WO2020262169A1 - Teaching device and teaching method - Google Patents

Teaching device and teaching method Download PDF

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Publication number
WO2020262169A1
WO2020262169A1 PCT/JP2020/023811 JP2020023811W WO2020262169A1 WO 2020262169 A1 WO2020262169 A1 WO 2020262169A1 JP 2020023811 W JP2020023811 W JP 2020023811W WO 2020262169 A1 WO2020262169 A1 WO 2020262169A1
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WO
WIPO (PCT)
Prior art keywords
force
robot hand
unit
servo
pressing force
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PCT/JP2020/023811
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French (fr)
Japanese (ja)
Inventor
志功 田邉
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アズビル株式会社
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Application filed by アズビル株式会社 filed Critical アズビル株式会社
Priority to CN202080046143.XA priority Critical patent/CN114007819A/en
Publication of WO2020262169A1 publication Critical patent/WO2020262169A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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 is possessed by the robot hand from a torque sensor that detects torque due to a pressing force applied to the tip of the finger of the robot hand in the same direction as the gripping direction and torque detected by the torque sensor.
  • the robot hand is servo-locked at the timing of receiving the servo lock instruction by the force calculation unit that calculates the pressing force applied to the tip of the finger, the lock instruction reception unit that receives the servo lock instruction from the user, and the lock instruction reception unit.
  • the decision instruction reception unit that receives the decision instruction from the user, and the pressing force calculated by the force calculation unit after the robot hand is servo-locked by the hand control unit, the decision instruction reception unit receives the decision instruction. It is characterized by including a force registration unit that registers the value and direction of the pressing force at the determined timing as the value and direction of the gripping force taught to the robot hand.
  • FIG. 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. It is a figure which shows the configuration example and the operation example of the teaching apparatus which concerns on Embodiment 2.
  • FIG. It is a block diagram which shows the structural example of the teaching apparatus which concerns on Embodiment 2.
  • 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 torque sensor 11, a force calculation unit 12, and a force teaching unit 13.
  • the torque sensor 11 is attached to the robot hand 101 and detects the torque (moment component around the axis (one axis or more)) due to the pressing force applied to the tip of the finger 102 of the robot hand 101 in the same direction as the gripping direction. It is a detection sensor.
  • the torque sensor 11 is attached to a joint portion or a root portion of the finger 102 in the robot hand 101.
  • the force calculation unit 12 calculates the pressing force applied to the tip of the finger 102 of the robot hand 101 from the torque detected by the torque sensor 11. At this time, the force calculation unit 12 subtracts the initial value (detected value when no force is applied to the robot hand 101) from the detected value of the torque sensor 11, and sets the difference value and the hand length to the mounting position. Based on this, the pressing force applied to the tip of the finger 102 of the robot hand 101 is calculated.
  • the force teaching unit 13 registers the gripping force taught to the robot hand 101 based on the pressing force calculated by the force calculating unit 12. As shown in FIG. 2, the force teaching unit 13 includes a lock instruction receiving unit 14, a hand control unit 15, a notification unit 16, a decision instruction receiving unit 17, a force registration unit 18, and a recording unit 19.
  • the force calculation unit 12 and the force teaching unit 13 are 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.
  • 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 lock instruction receiving unit 14 receives the servo lock instruction from the user.
  • the servo lock instruction is an instruction input to the teaching device when the user servo-locks the robot hand 101.
  • the user inputs the servo lock instruction by using, for example, the operation button (not shown) of the robot hand 101 or the operation button of the teaching pendant (not shown).
  • the hand control unit 15 servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 14.
  • the notification unit 16 notifies the pressing force calculated by the force calculation unit 12 in real time.
  • the information indicating the pressing force notified by the notification unit 16 is displayed on a display device (not shown).
  • the notification unit 16 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 16 is unnecessary when the user does not need to teach while checking the pressing force applied to the robot hand 101.
