WO2018151317A1

WO2018151317A1 - Movement teaching-reproducing drive system and movement teaching-reproducing drive method for articulated robots

Info

Publication number: WO2018151317A1
Application number: PCT/JP2018/006017
Authority: WO
Inventors: 友樹橋本
Original assignee: 友樹橋本
Priority date: 2017-02-20
Filing date: 2018-02-20
Publication date: 2018-08-23
Also published as: JP7055416B2; JPWO2018151317A1

Abstract

The present invention comprises: a plurality of actuators (A1–A6) for rotatably driving the joints of an articulated robot; an actuator selecting-grouping means for selecting and grouping at least two actuators for performing, in tandem, a series of movements performed by a plurality of moving members; a rotation switch (31) for locking a manipulation part (31a) at prescribed angular intervals; a movement time setting means for setting, for one rotation of the manipulation part, the amount of time required by a series of movements performed by grouped actuations, and setting movement time segments corresponding to the angular intervals at which the manipulation part is locked; rotational angular position setting means (S1–S6) for setting the rotational angular positions of the actuators during each of the movement time segments; a movement storage means (36) for storing the time required by the series of movements, the movement time segments, and a series of movements including the rotational angular positions of the actuators during each of the movement time segments; and a drive control means for continuously performing the series of movements by driving, at the movement time segment intervals, the actuators to rotational drive positions corresponding to the locking positions of the manipulation part.

Description

Motion teaching / reproduction driving system and motion teaching / reproduction driving method for articulated robot

The present invention relates to a motion teaching / reproduction driving system and a motion teaching / reproduction driving method in an articulated robot. More specifically, the present invention relates to a motion teaching / reproduction drive system in a multi-joint robot that can easily set motions in a multi-joint robot and can be operated by combining various motions.

In order to drive an articulated robot such as a humanoid robot, the angle and operating time of each joint are set for each joint and for each predetermined time interval, and each joint is set to the angle for each time interval. It is necessary to operate continuously so that

Conventionally, the operation setting of each joint of the robot has been performed by setting a time interval and a rotational driving amount of each joint corresponding to the time interval using a computer or the like.

Japanese Patent No. 3813102

Normally, in order to set a series of movements such as a robot arm, it is necessary to set two or more rotation angle postures of each joint and a time required for the change of the rotation angle posture. In order to perform a smooth motion, it is preferable to set the time interval required for the posture change to be short and to set the motion angle of each joint per time interval to be small. For this reason, it is necessary to set many postures.

∙ Each joint is often provided with an actuator that is driven to rotate, and the robot is instructed to operate by setting the rotation speed and rotation position of these actuators according to the posture at each time interval. And it is comprised so that the said operation | movement can be reproduced by driving the said actuator continuously to each set angular position.

According to the above-described conventional operation setting method, it is necessary to set each actuator at a rotation angle position for each predetermined time interval, and a great amount of setting work is required. For this reason, much time and labor are required for the setting work.

The above setting work can be performed using a computer, but a computer and a dedicated program are required. In addition, considerable time and effort are required when setting the time and the rotation angle position using the above-mentioned program or the like.

Also, when the computer is used, it is difficult to set the natural movement of the robot in the three-dimensional space because it is necessary to recognize and set the angle and the like numerically. For this reason, it has been difficult to use articulated robots as children's and educational toys.

Also, when an articulated robot is used for a battle game, etc., it is necessary to make settings so that many types of actions can be performed arbitrarily. In order to perform these operations continuously, the above program becomes complicated, and a lot of knowledge and experience are required.

The present invention provides an operation teaching / reproduction drive system for an articulated robot that solves the above-described conventional problems and can easily set the operation of the articulated robot and easily combine a plurality of operations. This is the issue.

The present invention is an operation teaching / reproduction drive system in an articulated robot having two or more joints rotatably connecting a plurality of displacement members. The motion teaching / reproduction drive system according to the present invention is an actuator selection means capable of selecting and grouping a plurality of actuators that rotationally drive each of the joints and two or more actuators that perform a series of movements of a plurality of displacement members. A rotation switch that can lock the operation unit at a predetermined angular interval, and an angular interval at which one rotation of the operation unit can be set as a time required for a series of operation of the grouped actuators and the operation unit is locked Operating time setting means capable of setting a dividing operation time corresponding to each of the operating sections, a rotation angle position setting means capable of setting a rotation angle position of each actuator in a dividing operation time corresponding to each locking position of the operation unit, and the series of operations Required time, the division operation time, and the rotation angle position of each actuator in each division operation time. The operation storage means capable of storing the continuous operation and the actuators are continuously driven at the rotation angle positions corresponding to the locking positions of the operation unit at the divided operation time intervals to continuously perform the series of operations. Drive control means.

The type of robot to which the present invention is applied is not limited. The present invention can be applied not only to a humanoid robot but also to various types of robots having a plurality of joints. Further, the present invention can be applied not only to toys, educational robots, and competition robots but also to industrial robots.

Also, the configuration of the robot is not particularly limited. For example, the present invention can be applied to a robot having a configuration in which a plurality of arm portions are connected by joints that are relatively rotationally driven. Further, the present invention can be applied to a robot including a portion driven in a form other than relative rotation driving. For example, the present invention can be applied to a robot having a drive part that expands and contracts, a robot that emits sound and light, and a robot that includes a display that changes a display image.

