WO2020262168A1 - Teaching device and teaching method - Google Patents

Teaching device and teaching method Download PDF

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Publication number
WO2020262168A1
WO2020262168A1 PCT/JP2020/023805 JP2020023805W WO2020262168A1 WO 2020262168 A1 WO2020262168 A1 WO 2020262168A1 JP 2020023805 W JP2020023805 W JP 2020023805W WO 2020262168 A1 WO2020262168 A1 WO 2020262168A1
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force
teaching
robot hand
instruction
unit
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PCT/JP2020/023805
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French (fr)
Japanese (ja)
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志功 田邉
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アズビル株式会社
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Publication of WO2020262168A1 publication Critical patent/WO2020262168A1/en

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    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • the present invention relates to a teaching device and a teaching method for directly teaching the gripping force to the robot hand.
  • the teaching device has enabled the user to directly teach the position and posture of the robot arm (see, for example, Patent Documents 1 and 2).
  • the value and direction of the gripping force are set according to the numerical input by the user using the teaching pendant for teaching the gripping force to the robot hand.
  • the conventional teaching device accepts the numerical input by the user using the teaching pendant for teaching the gripping force to the robot hand.
  • the user needs to perform an experiment in advance to confirm the numerical value to be input. Therefore, teaching the gripping force to the robot hand is troublesome from the viewpoint of work man-hours, and improvement is required.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide a teaching device capable of directly teaching a gripping force to a robot hand.
  • the teaching device includes a force sensor that detects a repulsive force applied to the tip of a finger of a robot hand in a direction opposite to the gripping direction, a decision instruction receiving unit that receives a decision instruction from a user, and a force sensor.
  • a force sensor that detects a repulsive force applied to the tip of a finger of a robot hand in a direction opposite to the gripping direction
  • a decision instruction receiving unit that receives a decision instruction from a user
  • a force sensor Of the repulsive forces detected by, the force for registering the value and reverse direction of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit as the value and direction of the gripping force taught to the robot hand. It is characterized by having a registration department.
  • FIG. 1 It is a figure which shows the configuration example and the operation example of the teaching apparatus which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the structural example of the teaching apparatus which concerns on Embodiment 1.
  • FIG. 1 is a diagram showing a configuration example and an operation example of the teaching device according to the first embodiment.
  • the teaching device is a device for the user to directly teach the gripping force to the robot hand 101.
  • This teaching device may have a function related to direct teaching of the opening degree in addition to the function related to the direct teaching of the gripping force, but the function related to the direct teaching of the opening degree is the same as the conventional one. Omit.
  • this teaching device includes a force sensor 11 and a force teaching unit 12.
  • the force sensor 11 is a sensor that is attached to the robot hand 101 and detects a repulsive force applied to the tip of the finger 102 of the robot hand 101 in a direction opposite to the gripping direction.
  • a force sensor or the like that detects a force component in a direction of one axis or more is used.
  • the force sensor 11 is attached to the tip portion of the finger 102 included in the robot hand 101.
  • the present invention is not limited to this, and the force sensor 11 may be attached to a position where the repulsive force applied to the tip of the finger 102 can be detected.
  • the force teaching unit 12 registers the gripping force taught to the robot hand 101 based on the repulsive force detected by the force sensor 11.
  • the force teaching unit 12 includes a notification unit 13, an operation mode instruction receiving unit 14, a hand control unit 15, a decision instruction receiving unit 16, a force registration unit 17, and a recording unit 18.
  • the force teaching unit 12 is realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
  • the notification unit 13 notifies the repulsive force detected by the force sensor 11 in real time.
  • the information indicating the repulsive force notified by the notification unit 13 is displayed on a display device (not shown).
  • the notification unit 13 is not essential to the teaching device and may not be provided in the teaching device. For example, in the direct teaching of the gripping force, the notification unit 13 is unnecessary when the user does not need to teach while checking the repulsive force applied to the robot hand 101.