  • the decision instruction reception unit 17 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 18 has a pressing force calculated by the force calculating unit 12 after the robot hand 101 is servo-locked by the hand control unit 15, and the pressing force at the timing when the decision instruction is received by the decision instruction receiving unit 17. Is registered in the recording unit 19 as the value and direction of the gripping force taught to the robot hand 101.
  • the recording unit 19 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 19 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 19 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 a gripping force when gripping an object (not shown) 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.
  • direct teaching of the gripping force is realized by using the torque sensor 11 that can detect the torque due to the pressing force applied to the robot hand 101.
  • the torque sensor 11 that can detect the torque due to the pressing force applied to the robot hand 101.
  • the robot hand 101 is set to the servo-locked state (stationary state) in a state of being separated from the object.
  • the user In the direct teaching of the gripping force, the user first inputs a servo lock instruction to the teaching device. Next, the hand control unit 15 servo-locks the robot hand 101.
  • the user manually presses the tip of the finger 102 held by the robot hand 101.
  • the torque sensor 11 calculates the torque due to the pressing force applied to the tip of the finger 102 held by the robot hand 101, and the force calculation unit 12 calculates the pressing force from this torque.
  • the arrow shown by reference numeral 501 indicates a pressing force applied by the user.
  • the notification unit 16 notifies the pressing force calculated by the force calculation unit 12 in real time, and the display device displays information indicating the pressing force. As a result, the user can also adjust the pressing force applied to the finger 102 while monitoring the pressing force applied to the finger 102.
  • the user determines that the optimum gripping state is determined from the pressing force felt by the finger 102 from the finger 102, the user inputs a determination instruction to the teaching device.
  • the force registration unit 18 registers the value and direction of the pressing force at the timing when the determination instruction is input in the recording unit 19 as the value and direction of the gripping force taught to the robot hand 101.
  • the user can teach the gripping force to the robot hand 101.
  • the teaching device includes a torque sensor 11 that detects torque due to a pressing force applied to the tip of the finger 102 of the robot hand 101 in the same direction as the gripping direction.
  • a force calculation unit 12 that calculates the pressing force applied to the tip of the finger 102 of the robot hand 101 from the torque detected by the torque sensor 11, a lock instruction reception unit 14 that receives a servo lock instruction from the user, and a lock instruction.
  • the hand control unit 15 that servo-locks the robot hand 101 at the timing when the reception unit 14 receives the servo lock instruction, the decision instruction reception unit 17 that receives the decision instruction from the user, and the hand control unit 15 servo lock the robot hand 101.
  • the teaching device can directly teach the gripping force to the robot hand 101.
  • Embodiment 2 In the teaching device according to the first embodiment, a case where a torque sensor 11 that detects torque due to a pressing force in the same direction as the gripping direction applied to the robot hand 101 is used is shown. On the other hand, in the teaching device according to the second embodiment, the case where the force sensor 21 applied to the robot hand 101 for detecting the pressing force in the direction opposite to the gripping direction is used is shown.
  • FIG. 3 is a diagram showing a configuration example and an operation example of the teaching device according to the second 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 21 and a force teaching unit 22.
  • the force sensor 21 is a sensor attached to the robot hand 101 and detecting a pressing 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 21 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 21 may be attached to a position where the pressing force applied to the tip of the finger 102 can be detected.
  • the force teaching unit 22 registers the gripping force taught to the robot hand 101 based on the pressing force detected by the force sensor 21. As shown in FIG. 4, the force teaching unit 22 includes a lock instruction receiving unit 23, a hand control unit 24, a notification unit 25, a decision instruction receiving unit 26, a force registration unit 27, and a recording unit 28.
  • the force teaching unit 22 is realized by a processing circuit such as a system LSI, or a CPU or the like that executes a program stored in a memory or the like.
  • the lock instruction reception unit 23 receives the servo lock instruction from the user.
  • the servo lock instruction is an instruction input to the teaching device when the user servo-locks the robot hand 101.
  • the user inputs the servo lock instruction by using, for example, the operation button of the robot hand 101 or the operation button of the teaching pendant.
