JP7259247B2 - Controllers, robot systems, and robots - Google Patents

Description

The present disclosure relates to controllers, robot systems, and robots.

The height of the nozzle, the syringe that applies the adhesive from the nozzle to the glass substrate, and the height of the glass substrate are measured with a laser sensor. An adhesive application device for setting is known (for example, Patent Literature 1). In this adhesive application device, the position of the nozzle is adjusted so that the gap between the glass substrate and the nozzle is a constant value according to the set height.

JP-A-5-345160

In this adhesive application device, even if the position of the needle is adjusted so that the gap between the tip of the needle and the glass substrate is constant, for example, if the needle is tilted, defective application occurs. was there.

According to one aspect of the present disclosure, a robot arm, a needle provided at the tip of the robot arm that ejects a material to be ejected onto an ejection surface, a transmitter that transmits a signal, and a detector that detects the signal and a control device for controlling a robot comprising: This control device comprises a control section for controlling the operation of the robot arm and the discharge of the discharge material from the needle according to the signal strength detected by the detection section, wherein the detection section and the transmission section The needle is arranged between the transmitter and the controller, and the controller transmits the first signal from the transmitter to the detector along a first direction that is a direction from the transmitter to the detector. and when the first detection value output from the detection unit in response to the first signal indicates that the needle is not inclined with respect to the ejection surface, the needle is caused to eject the ejection material. and, when the first detection value output from the detection unit in response to the first signal indicates that the needle is inclined with respect to the ejection surface, the ejection of the ejection material from the needle is stopped.
According to another aspect of the present disclosure, a robot arm, a needle provided at the tip of the robot arm for ejecting a material to be ejected onto an ejection surface, a transmitter for transmitting a first signal, and the first signal A control device for controlling a robot is provided, which includes a detection unit for detecting The control device includes a control section that controls the operation of the robot arm and the discharge of the discharge material from the needle according to the output of the detection section. The needle is arranged between the detection section and the transmission section. The controller transmits the first signal from the transmitter to the detector, and the first detection value output from the detector in response to the first signal indicates that the needle is on the ejection surface. When the needle is not tilted with respect to the discharge surface, the discharge is executed from the needle, and when the first detection value indicates that the needle is tilted with respect to the discharge surface, the needle is discharged. Discharge of the discharge material is stopped. The transmitting section transmits a second signal in a direction toward a first position shifted in the movement direction of the needle from an intersection of a direction extending from the tip of the needle along the needle and the ejection surface, and the ejection is performed. A third signal is transmitted toward the surface and a third signal reflected from the ejection surface is received. The transmission unit is an ultrasonic sensor array, and includes an ultrasonic lens that changes the direction of an incident ultrasonic wave signal to emit the first signal, the second signal, and the third signal. The detection section receives a second signal reflected by the ejection surface, transmits a fourth signal along a direction parallel to a direction in which the transmission section transmits the third signal, and transmits a fourth signal reflected by the ejection surface. 4 receive the signal. The control unit executes a height correction process of the robot arm so that the time from when the second signal is transmitted to when it is received is a predetermined time, and when the third signal is transmitted. angle correction processing of the robot arm so that the difference between the time from when the fourth signal is received until it is received and the time between when the fourth signal is transmitted and when it is received is within a predetermined range. to run .

1 is a perspective view showing an example of a robot system; FIG. A block diagram showing the functions of a robot and a control device. FIG. 4 is a schematic diagram showing how the robot discharges the substance. FIG. 4 is a schematic diagram showing the positional relationship between a needle and an ultrasonic sensor array; FIG. 5 is a schematic diagram showing the state of the 5-5 cross section in FIG. 4; 4 is a flow chart of needle inclination determination performed in the first embodiment. FIG. 4 is a schematic diagram showing a state in which a substance is discharged with the needle tilted; FIG. 4 is a schematic diagram showing an ultrasonic sensor array in a second embodiment; FIG. 2 is a conceptual diagram showing an example of a robot control device configured by a plurality of processors; FIG. 2 is a conceptual diagram showing another example in which a robot control device is configured by a plurality of processors;

A. First Embodiment FIG. 1 is a perspective view showing an example of a robot system. FIG. 2 is a block diagram showing functions of the robot 100 and the control device 200. As shown in FIG. The configuration of the robot system according to the present embodiment will be described below with reference to FIGS. 1 and 2. FIG. This robot system includes a robot 100 , a control device 200 and a teaching device 300 . The control device 200 is communicably connected to the robot 100 and the teaching device 300 via cables or wirelessly.

The robot 100 performs work according to pre-created teaching data. In addition, the robot 100 can adjust the motion according to the detection values obtained from the sensors provided in the robot system. As shown in FIG. 1, the robot 100 includes a base 110 and a robot arm 120. As shown in FIG. In the following, robot arm 120 is also simply referred to as arm 120 .

The arm 120 has multiple joints. A force sensor 190 is installed at the tip of the arm 120 , and an end effector 130 is attached to the tip of the force sensor 190 . In the example of FIG. 1, the end effector 130 is drawn in a simple shape for convenience of illustration. The arm 120 has six axes. Thereby, the arm 120 can move the end effector 130 to any position according to the instruction from the control device 200 .

In the present embodiment, the end effector 130 includes a needle 132 as a dispenser for ejecting an ejected substance and a plurality of ultrasonic sensor arrays 134 . The ultrasonic sensor array is formed by a plurality of thin-film elements capable of transmitting ultrasonic waves as signals and capable of receiving ultrasonic waves as signals, and transmits ultrasonic waves. The end effector 130 is electrically connected to the arm 120 via wiring 140 . The wiring 140 is attached so as to be visible from the outside of the robot 100 .