  • the operation mode instruction receiving unit 14 receives a start instruction or an end instruction of direct teaching from the user.
  • the direct teaching start instruction is an instruction input to the teaching device when the user starts the direct teaching of the robot hand 101.
  • the direct teaching end instruction is an instruction input to the teaching device when the user ends the direct teaching of the robot hand 101.
  • the user inputs a start instruction or an end instruction of direct teaching by using, for example, an operation button (not shown) of the robot hand 101 or an operation button of the teaching pendant (not shown).
  • the hand control unit 15 starts the direct teaching mode of the robot hand 101 when the operation mode instruction receiving unit 14 receives the direct teaching start instruction, and the operation mode instruction receiving unit 14 receives the direct teaching end instruction. If so, the direct teaching mode of the robot hand 101 is terminated.
  • the direct teaching mode is a mode in which the user can directly teach the robot hand 101.
  • the decision instruction receiving unit 16 and the force registration unit 17 operate when the direct teaching mode of the robot hand 101 is started by the hand control unit 15.
  • the decision instruction reception unit 16 receives a decision instruction from the user.
  • the determination instruction is an instruction to be input to the teaching device when the user determines the gripping force to be taught to the robot hand 101 while performing the direct teaching of the gripping force.
  • the user inputs a decision instruction by using, for example, an operation button of the robot hand 101 or an operation button of the teaching pendant.
  • the force registration unit 17 teaches the robot hand 101 the value of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit 16 and the reverse direction. The value and direction of the gripping force are registered in the recording unit 18.
  • the recording unit 18 is composed of an HDD (Hard Disk Drive), a DVD (Digital entirely Disk), a memory, or the like. Further, FIG. 2 shows a case where the recording unit 18 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 18 may be provided outside the teaching device.
  • teaching device may perform the direct teaching of the gripping force separately from the direct teaching of the opening degree, or may be performed at the same time as the direct teaching of the opening degree.
  • FIG. 1 a case where the robot hand 101 teaches the gripping force when gripping the object 201 is shown.
  • the opening degree is easily visually grasped by the user and the opening degree can be easily reproduced.
  • the gripping force is difficult for the user to visually grasp and it is difficult to reproduce the gripping force.
  • the user first brings the finger 102 of the robot hand 101 into contact with the object 201 so as to sandwich it.
  • the user inputs a start instruction for direct teaching to the teaching device, and the operation mode instruction receiving unit 14 receives the start instruction.
  • the hand control unit 15 starts the direct teaching mode of the robot hand 101.
  • the direct teaching of the gripping force is premised on the direct operation (a state in which the user can directly touch and open / close the finger 102). Therefore, the operation mode instruction receiving unit 14 and the hand control unit 15 make it possible for the user to directly operate the robot hand 101.
  • the user manually applies a force to the finger 102 in the gripping direction to press the finger 102 against the object 201 in the gripping direction.
  • the force sensor 11 detects the repulsive force from the object 201.
  • the arrow indicated by reference numeral 501 indicates the pressing force applied by the user
  • the arrow indicated by reference numeral 502 indicates the repulsive force applied from the object 201.
  • the notification unit 13 notifies the repulsive force detected by the force sensor 11 in real time, and the display device displays information indicating the repulsive force.
  • the user can also adjust the pressing force applied to the finger 102 while monitoring the repulsive force applied to the finger 102.
  • the user determines that the optimum gripping state is determined from the repulsive force (pressing force) felt by the finger 102 from the finger 102 or the deformation state of the object 201, the user inputs a determination instruction to the teaching device.
  • the force registration unit 17 registers the repulsive force value and the reverse direction at the timing when the determination instruction is input in the recording unit 18 as the gripping force value and direction taught to the robot hand 101.
  • the user can teach the gripping force to the robot hand 101.
  • the teaching device includes the force sensor 11 that detects the repulsive force applied to the tip of the finger 102 of the robot hand 101 in the direction opposite to the gripping direction, and the user.
