JP7418119B2 - Robot system control method, robot system, article manufacturing method using robot system, control program, and recording medium - Google Patents

Description

The present invention relates to a robot system.

In recent years, robot devices have been used in factories to improve work efficiency. In particular, demand is increasing for collaborative robots that can perform tasks in collaboration with workers by ensuring safety around the robot device. Such collaborative robots perform tasks in which the robot device and a worker interact, such as transferring objects such as workpieces for manufacturing articles between the robot device and the worker. When performing the above-mentioned work, in Patent Document 1 listed below, a robot device places a workpiece once on a transfer section provided with a sensor, and an operator receives the workpiece from the transfer section. Furthermore, when a worker takes out a workpiece from the transfer section, a sensor in the transfer section detects the worker and limits the operation of the robot device.

Japanese Patent Application Publication No. 2014-180725

However, in the method described in Patent Document 1, the workpiece is once placed on the delivery section by the robot device and then received by the worker, so there is a problem that work efficiency is reduced.

Further, since the workpiece can only be received at the delivery section, the amount of movement of the worker during work increases, further reducing work efficiency.

In view of the above problems, an object of the present invention is to provide a method for controlling a robot system that improves work efficiency.

In order to solve the above problems, the present invention provides a method for controlling a robot system including a robot, a sensor for detecting a worker, and a control device for controlling the robot, wherein the control device includes: When the sensor detects the worker in the first area closer to the robot than the second area , the robot is controlled to move a predetermined part of the robot closer to the worker, and the sensor detects the worker in the second area. The present invention employs a control method characterized in that when a person is detected, the robot continues the work it is currently performing.

According to the present invention, work efficiency can be improved.

FIG. 1 is a schematic diagram of a robot system 100 in an embodiment. It is a control block diagram of robot system 100 in an embodiment. It is a flowchart in an embodiment. 4 is a state diagram in FIG. 3. FIG. 4 is a state diagram in FIG. 3. FIG. It is a state diagram in the modification of embodiment. FIG. 1 is a schematic diagram of a robot system 100 in an embodiment. It is a flowchart in an embodiment. 8 is a state diagram in FIG. 7. FIG. FIG. 1 is a schematic diagram of a robot system 100 in an embodiment. It is a flowchart in an embodiment. 11 is a state diagram in FIG. 10. FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Note that the configuration shown below is just an example, and for example, the detailed configuration can be changed as appropriate by those skilled in the art without departing from the spirit of the present invention. Moreover, the numerical values taken up in this embodiment are reference numerical values, and do not limit the present invention.

(First Embodiment FIG. 1 is a schematic diagram showing a robot system 100 in this embodiment. FIG. 1(a) is a plan view of the XZ plane of the XYZ coordinate system. FIG. 1(b) is a plan view of the XZ plane of the XYZ coordinate system. This is a plan view of the YZ plane of the coordinate system. In the following drawings, arrows X, Y, and Z in the drawings indicate the coordinate system of the entire robot system 100. Generally, in a robot system using a robot device, the XYZ three-dimensional For the coordinate system, in addition to the global coordinate system of the entire installation environment, a local coordinate system may be used for the robot hand, fingers, etc. depending on control reasons.In this embodiment, the coordinate system of the entire robot system 100 is used. XYZ, the local coordinate system is expressed as xyz.

As shown in FIG. 1, the robot system 100 includes a multi-joint robot arm body 200, a robot hand body 300, and a control device 400 that controls the operation of the entire robot device. Further, an external input device 500 is provided as a teaching device that transmits teaching data to the control device 400. A teaching pendant is an example of the external input device 500, and is used by the operator 600 to specify the position of the robot arm body 200 or the robot hand body 300.

In this embodiment, a case will be described in which the end effector provided at the tip of the robot arm body 200 is the robot hand body 300, but the present invention is not limited to this and may be a tool or the like.

