JP7401184B2 - robot system - Google Patents

Description

The present invention relates to a robot system.

Remotely operated robots have been known for a long time (for example, see Patent Document 1). In such a remote-controlled robot, a worker needs to be able to operate the robot skillfully.

As a device for this purpose, for example, an operation training device technique for training the operation of a remote-controlled robot is known (see, for example, Patent Document 2).

Japanese Patent Application Publication No. 2009-178820 Japanese Patent Application Publication No. 2007-183332

According to the above-mentioned operation training device, it is possible to train the operator's operations. However, with this training device, the skill of operation of an expert is assumed to be the goal of training, and therefore it is difficult to improve the skill of operation beyond the assumed level. Moreover, this device is a device exclusively for training, and cannot perform actual work using a robot.

In other words, although it is possible to improve a beginner's operating proficiency to a predetermined level with a training device, in order to further improve the operating proficiency of an operator who has reached a predetermined level, it is necessary to use the training device through actual work. There is nothing else to do but to improve the operator's operational skill.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a robot system that can improve the skill of operating a robot body through actual work.

In order to achieve the above object, a robot system according to an aspect of the present invention includes a robot body that performs work, a robot control unit that controls the operation of the robot body according to an operation command, and an operator. an operation device that sends the operation command to the robot control unit in accordance with the operation of the operator; and an operation that acquires operation skill rank information that is information ranking the skill of the operator in operating the robot body in the work. The apparatus includes a skill rank information acquisition section, and an operation skill rank information presentation device that presents the operation skill rank information acquired by the operation skill rank information acquisition section to the operator.

According to this configuration, since the operator is presented with the skill ranking information for operating the robot body in the task, the operator is motivated to operate the robot body in the task more skillfully. Specifically, in general, when an operator performs a task by operating a robot body, he or she must evaluate in advance how well he or she operates the robot body during the task, based on his or her current skill in operating the robot body. Assume whether you can do it. Additionally, operators generally have a desire to improve their skill in operating the robot body. Therefore, if the presented operational proficiency rank exceeds the level expected by the user, he or she will feel confident in the operating method of the robot body for that task, and will adopt that operating method the next time as well. Also, getting good results will motivate you.

On the other hand, if the presented operational proficiency rank is lower than the level expected by the operator, the operator attempts to improve the operational proficiency of the robot body by investigating the cause and eliminating the cause. make an effort In this way, the operator can improve his skill in operating the robot body during the actual work through the actual work.

The operation skill rank information is a shortness of work time rank, which is a rank of the shortness of time required for the work performed by the robot main body, and a rank of the small force required for the work performed by the robot main body. A small work force rank, a product quality rank that is a rank of the quality of the product manufactured by the work performed by the robot body, and a work quality rank that is a rank of the quality of the work performed by the robot body. It may contain at least one of the following.

According to this configuration, the operator is motivated to operate the robot body more skillfully during the work depending on the quality of the work.

The robot system according to claim 1 or 2, wherein the work performed by the robot body is a predetermined work that is repeatedly performed.

According to this configuration, since the predetermined work is repeatedly performed, it is possible to accurately grasp the skill with which the robot body is operated.

The robot including the robot main body and the robot control section has a manual mode in which the robot controller controls the operation of the robot main body according to the operation command, and a manual mode in which the robot controller controls the operation of the robot main body according to a predetermined operation program. the robot has an automatic mode in which the operation of the robot body is controlled; and a modified automatic mode in which the robot controller controls the operation of the robot body in accordance with the operation command and the predetermined operation program; The controller modifies the predetermined operation program in the correction automatic mode so that the operation command is reflected, and in the subsequent correction automatic mode, the controller modifies the predetermined operation program in the correction automatic mode. It may be used in place of the operating program.

According to this configuration, the amount of work and working time (work speed) of the robot body are influenced not only by the operator's skill in operating the robot body, but also by the selection of the robot's operation mode, and by extension, the operation of the robot body. It depends on how good you are. On the other hand, the operator is motivated to improve his/her skill in operating the robot body based on the operating skill rank information. As a result, the operator's skill in operation, including selection of an appropriate operation mode, can be improved through actual work.

The robot control section includes a basic motion command section that outputs an automatic motion command according to a basic motion program, a learning section that outputs an automatic motion modification command based on machine learning, and a basic motion command section that outputs an automatic motion modification command based on machine learning. a motion command unit that outputs a motion command by adding the automatic motion command and the operation command, and the learning unit adds the sum of the automatic motion command and the operation command to position data of the end effector of the robot body Machine learning may be performed in association with the data of the force applied by the end effector.

According to this configuration, the operator's skills for operating the robot body are transferred to the robot system through actual work through machine learning. In this actual work, the operator is motivated to improve the skill in operating the robot main body based on the operating skill rank information. As a result, the operator's skills to better operate the robot body are transferred to the robot system through actual work.

The robot system further includes a work imager that images the work performed by the robot main body, and a work image display device that displays a work image that is an image of the work performed by the robot main body captured by the work imager. You can.

According to this configuration, the operator can operate the robot body while viewing the work performed by the robot body displayed on the work image display, so it is possible to operate the robot body in a work environment where detailed monitoring of the work content cannot be done visually with the naked eye. Even in this case, the robot body can be operated accurately.

The present invention has the advantage that it is possible to provide a robot system that can improve the skill of operating the robot body through actual work.

FIG. 1 is a schematic diagram schematically showing an example of the configuration of a robot system according to Embodiment 1 of the present invention. FIG. 2 is a perspective view showing an example of the configuration of the operating device shown in FIG. 1. FIG. FIG. 3 is a functional block diagram showing an example of the configuration of a control system of the robot system shown in FIG. FIG. 4 is a schematic diagram schematically showing an example of work performed by the robot body of the robot system of FIG. 1. FIG. 5 is a plan view schematically showing an example of a work environment in which the robot body of the robot system shown in FIG. 1 performs work. FIG. 6A is a diagram showing a comparison table of work time and work time shortness ranks stored in the storage unit of FIG. 3. FIG. 6B is a diagram showing a comparison table of working force and working force small rank stored in the storage unit of FIG. 3. FIG. 7 is a functional block diagram showing an example of the configuration of a control system of a robot system according to Embodiment 2 of the present invention. FIG. 8A is a diagram showing a comparison table between product quality and product quality rank stored in the storage section of FIG. 7. FIG. 8B is a diagram showing a comparison table of work quality and work quality rank stored in the storage unit of FIG. 7. FIG. 9 is a functional block diagram showing an example of the configuration of a control system of a robot system according to Embodiment 3 of the present invention. FIG. 10 is a functional block diagram showing an example of a detailed configuration of the selector and robot control section of FIG. 9.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In addition, below, the same reference numerals are given to the same or equivalent element throughout all the drawings, and the overlapping explanation will be omitted. Furthermore, the present invention is not limited to the following embodiments.

