US20150352720A1 - Robot apparatus - Google Patents

Robot apparatus Download PDF

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Publication number
US20150352720A1
US20150352720A1 US14/733,657 US201514733657A US2015352720A1 US 20150352720 A1 US20150352720 A1 US 20150352720A1 US 201514733657 A US201514733657 A US 201514733657A US 2015352720 A1 US2015352720 A1 US 2015352720A1
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United States
Prior art keywords
robot
indication
arm
arms
robot arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
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US14/733,657
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English (en)
Inventor
Shinsuke Iizuka
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Canon Inc
Original Assignee
Canon Inc
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Publication date
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Assigned to CANON KABUSHIKI KAISHA reassignment CANON KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: IIZUKA, Shinsuke
Publication of US20150352720A1 publication Critical patent/US20150352720A1/en
Priority to US16/048,056 priority Critical patent/US11104002B2/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24092—Warning display lights, lamps, leds on module
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Definitions

  • the present invention relates to a robot apparatus having a plurality of robot arms.
  • multiple (or a plurality of) industrial robot arms may be used to precisely assemble parts each grasped by fingers of each of the arms into a part on a workbench.
  • a plurality of teachers may sometimes be involved.
  • teaching work may involve an operator who operates a robot arm by using a teaching device such as a so-called teaching pendant, and an operator who visually inspects parts to monitor conditions and failure/success of an assembly job thereon.
  • the former operator may sometimes be called a “manipulator”, and the latter operator may sometimes be called a “supervisor”.
  • a robot arm to be subjected to a teaching operation in a robot apparatus having a plurality of arms is decided based on an oral communication between the supervisor and the manipulator.
  • a robot arm subjected to a teaching operation will be called a “decided arm” hereinafter.
  • a supervisor waits in the vicinity of the decided arm and concentrates his or her gaze and attentions on fingers of the decided arm.
  • a result of an operation performed on the decided arm by a manipulator is only displayed on a teaching pendant (hereinafter, called a TP)
  • the operability state of the operation on the arm is not directly available to the supervisor.
  • a teaching operation refers to a state that a specific manipulation (such as a jog operation or an inching operation to be performed by using a TP) is enabled to start an operation of a robot arm immediately or not.
  • a teaching operation may be performed on a robot arm by manipulating a TP to actually operate a robot arm from a present position/attitude to a next teaching point.
  • Such a teaching operation may be allowed by performing a specific manipulation on a TP to shift the TP (or the entire robot system) to a mode which enables a teaching operation (teaching mode, which will be described below), for example.
  • the enable switch may be shifted to the enable state to allow a teaching operation as a result.
  • a mode shift or switch operation as described above may be performed to shift the robot apparatus to a mode allowing a teaching operation or a teaching mode.
  • a servomotor drives a joint, for example, of a robot arm to shift to a so-called servo-ON state.
  • the brake of each joint is released from a locked state.
  • the change allows the robot arm to operate in accordance with a subsequent teaching operation on a TP.
  • the operability state in the teaching mode is an enable state while it is a disabled state in a mode excluding the teaching mode.
  • an indication control device which includes an indicator configured to indicate whether an operation is possible or not on, or in the vicinity of, a robot arm (see Japanese Patent No. 3183355, for example).
  • an indicator is provided on (or in the vicinity of) each of a plurality of robot arms so that the indicators may indicate whether the corresponding robot arms are possible to operate or not.
  • the present invention allows indication of an operability state of a robot arm through an indicator provided on another robot arm of a plurality of robot arms in a robot apparatus.
  • the present invention provides a robot apparatus including a plurality of robot arms each including an indication device having a first indicator configured to indicate an operation state of at least one of the plurality of robot arms different from a respective robot arm on which each indication device is provided.
  • the indication device may have a second indicator configured to indicate a state of a robot arm where the indication device is provided.
  • FIG. 1 is an explanatory diagram illustrating a schematic configuration of a robot apparatus according to a first embodiment applying the present invention.
  • FIG. 2 is a perspective view illustrating a configuration example of an indicator provided at a tip of a robot arm of the robot apparatus in FIG. 1 .
  • FIGS. 3A to 3D illustrate indication control in the apparatus in FIG. 1
  • FIG. 3A is a flowchart of indication control relating to a teaching operation
  • FIGS. 3B and 3C are explanatory diagrams illustrating indication states of an indicator in steps of the indication control
  • FIG. 3D is an explanatory diagram illustrating indication control signals used in the indication control.
  • FIG. 4 is an explanatory diagram illustrating a schematic configuration of a robot apparatus according to a second embodiment applying the present invention.
  • FIG. 5 is an explanatory diagram illustrating a different wiring scheme in a robot apparatus according to the second embodiment applying the present invention.
  • FIG. 6 is a signal block diagram illustrating detail configurations of a driving control system and an indication control system in the robot apparatus according to the second embodiment applying the present invention.
