JP6852447B2 - Robot system - Google Patents

Description

This invention relates to robot systems.

Robots are used for industrial purposes.
For example, a robot may be operated inside a physical safety fence, in which case
The area occupied by the robot was large, and it sometimes took time and money to install a safety fence.

On the other hand, a technique for eliminating the need for a physical safety fence by providing a virtual safety fence (virtual safety fence) has been studied (see Patent Document 1).
However, even when such a virtual safety fence is used, there is a free running distance from the state in which the robot operates at the maximum speed to the start and stop of deceleration.
Sometimes it was not possible to reduce the occupied area. In this case, if the occupied area is forcibly reduced, the movable space of the robot becomes narrow, which may limit the work contents that can be performed by the robot.

Japanese Unexamined Patent Publication No. 2004-322244

Conventionally, it has been required to reduce the occupied area of the robot. In particular, in an environment where robots and humans coexist, there is a great demand for reducing the occupied area of robots.

In order to solve at least one of the above problems, one aspect of the present invention is a robot provided with a movable portion that can operate in the first region and the second region, and the first portion of the movable portion is the first portion. The speed of the first portion when located within the two regions is not 0 and is limited to less than the maximum speed of the first portion when the first portion is located within the first region. It is a robot.
With this configuration, in the robot, the speed of the first part when the first part of the movable part is located in the second area is not 0, and the speed of the first part is not 0 and the first part is located in the first area. Limited to less than the maximum speed of one part. As a result, the robot can reduce the occupied area of the robot.

In one aspect of the present invention, in a robot, a configuration may be used in which the second region is located at a position farther from the base end of the movable portion than the first region.
With this configuration, in the robot, the second region is located farther from the base end of the movable portion than the first region. As a result, in the robot, when the second region is located at a position farther from the base end of the movable portion than the first region, the occupied area of the robot can be reduced.

In one aspect of the present invention, in a robot, the configuration in which the base end is in the first region may be used.
With this configuration, in the robot, the base end is in the first region. This makes it possible for the robot to reduce the occupied area of the robot when the base end is within the first region.

One aspect of the present invention may be used in a robot in which there is a third region between the first region and the second region, which changes the maximum speed of the first portion.
With this configuration, the robot has a third region between the first region and the second region that changes the maximum speed of the first portion. As a result, in the robot, the first region is between the first region and the second region.
It is possible to reduce the occupied area of the robot when there is a third region that changes the maximum speed of the portion.

One aspect of the present invention includes a first object detector that detects a first object in a robot.
The configuration may be used.
With this configuration, the robot detects the first object by the first object detector. As a result, the robot can perform an operation based on the result of detecting the first object by the first object detector.

One aspect of the present invention is a first object detection in which a robot has a third region that changes the maximum speed of the first portion between the first region and the second region, and detects the first object. When it is determined that the first object has invaded the third region based on the detection result of the first object detector, the velocity of the first portion in the first region is the said. A configuration may be used that is limited to less than the maximum speed of the first portion in the first region when it is not determined to have invaded.
With this configuration, in the robot, when it is determined that the first object has invaded the third region,
The speed of the first portion in the first region is limited to less than the maximum speed of the first portion in the first region when it is not determined to have invaded. As a result, the robot can reduce the speed of operation when it is determined that the first object has invaded the third region.

One aspect of the present invention is a first object detection in which a robot has a third region that changes the maximum speed of the first portion between the first region and the second region, and detects the first object. The position of the third region when the distance between the first object and the robot is the first distance is such that the distance between the first object and the robot is farther than the first distance. A configuration may be used that is closer to the base end than the position of the third region in the case of two distances.
With this configuration, in the robot, the position of the third region when the distance between the first object and the robot is the first distance is the second distance where the distance between the first object and the robot is longer than the first distance. It is closer to the base end than the position of the third region in some cases. Thereby, in the robot, the position of the third region can be changed based on the distance between the first object and the robot, and for example, the first region can be enlarged or reduced.

In one aspect of the present invention, a configuration may be used in a robot including a speed detector for detecting the speed of the first part.
With this configuration, the robot detects the speed of the first part by the speed detector. As a result, the robot can perform an operation based on the result of detecting the speed of the first portion by the speed detector.

In one aspect of the present invention, a configuration may be used in a robot including a force detector for detecting a force.
With this configuration, the robot detects the force with a force detector. As a result, the robot can perform an operation based on the result of detecting the force by the force detector.

In one aspect of the present invention, a configuration may be used in a robot including a second object detector that detects a distance to a second object and a display unit that displays information about the distance.
With this configuration, the robot detects the distance to the second object by the second object detector and displays the information about the distance. As a result, the robot can notify the operator and the like of information regarding the distance to the second object.

One aspect of the present invention is that in a robot, the display unit is provided on the movable unit.
The configuration may be used.
With this configuration, the robot displays information by a display unit provided on the movable unit. As a result, the robot can display the information in a place that is easy for the operator to see, for example.

In one aspect of the present invention, in the robot, the information displayed on the display unit is the first
The first portion is located in the first region, the first portion is located in the second region, and the first portion is between the first region and the second region. Configurations that are different from those located within the region where the maximum speed of one portion is changed may be used.
With this configuration, in the robot, when the first part is located in the first area, when the first part is located in the second area, and when the first part is located between the first area and the second area. Different information is displayed in each of the cases where the first portion is located in the region (third region) in which the maximum speed is changed. As a result, the robot can display information for notifying the area where the first portion is located.

In order to solve at least one of the above problems, one aspect of the present invention is a control device that controls the robot as described above.
With this configuration, in the control device, in the robot, the speed of the first part when the first part of the movable part is located in the second area is not 0, and the first part is located in the first area. It is limited to less than the maximum speed of the first part in the case of. As a result, in the control device,
In the robot, it is possible to reduce the occupied area of the robot.

In order to solve at least one of the above problems, one aspect of the present invention is a robot system including the robot as described above and a control device for controlling the robot.
With this configuration, in the robot system, in the robot, the first part of the movable part is the second.
The velocity of the first part when located in the region is not 0 and is limited to less than the maximum speed of the first part when the first part is located in the first region. As a result, in the robot system, it is possible to reduce the occupied area of the robot in the robot.

As described above, according to the robot, the control device, and the robot system according to the present invention, in the robot, the speed of the first part when the first part of the movable part is located in the second region is not 0, but is not zero. Moreover, it is limited to less than the maximum speed of the first part when the first part is located in the first region. Thereby, in the robot, the control device and the robot system according to the present invention, it is possible to reduce the occupied area of the robot in the robot.

It is a figure which shows the schematic configuration example of the robot system which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows the schematic structure example of the control device which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows an example of the maximum speed for each area which concerns on one Embodiment (1st Embodiment) of this invention, and the image of a robot, a 1st object detector, and a person (human hand). It is a figure which shows an example of enlargement / reduction of the area which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows an example of enlargement / reduction of the area which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows an example of the situation where there are a plurality of robots which concerns on one Embodiment (1st Embodiment) of this invention. It is a figure which shows the schematic configuration example of the robot which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows an example of the display of the display part which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows an example of the display of the display part which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows the configuration example which provided the lighting unit around the robot which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows the schematic structure example of the lighting unit which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows the schematic structure example of the circuit of the lighting unit which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows an example of the display color of the lighting unit which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows an example of the display color of the lighting unit which concerns on one Embodiment (second Embodiment) of this invention. It is a figure which shows an example of the display color of the lighting unit which concerns on one Embodiment (second Embodiment) of this invention. It is a flowchart which shows an example of the procedure of the process which the control part which concerns on one Embodiment (second Embodiment) of this invention controls the display color of a lighting unit. It is a figure which shows an example of the speed for each area which concerns on a comparison technique. It is a figure which shows an example of the maximum speed for each region which concerns on one Embodiment (1st Embodiment) of this invention.

Embodiments of the present invention will be described in detail with reference to the drawings.

(First Embodiment)
[Overview of robot system]
FIG. 1 is a diagram showing a schematic configuration example of a robot system 1 according to an embodiment (first embodiment) of the present invention.
The robot system 1 includes a robot 11, a control device 12 of the robot 11, a speed detector 21, a force detector 22, and four object detectors (hereinafter, also referred to as “first object detector”) 3.
It includes 1-1 to 31-4, one object detector (hereinafter, also referred to as "second object detector") 41, and cables 61-1 to 61-4, 62.
The robot 11 includes a base end (support base) B1, a manipulator M1, and an end effector E1.
Here, in the present embodiment, when the robot 11 is installed on a plane (or substantially a plane) and the plane is viewed in a direction perpendicular to the plane as the respective regions and distances (that is, the plane). Use the area and distance in (when viewed). The plane is, for example,
It may be the floor or the ground of a building.
As another example, the region and the distance when viewed in three dimensions may be used instead of the plan view.
Further, as another example, when the robot 11 is installed on a surface other than a plane, the area and the distance may be defined by any method, for example, defined in a plan view viewed from an arbitrary direction. It may be defined in three dimensions.
Also, for example, for each of a plurality of areas, or for each of a plurality of distances,
Regions or distances defined in different ways may be used.

In FIG. 1, as a plurality of regions, a first region (hereinafter, also referred to as “high-speed region”) R1 including the robot 11 and a third region (hereinafter, “maximum speed change region”) outside the high-speed region R1. "
Also called. ) R3 and a second region (hereinafter, also referred to as “low speed region”) R2 outside the maximum speed change region R3 are shown.
In the present embodiment, the high-speed region R1 and the maximum speed change region R3 are the robots 1, respectively.
It has a circular (or substantially circular) shape when viewed in a plan view with the base end B1 of 1 as the center. As another configuration example, the high-speed region R1 and the maximum speed change region R3 are respectively.
It may have any shape.
Here, the base end B1 of the robot 11 exists inside the high-speed region R1. The low-speed region R2 exists at a position farther from the base end B1 of the robot 11 than the high-speed region R1.