In the present invention, a plurality of actuators are grouped, and the operation positions of these actuators are set to the rotation operation positions in the divided time corresponding to the rotation locking positions of the operation unit of the rotation switch. The operation unit is set to a time required for one rotation corresponding to a series of operations of the actuator, that is, a time required for performing a series of operations of a portion driven by the plurality of actuators. The locking position corresponds to the time obtained by dividing the required time by the rotation angle. The series of operations in the present invention refers to operations of a predetermined portion set corresponding to one rotation of the operation unit. The amount of displacement of the predetermined portion performed in the series of operations and the locking angle interval of the operation unit are not particularly limited and can be set as necessary.

¡By making the rotation angle position of the operation part of the rotary switch correspond to the division time of a series of movements, the movement of each joint can be set by easily associating the time setting and the setting of the movement posture. That is, if a series of operation times becomes an angle of rotation of the rotary switch and an operation time for one rotation of the operation unit is set, it is only necessary to change the locking position of the rotary switch and to change the operation of each part in the series of operations. The series of operations can be set without directly setting the time. In particular, until now, in order to set the operation of a plurality of joints, it has been necessary to repeatedly set the rotation angle position of each joint according to time. With the angular position set, the rotational angular positions of the grouped actuators can be set at a time. Therefore, it is possible to teach (set) the operation of the robot without using a computer, and it is possible to teach the operation of the robot without using a computer or dedicated software. As a result, the articulated robot can be used as a toy for children or education.

If one rotation of the operation part of the rotary switch can be set to a predetermined time and the locking angle position of the operation part can be made to correspond to the divided time of the predetermined time, the configuration of the rotary switch is particularly limited. There is no. In addition, the rotation switch can be set on a computer display to set the operation of each joint.

The rotation angle position setting means is not particularly limited as long as the actuator can be set at a predetermined rotation angle position in a state where the operation unit is locked at a predetermined locking position. For example, a volume switch or the like can be installed in the vicinity of the joint, the rotation angle position of the actuator can be set according to the rotation of the volume switch, and the relative rotation angle position of each joint can be set.

Further, a predetermined sensor may be provided at the joint, and the arm or the like may be manually rotated, and the rotational angle position of the actuator may be measured by the sensor, and this may be output and stored as a set value. . The setting can also be performed using an output function such as a rotational position of a servo motor or the like.

The operation storage means includes a group of actuators and a series of operations including the time required for the series of operations of the actuators, the divided operation times, and the rotation angle positions of the actuators in the divided operation times. Configured to be stored as a file. Note that the number of actuators to be grouped is not limited. Further, all actuators constituting the robot can be driven as one group. For example, the rotation angle position of each actuator can be stored as text data. Further, the time required for a series of operations and the division operation time can be fixed.

The operation storage means may be any device that can store information on the series of operations as a file. A memory provided in the drive control means of the robot can be used, or a memory card or the like provided detachably on the robot can be used. It can also be provided in a robot operation device or the like.

The reproduction driving unit reads a file of a series of operations provided in the operation storage unit and drives the actuator. The reproduction driving means includes a power source for driving the actuator, an output device for generating a control signal, and a timer for controlling the driving time.

) When there are a large number of actuators that perform a series of operations, it becomes difficult to grasp the entire movement of a plurality of joints. For this reason, it is provided with a reproduction trial drive means that can drive each actuator based on a signal read from the set file and check the rotation angle position and the like of each actuator during each divided operation time. Is preferred.

For example, it can be configured such that each actuator is operated intermittently at a time interval several times the required time set by the rotary switch, and the rotational angle position of each actuator can be confirmed.

In addition, the reproduction driving means is configured to drive each actuator to a rotational angle position at the locking position of the operation unit, and confirms the operation and posture of each displacement member, and resets the rotational angle position of the actuator. It is desirable to configure so that it can be set or adjusted.

It is possible to perform complex operations by repeatedly performing a predetermined series of operations or by setting different series operations and combining these operations.

The operation storage means can be configured to set and store a plurality of types of series operations using the rotary switch. In addition, it is possible to provide a drive control unit that can repeatedly perform a predetermined series of operations and can continuously perform a plurality of types of selected series of operations.

The drive control unit sequentially reads a predetermined series of operations from the operation storage unit and drives the actuators.

The drive control unit is configured to read predetermined operation information from the operation storage unit in accordance with an operation unit such as a controller or a command of a predetermined program. Further, it is also possible to read out predetermined operation information based on a command from a sensor provided in the robot or the like.

The drive control means may include a plurality of and / or operation connecting means for continuously performing the same series of operations. The operation connecting means can be set to repeatedly perform a predetermined operation, or can read out and connect different series of operations based on the predetermined command described above, and can continuously perform the operations.

Further, when a plurality of groups of two or more actuators are provided, the drive control means can be configured to allow a series of operations of actuators belonging to two or more different groups to be performed in parallel.

The drive control means can be configured to read out the operation information from the action storage means and automatically execute it by a program that describes a preset procedure, or it is operated by a person who operates the robot. Based on a signal emitted from the operation means or the like, it is possible to read out necessary operation information from the storage means. It is also possible to configure such that priority is set for these signals and an operation based on a different signal is interrupted during the operation.