The force sensor 190 is a 6-axis force sensor that measures the external force applied to the end effector 130 . Note that the force sensor 190 is not limited to a six-axis force sensor. For example, it may be a force sensor with five axes or less. Moreover, in the present embodiment, the force sensor 190 is provided at the tip of the arm 120, but is not limited to this. For example, force sensor 190 may be provided at any joint of arm 120 .

As shown in FIG. 2 , the control device 200 has a processor 210 , a main memory 220 , a nonvolatile memory 230 , a display control section 240 , a display section 250 and an I/O interface 260 . These units are connected via a bus. The processor 210 is, for example, a microprocessor or processor circuit, and functions as a controller for controlling the motion of the robot 100 . In the following, processor 210 is also described as controller 210 . Control device 200 is connected to robot 100 and teaching device 300 via I/O interface 260 . Note that the control device 200 may be housed inside the robot 100 . In this embodiment, the control device 200 can control the robot 100 using a tool coordinate system centered on the tip of the end effector 130 . The tool center point, which is the origin of the tool coordinate system, is the tip center of the needle 132 that is part of the end effector 130 . Also, the Z-axis of the tool coordinate system is an axis extending along the opening direction of the needle 132 . The +Z-axis direction, which is the positive direction in the Z-axis direction, is the direction in which the needle 132 ejects the ejected material. Also, the X-axis and the Y-axis extend in a direction orthogonal to each other and also orthogonal to the Z-axis.

The control device 200 moves the arm 120 by driving the actuator according to the teaching data stored in the main memory 220 and the values output from the ultrasonic sensor array 134 . Programs stored in advance in the nonvolatile memory 230 are used to implement various functions of the control device 200 .

Note that the configuration of the control device 200 can be changed as appropriate, and is not limited to the configuration shown in FIG. For example, processor 210 and main memory 220 may reside in another device that can communicate with controller 200 . In this case, control device 200 and another device function as a control device for robot 100 . Also, the control device 200 may include a plurality of processors 210 .

The teaching device 300 is used when creating a control program including teaching data for work of the robot 100 . Teaching device 300 is also called a “teaching pendant”. A personal computer having an application program for teaching processing may be used instead of the teaching pendant. Teaching device 300 transmits the created teaching data to control device 200 . The transmitted teaching data is stored in main memory 220 of control device 200 .

FIG. 3 is a schematic diagram showing how the robot 100 discharges the discharge material 30. As shown in FIG. The outline of the control contents of the robot 100 executed by the control device 200 will be described below with reference to FIG.

The robot 100 applies the adhesive to the ejection surface S by ejecting the adhesive as the ejection material 30 from the needle 132 . The ejection surface S is a processed surface of various products including, for example, cases for smartphones, liquid crystal panels, camera modules completed by an injection molding machine, and the like. Note that the ejected material 30 is not limited to an adhesive. For example, the ejected matter 30 may be a viscous liquid substance, a gel-like substance, or a gel-like substance. More specifically, for example, the ejected matter 30 may be paint, or resin used as a sealing member, a cushioning material, or the like.

When applying the ejection material 30 to the ejection surface S, the arm 120 drives the needle 132 to move along the predetermined application track R under the control of the control device 200 . Further, when applying the ejection material 30 to the ejection surface S, the control device 200 performs various controls. For example, the control device 200 executes height correction control and angle correction control. The height correction control is control so that the distance between the needle 132 and the ejection surface S becomes a preset distance. Further, the angle correction control is a control for adjusting the angle between the needle 132 and the ejection surface S to a preset angle. Values output from the ultrasonic sensor array 134 are used for height correction control and angle correction control. Also, the control device 200 determines whether or not the needle 132 is tilted using the detection value of the ultrasonic sensor array 134 .

FIG. 4 is a schematic diagram showing the positional relationship between the needle 132 and the ultrasonic sensor array 134. As shown in FIG. FIG. 4 schematically shows a front view of the end effector 130 when viewed from the distal end side of the needle 132. As shown in FIG. FIG. 4 shows the moving direction d1 in the posture of the robot 100 shown in FIG. The positions of the needle 132 and the ultrasonic sensor array 134 will be described below using the positional relationship when viewed from the distal end side of the needle 132 .

In this embodiment, the end effector 130 includes two ultrasonic sensor arrays 1341 and 1342 arranged around the needle 132 as the ultrasonic sensor array 134 . In the following, for convenience of explanation, the two ultrasonic sensor arrays 1341 and 1342 are also referred to as the first ultrasonic sensor array 1341 and the second ultrasonic sensor array 1342, respectively.

Specifically, the first ultrasonic sensor array 1341 and the second ultrasonic sensor array 1342 form a pair and are arranged with the needle 132 interposed therebetween. In this embodiment, the two ultrasonic sensor arrays 1341, 1342 are the same distance from the needle 132. FIG. That is, the two ultrasonic sensor arrays 1341 to 1344 are arranged symmetrically with the needle 132 as the center. The same distance from the needle 132 means that, in the two ultrasonic sensor arrays, the difference in the distance from the needle 132 is the ultrasonic sensor array farthest from the needle 132 and the needle 132 among the two ultrasonic sensor arrays. Including cases where it is ±5% or less of the distance. In this embodiment, the distance from the needle 132 to each of the ultrasonic sensor arrays 1341 and 1342 is the opening 1322 of the needle 132 when the end effector 130 is viewed from the distal end side of the needle 132 to the proximal end side. is the shortest distance from the center of the to each ultrasonic sensor array 1341 , 1342 .