In this embodiment, the robot 11 is a single-arm robot. As another configuration example, any robot may be used, for example, a double-armed robot having two arms (a kind of double-armed robot), a double-armed robot having three or more arms, a SCARA robot, or , Orthogonal coordinate robots may be used. The Cartesian coordinate robot is, for example, a gantry robot.

In the present embodiment, the control device 12 is provided inside the base end B1 of the robot 11.
That is, the robot 11 and the control device 12 are integrated. As another configuration example, the robot 11 and the control device 12 may be provided as separate bodies.

[Explanation of robot]
The base end B1 of the robot 11 is installed.
One end of the manipulator M1 of the robot 11 is connected to the base end B1. The other end of the manipulator M1 of the robot 11 and the end effector E1 are connected via a force detector 22.
The manipulator M1 of the robot 11 has a 6-axis vertical articulated structure and includes 6 joints. Each joint is equipped with an actuator (not shown). And
The robot 11 operates with six degrees of freedom by the operation of the actuators of the six joints. As another configuration example, a robot that operates with a degree of freedom of 5 axes or less, or a robot that operates with a degree of freedom of 7 axes or more may be used.
The end effector E1 of the robot 11 is, for example, a hand and includes a finger portion capable of grasping an object. As another configuration example, the end effector E1 of the robot 11 may be arbitrary, for example, one that attracts an object by using air suction, one that attracts an object by using magnetic force, and the like. There may be.

[Explanation of control device]
The control device 12 is communicably connected to the robot 11 via a cable (not shown). As another configuration example, the control device 12 may be communicably connected to the robot 11 by wireless communication.
The control device 12 controls the robot 11. For example, the control device 12 controls each actuator and the end effector E1 included in the manipulator M1.

The control device 12 includes a speed detector 21, a force detector 22, and a first object detector 31-, respectively.
Information on the detection result is received from each of 1-31-4 and the second object detector 41.
As an example, the control device 12 includes a speed detector 21, a force detector 22, and a first of each.
The robot 11 may be controlled based on one or more of the detection information received from each of the object detectors 31-1 to 31-4.
As another example, the control device 12 may control the robot 11 based on the detection information received from the second object detector 41.
The control device 12 includes a speed detector 21, a force detector 22, and each first object detector 31-1.
Instructed information may be transmitted to each of ~ 31-4 and the second object detector 41.

FIG. 2 is a diagram showing a schematic configuration example of a control device 12 according to an embodiment (first embodiment) of the present invention.
The control device 12 includes an input unit 101, an output unit 102, a storage unit 103, and a control unit 104. The output unit 102 includes a display unit 121. The control unit 104 is a robot control unit 13.
1 is provided.
The input unit 101 inputs information from the outside. As an example, the input unit 101 inputs information transmitted from each of the velocity detector 21, the force detector 22, the first object detectors 31 to 1-31-4, and the second object detector 41, respectively. .. As another example, the input unit 101 may include an operation unit such as a keyboard or a mouse, and input information according to the content of the operation performed by the user (person) to the operation unit.

The output unit 102 outputs information to the outside. As an example, the output unit 102 is a speed detector 2
1. Information is output (transmitted) to each of the force detector 22, the first object detectors 31-13 to 31-4, and the second object detector 41, respectively. As another example, the output unit 102 displays and outputs information by the display unit 121. The display unit 121 is, for example, a display device having a screen, and displays and outputs information on the screen. As another example, the output unit 102 may output information in other modes, and may output information by sound (including voice), for example.
In the present embodiment, the control device 12 includes the display unit 121, but as another configuration example,
The control device 12 and the display unit 121 may be formed separately.

The storage unit 103 stores information. As an example, the storage unit 103 stores information on the control program and various parameters used by the control unit 104. As another example
The storage unit 103 may store arbitrary information, for example, information such as an image used when controlling the robot 11.

The control unit 104 performs various controls in the control device 12. The control unit 104 is, for example,
Based on the control program and various parameter information stored in the storage unit 103,
Perform various controls.
The control unit 104 controls the operation of the robot 11 by the robot control unit 131.
In the present embodiment, the control unit 104 has, for example, the speed of a predetermined portion of the movable portion (manipulator M1 and end effector E1 in the present embodiment) which is a movable portion of the robot 11 according to the teaching contents taught in advance. By controlling the above, the speed of the predetermined portion becomes equal to or less than the predetermined maximum speed. The predetermined maximum speed is set for each region (high-speed region R1, low-speed region R2, maximum speed change region R3).
In the present embodiment, the maximum speed in the high-speed region R1 is set to a value independent of the position in the region, the maximum speed in the low-speed region R2 is set to a value independent of the position in the region, and the maximum speed in the maximum speed change region R3 is set. The velocity is set to a value that depends on its position in the area. The maximum speed in the high-speed region R1 may be set to a constant value, for example, or may be set to a variable value depending on the surrounding conditions when the robot 11 operates. The maximum speed in the low speed region R2 may be set to a constant value, for example, or may be set to a variable value depending on the surrounding conditions when the robot 11 operates. The maximum speed change characteristic (changing characteristic) in the maximum speed change region R3 may be set to a constant characteristic, or may be set to a variable characteristic depending on the surrounding conditions when the robot 11 operates, for example. Good.
When the maximum speed in the high speed region R1 or the low speed region R2 is set to a constant value,
The control unit 104 controls the speed of a predetermined portion of the movable portion of the robot 11 to be equal to or lower than the maximum speed. On the other hand, when the maximum speed in the high-speed region R1 or the low-speed region R2 is variable depending on the surrounding conditions when the robot 11 operates, the control unit 104 performs the maximum speed according to the detection result of the peripheral conditions during the operation of the robot 11. Is used to control the speed of a predetermined portion of the movable portion of the robot 11 to be equal to or lower than the maximum speed.
When the change characteristic of the maximum speed in the maximum speed change region R3 is set to a constant characteristic, the control unit 104 uses the maximum speed determined by the change characteristic to form a predetermined portion of the movable portion of the robot 11. Control is performed so that the speed is equal to or less than the maximum speed. On the other hand, when the change characteristic of the maximum speed in the maximum speed change region R3 is variable depending on the peripheral situation when the robot 11 operates, the control unit 104 changes according to the detection result of the peripheral situation during the operation of the robot 11. Using the maximum speed determined by the characteristics, the speed of a predetermined portion of the movable portion of the robot 11 is controlled to be equal to or less than the maximum speed.
Here, the setting regarding the maximum speed in each region (high-speed region R1, low-speed region R2, maximum speed change region R3) may be made by the user at the time of teaching the robot 11, for example. Regarding the maximum speed in the high speed region R1 or the low speed region R2, for example,
At the time of teaching, a constant value that does not change depending on the surrounding conditions when the robot 11 operates may be set, or a characteristic that changes the maximum speed according to the surrounding conditions (for example, an expression for determining the maximum speed or Table) may be set. Regarding the change characteristic of the maximum speed in the maximum speed change region R3, for example, at the time of teaching, a characteristic that does not change depending on the surrounding condition when the robot 11 operates may be set, or the maximum speed may be set according to the peripheral condition. A characteristic that changes the change characteristic of (for example, an expression or a table that determines the change characteristic of the maximum speed) may be set.
As the peripheral situation when the robot 11 operates, for example, the situation of an object (a person or a non-human object) existing in the vicinity of the robot 11 may be used.
The maximum speed controlled by the control unit 104 is not the maximum speed as the specifications of the robot 11, but the robot 1 is controlled by the control unit 104 according to, for example, the teaching contents taught in advance.
It is the maximum speed that can be adjusted by controlling the operation of 1. The maximum speed as a specification of the robot 11 is, for example, the maximum speed described in the product catalog of the robot 11.

[Explanation of speed detector]
The speed detector 21 detects the speed with respect to the robot 11.
In the present embodiment, the speed detector 21 is provided at a predetermined portion (predetermined portion) in the movable portion (movable portion) of the robot 11. Then, the speed detector 21 detects the speed of the predetermined portion and transmits information regarding the detected result to the control device 12. Robot 1
The movable part in 1 is, for example, the part of the manipulator M1 or the part of the end effector E1.
In the present embodiment, the control unit 104 controls the speed of a predetermined portion of the movable portion of the robot 11 based on the information of the detection result by the speed detector 21. In this case, control unit 1
04 may control the movable part so as to realize the operation procedure including the speed based on the information of the operation procedure of the movable part including the speed, for example. Information on the operation procedure of the movable portion including such a speed is set at the time of teaching, for example.

In this embodiment, the speed detector 21 is provided in the manipulator M1 of the robot 11.
As another configuration example, the speed detector 21 may be provided at an arbitrary position movable in the robot 11, and may be provided, for example, in the end effector E1 of the robot 11.
In the present embodiment, the speed detector 21 is communicably connected to the control device 12 via a cable (not shown), but as another configuration example, the speed detector 21 can communicate with the control device 12 by wireless communication. May be connected.
In the present embodiment, one speed detector 21 is provided, but as another configuration example, a plurality of speed detectors may be provided, and each speed detector is a different part of the robot 11. May be prepared for.

In addition, information transmitted by the speed detector 21 (information regarding the result of detecting the speed of a predetermined part).
For example, information indicating the speed of the predetermined part (an example of the first part) may be used, or a part other than the predetermined part (other than the first part) based on the speed of the predetermined part. When the speed of (1 example) can be detected (or may be estimated), information representing the speed of a part other than the predetermined part may be used.

As an example, the speed transmitted from the speed detector 21 to the control device 12 to notify (notify) is a part of the moving part of the robot 11 having the highest speed (or a part estimated to have the highest speed). It may be TCP (Tool Center Point) set in the center of gravity of the end effector E1 or the like.
As another example, the speed transmitted from the speed detector 21 to the control device 12 to be notified (notified) is
In the movable part of the robot 11, the speed may be the speed of the part farthest from the position of the base end B1.
As another example, the speed transmitted from the speed detector 21 to the control device 12 to be notified (notified) is
In the movable part of the robot 11, it may be a portion that invades the outermost region and is located on the outermost side of the region. The site may be, for example, a site at the tip of the end effector E1 or a site corresponding to the elbow of the manipulator M1.
In the present embodiment, the high-speed region R1 exists on the innermost side, the low-speed region R2 exists on the outermost side, and the maximum speed change region R3 exists between them.