  • the hand control unit 24 servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 23.
  • the notification unit 25 notifies the pressing force detected by the force sensor 21 in real time.
  • the information indicating the pressing force notified by the notification unit 25 is displayed on the display device.
  • the notification unit 25 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 25 is unnecessary when the user does not need to teach while checking the pressing force applied to the robot hand 101.
  • the decision instruction reception unit 26 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 27 receives the pressing force at the timing when the decision instruction receiving unit 26 receives the decision instruction among the pressing forces detected by the force sensor 21 after the robot hand 101 is servo-locked by the hand control unit 24.
  • the value and the reverse direction are registered in the recording unit 28 as the value and direction of the gripping force taught to the robot hand 101.
  • the recording unit 28 is composed of an HDD, a DVD, a memory, or the like. Further, FIG. 4 shows a case where the recording unit 28 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 28 may be provided outside the teaching device.
  • FIG. 3 a case where the robot hand 101 teaches a gripping force when gripping an object 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. Therefore, in the teaching device according to the second embodiment, the direct teaching of the gripping force is realized by using the force sensor 21 that can detect the pressing force applied to the robot hand 101.
  • the user In the direct teaching of the gripping force, the user first inputs a servo lock instruction to the teaching device. Next, the hand control unit 24 servo-locks the robot hand 101.
  • the force sensor 21 detects this pressing force.
  • the arrow indicated by reference numeral 502 indicates the pressing force applied by the user.
  • the notification unit 25 notifies the pressing force detected by the force sensor 21 in real time, and the display device displays information indicating the pressing force. As a result, the user can also adjust the pressing force applied to the finger 102 while monitoring the pressing force applied to the finger 102.
  • the user determines that the optimum gripping state is determined from the pressing force felt by the finger 102 from the finger 102, the user inputs a determination instruction to the teaching device.
  • the force registration unit 27 registers the value and the reverse direction of the pressing force at the timing when the determination instruction is input in the recording unit 28 as the value and direction of the gripping force 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 21 that detects the pressing 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 lock instruction receiving unit 23 that receives the servo lock instruction from the robot
  • the hand control unit 24 that servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 23, and the decision instruction receiving unit that receives the decision instruction from the user.
  • the teaching device according to the second embodiment can directly teach the gripping force to the robot hand 101.
  • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The present invention is provided with: a torque sensor (11) which detects torque of a pressing force, in the same direction as a gripping force, applied to the tip of a finger (102) of a robot hand (101); a force calculation unit (12) which, from the torque detected by the torque sensor (11), calculates the pressing force applied to the tip of the finger (102) of the robot hand (101); a lock instruction receiving unit (14) which receives a servo lock instruction from a user; a hand control unit (15) which implements a servo lock on the robot hand (101) at a timing when the servo lock instruction is received by the lock instruction receiving unit (14); a decision instruction receiving unit (17) which receives a decision instruction from the user; and a force registration unit (18) which registers, as a value and direction of a gripping force taught to the robot hand (101), the value and direction of the pressing force, from among pressing forces calculated by the force calculation unit (12) after the hand control unit (15) implemented a servo lock on the robot hand (101), that was applied at the timing when the decision instruction was received by the decision instruction receiving unit (17).

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、把持方向と同一方向の押付力によるトルクを検出するトルクセンサと、トルクセンサにより検出されたトルクから、ロボットハンドが有するフィンガの先端に加えられた押付力を算出する力算出部と、ユーザからサーボロック指示を受付けるロック指示受付部と、ロック指示受付部によりサーボロック指示を受付けたタイミングで、ロボットハンドをサーボロックするハンド制御部と、ユーザから決定指示を受付ける決定指示受付部と、ハンド制御部によりロボットハンドがサーボロックされた後に力算出部により算出された押付力のうち、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押付力の値及び方向を、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 is possessed by the robot hand from a torque sensor that detects torque due to a pressing force applied to the tip of the finger of the robot hand in the same direction as the gripping direction and torque detected by the torque sensor. The robot hand is servo-locked at the timing of receiving the servo lock instruction by the force calculation unit that calculates the pressing force applied to the tip of the finger, the lock instruction reception unit that receives the servo lock instruction from the user, and the lock instruction reception unit. Of the hand control unit, the decision instruction reception unit that receives the decision instruction from the user, and the pressing force calculated by the force calculation unit after the robot hand is servo-locked by the hand control unit, the decision instruction reception unit receives the decision instruction. It is characterized by including a force registration unit that registers the value and direction of the pressing force at the determined timing as the value and direction of the gripping force taught to the robot hand.