  • the force sensor 11 that detects the repulsive force applied to the tip of the finger 102 of the robot hand 101 in the direction opposite to the gripping direction, and the user.
  • the value of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit 16 and the opposite direction are determined by the robot hand.
  • a force registration unit 17 for registering the gripping force value and direction taught with respect to 101 was provided.
  • the teaching device according to the first embodiment can directly teach the gripping force to the robot hand 101.
  • the present invention can be modified from any component of the embodiment or can be omitted from any component of the embodiment.
  • the teaching device according to the present invention can directly teach the gripping force to the robot hand, and is suitable for use as a teaching device or the like for directly teaching the gripping force to the robot hand.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The present invention is provided with: a force sensor (11) which detects a repulsive force that is applied to the tip of a finger (102) of a robot hand (101) and that acts in a direction opposite to a grasping direction; a determined instruction receiving unit (16) which receives a determined instruction from a user; and a force registration unit (17) which registers, as a value and direction of a gripping force taught to the robot hand (101), the value and the reverse direction of the repulsive force, from among repulsive forces having been detected by the force sensor (11), detected at the time when the determined instruction was received by the determined instruction receiving unit (16).

Description

教示装置及び教示方法Teaching device and teaching method
　この発明は、ロボットハンドに対して把持力をダイレクト教示するための教示装置及び教示方法に関する。 The present invention relates to a teaching device and a teaching method for directly teaching the gripping force to the robot hand.
　従来から、教示装置は、ユーザによるロボットアームに対する位置及び姿勢のダイレクト教示を可能としている（例えば特許文献１，２参照）。一方、従来の教示装置では、ロボットハンドに対する把持力の教示については、ユーザによる教示ペンダントを用いた数値入力に応じ、把持力の値及び方向を設定している。 Conventionally, the teaching device has enabled the user to directly teach the position and posture of the robot arm (see, for example, Patent Documents 1 and 2). On the other hand, in the conventional teaching device, the value and direction of the gripping force are set according to the numerical input by the user using the teaching pendant for teaching the gripping force to the robot hand.
特開平０５－２０４４４１号公報Japanese Unexamined Patent Publication No. 05-20441 特開平０５－２５００２９号公報Japanese Unexamined Patent Publication No. 05-250029
　上記のように、従来の教示装置では、ロボットハンドに対する把持力の教示については、ユーザによる教示ペンダントを用いた数値入力を受付けている。しかしながら、この場合、ユーザは、事前に実験を行って、入力する数値を確認する必要がある。そのため、ロボットハンドに対する把持力の教示は、作業工数という観点では煩わしく、改善が求められている。 As described above, the conventional teaching device accepts the numerical input by the user using the teaching pendant for teaching the gripping force to the robot hand. However, in this case, the user needs to perform an experiment in advance to confirm the numerical value to be input. Therefore, teaching the gripping force to the robot hand is troublesome from the viewpoint of work man-hours, and improvement is required.
　この発明は、上記のような課題を解決するためになされたもので、ロボットハンドに対して把持力のダイレクト教示が可能な教示装置を提供することを目的としている。 The present invention has been made to solve the above problems, and an object of the present invention is to provide a teaching device capable of directly teaching a gripping force to a robot hand.
　この発明に係る教示装置は、ロボットハンドが有するフィンガの先端に加えられた、把持方向とは反対方向の反発力を検出する力センサと、ユーザから決定指示を受付ける決定指示受付部と、力センサにより検出された反発力のうち、決定指示受付部により決定指示が受付けられたタイミングでの反発力の値及び逆方向を、ロボットハンドに対して教示された把持力の値及び方向として登録する力登録部とを備えたことを特徴とする。 The teaching device according to the present invention includes a force sensor that detects a repulsive force applied to the tip of a finger of a robot hand in a direction opposite to the gripping direction, a decision instruction receiving unit that receives a decision instruction from a user, and a force sensor. Of the repulsive forces detected by, the force for registering the value and reverse direction of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit as the value and direction of the gripping force taught to the robot hand. It is characterized by having a registration department.
