JP7108761B1 - Control system, control method and program - Google Patents

Abstract

An object of the present invention is to provide a control system for a device capable of quickly approaching an object with sufficient speed. A control system (200) includes an apparatus main body (10) that approaches an object by moving in a first direction (D1), and a control system (200) that is attached to the apparatus main body (10) and approaches an object by moving in the first direction (D1). The movement speed of the attachment 20 is faster than the movement speed of the device main body 10 . [Selection drawing] Fig. 1

Description

The present invention relates to a control system, control method and program.

In waste melting furnaces, solidified slag may adhere to the outlet of molten slag and its surroundings. If this slag grows, it may clog the slag outlet. Therefore, it is necessary to remove the slag by inserting a working rod into the furnace throat.
Regarding the above-mentioned work, a configuration is disclosed in which a vertical articulated robot replaces the work conventionally performed by a worker (human) (for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 09-273872

In order to remove solidified slag in the furnace, it is necessary to operate the working rod at high speed or with acceleration.
However, the conventional vertical articulated robot cannot provide sufficient velocity and acceleration to remove the slag.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control system for an apparatus that can quickly approach an object at a sufficient speed.

In order to solve the above problems, the present invention proposes the following means.
A control system according to the present invention includes an apparatus main body that approaches an object by moving in a first direction; an attachment that is attached to the apparatus main body and approaches the object by moving in the first direction; , wherein the movement speed of the attachment is faster than the movement speed of the device main body.

According to this invention, the moving speed of the attachment is faster than the moving speed of the device main body. With such a configuration, the object can be approached more quickly than when the object is approached only by the device main body. Further, by increasing the moving speed of the attachment attached to the device main body instead of increasing the moving speed of the device main body, it is possible to quickly approach the object. Therefore, for example, the occurrence of large-scale work such as remodeling of the apparatus main body can be suppressed.

The above configuration provides a remarkable effect, for example, when removing slag deposited inside the melting furnace with a working rod attached to the tip of the attachment. That is, in the above-described slag removal, it is necessary to operate the working rod at high speed or by applying acceleration.

Also, receiving means for receiving a first command from a user for moving the apparatus main body and the attachment in the first direction, and when the receiving means receives the first command, the attachment moves from the object. determining means for determining whether or not a parameter related to the reaction force received exceeds a predetermined threshold; and when the determining means determines that the parameter does not exceed the threshold, moving the attachment in the first direction. and control means for moving the attachment in a second direction opposite to the first direction when the determining means determines that the parameter exceeds the threshold value. good too.

According to this invention, the determining means determines whether or not the parameter relating to the reaction force that the attachment receives from the object exceeds the threshold value, and the control means changes the direction of movement of the attachment according to the determination result.
Here, the apparatus body may move further in the first direction while the attachment receives a reaction force from the object. As a result, the reaction force applied to the attachment becomes excessive, and the attachment may be damaged.

On the other hand, when the determining means determines that the parameter exceeds the threshold value, the attachment is moved in the second direction opposite to the first direction. Further, as described above, the moving speed of the attachment is faster than the moving speed of the apparatus main body. Accordingly, even when the apparatus body further moves in the first direction while the attachment receives the reaction force, the parameter can be moved away from the object. Therefore, it is possible to prevent the attachment from being damaged and to work safely.

Further, the control means may move the apparatus main body together with the attachment in the first direction when the determination means determines that the parameter does not exceed the threshold value.

According to this invention, when the parameter does not exceed the threshold value, the device body is moved in the first direction together with the attachment. By moving the attachment and the device main body only when the threshold is not exceeded, the attachment can be moved quickly and safety can be ensured.

Further, the parameter may be the magnitude of the reaction force.

According to the invention, the parameter is the magnitude of the reaction force. Accordingly, by appropriately setting the threshold value, the attachment can be moved in the second direction before the reaction force that the attachment receives from the object becomes excessive.

Further, when the determining means determines that the parameter exceeds the threshold value, the control means moves the attachment in the second direction until the parameter becomes equal to or less than a predetermined value. may be

According to this invention, when the determining means determines that the parameter exceeds the threshold value, the attachment is moved in the second direction until the parameter becomes equal to or less than the predetermined value. As a result, it is possible to prevent the attachment from receiving an excessive reaction force and to move the attachment so as to follow the object.

Further, when the determination means determines that the parameter exceeds the threshold value, the control means maintains a state in which the parameter becomes equal to or less than the predetermined value and the attachment is in contact with the object. , the attachment may be moved in the second direction and the device main body may be moved in the first direction.

According to this invention, the attachment is moved in the second direction so as to keep the attachment in contact with the object, and the device main body is moved in the first direction. As a result, the device main body can be moved to the optimum position while maintaining the contact state between the attachment and the object.

Further, the receiving means receives a second command for moving the apparatus main body and the attachment in the second direction, and selects the target from among a plurality of positions to which the attachment can move along the first direction. A position relatively far from an object is defined as a remote position, a position closer to the object than the remote position is defined as an intermediate position, a position closer to the object than the intermediate position is defined as a near position, and the current position of the attachment is the remote position, the close position, or the intermediate position, and the control means, when the receiving means receives the first command or the second command, and moving the apparatus main body in the first direction when the determination means determines that the attachment is at the close position, and when the determination means determines that the attachment is at the remote position. may be characterized by moving the device main body in the second direction.

According to this invention, when the determination means determines that the attachment is at the close position, the device body is moved in the first direction, and when the determination means determines that the attachment is at the remote position, The device body is moved in the second direction. That is, it is possible to prevent the attachment from moving more than necessary by moving the apparatus main body in an auxiliary manner in accordance with the positional state of the attachment. Therefore, the time required for the attachment to return to its original position can be reduced, and workability can be improved.

Further, the control means moves the attachment in the first direction when the determining means determines that the parameter does not exceed the threshold when the receiving means receives the first command. After that, when the determination means determines that the attachment is at the close position, the device main body is moved in the first direction, and when the receiving means receives the second command, the attachment is moved. is the remote position, the device main body may be moved in the second direction.

When the attachment approaches the object, the attachment is preferably in the proximity position. This is because when the attachment is in the proximal position, there is room for the attachment to move in the second direction. Therefore, in a state where the attachment is in contact with the object and receives a reaction force, for example, when the reaction force is about to increase, the attachment can be released in the second direction if the attachment is in the close position.
According to this aspect of the invention, when the receiving means receives the first command and the determining means determines that the parameter does not exceed the threshold value, the attachment is moved in the first direction. Then, when the determination means determines that the attachment is at the close position, the device main body is moved in the first direction. Therefore, the attachment actively advances in the first direction until the attachment moves to the close position.