(Embodiment 1)
[composition]
FIG. 1 is a schematic diagram schematically showing an example of the configuration of a robot system according to Embodiment 1 of the present invention.

{Hardware configuration}
Referring to FIG. 1, the robot system 300A of the first embodiment includes a robot body 1, an operating device 2, a controller 3, a work imager 4, a work image display 5, and an operation skill rank information presenter. 6, a work start detector 47, and a work end detector 48. The robot body 1 and the controller 3 constitute a robot 10. The robot body 1 includes an end effector 17. The robot body 1 may be a so-called robot. A robot, for example, is defined as "an intelligent mechanical system that has three elemental technologies: sensors, intelligence/control systems, and drive systems" (see "Key Points of the Ministry of Internal Affairs and Communications' 2015 Information and Communications White Paper"). Specifically, the robot body 1 is composed of an industrial robot such as a vertical articulated robot, a horizontal articulated robot, a parallel link robot, a polar coordinate robot, a cylindrical coordinate robot, or a rectangular coordinate robot. . In the following, a case will be exemplified in which the robot body 1 is composed of a robot arm of a vertically articulated robot.

In the robot body 1, an end effector 17 is attached to the tip of the wrist portion 14 of the robot arm via a force sensor 19.

Below, these components will be explained in order.

<Work imager>
The work imager 4 is composed of, for example, a camera. A known camera can be used. The work imager 4 is installed at a location where it can image the work performed by the robot body 1.

<Work image display>
The work image display device 5 is composed of, for example, a display. A known display can be used. The work image display 5 is installed near the operating device 2 so that it can be easily viewed by the operator.

<Operation skill rank information display device>
The operating skill rank information presenting device 6 is a device that presents operating skill rank information to the operator. The operating skill rank information presenting device 6 may be any device that can present operating skill rank information to the operator. Specifically, the operating skill rank information presentation device 6 includes a speaker that presents operating skill rank information to the operator with sound, a lighting device that presents operating skill rank information to the operator with light, and an operating skill rank. Examples include a display that presents information to the operator in the form of an image, and a body stimulation device (for example, a vibrator) that presents information on the operator's skill ranking to the operator by stimulating the operator's body. When the operation skill rank information presentation device 6 is a display, the work image display device 5 may also serve as the operation skill rank information presentation device 6. In the following, a case will be exemplified in which the operating skill rank information presenting device 6 is a speaker.

<Work start detector>
In this embodiment, the robot body 1 repeatedly performs a predetermined task. The work start detector 47 is a device that detects the start of this predetermined work. Therefore, the work start detector 47 is configured as appropriate depending on the content of the predetermined work. In this embodiment, a case is exemplified in which the predetermined work is fitting two members together, as will be described later. In this case, the work start detector 47 includes, for example, a proximity sensor, a contact sensor, etc. that detects the end effector 17 of the robot body 1 located at a predetermined work start position. Note that depending on the content of the predetermined work, the robot control unit 41 (see FIG. 3), which will be described later, may be able to detect the start of the predetermined work from the position, posture, motion, etc. of the end effector 17 of the robot body 1. In such a case, the robot control unit 41 is used as the work start detector 47.

<Work completion detector>
The work completion detector 48 is configured as appropriate depending on the content of the predetermined work. As will be described later, when the predetermined work is to fit two members together, the work completion detector 48 is, for example, a proximity sensor, a contact sensor, etc. that detects the end effector 17 of the robot body 1 located at a predetermined work completion position. Consists of. Note that depending on the content of the predetermined work, the robot control unit 41 (see FIG. 3), which will be described later, may be able to detect the end of the predetermined work from the position, posture, motion, etc. of the end effector 17 of the robot body 1. In such a case, the robot control unit 41 is used as the work completion detector 48.

<Controller 3>
The controller 3 includes, for example, a processor and a memory. The controller 3 controls the operation of the robot body 1 by having a processor read and execute a predetermined operation program stored in a memory. Specifically, the controller 3 includes, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a logic circuit, and the like.

<Robot body 1>
The robot body 1 includes a base 15, an arm 13 supported by the base 15, and a wrist 14 supported at the tip of the arm 13 and to which an end effector 17 is attached. As shown in FIG. 1, the robot main body 1 is a multi-joint robot arm having three or more joints JT1 to JT6, and is constructed by sequentially connecting a plurality of links 11a to 11f. More specifically, in the first joint JT1, the base 15 and the base end portion of the first link 11a are connected to be rotatable about an axis extending in the vertical direction. In the second joint JT2, the distal end of the first link 11a and the proximal end of the second link 11b are connected to be rotatable about an axis extending in the horizontal direction. In the third joint JT3, the distal end of the second link 11b and the base end of the third link 11c are connected to be rotatable about an axis extending in the horizontal direction. In the fourth joint JT4, the distal end of the third link 11c and the proximal end of the fourth link 11d are connected to be rotatable about an axis extending in the longitudinal direction of the fourth link 11c. In the fifth joint JT5, the distal end of the fourth link 11d and the proximal end of the fifth link 11e are connected to be rotatable about an axis perpendicular to the longitudinal direction of the link 11d. In the sixth joint JT6, the distal end of the fifth link 11e and the proximal end of the sixth link 11f are torsionally and rotatably connected. A mechanical interface is provided at the tip of the sixth link 11f. An end effector 17 as a tool corresponding to the work content of the robot body 1 is removably attached to this mechanical interface via a force sensor 19. The force sensor 19 is composed of, for example, a three-axis acceleration sensor. The force sensor 19 detects the force that the end effector 17 causes to act on the work object (reaction force from the work object).

The arm portion 13 of the robot main body 1 is connected to the link and joint body consisting of the first joint JT1, the first link 11a, the second joint JT2, the second link 11b, the third joint JT3, and the third link 11c. It is formed. Furthermore, the wrist portion of the robot main body 1 is connected to the wrist portion of the robot main body 1 by a link and joint body consisting of the fourth joint JT4, the fourth link 11d, the fifth joint JT5, the fifth link 11e, the sixth joint JT6, and the fourth link 11f. 14 is formed.

Each of the joints JT1 to JT6 is provided with a drive motor (not shown) as an example of an actuator that relatively rotates the two members connected by the joint. The drive motor is, for example, a servo motor whose rotation angle is controlled by an operation command (current command) sent from the robot control unit 41 (see FIG. 3) of the controller 3. Further, the joints JT1 to JT6 are provided with a rotation angle sensor (not shown) for detecting the rotation angle of the drive motor and a current sensor (not shown) for detecting the current of the drive motor. There is. The rotation angle sensor is composed of, for example, an encoder.

The robot control unit 41 of the controller 3 integrates the rotation angles of the drive motors of all the joints and converts them into position data of the end effector 17. The detection signal of the current sensor is used by the robot control unit 41 to feedback control the current of the servo motor of each joint so that it has a value according to the current command.