　この発明によれば、上記のように構成したので、ロボットハンドに対して把持力のダイレクト教示が可能となる。 According to the present invention, since it is configured as described above, it is possible to directly teach the gripping force to the robot hand.
実施の形態１に係る教示装置の構成例及び動作例を示す図である。It is a figure which shows the configuration example and the operation example of the teaching apparatus which concerns on Embodiment 1. FIG. 実施の形態１に係る教示装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the teaching apparatus which concerns on Embodiment 1. FIG.
　以下、この発明の実施の形態について図面を参照しながら詳細に説明する。
実施の形態１．
　図１は実施の形態１に係る教示装置の構成例及び動作例を示す図である。
　教示装置は、ユーザがロボットハンド１０１に対して把持力のダイレクト教示を実施するための装置である。この教示装置は、把持力のダイレクト教示に関する機能の他に、開度のダイレクト教示に関する機能も有していてもよいが、開度のダイレクト教示に関する機能については従来と同様であるためその説明を省略する。この教示装置は、図１に示すように、力センサ１１及び力教示部１２を備えている。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing a configuration example and an operation example of the teaching device according to the first embodiment.
The teaching device is a device for the user to directly teach the gripping force to the robot hand 101. This teaching device may have a function related to direct teaching of the opening degree in addition to the function related to the direct teaching of the gripping force, but the function related to the direct teaching of the opening degree is the same as the conventional one. Omit. As shown in FIG. 1, this teaching device includes a force sensor 11 and a force teaching unit 12.
　力センサ１１は、ロボットハンド１０１に取付けられ、ロボットハンド１０１が有するフィンガ１０２の先端に加えられた、把持方向とは反対方向の反発力を検出するセンサである。力センサ１１としては、一軸以上の方向の力成分を検出する力センサ等が用いられる。
　図１では、力センサ１１は、ロボットハンド１０１が有するフィンガ１０２の先端部分に取付けられている。しかしながら、これに限らず、力センサ１１は、フィンガ１０２の先端に加えられた反発力を検出可能な箇所に取付けられていればよい。 The force sensor 11 is a sensor that is attached to the robot hand 101 and detects a repulsive force applied to the tip of the finger 102 of the robot hand 101 in a direction opposite to the gripping direction. As the force sensor 11, a force sensor or the like that detects a force component in a direction of one axis or more is used.
In FIG. 1, the force sensor 11 is attached to the tip portion of the finger 102 included in the robot hand 101. However, the present invention is not limited to this, and the force sensor 11 may be attached to a position where the repulsive force applied to the tip of the finger 102 can be detected.
　力教示部１２は、力センサ１１により検出された反発力に基づいて、ロボットハンド１０１に対して教示された把持力を登録する。この力教示部１２は、図２に示すように、通知部１３、動作モード指示受付部１４、ハンド制御部１５、決定指示受付部１６、力登録部１７及び記録部１８を有している。なお、力教示部１２は、システムＬＳＩ（Ｌａｒｇｅ　Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）等の処理回路、又はメモリ等に記憶されたプログラムを実行するＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）等により実現される。 The force teaching unit 12 registers the gripping force taught to the robot hand 101 based on the repulsive force detected by the force sensor 11. As shown in FIG. 2, the force teaching unit 12 includes a notification unit 13, an operation mode instruction receiving unit 14, a hand control unit 15, a decision instruction receiving unit 16, a force registration unit 17, and a recording unit 18. The force teaching unit 12 is realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
　通知部１３は、力センサ１１により検出された反発力をリアルタイムに通知する。この通知部１３により通知された反発力を示す情報は、表示装置（不図示）に表示される。
　なお、通知部１３は、教示装置に必須の構成ではなく、教示装置に設けられていなくてもよい。例えば、ユーザが、把持力のダイレクト教示において、ロボットハンド１０１に加えられている反発力を確認しながら教示を行う必要が無い場合には、通知部１３は不要である。 The notification unit 13 notifies the repulsive force detected by the force sensor 11 in real time. The information indicating the repulsive force notified by the notification unit 13 is displayed on a display device (not shown).