  • FIGS. 7A to 7D illustrate indication control in the apparatus in FIG. 4 to FIG. 6
  • FIG. 7A is a flowchart of indication control relating to a teaching operation
  • FIGS. 7B and 7C are explanatory diagrams illustrating indication states of an indicator in steps of the indication control
  • FIG. 7D is an explanatory diagram illustrating indication control signals used in the indication control.
  • FIG. 8 is a block diagram illustrating a configuration of a robot control device applied in the robot apparatus in FIG. 1 .
  • FIG. 1 is a general configuration of a robot apparatus 200 having robot arms 201 and 211 implementing the present invention.
  • the robot arms 201 and 211 may be six-axis (joint) vertical articulated robot arms, for example, and each of the joints thereof may be controlled to a desired position/attitude by performing servo control over a servomotor provided in the joint.
  • Operations of the robot arms 201 and 211 are controlled by robot control devices 202 and 212 , respectively.
  • Teaching pendants (TPs) 203 and 213 are connected to the robot control devices 202 and 212 , respectively.
  • Operations of the arms may be programmed through manual operations on the TPs 203 and 213 connected to the robot control devices 202 and 212 .
  • an operation for moving reference positions (such as tool mount planes at tips) of the robot arms 201 and 211 through desired paths may be programmed by sequentially designating teaching points on the path by using the TPs 203 and 213 .
  • Such a teaching point may be designated through an operation for moving an arm from a present position/attitude as a result of a manual operation on the TPs 203 and 213 , for example.
  • Each of the TPs 203 and 213 may have a changing switch for switching between a state that a manual operation for teaching a corresponding one of the robot arms 201 and 211 is enabled and a state that automatic driving based on teaching data is performed, for example.
  • Each of the TPs 203 and 213 has a teaching mode instruction switch for shifting a corresponding one of the robot arms 201 and 211 to a teaching mode.
  • Each of the TPs 203 and 213 has an operation instruction switch for displaying an operation instruction for a teaching operation on a display, for example, provided on a corresponding one of the TPs 203 and 213 .
  • the robot arms 201 and 211 may be six-degree of freedom manipulators each having six rotary joints, for example.
  • Each of the robot arms 201 and 211 has a gripper as illustrated in FIG. 2 at its tip part as a tool for grasping a work to be operated.
  • FIG. 2 illustrates a structure around a gripper 2011 provided at a tip of the robot arm 201 .
  • the robot arm 211 also has a similarly configured gripper at its tip.
  • the gripper 2011 in FIG. 2 has a finger 2011 a for handling a work at a gripper tip 2011 b .
  • the illustrated gripper 2011 has a gripper tip 2011 b having a substantially cylindrical cross-section and a gripper base 2011 c , and an actuator configured to open and close the fingers 2011 a is provided within them.
  • the actuator configured to open and close the fingers 2011 a may be any arbitrary actuator such as pneumatic and hydraulic actuators as well as a motor and a solenoid.
  • the gripper 2011 is mounted at a tip of a robot arm for the purpose of carrying in and out a work to a working area or assembling a grasped work into a different work.
  • the gripper tip 2011 b and finger 2011 a being action units of the gripper 2011 are pivotably supported about a tool mounted surface of the robot arm 201 .
  • the gripper tip 2011 b and finger 2011 a may be driven to pivot by a servomotor internally provided in the gripper base 2011 c , for example.
  • a driving source for the pivoting may be provided on a tool-mounted side of the robot arm 201 .
  • the gripper 2011 of the robot arm 201 has an indication device 205 having indicators 205 A and 205 B as an operability indication unit.
  • the indicators 205 A and 205 B may include a plurality of LEDs 206 A and 206 B arranged with a predetermined space therebetween and a ring-shaped scattering plate covering those LEDs, for example.
  • LEDs 206 A or 206 B When one or more of the LEDs 206 A or 206 B is driven to light up or flash, light is scattered externally by the scattering plate covering the LEDs.
  • indication surfaces of the indicators 205 A and 205 B are provided on all circumference of the gripper tip 2011 b.
  • the supervisor in particular is allowed to easily visually recognize the indication states of the indication device 205 at any position in the vicinity of the robot arm 201 .
  • the visible easiness of the indication device 205 does not vary even when joints of the robot arm 201 are controlled to any attitude, or when the gripper tip 2011 b and finger 2011 a are driven to pivot in any manner.
  • the indication device 205 may be positioned on a circumference of the gripper base 2011 c .
  • the indication device 205 may be provided at any position where the indication device 205 may be easily visually recognized during a teaching operation and may be provided on the robot arm 201 instead of on the gripper 2011 , without greatly requiring visible easiness for an operator (especially a supervisor).
  • the indication device 205 may be provided at a position close to the tip of the robot arm 201 .
  • the structures of the gripper and indication devices in FIG. 2 are provided on the robot arm 211 in FIG. 1 .
  • reference numerals relating to the gripper are omitted.
  • an indication device 215 having indicators 215 A and 215 B are only illustrated on the robot arm 211 in FIG. 1 where it has an equivalent configuration to that of the indication device 205 provided on the gripper.