<Operator 2>
The operating device 2 may be any device as long as the robot body 1 can be operated by its operation. For example, the operating device 2 may be configured as a master robot similar to the robot body 1, and the robot body 1 may be controlled as a slave robot. Moreover, the controller 2 may be a joystick. Further, the operating device 2 may be a dedicated operating device customized for a specific use. Here, the controller 2 shown in FIG. 2 is used.

FIG. 2 is a perspective view showing an example of the configuration of the operating device 2 in FIG. 1. Referring to FIG. 2, the operating device 2 includes a grip portion 21 that is gripped by an operator, an arm portion 22 that movably supports the grip portion 21, and a motor 24. The motor 24 is composed of a servo motor.

The grip part 21 is formed so that the operator can grasp and hold the grip part 21 so that the operator can easily grip it. While the operator grips and grips the grip part 21, the operator moves the robot body 1 by moving the grip part 21, and operates the robot body 1.

The grip part 21 is supported by a support part 23. Moreover, the grip part 21 is connected to the support part 23 via a cylindrical connecting part 23c. The support part 23 is movably supported by the arm part 22. Arm portion 22 is connected to motor 24 .

The arm portions 22 each have a joint 22a, and are formed to be able to bend around the joint 22a. Therefore, in the arm portion 22, the grip side arm portion 22b and the motor side arm portion 22c are bendably connected by the joint 22a.

The motor 24 is supported by a support stand 30. Six motors 24 are provided. One side of the six motors 24 is formed by a pair of motors 24, and the six motors 24 are arranged in a triangular shape on the support base 30. More specifically, the six motors 24 are arranged so that the rotation axes (center axes) of the main shafts of the pair of motors 24 constitute one side of an equilateral triangle. A pair of arm portions 22 are provided corresponding to a pair of motors 24 forming one side. One side 23 a of the three sides defining the outer shape of the support section 23 is sandwiched between the pair of arm sections 22 . A shaft 23b is disposed on the side 23a of the support portion 23, passing through the inside of the support portion 23. Both ends of the shaft 23b are held rotatably about three axes orthogonal to each other, including the central axis of the shaft 23b, by two gripping arm portions 22b that sandwich the side 23a. Thereby, the support part 23 is rotatably supported around three mutually orthogonal axes including the central axis of the shaft 23b. In this way, the support part 23 is rotatably supported by the two grip part side arm parts 22b around three mutually orthogonal axes including the central axis of the shaft 23b. The structure of the side 23a and shaft 23b in the support part 23 is the same for the three sides of the support part 23. Here, the central axes of the three axes 23b form an equilateral triangle.

Further, the above-mentioned joint 22a connects the grip side arm part 22b to the motor side arm part 22c so as to be rotatable around three mutually orthogonal axes including an axis parallel to the central axes of the output shafts of the pair of motors 24. are doing. Therefore, the rotation angles of the six motors 24 are uniquely determined depending on the position and orientation of the support section 23. The rotation angles of these six motors 24 are output to the controller 3 as operation commands (position commands).

Further, the grip portion 21 of the operating device 2 is provided with push buttons 21a and 21b. These are used, for example, to operate the end effector 17. An operation command for operating the end effector 17 is output to the controller 3 in response to the operation of the push buttons 21a and 21b.

{Control system configuration}
FIG. 3 is a functional block diagram illustrating a schematic configuration of a control system of the robot system of FIG. 1. FIG. 6A is a diagram showing a comparison table of work time and work time shortness ranks stored in the storage unit of FIG. 3. FIG. 6B is a diagram showing a comparison table of working force and working force small rank stored in the storage unit of FIG. 3.

Referring to FIG. 3, the controller 3 includes a robot control section 41, an operating device control section 42, a display control section 43, an operation skill rank information acquisition section 44, and a storage section 45. These are functional blocks realized by a processor forming the controller 3 executing a predetermined operation program stored in a memory forming the controller 3.

<Display control>
First, the control system of the work imager 4 and the work image display 5 will be explained. The controller 3 includes a display control section 43. The work imager 4 images the scenery of the movement range of the robot body 1 and sends the image signal to the display control section 43. The view of the operating range of the robot body 1 includes the state of work performed by the robot body 1. The display control unit 43 converts the received imaging signal into an image display signal and sends it to the work image display 5. The working image display 5 displays an image according to the received image display signal. As a result, the image captured by the work imager 4 is displayed on the work image display 5. Further, the display control unit 43 is sent work start information and work end information from the operation skill rank information acquisition unit 44, and the display control unit 43 converts this information into an image display signal and displays a work image. It is displayed on the display 5. The operator operates the operating device 2 to operate the robot body 1 while viewing the image displayed on the work image display 5.

<Operation control of robot body 1>
Next, the control system of the operating device 2 and the robot body 1 will be explained.

In this embodiment, bilateral control is performed using the operating device 2. In the operating device 2, the rotation angles of the six motors 24 are controlled (position controlled) by the operating device control section 42 of the controller 3 when necessary for bilateral control. Each of the six motors 24 is provided with a rotation angle sensor (not shown). The rotation angle sensor is composed of, for example, an encoder. The detection signal of the rotation angle sensor is sent to the robot control section 41 of the controller 3. The detection signal of this rotation angle sensor constitutes the position command of the operation command. On the other hand, the manipulator control unit 42 of the controller 3 controls the output torque of each motor based on force data input from the force sensor 19 of the robot body 1. This output torque is controlled so that a reaction force corresponding to the force data is generated in response to the operation of the gripping section 21 by the operator. In addition, in bilateral control, when a force command from the operating device 2 is required, a force sensor (for example, a 3-axis acceleration sensor) is provided between the grip part 21 and the support part 23, and this force sensor A force command is generated based on the output of. Depending on the type of bilateral control, there are cases where only the position command constitutes the operation command, and cases where the position command and the force command constitute the operation command. In the following, a case where the operation command is composed of a position command will be exemplified.

When operating the arm section 13 and wrist section 14 of the robot body 1 with the operating device 2, the operator grasps the grip section 21. When the operator moves the grip part 21 according to the direction in which the robot body 1 is to be moved while gripping the grip part 21, the support part 23 that supports the grip part 21 moves as the grip part 21 moves. Moving. Furthermore, as the support section 23 moves, the six arm sections 22 connected to the support section 23 move.

When the six arm sections 22 move, the output shafts of the six motors 24 rotate accordingly, and the six rotation angle sensors detect this rotation angle. This detection signal is output as a position command constituting an operation command as described above, and the robot control unit 41 of the controller 3 generates an operation command based on this operation command (position command) and sends it to the robot body 1. send to Then, the robot body 1 operates so that the end effector 17 assumes a position and attitude that reflect the position and attitude of the support section 23. Thereby, the operator can operate the grip part 21 of the operating device 2 to operate the robot body 1 as intended.