　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. 実施の形態２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 2. FIG. 実施の形態２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 2. 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、トルクセンサ１１、力算出部１２及び力教示部１３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 torque sensor 11, a force calculation unit 12, and a force teaching unit 13.
　トルクセンサ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、把持方向と同一方向の押付力によるトルク（軸（１軸以上）回りのモーメント成分）を検出する検出センサである。トルクセンサ１１は、ロボットハンド１０１におけるフィンガ１０２の関節部分又は根元部分に取付けられている。 The torque sensor 11 is attached to the robot hand 101 and detects the torque (moment component around the axis (one axis or more)) due to the pressing force applied to the tip of the finger 102 of the robot hand 101 in the same direction as the gripping direction. It is a detection sensor. The torque sensor 11 is attached to a joint portion or a root portion of the finger 102 in the robot hand 101.
　力算出部１２は、トルクセンサ１１により検出されたトルクから、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押付力を算出する。この際、力算出部１２は、トルクセンサ１１の検出値から初期値（ロボットハンド１０１に力が加えられていない状態での検出値）を差し引き、その差分値及び取付け位置までのハンド長さに基づいてロボットハンド１０１が有するフィンガ１０２の先端に加えられた押付力を算出する。 The force calculation unit 12 calculates the pressing force applied to the tip of the finger 102 of the robot hand 101 from the torque detected by the torque sensor 11. At this time, the force calculation unit 12 subtracts the initial value (detected value when no force is applied to the robot hand 101) from the detected value of the torque sensor 11, and sets the difference value and the hand length to the mounting position. Based on this, the pressing force applied to the tip of the finger 102 of the robot hand 101 is calculated.
　力教示部１３は、力算出部１２により算出された押付力に基づいて、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１３は、図２に示すように、ロック指示受付部１４、ハンド制御部１５、通知部１６、決定指示受付部１７、力登録部１８及び記録部１９を有している。 The force teaching unit 13 registers the gripping force taught to the robot hand 101 based on the pressing force calculated by the force calculating unit 12. As shown in FIG. 2, the force teaching unit 13 includes a lock instruction receiving unit 14, a hand control unit 15, a notification unit 16, a decision instruction receiving unit 17, a force registration unit 18, and a recording unit 19.
　なお、力算出部１２及び力教示部１３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 calculation unit 12 and the force teaching unit 13 are 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.
　ロック指示受付部１４は、ユーザからサーボロック指示を受付ける。サーボロック指示は、ユーザがロボットハンド１０１をサーボロック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、サーボロック指示の入力を行う。 The lock instruction receiving unit 14 receives the servo lock instruction from the user. The servo lock instruction is an instruction input to the teaching device when the user servo-locks the robot hand 101. The user inputs the servo lock instruction by using, for example, the operation button (not shown) of the robot hand 101 or the operation button of the teaching pendant (not shown).
　ハンド制御部１５は、ロック指示受付部１４によりサーボロック指示を受付けたタイミングで、ロボットハンド１０１をサーボロックする。 The hand control unit 15 servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 14.
　通知部１６は、力算出部１２により算出された押付力をリアルタイムに通知する。この通知部１６により通知された押付力を示す情報は、表示装置（不図示）に表示される。
　なお、通知部１６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に加えられている押付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１６は不要である。 The notification unit 16 notifies the pressing force calculated by the force calculation unit 12 in real time. The information indicating the pressing force notified by the notification unit 16 is displayed on a display device (not shown).