A link 201 of the robot arm body 200 is provided on a base 210. Further, the robot arm main body 200 has a plurality of joints, for example, three joints (three axes). The robot arm main body 200 has a plurality of (three) motors 211 to 213 that drive each joint J1 to J3 to rotate around each rotation axis.

Furthermore, an arm motor driver 240 for controlling the motors 211 to 213 is provided inside the base 210. In this embodiment, the arm motor driver 240 is provided on the base 210. However, the arm motor driver 240 may be provided on each of the motors 211 to 213 or the control device 400.

In the robot arm body 200, a plurality of links 201, 202 and a robot hand body 300 are rotatably connected at each joint J1 to J3. Links 201 and 202 are sequentially connected in series from a base 210 at the proximal end of the robot arm body 200 toward the robot hand body 300 at the distal end.

As shown in the figure, the base 210 of the robot arm body 200 and the link 201 are connected by a joint J1 that rotates in the direction of the arrow around the X-axis. The rotation of the motor 211 is transmitted to the link 201 by a transmission mechanism (not shown), and the link 201 can rotate around the X-axis in the direction of the arrow in the figure.

Links 201 and 202 of the robot arm body 200 are connected at a joint J2 that rotates in the direction of the arrow around the Y-axis. The rotation of the motor 212 is transmitted to the link 202 by a transmission mechanism (not shown), and the link 202 can rotate around the Y-axis in the direction of the arrow in the figure.

The link 202 of the robot arm body 200 and the robot hand body 300 are connected at a joint J3 that rotates in the direction of the arrow around a predetermined axis on the XZ plane. The rotation of the motor 213 is transmitted to the robot hand body 300 by a transmission mechanism (not shown), and the robot hand body 300 can rotate around an axis in the direction of the arrow in the figure.

The robot hand main body 300 grips objects such as parts and tools. The robot hand main body 300 of this embodiment opens and closes the finger portions by a drive mechanism (not shown) to grasp or release a workpiece W placed on a workbench 700. It is sufficient if the workpiece W can be gripped without being displaced relative to the robot arm body 200.

As described above, the robot arm main body 200 can take any three-dimensional position and posture in any three directions within the movable range, and direct the end effector (robot hand main body 300) of the robot arm main body 200 in a predetermined direction. Can be done. The robot hand body 300 can be moved to any position by the robot arm body 200 to perform a desired work. The desired work is, for example, work such as grasping the workpiece W, assembling it to a predetermined workpiece, manufacturing an article, and handing the workpiece W to the worker 600.

In other words, the robot hand body 300, which is an end effector, is referred to as a hand, regardless of whether the robot hand body 300 is grasping an object or not grasping an object.

Note that the robot hand main body 300 may be, for example, an end effector such as a pneumatically driven air hand. Further, the robot hand main body 300 can be attached to the link 202 by semi-fixed means such as screw fixing, or by attachment/detachment means such as latch fixing. In particular, when the robot hand body 300 is removable, the robot arm body 200 is controlled to attach, detach, or replace multiple types of robot hand bodies 300 placed at the supply position by the operation of the robot arm body 200 itself. can also be considered.

Next, the area sensor 800 in this embodiment will be explained using FIGS. 1(a) and (b). As shown in FIG. 1B, the area sensor 800 detects the position of the worker 600 around the robot arm system 100 in a non-contact manner and in real time, and transmits the position information of the worker 600 to the control device 400.

The area sensor 800 outputs invisible light radially so as to cover the areas 801 to 803 in FIG. 1(b), and detects the position of the worker 600 by blocking the output light. .

Further, based on the detected position of the worker 600, the area sensor 800 determines in which area of the areas 801 to 803 the worker 600 is located, and transmits the determined result to the control device 400. In this embodiment, the area sensor 800 determines in which area the worker 600 is present, but the control device 400 may also determine which area the worker 600 is present in. In this embodiment, the area 801 is treated as an area where the robot system 100 is stopped, the area 802 is treated as an area where the worker 600 and the robot system 100 cooperate, and the area 803 is treated as an area where the worker 600 is detected. Details of each area will be described later.