Meanwhile, during this time, the operating device control section 42 controls each drive motor so that a reaction force corresponding to the force data sent from the force sensor 19 of the robot body 1 is generated in response to the operation of the gripping section 21 by the operator. , the operator feels a reaction force against the movement of the grip section 21. Thereby, the operator can manipulate the position and posture of the end effector 17 while feeling the reaction force from the workpiece acting on the end effector 17 of the robot body 1.

Further, when the operator operates the push buttons 21a and 21b of the grip section 21 of the operating device 2, operation commands corresponding to these operations are transmitted from the operating device 2 to the robot control section 41, and the robot control section 41 An operation command corresponding to this operation command is transmitted to the robot body 1, and the end effector 17 is operated according to this operation command.

<Operation proficiency rank information presentation control>
Next, the operation skill rank information presentation control will be explained. "Operation skill rank information" is information that ranks the skill of operating the robot body 1 by the operator. In the "operation skill rank information", the values of parameters that correlate with the skill of operation are classified into a plurality of stages, and a rank is assigned to each classification. The range of parameters corresponding to each stage is set as appropriate depending on the work. The rank name may be any name that represents the ranking. Examples of rank names include alphabets (A, B, C, . . . ), numbers (1, 2, 3, . . . ), symbols (◯, △, ×), and the like. The alphabet is used here as the name of the rank.
"Operation skill rank information" includes at least "shortness of work time rank", "lowness of work force rank", "product quality rank", and "work quality rank". In this embodiment, a case is exemplified in which a "rank of short work time" and a "rank of low work force" are presented to the operator. A case in which "product quality rank" and "work quality rank" are presented to the operator will be exemplified in Embodiment 2, which will be described later.

The controller 3 includes an operation skill rank information acquisition section 44 and a storage section 45.

Referring to FIGS. 6A and 6B, the storage unit 45 stores a comparison table between working time and shortness of working time rank, and a comparison table between working force and shortness of working force rank. In the comparison table of work time and work time shortness rank, for example, work time is classified into five stages: "short", "slightly short", "normal", "slightly long", and "long". . The working time range corresponding to each stage is set as appropriate depending on the work. Note that each stage may be expressed by a range of work time instead of the above name (label).

These five stages are assigned ranks A to E in terms of shortness of work time in descending order of work time.

In addition, in the comparison table of working force and small working force rank, for example, working force is classified into five stages: "small", "slightly small", "normal", "slightly large", and "large". be done. The range of work force corresponding to each stage is set as appropriate depending on the work. Note that each stage may be expressed by a range of working power instead of the above name (label).

Working force ranks A to E are assigned to these five stages in descending order of working force.

When the work start detector 47 detects the start of a predetermined work, it sends work start information to the operation skill rank information acquisition unit 44 . Furthermore, when the work completion detector 48 detects the completion of a predetermined work, it sends work completion information to the operation skill rank information acquisition unit 44 .

The operation skill rank information acquisition unit 44 calculates the work time, which is the time required for the predetermined work performed, based on the work start information and the work end information. This work time is then classified into one of the five stages (from "short" to "long") described above. Then, referring to the comparison table of work time and work time shortness ranks stored in the storage unit 45, a corresponding work time shortness rank (any one of A to E) is assigned to the classified stage. do.

On the other hand, the force sensor 19 sends data on the force required for the work to the operation skill rank information acquisition section 44 in real time.

The operation skill rank information acquisition unit 44 updates and stores the maximum value of the force data received from the force sensor 19 one by one, and when the work is completed, the maximum value of the force data is stored as the "task" of the work. 'power'.

This work force is then classified into one of the five stages (from "small" to "large") described above. Then, by referring to the comparison table of working force and small working force rank stored in the storage unit 45, the corresponding small working force rank (any of A to E) is determined for the classified stage. Give.

The operation skill rank information acquisition unit 44 presents the operational skill rank information based on the shortness of work time (any one of A to E) and the small work force rank (any of A to E) obtained in this way. Send to vessel 6.

The operating skill rank information presentation device 6 is a speaker here, and notifies (presents) the received shortness of work time rank and low work force rank to the operator by voice. For example, the operation skill rank information presenter 6 notifies the operator of "shortness of work time rank A, work power rank A".

[motion]
Next, an example of the operation of the robot system 300A configured as described above will be explained using FIGS. 4 and 5. FIG. 4 is a schematic diagram schematically showing an example of work performed by the robot body of the robot system of FIG. 1. FIG. 5 is a plan view schematically showing an example of a work environment in which the robot body of the robot system shown in FIG. 1 performs work.

<Work object and work content>
Here, a predetermined task is repeatedly performed. When a predetermined task is repeated in this way, it is possible to accurately grasp the skill of the operator in operating the robot body 1.

The objects to be worked on are, for example, two articles that are fitted together. FIGS. 4(a) to 4(d) show how the robot main body 1 feels the first article 81 and inserts it into the second article 82.

Here, a first article 81 has a short cylindrical head portion 81a with a large diameter and a long cylindrical body portion 81b with a small diameter, and a first article 81 has a cylindrical through hole 82a in the center of the short cylindrical body. The operation of the robot system 300A will be explained by taking as an example the fitting of the two articles 82. In this case, the body portion 81b of the first article 81 is inserted into the through hole 82a of the second article 82. However, the gap between the two is small, and it requires skill for the operator to operate the robot body 1 using the operating device 2 and fit the two smoothly. In such a fitting operation, it can be said that the shorter the operation time and the smaller the force acting on the two objects to be worked on during the operation, the better the operator can operate the robot body 1.

<Work environment>
The end effector 17 of the robot body 1 includes a chuck (not shown) that can grip and release the head 81a of the first article 81. The work start detector 47 and the work end detector 48 are constructed of proximity sensors here.

Referring to FIG. 5, for example, a first location 91 and a second location 92 are set apart from each other by a predetermined distance in a predetermined work area. A first article 81 is placed at a first location 91, and a second article 82 is placed at a second location 92. A work start detector 47 is provided near the first location 91, and a work end detector 48 is provided near the second location 92. When the end effector 17 of the robot body 1 is located directly above the work start detector 47, the work start detector 47 detects the start of work, and the first article supply mechanism (not shown) thereby The first article 81 is newly placed at the location. Furthermore, when the end effector 17 of the robot main body 1 is located directly above the work completion detector 48, the work completion detector 48 detects the end of the work, and the second article supply/unloading mechanism (not shown) then The second article 82 fitted with the first article 81 is carried out from the second location 92, and a new, independent second article 82 is placed at the second location 92. The first article supply mechanism and the second article supply and discharge mechanism are configured by, for example, an industrial robot, a belt conveyor, or the like.