The ultrasonic sensor array 134 is used as a transmitter that transmits ultrasonic waves as a signal, and is also used as a detector that detects ultrasonic waves. When ultrasonic waves are used as signals, signal processing is easier than when light is used as signals, for example. For example, compared to the case of using light, ultrasonic waves take a longer time from being transmitted to being received. Therefore, the required response speed and time resolution are smaller when using ultrasonic waves than when using light. In this embodiment, the ultrasonic sensor array is arranged with a plurality of ultrasonic wave generating elements. The ultrasonic sensor array 134 irradiates an object to be measured with ultrasonic waves generated according to bending deformation of the ultrasonic wave generating element. Also, the ultrasonic sensor array outputs a detection signal, which is an electrical signal, by receiving ultrasonic waves. Ultrasonic sensor arrays are capable of phase manipulation. Accordingly, the ultrasonic sensor array can be driven with a phase difference shift regardless of the operation from the control unit 210 . Phase difference shift driving means a driving method that adjusts the phase difference between ultrasonic waves generated from each ultrasonic wave generating element by shifting the driving timing of each ultrasonic wave generating element. Thereby, the ultrasonic sensor array can arbitrarily change the transmission direction of the ultrasonic waves by using the interference between the ultrasonic waves generated according to the phase difference. Therefore, when an ultrasonic sensor array that can be driven with a phase difference shift is used as the ultrasonic sensor array 134, there is no need to separately provide a mechanism for adjusting the transmission direction, so the ultrasonic sensor array 134 can be miniaturized. is easy. In this case, the degree of freedom in design is higher than when other configurations are used as the ultrasonic sensor array 134 . In this embodiment, a piezoelectric element is used as the ultrasonic wave generating element. For the piezoelectric element, for example, lead zirconate titanate (PZT), lead titanate (PbTiO ₃ ), lead zirconate (PbZrO ₃ ), lead lanthanum titanate ((Pb, La), etc., which are formed into films, are used. TiO ₃ ) can be used. In this embodiment, PZT formed into a film is used for the piezoelectric element.

FIG. 5 is a schematic diagram showing the state of the 5-5 cross section in FIG. In FIG. 5, transmission directions D1 to D4 of ultrasonic waves output by the first ultrasonic sensor array 1341 and the second ultrasonic sensor array 1342 are shown. The transmission directions D1 to D4 shown in FIG. 5 schematically show the state when viewed from above in the direction along the movement direction d1 of the needle 132, and strictly correspond to the cross-sectional view of the 5-5 cross section. not. In this embodiment, the first ultrasonic sensor array 1341 can emit ultrasonic waves in three transmission directions, ie, a first transmission direction D1, a second transmission direction D2, and a third transmission direction. The second ultrasonic sensor array 1342 can transmit ultrasonic waves in a fourth transmission direction D4. The first ultrasonic sensor array 1341 can emit simultaneously in three directions D1-D3.

A first transmission direction D1 is a direction from the first ultrasonic sensor array 1341 toward the second ultrasonic sensor array 1342 . A needle 132 is arranged in the path along which the ultrasonic waves are transmitted when the ultrasonic waves are transmitted in the first transmitting direction D1. Ultrasonic waves transmitted in the first transmission direction D1 from the first ultrasonic sensor array 1341 functioning as the first transmitter are detected by the second ultrasonic sensor array 1342 functioning as the first detector. detected. In the following, the ultrasound emitted in the first transmission direction D1 is also referred to as the first signal S1.

The second transmission direction D2 is the direction from the first ultrasonic sensor array 1341 toward the first position P1 on the ejection surface S. As shown in FIG. The first position P1 is a position on the ejection surface S that does not overlap unless it is on an extension line of the needle 132 when viewed from the first ultrasonic sensor array 1341 in a direction perpendicular to the ejection surface S. As shown in FIG. 3, the first position P1 is a position shifted from the position where the direction extending from the tip of the needle 132 and the ejection surface S overlap. Furthermore, in the present embodiment, the first position P1 is positioned forward in the moving direction d1 of the needle 132 . Therefore, the ejection material 30 is not ejected to the first position P1. As shown in FIG. 5, the ultrasonic waves transmitted in the second transmission direction D2 from the first ultrasonic sensor array 1341 functioning as the first transmission unit are reflected at the first position P1, and then It is detected by a second ultrasonic sensor array 1342 that functions as a first detector. In the following, the ultrasound emitted in the second transmission direction D2 is also referred to as the second signal S2.

A third transmission direction D3 is a direction from the first ultrasonic sensor array 1341 toward a second position P2 on the ejection surface S, which is different from the first position P1. A second position P2 is a position where the ejection surface S overlaps with a line perpendicular to the ejection surface S drawn from the first ultrasonic sensor array 1341 . In this embodiment, the third transmission direction D3 is parallel to the direction in which the needle 132 extends. Ultrasonic waves transmitted in the third transmission direction D3 from the first ultrasonic sensor array 1341 functioning as the first transmitting unit function as the second detecting unit after being reflected at the second position P2. detected by a first ultrasonic sensor array 1341 that In the following, the ultrasound emitted in the third emission direction D3 is also referred to as the third signal S3.