On the other hand, when the attachment is about to move away from the object, the attachment preferably moves to a remote location. This is because if the attachment moves to a remote position, the attachment can be quickly moved away from the object, and while avoiding damage to the attachment or the main body of the device, it is possible to suppress input of excessive reaction force to the attachment. .
According to this invention, the attachment is moved in the second direction when the accepting means accepts the second command. Therefore, the attachment can be quickly separated from the object, and damage to the attachment or the device body can be avoided. Furthermore, when the determining means determines that the attachment is at the remote position, the device body is moved in the second direction. Therefore, it is possible to prevent an excessive reaction force from being input to the attachment.

Further, the control means may be characterized by suppressing the movement of the apparatus main body when the determination means determines that the attachment is at the intermediate position.

According to this invention, movement of the apparatus main body is suppressed when the determining means determines that the attachment is at the intermediate position. As a result, when the user tries to move only the attachment, it is possible to prevent the apparatus main body from moving at the same time. Therefore, it is possible to further improve the operability of the control system.

Further, the parameter may be a magnitude of change in the reaction force.

According to the invention, the parameter is the magnitude of the reaction force change. For example, depending on the application of the control system, it may be necessary to maintain a constant reaction force between the attachment and the object. At this time, by using the magnitude of change in the reaction force as the parameter, the reaction force can be maintained more efficiently than when the magnitude of the reaction force is used as the parameter.

The above configuration brings about a remarkable effect, for example, when a rotary grindstone attached to the tip of the attachment is used for finishing a large-sized forged product. That is, in the finishing process described above, it is necessary to press the rotary grindstone against the surface of the object with a constant force, but this configuration enables the above operation.

A control system for controlling an apparatus main body that approaches an object by moving in a first direction, and an attachment that is attached to the apparatus main body and approaches the object by moving in the first direction. receiving means for receiving from a user a first command for moving the attachment in the first direction; and a reaction force that the attachment receives from the object when the receiving means receives the first command. Determination means for determining whether or not a parameter for When the determination means determines that the parameter exceeds the threshold value, control means for moving the attachment in a second direction opposite to the first direction; setting means for setting a second reaction force mode different from the force mode, wherein the movement speed of the attachment is faster than the movement speed of the apparatus main body, and the parameter is set so that the setting means sets the first reaction force mode. It may be the magnitude of the reaction force when the mode is set, and the magnitude of change in the reaction force when the setting means sets the second reaction force mode.

According to this invention, the parameters can be changed by the setting means. This allows the control system to be used in multiple applications.
For example, when the control system is set to the first reaction force mode, it can be used to remove slag accumulated inside the melting furnace by a working rod attached to the tip of the attachment. Further, when the second reaction force mode is set, the grindstone attached to the tip of the attachment can be used for the work of finishing large forged products.

Further, among a plurality of positions at which the attachment can move along the first direction, a position relatively far from the object is defined as a remote position, and a position closer to the object than the remote position is defined as an intermediate position. , a position closer to the object than the intermediate position is defined as a close position, and a determination means for determining whether the current position of the attachment is the remote position, the close position, or the intermediate position, The control means determines that the attachment is at the close position when the receiving means receives the first command or a second command for moving the apparatus main body and the attachment in the second direction. moving the device body in the first direction when the determination means determines, and moving the device body in the second direction when the attachment is determined to be at the remote position; It may be a feature.

According to this invention, when it is determined that the attachment is at the close position, the device body is moved in the first direction, and when it is determined that the attachment is at the remote position, the device body is moved in the second direction. Let This prevents the attachment from moving more than necessary. Therefore, the time required for the attachment to return to its original position can be reduced, and workability can be improved.

The apparatus may further include first notification means for notifying the user of information indicating the position of the tip of the attachment and information indicating the position of the object.

According to this invention, it further comprises a first notification means for notifying the user of the information indicating the position of the tip of the attachment and the information indicating the position of the object. This allows the user to optimally operate the control system using the notified information.

The apparatus may further include second notification means for notifying the user of information indicating the distance from the tip of the attachment to the object.

According to the present invention, the apparatus further includes second notification means for notifying the user of information indicating the distance from the tip of the attachment to the object. Thereby, the user can more appropriately grasp the positional relationship between the attachment and the object. Therefore, for example, it is possible to appropriately determine which of the above-described first command and second command should be performed.

Further, among a plurality of positions at which the attachment can move along the first direction, a position relatively far from the object is defined as a remote position, and a position closer to the object than the remote position is defined as an intermediate position. and providing the user with information indicating whether the current position of the attachment is the remote position, the intermediate position, or the close position when a position closer to the object than the intermediate position is defined as the close position. It may be characterized by further comprising a third notification means for notifying to.

According to this invention, the device further comprises third notification means for notifying the user of the position of the attachment. As a result, the user can grasp how the control system operates according to the above-mentioned first command or second command, and can realize optimum operation.

The apparatus may further include fourth notification means for notifying the user of information indicating whether or not the tip of the attachment and the object are in contact with each other.

According to this invention, the apparatus further comprises fourth notification means for notifying the user of information indicating whether or not the tip of the attachment is in contact with the object. As a result, when a reaction force is generated on the attachment, the user can determine whether the reaction force is due to proper contact between the tip of the attachment and the object, or due to contact with an unexpected substance or the like. It is possible to appropriately identify whether it is

Further, a control method for a general-purpose robot according to the present invention is a control method for a general-purpose robot including a device main body and an attachment, wherein a first command for moving the device main body and the attachment in the first direction is received, it is determined whether a parameter related to the reaction force received by the attachment from the object exceeds a predetermined threshold, and if it is determined that the parameter does not exceed the threshold, the attachment is When it is determined that the parameter exceeds the threshold value when the attachment is moved in a first direction, the attachment is moved in a second direction opposite to the first direction.

Also, the program according to the present invention causes a computer to function as a control device for operating the control system.

ADVANTAGE OF THE INVENTION According to this invention, the control system of the apparatus which can approach an object quickly with sufficient speed can be provided.

It is a configuration example of a controlled object of the control system according to the present embodiment. 2 is an enlarged view of the periphery of the attachment shown in FIG. 1; FIG. It is a schematic diagram of the apparatus main body and attachment which concern on this embodiment. 4 is a diagram showing a state in which the attachment shown in FIG. 3 has moved in a first direction; FIG. FIG. 5 is a diagram showing a state in which the apparatus main body has moved in a first direction in FIG. 4; FIG. 6 is a diagram showing a state in which the working rod provided at the tip of the attachment comes into contact with the object due to the movement of the apparatus main body in FIG. 5 ; FIG. 7 is a diagram showing a state in which the attachment has started to move in the second direction in FIG. 6; FIG. 8 is a diagram showing a state in which the attachment is at an intermediate position in FIG. 7; It is an operation flow of the attachment of this embodiment. 4 is an operation flow of the device main body of the present embodiment; 1 is a system configuration diagram of a control system according to this embodiment; FIG. FIG. 12 is a schematic diagram of an operation screen of the control panel shown in FIG. 11; It is an operation flow of an apparatus main body and an attachment in connection with the modified example 1 of this embodiment.

A control system 200 according to an embodiment of the present invention will be described below with reference to the drawings. Before describing the control system 200, the controlled object 100 will be described first.