For example, it is possible to select two or more groups that perform a predetermined series of operations by instructing the drive control unit, and it is possible to employ an operation unit that performs a predetermined series of operations in each group.

The configuration of the operation means is not particularly limited. For example, a controller that can be operated with fingers can be adopted, or a voice recognition device or the like can be adopted to read and execute predetermined operation information from a voice signal. In addition, a program for performing a plurality of series operations in a predetermined order may be provided in the storage unit or the drive control unit.

In addition, a sensor capable of detecting external information or internal information that affects the above-described series of operations may be provided, and predetermined operation information may be read based on the information detected by the sensor, and the series of operations may be performed. it can.

For example, when a robot falls, a sensor that can generate fall information is provided, and a series of actions for stopping the robot and standing up the robot are stored based on the fall information generated from the sensor. It can be configured to read from the means.

In addition, when each actuator of the robot cannot be driven to a predetermined rotational angle position due to an inadvertent external force, a sensor that can detect the above-mentioned operation abnormality is provided, and the currently executed sensor is based on information from this sensor. A series of operations may be stopped and a predetermined operation may be performed again.

It is also possible to provide operation changing means capable of changing a series of operations being executed to predetermined operations based on the external information or internal information described above.

For example, when a plurality of series operations are performed, the next series of operations can be replaced with another series of operations based on a predetermined signal.

It should be noted that a series of operations to be executed next can be replaced, or a series of operations being executed can be stopped and replaced with another series of operations.

The present invention can be applied to a robot that can move and move independently, or to an exhibition robot that includes an arm member or the like that holds a main member in a predetermined position and is connected to the main member via a joint. You can also

For example, the arm unit can be configured to include a main body connected via a joint provided with the actuator, and a holding member that can hold the main body in a predetermined position. That is, the robot can be configured to operate with the main body positioned at a predetermined position. Thereby, for example, an exhibition robot or the like can be configured. In addition, a robot that can stand on its own is expensive and requires a high degree of knowledge in setting the operation. However, by providing the above-mentioned holding member and holding the standing state with this holding member, it becomes possible to perform a pseudo-independent walking, and it is easy for children to handle by applying to a toy etc. Can provide a simple robot.

Also, in a robot that performs a walking motion on a belt, the vertical position or horizontal position of the main body varies within a predetermined range according to the walking posture. In order to absorb the displacement, the holding member may include an arm having two or more joints that are rotationally driven by an actuator.

Further, the rod-like member tip can be pivotally connected to the back of the robot, and an operation unit capable of performing various operations can be provided at the base end of the rod-like member. Further, the robot body can be held so as to be suspended from above by the rope member and the hook member. Further, a handle may be provided on the back of the robot, and the robot may be held by this handle.

The part where each of the above means is provided is not particularly limited. For example, it can be provided in an operating means such as a controller provided outside the robot, or can be provided in the robot.

In addition, a control box storing each means for teaching the robot to operate can be detachably connected to the robot body, and can be removed from the robot body and connected to an operation means or the like as needed. You can also. That is, the actuator selection means, the control box provided with the operation time setting means and the rotation angle position setting means can be detachably connected to the main body.

The present invention relates to an articulated robot including two or more joints that rotatably connect a plurality of displacement members, but output means for performing operations other than the rotationally driven actuator can also be provided.

For example, the present invention can be applied to a robot including an actuator that drives a member that does not constitute a joint and is relatively rotated on the same axis, and an actuator that drives the member to expand and contract. Further, the output means for outputting sound, light and the like can be configured to be driven in conjunction with the rotationally driven actuator.

The motion teaching / reproduction method for an articulated robot according to the present invention includes two or more joints that rotatably connect a plurality of displacement members, and an operation teaching / reproduction for an articulated robot comprising an actuator that rotationally drives these joints. It is a driving method.

The motion teaching / reproduction driving method according to the present invention includes an actuator grouping step for selecting and grouping a plurality of actuators that perform a series of operations, and an operation time for performing a series of predetermined operations on the selected actuators. An operation time setting step of setting a divided operation time obtained by dividing the operation time at a rotation angle position at which the operation unit is locked at a predetermined angular interval, and corresponding to one rotation of the operation unit of the rotary switch; A rotation angle position teaching step for setting and storing the rotation angle position of each actuator corresponding to each locking position, setting the operation unit at each locking position, the grouped actuators, and the operation time , A motion for storing the divided operation time and the rotation angle position of each actuator in each divided operation time as a series of operations. A storage step, in correspondence with the division operation time, and the actuator was continuously driven at a predetermined rotational angle position, configured to include a reproduction drive step of causing the sequence operation to the respective joints.

The number of actuators selected in the actuator grouping step is not particularly limited, and a plurality of groups can be set. Also, if they are not reproduced simultaneously, the same actuator can be selected in a plurality of groups. Further, all actuators can be controlled as a group.

The operation time setting step is a step of associating the rotation switch with a timer. The procedure for performing the operation time setting step is not particularly limited. For example, it is possible to set the divided operation time by setting one rotation of the operation unit as a required time for a series of operations and dividing the required time by the rotation angle interval of the operation unit. It is also possible to set a division operation time corresponding to the locking position (rotational angle position interval) of the operation unit so that one rotation of the operation unit is a time required for a series of operations.