A fourth transmission direction D4 is a direction parallel to the third transmission direction D3, and is a direction from the second ultrasonic sensor array 1342 to a third position P3 on the ejection surface S, which is different from the first position P1 and the second position P2. is the direction to A third position P3 is a position where a line perpendicular to the ejection surface S from the second ultrasonic sensor array 1342 and the ejection surface S overlap. In this embodiment, the fourth transmission direction D4 is parallel to the direction in which the needle 132 extends. Ultrasonic waves transmitted in the fourth transmission direction D4 from the second ultrasonic sensor array 1342 functioning as the second transmitter function as the first detector after being reflected at the third position P3. is detected by a second ultrasonic sensor array 1342 that In the following, the ultrasound emitted in the fourth transmission direction D4 is also referred to as the fourth signal S4.

FIG. 6 is a flow chart of determination of the inclination of the needle 132 and processing according to the result, which are executed in the first embodiment. The determination processing of the inclination of needle 132 shown in FIG. 6 is performed by control unit 210 of control device 200 . When the robot 100 is instructed to discharge the discharge material 30 onto the discharge surface S according to the teaching data, the control device 200 determines the inclination of the needle 132 before starting discharge. When starting to determine the inclination of needle 132, control unit 210 starts step S101.

In step S101, the control unit 210 causes the first ultrasonic sensor array 1341 to transmit the first signal S1.

At step S102, the control unit 210 determines whether or not the detection value of the second ultrasonic sensor array 1342 in response to transmission of the first signal S1 is equal to or less than a predetermined threshold. The detected value becomes smaller according to the attenuation of ultrasonic waves between the first ultrasonic sensor array 1341 and the second ultrasonic sensor array 1342 . The array predetermined threshold value is sufficiently smaller than the maximum detection value assumed when there is no obstacle in the transmission path of the first signal S1, and the needle is in the transmission path of the first signal S1. It is preferable that the value is sufficiently larger than the assumed value, which is the detected value assumed when 132 is arranged. Specifically, for example, the predetermined threshold value is assumed when comparing the case where there is no obstacle in the transmission path of the first signal S1 and the case where the needle 132 is arranged. It is set using the difference in detection values. The predetermined threshold is preferably a value smaller than the value obtained by subtracting 1/8 of the difference in the assumed detection value from the maximum value of the detection value, and the difference in the detection value assumed from the maximum value of the detection value is more preferably less than one quarter of the value of . In addition, the predetermined threshold is preferably a value larger than a value obtained by adding 1/8 of the difference in the assumed detection value to the assumed value of the detection value, and the detection value assumed in the assumed value of the detection value It is more preferable that the value is larger than the value obtained by adding 1/4 of the difference between .

In the processing of step S102, if the detected value is greater than the predetermined threshold value, that is, if the determination result in step S102 is No, the detected value indicates that the needle 132 is tilted. Therefore, control unit 210 determines that needle 132 is not in a normal position. An example of when the needle 132 is not in the correct position is when the needle 132 is tilted. In this case, the tip of needle 132 points in a different direction than expected. As a result, even if the robot 100 moves according to the teaching data, there is a possibility that the discharge material 30 will be discharged at a position different from the originally assumed position. If the result of the process of step S102 is No, control unit 210 executes step S111.

In the processing of step S<b>111 , the control unit 210 stops the operation of the robot 100 including ejection of the ejection material 30 from the needle 132 . After performing the process of step S111, the control unit 210 terminates the process shown in FIG.

On the other hand, in the process of step S102, when the detected value is equal to or less than the predetermined threshold value, that is, when the determination result in step S102 is Yes, the detected value indicates that the needle 132 is not tilted. Therefore, control unit 210 determines that needle 132 is in a normal position. If the result of the process of step S102 is Yes, control unit 210 executes step S103.

In the process of step S103, the control section 210 causes the robot 100 to execute the discharge of the discharge material 30 according to the teaching data. After performing the process of step S103, the control unit 210 ends the process shown in FIG.

In the process of step S103 shown in FIG. 6, when the discharge material 30 is discharged from the needle 132, the control unit 210 corrects the height of the needle 132, corrects the angle, and determines whether or not there is a discharge failure. and run Below, the height correction, the angle correction, and the determination of the presence or absence of ejection failure of the needle 132, which are executed in the present embodiment, will be described.

Control unit 210 executes height correction processing for controlling the attitude of arm 120 so that the distance between needle 132 and ejection surface S is a predetermined distance. Here, the distance between the needle 132 and the ejection surface S is the distance between the needle 132 and the ejection surface S in the direction extending from the tip of the needle 132 . This height correction processing is executed in parallel with the ejection of the ejection material 30 . Therefore, the distance between the needle 132 and the ejection surface S is corrected in real time. In this height correction process, the control unit 210 controls the time required from when the second signal S2 is transmitted from the first ultrasonic sensor array 1341 until it is detected by the second ultrasonic sensor array 1342. to correct the height of the needle 132 . Specifically, the control unit 210 controls the position of the end effector 130 so that the time from when the second signal S2 is transmitted to when it is detected is a predetermined time. Thereby, the robot 100 can keep the distance between the needle 132 and the ejection surface S at a predetermined distance according to the control of the control section 210 .