  • the indicators 205 A, 205 B, 215 A, and 215 B of the indication devices 205 and 215 are usable for indicating states, especially operability states, of the robot arms 201 and 211 .
  • the indicators 205 A and 205 B on the robot arm 201 and the indicators 215 A and 215 B on the robot arm 211 are placed adjacent to each other such that the indications may be checked simultaneously as illustrated in FIGS. 1 and 2 .
  • Each of the first indicators 205 B and 215 B of the arms is used for indicating a state of an arm different from the arm where the indicator is provided, while each of the second indicators 205 A and 215 A is used for indicating a state of the arm where the indicator is provided.
  • the different usages of the indicators may allow an operator (especially a supervisor) to watch the tip of one arm to visually recognize not only the state of the arms but also the state of an arm different from the one arm at the same time.
  • each (first indicator) of the indicator 205 B of the robot arm 201 and the indicator 215 B of the robot arm 211 is used for indicating a state of the corresponding one of the robot arm 211 and robot arm 201 different from the arm where the indicator is provided.
  • Each (second indicator) of the indicator 205 A of the robot arm 201 and the indicator 215 A of the robot arm 211 is used for indicating a state of the corresponding one of the robot arm 201 and robot arm 211 where the indicator is provided.
  • the indicator 205 A of the robot arm 201 and the indicator 215 B of the robot arm 211 are turned on (or lighted).
  • the indicator 215 A of the robot arm 211 and the indicator 205 B of the robot arm 201 is turned on.
  • both of the robot arms 201 and 211 are not in the teaching mode, all of the indicators are turned off (not lighted).
  • Such indication control may be implemented through indication control devices 204 A, 204 B, 214 A, and 214 B, which will be described below.
  • the robot control devices 202 and 212 configured to control the robot arms 201 and 211 may be connected to a LAN 230 , for example.
  • the LAN 230 is a local area network configured based on IEEE-802.3 standard or other network standard, for example.
  • information regarding states, especially operability states, of the robot arms 201 and 211 is network-shared over the LAN 230 .
  • indications of the indicators 205 A, 205 B, 215 A, and 215 B are controlled through the indication control devices 204 A, 204 B, 214 A, and 214 B.
  • the information regarding the operability states may be shared by accessing a shared memory space in a Programmable Logic Controller (PLC), not illustrated, connected to the LAN 230 by the robot control devices 202 and 212 , for example.
  • PLC Programmable Logic Controller
  • the information sharing may be allowed by exchange of packet storing information corresponding to the operability states of the arms between the robot control device or over the LAN 230 when the operability state of at least one of the robot arms changes or intermittently.
  • the access to a shared memory space and packet exchange as described above may apply any arbitrary network protocol as required.
  • the robot control devices 202 and 212 are connected to the LAN 230 and are thus allowed to share information (or control information) regarding states of the corresponding robot arms.
  • the indication control devices 204 A and 204 B of the robot control device 202 in FIG. 1 control indications of the indicators 205 A and 205 B, respectively.
  • the indication control devices 214 A and 214 B of the robot control device 212 control indications of the indicator 215 A, 215 B, respectively.
  • Signal lines between these indication control devices and indicators are provided within the robot arms 201 and 211 , for example, as indicated by the broken lines in FIG. 1 .
  • the indication control device 204 A of the robot arm 201 controls the indication of the indicator 205 A in accordance with the operability state of the robot arm 201 as described above.
  • the indication control device 204 B of the robot arm 201 controls the indication of the indicator 205 B in accordance with the operability state of the robot arm 211 different from the robot arm 201 .
  • the indication control device 204 A of the robot arm 201 receives a signal regarding the operability state of the robot arm 201 from the control device 202 and controls the indication of the indicator 205 A.
  • the indication control device 204 B of the same arm receives a signal regarding the operability state of the robot arm 211 transmitted through the LAN 230 and controls the indication of the indicator 205 B.
  • the indication control device 214 A of the robot arm 211 controls the indication of the indicator 215 A in accordance with the operability state of the robot arm 211 as described above.
  • the indication control device 214 B of the robot arm 211 controls the indication of the indicator 215 B in accordance with the operability state of the robot arm 201 different from the robot arm 211 .
  • the indication control device 214 A of the robot arm 211 receives a signal regarding the operability state of the robot arm 211 from the control device 212 and controls the indication of the indicator 215 A.
  • the indication control device 214 B of the same arm receives a signal regarding the operability state of the robot arm 201 transmitted through the LAN 230 and controls the indication of the indicator 215 B.
  • the signals for controlling the indication of the indicators by the indication control devices 204 A, 204 B, 214 A, and 214 B in accordance with the operability states thereof may be servo signals for controlling servomotors in the joints of the robot arms 201 and 211 , for example.
  • all joints of the robot arm may be operated in accordance with a manual operation on the corresponding teaching pendant.
  • servomotors of the joints of the corresponding arm are turned on/off (enable/disable) collectively in many cases.