The rotation angle position teaching step is a step of setting the rotation angle position of each selected actuator in each divided time corresponding to the locking position of the operation unit. A specific method is not particularly limited. For example, when each actuator is configured to include a servo motor, a predetermined pulse signal is input to each actuator from the input signal generator and set to a predetermined rotation angle position. In addition, when a stepping motor or the like that can manually rotate the rotor and the stator and can maintain the relative rotation position at a predetermined rotation angle position, the displacement member is directly set to a desired attitude, and this attitude It is also possible to store a signal output from the rotation position (the number of rotations, etc.) of the stepping motor corresponding to.

In the present invention, it is possible to set the operation while visually confirming the actual posture of each displacement member displaced at a predetermined time interval. For this reason, it is possible to easily set a desired operation and to perform a continuous operation with a good appearance.

The method for performing the operation storage process is not particularly limited. For example, a file for storing the operation information can be generated in a memory or the like, and the operation information can be sequentially stored in the file. In addition, an area of a predetermined file format is provided in a memory or the like, and operation information set by a predetermined procedure can be sequentially stored and stored as a file after the setting is completed.

In the reproduction driving step, the actuators are continuously driven at the time intervals set in the operation time setting step to operate the displacement members. In the reproduction driving step, each actuator can be driven by reading a predetermined file based on command information generated from the operation means or the like, or driving information generated from a sensor or the like provided in the robot. It is also possible to create a program for reading a predetermined file, and to read and execute a required program sequentially based on the program.

It is also possible to configure the actuators belonging to a predetermined group to include a composite operation setting step for setting the same series of operations and / or a plurality of types of series operations to be performed continuously. For example, in a walking motion, it can be set to repeat a series of motions of a predetermined actuator. In order to repeat the above-described series of operations, the operation file may be read continuously, or the repetition operation may be set to be stored in advance as a file.

Also, it can be configured to include a parallel operation setting step of operating the actuators belonging to the plurality of groups in parallel. For example, it is possible to set and drive the hand movement and the leg movement in parallel.

It can be configured to stop the operation being executed and perform another series of operations based on a predetermined signal during a predetermined divided operation time for driving the actuator.

The predetermined signal can be configured to be generated based on external information or internal information. For example, during a predetermined operation, another series of operations can be executed based on a signal generated by the operation means. For example, when the robot falls down, a sensor or the like may be provided in the robot so that the operation of returning to a predetermined posture based on the fall information can be automatically performed.

According to the present invention, it is possible to provide an articulated robot capable of easily setting the operation of the articulated robot and easily combining a plurality of operations.

It is a figure which shows the outline | summary of the robot with which this invention is applied. It is the schematic of the apparatus structure of this invention. It is a figure which shows the structure of a drive control means. It is a flowchart of a teaching process. It is a figure which shows the operation procedure of a rotation switch. FIG. 6 is a diagram showing the posture of the robot for each divided time based on the operation of the rotary switch shown in FIG. 5. It is a flowchart of a reproduction drive process. It is a figure which shows an example of the data file which described a series of drive operation data in the text format. It is a figure which shows an example of the data file in the case of performing several drive operation | movement continuously. It is a figure which shows 2nd Embodiment. It is a figure which shows 3rd Embodiment. It is a figure which shows 4th Embodiment. It is a figure which shows 5th Embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. In the present embodiment, the present invention is applied to a biped robot. In the present embodiment, an embodiment in which the present invention is applied to the operation of the left and right lower limbs is shown. It should be noted that the present invention can be applied to operations involving other joints and combined operations of the upper and lower limbs.

As shown in FIG. 1, the robot 1 according to the embodiment includes a trunk (main body) 2, an upper limb 3, a left lower limb 4, a right lower limb 5, and a head 6. . The upper limb 3 and the

lower limbs

4 and 5 are configured to include a plurality of displacement members. Although only the left upper limb 3 is shown in FIG. 1, it is actually configured with the right upper limb. Moreover, in this embodiment, the said trunk | drum 2 is comprised as a main-body part.

The upper limb 3 includes an upper arm 3a, a forearm 3b, and a hand 3c as displacement members. The displacement members are connected to each other through

uniaxial joints

13a, 13b, and 13c. The

joints

13a, 13b, and 13c are configured to be rotationally driven by built-in

actuators

23a, 23b, and 23c. ing.

The left leg part 4 includes a thigh part 4a, a leg part 4b, and a foot part 4c as displacement members. The displacement members are connected to each other through

uniaxial joints

14a, 14b, and 14c, and the

joints

14a, 14b, and 14c are configured to be rotationally driven by built-in actuators A1, A2, and A3. ing. Similarly, the right leg part 5 includes a thigh part 5a, a leg part 5b, and a foot part 5c as displacement members. The displacement members are connected to each other through

uniaxial joints

15a, 15b, and 15c, and the

joints

15a, 15b, and 15c are configured to be rotationally driven by built-in actuators A4, A5, and A6. ing.

Control means 32 for driving each actuator is provided on the back surface of the body 2. The control means 32 is configured to control and drive the actuators with electric power supplied from a battery or a power source (not shown).