The notification unit 16 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 16 is unnecessary when the user does not need to teach while checking the pressing force applied to the robot hand 101.
　決定指示受付部１７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 17 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１８は、ハンド制御部１５によりロボットハンド１０１がサーボロックされた後に力算出部１２により算出された押付力のうち、決定指示受付部１７により決定指示が受付けられたタイミングでの押付力の値及び方向を、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１９に登録する。 The force registration unit 18 has a pressing force calculated by the force calculating unit 12 after the robot hand 101 is servo-locked by the hand control unit 15, and the pressing force at the timing when the decision instruction is received by the decision instruction receiving unit 17. Is registered in the recording unit 19 as the value and direction of the gripping force taught to the robot hand 101.
　なお、記録部１９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１９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１９は教示装置の外部に設けられていてもよい。 The recording unit 19 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 19 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 19 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（不図示）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。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に加えられた押付力によるトルクを検出可能なトルクセンサ１１を用いることで、把持力のダイレクト教示を実現する。
　一方、ロボットハンド１０１を自由に動かせる状態でユーザがロボットハンド１０１を物体に押付けると、この押付力が物体からの反発力で相殺されてしまうため、トルクセンサ１１はトルクを検出できない。そのため、この状態ではロボットハンド１０１に対する把持力のダイレクト教示は実施できない。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が物体から離れた状態でサーボロック状態（静止状態）とする。これにより、この状態でユーザがロボットハンド１０１に押付力を加えると、ロボットハンド１０１には押付力のみが加えられた状態となり、トルクセンサ１１はこの押付力によるトルクを検出可能となる。 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 a gripping force when gripping an object (not shown) 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. Therefore, in the teaching device according to the first embodiment, direct teaching of the gripping force is realized by using the torque sensor 11 that can detect the torque due to the pressing force applied to the robot hand 101.
On the other hand, when the user presses the robot hand 101 against the object while the robot hand 101 can be freely moved, the pressing force is canceled by the repulsive force from the object, so that the torque sensor 11 cannot detect the torque. Therefore, in this state, the direct teaching of the gripping force to the robot hand 101 cannot be performed. Therefore, in the teaching device according to the first embodiment, the robot hand 101 is set to the servo-locked state (stationary state) in a state of being separated from the object. As a result, when the user applies a pressing force to the robot hand 101 in this state, only the pressing force is applied to the robot hand 101, and the torque sensor 11 can detect the torque due to this pressing force.
　把持力のダイレクト教示では、ユーザは、まず、サーボロック指示を教示装置に入力する。
　次いで、ハンド制御部１５は、ロボットハンド１０１をサーボロックする。 In the direct teaching of the gripping force, the user first inputs a servo lock instruction to the teaching device.
Next, the hand control unit 15 servo-locks the robot hand 101.
　次いで、ユーザは、ロボットハンド１０１が有するフィンガ１０２の先端を手で押付ける。この際、トルクセンサ１１はロボットハンド１０１が有するフィンガ１０２の先端に加えられた押付力によるトルクを算出し、力算出部１２はこのトルクから当該押付力を算出する。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ている。 Next, the user manually presses the tip of the finger 102 held by the robot hand 101. At this time, the torque sensor 11 calculates the torque due to the pressing force applied to the tip of the finger 102 held by the robot hand 101, and the force calculation unit 12 calculates the pressing force from this torque. In FIG. 1, the arrow shown by reference numeral 501 indicates a pressing force applied by the user.
　また、通知部１６は力算出部１２により算出された押付力をリアルタイムに通知し、表示装置はその押付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に加えられた押付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 16 notifies the pressing force calculated by the force calculation unit 12 in real time, and the display device displays information indicating the pressing force. As a result, the user can also adjust the pressing force applied to the finger 102 while monitoring the pressing 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押付力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 pressing force felt by the finger 102 from the finger 102, the user inputs a determination instruction to the teaching device.
