JPS60252911A - Robot containing operation key at its mobile part - Google Patents

Abstract

PURPOSE:To facilitate the direct teaching of a robot by providing at least some of robot operation keys at a mobile part of the robot. CONSTITUTION:A wrist part 9 is attached to the tip of an arm 8 of a robot, and a hand 10 is attached to the part 9 via a power sensor 12. The operation keys 11 are added to the part 9 to secure a function to set the robot in a state desired by an operator, a function to store the actions desired by the operator to the robot and a function to make the robot execute the actions desired by the operator. Thus the operator can give the direct teaching easily to the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a robot that has been improved so as to make it easier to teach a robot a motion and have it perform the motion.

[Background of the invention]

The operation (hereinafter referred to as "teaching") for making the robot memorize the required motions includes the indirect teaching method in which the operator 1 operates the teaching box 2b to the control device 2a of the robot 2, as shown in FIG. 1A. , as shown in FIG. 1B, the operator 1 directly applies hand force to the movable part 2c of the robot 2 to make the robot 2 perform a motion and memorize the motion, and then direct instruction is performed in which the same motion is reproduced by operating the operation box 2d. There is a law.

Conventionally, a robot configured to perform direct teaching as described above (FIG. 1B) is generally provided with an operation key on the operation box 2d, and an operation key is provided on the movable part 2c of the robot. This caused inconvenience when teaching directly. That is, as illustrated in FIG. 2, when a worker 1 and a robot 2 work in one-on-one cooperation in a factory, the worker 1 is often located within reach of the workpiece 21. On the other hand, the tip of the movable part 2C of the robot 2 is also located near the workpiece 21. For this reason, when the operator l gives operation commands to the robot 2, it is often convenient if the operation key is located on the movable part 2C of the robot. Particularly when applying manual force to the movable part 2c to perform direct teaching, it is convenient to have an operation key on the movable part 2C.

As exemplified in FIG. It is often convenient if the unit has operation keys.

Furthermore, when using robots in the office or at home, there are many situations in which it would be inconvenient if the robot's movable parts do not have operation keys, and this problem must be resolved before office robots and home robots become widespread. I have to take care of it.

As mentioned above, it is already considered convenient for robots to have operation keys on their movable parts, and it is predicted that the same will become necessary for office and household robots in the near future. Although this is well thought out, a robot with operating keys on its movable parts has not yet been developed. The reason for this is that the following technical difficulties have not yet been resolved.

That is, as shown in FIG. 4, if we consider a case where a hand 4 is attached to the tip of a robot arm 3 and an operation key 7 is provided near the base of the hand 4, the operator can Operation becomes convenient only when the robot's hand 4 is held in the left hand 5 and pulled toward the front to face in a direction where key operation is easy, and the operation keys 7 can be touched with the right hand 6. In this case, the robot's hand 4 cannot be operated conveniently unless it is pulled by the left hand 5 and rotated as it is twisted.

As mentioned above, if the robot cannot follow the force of the operator's hand, for example, as shown in FIG. If the robot is on the other side, the operator cannot touch the operation keys 7 without going to the trouble of going to the other side of the robot.

Conventionally, the movable part of a robot has not been provided with an operation key because the convenience provided by providing an operation key on the movable part of a robot is outweighed by the inconvenience that comes with this.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned circumstances, and provides a robot that is easy to operate and particularly suitable for direct teaching, based on direct teaching technology that allows the robot to follow the force of the hand, as will be detailed later. The purpose is to

[Summary of the invention]

The present invention is characterized in that at least a part of the robot operation key is mounted on the movable part of the robot, on the premise that the movable part of the robot can be provided with a follower function as described below. do.

[Embodiments of the invention]

Next, one embodiment of the present invention will be described with reference to FIGS. 6 to 9.

FIG. 6 is an external view of the vicinity of the hand portion of the robot according to the present invention, in which operation keys are provided on the movable portion. A wrist portion 9 is attached to the tip of an arm 8 of the robot, and a hand 10 is attached to the wrist portion 9 via a force sensor 12. An operation key 11 is installed on the wrist portion 9.