(Controlled object 100)
As shown in FIG. 1, the control system 200 controls the controlled object 100. As shown in FIG. The controlled object 100 is used, for example, to remove objects (slag S) deposited inside the melting furnace M. Specifically, the controlled object 100 removes the slag S by manipulating the working rod R and bringing the working rod R into physical contact with the slag S. Hereinafter, the present embodiment will be described by taking the above-described application as an example.

A controlled object 100 includes an apparatus body 10 and an attachment 20 .
The device main body 10 moves an attachment 20 (described later) to the vicinity of the melting furnace M. The device main body 10 includes a base 11, an arm 12, a joint 13, and a hand 14.

The base 11 is a part of the device main body 10 that is installed at the work site. One end of an arm 12 is connected to the base 11 .
The arm 12 has one end connected to the base 11 and the other end connected to the joint 13 .
Joint 13 connects arm 12 and hand 14 .
Hand 14 is connected to arm 12 via joint 13 . Also, an attachment 20 is connected to the hand 14 . This gives the attachment 20 six degrees of freedom.

For example, a known 6-axis vertical multi-joint robot is preferably used for the device body 10 . In this embodiment, the device body 10 moves the attachment 20 in the first direction D1 and the second direction D2 shown in FIG. The first direction D1 is a linear direction in which the hand 14 of the apparatus main body 10 approaches the slag S accumulated inside the melting furnace M. As shown in FIG. The second direction D2 is the direction opposite to the first direction D1.

The attachment 20 is attached to the hand 14 of the device body 10 . As shown in FIG. 2 , the attachment 20 includes a base portion 21 , a movable portion 22 , a force sensor 23 , a gripper 24 and a driving portion 25 .
In the attachment 20, the movable portion 22 is moved in the first direction D1 and the second direction D2 by a servomotor 25m (described later) provided on the base portion 21. As shown in FIG. Hereinafter, the movement direction of the movable portion 22 may be particularly referred to as the axial direction.

The base portion 21 is a portion of the attachment 20 that is attached to the hand 14 of the apparatus main body 10 . As shown in FIG. 2, the base portion 21 includes a first plate 21p1, a first shaft 21s1, a second plate 21p2, a second shaft 21s2, a third plate 21p3, and a fourth plate 21p4. Prepare.

The first plate 21p1 is attached to the hand 14 on the surface on the second direction D2 side. Thereby, the base portion 21 is attached to the hand 14 .
The first plate 21p1 is, for example, disc-shaped. A plurality of first shafts 21s1 are connected to the surface of the first plate 21p1 on the first direction D1 side at intervals with equal distances in the radial direction from the center of the disk shape.

The first shaft 21s1 has an end on the second direction D2 side connected to the surface of the first plate 21p1 on the first direction D1 side, and an end on the first direction D1 side connected to the surface of the second plate 21p2 on the second direction D2 side. It is connected to the.
In the axial direction of the base portion 21, a servo motor 25m and a servo motor control portion (not shown) are positioned at a portion where the first shaft 21s1 is provided (described later).

The second plate 21p2 has a surface on the second direction D2 side connected to the first shaft 21s1. This supports the first shaft 21s1 together with the first plate 21p1.
The second plate 21p2 is, for example, disc-shaped. A plurality of second shafts 21s2 are connected to the surface of the second plate 21p2 on the first direction D1 side at intervals with equal radial distances from the center of the disk shape.

The second shaft 21s2 has an end on the second direction D2 side connected to the surface of the first plate 21p1 on the first direction D1 side, and an end on the first direction D1 side connected to the surface of the third plate 21p3 on the second direction D2 side. It is connected to the.
In the axial direction of the base portion 21, a motor shaft 25ms of the servo motor 25m is positioned at a portion where the second shaft 21s2 is provided (described later).

The surface of the third plate 21p3 on the second direction D2 side is connected to the second shaft 21s2. This supports the second shaft 21s2 together with the second plate 21p2.
The third plate 21p3 is, for example, disc-shaped. Ends of the plurality of support rails 25l on the second direction side are connected to the surface of the third plate 21p3 on the first direction side (described later).

The fourth plate 21p4 has a surface on the second direction D2 side connected to end portions on the first direction side of the plurality of support rails 25l. This supports the support rail 25l together with the third plate 21p3.
The fourth plate 21p4 is, for example, disk-shaped. Further, the fourth plate 21p4 has a role of preventing the bottom plate 22b from coming off the support rail 25l when it moves to the end of the support rail 25l in the first direction D1.
Bolt fastening, for example, is preferably used for connection and attachment of the respective parts in the base portion 21 described above.

The movable portion 22 is attached to the base portion 21 and moves in the axial direction. The movable portion 22 includes a top plate 22t, a support portion 22l, a shaft support portion 22s, and a bottom plate 22b.
The top plate 22t is provided on the first direction D1 side in the axial direction of the movable portion 22 . A force sensor 23 and a gripper 24 for attaching the above-described working rod R are attached to the surface of the top plate 22t in the first direction D1. A support portion 22l and a shaft support portion 22s are connected to the surface of the top plate 22t on the second direction D2 side.

The support portions 22l are rod-shaped members provided in plurality between the top plate 22t and the bottom plate 22b. The end portion of the support portion 22l on the first direction D1 side is connected to the surface of the top plate 22t on the second direction D2 side. A surface of the top plate 22t on the second direction D2 side is connected to the bottom plate 22b.

The shaft support portion 22s is provided in the center of the top plate 22t. The end portion of the shaft support portion 22s on the first direction D1 side is connected to the surface of the top plate 22t on the second direction D2 side. The end of the shaft support portion 22s on the second direction D2 side is connected to the end of the ball screw 25s (described later) on the first direction D1 side.
The bottom plate 22b is, for example, a disk-shaped member. The bottom plate 22b has a female screw portion (not shown) at the center of the disk shape and engages with the ball screw 25s. As a result, the bottom plate 22b slides in the axial direction of the ball screw 25s as the ball screw 25s rotates. As a result, the movable portion 22 moves in the axial direction. Further, the bottom plate 22b is provided with through holes (not shown) through which the support rails 25l pass.

The force sensor 23 is a sensor provided on the movable portion 22 , and senses an axial pressure applied to the movable portion 22 , for example. With the above configuration, the force sensor 23 senses the magnitude of the reaction force generated by the contact of the working rod R with the slag S or the magnitude of change in the reaction force, for example. By setting a threshold for the magnitude of the reaction force or the magnitude of change in the reaction force, control is performed to prevent excessive reaction force from being applied from the working rod R to the attachment 20 (details will be described later). do).

The gripper 24 is provided so as to come into contact with the force sensor 23 provided on the movable portion 22 . The gripper 24 is, for example, a part that grips the working rod R operated by the control system 200 to attach it to the attachment 20 . A reaction force generated in the working rod R is transmitted to the force sensor 23 via the gripper 24 .