The control unit 210 executes angle correction processing for controlling the posture of the arm 120 so that the angle formed by the needle 132 and the ejection surface S becomes a predetermined angle. This angle correction processing is executed in parallel with the ejection of the ejection material 30 . Therefore, the angle between the needle 132 and the ejection surface S is corrected in real time. In this angle correction process, the control unit 210 determines a first time required from the transmission of the third signal S3 to the reception thereof, and a second time required from the transmission of the fourth signal S4 to the reception of the fourth signal S4. use time and In the first time, after the ultrasonic wave, which is the third signal S3, is transmitted from the first ultrasonic sensor array 1341 in the third transmission direction D3 shown in FIG. This is the time it takes to be received. In the second time, after the ultrasonic wave, which is the fourth signal S4, is transmitted from the second ultrasonic sensor array 1342 in the fourth transmission direction D4 shown in FIG. This is the time it takes to be received. In this embodiment, the inclination of the needle 132 is controlled so that the difference between the first time and the second time is within a predetermined range. The predetermined range is a value small enough to treat the first time and the second time as the same when executing control by the control unit 210, and the operation accuracy required in the operation of the needle 132. It is a range determined according to Specifically, in this embodiment, the control unit 210 controls the position and orientation of the end effector 130 so that both the first time and the second time are predetermined times. Therefore, the distance from the first ultrasonic sensor array 1341 to the ejection surface S and the distance from the second ultrasonic sensor array 1342 to the ejection surface S are maintained to be the same. Further, since the distance between the needle 132 and the ejection surface S is kept constant by the height correction processing, the angle formed by the needle 132 and the ejection surface S is kept at a predetermined angle.

FIG. 7 is a schematic diagram showing a state in which the material is discharged while the needle 132 is bent. In FIG. 7, the dashed line shows the needle 132 when it is not tilted. In the case shown in FIG. 7, the proximal side of needle 132 is in place. Therefore, in the processing of FIG. 6, it is determined that the needle 132 is not tilted. If the needle 132 is bent, the discharge material 30 may be discharged to the first position P1, which is an unexpected position. In this case, the detection values obtained by the second ultrasonic sensor array 1342 differ from normal detection values. The control unit 210 stops the ejection when the ejection material is ejected to the first position P1 where ejection of the ejection material is not expected. Therefore, the control device 200 can suppress deterioration in the quality of the ejection target that may occur due to continued ejection onto the ejection surface S in a state where an ejection failure has occurred. Moreover, since the second signal S2 used for the height correction process is used, the control can be simplified as compared with the case of separately obtaining a detection signal for detecting ejection failure. In FIG. 7, the case where the needle 132 is bent has been described as an example. , ejection failure may occur.

According to the control device 200 of the first embodiment described above, the control unit 210 uses the first detection value output from the second ultrasonic sensor array 1342, which is the detection unit, in response to the first signal S1. , whether or not the needle 132 is tilted can be determined. Further, when the control unit 210 determines that the needle 132 is not tilted, the control unit 210 causes the needle 132 to discharge. Therefore, the possibility of ejecting the ejection material 30 onto the ejection surface S while the needle 132 is tilted is reduced. Therefore, the control device 200 can suppress the occurrence of ejection defects in the robot 100 .

B. Second Embodiment FIG. 8 is a schematic diagram showing an ultrasonic sensor array 134 according to a second embodiment. A robot system according to the second embodiment differs from the first embodiment in the structure of the ultrasonic sensor array 134 . In the following, the same reference numerals are given to the same configurations as in the first embodiment, and detailed description thereof will be omitted. In the second embodiment, the ultrasonic sensor array 134 is attached with an ultrasonic lens 136 that refracts ultrasonic waves. Ultrasonic lens 136 is also called an acoustic lens.

As shown in FIG. 8, the ultrasonic lens 136 is arranged in the first ultrasonic sensor array so that ultrasonic waves are emitted in a first transmission direction D1, a second transmission direction D2, and a third transmission direction D3. Attached to 1341. In this case, the ultrasonic sensor array 134 can transmit ultrasonic waves in the three transmission directions D1 to D3 without performing phase shift driving. Further, in this embodiment, an ultrasonic lens is attached to the second ultrasonic sensor array 1342 as well.

According to the second embodiment described above, the same effects as those of the first embodiment are obtained in terms of having the same configuration as that of the first embodiment. Furthermore, according to the second embodiment, the direction of transmission of signals emitted from the ultrasonic sensor array 134 is adjusted by the ultrasonic lens 136 . Therefore, the processing load on the control unit 210 is reduced as compared with the case where the phase shift drive or the like is executed.

C. Third Embodiment (1) FIG. 9 is a conceptual diagram showing an example in which a robot control device is configured by a plurality of processors. In this example, in addition to the robot 100 and its control device 200, personal computers 500 and 510 and a cloud service 600 provided via a network environment such as a LAN are depicted. Personal computers 500 and 510 each include a processor and memory. Processors and memory are also available in the cloud service 600 . The processor executes computer-executable instructions. A robot control device including the control device 200 and the teaching device 300 can be implemented using some or all of these multiple processors. Also, a storage unit that stores various types of information can be realized using part or all of these memories.

(2) FIG. 10 is a conceptual diagram showing another example in which a robot control device is configured by a plurality of processors. This example differs from FIG. 9 in that the controller 200 of the robot 100 is stored in the robot 100 . Also in this example, it is possible to realize a robot control device including the control device 200 and the teaching device 300 by using some or all of the plurality of processors. Also, a storage unit that stores various types of information can be implemented using part or all of a plurality of memories.