FIG. 2 is a block diagram showing the configuration of the robot system 100 in this embodiment. The control device 400 is composed of a computer and includes a CPU (Central Processing Unit) 401 as a control section (processing section).

The control device 400 also includes a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, and an HDD (Hard Disk Drive) 404 as storage units. The control device 400 also includes a recording disk drive 405 and is communicably connected to each device via a bus 410 and various interfaces 406 to 409 and 411 to 413.

A ROM 402, a RAM 403, an HDD 404, a recording disk drive 405, and various interfaces 406 to 409 and 411 to 413 are connected to the CPU 401 via a bus 410.

The ROM 402 stores a program 430 for causing the CPU 401 to execute arithmetic processing. The CPU 401 executes each step of the robot control method based on the program 430 recorded (stored) in the ROM 402.

The RAM 403 is a storage device that temporarily stores various data such as arithmetic processing results of the CPU 401. The HDD 404 is a storage device that stores arithmetic processing results of the CPU 401, various data acquired from the outside, and the like.

The recording disk drive 405 can read various data, programs, etc. recorded on the recording disk 431.

External input device 500 is connected to interface 406. CPU 401 receives input of teaching data from external input device 500 via interface 406 and bus 410.

Arm motor driver 240 is connected to interface 409. CPU 401 outputs data of command values for each joint to arm motor driver 240 via bus 410 and interface 409 at predetermined time intervals.

Similarly, a motor and a motor driver (not shown) that drive the robot hand main body 300 are also connected to the interface 411 and are provided to be able to communicate with the CPU 401 via the bus 410. The CPU 401 outputs data of command values for each finger portion to the robot hand main body 300 via the bus 410 and the interface 411 at predetermined time intervals.

A monitor 421 is connected to the interface 407, and various images are displayed on the monitor 421 under the control of the CPU 401. The interface 408 is connected to an external storage device 422 that is a storage unit such as a rewritable nonvolatile memory or an external HDD.

Note that in this embodiment, a case will be described in which the computer-readable recording medium is the HDD 404 and the program 430 is stored in the HDD 404, but the present invention is not limited to this. The program 430 may be recorded on any computer-readable recording medium.

For example, as a recording medium for supplying the program 430, the ROM 402, the recording disk 431, the external storage device 422, etc. may be used. To explain with specific examples, flexible disks, hard disks, optical disks, magneto-optical disks, CD-ROMs, CD-Rs, magnetic tapes, non-volatile memories, ROMs, etc. can be used as recording media.

Further, although the description is omitted, each joint J1 to J3 is provided with sensor units 221 to 223, which are integrated with an encoder that detects the rotational position of each joint and a torque sensor that detects the torque applied to each joint. ing. The sensor units 221 to 223 described above are configured to be able to communicate with the CPU 401 via an interface 413 and a bus 410. The CPU 401 can perform feedback control on the position of each link using the detected values from each of the sensor units 221 to 233. Further, contact with the worker 600 can be detected by detecting the torque applied to each joint when the worker 600 contacts the robot arm main body 200 or the robot hand main body 300 using a torque sensor.

Next, the control flow in this embodiment will be explained in detail using FIGS. 3 and 4. FIG. 3 is a flowchart showing the control flow in this embodiment. FIG. 4 is a state diagram of the robot system 100 and the worker 600 at each step of the flowchart of FIG. The embodiment robot system 100 selectively performs work 1 and work 2 depending on the position of the worker 600. Work 1 is a work in which the workpiece W is assembled or processed with a tool or the like to manufacture the article M. Work 2 is a work in which the manufactured article M is delivered to the worker 600. It is also assumed that the control flow described using FIG. 3 is executed while the robot system 100 is manufacturing the article M by assembling or processing the workpiece W.