　次いで、力登録部１８は、決定指示が入力されたタイミングでの押付力の値及び方向を、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１９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 18 registers the value and direction of the pressing force at the timing when the determination instruction is input in the recording unit 19 as the value and direction of the gripping force 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、把持方向と同一方向の押付力によるトルクを検出するトルクセンサ１１と、トルクセンサ１１により検出されたトルクから、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押付力を算出する力算出部１２と、ユーザからサーボロック指示を受付けるロック指示受付部１４と、ロック指示受付部１４によりサーボロック指示を受付けたタイミングで、ロボットハンド１０１をサーボロックするハンド制御部１５と、ユーザから決定指示を受付ける決定指示受付部１７と、ハンド制御部１５によりロボットハンド１０１がサーボロックされた後に力算出部１２により算出された押付力のうち、決定指示受付部１７により決定指示が受付けられたタイミングでの押付力の値及び方向を、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１８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 a torque sensor 11 that detects torque due to a pressing force applied to the tip of the finger 102 of the robot hand 101 in the same direction as the gripping direction. A force calculation unit 12 that calculates the pressing force applied to the tip of the finger 102 of the robot hand 101 from the torque detected by the torque sensor 11, a lock instruction reception unit 14 that receives a servo lock instruction from the user, and a lock instruction. The hand control unit 15 that servo-locks the robot hand 101 at the timing when the reception unit 14 receives the servo lock instruction, the decision instruction reception unit 17 that receives the decision instruction from the user, and the hand control unit 15 servo lock the robot hand 101. Of the pressing force calculated by the force calculating unit 12, the value and direction of the pressing force at the timing when the determination instruction is received by the determination instruction receiving unit 17 are taught to the robot hand 101 as the gripping force. It is provided with a force registration unit 18 for registering the value and direction of. As a result, the teaching device according to the first embodiment can directly teach the gripping force to the robot hand 101.
実施の形態２．
　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、把持方向と同一方向の押付力によるトルクを検出するトルクセンサ１１を用いた場合を示した。それに対し、実施の形態２に係る教示装置では、ロボットハンド１０１に加えられた、把持方向とは反対方向の押付力を検出する力センサ２１を用いた場合を示す。 Embodiment 2.
In the teaching device according to the first embodiment, a case where a torque sensor 11 that detects torque due to a pressing force in the same direction as the gripping direction applied to the robot hand 101 is used is shown. On the other hand, in the teaching device according to the second embodiment, the case where the force sensor 21 applied to the robot hand 101 for detecting the pressing force in the direction opposite to the gripping direction is used is shown.
　図３は実施の形態２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３に示すように、力センサ２１及び力教示部２２を備えている。 FIG. 3 is a diagram showing a configuration example and an operation example of the teaching device according to the second 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. 3, this teaching device includes a force sensor 21 and a force teaching unit 22.
　力センサ２１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押付力を検出するセンサである。力センサ２１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３では、力センサ２１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２１は、フィンガ１０２の先端に加えられた押付力を検出可能な箇所に取付けられていればよい。 The force sensor 21 is a sensor attached to the robot hand 101 and detecting a pressing 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 21, a force sensor or the like that detects a force component in a direction of one axis or more is used.
In FIG. 3, the force sensor 21 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 21 may be attached to a position where the pressing force applied to the tip of the finger 102 can be detected.
　力教示部２２は、力センサ２１により検出された押付力に基づいて、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２２は、図４に示すように、ロック指示受付部２３、ハンド制御部２４、通知部２５、決定指示受付部２６、力登録部２７及び記録部２８を有している。なお、力教示部２２は、システムＬＳＩ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等により実現される。 The force teaching unit 22 registers the gripping force taught to the robot hand 101 based on the pressing force detected by the force sensor 21. As shown in FIG. 4, the force teaching unit 22 includes a lock instruction receiving unit 23, a hand control unit 24, a notification unit 25, a decision instruction receiving unit 26, a force registration unit 27, and a recording unit 28. The force teaching unit 22 is realized by a processing circuit such as a system LSI, or a CPU or the like that executes a program stored in a memory or the like.
