WO2020262168A1 - Unité d'apprentissage et procédé d'apprentissage - Google Patents

Unité d'apprentissage et procédé d'apprentissage 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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WO
WIPO (PCT)
Prior art keywords
force
teaching
robot hand
instruction
unit
Prior art date
Application number
PCT/JP2020/023805
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English (en)
Japanese (ja)
Inventor
志功 田邉
Original Assignee
アズビル株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by アズビル株式会社 filed Critical アズビル株式会社
Publication of WO2020262168A1 publication Critical patent/WO2020262168A1/fr

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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

La présente invention comprend : un capteur de force (11) qui détecte une force de répulsion qui est appliquée à la pointe d'un doigt (102) d'une main de robot (101) et qui agit dans une direction opposée à une direction de préhension; une unité de réception d'instruction déterminée (16) qui reçoit une instruction déterminée provenant d'un utilisateur; et une unité d'enregistrement de force (17) qui enregistre, en tant que valeur et direction d'une force de préhension enseignée à la main de robot (101), la valeur et la direction inverse de la force de répulsion, parmi des forces de répulsion ayant été détectées par le capteur de force (11), détectée au moment où l'instruction déterminée a été reçue par l'unité de réception d'instruction déterminée (16).
PCT/JP2020/023805 2019-06-26 2020-06-17 Unité d'apprentissage et procédé d'apprentissage WO2020262168A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019118861A JP2021003765A (ja) 2019-06-26 2019-06-26 教示装置及び教示方法
JP2019-118861 2019-06-26

Publications (1)

Publication Number Publication Date
WO2020262168A1 true WO2020262168A1 (fr) 2020-12-30

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WO (1) WO2020262168A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7375777B2 (ja) 2021-01-13 2023-11-08 三菱マテリアル株式会社 電着液、絶縁皮膜の製造方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010058202A (ja) * 2008-09-02 2010-03-18 Yaskawa Electric Corp ロボットの教示再生装置および教示再生方法
JP2016047591A (ja) * 2014-08-27 2016-04-07 キヤノン株式会社 ロボット教示装置、方法、およびロボットシステム
WO2017036520A1 (fr) * 2015-09-02 2017-03-09 Abb Schweiz Ag Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main
JP2018069385A (ja) * 2016-10-31 2018-05-10 セイコーエプソン株式会社 ハンドおよびロボット
US10166676B1 (en) * 2016-06-08 2019-01-01 X Development Llc Kinesthetic teaching of grasp parameters for grasping of objects by a grasping end effector of a robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010058202A (ja) * 2008-09-02 2010-03-18 Yaskawa Electric Corp ロボットの教示再生装置および教示再生方法
JP2016047591A (ja) * 2014-08-27 2016-04-07 キヤノン株式会社 ロボット教示装置、方法、およびロボットシステム
WO2017036520A1 (fr) * 2015-09-02 2017-03-09 Abb Schweiz Ag Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main
US10166676B1 (en) * 2016-06-08 2019-01-01 X Development Llc Kinesthetic teaching of grasp parameters for grasping of objects by a grasping end effector of a robot
JP2018069385A (ja) * 2016-10-31 2018-05-10 セイコーエプソン株式会社 ハンドおよびロボット

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