Referring to FIG. 3, first, in S101, it is detected whether the worker 600 is present in the area 801. Since the area 801 is an area immediately adjacent to the robot system 100, the operator 600 may be in danger depending on the operation of the robot system 100. Therefore, if the worker 600 is detected in the area 801 due to S101: YES, the process proceeds to S102, where the robot system 100 is immediately stopped and the work by the robot system 100 is stopped (Figure 4-1 (a) ). This ensures the safety of the worker 600.

If the worker 600 is not detected in the area 801 (S101: NO), the process advances to S103 and detects whether the worker 600 is present in the area 802. The area 802 is an area where the robot system 100 and the worker 600 cooperate while ensuring the safety of the worker 600. Therefore, if the worker 600 is detected in the area 802 from S103: YES, the process advances to S104.

In S104, it is determined whether the article M to be delivered to the worker 600 is ready. S104: If the answer is NO, the process proceeds to S108, which will be described later. S104: If YES, the article M is completed, the process advances to S105.

In S105, the robot hand main body 300 grasps the article M, each joint of the robot system 100 is operated at a predetermined speed, and the robot hand main body 300, which is a predetermined part of the robot system 100, approaches the worker 600 (see FIG. 4-1(b)). Furthermore, when approaching, force control is executed in which the detected values of the torque sensors of the sensor units 221 to 223 are fed back to the control of each joint. By doing so, the article M can be delivered no matter where in the area 802 the worker 600 is located. When transferring, it is determined whether or not the article M has been transferred under a predetermined condition, for example, by detecting the change in force that occurs when the worker 600 attempts to receive the article M using the torque sensors of the sensor units 221 to 223. do.

If it is determined that the article M has been delivered to the worker 600, the process advances to S106, and it is determined whether all the articles M that have been manufactured at the current time have been delivered to the worker 600. S106: If NO, the process returns to immediately before S105 and the delivery of the article M is continued. S106: If YES, proceed to S110.

S103: If NO, if the worker 600 is not detected in the area 802, the process advances to S107 to detect whether the worker 600 is present in the area 803. S107: If the worker 600 is detected in the area 803 due to YES, the process advances to S108.

The area 803 is an area farther from the robot system 100 than the area where the robot system 100 collaborates with the worker 600 within the range in which the robot system 100 can detect the worker 600. Therefore, although the worker 600 is located relatively close to the worker 600, the user cannot collaborate with the worker 600. Therefore, in S108, each joint of the robot arm body 200 is operated at a predetermined speed or less to assemble and process the workpiece W in order to proceed with the work on the workpiece W and improve efficiency while ensuring the safety of the worker 600. (Figure 4-2(c)). Similarly, if S104: NO, each joint is operated at a predetermined speed or less to work on the work W in S108. When proceeding to S104, it can be determined that the worker 600 is present in the area where the area sensor 800 can detect the worker 600, so the work on the workpiece W can be performed while ensuring the safety of the worker 600. let

The predetermined speed is a speed at which the danger to the worker 600 is reduced even if the robot arm main body 200 and the robot hand main body 300 come into contact with the worker 600. By doing so, it is possible to work on the work W while ensuring the safety of the worker 600. Then, the process advances to S110.

S107: If the worker 600 is not detected in the area 803 due to NO, it can be determined that the worker 600 does not exist in the areas 801, 802, and 803, and the process advances to S109. In S109, since it is determined that the worker 600 is not present around the robot system 100, the work on the workpiece W is performed by moving each joint at a higher speed than the predetermined speed (Fig. 4-2 (d) )). Since there is no worker 600 in each area, the safety of the worker 600 is ensured, and the robot system 100 can be operated at high speed. Then, the process advances to S110.

In S110, it is determined whether a predetermined number of articles M have been manufactured. If the predetermined number of products have not been manufactured, S110: NO returns to immediately before S101, and the operator 600 is detected and the work on the workpiece W is executed again.