D. Other Embodiments D1. First Alternative Embodiment In the above embodiment, the ultrasonic sensor array 134 has a function as a transmitter and a detector. However, the ultrasonic sensor array 134 may have only one of the functions of a transmitter and a detector. For example, if the ultrasonic sensor array 134 functions only as a transmitter, it must have a detector separate from the ultrasonic sensor array 134 . In this case, the detection unit may be an ultrasonic sensor capable of detecting ultrasonic waves, and is not limited to an ultrasonic sensor array. Moreover, when the ultrasonic sensor array 134 functions only as a detection unit, it is necessary to have a transmission unit separate from the ultrasonic sensor array 134 . In this case, the transmitter may be any source capable of generating ultrasonic waves, and is not limited to an ultrasonic sensor array.

D2. Second Alternative Embodiment In the above embodiment, ultrasonic waves are used as signals used between the transmitter and the detector. However, the signal is not limited to this. For example, it may be light. Various light sources, such as a laser light source that emits laser light and a halogen light source that emits diffused light, can be used for the transmitter that emits the first signal S1. Various optical sensors capable of detecting light intensity can be used for the detection unit that detects the first signal S1. A light source capable of emitting a pulse laser may be used as the light source for the second signal S2, the third signal S3, and the fourth signal S4, which require time-resolved analysis. In this case, time-resolved analysis may be used to obtain the flight time required for the pulsed laser light to reflect off the object. In this case, the control unit 210 may acquire the time required from the time the signal is transmitted until the time the signal is detected by performing time-of-flight analysis that calculates the distance to the object based on the time-of-flight. .

D3. Third Alternative Embodiment In the above embodiment, the first ultrasonic sensor array 1341 and the second ultrasonic sensor array 1342 are arranged symmetrically about the needle 132, but the invention is not limited to this. The arrangement relationship between the first ultrasonic sensor array 1341 and the second ultrasonic sensor array 1342 can be changed as appropriate as long as they are arranged with the needle 132 interposed therebetween.

D4. Fourth Alternative Embodiment In the above-described embodiment, if the needle 132 is not tilted as a result of determining whether or not the needle 132 is tilted, the controller 210 causes the robot 100 to discharge the discharge material 30. . However, the controller 210 does not necessarily cause the robot 100 to discharge the discharge material 30 when the needle 132 is not tilted. For example, control unit 210 may further perform a step of inspecting the state of needle 132 . In this case, the control unit 210 causes the robot 100 to discharge the discharge material 30 only when no abnormality is found in the needle 132, and instructs the robot 100 to discharge the discharge material 30 when no abnormality is found. Ejection may not be executed.

D5. Fifth Alternative Embodiment In the above embodiment, the third transmission direction D3 for transmitting the third signal S3 and the fourth transmission direction D4 for transmitting the fourth signal S4 are parallel to the direction in which the needle 132 extends. However, the direction is not limited to this. The third transmission direction D3 and the fourth transmission direction D4 can be arbitrarily changed as long as they are parallel to each other and detected by the ultrasonic sensor array 134 after being reflected by the ejection surface S. is.

D6. Sixth Alternative Embodiment In the above embodiment, when executing the angle correction process, the control unit 210 adjusts the posture of the arm 120 so that the first time and the second time are predetermined times. to control. However, control unit 210 may perform different control when performing angle correction processing. For example, control unit 210 may control the attitude of arm 120 such that the first time and the second time are simply the same time. Even in this case, the posture of arm 120 is more stable than when angle correction control is not performed.

D7. Seventh Alternative Embodiment In the above embodiments, the control unit 210 executes the height correction process, the angle correction process, and the determination of whether or not an ejection failure has occurred, but the present invention is not limited to this. For example, control unit 210 does not need to execute at least one of the above three processes.

D8. Eighth Alternative Embodiment In the above embodiments, the robot 100 is a 6-axis robot, but is not limited to this. The number of axes that the robot 100 has may be seven or more, or may be five or less. Specifically, for example, the robot 100 may be a single-axis SCARA robot. Even if the robot 100 is a SCARA robot, the control device 200 can determine whether or not the needle 132 is tilted, as in the above embodiment.

D9. Ninth Alternative Embodiment In the above embodiment, the ultrasonic sensor arrays 134 provided in the robot 100 are two ultrasonic sensor arrays 1341 and 1342 forming one set, but the number of ultrasonic sensor arrays 134 is is not limited to two. For example, the robot 100 may include two or more sets of ultrasonic sensor arrays 134 each having two ultrasonic sensor arrays 134 arranged with the needle 132 therebetween. In this case, the control unit 210 may select one or more sets of ultrasonic sensor arrays 134 from two or more sets of ultrasonic sensor arrays 134 and execute the processing described in the above embodiment. In this case, the control unit 210 uses separate sets of ultrasonic sensor arrays 134 for determining whether or not the needle 132 is inclined, for height correction processing, for angle correction processing, and for determining whether or not an ejection failure has occurred. can be

D10. Tenth Alternative Embodiment In the above embodiments, the ultrasonic sensor array 134 simultaneously emits ultrasonic waves in the three directions D1 to D3, but it is not necessary to emit ultrasonic waves at the same time. Also, although the ultrasonic sensor array 134 emits ultrasonic waves in three transmission directions D1 to D3, it may be possible to transmit ultrasonic waves in two or less transmission directions. In this case, the robot 100 may each include an ultrasonic sensor array capable of transmitting ultrasonic waves in each transmission direction.

D11. Eleventh Alternative Embodiment In the above embodiment, the control unit 210 compares the detected value with a predetermined threshold in step S102 in the process shown in FIG. However, the controller 210 may perform different processing. For example, a previously acquired detection signal may be compared with a newly acquired detection signal.