When carrying out the present invention, it is possible to provide part of the operation keys at a location other than the wrist portion 9.

A perspective view of the force sensor 12 is shown in FIG. 7. The force sensor 12 of this example has an elastic longitudinal structure between a ring-shaped member fixed to the robot wrist and a ring-shaped member ρ fixed to the robot hand. Rods Z3a, Z3b, and elastic needle rods 23
cmZ3f is interposed and fixed, and these rods 23a
- It is constructed by pasting strain gauges U on each town. When implementing the present invention, the force sensor is not limited to the structure as shown in this example.
Any device that can detect the six components of the force in the direction of the shelf and the moment of rotation in three axes may be used.

FIG. 8 is a chart showing the flow of control in this embodiment.

In flow 13, the force applied to the jL robot's hand is detected by the force sensor 12, the voltage signal generated in the strain gauge is extracted, the voltage is converted into force in flow 14, and the voltage signal is converted into force in flow 15. Calculate the velocity that should be given to the coordinate system.

The command signal in the No-Ndo standard system calculated in Flow 15 is converted into a command speed in the stationary coordinate system in Flow 16, and then
is converted into the angular velocity of the robot's joints and given to the robot 18.

As a result, the robot 18 moves according to the force applied to the robot hand by the operator, and its momentum is measured by a counter installed on the robot 18 and the current value of the robot hand, which is converted into the position and posture of the robot in flow 19. In addition to feeding back to the flow 16, the force is further converted into force by applying the flow and fed back to the previous stage of the flow 15.

An example of the velocity calculation in the above flow 15 will be described in detail below. In this flow 15, a signal representing the applied force is given by the operator, and based on this, the total speed is calculated and output, and no feedback signal is required in this process.

The movement of the hand section is considered as shown in the following (Equation 11).

・−,,) +(:C:)■=1 ・・・・・・・・・
+1)t However, M: Translation and rotational speed that the robot's hand part should take (6-component vector) F: Force and moment applied to the hand part (6-component vector) [C]: Robot's hand part The viscosity coefficient of the hand part (6x6 diagonal matrix) tn: Mass of the robot hand part (scalar) The above [C] and m are values that can be set arbitrarily and that the capsule robot has. It is not limited to the actual value, and a value can be determined on the software as needed.

(m>0. Each component of [C]≧O) By appropriately selecting the values of [C1] and m, the responsiveness and operating force can be set arbitrarily.

FIG. 9A shows an example in which time t is shown on the horizontal axis and input 6 is added in a stepwise manner on the vertical axis.

Figure B is a chart in which a curve representing the output F/C is drawn on the same time axis as above. (However, in this case, C
>O) 07The larger the value of m, the faster the response υ, 1/c/
If you reduce JX, the required operating force will decrease.

The response curve 26 shown in FIG. 9B is expressed by the following equation (2).

However, this equation (2) is for one component.

When actually calculating Ma using a computer, change (1) to the number of threads and use (4) as −1 −y, = JtΣ(Fi−Cvt) −−・・・(3) f
fl 1=0 71=” (Pn-1-Cvs-1) +'H-1
...-"・(4) However, Δt is the sampling time, and the suffixes n and i indicate the 11.i@th value.

By performing calculations based on the above formula, it is possible to calculate the appropriate speed that the hand should take based on the applied force and moment in flow 15 of Fig. 8. The robot's hand can be made to follow instructions.

As clarified in the above explanation, the robot in which the movable part of the present invention is provided with an operation key has (1)
I: To provide a function to move the pot to the state desired by the operator, (11) a function to make the robot memorize the action desired by the operator, and (ii) a function to make the robot execute the action desired by the operator. With this configuration, operations related to direct teaching can be performed conveniently. Further, even if the device is configured to provide any one of the functions (1) to 010 above, effects corresponding to each function can be obtained. Further, the above-mentioned operation keys can be configured using either digital type or analog type operation switches, and both types of operation switches can be used together.

This will be explained with reference to FIGS. 10-10 and FIG. 11. A force sensor 12 is installed at the wrist of the robot (adjacent to the hand).
is attached to the robot, and an operation box is attached to the movable part (for example, the hand part) of the robot.