As an example, the speed detector 21 may be provided in a drive unit (for example, an encoder) of a predetermined axis among a plurality of axes included in the manipulator M1 of the robot 11. As another example, the same number of speed detectors as the plurality of axes included in the manipulator M1 of the robot 11 may be provided, and each speed detector may be provided on each of the plurality of axes.
For example, the speed detector 21 can detect the rotation speed of the shaft by reading the value of the encoder in the drive unit of the predetermined shaft, thereby detecting the speed of the portion driven by the shaft. It is possible.

Further, the speed detector 21 may be provided at a place other than the robot 11 to detect the speed of a predetermined portion of the robot 11. In this case, as an example, the speed detector 21 may include a camera that captures an image and an arithmetic unit that performs processing based on the captured image, and captures an image of a predetermined portion of the robot 11 at different times. The speed of the predetermined portion may be detected by comparing a plurality of captured images. As another example, the speed detector 21 may include a laser, which irradiates a predetermined portion with light emitted from the laser and based on the reflected light.
The velocity of the predetermined portion may be detected. As another example, the speed detector 21 may include an ultrasonic oscillator, irradiates a predetermined portion with ultrasonic waves emitted from the laser, and detects the speed of the predetermined portion based on the reflected sound wave. You may.

[Explanation of force detector]
The force detector 22 detects one or both of the translational force and torque applied to the robot 11 by detecting one or both of the translational force and torque applied to the force detector 22. Then, the force detector 22 transmits information regarding the detected result to the control device 12. The information is, for example, one or both of the information representing the translational force and the information representing the torque.
In this embodiment, the force detector 22 is a manipulator M1 and an end effector E.
It is provided in the part between 1 and (the part corresponding to the wrist).
As another configuration example, the force detector 22 may be provided elsewhere in the robot 11.
For example, it may be provided in the manipulator M1 of the robot 11.
In the present embodiment, the force detector 22 is communicably connected to the control device 12 via a cable (not shown), but as another configuration example, the force detector 22 can communicate with the control device 12 by wireless communication. May be connected.
In this embodiment, one force detector 22 is provided, but as another configuration example,
A plurality of force detectors may be provided, and each force detector may be provided at a different part of the robot 11.

As another configuration example, a torque sensor may be used as the force detector 22, or the manipulator M1 may be provided.
The force detector 22 may detect using a crystal sensor. In general, the crystal sensor has high rigidity and maintains the detection accuracy when repeatedly performing detection. Robot 1
It is effective for realizing high acceleration / deceleration of 1 and suppressing small residual vibration in the robot 11.

[Explanation of the first object detector]
In the present embodiment, each of the first object detectors 31-13 to 31-4 is provided in the low speed region R2, and is provided in the vicinity of the boundary between the low speed region R2 and the maximum speed change region R3.
As another configuration example, each of the first object detectors 31-13 to 31-4 may be provided at an arbitrary place, for example, may be provided in the maximum speed change region R3, and may be provided in the low speed region R2. It may be provided near the boundary with the maximum speed change region R3. As another configuration example, each of the first object detectors 31-13 to 31-4 may be provided so as to straddle the boundary between the low speed region R2 and the maximum speed change region R3.
In the present embodiment, each of the first object detectors 31-1 to 31-4 is communicably connected to the control device 12 via the respective cables 61-1 to 61-4.
As another configuration example, the respective first object detectors 31-13 to 31-4 and the control device 12 may be communicably connected by wireless communication.

In this embodiment, the four first object detectors 31-13 to 31-4 have the same function. Therefore, the first object detector 31-1 will be described as an example.
In the present embodiment, the first object detector 31-1 detects an object without distinguishing between an organism (including a human being) and an object other than the organism. In this case, the object is a living thing or a non-living thing.
As another configuration example, the first object detector 31-1 may have a function of distinguishing between living things and non-living things (non-living things) and detecting any one or both of them. in this case,
In this embodiment, the first object detector 31-1 detects an organism.

The first object detector 31-1 detects that the object has crossed the boundary between the low speed region R2 and the maximum speed change region R3. For example, when there is no movable object in the high-speed region R1 and the maximum velocity change region R3 in the initial state, and the first object detector 31-1 detects the object, the object changes the maximum velocity from the low-speed region R2. It can be considered that it has moved (invaded) to the area R3. Further, for example, when the object does not cross the boundary between the low speed region R2 and the maximum speed change region R3 after moving (entering) from the low speed region R2 to the maximum speed change region R3, the object has the maximum speed. It can be considered to exist in either the change region R3 or the high speed region R1.

As another configuration example, the first object detector 31-1 may be able to detect the direction of movement of the object, and detect an object moving (invading) from the low speed region R2 to the maximum speed change region R3. Has a function.
As another configuration example, the first object detector 31-1 has a low speed region R2 to a maximum speed change region R.
It may have a function of detecting an object moving (invading) to 3 and a function of detecting an object moving from the maximum speed change region R3 to the low speed region R2.

Here, in the present embodiment, the first object detector 31-1 detects that the object crosses the boundary between the low speed region R2 and the maximum speed change region R3, but as another configuration example, the high speed region R1 It may be detected that the object crosses the boundary between the object and the maximum velocity change region R3. In this case, the first
The object detector 31-1 is provided near the boundary between the high-speed region R1 and the maximum speed change region R3, for example. In this case, the first object detector 31-1 may be provided, for example, in the high-speed region R1, the maximum velocity change region R3, or straddle the boundary of both of them. You may.

As another configuration example, the first object detector 31-1 may have a function of detecting the presence of an object in a predetermined region. The predetermined region may be, for example, a high-speed region R1 or a maximum speed change region R3, or may be a region in which the high-speed region R1 and the maximum speed change region R3 are combined. In this case, the first object detector 31-1 may be provided at any place.

As the first object detector, for example, a sensor for detecting the intrusion of a person (intrusion detection sensor) may be used. As the first object detector, for example, one or more of a light curtain, a laser scanner, an image sensor (for example, a camera), an ultrasonic sensor, a laser range finder, and the like may be used.
Further, a first object detector having a function of detecting that an object has moved (passed) a predetermined boundary, and a first object detector having a function of detecting the presence of an object in a predetermined area.
Both may be provided in the robot system 1. In this case, both of these functions may be provided in one first object detector.

Here, in the present embodiment, the first object detectors 31-13 to 31-4 are arranged at equal intervals (or substantially equal intervals) at the boundary between the low speed region R2 and the maximum speed change region R3. ing. Thereby, in the present embodiment, it is possible to detect an object by any of the first object detectors 31 to 1-31-4 on the entire circumference of the boundary between the low speed region R2 and the maximum speed change region R3. It has become.
As another configuration example, the arrangement of the respective first object detectors 31-1 to 31-4 may be arbitrary. For example, a configuration may be used in which the object can be detected only in a part of the entire circumference of the boundary between the low speed region R2 and the maximum speed change region R3.
In the present embodiment, four first object detectors 31-1 to 31-4 are provided, but as another configuration example, the number of first object detectors may be arbitrary.

[Explanation of the second object detector]
In the present embodiment, the second object detector 41 is provided in the vicinity (periphery) of the robot 11.
As another configuration example, the second object detector 41 may be provided at an arbitrary place, for example, the robot 11 may be provided.
In the present embodiment, the second object detector 41 is communicably connected to the control device 12 via the cable 62.
As another configuration example, the second object detector 41 and the control device 12 may be communicably connected by wireless communication.

The second object detector 41 detects (measures) a predetermined distance (distance from the object) with respect to the object, and transmits information regarding the detected result to the control device 12. As the predetermined distance, for example, the distance between the predetermined position of the second object detector 41 and the object may be used, or the distance between the predetermined position of the robot 11 and the object may be used. Any position may be used as the predetermined position of the second object detector 41. Further, as the predetermined position of the robot 11, an arbitrary position may be used, and for example, the position of the base end B1 of the robot 11 may be used.

In the present embodiment, the second object detector 41 detects an object without distinguishing between an organism (including a human being) and an object other than the organism. In this case, the object is a living thing or a non-living thing.
As another configuration example, the second object detector 41 may have a function of distinguishing between living things and non-living things (non-living things) and detecting any one or both of them. In this case, in the present embodiment, the second object detector 41 detects an organism.

In the present embodiment, one second object detector 41 is provided, but as another configuration example, the number of the second object detectors may be arbitrary.
When a plurality of second object detectors are provided, the arrangement of the plurality of second object detectors may be arbitrary. In this case, for example, the detection result by one second object detector among the plurality of second object detectors may be adopted, or two or more (or all) second object detectors may be adopted. The average value of the detection results according to the above may be adopted.
As the second object detector 41, for example, one of a light curtain, a laser scanner, an image sensor (for example, a camera), an ultrasonic sensor, a laser range finder, and the like.
The above may be used.

In the present embodiment, the first object detector 31-1 to 31-4 and the second object detector 41 are provided as separate detectors, but as another configuration example, the first object detector 31- 1-31-4 and the second object detector 41 may be configured by using a common detector.

[Explanation of area]
The high-speed region R1 is a region in which the robot 11 is allowed to operate at a high speed (high speed). The high speed may be, for example, the maximum speed of the robot 11 (here, the maximum speed as a specification). The high-speed region R1 may be set according to, for example, the content of the work performed by the robot 11.
In the present embodiment, the maximum speed at which the robot 11 is allowed to operate (hereinafter, also referred to as “maximum speed for high-speed region”) is set in the high-speed region R1. The maximum speed for the high-speed region may be, for example, the maximum speed as the specifications of the robot 11, or may be a speed smaller than that.

The low speed region R2 is a region in which the robot 11 needs to operate at a low speed (small speed). The low speed is, for example, a speed at which the safety of the person is ensured even if the robot 11 collides with the person.
In the present embodiment, the robot 11 can operate at a low speed even in the low speed region R2.
In the present embodiment, the maximum speed at which the robot 11 is allowed to operate (hereinafter, also referred to as “maximum speed for low speed region”) is set in the low speed region R2.

