of the robot 110 is the start point F (YES in S224), the motion control unit 122 instructs the robot 110 to move the robot 110 from the start point F to the end point because the motion confirmation of the moving route from F to E has been completed. An instruction to move to E is transmitted (S226).

If the current position of the robot 110 is not the start point F (NO in S224), the motion control unit 122 determines that the current position of the robot is the start point G (S228). At this time, in the operation confirmation table 130, the operation confirmation information of the moving route from F to G is not input. Therefore, the motion control unit 122 transmits an instruction to the robot monitoring unit 124, and the robot monitoring unit 124 imposes motion restrictions on the robot 110 (S230).

As described above, according to the robot system 100 of the present embodiment, if the movement confirmation data for the movement path is stored in the movement confirmation table 130, the movement control section 122 causes the robot 110 to move along the movement path. On the other hand, if no movement confirmation data for the movement path is stored in the movement confirmation table 130, the movement control unit 122 causes the robot monitoring unit 124 to restrict the movement of the robot 110 (does not move the robot). As described above, the robot system 100 of the present embodiment can determine whether or not the motion confirmation of the movement path has been completed by referring to the motion confirmation table 130 . Therefore, it is possible to check the movement path of the robot 110 without performing complicated processing, and to operate the robot 110 safely.

FIG. 4 is a diagram for explaining input of operation confirmation data for a travel route for which operation confirmation has not been completed. FIGS. 4A and 4B illustrate an interface displayed on a display device (not shown) (for example, a monitor or a teaching pendant) in the robot system 100. FIG.

For example, in the operation confirmation table shown in FIG. 2, no operation confirmation information is entered for the movement route of the robot from the start point E to the end point G. FIG. In such a case, when attempting to move the robot 110 along such a movement path, a dialog 140a illustrated in FIG. 4A is displayed on the display device. At this time, if the operator selects "No", the process ends. On the other hand, when the operator selects "yes", the operation confirmation process is started.

When the operation confirmation process is started, a dialog 140b illustrated in FIG. 4B is displayed on the display device. Then, if the robot 110 can move from the start point E to the end point G without passing through an intermediate position, select "confirmation completed". As a result, the operation confirmation information of the moving route from the start point E to the end point G is stored in the operation confirmation table 130 .

On the other hand, if the robot 110 interferes with another robot or the like when moving from the start point E to the end point G, by selecting "set intermediate position", the intermediate position G from the start point E to the end point G ' can be set. As a result, the operation confirmation information of the moving route from the start point E to the end point G is stored in the operation confirmation table 130 including the intermediate intermediate position G'. If "Interrupt" is selected, the operation confirmation process ends.

As described above, according to the robot system 100 of the present embodiment, the operator can arbitrarily check the movement of a moving route for which no action confirmation information is stored in the action confirmation table 130 . Further, according to the operation confirmation process described with reference to FIG. 4, it is possible to set intermediate intermediate positions even when changing a moving route for which operation confirmation information has already been stored in the operation confirmation table 130 .

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications or modifications within the scope described in the claims, and these also belong to the technical scope of the present invention. Understood.

The present invention can be used as a robot system.

DESCRIPTION OF SYMBOLS 100... Robot system, 110... Robot, 120... Robot control apparatus, 122... Motion control part, 124... Robot monitoring part, 126... Storage part, 130... Operation confirmation table, 140a... Dialog, 140b... Dialog

Claims (2)

robot and
a motion control unit that controls the motion of the robot;
a robot monitoring unit that limits the movement of the robot;
a storage unit that stores an operation confirmation table for the robot;
The robot system according to claim 1, wherein the operation confirmation table stores operation confirmation data of a moving route from a start point to an end point of the robot. 2. The robot system according to claim 1, wherein the operation confirmation data includes intermediate positions through which the robot passes from a start point to an end point.

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