<Mating work>
Referring to FIGS. 1, 3, and 4, the operator operates the operating device 2 while looking at the work image display 5 to operate the robot body 1 as follows. In the following, in order to simplify the explanation, descriptions of how the operator operates the operating device 2 while looking at the work image display 5 and how the robot body 1 operates thereby will be omitted.

First, the operator grips the first article 81 placed at the first location 91 by the end effector 17 .

Next, the operator positions the end effector 17 directly above the work start detector 47. Then, the work start detector 47 detects the start of work and sends work start information to the operation skill rank information acquisition section 44.

The operation skill rank information acquisition unit 44 sends the received work start information to the display control unit 43 and starts measuring the work time. Note that in this case, the time required to grasp the first article 81 and transport it to the top of the work start detector 47 is not included in the working time, but the working time is only used to improve the skill of operating the robot body 1. Since this is an index for motivating the operator to do the work, it is sufficient that the measuring method is specified, and the measured work time does not need to accurately reflect the actual work time.

When the display control unit 43 receives the work start information, it displays a message to the effect that the work has started on the work image display 5 superimposed on the work image. Thereby, the operator confirms that the robot 10 has recognized the start of the work and that measurement of the work time has started.

On the other hand, when the work start detector 47 detects the start of work, the first article supply mechanism newly places the first article 81 at the first location.

Next, the operator positions the first article 81 held by the end effector 17 above the second article 82, as shown in FIG. 4(a). In this case, it is assumed that the position of the first article 81 is not exactly located directly above the second article 82, but is shifted in the horizontal direction (in FIG. 4(a), it is shifted slightly to the right in the drawing).

Next, the operator lowers the first article 81 held by the end effector 17. Then, as shown in FIG. 4(b), the body 81b of the first article 81 comes into contact with the edge of the through hole 82a of the second article 82. The operator not only visually senses this contact via the work image display 5, but also senses it by the reaction force from the operating device 2.

Then, as shown in FIGS. 4(c) to 4(d), the operator moves the body 81b of the first article 81 held by the end effector 17 so as to feel around the edge of the through hole 82a of the second article 82. By moving, the body 81b of the first article 81 is finally inserted into the through hole 82a of the second article 82. In this insertion operation, the body 81b of the first article 81 is moved while being lightly pressed against the second article 82 to find the position of the through hole 82a of the second article 82, and the position of the body 81b of the first article 81 is detected. When the body 81b of the first article 81 begins to be inserted into the through hole 82a of the second article 82 due to the pressing force, the operator presses the operating Due to the reaction force from 2, it is possible to feel that the body 81b of the first article 81 starts to be inserted into the through hole 82a of the second article 82 due to this pressing force, so this insertion operation can be suitably performed. can. On the other hand, the force sensor 19 detects the pressing force of the first article 81 against the second article 82 by the end effector 17 during this insertion operation, and sends the data of this pressing force to the operation skill rank information acquisition section 44. Send in real time.

Next, the operator releases the first article 81 held by the end effector 17 and positions the end effector 17 above the work completion detector 48 . Then, the work completion detector 48 detects the completion of the work and sends the work completion information to the operation skill rank information acquisition section 44.

The operation skill rank information acquisition unit 44 sends the received work completion information to the display control unit 43, finishes measuring the work time, and calculates the current work time. This work time is then classified into one of the five stages (from "short" to "long") described above. Here, it is assumed that this working time is at a stage corresponding to, for example, "short". Then, the operation skill rank information acquisition unit 44 refers to the comparison table of work time and work time shortness ranks stored in the storage unit 45, and for this "short" stage, the corresponding work time shortness rank is determined. Assign rank A.

On the other hand, the operation skill rank information acquisition unit 44 updates and stores the maximum value of the force data received from the force sensor 19 one after another, and when the work is completed, the maximum value of the force data for the work concerned is stored. It is referred to as "work power." This work force is then classified into one of the five stages (from "small" to "large") described above. Here, it is assumed that this work force is at a stage corresponding to, for example, "small". Then, the operation skill rank information acquisition unit 44 refers to the comparison table of the work force and low work force ranks stored in the storage unit 45, and assigns the corresponding low work force to this "small" stage. Assign Sasa rank A.

The operational skill rank information acquisition unit 44 presents the operational skill rank information using the voice information including the "short work time rank A" and "low work force rank A" obtained in this way as the operational skill rank information. Send to vessel 6.

When the display control unit 43 receives the work completion information, it displays a message to the effect that the work has been completed on the work image display 5 superimposed on the work image. Thereby, the operator confirms that the robot 10 has recognized the end of the work.

Further, the operational skill rank information presenter 6 notifies the user of information including "rank A for short work time and rank A for low work force" by voice.

On the other hand, when the work end detector 48 detects the end of the work, the second article supplying and carrying out mechanism carries out the second article 82 fitted with the first article 81 from the second place 92, and a new independent second article 82 is carried out from the second place 92. Article 82 is placed at second location 92 .

From then on, this operation is repeated.

<Effect>
When the operator listens to the audio information notified by the operation skill rank information presentation device 6, the operator is motivated to operate the robot body 1 more skillfully in the task. Specifically, when an operator performs a task by operating the robot body 1, he or she determines in advance how to use the robot body 1 for the task, based on his or her current skill in operating the robot body 1. Assuming that you can operate it fairly well. Further, in general, the operator has a desire to improve the skill with which the robot body 1 is operated. Therefore, if the presented operating skill rank exceeds the level expected by the user, he or she will feel confident in the operating method of the robot body 1 for that task, and will adopt that operating method the next time as well. Also, getting good results will motivate you.

On the other hand, if the presented operational proficiency rank is lower than the level expected by the operator, the operator should investigate the cause and eliminate the cause to improve the operational proficiency of the robot body 1. I will try hard. In this way, the operator can improve his skill in operating the robot body 1 during the actual work through the actual work.

(Embodiment 2)
Embodiment 2 of the present invention is implemented in that the operational skill rank information is "product quality rank" and "work quality rank" instead of "shortness of work time rank" and "rank of small work force". This embodiment is different from the first embodiment, and the other points are the same as the first embodiment. This difference will be explained below.

FIG. 7 is a functional block diagram showing an example of the configuration of a control system of a robot system according to Embodiment 2 of the present invention.

Referring to FIG. 7, the robot system 300B of the second embodiment includes a product quality acquisition device 49 in place of the work start detector 47 and the work end detector 48 of the first embodiment. Furthermore, in this embodiment, the operation skill rank information acquisition unit 44 generates a "work quality rank" as described later. Further, the operating skill rank information presentation device 6 is configured with a speaker, a display, or a body stimulation device depending on the type of operating skill rank information.

[Configuration regarding product quality rank]
The product quality acquisition device 49 acquires the quality of the product manufactured by the work performed by the robot body 1. Examples of product quality include product painting quality, product welding quality, and product processing quality. Hereinafter, the configuration regarding the product quality rank will be explained using these cases as examples.