The driving portion 25 changes the distance between the movable portion 22 and the base portion 21 in the axial direction. The drive unit 25 includes a servomotor 25m, a ball screw 25s, and a support rail 25l.
The servomotor 25m is positioned in the axial direction of the attachment 20 at a portion where the first shaft 21s1 is provided. The servomotor 25m is driven by a servomotor controller (not shown). The servo motor 25m has a motor shaft 25ms. The end of the ball screw 25s in the second direction D2 is connected to the end of the motor shaft 25ms in the first direction D1.

The ball screw 25s is provided in the center of the bottom plate 22b and penetrates the female screw portion. In this state, the ball screw 25s is rotated by the servomotor 25m. As a result, the bottom plate 22b moves in the axial direction, thereby moving the movable portion 22 in the axial direction.
The end of the support rail 25l on the second direction D2 side is connected to the surface of the third plate 21p3 on the first direction D1 side. The support rail 25l passes through a through hole provided in the bottom plate 22b. Also, the support rail 25l can slide through this through hole. This prevents the bottom plate 22b and the movable portion 22 from rotating in the axial direction due to the rotation of the servomotor 25m, and ensures that the movable portion 22 moves in the axial direction by the mechanism of the ball screw 25s.

Further, the moving speed of the moving mechanism of the attachment 20 is faster than the moving speed of the apparatus main body 10 . Alternatively, a hydraulic cylinder, for example, may be used for the drive unit 25 as long as a moving speed equivalent to that of this configuration can be secured.

As described above, the attachment 20 is moved by the hand 14 in the first direction D1 and the second direction D2. In addition to this, the driving portion 25 of the attachment 20 reciprocates the movable portion 22 in the first direction D1 and the second direction D2. A working rod R is attached to the attachment 20 via a gripper 24 . The working rod R is reciprocated in the first direction D<b>1 and the second direction D<b>2 by the driving portion 25 . By bringing the tip of the reciprocating working rod R into contact with the slag S, the slag S inside the melting furnace M is removed. As shown in FIGS. 1 and 2, a holding portion may be provided between the end of the working rod R on the attachment 20 side and the end on the melting furnace M side. By holding the intermediate portion of the working rod R in this manner, smooth reciprocating movement of the working rod R may be ensured.

(Control system 200)
Next, specific movements of the apparatus main body 10 and the attachment 20 in the control system 200 will be described using the schematic diagrams of FIGS. 3 to 8, the flow charts of FIGS. 9 and 10, and the system configuration diagram of FIG. do.
The control system 200 includes a front operating room 210 and a control panel 220 .
First, as shown in FIG. 11, in the control system 200 installed at the work site, the apparatus main body 10 is connected to the robot control panel 211 provided in the furnace front operating room 210 . The robot control panel 211 is connected to a programming pendant 212 and a coordinate calculator 213 respectively. Also, the attachment 20 and the robot control panel 211 are connected to a control panel 220 operated by the user.

The robot control panel 211 provided in the furnace front operating room 210 and the control panel 220 are each provided with a system control device including a processor such as a CPU (Central Processing Unit) and a memory connected via a bus, and execute programs. do. Each of the robot control panel 211 and the control panel 220 functions as a device including reception means, determination means, control means, and determination means by executing a program.
The accepting means accepts a first command FW and a second command BW (described later) through the operation of the operating lever 221 by the user.
The determination means determines whether or not a parameter related to the reaction force received by the attachment 20 from the object (for example, the magnitude of the reaction force or the magnitude of change in the reaction force) exceeds a predetermined threshold.

Note that the parameters and thresholds described above are appropriately determined according to the application of the control system 200 . For example, when the control system 200 is used for removing the slag S accumulated inside the melting furnace M with the working rod R attached to the tip of the attachment 20, the parameter is that the slag S and the working rod R come into contact with each other. is the magnitude of the reaction force generated at The parameters can be acquired from the force sensor 23 by the control panel 220 . It is preferable that the threshold is stored in advance in the determination means.

The control means changes the moving directions of the apparatus main body 10 and the attachment 20 according to the result determined by the determination means. Specific control will be described later.
The determination means is means for determining the position of the attachment 20 . Specifically, among a plurality of positions at which the attachment 20 can move along the first direction D1, a position relatively far from the object is defined as a remote position BN (backward position), and A near region is defined as an intermediate position N, and a position closer to the object than the intermediate position N is defined as a near position NF (advance position). In this embodiment, it is preferable that the size of the area related to the intermediate position N is arbitrarily determined by the user. The determining means determines whether the current position of the attachment 20 is the remote position BN, the near position NF, or the intermediate position N. For example, the determination means may determine the distance between the first plate 21p1 of the base portion 21 and the top plate 22t of the movable portion 22 using a sensor, or determine the position by analyzing the amount of rotation of the servomotor 25m. You may

The control panel 220 has an operating lever 221 and a display 222 . The control system 200 according to the present embodiment operates when the reception means receives a command by the user operating the operation lever 221 . Instructions by the user using the operating lever 221 are as described below. That is, a first command FW (forward command) for moving (advancing) the apparatus body 10 and the attachment 20 in the first direction D1, and a first command FW (forward command) for moving (retreating) the apparatus body 10 and the attachment 20 in the second direction D2. and a second command BW (backward command).

The display 222 is used for grasping information for judging each requirement when the user operates the control panel 220 . As shown in FIG. 12, the display 222 functions as a first notification means I1, a second notification means I2, a third notification means I3, and a fourth notification means I4.

The first notification means I1 notifies the user of information indicating the position of the tip of the attachment 20 (in this embodiment, the tip of the working rod R) and information indicating the position of the slug S. The first notification means I1 displays the distance in a visually recognizable manner by displaying each component part in different colors on the number indicating the distance (displayed in mm) on the upper part of the display 222 .

The second notification means I2 notifies the user of information indicating the distance from the tip of the attachment 20 to the refractory placed in the melting furnace M. This information is displayed numerically in mm in a table located below display 222 . Further, the second notification means I2 displays the distance in a visually recognizable manner by using different colors according to the distance.
The position of the slag S located in the melting furnace M is recognized as follows. That is, when the reaction force is sensed from the attachment 20 before the tip of the attachment 20 contacts the refractory placed in the melting furnace M (before the mm display becomes 0 mm), the tip of the attachment 20 and the slag The position of the slug S is recognized by judging that S has come into contact with it.

The third notification means I3 notifies the user of information indicating whether the current position of the attachment 20 is the remote position BN, the intermediate position N, or the close position NF. This information is displayed at the top of display 222 .
The fourth notification means I4 notifies the user of information indicating whether or not the tip of the attachment 20 and the slug S are in contact with each other. The fourth notification means I4 displays the reaction force generated in the working rod R according to the numerical value of the force sensor 23 on a table located below the display 222. FIG. Further, the fourth notification means I4 displays the magnitude of the reaction force in a visually recognizable manner by using different colors according to the magnitude of the reaction force.
Also, for each piece of information described above, an image located in the center of the screen may be referred to. This image visually displays the positions of the working rod R and the slag S in the melting furnace M on the cross-sectional view based on the above information.