If a predetermined number of articles M have been manufactured, the process proceeds from S110: YES to S111. In S111, it is determined whether a predetermined number of articles M have been delivered to the worker 600. If it has not been delivered, S111: NO returns to immediately before S101, and the worker 600 is detected and the article M is delivered. If a predetermined number of articles M have been delivered to the worker 600, the control flow ends from S111: YES.

As described above, in this embodiment, the article M can be delivered no matter where the worker 600 is located in the area 802 serving as the area 802 where the article M is delivered (the collaboration area). Therefore, the efficiency of the work in which the robot device and the worker interact can be improved. Further, since the robot hand main body 300 approaches the worker 600, the movement of the worker 600 can be reduced when transferring the workpiece, and work efficiency can be further improved.

Further, even if the worker 600 is located relatively close to the robot system 100 and in a position where collaboration cannot be performed, the worker 600 can work on the workpiece W by reducing the operating speed of the robot system 100. , work efficiency can be improved.

In addition, multiple areas are set, including an area where the robot system 100 is stopped, an area where the robot system 100 and the worker 600 collaborate, and an area where the robot system 100 restricts the operation and performs work on the workpiece W. . By preparing multiple areas in this way, the robot system 100 can be made to perform appropriate operations depending on the location where the worker 600 is present, thereby ensuring the safety of the worker 600 and improving work efficiency. Can be done.

Further, a modification of this embodiment is shown in FIG. The robot system 100 in FIG. 5 includes a cart 900 on which a predetermined number of articles M can be placed. As shown in FIG. 5A, the robot arm main body 200 performs work on the workpiece W when the safety of the worker 600 is ensured as described above. The manufactured article M is then placed on the cart 900.

Then, when a predetermined number of articles M are placed on the trolley 900 and the worker 600 is detected in the area 802, the robot arm main body 200 moves the trolley 900 toward the worker 600 as shown in FIG. 5(b). By doing so, the manufactured articles M can be delivered to the worker 600 all at once, thereby making it possible to further improve work efficiency.

By mounting a sensor that can detect the load on the trolley 900 and configuring it to be able to communicate wirelessly with the control device 400, the presence or absence of the article M can be detected and sent to the control device 400, and the delivery of the article M can be performed. You can check whether Alternatively, a delivery completion switch may be mounted on the trolley 900, and once the delivery of the article M is completed, the operator 600 may press the delivery completion switch to confirm the execution of the delivery of the article M.

To explain using the flowchart of FIG. 3, in S104 it is checked whether a predetermined number of articles M have been placed on the trolley 900. Then, in S105, the trolley 900 is brought close to the worker 600. Then, in S106, it is confirmed whether the delivery of the article M is completed by pressing the above-mentioned sensor or the delivery completion switch. As described above, it becomes possible to confirm the delivery of the article M using the trolley 900.

(Second embodiment)
In the first embodiment described above, the worker is detected using an optical area sensor, but the present invention is not limited to this. For example, the present invention is also applicable to a vision sensor using an imaging device or the like. This will be explained in detail below.

Below, parts of the hardware and control system configuration that are different from those in the first embodiment will be illustrated and explained. Furthermore, it is assumed that the same configuration and operation as described above are possible for the same parts as in the first embodiment, and detailed explanation thereof will be omitted.

FIG. 6 shows a schematic diagram of the robot system 100 in this embodiment. FIG. 6(a) is a plan view of the XZ plane of the XYZ coordinate system. FIG. 6(b) is a plan view of the YZ plane of the XYZ coordinate system. The difference from the first embodiment is that a vision sensor 810 is provided.

As shown in FIG. 6A, the vision sensor 810 is a pan/tilt camera capable of panning, tilting, and zooming. The vision sensor 810 can detect the worker 600 by changing the imaging viewpoint by driving an imaging unit (not shown) in the panning direction and the tilting direction. It is also assumed that the distance to the worker 600 can be measured by performing three-dimensional measurement using image processing.