<Painting quality>
The coating quality includes, for example, the coating state of a product when the robot main body 1 is coated with a complicated pattern. In this case, a coating gun is attached to the tip of the robot body 1 as the end effector 17. Note that in this case, reflection of the force data on the operating device 2 is omitted. An operator operates the robot body 1 using the operating device 2 to paint a predetermined product with a complicated pattern that is difficult to paint automatically. In this case, for example, the product quality acquisition device 49 includes an imager (not shown) that images the coating condition of a predetermined product, and performs image processing on the image captured by this imager to determine the coating condition of the product. and an image processor (not shown) for evaluation. For example, the image processor compares the captured image with a reference image of the painted state, calculates the degree of agreement between the two, and uses this degree of agreement as product quality (painting quality) to obtain operational skill rank information. 44. The image processor is composed of, for example, a microcontroller.

FIG. 8A is a diagram showing a comparison table between product quality and product quality rank stored in the storage unit 45 of FIG. 7.

Referring to FIG. 8A, in this comparison table, for example, product quality is classified into five stages: "good", "slightly good", "fair", "slightly poor", and "poor". The range of the degree of coincidence corresponding to each stage is set as appropriate depending on the painting work. Note that each stage may be expressed not by the above name (label) but by the above matching range.

Product quality ranks A to E are assigned to these five stages in descending order of product quality.

The operation skill rank information acquisition unit 44 sends the voice information including the thus obtained product quality rank (any of A to E) to the operation skill rank information presentation device 6 as operation skill rank information.

The operating skill rank information presenter 6 is a speaker here, and notifies (presents) the received information including the product quality rank to the operator by voice. For example, the operation skill rank information presentation device 6 notifies the operator of "product quality rank A".

<Welding quality>
The welding quality includes, for example, the welding state when the robot main body 1 performs difficult welding. In this case, a welding gun is attached to the tip of the robot body 1 as the end effector 17. Note that in this case, reflection of the force data on the operating device 2 is omitted. An operator operates the robot body 1 using the operating device 2 to perform welding on a predetermined product that is difficult to weld automatically. In this case, for example, the product quality acquisition device 49 includes an imager (not shown) that images the welding condition of a predetermined product, and performs image processing on the image taken by this imager to determine the welding condition of the product. and an image processor (not shown) for evaluation. For example, the image processor compares the captured image with a reference image of a welding state, calculates the degree of agreement between the two, and uses this degree of agreement as product quality (welding quality) to obtain operational skill rank information. 44.

The configuration other than this is the same as in the case of "painting quality" described above, so the explanation thereof will be omitted.

<Processing quality>
The welding quality includes, for example, the dimensional accuracy of the product when the robot main body 1 performs processing that requires high accuracy. In this case, a processing tool (for example, a polisher) is attached to the tip of the robot body 1 as an end effector 17. An operator operates the robot body 1 using the operating device 2 to perform processing on a predetermined product that is difficult to process automatically. In this case, for example, the product quality acquisition device 49 includes a measuring device (not shown) that measures a predetermined dimension of a predetermined product, and an evaluator (not shown) that evaluates the accuracy of the dimension measured by this measuring device. ) and. The evaluator, for example, compares the measured dimensions with the reference dimensions, calculates the degree of agreement between the two, and outputs this degree of agreement to the operation skill rank information acquisition unit 44 as product quality (processing quality).

The configuration other than this is the same as in the case of "painting quality" described above, so the explanation thereof will be omitted.

[Configuration related to work quality rank]
Robot system 300B generally includes various error detection systems. The operation skill rank information acquisition unit 44 acquires the number of errors related to the work performed by the robot body 1 as work quality. Errors related to the work performed by the robot body 1 include, for example, a work force error that occurs when the work force detected by the force sensor 19 is excessive, a collision error detected by a collision sensor (not shown), and a robot error. Examples include an entry prohibition error that occurs when the robot body 1 approaches a prohibited area, and a speed error that occurs when the operating speed of the robot body 1 is excessive.

FIG. 8B is a diagram showing a comparison table of work quality and work quality rank stored in the storage unit 45 of FIG. 7.

Referring to FIG. 8B, in this comparison table, for example, the work quality is classified into five stages: "good", "slightly good", "fair", "slightly bad", and "poor". The smaller the number of errors related to the work performed by the robot body 1, the better the quality of the work is evaluated. The range of the number of errors related to the work performed by the robot body 1 corresponding to each stage is set as appropriate. Note that each stage may be expressed not by the above name (label) but by the range of the number of errors that occur.

Work quality ranks A to E are assigned to these five stages in descending order of work quality.

The operation skill rank information acquisition unit 44 sends the voice information including the work quality rank (any of A to E) obtained in this manner to the operation skill rank information presentation device 6 as operation skill rank information.

The operation skill rank information presenter 6 is a speaker here, and notifies (presents) the received information including the work quality rank to the operator by voice. For example, the operation skill rank information presenter 6 notifies the operator of "work quality rank A".

When the operator listens to the audio information notified by the operation skill rank information presentation device 6, the operator is motivated to operate the robot body 1 more skillfully in the task. As a result, the operator can improve his skill in operating the robot body 1 during the actual work through the actual work.

(Embodiment 3)
Embodiment 3 of the present invention is different from Embodiment 1 in that the robot 10 has an automatic mode and a corrected automatic mode in addition to a manual mode (a mode operated by an operator) as operation modes, and other points. This point is the same as in the first embodiment. This difference will be explained below.

FIG. 9 is a functional block diagram showing an example of the configuration of a control system of a robot system according to Embodiment 3 of the present invention. FIG. 10 is a functional block diagram showing an example of a detailed configuration of the selector and robot control section of FIG. 9. In FIG. 10, arrows indicate commands, signals, or data (including programs). What these arrows indicate is self-evident from the description of each functional block, so reference numerals are omitted.

Referring to FIG. 9, the robot system 300C of this embodiment includes a selector 7. Referring to FIG. 10, the selector 7 includes a mode selection section 7a and a program selection section 7b.

The robot control section 41 includes a modified operation program generation section 112, a program storage section 113, an automatic command section 114, a command switching section 115, and an adjustment section 116. Further, the adjustment section 116 includes a control section (not shown) and a servo amplifier (not shown).

The selector 7 is constituted by a data input device, for example, an information terminal such as a touch panel, an adjustment knob, an operation button, an operation lever, or a tablet. The mode selection unit 7a is configured so that the operator can select any one of automatic mode, corrected automatic mode, and manual mode by operating the mode selection unit 7a. The program selection unit 7b is configured to allow an operator to select a program stored in the program storage unit 113 by operating it.

The corrective operation program generation section 112, the automatic command section 114, the command switching section 115, and the control section of the adjustment section execute a predetermined operation program stored in the memory constituting the controller 3 so that the processor constituting the controller 3 This is a functional block that is realized by execution. The program storage section 113 is constituted by a memory that constitutes the controller 3.