  • the signals for controlling the indication of the indicators by the indication control devices in accordance with the operability states thereof may be servo signals (or servo control signals such as so-called servo ON signals) for controlling one (or all) of the servomotors of the joints.
  • the signals for controlling the indication of the indicators by the indication control devices 204 A, 204 B, 214 A, and 214 B in accordance with the operability states thereof are servo control signals.
  • the indication control devices 204 A, 204 B, 214 A, and 214 B may be duty ratio (alternatively or further voltage/current) conversion circuits, for example, configured to convert a servo control signal to an indication drive signal which may be input to the indicators of the indication devices 205 and 215 .
  • FIG. 8 illustrates a fundamental configuration of the control system including the robot control device 202 (or 212 ), robot arm 201 (or 211 ), and TP 203 (or 213 ) in FIG. 1 .
  • the control system in FIG. 8 includes a robot control device 2 , a robot arm 1 , and a TP 3 .
  • the robot control device 2 and robot arm 1 in FIG. 8 correspond to the robot control device 202 (or 212 ) and robot arm 201 (or 211 ) in FIG. 1
  • the TP 3 in FIG. 8 corresponds to the TP 203 (or 213 ) in FIG. 1 .
  • FIG. 8 illustrates a LAN 30 as a network corresponding to the LAN 230 in FIG. 1 .
  • FIG. 8 only illustrates the main configurations of the robot control device 2 , robot arm 1 , and TP 3 , and the configurations of the indication system for indication of operability states as described above are omitted (to avoid complexity and improve understanding).
  • a main control unit of the robot control device 2 includes a CPU 501 configured by a general-purpose microprocessor, for example.
  • a ROM 502 storing a program for general control of the robot apparatus, and a RAM 503 usable as a work area for the CPU 501 are connected to the CPU 501 .
  • An external storage device 504 may be provided as a storage device usable for input/output of control data.
  • the external storage device 504 may be a (removable) HDD, SSD, or flash memory, for example, and may be used for input/output of teaching (programming) data for the robot arm 1 and control data for updating a program in the ROM 502 .
  • the components above are connected via an internal bus, not illustrated.
  • the CPU 501 is capable of communicating with the TP 3 through an interface circuit 505 a configured based on an arbitrary interface standard to receive input of an operation state of the TP 3 .
  • the CPU 501 communicates with the LAN 30 through an interface circuit 506 configured based on the network standard and shares information regarding states of robot arms as described above through the LAN 30 .
  • Indication control in the aforementioned configuration will be described with reference to FIGS. 3A to 3D .
  • indication control over the indication device 205 (robot arm 201 ) and indication device 215 (robot arm 211 ) will be described, for example, in a case where the robot arm 201 is subject to a teaching operation.
  • FIG. 3A illustrates a flow (step S 0 to S 4 ) of control in a case where a manual teaching operation is performed on the robot arm 201 .
  • FIG. 3A mainly illustrates operations principally from the TP 203 .
  • the control over the components of the robot arm 201 in response to operations in steps (S 0 to S 4 ) is executed by the CPU 501 ( FIG. 8 ) in the robot control device 202 .
  • a control program to be executed by the CPU 501 therefor may be stored in the ROM 502 in FIG. 8 , for example.
  • FIGS. 3B and 3C illustrate indication states of the indication devices 205 and 215 on the robot arms 201 and 211 in correspondence with the steps (step S 0 to S 4 ) in FIG. 3A .
  • the lighting states of the indicators 205 A, 205 B, 215 A, and 215 B in the indication devices 205 and 215 are indicated by broken lines.
  • FIG. 3D illustrates changes of a servo control signal (left side) and an indication drive signal (right side) in steps S 0 to S 4 in FIG. 3A .
  • the indication states of the indicators in the indication devices 205 and 215 are acquired by generating indication drive signals by the indication control devices 204 A, 204 B, 214 A, and 214 B, for example, based on servo control signals that vary in accordance with the teaching operations in FIG. 3A .
  • a servo control signal is used as in this embodiment, when a robot arm is controlled into a teaching mode, the servo control signal for the arm is controlled into a servo ON state.
  • the duty ratio conversion (or timing conversion) in the indication control devices 204 A, 204 B, 214 A, and 214 B is basically not necessary as illustrated in FIG. 3D .
  • These indication control devices 204 A, 204 B, 214 A, and 214 B may be configured to perform a necessary voltage or current conversion, for example.
  • step S 0 Upon start of a teaching operation in FIG. 3A (step S 0 ), no teaching operation has been performed yet. Thus, servo control signals for the robot arms 201 and 211 are servo OFF. As illustrated in FIGS. 3B and 3C , all indicators 205 A, 205 B, 215 A, and 215 B on the robot arms 201 and 211 have a light-off state.
  • an operator performing the teaching operation changes the robot arm 201 to the teaching mode from the TP 203 (step S 1 ).
  • the robot control device 202 changes the servo control signal for the arm to a servo ON state in order to shift the robot arm 201 to the teaching mode.