FIG. 2 shows a schematic block diagram of the motion teaching / reproduction driving system 100 in the articulated robot according to the present invention. FIG. 2 shows a system that teaches the operation to the

lower limbs

4 and 5 and reproduces and drives the system.

The motion teaching reproduction drive system 100 includes the control means 32 for driving and controlling the actuators A1 to A6, a power source 39 for supplying power to the control means 32, a series action setting button 33 for setting the taught series actions, A reproduction trial switch 35 for performing a series of operations after teaching, a device 34 for selecting and driving or editing a predetermined operation, a sensor 40 for generating a predetermined signal in the case of a fall, and a signal for each actuator Volume switches S1 to S6 which are given and set to a predetermined rotation angle, storage means 36 for storing a set of set operations, and an operation for generating a predetermined signal and outputting it to the control means 32 to perform a desired operation And a controller 37 as means.

The above display can be used for various settings. As the display 38, an independent display can be adopted, or a display attached to the control means 32 can be adopted. Switches other than the controller 37 can be provided attached to the control device 32, or can be provided in a predetermined part of the robot body.

The rotation switch 31 includes an operation unit 31a that can be locked at a predetermined angular interval. As will be described later, the time required for a series of operations of a plurality of actuators in which one rotation of the operation unit 31a is grouped. And a division operation time corresponding to the angular interval at which the operation portion 31a is locked can be set.

The storage means 36 is used to store a series of operations set using the rotary switch 31, the timer 48 provided in the control means 32, and the volume switches S1 to S6 in association with time. The storage means 36 can be provided in the control means 32, or a removable memory card or the like can be adopted. Further, the description format in the storage means 36 is not particularly limited. For example, as shown in FIG. 8, the drive angles a11 to d16 of the actuators A1 to A6 in the above series of operations are described as text data and stored as files on the memory card or the like. The memory card can be configured to read data as necessary. For example, the control means 32 can read the data shown in FIG. 8 for each row and drive the actuators. Also, a plurality of operation files (101 to 10n) shown in FIG. 8 are sequentially arranged as shown in FIG. 9, and the plurality of operation files are sequentially read, and a plurality of series operations are continuously performed. You can also The operation file can be created using a text editor of a computer computer or the like and stored in a memory card or the like.

The control means 32 includes a microcomputer, and drives each actuator based on a predetermined program or a predetermined signal.

As shown in FIG. 3, the control means 32 includes an actuator selection grouping means 42, an operation time setting means 43, a drive control means 44, a reproduction trial means 45, an action pattern file connection means 46, The rotation angle position changing means 47 and a timer 48 are provided.

The actuator selection grouping means 42 is for selecting and grouping actuators to be subjected to a series of operations. The actuators belonging to a predetermined group can be set in advance, or the actuators can be set on the display 38. And desired actuators can be selected and grouped.

The operation time setting means 43 is a means for setting a predetermined series of operations in association with time using the rotary switch 31 and the timer 48. The operation time setting means 43 sets one rotation of the rotary switch as a series of operation times of actuators belonging to a predetermined group, and sets a division operation time of the series of operations at the rotation angle position of the operation unit 31a. . The operation time setting means 43 manages and sets the operation time and the divided operation time in cooperation with the timer 48.

The drive control means 44 drives actuators that drive the joints. In this embodiment, a servo motor is employed as the actuator, and required power and pulse signals are supplied to each actuator. The power and pulse signals are generated based on signals read from a series of operation files stored in the storage means 36.

The reproduction trial moving means 45 is a means for confirming whether or not the set rotation angle position of the actuator is appropriate. For example, after the setting of a series of operations for a predetermined group is completed, the posture at each division time can be sequentially reproduced and confirmed using the reproduction trial button 35. By providing the reproduction trial moving means 45, the set operation can be visually confirmed and corrected. The configuration of the reproduction trial moving means 45 is not particularly limited. For example, each actuator can be configured to be driven to each rotational angle position in the locking position by rotating the operation unit to each locking position. Moreover, it can also be configured to continuously drive at intervals longer than the operation time.

The operation pattern file connection means 46 is a means for controlling to repeatedly perform the operation of one operation file stored in the storage means 36 or to continuously perform the operation of a plurality of operation files. . The repeated execution of the operation pattern file or the continuous execution of a plurality of types of operation pattern files is executed based on a preset program or a signal sent from the operation means 37 or the like. In order to select and execute the operation file stored in the storage means 36, an execution operation setting button is used. In the present embodiment, three

buttons

34a, 34b, and 34c are provided, and these buttons are combined so that a file to be executed can be selected and set.

The operation pattern file changing means 47 is a means for changing to an operation of another operation pattern file during the operation of the operation pattern file being executed.

For example, when a robot that walks on its own falls, the scheduled operation can be changed based on a signal from the operation means or a signal from the fall sensor 40 provided in the robot. Further, when a fall signal or the like is detected, the operation being executed can be stopped, and the standing operation file stored in advance in the storage means can be executed.

The timer 48 sets the operation time of the rotary switch as described above, and is used for drive control in the drive control means 44.

Specific operation setting procedure of the operation teaching / reproduction system having the above configuration will be specifically described with reference to a flowchart.