(Control method)
Next, specific movements of the apparatus main body 10 and the attachment 20 by the above-described means and operations will be described. First, the positions of the device main body 10 and the attachment 20 will be described as follows. That is, as shown in FIG. 3, the origin O is the position before the apparatus main body 10 moves. The position (the most advanced position) at which the apparatus main body 10 has advanced in the first direction D1 is defined as a main body advanced position Fr.
The position of the device body 10 can be determined based on the control values of the robot control panel 211, for example. Information indicating the origin O and the body forward position Fr is stored in advance in the robot control panel 211 .

Further, the position of the attachment 20 will be described as follows based on the positional relationship between the bottom plate 22b of the movable portion 22 and the ball screw 25s of the driving portion 25. FIG. That is, as shown in FIG. 3, the end portion of the ball screw 25s on the second direction D2 side, that is, the end portion of the movable range of the bottom plate 22b on the second direction D2 side is referred to as the retreat end B. As shown in FIG. An intermediate position N is the center of the range of motion of the ball screw 25s. An end portion of the ball screw 25s on the first direction D1 side, that is, an end portion on the first direction D1 side of the operating range of the bottom plate 22b is defined as a forward end F. The remote position BN of the attachment 20 described above is the area between the intermediate position N and the retracted end B. As shown in FIG. A close position NF of the attachment 20 is a region between the intermediate position N and the forward end F. As shown in FIG.
The position of the attachment 20 can be determined based on the control value of the servo motor 25m by the control board 220, for example. Information indicating the backward end B, the intermediate position N, and the forward end F is stored in the control panel 220 in advance.

In this embodiment, first, the control flow will be described with reference to FIGS. 9 and 10. FIG. After that, specific control examples will be described with reference to FIGS. 3 to 8. FIG.

(control flow)
In this embodiment, the control system 200 controls the attachment 20 and the device body 10 in parallel. Below, the control flow of each of the attachment 20 and the device main body 10 will be described.

(first mode)
First, the operation in the first mode will be explained. The first mode is a mode in which the attachment 20 and the device body 10 are operated according to the operation flowcharts shown in FIGS.
The operation flowchart of the attachment 20 shown in FIG. 9 will be described below.
The user inputs the first command FW using the operating lever 221 (step SA1). When the receiving means receives this command, the determination means determines whether or not the parameter relating to the reaction force that the attachment 20 receives from the object exceeds a predetermined threshold value (step SA2). For example, the judging means reads out a pre-stored threshold value and makes a judgment by comparing this threshold value with the parameter acquired from the force sensor 23 .
When the determination means determines that the reaction force does not exceed the threshold (step SA2: NO), the determination means determines whether or not the attachment 20 is at the forward end F (step SA3). For example, the determination means determines by comparing the control value of the control panel 220 and the information indicating the forward end F stored in the control panel 220 . If the determination means determines that the attachment 20 is not at the forward end F (step SA3: NO), the attachment 20 is moved in the first direction D1 (step SA4). After that, the flow ends. If the determination means determines that the attachment 20 is at the forward end F (step SA3: YES), the flow is terminated as it is.

When the operation lever 221 inputs the second command BW (step SA5) or when the first command FW is input (step SA1), it is determined that the reaction force is generated in the attachment 20 (step SA2: YES ), the determination means determines whether or not the attachment 20 is at the retraction end B (step SA6). If it is determined that the attachment 20 is not at the backward end B (step SA6: NO), the attachment 20 is moved in the second direction D2 (step SA7), and the flow ends. If it is determined that the attachment 20 is at the backward end B (step SA6: YES), the flow ends.

Next, the operation flowchart of the apparatus main body 10 shown in FIG. 10 will be described.
First, when the reception means receives an input of either the first command FW or the second command BW from the operation lever 221 (step SR1), the determination means determines the position of the attachment 20 (step SR2). If it is determined that the attachment 20 is at the close position NF (that is, is on the first direction D1 side of the intermediate position N) (step SR2: YES), the device body 10 is moved in the first direction D1 ( Step SR3), the flow ends. For example, the determination means determines by comparing the control value of the control panel 220 and the information indicating the intermediate position N stored in the control panel 220 .
If it is determined that the attachment 20 is not at the near position NF (step SR2: NO), it is determined whether or not the attachment 20 is at the remote position BN (step SR4). If it is determined that the attachment 20 is at the remote position BN (that is, on the second direction D2 side of the intermediate position N) (step SR4: YES), the device body 10 is moved in the second direction D2 ( Step SR5), the flow ends. If it is determined that the attachment 20 is neither at the near position NF nor at the remote position BN, that is, at the intermediate position N (step SR4: NO), the flow ends.

(second mode)
Next, operation in the second mode will be described. The second mode is a mode in which the attachment 20 and the device body 10 are operated according to the operation flowchart shown in FIG. In the second mode, the control of the attachment 20 and the control of the device main body 10 are simultaneously performed in parallel.
First, the user inputs a first command FW using the operating lever 221 (step SS1). When the receiving means receives this command, the determining means determines whether or not the parameter relating to the reaction force that the attachment 20 receives from the object exceeds a predetermined threshold value (step SS2).
When the determination means determines that the reaction force does not exceed the threshold value (step SS2: NO), the determination means determines whether or not the attachment 20 is at the forward end F (step SS3). In parallel with this, the position of the attachment 20 is discriminated by the discriminating means (step SS5).
When the determination means determines that the attachment 20 is not at the forward end F (step SS3: NO), the attachment 20 is moved in the first direction D1 (step SS4). After that, the flow ends. When the determining means determines that the attachment 20 is at the forward end F (step SS3: YES), the flow is finished as it is.
If it is determined that the attachment 20 is located at the close position NF (that is, located on the first direction D1 side of the intermediate position N) (step SS5: YES), the apparatus body 10 is moved in the first direction D1 ( Step SS6), the flow ends. If it is determined that the attachment 20 is not at the close position NF (that is, is on the second direction D2 side of the intermediate position N) (step SS5: NO), the flow ends.
That is, when the reaction force does not exceed the threshold (step SS2: NO), the attachment 20 is not at the forward end F (step SS3: NO), and the attachment 20 is at the close position NF (step SS5: YES). moves the attachment 20 together with the apparatus body 10 in the first direction D1.