  • the indicator 205 A is turned on (light-on state) through the indication control device 204 A.
  • the teaching mode (such as a state of the servo control signal) of the robot arm 201 is transmitted to the robot control device 212 in the robot arm 211 through the LAN 230 .
  • the robot control device 212 supplies a signal based on the servo control signal of the robot arm 201 to the indication control device 214 B to generate an indication drive signal and thus turn on (light-on state) indicator 215 B.
  • the robot arm 211 here is not in the teaching mode and has a servo OFF state. Through the reverse control steps to the steps above, the indicator 205 B and indicator 215 A are controlled into a light-off state (the same is true below).
  • the robot control device 202 holds the servo control signal for the robot arm 201 in a servo ON state through the indication control device 204 A, and the indicator 205 A keeps its light-on state. Because this state is continuously being transmitted to the robot control device 212 , the indicator 215 B keeps its light-on state through the indication control device 214 B. Because the robot arm 211 has not been shifted to the teaching mode yet and has a servo OFF, the indicator 205 B and indicator 215 A keep their light-off states through the reverse control steps to the steps described above.
  • the robot control device 202 changes the servo control signal to a servo OFF state.
  • the indicator 205 A is turned off (light-off state) through the indication control device 204 A. Because this state is continuously transmitted to the robot control device 212 , the indicator 215 B is turned off (light-off state) through the indication control device 214 B.
  • the indicators 205 B and 215 A still have a light-off state.
  • all of the indicators hold their light-off state.
  • the indication devices 205 and 215 each having an indicator configured to indicate a state of an arm and an indicator configured to indicate a state of an arm different from the arm are provided near tips of the juxtaposed robot arms 201 and 211 .
  • the indicators 205 A, 205 B, 215 A, and 215 B in the indication devices 205 and 215 may be easily visually recognized especially by a supervisor without requiring to move his or her line of sight greatly. Therefore, the supervisor is allowed to easily and simultaneously check not only a robot arm that he or she is gazing at but also a state, especially an operability state, of the other juxtaposed arm.
  • the supervisor is allowed to immediately recognize the switching. Therefore, the supervisor may take a necessary measure such as performing an avoiding behavior and may concentrate on a job without anxiety. Furthermore, an advantageous effect is also provided that states of the robot arms may be checked highly efficiently for smooth job handling.
  • indication surfaces of the indication devices 205 and 215 each including an indicator configured to indicate a state of the specific arm, and an indicator configured to indicate a state of another arm different from the specific arm, are provided substantially on all circumference of a tip part of the robot arm.
  • This structure may be implemented by ring-shaped indication surfaces of the indication devices 205 and 215 as illustrated in FIG. 2 .
  • This structure allows a supervisor in particular to easily visually recognize an indication state of the indication device 205 at any position near the robot arm 201 .
  • the structure does not change even when joints of the robot arm 201 are controlled into any attitudes and even when the gripper tip 2011 b and finger 2011 a are driven to pivot in any manner.
  • an operator is allowed to check the state of the specific arm, and the state of another arm different from the specific arm, with high visibility and to smoothly and efficiently execute teaching operations on the robot apparatus without anxiety.
  • an indication device (such as the indication device 205 ) provided at one robot arm may include an indicator which indicates a state of the arm (the indicator 205 A) and indicators which indicates states of the other arms different from the arm where the number of the indicators is equal to the number of arms.
  • the indication device 205 includes the indicator 205 A which indicates a state of the arm and indicators 205 B, 205 C, 205 D . . . which indicate states of the other arms different from the arm.
  • sharing information regarding states of the robot arms juxtaposed over a network for example, as described above allows an indication device at a tip part of one specific arm thereof to indicate states of the other arms different from the specific arm.
  • the configuration in which the indication devices 205 and 215 having an indicator which indicates a state of one arm, and an indicator which indicates a state of another arm different from the arm, are provided in a tip part of a specific arm may be implemented independently of the arrangement of the robot control devices and TPs.
  • the configuration of the present invention may also be implemented in a configuration in which one group of robot control devices and TPs is provided for two robot arms and a teaching operation is performed on the arms by using a switch for switching a target of the teaching operation.
  • the indication state of one indicator in the indication devices 205 and 215 may be changed in accordance with the selection state of the target arm of a teaching operation which is controlled by operating the switch for changing the teaching operation target.
  • the indication state of an indicator in the indication devices 205 and 215 on an arm selected (or unselected) as a teaching operation target may be caused to flash or change its indication color. Under this control, an operator is allowed to grasp, securely and in a stepwise manner, states from a change of the teaching operation target to a shift of a specific arm into the teaching mode.
  • a robot arm arrangement unit may sometimes be called a “cell unit”.
  • a unit having a plurality of such cell units adjacent to each other may sometimes be called a “station”.
  • the robot arms 201 and 211 may be arranged to be configured as one cell unit as described above and may be taught to perform some type of assembly or processing steps, for example.