As shown in FIG. 4, actuators to be grouped are selected (102). The selection of the actuator can be configured such that the actuator is displayed on the display and can be selected. Further, the execution operation setting buttons 34a to 34c can be used for selection. In addition, a predetermined actuator can be set in advance so as to belong to a predetermined group.

Next, the operation time of one rotation of the rotation switch 31 is set (S103). The operation time of one rotation of the rotary switch can be set using the display, or can be set in advance on the rotary switch itself. The operation portion 31a of the rotary switch 31 according to the present embodiment is configured to be able to be locked every 90 degrees, and when the operation time of one rotation is set, the operation portion 31a is set to the locking position of the operation portion 31a. The corresponding divided operation time is set to one quarter of the operation time (S104). The series of operation times is preferably set to about 1 to 10 seconds. Further, the angular interval between the locking positions is not particularly limited.

The operation unit 31a of the rotation switch 31 is set to the initial rotation position (S105), and the rotation angle position of each selected actuator is set. In this embodiment, as shown in FIGS. 5 and 6, the actuators A1, A2, A3, A4, A5 constituting the joints of the left and right lower limbs with the pointer of the operation unit 31a of the rotary switch 31 set to I. , A6 is set to the state shown in FIGS. 6 (1a) and (1b). First, the operation setting button 33 is operated to set the operation setting mode. In the operation setting mode, each actuator in the selected group is set.

In the present embodiment, as shown in FIG. 5, while the pointer 3b of the operation unit 31a is set to the scale I, the foot 5c of the right lower leg is grounded to the ground (1a in FIG. 6), while the left foot The volume switches S1 to S6 are operated to set the rotation angle position of each actuator so that 4c is separated from the ground (1b in FIG. 6) (S106 to 108).

After setting the posture in the first divided operation time, as shown in (2) of FIG. 5, the operation unit 31a is rotated 90 degrees clockwise, and the posture teaching mode in the second divided operation time is set. Set to. By rotating the operation portion 31a to the next locking position, the rotation angle position of each actuator in the first division time is temporarily stored in the storage means 36 or a memory provided in the control means. (S109).

Next, the volume switches S1 to S6 are operated to drive the actuators in the second divided operation time, and the postures of the displacement members are set to the rotation angle positions shown in 2a of FIG. 6 and 2b of FIG. To do.

Similarly, as shown in FIGS. 5 (3) and 5 (4), the operation unit is rotated to the third sequential locking position, and the rotation switches of the actuators are operated by operating the volume switches S1 to S6. The position is set so that the displacement member has the posture shown in 3a in FIG. 6, 3b in FIG. 6, 4a in FIG. 6, and 4b in FIG. 6 (S106 to S110). After the setting of the series of movement postures of the left and right lower limbs is completed (Y in S110), by operating the movement setting button 33, a movement pattern file of the series of movements is generated in the storage means 36 (S112). ).

Next, in order to confirm whether or not the series of operations stored in the operation pattern file have been properly set, an operation pattern file reproduction trial step is performed in which the actuators are sequentially operated in a posture corresponding to the division operation time. (S113). The reproduction trial movement step is performed by pressing the trial movement switch 35 to set the trial movement mode and rotating the operation body 31a to a predetermined locking position.

If correction is necessary in the above-described reproduction trial movement process (Y in S114), the operation setting mode is returned to, and the operation part of the rotary switch is set to a locking position that requires correction (S111), and the actuator that needs correction is selected. Reset the rotation angle position.

After correction is not necessary or is finished (N in S114), an operation pattern file is generated and stored in the storage means 36 (S115). The operation pattern file may be configured to be sequentially generated when the setting is performed, or may be set in advance using a computer or the like.

Thereafter, the above-described setting process is repeated (N in S116). After all the operation patterns are set (Y in 116), a predetermined operation pattern is combined and connected as necessary, or the operation is set to be repeated (S117). By performing the above steps, a series of operations of the actuator is set.

Next, a reproduction driving process for reproducing the operation set as described above will be described with reference to FIG.

In the present embodiment, the robot 1 is operated based on a controller 37 as an operation means, a preset operation file read program, and a signal from the fall sensor 40.

First, a group for performing a series of operations is selected (S202), and a series of operations to be performed by this group is selected (S203).

After the selection of the group and the series of operations is completed, the operation is started (S205). The above operation is executed by reading the operation pattern stored in the storage means 36 at time intervals set by the rotary switch 31 (S206 to S209). Specifically, each actuator is driven to a posture corresponding to the locking position of the operation body 31a. When the repetitive operation is performed (Y in S210), the above operation is continuously performed. The setting for performing the repetitive operation can be configured to be programmed in advance in the operation means 37 or the like. For example, in order to continuously perform the walking motion, it may be programmed to repeat the motion shown in FIG.

If the repeated operation is not performed (N in S210), a group and an operation pattern for performing a series of operations are selected again, and the same procedure as described above is repeated.

Although not shown in FIG. 7, a fall signal is output from the fall sensor 40 when the robot falls. When this fall signal is generated, even during the series of operations, the series of operations being executed is stopped, and the pattern of the series of operations that rise from the fall state is read out and executed in advance. As a result, the robot 1 can be automatically returned from the overturned state.

FIG. 10 shows a second embodiment of the present invention.