As shown in FIG. 6(b), a vision sensor 810 is provided on the robot arm 200 and detects the position of the worker 600 in areas 801 to 803 in real time. The sensor further performs image processing to detect the position of the head and hands of the worker 600 and sends the detected information to the control device 400.

Next, the control flow in this embodiment will be described in detail using FIGS. 7 and 8. FIG. 7 is a flowchart showing the control flow in this embodiment. The difference from the first embodiment is that step S205 is designed instead of S105. FIG. 8 is a state diagram at S205. In order to simplify the explanation below, only S205 will be explained in detail.

In S205, the vision sensor 810 detects the position of the worker's 600 hand. Then, the robot arm main body 200 is controlled so that the article M approaches the hand of the worker 600 (FIG. 8).

By doing so, the article M can be brought closer to a position where the worker 600 can easily receive it. Furthermore, since the hand is detected and brought closer, the robot hand body 300 can be brought closer to the worker 600 while avoiding the head of the worker 600. Furthermore, in order to ensure the safety of the worker 600, the head or face of the worker 600 is always detected, and if the hand approaches the head or face of the worker 600 to a predetermined distance or less, , the delivery of article M is interrupted. Thereby, the safety of the worker 600 can be ensured.

(Third embodiment)
In the first and second embodiments described above, the article M is delivered to the worker 600 by extending the robot arm main body 200, but the present invention is not limited to this. For example, the robot arm body 200 may be provided with a moving mechanism such as a wheel, and the robot arm body 200 itself may approach the worker 600 and transfer the workpiece. This will be explained in detail below.

Below, parts of the hardware and control system configuration that are different from the first embodiment and the second embodiment will be illustrated and explained. Furthermore, it is assumed that portions similar to those in the first embodiment and the second embodiment can have the same configuration and operation as described above, and detailed explanation thereof will be omitted.

FIG. 9 shows a schematic diagram of the robot system 100 in this embodiment. FIG. 9(a) is a plan view of the XZ plane of the XYZ coordinate system. FIG. 9(b) is a plan view of the YZ plane of the XYZ coordinate system. The difference from the first embodiment is that a robot arm body 200 is provided with a wheel 230, and a vision sensor 820 and an area 804 monitored by the vision sensor 820 are provided.

As shown in FIGS. 8A and 8B, the vision sensor 820 is a pan-tilt camera capable of panning, tilting, and zooming, like the vision sensor 820. The vision sensor 820 can detect the worker 600 by changing the imaging viewpoint by driving an imaging unit (not shown) in the pan direction and tilt direction. It is also assumed that the distance to the worker 600 can be measured by performing three-dimensional measurement using image processing. Area 804 is an area outside areas 801 to 803 with respect to robot arm main body 200.

The wheel 230 is provided with a motor (not shown), and when the wheel 230 is driven by the motor, the robot arm main body 200 moves by itself.

Here, while the robot system 200 is working on the workpiece W, the worker 600 does not enter the area 802, and a predetermined number of articles M have been manufactured and placed on the cart 900, and the remaining work is to Consider the case where the work is to be handed over to the worker 600. At that time, it is better to deliver the item to the operator 600 in the area 804 than to wait for the operator 600 to enter the area 802. The delivery of the article M in the area 804 will be described in detail below.

FIG. 10 is a flowchart showing the control flow in this embodiment. It is assumed that a predetermined number of articles M have been manufactured and placed on the trolley 900, and the remaining work is to deliver the articles M to the worker 600.

First, in S301, the vision sensor 820 determines whether the worker 600 is present in the area 804. If the worker 600 does not exist in the area 804, the process proceeds to S302 based on NO in S301, waits there for a predetermined time, and detects the worker 600 again in S301.