The notification unit 13 is not essential to the teaching device and may not be provided in the teaching device. For example, in the direct teaching of the gripping force, the notification unit 13 is unnecessary when the user does not need to teach while checking the repulsive force applied to the robot hand 101.
　動作モード指示受付部１４は、ユーザからダイレクト教示の開始指示又は終了指示を受付ける。ダイレクト教示の開始指示は、ユーザがロボットハンド１０１のダイレクト教示を開始する際に教示装置に対して入力する指示である。ダイレクト教示の終了指示は、ユーザがロボットハンド１０１のダイレクト教示を終了する際に教示装置に対して入力する指示である。なお、ユーザは、例えばロボットハンド１０１が有する操作ボタン（不図示）又は教示ペンダント（不図示）が有する操作ボタン等を用いて、ダイレクト教示の開始指示又は終了指示の入力を行う。 The operation mode instruction receiving unit 14 receives a start instruction or an end instruction of direct teaching from the user. The direct teaching start instruction is an instruction input to the teaching device when the user starts the direct teaching of the robot hand 101. The direct teaching end instruction is an instruction input to the teaching device when the user ends the direct teaching of the robot hand 101. The user inputs a start instruction or an end instruction of direct teaching by using, for example, an operation button (not shown) of the robot hand 101 or an operation button of the teaching pendant (not shown).
　ハンド制御部１５は、動作モード指示受付部１４によりダイレクト教示の開始指示が受付けられた場合にロボットハンド１０１のダイレクト教示モードを開始し、動作モード指示受付部１４によりダイレクト教示の終了指示が受付けられた場合にロボットハンド１０１のダイレクト教示モードを終了する。ダイレクト教示モードは、ユーザによるロボットハンド１０１のダイレクト教示を実施可能とするモードである。
　なお、決定指示受付部１６及び力登録部１７は、ハンド制御部１５によりロボットハンド１０１のダイレクト教示モードが開始されている状態の場合に動作する。 The hand control unit 15 starts the direct teaching mode of the robot hand 101 when the operation mode instruction receiving unit 14 receives the direct teaching start instruction, and the operation mode instruction receiving unit 14 receives the direct teaching end instruction. If so, the direct teaching mode of the robot hand 101 is terminated. The direct teaching mode is a mode in which the user can directly teach the robot hand 101.
The decision instruction receiving unit 16 and the force registration unit 17 operate when the direct teaching mode of the robot hand 101 is started by the hand control unit 15.
　決定指示受付部１６は、ユーザから決定指示を受付ける。決定指示は、ユーザが、把持力のダイレクト教示を実施している最中に、ロボットハンド１０１に対して教示する把持力を決定する際に教示装置に対して入力する指示である。なお、ユーザは、例えばロボットハンド１０１が有する操作ボタン又は教示ペンダントが有する操作ボタン等を用いて、決定指示の入力を行う。 The decision instruction reception unit 16 receives a decision instruction from the user. The determination instruction is an instruction to be input to the teaching device when the user determines the gripping force to be taught to the robot hand 101 while performing the direct teaching of the gripping force. The user inputs a decision instruction by using, for example, an operation button of the robot hand 101 or an operation button of the teaching pendant.
　力登録部１７は、力センサ１１により検出された反発力のうち、決定指示受付部１６により決定指示が受付けられたタイミングでの反発力の値及び逆方向を、ロボットハンド１０１に対して教示された把持力の値及び方向として記録部１８に登録する。 Of the repulsive forces detected by the force sensor 11, the force registration unit 17 teaches the robot hand 101 the value of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit 16 and the reverse direction. The value and direction of the gripping force are registered in the recording unit 18.