When the operation lever 221 inputs the second command BW (step SS7) or when the first command FW is input (step SS1) and it is determined that the reaction force is generated in the attachment 20 (step SS2: YES ), the determination means determines whether or not the attachment 20 is at the retraction end B (step SS8). In parallel with this, it is determined whether or not the position of the attachment 20 is at the remote position BN (step SS10).
If it is determined that the attachment 20 is not at the backward end B (step SS8: NO), the attachment 20 is moved in the second direction D2 (step SS9), and the flow ends. If it is determined that the attachment 20 is at the backward end B (step SS8: YES), the flow ends.
If it is determined that the attachment 20 is at the remote position BN (that is, on the second direction D2 side of the intermediate position N) (step SS10: YES), the device body 10 is moved in the second direction D2 ( Step SS11), the flow ends. If it is determined that the attachment 20 is not at the remote position BN (that is, it is on the first direction D1 side of the intermediate position N) (step SS10: NO), the flow ends.
That is, the determining means determines whether or not the parameter relating to the reaction force that the attachment 20 receives from the object exceeds the threshold value, and the moving direction of the device main body 10 and the attachment 20 by the control means is changed according to the determination result.
In addition, in the above-described control, when the determining means determines that the attachment 20 is at the intermediate position N, the control for suppressing the movement of the apparatus main body 10 may be provided.

(Control example)
The operation flowchart of the attachment 20 and the flowchart of the apparatus main body 10 described above are started simultaneously by inputting the first command FW or the second command BW to the operation lever 221 . Concrete movements when the above operation flows are performed simultaneously are as shown in FIGS. 3 to 8. FIG.
Either the first command FW or the second command BW is input by the operating lever 221 from the initial position shown in FIG. A case where the first command FW is input by the operation lever 221 will be described below as an example. In the initial state shown in FIG. 3, the apparatus body 10 is positioned at the origin O and the attachment 20 is positioned at the intermediate position N. As shown in FIG.

As shown in FIG. 4, when the first command FW is input by the operating lever 221, the attachment 20 moves in the first direction D1 through steps SA1, SA2 (NO), SA3 (NO), and SA4 shown in FIG. do. As shown in FIG. 5, the device main body 10 also moves in the first direction D1 through steps SR1, SR2 (YES), and SR3 shown in FIG. However, in this control example, the device main body 10 takes longer to start than the attachment 20 at this time. Therefore, even if the control signals themselves are transmitted in parallel from the robot control panel 211 and the control panel 220, apparently, the attachment 20 moves first to the forward end F, and then the apparatus body 10 moves. is doing.

As shown in FIG. 6, when the working rod R attached to the tip of the attachment 20 comes into contact with the slug S, a reaction force is generated in the attachment 20 . In this case, if the first command FW continues to be input, until it is determined that the reaction force of the attachment 20 has exceeded the threshold value, steps SA1, SA2 (NO), and SA3 (YES) shown in FIG. Do not move in particular. On the other hand, as shown in FIG. 7, the device body 10 continues to move in the first direction D1 through steps SR1, SR2 (YES), and SR3 shown in FIG. When it is determined that the reaction force exceeds the threshold, as shown in FIG. 8, the attachment 20 moves in the second direction D2 through steps SA1, SA2 (YES), SA6 (NO), and SA7 shown in FIG. do.

Such movement prevents the attachment 20 from being damaged due to excessive reaction force being generated in the attachment 20 .
After this state is reached, the user removes the slag S by moving the operation lever 221 back and forth and reciprocating the attachment 20 at high speed in the first direction D1 and the second direction D2 while the device main body 10 is stationary. .
Further, the apparatus main body 10 and the attachment 20 may be moved as follows based on the position of the attachment 20 detected by the determining means and information on the reaction force detected by the determining means.

That is, when the determining means determines that the parameter exceeds the threshold value, the attachment 20 may be moved in the second direction D2 until the parameter becomes equal to or less than the predetermined value.
Further, when the determining means determines that the parameter exceeds the threshold value, the attachment 20 is moved in the second direction D2 so that the parameter becomes equal to or less than the predetermined value and the attachment 20 maintains a state of contact with the object. At the same time, the device body 10 may be moved in the first direction D1.

Further, when it is determined that the parameter does not exceed the threshold value, after the attachment 20 is moved in the first direction D1, if the determining means determines that the attachment 20 is at the close position NF, the device main body 10 may be moved in the first direction D1.
Further, when the receiving means receives the second command BW, if the determination means determines that the attachment 20 is at the remote position BN, the device body 10 is moved in the second direction D2, and the determination means When it is determined that the attachment 20 is at the intermediate position N, the attachment 20 may be moved in the second direction D2.

Next, as a modified example in which the control system 200 according to the present embodiment is used for purposes other than those described above, an example in which the control system 200 is used for finishing a large forging will be described.
That is, an emery wheel may be attached to the tip of the attachment 20 and used to press the emery wheel against the large forging part by the control system 200 for finish machining of the large forging part. In this case, the above parameter may be the magnitude of change in the reaction force instead of the reaction force.

Further, the control system 200 may be used for a plurality of purposes by providing setting means for setting the first reaction force mode and a second reaction force mode different from the first reaction force mode, and making it possible to switch the above-described parameters.
In step SA2 of FIG. 9 and step SS2 of FIG. 13, the first reaction force mode determines whether or not the magnitude of the reaction force exceeds a predetermined threshold as a parameter relating to the reaction force that the attachment 20 receives from the object. This is the mode that allows the means to make decisions.
In the second reaction force mode, in step SA2 of FIG. 9 and step SS2 of FIG. is a mode in which the determination means determines
That is, regarding the judgment criteria by the above-described judging means, when the setting means sets the first reaction force mode, the magnitude of the reaction force is set as a parameter, and when the setting means sets the second reaction force mode, the change in the reaction force is The size may be used as a parameter.

Further, when the receiving means receives the first command FW and the determining means determines that the parameter does not exceed the threshold value, the control system 200 moves the apparatus body 10 and the attachment 20 in the first direction D1. Control means (second mode) for moving the device main body 10 and the attachment 20 in the second direction D2 when it is determined that the parameter exceeds the threshold value, and setting means for setting the first mode and the second mode. may be provided.

Further, in the second mode, the device body 10 and the attachment 20 may be moved in the second direction D2 when the receiving means receives the second command BW.

Specifically, when the receiving means receives the first command FW and the determining means determines that the parameter does not exceed the threshold value, the attachment 20 is moved in the first direction D1. When the determining means determines that the attachment 20 is at the close position NF, the device body 10 is moved in the first direction D1. When the determining means determines that the parameter exceeds the threshold, the attachment 20 is moved in the second direction D2. When the determination means determines that the attachment 20 is at the remote position BN, the device body 10 is moved in the second direction D2. Accordingly, when the receiving means receives the first command FW and the determination means determines that the parameter exceeds the threshold value, the attachment 20 moves in the second direction D2, and the device body 10 moves in the first direction. It does not move to D1 and can quickly avoid unexpected forces during operation.

As described above, according to the control system 200 of this embodiment, the movement speed of the attachment 20 is faster than the movement speed of the device body 10 . With such a configuration, the object can be approached more quickly than when the object is approached only by the device main body 10 . Further, by increasing the moving speed of the attachment 20 attached to the device body 10 instead of increasing the moving speed of the device body 10, it is possible to quickly approach the object. Therefore, for example, the occurrence of large-scale work such as remodeling of the device main body 10 can be suppressed.