  • an indication device ( 205 , 215 ) has an indicator ( 205 B, 215 B . . .
  • the indicator ( 205 B, 215 B . . . ) is not always required to indicate a state of a different arm included in the same arrangement unit such as a cell unit and a station.
  • the indicator ( 205 B, 215 B . . . ) which indicates a state of a different robot arm may be configured to indicate a state of an arm included in a different cell unit or station from the one to which the arm belongs, whether the arms are adjacent or are separated or not.
  • each of the indication surfaces of the indication devices 205 and 215 are provided substantially on all the circumference of a tip part of a robot arm, they may be provided on a surface (only) where an operator may visually recognize most in accordance with, for example, a typical standing position of the operator.
  • the indication devices 205 and 215 may be provided over a half circumference of an inner side (or outer side) of a robot arm from the viewpoint of a manipulator or a supervisor at a typical standing position.
  • the indication surfaces of the indication devices 205 and 215 may be provided over at least substantially half (or more) of the circumference of one side of a tip part of the robot arms. This achieves a major part of the operation effect that an operator may easily grasp states of a robot arm, and a robot arm different from the arm irrespective of the position/attitude of the robot arm.
  • the indication devices 205 and 215 are provided on the gripper 2011 provided as a tool for handling an object in a tip part of a robot arm.
  • the tool having the indication devices 205 and 215 is not limited to such a gripper (hand), but indication devices equivalent to the indication devices 205 and 215 may be provided on any arbitrary tool (or end effector) provided in a robot arm.
  • Indication devices equivalent to the indication devices 205 and 215 may not have to be provided on a tool or an end effector but may be provided on one link configured near a tip part of a robot arm, for example.
  • a servo control signal may be used for indicating states of robot arms by the indication devices 205 and 215 .
  • other signals usable in a robot apparatus may be used for indication of states of robot arms.
  • a brake drive signal which drives a brake for controlling an operation of a joint of a robot arm may be used to generate an indication drive signal for an indication device, for example.
  • a robot arm may have a brake at a driving axis of a servomotor for each rotary joint as a drive unit for maintaining the joint at its position against gravity when a driving power supply for the servomotor for each rotary joint is shut down.
  • This type of brake may be a released-on-excitation type brake, for example.
  • the released-on-excitation type brake operates to brake and hold an output axis of a servomotor without excitation, and releases the output axis of the servomotor with excitation.
  • the brake is unexcited immediately after a robot apparatus is powered on, and a driving axis of a servomotor for a robot arm is therefore braked, and the robot arm is held at its position/attitude.
  • each brake is excited and is driven to release the driving axis of the servomotor for each joint.
  • states of the joints may be controlled freely from the servomotors.
  • a brake control signal for controlling a brake provided at a joint of the robot arm may be converted to generate an indication drive signal for an indication device which indicates a state of a specific arm, and a state of another arm different from the arm.
  • FIGS. 4 and 5 illustrate a configuration of a robot apparatus according to this embodiment in the same form as that of FIG. 1 .
  • FIGS. 4 and 5 are different only in a wiring scheme applied in a control system in an indication device using the brake control signal, and like numbers refer to like parts in FIGS. 4 and 5 .
  • Reference numerals of 300s are used in FIGS. 4 and 5 instead of 200s in FIG. 1 , and parts referred by numerals having like lower two digits are identical or like parts in FIG. 1 and FIGS. 4 and 5 .
  • a robot apparatus 300 in FIGS. 4 and 5 includes robot arms 301 and 311 which are juxtaposed with each other.
  • Indication devices 305 and 315 corresponding to an operability indication unit include indicators 305 A, 305 B, 315 A, and 315 B placed at equivalent positions to those in FIG. 1 in tip parts of the robot arms 301 and 311 .
  • the configuration around a gripper having the indication devices 305 and 315 is substantially the same as the one illustrated in FIG. 2 , and the arrangement structure of the indicators 305 A, 305 B, 315 A, and 315 B may be the same as the indicators 205 A, 205 B, 215 A, 215 B in FIGS. 1 and 2 .
  • the robot arms 301 and 311 have respectively corresponding robot control devices 302 and 312 , and TPs 303 and 313 are connected to the corresponding robot control devices.
  • the indication control over the indicators 305 A, 305 B, 315 A, and 315 B in the indication devices 305 and 315 are performed by the indication control devices 304 A, 304 B, 314 A, and 314 B.
  • the indicators 305 A and 315 A which indicate a state of an arm having the indication device 305 or 315 are controlled by indication control devices 304 A and 314 A.
  • the indication control devices 304 A and 314 A convert brake control signals for brakes 309 K and 319 K (one of which provided in one joint of the arms is only illustrated) to indication drive signals for the indicators 305 A and 315 A.
  • the brake control signals are extracted from brakes 309 K and 319 K provided in joints close to tips of the robot arms 301 and 311 .
  • the extracted brake control signals are connected to the indication control devices 304 A and 314 A provided within the robot arms 301 and 311 .