　なお、記録部１８は、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）、ＤＶＤ（Ｄｉｇｉｔａｌ　Ｖｅｒｓａｔｉｌｅ　Ｄｉｓｃ）又はメモリ等によって構成される。
　また図２では、記録部１８が教示装置の内部に設けられた場合を示しているが、これに限らず、記録部１８は教示装置の外部に設けられていてもよい。 The recording unit 18 is composed of an HDD (Hard Disk Drive), a DVD (Digital Versailles Disk), a memory, or the like.
Further, FIG. 2 shows a case where the recording unit 18 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 18 may be provided outside the teaching device.
　また、教示装置は、把持力のダイレクト教示を、開度のダイレクト教示とは別に実施するものとしてもよいし、開度のダイレクト教示と同時に実施するものとしてもよい。 Further, the teaching device may perform the direct teaching of the gripping force separately from the direct teaching of the opening degree, or may be performed at the same time as the direct teaching of the opening degree.
　次に、図１，２に示す教示装置を用いた把持力のダイレクト教示の一例について説明する。以下では、図１に示すように、ロボットハンド１０１が物体２０１を把持する際の把持力を教示する場合を示す。
　ここで、ユーザがロボットハンド１０１に対して開度をダイレクト教示する場合、開度はユーザにとって視覚的に捉え易く開度の再現は容易である。これに対し、ユーザがロボットハンド１０１に対して把持力をダイレクト教示しようとする場合には、把持力はユーザにとって視覚的に捉え難く把持力の再現は難しい。一方、ロボットハンド１０１が物体２０１を押すと、押付方向とは反対方向にこの押付力に応じた反発力がロボットハンド１０１に加えられる。そこで、実施の形態１に係る教示装置では、ロボットハンド１０１に加えられた反発力を検出可能な力センサ１１を用いることで、把持力のダイレクト教示を実現する。 Next, an example of direct teaching of the gripping force using the teaching device shown in FIGS. 1 and 2 will be described. In the following, as shown in FIG. 1, a case where the robot hand 101 teaches the gripping force when gripping the object 201 is shown.
Here, when the user directly teaches the opening degree to the robot hand 101, the opening degree is easily visually grasped by the user and the opening degree can be easily reproduced. On the other hand, when the user intends to directly teach the gripping force to the robot hand 101, the gripping force is difficult for the user to visually grasp and it is difficult to reproduce the gripping force. On the other hand, when the robot hand 101 pushes the object 201, a repulsive force corresponding to the pressing force is applied to the robot hand 101 in the direction opposite to the pressing direction. Therefore, in the teaching device according to the first embodiment, direct teaching of the gripping force is realized by using the force sensor 11 that can detect the repulsive force applied to the robot hand 101.
　把持力のダイレクト教示では、ユーザは、まず、ロボットハンド１０１が有するフィンガ１０２を、物体２０１を挟み込ませるように当接させる。 In the direct teaching of the gripping force, the user first brings the finger 102 of the robot hand 101 into contact with the object 201 so as to sandwich it.
　次いで、ユーザはダイレクト教示の開始指示を教示装置に入力し、動作モード指示受付部１４は当該開始指示を受付ける。
　次いで、ハンド制御部１５は、ロボットハンド１０１のダイレクト教示モードを開始する。
　把持力のダイレクト教示は、ダイレクト操作中（ユーザがフィンガ１０２を直接触って開閉できる状態）に行うことを前提としている。そのため、動作モード指示受付部１４及びハンド制御部１５によりユーザがロボットハンド１０１に対するダイレクト操作が実施可能な状態とする。 Next, the user inputs a start instruction for direct teaching to the teaching device, and the operation mode instruction receiving unit 14 receives the start instruction.
Next, the hand control unit 15 starts the direct teaching mode of the robot hand 101.
The direct teaching of the gripping force is premised on the direct operation (a state in which the user can directly touch and open / close the finger 102). Therefore, the operation mode instruction receiving unit 14 and the hand control unit 15 make it possible for the user to directly operate the robot hand 101.