The above configuration brings about a remarkable effect when removing the slag S deposited inside the melting furnace M with the working rod R attached to the tip of the attachment 20, for example. That is, in the above-described slag removal, it is necessary to operate the working rod R at high speed or by applying acceleration.

Further, the determining means determines whether or not the parameter relating to the reaction force that the attachment 20 receives from the object exceeds the threshold value, and the moving direction of the attachment 20 by the control means is changed according to the determination result.
Here, the device body 10 may move further in the first direction D1 while the attachment 20 is receiving a reaction force from the object. As a result, the reaction force applied to the attachment 20 becomes excessive, and the attachment 20 may be damaged.

On the other hand, when the determining means determines that the parameter exceeds the threshold value, the attachment 20 is moved in the second direction D2 opposite to the first direction D1. Further, the moving speed of the attachment 20 is faster than the moving speed of the device body 10 as described above. As a result, even when the apparatus main body 10 moves further in the first direction D1 while the attachment 20 receives the reaction force, the parameter can be moved away from the object. Therefore, it is possible to prevent the attachment 20 from being damaged and to work safely.

Further, when the parameter does not exceed the threshold value, the device main body 10 is moved in the first direction D1 together with the attachment 20 . By moving the attachment 20 and the apparatus main body 10 only when the threshold is not exceeded, the attachment 20 can be quickly moved and safety can be ensured.

Also, the parameter is the magnitude of the reaction force. Accordingly, by appropriately setting the threshold value, the attachment 20 can be moved in the second direction D2 before the reaction force that the attachment 20 receives from the object becomes excessive.

Further, when the determining means determines that the parameter exceeds the threshold value, the attachment 20 is moved in the second direction D2 until the parameter becomes equal to or less than the predetermined value. This prevents the attachment 20 from receiving an excessive reaction force, and at the same time allows the attachment 20 to move so as to follow the object.

Also, the attachment 20 is moved in the second direction D2 so that the attachment 20 remains in contact with the object, and the device body 10 is moved in the first direction D1. As a result, the device main body 10 can be moved to the optimum position while maintaining the contact state between the attachment 20 and the object.

Further, when the determining means determines that the attachment 20 is at the near position NF, the apparatus body 10 is moved in the first direction D1, and when the determining means determines that the attachment 20 is at the remote position BN, moves the apparatus body 10 in the second direction D2. In other words, auxiliary movement of the apparatus body 10 according to the positional state of the attachment 20 can prevent the attachment 20 from moving more than necessary. Therefore, the time required for the attachment 20 to return to its original position can be reduced, and workability can be improved.

When the attachment 20 approaches the object, it is preferable that the attachment 20 is at the proximity position NF. This is because when the attachment 20 is at the close position NF, there is room for the attachment 20 to move in the second direction D2. Therefore, when the attachment 20 is in contact with the object and receives a reaction force, for example, when the reaction force is about to increase, and the attachment 20 is at the close position NF, the attachment 20 is moved in the second direction D2. can escape.
When the receiving means receives the first command FW and the determining means determines that the parameter does not exceed the threshold value, the attachment 20 is moved in the first direction D1. Then, when the determining means determines that the attachment 20 is at the close position NF, the device body 10 is moved in the first direction D1. Therefore, the attachment 20 actively advances in the first direction D1 until the attachment 20 moves to the close position NF.

On the other hand, when the attachment 20 is about to leave the object, the attachment 20 preferably moves to the remote position BN. This is because, if the attachment 20 moves to the remote position BN, the attachment 20 is quickly separated from the object, and an excessive reaction force is input to the attachment 20 while avoiding damage to the attachment 20 or the apparatus main body 10. can be suppressed.
When the receiving means receives the second command BW, the attachment 20 is moved in the second direction D2. Therefore, the attachment 20 can be quickly separated from the object, and damage to the attachment 20 or the apparatus main body 10 can be avoided. Furthermore, when the determination means determines that the attachment 20 is at the remote position BN, the device body 10 is moved in the second direction D2. Therefore, it is possible to suppress input of excessive reaction force to the attachment 20 .

Further, when the determining means determines that the attachment 20 is at the intermediate position N, movement of the apparatus main body 10 is suppressed. As a result, when the user attempts to move only the attachment 20, it is possible to prevent the device main body 10 from moving at the same time. Therefore, the operability of the control system 200 can be further improved.

Also, the parameter is the magnitude of change in the reaction force. For example, depending on the application of the control system 200, it may be necessary to maintain a constant reaction force between the attachment 20 and the object. At this time, by using the magnitude of change in the reaction force as the parameter, the reaction force can be maintained more efficiently than when the magnitude of the reaction force is used as the parameter.

The above configuration brings about a remarkable effect, for example, when a rotary grindstone attached to the tip of the attachment 20 is used for finishing a large forged product. That is, in the finishing process described above, it is necessary to press the rotary grindstone against the surface of the object with a constant force, but this configuration enables the above operation.

Also, the parameters can be changed by the setting means. This allows the control system 200 to be used for multiple purposes.
For example, when the control system 200 is set to the first reaction force mode, the working rod R attached to the tip of the attachment 20 can be used to remove the slag S accumulated inside the melting furnace M. can. Further, when the second reaction force mode is set, the rotary grindstone attached to the tip of the attachment 20 can be used for the work of finishing large-sized forged products.

Further, when it is determined that the attachment 20 is at the near position NF, the device body 10 is moved in the first direction D1, and when it is determined that the attachment 20 is at the remote position BN, the device body 10 is moved to the second position. Move in direction D2. This can prevent the attachment 20 from moving more than necessary. Therefore, the time required for the attachment 20 to return to its original position can be reduced, and workability can be improved.

Further, the apparatus further includes a first notification means I1 for notifying the user of the information indicating the position of the tip of the attachment 20 and the information indicating the position of the object. Thereby, the user can optimally operate the control system 200 using the notified information.

Further, the apparatus further includes second notification means I2 for notifying the user of information indicating the distance from the tip of the attachment 20 to the object. Thereby, the user can more appropriately grasp the positional relationship between the attachment 20 and the object. Therefore, for example, it is possible to appropriately determine which of the first command FW and the second command BW described above should be performed.

Moreover, the third notification means I3 for notifying the position of the attachment 20 to the user is further provided. As a result, the user can grasp how the control system 200 operates according to the first command FW or the second command BW described above, and realize optimum operation.

Further, the apparatus further includes fourth notification means I4 for notifying the user of information indicating whether or not the tip of the attachment 20 is in contact with the object. This allows the user to determine whether the reaction force is due to proper contact between the tip of the attachment 20 and an object, or whether the reaction force is due to contact with an unexpected substance or the like. It is possible to appropriately identify whether the

The technical scope of the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.
For example, the force sensor 23 may be provided at the end portion of the attachment 20 on the second direction D2 side instead of the end portion on the first direction D1 side.
Also, the control system 200 according to the present embodiment may be used for chipping work such as concrete.
All or part of each function of the control system 200 may be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs and CD-ROMs, and storage devices such as hard disks incorporated in computer systems. The program may be transmitted over telecommunications lines.