Here, as the maximum speed for the low speed region, for example, a speed (safety speed) specified by a standard relating to the striking force applied to the human body may be used (ISO standard: ISO / TS-15066).
Robots and Robotics devices-Collaborative
See e robots. ).
In general, the safe speed is determined by the degree of harm that the robot 11 causes to the human body. For example, the striking force applied to the human body and the striking force from the surface of the human body during the time required from the detection of the external force by the sensor for detecting the external force (force detector 22 in the present embodiment) to the stop of the robot 11. It can be determined based on the amount of indentation. The safe speed is, for example, robot 1
Not only may it be set for each single unit of 1, but an arbitrary safety speed may be set for each work or tool gripped by the robot 11.
As another example, a speed smaller than the safe speed may be used as the maximum speed for the low speed region.

The maximum speed change region R3 is the maximum speed at which the robot 11 is allowed to operate according to the distance from the reference position (in the present embodiment, the position of the base end B1 of the robot 11) (hereinafter, "" This is the region where the "maximum speed for the maximum speed change region") changes.
In the maximum speed change region R3, for example, in all or a part of the line connecting the high speed region R1 and the low speed region R2 (for example, the shortest distance line), as the speed approaches the low speed region R2, the maximum speed changes It has a deceleration that reduces the maximum speed for the speed change region. Conversely, the maximum speed change region R3 has an acceleration in which the maximum speed for the maximum speed change region increases as the low speed region R2 approaches the high speed region R1 on the line.
In the present embodiment, the negative acceleration is also referred to as deceleration.

Here, the characteristic of the deceleration or the acceleration (hereinafter, also referred to as "deceleration") from the speed before the change to the speed after the change may be, for example, a straight line or a curved line. You may. As an example of the curve, a curve interpolated by splines may be used to achieve smooth deceleration or acceleration. The deceleration may be, for example, a constant value or a variable value in the maximum speed change region R3.
In the present embodiment, in the maximum speed change region R3, the high speed region R1 to the low speed region R
When approaching 2, the maximum speed for the maximum speed change region reaches the maximum speed for the low speed region and becomes constant up to the boundary before reaching the boundary between the low speed region R2 and the maximum speed change region R3. ..

Further, the maximum speed change region R3 and the high speed region R1 may be, for example, an region occupied by the robot 11, that is, an region where it is assumed that a person other than the robot 11 does not invade. The area occupied by the robot 11 is, for example, a safety fence (
Includes a virtual safety fence. ) Is provided, it corresponds to the area inside the safety fence.

[Details of robot operation]
FIG. 18 is a diagram showing an example of the maximum speed for each region according to one embodiment (first embodiment) of the present invention.
In FIG. 18, the horizontal axis represents the range of each region. The vertical axis represents the maximum speed in each region.
Specifically, the range L1 of the high-speed region R1, the range L2 of the low-speed region R2, and the maximum speed change region R.
The range L3 of 3 and the range L11 where the maximum speed is the safe speed in the maximum speed change region R3 are shown. Moreover, the characteristic 1001 of the maximum speed is shown.
FIG. 3 is a diagram showing an example of the maximum speed for each region according to one embodiment (first embodiment) of the present invention and an image of a robot 11, a first object detector 31-1 and a person 201 (human hand). Is.
In FIG. 3, the horizontal axis represents the range of each region. The vertical axis represents the maximum speed in each region.
Specifically, the range L1 of the high-speed region R1, the range L2 of the low-speed region R2, and the maximum speed change region R.
The range L3 of 3 and the range L11 where the maximum speed is the safe speed in the maximum speed change region R3 are shown. Moreover, the characteristic 1001 of the maximum speed is shown. Also, robot 11, person 201
(In the figure, a human hand), the first object detector 31-1 is shown. The person 201 is, for example,
It may be a person (worker) who performs work related to the robot 11.

The maximum speed of the robot 11 is a constant speed V2 (V2 is a value larger than 0) in the range L1 of the high-speed region R1 and a constant speed V1 (V1) which is a safe speed in the range L2 of the low-speed region R2.
Is a value greater than 0 and less than V2). Further, the maximum speed of the robot 11 is a constant speed V1 which is a safe speed in the range L11 where the maximum speed is a safe speed in the maximum speed change region R3, and is another range (a range other than the range L11 in the range L3). ) Is the speed between the speed V2 and the speed V1.
As described above, in the present embodiment, in the robot 11 provided with the movable portion capable of operating in the high-speed region R1 and the low-speed region R2, the predetermined portion of the movable portion is located in the low-speed region R2. The speed of the portion is not 0, and the predetermined portion is the high-speed region R1.
It is limited to less than the maximum speed of the predetermined part when it is located within.

<Limitation of robot movement speed due to intrusion of objects>
In the present embodiment, the control unit 104 causes an object (person 201 in the example of FIG. 3) to enter the maximum speed change region R3 from the low speed region R2 based on the information input from the first object detector 31-1. When it is detected, the robot control unit 131 limits the speed of operation of the robot 11 to a safe speed (speed V1 in the example of FIG. 3) or a speed lower than that. Here, it usually takes time (referred to as "delay time" in the description here) from the intrusion of an object until the speed of operation of the robot 11 reaches a safe speed.
In the present embodiment, the speed at which the object (person 201 in the example of FIG. 3) moves is assumed to be a predetermined value, and the distance that the object moves during the delay time is calculated. In the example of FIG. 3, a range having a distance corresponding to the distance is set as a range L11 in which the maximum speed is a safe speed in the maximum speed change region R3. The range L11 is in contact with and continuous with the range L2 of the low speed region R2. In the example of FIG. 3, the place where the robot 11 and the object can come closest to each other when the delay time elapses is shown. As described above, in the present embodiment, the robot 11 relating to the moving speed of the object (person 201 in the example of FIG. 3) and the first object detector 31-1.
The reaction rate of is taken into consideration.
As described above, in the present embodiment, the control unit 104 can limit the speed of operation of the robot 11 based on the information input from the first object detector 31-1.
Here, the place where the robot 11 and the object can be closest to each other is determined based on the distance between the predetermined portion of the robot 11 and the object. In this case, any part may be used as a predetermined part of the robot 11 used to obtain the distance between the robot 11 and the object.
As an example, as the part of the robot 11 used to obtain the distance, the part of the movable part of the robot 11 that is closest to the object (that is, the part that has the shortest distance to the object) is used. You may. In this case, the control unit 104 identifies the portion during the operation of the robot 11.
As another example, a predetermined fixed portion may be used as the portion of the robot 11 used to obtain the distance. In this case, the portion is set in the control device 12 in advance.
Further, as an example, when the control unit 104 controls the movable part of the robot 11, the information on the position where the base end B1 of the robot 11 is installed and the information on the position and posture of the movable part of the robot 11 are used. Based on this, it is possible to specify the position and posture of the predetermined portion of the movable portion, and thereby it is possible to calculate the distance between the predetermined portion of the movable portion and the predetermined object. In the present embodiment, information on the mechanical structure of the base end B1 of the robot 11 and the movable portion is set in the control device 12, and the control unit 104 sets the position of a predetermined portion of the movable portion and the position of the predetermined portion of the movable portion based on the information. It is possible to identify the posture.
As another example, a sensor for detecting the position and posture of the movable part of the robot 11 may be installed outside the robot 11, and in this case, the control unit 104 may install the sensor based on the information of the detection result by the sensor. It is possible to specify the position and posture of a predetermined portion of the movable portion, and thereby it is possible to calculate the distance between the predetermined portion of the movable portion and the predetermined object.
The portion of the robot 11 in which the position and posture are specified and the portion in which the speed is detected may be, for example, the same portion or different portions.

<Stopping robot movement due to external force>
In the present embodiment, when the control unit 104 detects an external force equal to or higher than a predetermined threshold value based on the information input from the force detector 22, the robot control unit 131 stops the operation of the robot 11. Any value may be used as the threshold value.
As described above, in the present embodiment, the control unit 104 can limit the speed of operation of the robot 11 based on the information input from the force detector 22.

<Restriction of robot movement due to intrusion of objects and external force>
In the present embodiment, both the speed of operation of the robot 11 is limited in response to the intrusion of an object and the operation of the robot 11 is stopped in response to an external force equal to or higher than a predetermined threshold value.
As described above, in the present embodiment, the control unit 104 limits the speed of operation of the robot 11 based on the information input from the first object detector 31-1 and the information input from the force detector 22. It is possible.
In the present embodiment, when the intrusion of an object is not detected by the first object detector 31-1 to 1-31-4 and the external force equal to or higher than a predetermined threshold value is not detected by the force detector 22. It will be in the following state. That is, in this case, the robot 11 has the maximum speed in the high-speed region R1 (
In the example of FIG. 3, it is possible to operate at a speed V2) or lower, and in the maximum speed change region R3, the speed is limited according to the position (in the example of FIG. 3, the speed V2 is higher than the speed V1). It is possible to operate at a speed less than (the speed of the characteristic 1001) or less, and in the low speed region R2 it is possible to operate at a safe speed (speed V1 in the example of FIG. 3) or less. ..
In the present embodiment, the upper limit of the speed in the high-speed region R1 is set to the maximum speed (here, the maximum speed as the spec), but this means that the upper limit of the speed is not substantially set by the control other than the spec. Corresponds to.

In the present embodiment, when the intrusion of an object is detected by the first object detector 31-1 to 1-31-4 and the external force equal to or higher than a predetermined threshold value is not detected by the force detector 22, the following It becomes the state of. That is, in this case, the robot 11 can operate at a safe speed or a speed lower than the safe speed in all the regions (high-speed region R1, maximum speed change region R3, low-speed region R2).

In the present embodiment, when the intrusion of an object is not detected by the first object detector 31-1 to 1-31-4 and the external force equal to or higher than a predetermined threshold value is detected by the force detector 22, the following It becomes the state of. That is, in this case, the robot 11 stops in any region (high-speed region R1, maximum speed change region R3, low-speed region R2).