　次いで、ユーザは、フィンガ１０２に対して手で把持方向に力を加え、フィンガ１０２を物体２０１に把持方向に押付ける。この際、力センサ１１は、物体２０１からの反発力を検出する。図１において、符号５０１に示す矢印はユーザにより加えられた押付力を示し、符号５０２に示す矢印は物体２０１から加えられた反発力を示している。 Next, the user manually applies a force to the finger 102 in the gripping direction to press the finger 102 against the object 201 in the gripping direction. At this time, the force sensor 11 detects the repulsive force from the object 201. In FIG. 1, the arrow indicated by reference numeral 501 indicates the pressing force applied by the user, and the arrow indicated by reference numeral 502 indicates the repulsive force applied from the object 201.
　また、通知部１３は力センサ１１により検出された反発力をリアルタイムに通知し、表示装置はその反発力を示す情報を表示する。これにより、ユーザは、フィンガ１０２に加えられた反発力をモニタしながらフィンガ１０２に加える押付力を調整することもできる。 Further, the notification unit 13 notifies the repulsive force detected by the force sensor 11 in real time, and the display device displays information indicating the repulsive force. As a result, the user can also adjust the pressing force applied to the finger 102 while monitoring the repulsive force applied to the finger 102.
　次いで、ユーザは、フィンガ１０２から自身の指に感じる反発力（押付力）又は物体２０１の変形具合から最適な把持状態と判断した場合に、決定指示を教示装置に入力する。 Next, when the user determines that the optimum gripping state is determined from the repulsive force (pressing force) felt by the finger 102 from the finger 102 or the deformation state of the object 201, the user inputs a determination instruction to the teaching device.
　次いで、力登録部１７は、決定指示が入力されたタイミングでの反発力の値及び逆方向を、ロボットハンド１０１に対して教示された把持力の値及び方向として記録部１８に登録する。
　以上の動作により、ユーザは、ロボットハンド１０１に対して把持力を教示できる。 Next, the force registration unit 17 registers the repulsive force value and the reverse direction at the timing when the determination instruction is input in the recording unit 18 as the gripping force value and direction taught to the robot hand 101.
By the above operation, the user can teach the gripping force to the robot hand 101.
　以上のように、この実施の形態１によれば、教示装置は、ロボットハンド１０１が有するフィンガ１０２の先端に加えられた、把持方向とは反対方向の反発力を検出する力センサ１１と、ユーザから決定指示を受付ける決定指示受付部１６と、力センサ１１により検出された反発力のうち、決定指示受付部１６により決定指示が受付けられたタイミングでの反発力の値及び逆方向を、ロボットハンド１０１に対して教示された把持力の値及び方向として登録する力登録部１７とを備えた。これにより、実施の形態１に係る教示装置は、ロボットハンド１０１に対して把持力のダイレクト教示が可能となる。 As described above, according to the first embodiment, the teaching device includes the force sensor 11 that detects the repulsive force applied to the tip of the finger 102 of the robot hand 101 in the direction opposite to the gripping direction, and the user. Of the repulsive force detected by the decision instruction receiving unit 16 and the force sensor 11, the value of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit 16 and the opposite direction are determined by the robot hand. A force registration unit 17 for registering the gripping force value and direction taught with respect to 101 was provided. As a result, the teaching device according to the first embodiment can directly teach the gripping force to the robot hand 101.
　なお、本願発明はその発明の範囲内において、実施の形態の任意の構成要素の変形、若しくは実施の形態の任意の構成要素の省略が可能である。 It should be noted that, within the scope of the invention, the present invention can be modified from any component of the embodiment or can be omitted from any component of the embodiment.
　この発明に係る教示装置は、ロボットハンドに対して把持力のダイレクト教示が可能となり、ロボットハンドに対して把持力をダイレクト教示するための教示装置等に用いるのに適している。 The teaching device according to the present invention can directly teach the gripping force to the robot hand, and is suitable for use as a teaching device or the like for directly teaching the gripping force to the robot hand.