  • brake control signals are derived from brakes provided in joints close to tips of the robot arms 301 and 311 to outside of the joints and are connected to the indication control devices 304 A and 314 A provided outside of the link of the robot arms 301 and 311 .
  • the wires from the indication control devices 304 A and 314 A to the indicators 305 A and 315 A are connected through arms in FIG. 4 and through outside of the arms in FIG. 5 .
  • FIG. 4 and FIG. 5 are different in the layout of the indication control devices 304 A and 314 A and the wiring.
  • the indication control devices 304 B and 314 B which perform indication control over the indicators 305 B and 315 B in the indication devices 305 and 315 are provided closely to the robot control devices 302 and 312 like the indication control devices 204 B and 214 B in FIG. 1 .
  • the robot control devices 302 and 312 may be configured in the same manner as those illustrated in FIG. 8 as described above.
  • Information regarding states of the robot arms is shared through a LAN 330 like the first embodiment.
  • states of brake control signals for the brakes 309 K and 319 K ( FIG. 4 ) may be shared through the LAN 330 , and the indication control devices 204 B and 214 B perform indication control over the indicators 305 B and 315 B in accordance with the shared state of the brake control signal for the other arm.
  • FIG. 6 is a block diagram illustrating a configuration of an indication control system applying the brake control signals.
  • the robot arm 301 in FIG. 6 includes servomotors 307 a to 307 f for six joints (six axes: J 1 to J 6 ), and operations of the servomotors are controlled by the robot control device 302 through the driver 306 a to 306 f , respectively.
  • a brake 308 e in FIG. 6 corresponds to the brake 309 K in FIG. 4 .
  • a brake control signal for the brake 308 e is input to the indication control device 304 A and is converted to an indication drive signal for the indicator 305 A.
  • a state of the brake control signal is shared through the LAN 330 and is input to the indication control device 304 B through the robot control device 302 .
  • the robot arm 311 side, not illustrated in FIG. 6 has the same configuration as that of the robot arm 301 side.
  • FIGS. 7A to 7D illustrate indication control in the configuration in the same manner as in FIG. 3 according to the first embodiment.
  • FIG. 7A illustrates a flow (step S 0 to S 5 ) of control for performing a manual teaching operation on the robot arm 301 .
  • FIG. 7A principally illustrates an operation from the TP 303 .
  • Control over the components of the robot arm 301 in accordance with the steps (S 0 to S 5 ) of the operation is executed by a CPU 501 ( FIG. 8 ) in the robot control device 302 .
  • a control program for the CPU 501 therefor may be prestored in a ROM 502 in FIG. 8 , for example.
  • FIGS. 7B and 7C illustrate indication states of the indication devices 305 and 315 on the robot arms 301 and 311 corresponding to the steps (step S 0 to S 5 ) in FIG. 7A .
  • FIGS. 7B and 7C light-on and flashing states are illustrated by using a shaded pattern and so on for the indicators 305 A, 305 B, 315 A, 315 B in the indication devices 305 and 315 .
  • FIG. 7D illustrates changes of a brake control signal (left side) and an indication drive signal (right side) in steps S 0 to S 5 in FIG. 7A .
  • the indication states of the indicators in the indication devices 305 and 315 are acquired by generating indication drive signals by the indication control devices 304 A, 304 B, 314 A, and 314 B, for example, based on brake control signals that vary in accordance with the teaching operations in FIG. 7A .
  • a brake control signal is changed to a state in which the corresponding brake is energized intermittently. After that, when the robot arm is shifted to the teaching mode, the brake control signal is shifted to an ON state in which the corresponding brake is energized.
  • the brake control signal for energizing a brake intermittently has a duty ratio selected such that all of the brakes are not released, for example (such as 1 to several tens KHz).
  • the indication control devices 304 A, 304 B, 314 A, and 314 B perform a duty ratio conversion based on a division ratio, as illustrated in the left side to the right side of FIG. 7D .
  • indication drive signals are acquired which turn the indicators 305 A, 305 B, 315 A, and 315 B ON/OFF at a frequency (such as 1 to several Hz) that allows an operator to visually recognize.
  • a brake drive signal of pulse width modulated (PWM) waves in a duty ratio region where a brake is not released is frequency converted and is usable as an indication drive signal for flashing.
  • PWM pulse width modulated
  • step S 0 when a teaching operation starts (step S 0 ), the brake control signals for the robot arms 301 and 311 have a duty ratio of 0%.
  • FIGS. 7B and 7C all indicators 305 A, 305 B, 315 A, and 315 B on the robot arms 301 and 311 are controlled into a light-off state.
  • the brake control signal has a duty ratio of 10%.
  • the brake control signals are converted to indication drive signals through the indication control devices 304 A and 314 B, and the indicator 305 A and indicator 315 B start to flash ( FIG. 7D ).
  • the robot arm 311 is not selected as a teaching target, and the indicator 305 B and indicator 315 A are controlled so as to keep their light-off states.