The program storage unit 113 stores an original operation program and one or more modified operation programs obtained by modifying the original operation program.

The automatic command section 114 reads the operation program selected by the program selection section from the program storage section 113, and outputs an automatic operation command according to the read operation program.

The command switching unit 115 switches between an automatic operation command and an operation command output from the operating device 2 and outputs the operation command according to the mode selected by the mode selection unit 7a. Specifically, when the automatic mode is selected by the mode selection unit 7a, the command switching unit 115 outputs an automatic operation command as an operation command. When the automatic correction mode is selected by the mode selection unit 7a, the command switching unit 115 outputs the automatic operation command plus the operation command as the operation command. Further, this operation command is sent to the modified operation program generation section 112. When the manual mode is selected by the mode selection section 7a, the command switching section 115 outputs the operation command as an operation command.

The control unit of the adjustment unit 116 generates a control signal according to the operation command output from the command switching unit 115 and the rotation angle (not shown) fed back from the robot body 1. The servo amplifier of the adjustment unit 116 outputs a current command according to this control signal and the current value fed back from the robot body 1 to the servo motors of each joint of the robot body 1. As a result, the robot body 1 operates according to the operation command. Note that the rotation angle and current value fed back from the robot body 1 are the rotation angle and current value of a servo motor that drives each joint of the robot body 1, respectively.

The modified action program generation unit 112 modifies the action program read by the automatic command unit 114 so that the action command sent from the command switching unit 115 is reflected, generates a modified action program, and then executes the modified action program. The program is stored in the program storage unit 113.

Next, the operation of the robot system of this embodiment configured as described above will be explained by taking the fitting operation of the first embodiment as an example.

In the original operation program, after the robot main body 1 grasps the first article 81, moves the end effector 17 onto the work start detector 47, and transports the first article directly above the second article 82, The end effector 17 is lowered to fit the first article 81 to the second article 82, and then the first article 81 is released and the end effector 17 is moved onto the work completion detector 48. There is. Further, in the automatic mode, when the force detected by the force sensor 19 exceeds a predetermined threshold, the robot 10 stops and enters a signal waiting state, and in this state, when a mode selection signal is output from the mode selection section 7a, The robot 10 operates in an operation mode according to the mode selection signal.

Here, when the robot body 1 is operated according to the original operation program, the dimensions of the first article 81 and the second article 82 are approximately the center value of the tolerance, and the conveyance error of the first article 81 by the robot body 1 is Assume that the fitting of the first article 81 to the second article 82 is successful if it is very small. Further, the program storage unit 113 stores one correction operation program, and this correction operation program is configured to change the position of the first article 81 from directly above the second article 82 to the right in the drawing in FIG. Assume that it is possible to deal with cases where there is a slight deviation from .

Hereinafter, with reference to FIGS. 9 and 10, the operation of the robot body 1 will be explained in detail by case.

<For manual mode>
When the operator selects the manual mode, the command switching unit 115 outputs the operation command output from the operating device 2 as an operation command, so the robot body 1 operates according to the operation of the operating device 2. Therefore, in this case, the same results as in the first embodiment can be obtained.

<In case of automatic mode → original operation program selection>
When the operator selects the automatic mode by operating the mode selection section 7a and selects the original operation program by operating the program selection section 7b, for example, if the dimensions of the first article 81 are within the upper limit of the tolerance. If the dimensions of the second article 82 are within the lower limit of the tolerance, or if the conveyance error of the first article 81 by the robot body 1 is considerably large, if the robot body 1 lowers the first article 81 toward the second article 82. , the body portion 81b of the first article 81 contacts the edge of the through hole 82a of the second article 82. Then, the robot 10 stops and enters a signal waiting state. In this state, when the operator selects the manual mode, the robot body 1 operates according to the operation of the operating device 2. The operator operates the operating device 2 to complete the remaining fitting work by the robot body 1.

<In the case of automatic mode → corrective action program selection>
In this case, in FIG. 4A, if the position of the first article 81 is slightly shifted from directly above the second article 82 to the right in the drawing, the robot body 1 performs a groping operation according to the correction operation program, The remaining mating work will be completed automatically.

On the other hand, in FIG. 4A, if the position of the first article 81 is slightly shifted from directly above the second article 82 in a direction other than the right direction in the drawing, the robot 10 stops again and enters a signal waiting state. become. In this case, when the operator selects the manual mode, the operator operates the operating device 2 to complete the remaining fitting work by the robot body 1. On the other hand, if the automatic correction mode is selected in this case, the result will be similar to the case described below.

<In the case of automatic correction mode → original operation program selection>
In this case, as in the case of "automatic mode → original operation program selection", if the dimensions of the first article 81 are the upper limit of the tolerance and the dimensions of the second article 82 are the lower limit of the tolerance, or if the robot body 1 When the conveyance error of the first article 81 is considerably large, when the robot main body 1 lowers the first article 81 toward the second article 82, the body 81b of the first article 81 is inserted into the through hole 82a of the second article 82. Since it comes into contact with the edge, the operator then operates the operating device 2 to complete the remaining fitting work by the robot body 1. Note that, based on the operation command at this time, the modified operation program generation section generates a new modified operation program and stores it in the program storage section 113, so that the modified operation program cannot be selected thereafter. This improves the efficiency of mating work.

<In the case of automatic correction mode → correction operation program selection>
In this case, if the fitting operation is compatible with the selected correction operation program, the robot main body 1 automatically performs the fitting operation. On the other hand, if the mating work is in a manner that cannot be handled by the selected modification operation program, the operator operates the controller 2 to perform the mating work while modifying the operation of the robot body 1 according to the modification operation program. carry out. In this case as well, a new correction operation program is generated based on the operation command at this time and stored in the program storage section 113, and from then on, the efficiency of the mating work is improved by selecting the correction operation program. .

<Effects based on operational proficiency rank information>
For each of the fitting operations described above, the operating time of the robot body 1 is calculated as in the first embodiment, and based on the operating time, operational skill rank information is generated and presented to the operator.

In this case, the amount of work and working time (work speed) of the robot body 1 is influenced not only by the operator's skill in operating the robot body 1 but also by the selection of the operation mode of the robot 10, and in turn, the amount of work and work time (work speed) of the robot body 1 is affected. It depends on how well you operate. On the other hand, the operator is motivated to improve his/her skill in operating the robot body 1 based on the operating skill rank information. As a result, the operator's skill in operation, including selection of an appropriate operation mode, can be improved through actual work.