In the present embodiment, when the intrusion of an object is detected by the first object detector 31-1 to 1-31-4 and the external force equal to or higher than a predetermined threshold value is detected by the force detector 22, the following It becomes a state. That is, in this case, the robot 11 stops in any region (high-speed region R1, maximum speed change region R3, low-speed region R2).

In the present embodiment, the robot 11 can perform operations in all regions of the high-speed region R1, the low-speed region R2, and the maximum speed change region R3.
In the present embodiment, information on the maximum speed allowed for each region (high-speed region R1, low-speed region R2, maximum speed change region R3) (in the example of FIG. 3, the speed represented by the characteristic 1001). Information) has been set. As another configuration example, an allowable constant speed may be set for each region (high-speed region R1, low-speed region R2, maximum speed change region R3).
That is, for each region (in the maximum speed change region R3, depending on the position), the robot 1
The speed of 1 may be set to be constant.

[Explanation of comparison technology]
FIG. 17 is a diagram showing an example of the speed for each region according to the contrast technique.
The contrasting technique shown in FIG. 17 is a technique to be compared with the technique of the present embodiment shown in FIG. 3, and is, for example, a background technique.
In FIG. 17, the horizontal axis represents the range of each region. The vertical axis represents the speed in each region.
Specifically, the range L101 of the first region, the range L102 of the second region, and the range L103 of the third region are shown. It also shows the speed characteristic 3001. Further, the robot 2001, the human 2021 (human hand in the figure), and the object detector 2011 are shown.
In the example of FIG. 17, it is assumed that a virtual safety fence (virtual safety fence) exists at the boundary between the range L102 of the second region and the range L103 of the third region, and the object detector 2011 is concerned. Detects the intrusion of an object (person 2021 in the example of FIG. 17) at the boundary. Robot 20
01 can operate at the maximum speed in the range L101 of the first region, but 2
Idling may occur in the range L102 of the third area, and the range L103 of the third area
It is assumed that the operation will not be performed.
The speed of the robot 2001 is the speed V1 which is the maximum speed in the range L101 of the first region.
It is 1 (V11 is a value larger than 0) and is 0 in the range L103 of the third region.
Here, when the object detector 2011 detects that an object (person 2021 in the example of FIG. 17) has invaded the range L103 of the third region to the range L102 of the second region, the operation of the robot 2001 is performed. The speed is controlled to 0 (that is, the robot 2001 is stopped). Here, it usually takes time (referred to as "delay time" in the description here) from the intrusion of an object until the speed of operation of the robot 2001 becomes zero.
Therefore, the speed at which the object (person 2021 in the example of FIG. 17) moves is assumed to be a predetermined value, and the distance that the object moves during the delay time is calculated. In the example of FIG. 17, a range having a distance corresponding to the distance is set as a range L111. The range L11
1 is in contact with and continuous with the range L103 of the third region.
Here, the distance in the range L102 of the second region other than the range L111 is the free running distance. At the free running distance, the robot 2001 runs idle from the maximum speed and stops. The characteristic of the speed change representing idling is, for example, a characteristic that occurs by chance and may differ depending on the situation at that time.
As described above, in the example of FIG. 17, a free running distance is provided in order to guarantee that the robot 2001 stops inside the virtual safety fence when the intrusion of an object is detected. in this case,
Since the free running distance is taken into consideration, the area in which the robot 2001 can operate at the maximum speed is narrowed regardless of the presence or absence of the intrusion of an object.

[Enlargement / reduction of area]
The enlargement / reduction of the region will be described with reference to FIGS. 4 and 5.
4 and 5 are diagrams showing an example of enlargement / reduction of a region according to an embodiment (first embodiment) of the present invention.

In FIG. 4, the robot 11, the person 211 (an example of an object), the high-speed region R11 (the region corresponding to the high-speed region R1 shown in FIG. 1), and the low-speed region R12 (the low-speed region R2 shown in FIG. 1) are shown. An example of the corresponding region) and the maximum speed change region R13 (the region corresponding to the maximum speed change region R3 shown in FIG. 1) is shown. Further, the second object detector 41 connected to the control device 12 via the cable 62 is shown.
FIG. 5 shows an example of the robot 11, the person 211, the high-speed region R11, the low-speed region R12, and the maximum speed change region R13. In addition, an example of the direction P1 in which the person 211 moves and
An example of the direction P2 in which the high-speed region R11 changes is shown. Further, the second object detector 41 connected to the control device 12 via the cable 62 is shown.

Here, the control unit 104 determines the direction P1 in which the person 211 moves and the amount of movement based on the detection result (distance information regarding the person 211) by the second object detector 41. Then, as shown in FIG. 5, when the person 211 moves in the direction P1 away from the robot 11, the control unit 104 changes the high-speed region R11 in the expanding direction P2. In this case, control unit 1
04 is, for example, an amount (change amount) that changes the high-speed region R11 according to the movement amount of the person 211.
To decide. The relationship between the amount of movement of the person 211 and the amount of change in the high-speed region R11 may be arbitrary, for example, may be a proportional relationship, or may be another relationship.

Further, although FIGS. 4 and 5 show the case where the high-speed region R11 is enlarged, the high-speed region R11 may be reduced in the same manner. For example, in the control unit 104, the person 211 is the robot 11.
When it moves in the direction of approaching, the high-speed region R11 is changed in the direction of contraction.
In this way, the control unit 104 widens the high-speed region R11 when the human 211 is far away from the robot 11, and widens the high-speed region R11 when the human 211 is near the robot 11.
Narrow.

Here, the method of determining whether the direction in which the person 211 moves is the direction away from the robot 11 or the direction in which the person 211 moves approaches the robot 11 may be arbitrary. As an example, when the distance between the position of the robot 11 (or another reference position) and the position of the person 211 becomes large, it is determined that the direction is away from the robot 11, and the distance becomes small. A method of determining that the direction is approaching the robot 11 may be used. In this case, as the position of the robot 11, for example, the position of the base end B1 of the robot 11 may be used, or the position of another part of the robot 11 may be used.

Further, the control unit 104 uses the position of the robot 11 (or another reference position) and the person 21.
The high speed region R11 may be changed according to the distance from the position 1. For example, control unit 1
In 04, when the distance exceeds a predetermined threshold value, the high-speed region R11 may be changed to the maximum region required for the work by the robot 11. The maximum area may be arbitrarily set, for example, may be predetermined.
Further, as another configuration example, the control unit 104 controls when the distance exceeds a predetermined threshold value.
The maximum speed change area R13 (the area that becomes the margin) is eliminated, and the maximum speed change area R1
The high-speed region R11 may be expanded by setting 3 as the high-speed region R11.

As described above, in the present embodiment, the robot 11 can be operated at high speed by changing the high-speed region R11 of the robot 11 according to the situation of the object (person 211 in the example of FIG. 4) existing around the robot 11. It can be guaranteed that the area in which it can operate is large.
When a plurality of different objects (person 211 in the example of FIG. 4) exist around the robot 11, the control unit 104 may, for example, set the position of the robot 11 (or another reference position). The high-speed region R11 may be changed with reference to the object having the shortest distance (closest object).

[Situation where multiple robots exist]
A situation in which a plurality of robots 11-1 to 11-m (m is an integer of 2 or more) exists will be described.
FIG. 6 shows a plurality of robots 11-11 to 11- according to an embodiment (first embodiment) of the present invention.
It is a figure which shows an example of the situation where m exists.
FIG. 6 shows an outline of a robot system 1A provided with a plurality of robots 11-11 to 11-m, a high-speed region R201 (a region corresponding to the high-speed region R1 shown in FIG. 1), and a low-speed region R20.
2 (region corresponding to low speed region R2 shown in FIG. 1) and maximum speed change region R203 (FIG. 1).
An example of the region corresponding to the maximum speed change region R3 shown in the above is shown.
Here, the configuration of the robot system 1A is generally a plurality of robots 11-1 to 11 having the same functions as the robot 11 shown in FIG. 1 as compared with the configuration of the robot system 1 shown in FIG. The same is true except for the existence of −m.

In the example of FIG. 6, as the high-speed region R201, a region including the base ends of the plurality of robots 11-1 to 11-m is set. Then, the maximum speed change region R20 is outside the high speed region R201.
3 exists, and the low speed region R202 exists outside the maximum speed change region R203.
Here, the boundary between the high-speed region R201 and the maximum speed change region R203 is set in consideration of the existence of, for example, a plurality of robots 11-1 to 11-m. As an example, a high-speed region R201 having a shape (for example, a similar shape) corresponding to the shape of the arrangement of the plurality of robots 11-1 to 11-m may be set. In the example of FIG. 6, a plurality of robots 11-1 to 11-
The m are arranged in a straight line in a straight line, and a high-speed region R201 having an elliptical shape similar to the shape of the arrangement is set.

Further, the boundary between the maximum speed change region R203 and the low speed region R202 may be determined based on, for example, one robot closest to the boundary among the plurality of robots 11-1 to 11-m. .. As an example, when a plurality of robots 11-1 to 11-m are arranged in a straight line, a boundary near the one end may be determined with reference to the robot 11-1 at one end. In addition, the boundary near the other end may be determined with reference to the robot 11-m at the other end.
In the example of FIG. 6, the shape of the boundary between the maximum speed change region R203 and the low speed region R202 is elliptical like the shape of the boundary between the high speed region R201 and the maximum speed change region R203.

[Summary of the first embodiment]
As described above, in the robot system 1 according to the present embodiment, the operation of the robot 11 does not have to be stopped even outside the high-speed region R1, and all regions (high-speed region R1, maximum speed change region R3, low-speed region). It is possible to operate the robot 11 in R2).
As a result, in the robot system 1 according to the present embodiment, for example, even outside the high-speed region R1, it is possible to operate at at least a safe speed and continue the minimum work, and it is possible to prevent a decrease in work efficiency. ..