If the worker 600 is detected in the area 804, the process advances to S303 from S301: YES, and the robot arm main body 200 is brought closer to the worker 600 using the wheels 230. At this time, the robot hand body 300 causes the cart 900 to approach the worker 600 together with the robot arm body 200. FIG. 11 is a state diagram at S303.

When the robot arm main body 200 and the trolley 900 are brought close to each other, the robot arm body 200 and the trolley 900 are brought closer together at a speed less than a predetermined speed to avoid injury even if the robot arm body 200 comes into contact with a worker. Further, the vision sensor 810 is used to approach the worker 600 so that the worker 600 is present in the area 802, and the worker 600 is prevented from being present in the area 801.

Then, in S304, it is determined whether all of the manufactured articles M have been handed over to the worker M. The determination method is the same as in the first embodiment. S304: If NO, the process advances to S305, waits for a predetermined time near the worker 600, returns to just before S304, and determines whether the article M has been delivered.

If all the articles M have been handed over to the worker 600, the process advances to S306 from S304: YES, and the robot arm body 200 and cart 900 are returned to the vicinity of the workbench 700 where the workpiece W is processed, and the flow ends. do.

As described above, according to this embodiment, the article M can be delivered to the worker 600 more quickly, so that the efficiency of the work can be improved. Further, since the worker 600 is detected using a plurality of sensors, by detecting the worker 600 early, it is possible to realize smooth handover with less waiting time for the worker 600.

The processing procedures of the various embodiments described above have been specifically described as being executed by the control device 400. However, the above-described functions may be implemented by mounting a software control program that can execute the functions and a recording medium on which the program is recorded in the external input device 500.

Therefore, a software control program capable of executing the above-mentioned functions, a recording medium on which the program is recorded, and a communication device constitute the present invention.

Furthermore, in the above embodiments, the computer-readable recording medium is ROM or RAM, and the control program is stored in the ROM or RAM, but the present invention is not limited to such a form. do not have.

The control program for implementing the present invention may be recorded on any computer-readable recording medium. For example, as a recording medium for supplying the control program, an HDD, an external storage device, a recording disk, etc. may be used.

(Other embodiments)
Further, in the various embodiments described above, a case has been described in which the robot arm main body 200 is a multi-joint robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration is shown as the type of robot device, the same configuration as above can be implemented with a different type of joint such as a parallel link type.

Furthermore, the various embodiments described above can be applied to a machine that can automatically perform expansion/contraction, bending/stretching, vertical movement, left/right movement, or turning operations, or a combination of these operations, based on information stored in a storage device provided in a control device. It is possible.

Note that the present invention is not limited to the embodiments described above, and many modifications can be made within the technical idea of the present invention. Further, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects according to the present invention are not limited to those described in the embodiments of the present invention. For example, it is also possible to apply the robot system of the present invention in the field of amusement.

100 robot system 200 robot arm body 201-202 link 210 base 211-213 motor 221-223 sensor 230 wheel 300 robot hand body 400 control device 500 external input device 600 worker 700 workbench 800 area sensor 801, 802, 803, 804 area 900 trolley

Claims (27)