The first to eleventh embodiments described above also have the same effect in that they have the same configuration as the above-described embodiment.

The present disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the scope of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in the respective modes described in the Summary of the Invention column may be used to solve some or all of the above problems, or Substitutions and combinations may be made as appropriate to achieve part or all. Also, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

(1) According to one aspect of the present disclosure, a robot arm, a needle provided at the tip of the robot arm for ejecting a material to be ejected onto an ejection surface, a transmitter for transmitting a signal, and detecting the signal A control device for controlling a robot is provided. This control device comprises a control section for controlling the operation of the robot arm and the discharge of the discharge material from the needle according to the signal strength detected by the detection section, wherein the detection section and the transmission section The needle is arranged between the transmitter and the controller, and the controller transmits the first signal from the transmitter to the detector along a first direction that is a direction from the transmitter to the detector. and when the first detection value output from the detection unit in response to the first signal indicates that the needle is not inclined with respect to the ejection surface, the needle is caused to eject the ejection material. and, when the first detection value output from the detection unit in response to the first signal indicates that the needle is inclined with respect to the ejection surface, the ejection of the ejection material from the needle is stopped.
According to the control device of this aspect, the control section uses the first detection value output from the detection section in response to the first signal to determine whether or not the needle is tilted. Do not dispense from the needle. Therefore, the possibility of ejecting the material onto the ejection surface while the needle is tilted is reduced. Therefore, the control device can suppress the occurrence of ejection failure.

(2) In the control device of the above aspect, the control unit may execute the discharge when the first detection value is equal to or less than the threshold value as a case indicating that the needle is not tilted. .
According to the control device of this aspect, the control section can find the inclination of the needle even when the needle is gradually inclined compared to the case of comparing with the past detection value, for example.

(3) In the control device of the above aspect, the control section is arranged in a direction from the transmission section toward a first position on the ejection surface that does not overlap the needle when viewed from the direction perpendicular to the ejection surface. A second signal is transmitted from the transmitting section to the first position along a certain second direction, and from when the second signal is transmitted until it is reflected at the first position and detected by the detecting section. may be used to control the robot arm so that the distance between the needle and the discharge surface is a predetermined distance.
According to the control device of this aspect, the distance between the needle and the ejection surface can be maintained at a predetermined distance, so that the ejection onto the ejection surface can be prevented from becoming unstable due to fluctuations in the distance between the needle and the ejection surface. can be suppressed.

(4) In the control device of the above aspect, the control section determines whether or not there is the discharge material at the first position by using the detection value of the detection section corresponding to the second signal. When it is determined that there is the discharge material at position 1, the discharge of the discharge material from the needle may be stopped.
According to the control device of this aspect, the ejection can be stopped when the ejection material is ejected to the first position where ejection of the ejection material is not expected. In this case, it is possible to suppress deterioration in the quality of the ejection target due to continued ejection to the ejection surface in a state where an ejection failure, which is ejection to an unexpected position, has occurred. Moreover, since the detection signal used for correcting the height is used, the control can be simplified as compared with the case where the detection signal for detecting the ejection failure is acquired separately.

(5) In the control device of the above aspect, the robot includes a second transmitter and a second detector in addition to the first transmitter that is the transmitter and the first detector that is the detector. The second transmitting section has the needle arranged between the first transmitting sections, the second detecting section is provided at a position sandwiching the needle with respect to the first detecting section, and the control section comprises , a third signal from the first transmitting portion to the ejection surface along a third direction toward a second position overlapping the ejection surface with a line perpendicular to the ejection surface from the first transmission portion; is transmitted from the second transmission portion to the ejection surface along a fourth direction toward a third position overlapping the ejection surface with a line perpendicular to the ejection surface from the second transmission portion. a first time period from when the fourth signal is transmitted and when the third signal is transmitted from the first transmitting section to when it is reflected at the second position on the ejection surface and detected by the first detecting section; and a second time from when the fourth signal is transmitted from the second transmitter to when it is reflected at the third position on the ejection surface and detected by the second detector, and The inclination of the needle may be controlled so that the difference between the first time and the second time is within a predetermined range.
According to the control device of this form, it is possible to suppress fluctuations in the angle formed by the needle and the ejection surface. As a result, it is possible to prevent the ejection from becoming unstable due to variations in the angle formed by the needle and the ejection surface.

(6) In the control device of the above aspect, a first ultrasonic sensor array functioning as the first transmitting unit and the second detecting unit, and a second ultrasonic sensor array functioning as the second transmitting unit and the first detecting unit and an ultrasonic sensor array, wherein the signals are ultrasonic waves.
According to the control device of this aspect, the ultrasonic sensor array can be used as the detection unit and the transmission unit, so that the functions of the ultrasonic sensor array can be switched according to the content of the control.

(7) In the control device of the above aspect, the first ultrasonic sensor array has an ultrasonic lens that refracts the ultrasonic wave, and using the ultrasonic lens, in addition to the first transmission direction, The ultrasonic waves may be transmitted in a transmission direction other than the first transmission direction.
According to the control device of this form, it is possible to suppress fluctuations in the angle formed by the needle and the ejection surface. As a result, it is possible to prevent the ejection from becoming unstable due to variations in the angle formed by the needle and the ejection surface.