In the robot system 1 according to the present embodiment, for example, in an environment where the robot 11 and a person (or another object may be used) coexist, the robot 11 is occupied while maintaining the productivity of the operation of the robot 11 as much as possible. It is possible to reduce the area.
Specifically, in the present embodiment, the speed of the robot is not decelerated from the maximum speed to 0 by idling, but the speed of the robot 11 is decelerated from the maximum speed to a speed other than 0 (for example, a safe speed). Therefore, the time required to change from the maximum speed to the speed after deceleration (safe speed in the present embodiment) is shorter than in the case where the free running is used. Therefore, in the present embodiment, the maximum speed change region R3 can be narrowed, and the occupied area of the robot 11 (for example, the area of the combined region of the high speed region R1 and the maximum speed change region R3) is narrowed. Is possible. For example, when the work performed by the robot 11 is the same, the occupied area of the robot 11 is narrowed in the present embodiment as compared with the configuration in which idle running is used, and the efficiency of the work can be improved.
When the occupied area of the robot 11 is the same as that in the configuration in which idle running is used, in the present embodiment, the high-speed region R1 can be widened, and the work efficiency can be improved. It is possible.

Here, in the present embodiment, the case where the base end B1 of the robot 11 is installed has been shown.
As another configuration example, a configuration in which the base end B1 of the robot 11 can move may be used. As an example, the robot 11 (including the base end B1) may be placed on a table or the like and moved.
When the second object detector 41 and the robot 11 (including the base end B1) are separate bodies and the robot 11 can move, for example, the second object detector 41 and the robot 1
The second object detector 41 or the robot 11 is provided with a function of detecting the relative positional relationship with 1 (for example, the amount of movement of the robot 11), and the control unit 104 is provided based on the positional relationship. By correcting the information of the detection result by the second object detector 41, the change in the positional relationship may be compensated.
Further, in the present embodiment, in the example of FIG. 1, the case where the base end B1 of the robot 11 is in the high-speed region R1 is shown, but as another configuration example, the base end B1 of the robot 11 is in the high-speed region R1. You may be outside.
Further, in the present embodiment, in the example of FIG. 6, the case where all the base ends of the plurality of robots 11-1 to 11-m are within the high-speed region R201 is shown, but as another configuration example, a plurality of robots One or more base ends of the robots 11-11 to 11-m may be outside the high speed region R201.

(Second Embodiment)
[Robot system]
In the present embodiment, a configuration example having a further function in the same configuration as the robot system 1 shown in FIG. 1 will be described.
In the present embodiment, the description of the same configuration and operation as that of the robot system 1 shown in FIG. 1 will be simplified or omitted.
Hereinafter, configurations and operations different from those of the robot system 1 shown in FIG. 1 will be described in detail.

[Display unit provided on the robot]
FIG. 7 is a diagram showing a schematic configuration example of the robot 301 according to the first embodiment (second embodiment) of the present invention.
The robot 301 further includes a display unit 321 in the same configuration as the robot 11 shown in FIG.
In the example of FIG. 7, the display unit 321 is provided on the side surface of the most advanced arm (or may be called a link or the like) of the manipulator of the robot 301. As described above, in the example of FIG. 7, the display unit 321 is provided near the end effector, but as another configuration example, it may be provided at any place. As another configuration example, the display unit 321 may be provided separately from the robot 301.

The control device 12 and the display unit 321 are communicably connected by a wired cable (not shown) or wirelessly.
The output unit 102 of the control device 12 outputs information to the display unit 321 and displays and outputs the information by the display unit 321. The display unit 321 is, for example, a display device having a screen.
Information is displayed and output on the screen.
The display unit 121 shown in FIG. 2 may be configured as, for example, the display unit 321 shown in FIG. 7, or may be provided separately from the display unit 321 shown in FIG. 7.

The control unit 104 of the control device 12 is located between the position of the robot 301 (or another reference position) and the position of the object (for example, a person) based on the information of the detection result by the second object detector 41. To determine the distance of. Then, the control unit 104 outputs information according to the determined distance to the display unit 321. Arbitrary information may be used as the information according to the distance, and color information is used in the present embodiment, but character or image information may be used as another configuration example.
The information displayed by the display unit 321 serves as an indicator indicating the distance.

In the present embodiment, the control unit 104 compares the magnitude relationship between the determined distance and each of one or more threshold values, and based on the magnitude relationship between the distance and the threshold value, colors according to the distance. The information to be displayed is output to the display unit 321.

FIG. 8 is a diagram showing an example of the display of the display unit 321 according to the embodiment (second embodiment) of the present invention.
In the example of FIG. 8, when the determined distance exceeds the first threshold value (the threshold value is a value larger than 0), the control unit 104 is green (or blue) to indicate safety. ) Information 3
21-1 is displayed by the display unit 321. The control unit 104 should be careful when the determined distance is equal to or less than the first threshold value and exceeds the second threshold value (the threshold value is larger than 0 and smaller than the first threshold value). In order to show, the yellow information 321-2 is displayed by the display unit 321. When the determined distance is equal to or less than the second threshold value, the control unit 104 causes the display unit 321 to display the red information 321-3 in order to indicate urgent attention. As a result, the color displayed on one display unit 321 changes according to the distance.
The number of threshold values may be arbitrary, and the number (type) of colors displayed on the display unit 321 may also be arbitrary.
Further, the correspondence between the distance and the color may be arbitrary.

FIG. 9 is a diagram showing an example of the display of the display unit 321 according to the embodiment (second embodiment) of the present invention.
In the example of FIG. 9, the control unit 104 compares the magnitude relationship between the determined distance and each of the six different threshold values, and the distance is included in any of the seven distance ranges classified by the threshold value. Determine if it is possible. Then, the control unit 104 causes the display unit 321 to display color information according to the distance range including the distance.

In the example of FIG. 9, the numbers from 1 to 7 are assigned to the seven distance ranges in order from the larger distance to the smaller distance included in each distance range. Then, the control unit 104 causes the display unit 321 to display information 371-377 for the number corresponding to the determined distance range. That is, the control unit 104 causes the display unit 321 to display one piece of information 371 when the determined distance range is the farthest (first farthest), and when the determined distance range is the second farthest. Displays two pieces of information 371-372 on the display unit 321 and the same applies thereafter. When the determined distance range is the closest (seventh farthest), seven pieces of information 371-372 are displayed.
77 is displayed on the display unit 321. That is, in the control unit 104, the determined distance range is i.
(I = 1, 2, 3, 4, 5, 6, 7) When it is the farthest, i information is displayed on the display unit 321. As a result, the level of the level meter displayed on one display unit 321 changes according to the distance. In the example of FIG. 9, the level increases as the level of the level meter increases along the direction P11.

Here, each of the information 371-377 is, for example, information of a linear figure, and the information 3
The linear length becomes longer from 71 to information 377. In the example of FIG. 9, the number of the linear figures corresponds to the level of the level meter. As the linear figure, for example, a bar-shaped figure or a rectangular (rectangular) figure may be used.
Further, the respective information 371-377 may be, for example, the same color or different colors from each other. Further, the respective information 371-377 have the same color, for example, but may be changed according to the number displayed on the display unit 321.
For example, the display content of the display unit 321 may display the distance by increasing or decreasing the number of the same color on the level meter, or may display the distance by increasing or decreasing the number of different colors.
The number of threshold values (number of distance ranges) may be arbitrary, and the number (types) of colors displayed on the display unit 321 may also be arbitrary.
Further, the correspondence between the distance range and the color may be arbitrary.

[Configuration with lighting unit]
FIG. 10 is a diagram showing a configuration example in which a lighting unit 431 (an example of a display unit) is provided around a robot 401 according to an embodiment (second embodiment) of the present invention.
10 shows a robot 401 similar to the robot 11 shown in FIG. 1 and a robot 401.
A second object detector 421 and a plurality of lighting units (1 in the example of FIG. 10) provided around the
Only the lighting units 431 are coded. ) Is shown.
In the example of FIG. 10, a laser range finder or a laser scanner that measures (detects) a distance is used as the second object detector 421.
The robot 401 may be provided with a display unit similar to the display unit 321 shown in FIG. 7, for example.

The plurality of lighting units 431 are arranged around the movable range of the robot 401. Each lighting unit 431 has a tile shape (eg, a plate shape with a square or rectangular surface) and is arranged so as to be spread over the relevant portion of the floor.
In the present embodiment, the plurality of lighting units 431 can be freely laid out in the shape of arrangement.

The control device 12 and the lighting unit 431 are communicably connected by a wired cable (not shown) or wirelessly.
The output unit 102 of the control device 12 outputs a signal to the lighting unit 431, and the lighting unit 431 lights the light of the color corresponding to the signal.

The control unit 104 of the control device 12 is located between the position of the robot 401 (or another reference position) and the position of the object (for example, a person) based on the information of the detection result by the second object detector 41. To determine the distance of. Then, the control unit 104 turns on the light of the color corresponding to the determined distance by the lighting unit 431. As a result, the lighting unit 431 according to the distance.
The displayed color changes with.

Here, in the present embodiment, when a plurality of lighting units 431 are connected, a configuration is used in which a signal is communicated between the plurality of lighting units 431. Therefore, in the present embodiment, at least one lighting unit 431 may be connected to the control device 12 so as to be communicable.
As another configuration example, each of the plurality of lighting units 431 and the control device 12 may be communicably connected, and the control device 12 may give a signal to each lighting unit 431.

FIG. 11 is a diagram showing a schematic configuration example of a lighting unit 431 according to an embodiment (second embodiment) of the present invention. In the present embodiment, the configurations and operations of the plurality of lighting units 431 are the same, and will be described collectively.
The lighting unit 431 has a surface (front surface) that becomes a front surface side and a surface (back surface) that becomes a back surface side when installed on a floor surface or the like, and is a side surface side with respect to the front surface and the back surface. 4 faces (
Side). Then, the two different lighting units 431 are connected to each other on the side surfaces thereof, and similarly, a large number of lighting units 431 are connected to form a unit.
In the present embodiment, the lighting device is provided inside the lighting unit 431 in an arrangement in which the light can be visually recognized when viewed from the surface side of the lighting unit 431.