robot and
A sensor that detects a worker;
A control method for a robot system, comprising: a control device for controlling the robot;
The control device includes:
When the sensor detects the worker in the first area closer to the robot than the second area , the robot is controlled to move a predetermined part of the robot closer to the worker, and the sensor detects the worker in the second area. If a worker is detected, the robot continues the work being performed;
A control method characterized by: In the control method according to claim 1,
The control device includes:
If the worker is detected in the first area, interrupting the work and bringing the predetermined part closer to the worker;
A control method characterized by: The control method according to claim 1 or 2,
The control device includes:
force-controlling the robot to bring the predetermined part closer to the worker;
A control method characterized by: The control method according to any one of claims 1 to 3,
The control device includes:
stopping the robot when the sensor detects the worker in a third area closer to the robot than the first area and the second area ;
A control method characterized by: In the control method according to claim 4,
The control device includes:
When the worker is not detected in the first area, the second area, and the third area, the work is performed at a faster speed than the speed at which the worker is detected in the second area. carrying out the said work;
A control method characterized by: The control method according to any one of claims 1 to 5,
The control device includes:
If the worker is located further away from the robot than the second area and the worker is not detected in the first area and the second area, the worker is not detected in the second area. performing the work at a speed faster than the speed at which it would be performed with the worker detected ;
A control method characterized by : In the control method according to any one of claims 1 to 6,
The first area is an area where the worker can move and where the robot and the worker can collaborate;
A control method characterized by: The control method according to any one of claims 1 to 7 ,
The control device includes:
When the predetermined part is brought close to the worker, the speed of the predetermined part is set to be less than or equal to a predetermined value.
A control method characterized by: The control method according to any one of claims 1 to 8 ,
The control device includes:
controlling the robot so that the predetermined part approaches a first part of the worker;
A control method characterized by: The control method according to claim 9 ,
the first part is the worker's hand;
A control method characterized by: The control method according to any one of claims 1 to 10 ,
The control device includes:
when bringing the predetermined part close to the worker, controlling the robot so that the predetermined part does not approach a second part of the worker;
A control method characterized by: The control method according to claim 11 ,
The control device includes:
If the predetermined part approaches the second part to a predetermined value or less, interrupting the approach of the predetermined part;
A control method characterized by: The control method according to claim 11 or 12 ,
The second part is the head of the worker,
A control method characterized by: The control method according to any one of claims 1 to 13 ,
The control device includes:
When the worker is detected in the first area with a predetermined condition being met, bringing the predetermined part closer to the worker;
A control method characterized by: In the control method according to claim 14 ,
The control device includes:
If the worker is detected in the first area in a state where the predetermined conditions are not met, the work is continued with the robot's movements restricted;
A control method characterized by: The control method according to claim 14 or 15 ,
The control device includes:
As the work, the robot executes processing of the object, and the predetermined condition is a case where an article to be delivered to the worker is manufactured.
A control method characterized by: In the control method according to claim 16 ,
The control device includes:
delivering the article to the worker by bringing the predetermined part close to the worker;
A control method characterized by: In the control method according to claim 17 ,
The robot is provided with a force sensor,
The control device includes:
determining whether or not the article has been delivered based on the force sensor;
A control method characterized by: The control method according to any one of claims 1 to 18 ,
The robot is movable;
The control device includes:
moving the robot to bring the predetermined part closer to the worker;
A control method characterized by: In the control method according to claim 4 or 5 ,
The robot is movable;
the first area, the second area, and the third area move together with the robot;
A control method characterized by: The control method according to claim 20 ,
The control device includes:
when moving the robot to bring the predetermined part closer to the worker, controlling the robot so that the worker is not located in the third area due to the movement of the robot;
A control method characterized by: The control method according to any one of claims 1 to 21 ,
The robot system includes a trolley,
The control device includes:
causing the trolley to approach the worker by the predetermined portion;
A control method characterized by: The control method according to any one of claims 1 to 22 ,
The sensor is an optical sensor or an imaging device, and the predetermined part is an end effector.
A control method characterized by: robot and
A sensor that detects a worker;
A robot system comprising: a control device for controlling the robot;
The control device includes:
When the sensor detects the worker in the first area closer to the robot than the second area , the robot is controlled to move a predetermined part of the robot closer to the worker, and the sensor detects the worker in the second area. If a worker is detected, the robot continues the work being performed;
A robot system characterized by: A method for manufacturing an article, comprising manufacturing the article using the robot system according to claim 24 . A control program capable of executing the control method according to any one of claims 1 to 25 by a computer. A computer-readable recording medium storing the control program according to claim 26 .

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