In addition, it is possible to appropriately replace the constituent elements in the above-described embodiment with well-known constituent elements without departing from the spirit of the present invention, and the modifications described above may be combined as appropriate.

10 Apparatus main body 20 Attachment 200 Control system I1 First notification means I2 Second notification means I3 Third notification means I4 Fourth notification means D1 First direction D2 Second direction FW First command BW Second command BN Remote position N Intermediate position NF Close position F Forward end B Backward end

Claims (19)

a device main body having a base and an attachment mounting portion and approaching an object by moving in a first direction;
an attachment that is attached to the attachment attachment portion and approaches the object by moving in the first direction;
A control system for controlling
A moving speed of the tip of the attachment in the first direction viewed from the attachment mounting portion is faster than a moving speed of the attachment mounting portion in the first direction viewed from the base .
A control system characterized by: receiving means for receiving from a user a first command for moving the device body and the attachment in the first direction;
determination means for determining whether or not a parameter relating to the reaction force that the attachment receives from the object exceeds a predetermined threshold when the reception means receives the first command;
When the determining means determines that the parameter does not exceed the threshold value, the attachment is moved in the first direction, and when the determining means determines that the parameter exceeds the threshold value, , control means for moving said attachment in a second direction opposite said first direction;
2. The control system of claim 1, further comprising: When the determination means determines that the parameter does not exceed the threshold value, the control means moves the apparatus main body together with the attachment in the first direction.
3. The control system according to claim 2, characterized in that: wherein the parameter is the magnitude of the reaction force;
4. The control system according to claim 2 or 3, characterized in that: When the determination means determines that the parameter exceeds the threshold, the control means moves the attachment in the second direction until the parameter becomes equal to or less than a predetermined value.
5. The control system according to claim 4, characterized in that: When the determination means determines that the parameter exceeds the threshold value, the control means controls the parameter to be equal to or less than the predetermined value and maintains the state in which the attachment is in contact with the object. moving the attachment in the second direction and moving the device body in the first direction;
6. The control system according to claim 5, characterized in that: the accepting means accepts a second command for moving the apparatus main body and the attachment in the second direction;
Among a plurality of positions at which the attachment can move along the first direction, a position relatively far from the object is defined as a remote position, a position closer to the object than the remote position is defined as an intermediate position, and A position closer to the object than the intermediate position is defined as a close position, and a determination means for determining whether the current position of the attachment is the remote position, the close position, or the intermediate position,
The control means is
When the receiving means receives the first command or the second command,
when the determination means determines that the attachment is at the close position, moving the device main body in the first direction;
When the determining means determines that the attachment is at the remote position, moving the device main body in the second direction.
A control system according to any one of claims 2 to 6, characterized in that: The control means is
When the determining means determines that the parameter does not exceed the threshold value when the receiving means receives the first command, the attachment is moved in the first direction, and then the attachment moves to the When the determining means determines that the apparatus is in the close position, moving the apparatus main body in the first direction,
moving the device main body in the second direction when the determining means determines that the attachment is at the remote position when the receiving means receives the second command;
8. The control system of claim 7, wherein: The control means suppresses movement of the device main body when the determination means determines that the attachment is at the intermediate position.
9. The control system according to claim 7 or 8, characterized in that: wherein the parameter is the magnitude of change in the reaction force;
3. The control system according to claim 2, characterized in that: a device main body having a base and an attachment mounting portion and approaching an object by moving in a first direction;
an attachment that is attached to the attachment attachment portion and approaches the object by moving in the first direction;
A control system for controlling
receiving means for receiving from a user a first command for moving the attachment in the first direction;
determination means for determining whether or not a parameter relating to the reaction force that the attachment receives from the object exceeds a predetermined threshold when the reception means receives the first command;
When the determining means determines that the parameter does not exceed the threshold value, the attachment is moved in the first direction, and when the determining means determines that the parameter exceeds the threshold value, , control means for moving said attachment in a second direction opposite said first direction;
setting means for setting a first reaction force mode and a second reaction force mode different from the first reaction force mode;
with
a moving speed of the tip of the attachment in the first direction viewed from the attachment mounting portion is faster than a moving speed of the attachment mounting portion in the first direction viewed from the base ;
Said parameters are:
when the setting means sets the first reaction force mode, the magnitude of the reaction force;
is the magnitude of change in the reaction force when the setting means sets the second reaction force mode;
A control system characterized by: Among a plurality of positions at which the attachment can move along the first direction, a position relatively far from the object is defined as a remote position, a position closer to the object than the remote position is defined as an intermediate position, and A position closer to the object than the intermediate position is defined as a close position, and a determination means for determining whether the current position of the attachment is the remote position, the close position, or the intermediate position,
The control means determines that the attachment is at the close position when the receiving means receives the first command or a second command for moving the apparatus main body and the attachment in the second direction. When the determination means determines, the device main body is moved in the first direction, and when the attachment is determined to be at the remote position, the device main body is moved in the second direction,
12. The control system of claim 11, wherein: Further comprising a first notification means for notifying the user of information indicating the position of the tip of the attachment and information indicating the position of the object,
13. A control system according to any one of claims 2 to 12, characterized in that: Further comprising a second notification means for notifying the user of information indicating the distance from the tip of the attachment to the object,
14. A control system according to any one of claims 2 to 13, characterized in that: Among a plurality of positions at which the attachment can move along the first direction, a position relatively far from the object is defined as a remote position, a position closer to the object than the remote position is defined as an intermediate position, and Notifying the user of information indicating whether the current position of the attachment is the remote position, the intermediate position, or the close position when a position closer to the object than the intermediate position is defined as the close position. Further comprising a third notification means to
15. A control system according to any one of claims 2 to 14, characterized in that: Further comprising a fourth notification means for notifying the user of information indicating whether the tip of the attachment and the object are in contact,
16. A control system according to any one of claims 2 to 15, characterized in that: Further comprising a fifth notification means for notifying the user of information indicating the position of the tip of the attachment and information indicating the reaction force the attachment receives from the object,
17. A control system according to any one of claims 2 to 16, characterized in that: A device main body having a base and an attachment mounting portion and approaching an object by moving in a first direction; and an apparatus body attached to the attachment mounting portion and moving in the first direction to approach the object. A control method for controlling an attachment,
a moving speed of the tip of the attachment in the first direction viewed from the attachment mounting portion is faster than a moving speed of the attachment mounting portion in the first direction viewed from the base;
Determining whether a parameter related to the reaction force received by the attachment from the object exceeds a predetermined threshold when a first command for moving the device main body and the attachment in the first direction is received,
When it is determined that the parameter does not exceed the threshold, moving the attachment in the first direction;
When it is determined that the parameter exceeds the threshold, moving the attachment in a second direction opposite to the first direction;
A control method characterized by: A program that causes a computer to function as the control system according to any one of claims 1 to 17 .

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