On the first side surface of the lighting unit 431, a magnet portion 501 provided with an S pole side of a magnet (for example, a permanent magnet) and a magnet portion 502 provided with an N pole side of a magnet (for example, a permanent magnet). , Terminal 503 corresponding to green (G), terminal 504 corresponding to red (R), and ground (G)
A terminal 505 corresponding to ND) and a terminal 506 corresponding to blue (B) are provided.
On the second side surface of the lighting unit 431, a magnet portion 511 provided with an N pole side of a magnet (for example, a permanent magnet) and a magnet portion 512 provided with an S pole side of a magnet (for example, a permanent magnet). , Terminal 513 corresponding to green (G), terminal 514 corresponding to red (R), and ground (G)
A terminal 515 corresponding to ND) and a terminal 516 corresponding to blue (B) are provided.
On the third side surface of the lighting unit 431, a magnet portion 521 provided with an S pole side of a magnet (for example, a permanent magnet) and a magnet portion 522 provided with an N pole side of a magnet (for example, a permanent magnet). , A terminal 523 corresponding to red (R), a terminal 524 corresponding to green (G), a terminal 525 corresponding to blue (B), and a terminal 526 corresponding to ground (GND) are provided.
On the fourth side surface of the lighting unit 431, a magnet portion 531 provided with an N pole side of a magnet (for example, a permanent magnet) and a magnet portion 532 provided with an S pole side of a magnet (for example, a permanent magnet). , A terminal 533 corresponding to red (R), a terminal 534 corresponding to green (G), a terminal 535 corresponding to blue (B), and a terminal 536 corresponding to ground (GND) are provided.

Here, on each side surface, two magnet portions 501-502, 511-512, 5
21 to 522 and 531 to 532 are arranged one by one near the boundary with two adjacent other side surfaces.
Further, on each side surface, four terminals 503 to 506, 513 to 516, 523.
~ 526 ~ 533 ~ 536 are two magnet parts 501-502, 511-512, 521-
It is arranged between 522 and 531 to 532.
Further, on the four side surfaces, the positions of the two magnet portions and the positions of the four terminals are the same.
Further, as the magnet, for example, a sheet-shaped magnet may be used.

When a plurality of lighting units 431 having the configuration shown in FIG. 11 are used, in two adjacent lighting units 431, the S pole and the N pole are opposite to each other (opposite magnetic poles), and green (G). , Red (R), blue (B), and ground (GND) are arranged to match each other, and the sides of each other are connected to each other. This connection is achieved by the magnetic force of the magnet.
The magnet portions 501-502, 511-512, 521- in the lighting unit 431
522, 531 to 532 and terminals 503 to 506, 513 to 516, 523 to 526,
As the arrangement of 533 to 536, any other arrangement may be used.

FIG. 12 is a diagram showing a schematic configuration example of a circuit of a lighting unit 431 according to an embodiment (second embodiment) of the present invention.
In FIG. 12, the drive circuit 601 and a plurality of lighting units 431 to 431-n (n is 2).
It is the above integer. ) Is shown.
In the example of FIG. 12, the drive circuit 601 and the circuits of the plurality of lighting units 431 to 431-n are connected in series.
The configurations and operations of the respective lighting units 431 to 431-n are the same, and FIG.
It is the same as the lighting unit 431 shown in 1.

The first lighting unit 431-1 has a signal line 621-1 corresponding to red (R) and green (G).
The signal line 622-1 corresponding to blue (B), the signal line 623-1 corresponding to blue (B), and the ground (
Signal line 624-1 corresponding to GND) and light emitting diode 6 that emits red (R) color light.
It includes 41-1, a light emitting diode 642-1 that emits green (G) color light, and a light emitting diode 643-1 that emits blue (B) color light.
With respect to red (R), the light emitting diode 641-1 has a signal line 621-1 and ground (G).
It is provided so as to be connected to the signal line 624-1 corresponding to ND).
With respect to green (G), the light emitting diode 642-1 has a signal line 622-1 and ground (G).
It is provided so as to be connected to the signal line 624-1 corresponding to ND).
With respect to blue (B), the light emitting diode 643-1 has a signal line 623-1 and ground (G).
It is provided so as to be connected to the signal line 624-1 corresponding to ND).

Similarly, the second lighting unit 431-2 to the nth lighting unit 431-n are red (R).
Signal lines 621-2-621-n corresponding to green (G) and signal lines 622-2-6 corresponding to green (G)
22-n, signal lines 623-2-623-n corresponding to blue (B), and ground (GND)
), A light emitting diode that emits red (R) color light 641-2 to 641-n, and a light emitting diode that emits green (G) color light. 642-2
642-n and a light emitting diode 643 to 643-n that emits light of the blue (B) color are provided.

In the example of FIG. 12, by connecting a plurality of lighting units 431 to 431-n by the magnetic force of a magnet, the signal line 621 corresponding to red (R) in the plurality of lighting units 431 to 431-n. -1 to 621-n are all connected, and the signal line 622-2-6 corresponding to green (G)
All 22-n are connected, all the signal lines 623-1 to 623-n corresponding to blue (B) are connected, and all the signal lines 624-1 to 624-n corresponding to ground (GND) are connected. .. Such connection of signal lines of each color (connection of electrodes of each color) is realized by contact of terminals (contacts) corresponding to the respective colors between adjacent lighting units.

In the present embodiment, the drive circuit 601 is provided inside or outside the control device 12, and is controlled by the control unit 104 of the control device 12. When the drive circuit 601 is provided outside the control device 12, the drive circuit 601 and the control device 12 are communicably connected by a wired cable (not shown) or wirelessly.

The drive circuit 601 has one lighting unit (in the example of FIG. 12, the first lighting unit 431).
-1) is connected to the signal line 62 corresponding to each color provided in the lighting unit 431-1.
Output (supply) signals corresponding to the respective colors to each of 1-1, 622-1, and 623-1.
To do. Further, the drive circuit 601 is provided on the ground (ground) provided in the lighting unit 431-1.
A ground (for example, a grounding portion) is connected to the signal line 624-1 corresponding to GND).
Here, the signal corresponding to each color output from the drive circuit 601 to the lighting unit 431-1 is, for example, a voltage signal. Then, by controlling the value of the voltage by the control unit 104, the light emitting diodes 641-1 to 641-n that emit the light of the red (R) color in the plurality of lighting units 431 to 431-n , Green (G) color light emitting light emitting diodes 642-1 to 642-n and blue (B) color light emitting diodes 643-1 to
Whether or not to emit light is controlled for each color of 643-n.

As a result, the plurality of lighting units 431 to 431-n emit the same color. The color may be, for example, any one of red (R), green (G), and blue (B), or any two colors, and a neutral color may be displayed as a whole. Well, or three colors, neutral colors may be displayed as a whole.

13, FIG. 14 and FIG. 15 are diagrams showing an example of the display color of the lighting unit 431 according to one embodiment (second embodiment) of the present invention, respectively.
In the example of FIG. 13, when there is no object (for example, a person) inside the range where the tip of the end effector of the robot 401 can reach and outside the vicinity of the range, the control unit 104 is set to the lighting unit 431. Light of a predetermined color (for example, green (G) or blue (B)) is displayed. The color indicates that it is safe.
In the example of FIG. 14, when the object does not exist inside the range where the tip of the end effector of the robot 401 can reach, but the object exists outside the vicinity of the range, the control unit 104 determines the lighting unit 431. Light of the color (for example, yellow (Y)) is displayed. The color represents something to be aware of.
In the example of FIG. 15, when an object exists inside the range where the tip of the end effector of the robot 401 can reach, the control unit 104 gives the lighting unit 431 a predetermined color (for example, red (R)).
) Light is displayed. The color represents urgent attention.

The control unit 104 controls the color displayed by the lighting unit 431 according to the distance at which the object (for example, a person) approaches the robot 401, based on the information of the detection result by the second object detector 421.

FIG. 16 shows a lighting unit 4 in which the control unit 104 according to the first embodiment (second embodiment) of the present invention is lit.
It is a flowchart which shows an example of the procedure of the process which controls the display color of 31.
The control unit 104 acquires information as a result of detecting the distance of an object existing around the robot 401 (step S1).
The control unit 104 determines whether or not the acquired distance exceeds the first threshold value (step S).
2).
As a result of the determination in step S2, when it is determined that the acquired distance exceeds the first threshold value, the control unit 104 tells the lighting unit 431 the first display color (for example, green (G) or blue (for example)
B)) is controlled to emit light (step S3). Then, the processing of this flow is completed.

On the other hand, when it is determined as a result of the determination in step S2 that the acquired distance is equal to or less than the first threshold value, the control unit 104 determines that the acquired distance is the second threshold value (the second threshold value is the first threshold value). It is determined whether or not it exceeds (step S4).
As a result of the determination in step S4, when it is determined that the acquired distance exceeds the second threshold value, the control unit 104 causes the lighting unit 431 to emit a second display color (for example, yellow (Y)). Control (step S5). Then, the processing of this flow is completed.

On the other hand, when it is determined as a result of the determination in step S4 that the acquired distance is equal to or less than the second threshold value, the control unit 104 displays the lighting unit 431 with a third display color (for example, red (R)).
Is controlled to emit light (step S6). Then, the processing of this flow is completed.

[Display according to the area where the target part of the robot exists]
Here, the control unit 104 may control to determine a region in the movable portion of the robot in which an arbitrary target portion (target portion) exists and display information according to the determined region. ..
Any region may be used as the region.
The target part includes, for example, a part for detecting the velocity (for example, the first part).
May be used.
As an example, the high-speed region R1, the low-speed region R2, and the maximum speed change region R3 shown in FIG. 1 may be used as the region where the target portion exists.
In this case, the control unit 104 determines whether the region in which the target portion exists is the high-speed region R1, the low-speed region R2, or the maximum speed change region R3. Then, the control unit 104 displays different information for each of the determined areas. For example, the control unit 104
Green (or blue) when it is determined that the region where the target site exists is the low-speed region R2.
When it is determined that the area where the target part exists is the maximum speed change area R3, the yellow information is displayed, and when it is determined that the area where the target part exists is the high-speed area R1. Displays red information.