This embodiment is configured such that the robot 200 described above can be walked on a walking machine 50 whose belt is rotated.

The control box 51 is detachably connected to the back of the robot 200, and a holding member 210 that can hold the body 2 in a predetermined position is connected to the control box.

The holding member 210 includes three

arm portions

6a, 6b, and 6c, and includes four

joints

16a, 16b, 16c, and 16d. Each joint incorporates

actuators

26a, 26b, 26c, and 26d composed of the servo motors described above.

The holding member 210 is configured to absorb the front / rear and upper / lower torso of the torso 2 generated in accordance with the walking motion of the robot, thereby allowing the robot to walk on the walking machine. The operation of the holding member 210 is also stored in a storage unit provided in the control box as a series of operations.

The control box 51 also serves as a connecting member for the holding member 210, and can be controlled so that it can be removed from the back of the robot 200 and can walk independently.

By adopting the above configuration, it is possible to easily perform a walking operation, and it is possible to configure another joint robot that can be easily handled for beginners and learners. Further, by removing the control box 51, it is possible to teach and execute a series of operations so as to perform independent walking.

FIG. 11 shows a third embodiment of the present invention.

In the second embodiment, the holding member 210 is fixed to the surface on which the robot operates. In the third embodiment shown in FIG. 11, the tip of the rod-like holding member 337 is attached to the back surface of the main body 2 of the robot 300. The controller 350 is provided on the base end side of the holding member 337.

The controller 350 is provided with setting buttons and operation buttons 351 for setting the operation of the robot 300 and the like, and is gripped with the fingers of the operator, and the body 2 of the robot 300 via the holding member 337. Is provided with a pair of

gripping portions

352 and 353.

The tip of the holding member 337 is connected to the back of the main body of the robot via a universal joint 336a, and a second joint portion 336b is also provided in the middle of the holding member 337. Each of the joint parts is configured to allow the robot to move while holding the robot body in a predetermined position.

With the above configuration, the robot can be operated while the robot 300 is held at a desired position.

FIG. 12 shows a fourth embodiment of the present invention.

In the fourth embodiment, the holding means 447 includes a rope member 447b that can hold and hold the back of the main body of the robot 400 from above, and an elastically deformable hook-shaped member 447a to which the tip of the rope member 447b is connected. Configured. A controller 450 is provided at the base end of the hook-shaped member 447a, and the robot can be remotely operated as in the third embodiment. The controller 450 is provided with a pair of

grip portions

452 and 453 that can hold the hook-shaped member 447 at a desired position.

Also, according to the above configuration, the degree of freedom of movement of the robot is higher than when the rod-shaped members of the third embodiment are connected. In addition, since high-level technology is required for independent walking, it is expensive, but it is possible for the operator to perform an operation such as walking while holding the robot body so as to be hung from a remote position. This eliminates the need for high-level sensors and control devices necessary for self-sustained walking, and makes it possible to construct an inexpensive robot.

FIG. 13 shows a fifth embodiment of the present invention.

The fifth embodiment is configured such that the main body 2 of the robot 500 can be held and held by fingers of a person who directly operates the main body 2.

On the back of the main body of the robot 500, an operation unit having operation buttons 551 and the like is provided, and an L-shaped handle unit 553 is extended from the lower part of the operation unit. With the above configuration, the handle portion 553 can be gripped and each arm portion such as a limb of the robot 500 can be driven.

The above configuration eliminates the need for high-level operation technology, and can constitute a robot that can be enjoyed by younger children.

It is possible to provide an operation teaching / reproduction system for an articulated robot that can easily set the operation of the articulated robot and can easily combine a plurality of operations.

1 Articulated robots 3a to 3c Displacement members 4a to 4c Displacement members 5a to 5c Displacement members 13a to 13c Joints 14a to 14c Joints 15a to 15c Joints 23a to 23c Actuators A1 to A6 Actuator 42 Actuator selection means 31 Rotary switch 31a Operation unit 43 Operating time setting means S1 to S6 Rotation angle position setting means (volume switch)
36 storage means 44 drive control means