(8) In the control device of the above aspect, the first ultrasonic sensor array emits the ultrasonic waves in the first transmission direction, the second transmission direction, and the third transmission direction by phase manipulation. good too.
According to the control device of this form, it is possible to suppress fluctuations in the angle formed by the needle and the ejection surface. As a result, it is possible to prevent the ejection from becoming unstable due to variations in the angle formed by the needle and the ejection surface.

The present disclosure can also be implemented in various forms other than the control device. For example, it can be implemented in the form of a robot controlled by a control device, a robot system including the control device and the robot, a control method for the robot, a control program for controlling the robot, or the like.

30... Discharge 100... Robot 110... Base 120... Robot arm 120... Arm 130... End effector 132... Needle 134... Ultrasonic sensor array 136... Ultrasonic lens 140... Wiring 190 ... Force sensor 200 ... Control device 210 ... Control unit 220 ... Main memory 230 ... Nonvolatile memory 240 ... Display control unit 250 ... Display unit 260 ... I/O interface 300 ... Teaching device 500 Personal computer 600 Cloud service 1322 Opening 1341 First ultrasonic sensor array 1342 Second ultrasonic sensor array D1 First direction of transmission D2 Second direction of transmission D3 3rd transmission direction D4 4th transmission direction P1 1st position P2 2nd position P3 3rd position R application track S ejection surface S1 first signal S2 ... second signal, S3 ... third signal, d1 ... movement direction

Claims (6)

a robot arm; a needle provided at the tip of the robot arm for ejecting a substance to be ejected onto a ejection surface; a transmitter provided at the tip of the robot arm for sending a first signal; A control device for controlling a robot, comprising: a detection unit provided at a tip for detecting the first signal,
a control unit that controls the operation of the robot arm and the discharge of the discharge material from the needle according to the output of the detection unit;
The needle is arranged between the detection unit and the transmission unit,
The control unit
transmitting the first signal from the transmission unit toward the detection unit;
when the first detection value output from the detection unit in response to the first signal indicates that the needle is not inclined with respect to the ejection surface, causing the needle to eject the ejection material;
when the first detection value indicates that the needle is tilted with respect to the ejection surface, stopping ejection of the ejection material from the needle;
The transmission unit is
transmitting a second signal in a direction toward a first position shifted in the moving direction of the needle from the intersection of the direction extending along the needle from the tip of the needle and the discharge surface;
transmitting a third signal toward the ejection surface;
receiving a third signal reflected by the ejection surface;
The transmitting unit is an ultrasonic sensor array, and includes an ultrasonic lens that changes the direction of an incident ultrasonic wave signal to emit the first signal, the second signal, and the third signal,
The detection unit is
receiving a second signal reflected by the ejection surface;
transmitting a fourth signal along a direction parallel to the direction in which the transmitting unit transmits the third signal;
receiving a fourth signal reflected by the ejection surface;
The control unit
performing a height correction process for the robot arm so that the time from when the second signal is transmitted to when it is received is a predetermined time; and
so that the difference between the time from when the third signal is transmitted until it is received and the time between when the fourth signal is transmitted and when it is received is within a predetermined range. A control device that executes angle correction processing for a robot arm. The control device according to claim 1,
The control device, wherein the control unit indicates that the needle is not tilted when the first detection value is equal to or less than a threshold value. The control device according to claim 1 or 2,
The control unit determines whether or not there is the discharge material at the first position using a value detected by the detection unit according to the second signal,
A control device that stops the discharge of the discharge material from the needle when it is determined that the discharge material is present at the first position. The control device according to any one of claims 1 to 3,
The control device, wherein the detection unit is an ultrasonic sensor array. a robot system,
a robot arm, a needle provided at the tip of the robot arm for ejecting a discharge material, a transmitter disposed around the needle for transmitting a signal, and a transmitter disposed around the needle for detecting the signal. a robot comprising a detector; and
The control device according to any one of claims 1 to 4, comprising a control device that controls the robot,
robot system. A robot controlled by a controller,
a robot arm driven according to control from a control device;
a needle provided at the tip of the robot arm for ejecting a material to be ejected onto the ejection surface;
a transmitter that is arranged around the needle at the distal end of the robot arm and that transmits a signal;
a detection unit arranged around the needle at the tip of the robot arm and detecting the signal;
The needle is arranged between the detection unit and the transmission unit,
The transmission unit transmits a first signal toward the detection unit under the control of the control device,
The robot is
when the first detection value output from the detection unit in response to the first signal indicates that the needle is not tilted with respect to the ejection surface, discharging the material to be discharged from the needle;
when the first detection value indicates that the needle is tilted with respect to the ejection surface, stopping ejection of the ejection material from the needle;
The transmission unit is
transmitting a second signal in a direction toward a position shifted in the moving direction of the needle from the intersection of the direction extending along the needle from the tip of the needle and the ejection surface;
transmitting a third signal toward the ejection surface;
receiving a third signal reflected by the ejection surface;
The transmitting unit is an ultrasonic sensor array, and includes an ultrasonic lens that changes the direction of an incident ultrasonic wave signal to emit the first signal, the second signal, and the third signal,
The detection unit is
receiving a second signal reflected by the ejection surface;
transmitting a fourth signal along a direction parallel to the direction in which the transmitting unit transmits the third signal;
receiving a fourth signal reflected by the ejection surface;
The robot is
performing a height correction process for the robot arm so that the time from when the second signal is transmitted to when it is received is a predetermined time; and
so that the difference between the time from when the third signal is transmitted until it is received and the time between when the fourth signal is transmitted and when it is received is within a predetermined range. A robot that performs angle correction processing for the robot arm.

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