[Display according to the area where the object exists]
Here, the control unit 104 determines the area where the object (for example, a person) exists based on the information of the detection result by the second object detector 421, and displays the information according to the determined area. It may be controlled to.
Any region may be used as the region.
As an example, as a region where an object exists, a high-speed region R1 and a low-speed region R2 shown in FIG. 1 are shown.
, Maximum velocity change region R3 may be used.
In this case, the control unit 104 is based on the information of the detection result by the second object detector 421.
It is determined whether the region in which the object exists is the high speed region R1, the low speed region R2, or the maximum speed change region R3. Then, the control unit 104 sets each of the determined regions.
Display different information. For example, in the control unit 104, the region where the object exists is the low speed region R2.
If it is determined that the information is green (or blue), green (or blue) information is displayed, and if it is determined that the region where the object exists is the maximum speed change region R3, yellow information is displayed and the object exists. When it is determined that the region is the high-speed region R1, red information is displayed.

[Summary of the second embodiment]
As described above, in the present embodiment, for example, as in the examples of FIGS. 7 to 9, different display modes are used depending on the approach distance (or area, etc.) of an object (for example, a person) to the robot 301. , Information such as color is displayed on the display unit 321 provided on the movable portion of the robot 301.
As a result, it is easy for a person (worker) or the like who performs work related to the robot 301 to recognize the displayed information (information notified by the display), and the control unit 104 of the robot 301 detects the worker or the like. It can be visually confirmed that the approach distance (which may be an area or the like) is determined. In the present embodiment, the information can be displayed in a place that is easy for the operator or the like to see.

Further, in the present embodiment, for example, as in the example of FIGS. 10 to 15, different display colors are used depending on the approach distance (may be an area or the like) of an object (for example, a person) to the robot 401.
Color information is displayed on the lighting unit 431 laid in the movable range of the robot 401. As a result, it is easy for a person (worker) or the like who performs work related to the robot 401 to recognize the displayed information (information notified by the display), and the control unit 104 of the robot 401 detects the worker or the like. It can be visually confirmed that the approach distance (which may be an area or the like) is determined. In the present embodiment, the information can be displayed in a place that is easy for the operator or the like to see.

For example, in the past, it has been difficult for a worker or the like to determine whether or not the worker or the like is recognized by the control unit of the robot. For example, an operator or the like may need to look at the screen of a teaching device (for example, a teaching pendant) in order to make such a judgment.
On the other hand, in the present embodiment, the worker or the like can facilitate such a judgment.

In the present embodiment, both the display according to the example of FIGS. 7 to 9 and the display according to the example of FIGS. 10 to 15 may be performed.
Further, in the present embodiment, the configuration in which one or both of the display according to the example of FIGS. 7 to 9 and the display according to the example of FIGS. 10 to 15 is performed is, for example, the maximum of the robot according to the example of FIG. It may be implemented together with the configuration for controlling the speed, or may be implemented independently of the configuration for controlling the maximum speed of the robot according to the example of FIG.
Further, the display according to the present embodiment may be applied to one or more of the plurality of robots, for example, when a plurality of robots are provided.

(Summary of the above embodiments)
As a configuration example, a movable part (manipulator M1 in the example of FIG. 1) that can operate in the first region (high-speed region R1 in the example of FIG. 1) and the second region (low-speed region R2 in the example of FIG. 1). And the robot provided with the end effector E1) (robot 11 in the example of FIG. 1), the first portion of the movable portion (for example, an arbitrarily set portion) is located in the second region. The speed of one part (safe speed in the example of FIG. 3) is not 0, and the first part is the first.
A robot that is limited to less than the maximum speed of the first part when located within the area.
As an example of the configuration, in the robot, the second region is the base end of the movable portion rather than the first region (FIG. 1).
In the example of, it is located away from the base end B1).
As an example of configuration, in a robot, the base end is in the first region.
As a configuration example, in the robot, there is a third region (maximum speed change region R3 in the example of FIG. 1) in which the maximum speed of the first portion is changed between the first region and the second region.
As a configuration example, in a robot, a first object detector (first object detector 31-1 to 31-4 in the example of FIG. 1) that detects a first object (person 201 in the example of FIG. 3) is used. Prepared.

As an example of configuration, in a robot, there is a third region that changes the maximum speed of the first portion between the first region and the second region, and a first object detector that detects the first object is provided. 1 When it is determined that the first object has invaded the third region based on the detection result of the object detector, the velocity of the first part in the first region is not determined to have invaded. It is limited to less than the maximum speed of the first part in the region (eg, safe speed).
As an example of configuration, in a robot, there is a third region that changes the maximum speed of the first portion between the first region and the second region, and a first object detector that detects the first object is provided. The position of the third region when the distance between the 1 object and the robot is the first distance is the position of the third region when the distance between the first object and the robot is a second distance longer than the first distance. Closer to the base than to the position (
For example, enlargement / reduction of the area according to the examples of FIGS. 4 and 5).
As a configuration example, the robot is provided with a speed detector (speed detector 21 in the example of FIG. 1) that detects the speed of the first portion.
As a configuration example, the robot is provided with a force detector (force detector 22 in the example of FIG. 1) for detecting a force.

As a configuration example, a robot (robot 301 in the example of FIG. 7, robot 4 in the example of FIG. 10)
01), the second object detector that detects the distance to the second object (for example, any object, which may be the same as or different from the first object), and the distance. Display unit (display unit 321 in the example of FIG. 7, lighting unit 431 in the example of FIG. 10)
) And.
As an example of configuration, in a robot, a display unit is provided on a movable unit (for example, the example of FIG. 7).
As a configuration example, in the robot, the information displayed on the display unit includes a case where the first part is located in the first area, a case where the first part is located in the second area, and a case where the first part is the first. It differs from the case where it is located in three regions (the region between the first region and the second region that changes the maximum speed of the first portion).

As a configuration example, there is a control device (control device 12 in the example of FIG. 1) that controls the robot as described above.
As a configuration example, it is a robot system (robot system 1 in the example of FIG. 1 and robot system 1A in the example of FIG. 6) including the robot as described above and a control device for controlling the robot.

A program for realizing the function of an arbitrary component in the device (for example, the control device 12) described above is recorded (stored) on a computer-readable recording medium (storage medium), and the program is recorded. It may be loaded into a computer system and executed. The term "computer system" as used herein includes hardware such as an operating system (OS: Operating System) or peripheral devices. The "computer-readable recording medium" includes a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), and a CD (C).
impact Disc) -A storage device such as a portable medium such as a ROM or a hard disk built in a computer system. Furthermore, the "computer-readable recording medium" is a volatile memory (RAM: Random Access) inside a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. It also includes those that hold the program for a certain period of time, such as Memory).

Further, the above program may be transmitted from a computer system in which this program is stored in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting a program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the above-mentioned functions. Further, the above program may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

1, 1A ... Robot system, 11, 11-11-11-m, 301, 401, 2001 ...
Robot, 12 ... control device, 21 ... speed detector, 22 ... force detector, 31-1 to 1-31-4 ...
1st object detector, 41, 421 ... 2nd object detector, 61-1 to 61-4, 62 ... Cable, 101 ... Input unit, 102 ... Output unit, 103 ... Storage unit, 104 ... Control unit, 121, 321
... Display unit, 131 ... Robot control unit, 201, 2021 ... People, 321-13-21-3,
371-377 ... Information, 431 ... Lighting unit, 501-502, 511-512, 52
1-522, 531-532 ... Magnet part, 503-506, 513-516, 523-52
6, 533 to 536 ... Terminal, 601 ... Drive circuit, 621-1 to 621-n, 622-1 to
622-n, 623-1 to 623-n, 6241-1624-n ... Signal lines, 641-1 to
641-n, 642-1 to 642-n, 643-1 to 643-n ... Light emitting diode, 10
01, 3001 ... Characteristics, 2011 ... Object detector, B1 ... Base end, M1 ... Manipulator,
E1 ... End effector, R1, R11, R201 ... High-speed region, R2, R12, R20
2 ... Low speed region, R3, R13, R203 ... Maximum speed change region, L1 to L3, L11, L1
01 to L103, L111 ... Range, P1, P2, P11 ... Direction

Claims (6)

A robot with moving parts and
The movable portion is located in a first region, a second region located at a position farther from the base end of the movable portion than the first region, or a third region located between the first region and the second region. A control device that operates the robot so that the first part is located, and
A first object detector that detects the intrusion of a first object from the second region into the third region, and
A force detector for detecting an external force applied to the robot is provided.
When the intrusion of the first object from the second region into the third region is not detected by the first object detector, and the external force to the robot is not detected by the force detector by a predetermined threshold value or more. The control device limits the speed of the first portion to less than or equal to the maximum speed of the first portion in the first region and less than or equal to the non-zero safe speed in the second region. , in the third area, and limited to less than before Symbol speed corresponding to the position of the first portion,
The first said penetration of the first object from the second region by the object detector to the third region is detected and, when an external force to the robot by the force detector has not been detected more than a predetermined threshold value, the The control device limits the speed of the first portion to or less than the safe speed in the first region, the second region, or the third region.
When the force detector detects an external force on the robot by a predetermined threshold value or more, the control device causes the first portion to stop in the first region, the second region, or the third region. Control the robot,
Robot system. The position of the third region when the distance between the first object and the robot is the first distance is a second distance where the distance between the first object and the robot is longer than the first distance. Closer to the base end than the position of the third region in the case.
The robot system according to claim 1. A speed detector for detecting the speed of the first part is provided.
The robot system according to claim 1 or 2. A second object detector that detects the distance to the second object,
A display unit for displaying information on the distance, and
The robot system according to any one of claims 1 to 3. The display unit is provided on the movable unit.
The robot system according to claim 4. The information displayed on the display unit includes a case where the first portion is located in the first region, a case where the first portion is located in the second region, and a case where the first portion is the first portion. Different from the case where it is located in 3 areas,
The robot system according to any one of claims 4 and 5.

Images