Claims

An operation teaching / reproduction driving system in an articulated robot having two or more joints rotatably connecting a plurality of displacement members,
A plurality of actuators for rotationally driving the joints;
An actuator selection means capable of selecting and grouping two or more actuators that perform a series of movements of a plurality of displacement members in conjunction with each other;
A rotary switch capable of locking the operation unit at a predetermined angular interval;
An operation time setting means capable of setting one rotation of the operation section as a time required for a series of movements of the grouped actuators and setting a divided operation time corresponding to an angular interval at which the operation section is locked;
A rotation angle position setting means capable of setting a rotation angle position (displacement) of each actuator in a divided operation time corresponding to each locking position of the operation unit;
Operation storage means capable of storing a series of operations including a time required for the series of operations, a division operation time, and a rotation angle position of each actuator in each of the division operation times;
Drive control means for continuously driving the actuators at rotation angle positions corresponding to the locking positions of the operation unit at the divided operation time intervals to continuously perform the series of operations. , Motion teaching and reproduction drive system for articulated robots.
The storage means is configured to be able to set and store a plurality of types of series operations using the rotary switch,
The drive control unit can acquire information on one series of operations from the storage unit and repeatedly perform the series of operations, and acquire information on a plurality of types of selected series of operations to obtain a plurality of series of these operations. The motion teaching / reproduction drive system for an articulated robot according to claim 1, wherein the motion can be continuously performed.
Including an operation connecting means for connecting a plurality of and / or the same series of operations,
The motion teaching / reproduction drive system for an articulated robot according to claim 1, wherein the storage unit can store the connected series of movements as one series of movements.
4. The motion teaching / reproduction in the articulated robot according to claim 1, wherein the drive control unit can cause a series of motions of actuators belonging to two or more different groups to be performed in parallel. 5. Driving system.
A sensor capable of detecting external information or internal information that affects a series of operations being executed,
The articulated robot according to any one of claims 1 to 4, wherein the drive control means causes a series of movements different from the series of movements being executed based on the information detected by the sensor. Motion teaching and reproduction drive system.
An execution operation change unit configured to stop the series operation and perform another series operation when predetermined information is obtained from the sensor during the execution of the predetermined series operation. The motion teaching / reproduction drive system for an articulated robot according to any one of items 5 to 6.
The displacement member includes a main body and an arm member connected to the main body via the joint,
The motion teaching / reproduction drive system for an articulated robot according to any one of claims 1 to 6, further comprising a holding member capable of holding the main body at a predetermined position.
The operation teaching / reproduction drive system for an articulated robot according to claim 7, wherein the holding member is configured to include an arm member provided with two or more joints that are rotationally driven by an actuator.
8. The motion teaching / reproduction drive system for an articulated robot according to claim 7, wherein the holding member includes a handle member that extends from a rear portion of the main body and can be gripped with fingers.
The holding member has a distal end portion connected to the rear portion of the main body so as to be angularly displaceable, and a flange member extending backward,
Provided at the base end of the flange member, and provided with one or more of the actuator selection means, the rotation switch, the operation time setting means, the rotation angle position setting means, the operation storage means, and the drive control means. The motion teaching / reproduction drive system for an articulated robot according to claim 7, further comprising an operation panel.
The holding member is connected to the main body and suspended from the upper side to hold the main body, and a rope member;
A tip part is connected to the upper end part of the rope member, and a hook member that is elastically deformable,
Provided at the base end of the flange member, and provided with one or more of the actuator selection means, the rotation switch, the operation time setting means, the rotation angle position setting means, the operation storage means, and the drive control means. The motion teaching / reproduction drive system for an articulated robot according to claim 7, further comprising an operation panel.
By positioning the operation part of the rotary switch at each locking position, the actuator can be driven to a position corresponding to each locking position, and the rotation angle position of each actuator during each division operation time can be confirmed. The motion teaching / reproduction drive system for an articulated robot according to any one of claims 1 to 11, further comprising trial movement means.
10. The control box according to claim 1, wherein the actuator selection unit, an operation time setting unit, and a control box provided with the rotation angle position setting unit are detachably connected to the main body. Motion teaching and reproduction drive system for articulated robots.
The articulated robot according to any one of claims 1 to 13, further comprising output means for performing an operation other than the rotationally driven actuator, wherein the output means is set together with the rotationally driven actuator. Operation teaching / reproduction drive system.
An operation teaching / reproduction driving method in an articulated robot including two or more joints that rotatably connect a plurality of displacement members, and an actuator that rotationally drives these joints,
An actuator grouping step of selecting and grouping a plurality of actuators for performing a series of operations;
The operation time for the selected actuator to perform a predetermined series of operations is made to correspond to one rotation of the operation portion of the rotary switch, and at the rotation angle position where the operation portion is locked at a predetermined angular interval. An operation time setting step for setting a divided operation time obtained by dividing the operation time; setting the operation unit at each locking position; and setting and storing a rotation angle position of each actuator corresponding to each locking position A rotation angle position teaching step of
An operation storage step of storing the grouped actuators, the operation time, the division operation time, and the rotation angle position of each actuator at each division operation time as a series of operations;
A motion teaching / reproduction driving method in an articulated robot, including a reproduction driving step of continuously driving the actuator to a predetermined rotational angle position corresponding to the divided operation time and causing each of the joints to perform a series of operations. .
In the above grouping process, while setting a plurality of groups,
The motion teaching / reproduction driving method for an articulated robot according to claim 15, wherein the rotation angle position teaching step is performed on the plurality of actuators belonging to each group using the rotation switch.
The motion teaching / reproduction in the multi-joint robot according to claim 16, further comprising a composite motion setting step for setting the actuators belonging to a predetermined group to continuously perform the same series of motions and / or a plurality of types of motions. Driving method.
The motion teaching / reproduction driving method for an articulated robot according to any one of claims 15 to 17, further comprising a parallel operation setting step of operating the actuators belonging to the plurality of groups in parallel.
The multi-operation according to any one of claims 15 to 18, wherein, in the middle of a predetermined divided operation time for performing a series of operations, the series of operations is stopped and another series of operations is performed based on a predetermined signal. Motion teaching / reproduction driving method for articulated robots.
20. The motion teaching / reproduction driving method for an articulated robot according to claim 19, wherein the predetermined signal is generated based on external information or internal information.
21. The motion teaching / reproduction driving method for an articulated robot according to claim 20, wherein the predetermined signal is generated by a sensor or operation means provided in the robot.