１１　力センサ
１２　力教示部
１３　通知部
１４　動作モード指示受付部
１５　ハンド制御部
１６　決定指示受付部
１７　力登録部
１８　記録部
１０１　ロボットハンド
１０２　フィンガ
２０１　物体 11 Force sensor 12 Force teaching unit 13 Notification unit 14 Operation mode instruction reception unit 15 Hand control unit 16 Decision instruction reception unit 17 Force registration unit 18 Recording unit 101 Robot hand 102 Finger 201 Object

Claims (4)

  1. 　ロボットハンドが有するフィンガの先端に加えられた、把持方向とは反対方向の反発力を検出する力センサと、
    　ユーザから決定指示を受付ける決定指示受付部と、
    　前記力センサにより検出された反発力のうち、前記決定指示受付部により決定指示が受付けられたタイミングでの反発力の値及び逆方向を、前記ロボットハンドに対して教示された把持力の値及び方向として登録する力登録部と
    　を備えた教示装置。     A force sensor that detects the repulsive force applied to the tip of the finger of the robot hand in the direction opposite to the gripping direction,
    The decision instruction reception unit that accepts decision instructions from users,
    Of the repulsive forces detected by the force sensor, the value of the repulsive force at the timing when the decision instruction is received by the decision instruction receiving unit and the reverse direction are the value of the gripping force taught to the robot hand and the reverse direction. A teaching device equipped with a force registration unit that registers as a direction.
  2. 　ユーザからダイレクト教示の開始指示又は終了指示を受付ける動作モード指示受付部と、
    　前記動作モード指示受付部によりダイレクト教示の開始指示が受付けられた場合に前記ロボットハンドのダイレクト教示モードを開始し、前記動作モード指示受付部によりダイレクト教示の終了指示が受付けられた場合に前記ロボットハンドのダイレクト教示モードを終了するハンド制御部とを備え、
    　前記決定指示受付部及び前記力登録部は、前記ハンド制御部により前記ロボットハンドのダイレクト教示モードが開始されている状態の場合に動作する
    　ことを特徴とする請求項１記載の教示装置。     An operation mode instruction receiving unit that receives a start instruction or an end instruction of direct teaching from the user,
    The robot hand starts the direct teaching mode when the direct teaching start instruction is received by the operation mode instruction receiving unit, and the robot hand starts the direct teaching mode when the direct teaching end instruction is received by the operation mode instruction receiving unit. Equipped with a hand control unit that ends the direct teaching mode of
    The teaching device according to claim 1, wherein the decision instruction receiving unit and the force registration unit operate when the direct teaching mode of the robot hand is started by the hand control unit.
  3. 　前記力センサにより検出された反発力をリアルタイムに通知する通知部を備えた
    　ことを特徴とする請求項１又は請求項２記載の教示装置。     The teaching device according to claim 1 or 2, further comprising a notification unit that notifies the repulsive force detected by the force sensor in real time.
  4. 　ロボットハンドが有するフィンガの先端に加えられた、把持方向とは反対方向の反発力を検出する力センサを備えた教示装置による教示方法であって、
    　ユーザから決定指示を受付ける決定指示受付ステップと、
    　前記力センサにより検出された反発力のうち、前記決定指示受付ステップにおいて決定指示を受付けたタイミングでの反発力の値及び逆方向を、前記ロボットハンドに対して教示された把持力の値及び方向として登録する力登録ステップとを有する
    　ことを特徴とする教示方法。     It is a teaching method using a teaching device equipped with a force sensor that detects a repulsive force in the direction opposite to the gripping direction applied to the tip of the finger of the robot hand.
    The decision instruction reception step for accepting decision instructions from the user,
    Of the repulsive forces detected by the force sensor, the value and reverse direction of the repulsive force at the timing when the decision instruction is received in the decision instruction receiving step are the value and direction of the gripping force taught to the robot hand. A teaching method characterized by having a force registration step to register as.
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