(Embodiment 4)
Embodiment 4 of the present invention differs from Embodiment 3 in that the robot 10 has only an automatic correction mode, and the robot control section 41 issues an operation command instead of the correction operation program generation section 112 and the program storage section 113. It is equipped with a learning section that performs machine learning. To explain in more detail, in the robot system 300C of the third embodiment, the selector 7 is removed, and the automatic command section 114 functions as a "basic motion command section" and stores a basic motion program. Automatic operation command is output according to the following. The command switching section 115 functions as a "motion command section" and outputs the sum of the automatic motion command, the automatic motion correction command outputted by the learning section, and the operation command outputted from the operating device 2 as a motion command. During learning, the learning unit associates the sum of the automatic motion correction command and the operation command with the position data (rotation angle) and force data (detection value of the force sensor 19) of the end effector 17 of the robot body 1. , machine learning. In addition, during operation, when the learning unit receives the current position data and force data of the end effector 17 of the robot body 1, it outputs an automatic movement correction command corresponding to this input based on the machine learning up to that point. do. Through this machine learning, the skill of the operator to operate the robot body 1 and perform a predetermined task is transferred to the robot system through actual tasks.

In this actual work, the operator is motivated to improve the skill in operating the robot main body based on the operating skill rank information. As a result, the operator's skills to better operate the robot body are transferred to the robot system through actual work.

(Embodiment 5)
Embodiment 5 of the present invention is configured by omitting the work imager 4 and the work image display 5 in any of Embodiments 1 to 4. The robot system of this embodiment is applied to a work environment where an operator can operate the robot body 1 while visually checking the work performed by the robot body 1 near the robot body 1. An example of such a work environment is a work environment where humans and robots work together.

(Other embodiments)
In Embodiments 1 and 2, fitting of two articles was illustrated as a predetermined task, but better results can be obtained if the predetermined task is performed by a human operating a robot rather than automatically by a robot. Any work that can be done is fine. For example, the predetermined work includes welding work that is difficult to automate, painting work that is difficult to automate, and the like.

Further, in the first embodiment, the operational skill rank information acquisition unit 44 generates only one of the “work shortness rank” and the “work force small rank” and sends this to the operational skill rank information presentation device 6. You can.

Further, in the second embodiment, the operation skill rank information acquisition unit 44 may generate only one of the "product quality rank" and the "work quality rank" and send this to the operation skill rank information presentation device 6. .

Furthermore, in any of the first to fifth embodiments, reflection of the force data on the operating device 2 may be omitted.

Further, in the second embodiment or the fifth embodiment, as in the third embodiment, the selector 7 may be provided and the robot control section 41 may be configured as shown in FIG. 10.

Furthermore, in the second or fifth embodiment, the robot control section 41 may be configured in the same manner as in the fourth embodiment.

From the above description, many improvements and other embodiments will be apparent to those skilled in the art. Accordingly, the above description should be construed as illustrative only.

The robot system of the present invention is useful as a robot system that can improve the skill of operating the robot body through actual work.

1 Robot body 2 Operator 3 Controller 4 Work imager 5 Work image display 6 Operator skill rank information presenter 7 Selector 7a Mode selection unit 7b Program selection unit 10 Robot 17 End effector 19 Force sensor 41 Robot control unit 42 Operator control section 43 Display control section 44 Operator skill rank information acquisition section 45 Storage section 47 Work start detector 48 Work end detector 49 Product quality acquisition device 81 First article 82 Second article 112 Modification operation program generation section 113 Program Storage section 114 Automatic command section 115 Command switching section 116 Adjustment section 300A to 300C Robot system

Claims (5)

The robot body that performs the work,
a work imager that images the work performed by the robot main body;
a robot control unit that controls the operation of the robot body according to an operation command;
an operator disposed at a position remote from the robot main body, and transmits the operation command to the robot control unit in response to an operation by an operator;
a work image display that is disposed near the operating device and displays a work image that is an image of the work performed by the robot body captured by the work imager;
an operating skill rank information acquisition unit that obtains operating skill rank information that is information ranking the skill of operating the robot main body by the operator during work with the robot main body;
an operating skill rank information presenting device disposed near the operating device and presenting the operating skill rank information acquired by the operating skill rank information acquisition unit to the operator;
The robot control section includes a basic motion command section that outputs an automatic motion command according to a basic motion program, a learning section that outputs an automatic motion modification command based on machine learning, and a basic motion command section that outputs an automatic motion modification command based on machine learning. an operation command section that adds the operation command and outputs the operation command;
The learning unit performs machine learning on the sum of the automatic operation command and the operation command in association with position data of an end effector of the robot body and data of a force applied to the end effector,
The operation skill rank information is a shortness of work time rank, which is a rank of the shortness of time required for the work performed by the robot main body, and a rank of the small force required for the work performed by the robot main body. A small work force rank, a product quality rank that is a rank of the quality of the product manufactured by the work performed by the robot body, and a work quality rank that is a rank of the quality of the work performed by the robot body. A robotic system comprising at least one of: The work time shortness rank is determined by the operation skill rank information acquisition unit based on work start information detected by a work start detector and work end information detected by a work end detector,
The working force rank is determined by the operating skill rank information acquisition unit based on the maximum value of force data detected by the force sensor of the robot main body,
The product quality rank is determined by the operation skill rank information acquisition unit based on the detection result of the product quality acquisition device for the product,
The robot system according to claim 1, wherein the work quality rank is determined by the operation skill rank information acquisition unit based on the number of errors related to the work performed by the robot main body. The robot body that performs the work,
a robot control unit that controls the operation of the robot body according to an operation command;
an operator that sends the operation command to the robot control unit in response to an operation by an operator;
an operating skill rank information acquisition unit that obtains operating skill rank information that is information ranking the skill of operating the robot main body by the operator during work with the robot main body;
an operation skill rank information presenter that presents the operation skill rank information acquired by the operation skill rank information acquisition unit to the operator;
The robot control section includes a basic motion command section that outputs an automatic motion command according to a basic motion program, a learning section that outputs an automatic motion modification command based on machine learning, and a basic motion command section that outputs an automatic motion modification command based on machine learning. an operation command section that adds the operation command and outputs the operation command;
The learning unit performs machine learning by making the sum of the automatic operation command and the operation command correspond to position data of an end effector of the robot body and data of a force applied to the end effector. The robot system according to any one of claims 1 to 3 , wherein the work performed by the robot body is a predetermined work that is repeatedly performed. A robot including the robot main body and the robot control section,
a manual mode in which the robot control unit controls the operation of the robot body according to the operation command;
an automatic mode in which the robot control unit controls the operation of the robot body according to a predetermined operation program;
a modified automatic mode in which the robot control unit controls the operation of the robot body according to the operation command and the predetermined operation program;
has, and
The robot control unit corrects the predetermined operation program in the correction automatic mode so that the operation command is reflected, and in the subsequent correction automatic mode, the robot control unit corrects the predetermined operation program in the correction automatic mode. 5. The robot system according to claim 1, wherein the robot system is used in place of a predetermined operation program.

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