  • the indication states of the indicators 305 B and 315 B are controlled by using brake control signals shared through the LAN 330 .
  • the robot control device 302 in response to it changes the brake control signal for the arm to an energized state with a duty ratio of 100%.
  • brakes for the robot arm 301 are changed to a release state.
  • the indicators 305 A and 315 B change their indication states from flashing to lighting up (light on state).
  • the indicators 305 B and 315 A are still controlled so as to keep their light off states.
  • the brake control signal is kept with a duty ratio of 100%.
  • the indicators 305 A and 315 B keep their light-on state, and the indicators 305 B and 315 A keep their light-off state.
  • the brake control signals return to a duty ratio of 0%, and the indicators 305 A, 305 B, 315 B, and 315 A return to a light-off state.
  • This embodiment also has the same operation effect as that of the first embodiment regarding a structure having an indication device including an indicator which indicates a state of a specific arm and an indicator which indicates a state of another arm different from the specific arm.
  • the following operation effect may also be expected according to this embodiment.
  • wiring is required for transmitting indication drive signals for the indicators 205 A and 215 A, which indicate states of the arm on which the indication devices 205 and 215 are provided, to a tip part of the arm through the inside of the robot arms 201 and 211 and inside of the joints.
  • brake control signals for controlling brakes in joints of the robot arms 301 and 311 are used to generate indication drive signals for the indicators 305 A and 315 A which indicate states of the arms on which the indication devices 305 and 315 are provided.
  • this embodiment may only require wiring of a signal line for brake control signals, or indication drive signals generated by converting the brake control signals, from a part near a joint close to an arm tip part to an arm tip part where the indication devices 305 and 315 are provided, for example. Therefore, at least one of signal lines necessary for indication control over the indication devices 305 and 315 may be shorter than that of the first embodiment.
  • the indicators 305 A and 315 A in the indication devices 305 and 315 indicate states of the arms where they are provided, their indications are highly important. According to this embodiment, the possibility of broken signal lines for indicators 305 A and 315 A whose indication are highly important may be reduced, greatly improving their reliability.
  • a signal system for indication control may be provided outside an arm.
  • signal lines for the indicators 305 A and 315 A include brake control signals in leads that leave from joints of arms and are connected to the indication control devices 304 A and 314 A mounted to one link, from which indication drive signals are transmitted through outside of the arms.
  • the signal lines for indication drive signals transmitted from the indication control devices 304 B and 314 B to indicators 305 B and 315 B also extend outside the arms.
  • An indication system which indicates states of an arm on which it is provided, and another arm, may be wired outside of the robot arms for higher ease of maintenance.
  • the configuration in which a signal system for an indication system, which indicates a state of an arm or another arm, is wired outside the arm as illustrated in FIG. 5 may relatively easily address a case where an indication system is added to a robot apparatus which does not have such an indication system originally.
  • the configuration in which a signal system for an indication system is wired outside of arms, as illustrated in FIG. 5 allows a tool to be detachably mounted to a robot arm, for example, with low constraint regarding connectors and electrodes for a signal system.
  • the configuration in FIG. 5 also allows a tool without an indication system, which indicates a state of an arm where it is provided or another arm, to be detachably mounted, for example, with relatively easier commonness in connector and pin arrangement for a signal system.
  • a first indicator provided in a tip part of a robot arm is capable of indicating a state of another robot arm different from the robot arm.
  • a supervisor concentrating on an operation on the robot arm is allowed to easily recognize a state of the other robot arm simultaneously without moving his or her line of sight. Therefore, according to the present invention, the supervisor is allowed to take a necessary avoiding behavior by easily recognizing a shift to a teaching mode of an arm different from an arm at which he or she is gazing at, for example.

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US10625423B2 (en) * 2016-10-19 2020-04-21 Component Aerospace Singapore Pte. Ltd. Method and apparatus for facilitating part verification
US20180104818A1 (en) * 2016-10-19 2018-04-19 Component Aerospace Singapore Pte. Ltd. Method and apparatus for facilitating part verification
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US11793631B2 (en) 2017-02-23 2023-10-24 Edwards Lifesciences Corporation Devices for assisting with heart valve manufacturing
US11065772B2 (en) * 2017-06-23 2021-07-20 Coman S.p.A. Functional assembly for an industrial machine, in particular for a robot, including an operative unit equipped with a safety cover
US11590664B2 (en) * 2018-03-29 2023-02-28 Fanuc Corporation Robot system
US20220250238A1 (en) * 2021-02-10 2022-08-11 Seiko Epson Corporation Robot system
US11820009B2 (en) * 2021-02-10 2023-11-21 Seiko Epson Corporation Robot system

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EP2965874A2 (fr) 2016-01-13
CN105313136B (zh) 2018-12-04
EP2965874A3 (fr) 2016-06-15
JP6440385B2 (ja) 2018-12-19
CN105313136A (zh) 2016-02-10
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JP2015231651A (ja) 2015-12-24
US20180333856A1 (en) 2018-11-22

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