FIG. 11 shows the flow of signals in each step of the direct teaching procedure shown in FIG. 10.

Figure 10 ■ Movement of the hand: First, press the direct teaching start button (not shown) on the operation box. Next, the operator touches the hand and pushes or twists the hand to cause the hand to assume a predetermined position and posture.

To explain this with reference to FIG. 11, first, the force and moment applied to the hand are detected by a force sensor, and the sensor processor calculates the actual applied force and moment. Next, the servo processor and the arithmetic processor perform calculation processing based on the calculation formula stored in advance in the common memory, and the speed that each motor should take is calculated and output to the D/A, which is then sent to the motor via a small servo amplifier. is driven. At this time, an encoder is attached to the motor so that the current position value can be sent to another processor via a counter.

In this way, the motor is driven based on the signal from the force sensor.

Figure 10 ■Determination of teaching point (position/posture), predetermined position/
Once the posture, that is, the teaching point has been taken, the teaching point memory button (not shown) on the operation box is pressed.

To explain this with reference to FIG. 11, the current position l11 is stored in the common memory from the potentiometer via the counter.

Figure 10 ■Teaching, repeat the steps in ■.

Figure 10■ Playback, once the predetermined number of teaching points have been taught, press the playback button on the operation box (not shown)
Press to start playback.

To explain this with reference to FIG. 11, each teaching point stored in the common memory is read out, the value is outputted to the D/AIC,
By driving the motor, the robot realizes the position and posture indicated by the teaching point.

Thereafter, the teaching points are realized one after another in the same manner.

〔Effect of the invention〕

As described in detail above, the robot of the present invention has the advantage that by providing at least a part of the operation keys on the movable part, the robot can be easily operated, and is particularly suitable for direct teaching. It has practical effects.

[Brief explanation of the drawing]

Fig. 1A is an explanatory diagram of indirect teaching, Fig. 1B is an explanatory diagram of direct teaching, Figs. 2 and 3 are explanatory diagrams of cooperative work between a worker and a robot, and Figs. 4 and 5 are illustrations of cooperative work between a worker and a robot. FIG. 6 is an external view of a robot movable part provided with operation keys, FIG. 6 is an external view of a robot movable part in an embodiment of the present invention, FIG. 7 is a perspective view of a force sensor, and FIG. 8 is a control flow. Diagram showing, No. 9
Diagram A. Similarly, B is a chart showing the response characteristics. FIG. 10 is an explanatory diagram of the operation, and FIG. 11 is an explanatory diagram of the operation. 1... Operator, 2... Robot, 2 Hatake... Control device, 2b... Teaching box, 2c...
・Same movable part, 2d...Operation box, 3...Arm, 4...Hand, 5...Left hand, 6...Right hand, 7...
...Operation key, 8...Arm, 9...Wrist part, 10
...Hand, 11...Operation key, Machining 2...Force sensor, Machining...Ring-shaped member, 21...Work, η...
・Ring-shaped member, Z3a, Z3b... elastic vertical rod, 23
c~23f...Elastic skew. Agent Patent Attorney Tadashi Akimoto Figure 1 (A) Figure 1 ('B) A Figure 2 2-2 Figure 6 Figure 7 Figure 9 (A) Figure 9 (B) Figure 10 ■ Figure 10■ Figure 1o■ ■ Figure 11

Claims (1)

[Scope of Claims] 1. A robot provided with an operation key on a movable part, characterized in that at least a part of the robot operation key is mounted on a movable part of the robot. 2. The robot having an operation key on a movable part according to claim 1, wherein the operation key has at least one of the following functions. . (1) The state (position,
(posture, velocity, acceleration, etc.). (11) A function that allows the robot to memorize the actions desired by the operator. OiD A function that allows the robot to perform the actions desired by the operator. 3. A patent characterized in that the key is configured using at least one of a digital operation switch that controls the control amount and an analog operation switch that controls the control amount. The robot according to claim 2, wherein the movable part is provided with an operation key.