　ロック指示受付部２３は、ユーザからサーボロック指示を受付ける。サーボロック指示は、ユーザがロボットハンド１０１をサーボロック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、サーボロック指示の入力を行う。 The lock instruction reception unit 23 receives the servo lock instruction from the user. The servo lock instruction is an instruction input to the teaching device when the user servo-locks the robot hand 101. The user inputs the servo lock instruction by using, for example, the operation button of the robot hand 101 or the operation button of the teaching pendant.
　ハンド制御部２４は、ロック指示受付部２３によりサーボロック指示を受付けたタイミングで、ロボットハンド１０１をサーボロックする。 The hand control unit 24 servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 23.
　通知部２５は、力センサ２１により検出された押付力をリアルタイムに通知する。この通知部２５により通知された押付力を示す情報は、表示装置に表示される。
　なお、通知部２５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に加えられている押付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２５は不要である。 The notification unit 25 notifies the pressing force detected by the force sensor 21 in real time. The information indicating the pressing force notified by the notification unit 25 is displayed on the display device.
The notification unit 25 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 25 is unnecessary when the user does not need to teach while checking the pressing force applied to the robot hand 101.
　決定指示受付部２６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 26 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２７は、ハンド制御部２４によりロボットハンド１０１がサーボロックされた後に力センサ２１により検出された押付力のうち、決定指示受付部２６により決定指示が受付けられたタイミングでの押付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２８に登録する。 The force registration unit 27 receives the pressing force at the timing when the decision instruction receiving unit 26 receives the decision instruction among the pressing forces detected by the force sensor 21 after the robot hand 101 is servo-locked by the hand control unit 24. The value and the reverse direction are registered in the recording unit 28 as the value and direction of the gripping force taught to the robot hand 101.
　なお、記録部２８は、ＨＤＤ、ＤＶＤ又はメモリ等によって構成される。
　また図４では、記録部２８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２８は教示装置の外部に設けられていてもよい。 The recording unit 28 is composed of an HDD, a DVD, a memory, or the like.
Further, FIG. 4 shows a case where the recording unit 28 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 28 may be provided outside the teaching device.
　次に、図３，４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３に示すように、ロボットハンド１０１が物体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。そこで、実施の形態２に係る教示装置では、ロボットハンド１０１に加えられた押付力を検出可能な力センサ２１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. 3 and 4 will be described. In the following, as shown in FIG. 3, a case where the robot hand 101 teaches a gripping force when gripping an object 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. Therefore, in the teaching device according to the second embodiment, the direct teaching of the gripping force is realized by using the force sensor 21 that can detect the pressing 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、サーボロック指示を教示装置に入力する。
　次いで、ハンド制御部２４は、ロボットハンド１０１をサーボロックする。 In the direct teaching of the gripping force, the user first inputs a servo lock instruction to the teaching device.
Next, the hand control unit 24 servo-locks the robot hand 101.
　次いで、ユーザは、ロボットハンド１０１が有するフィンガ１０２の先端を手で押付ける。この際、力センサ２１は、この押付力を検出する。図３において、符号５０２に示す矢印はユーザにより加えられた押付力を示している。 Next, the user manually presses the tip of the finger 102 held by the robot hand 101. At this time, the force sensor 21 detects this pressing force. In FIG. 3, the arrow indicated by reference numeral 502 indicates the pressing force applied by the user.
　また、通知部２５は力センサ２１により検出された押付力をリアルタイムに通知し、表示装置はその押付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に加えられた押付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 25 notifies the pressing force detected by the force sensor 21 in real time, and the display device displays information indicating the pressing force. As a result, the user can also adjust the pressing force applied to the finger 102 while monitoring the pressing 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押付力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 pressing force felt by the finger 102 from the finger 102, the user inputs a determination instruction to the teaching device.
　次いで、力登録部２７は、決定指示が入力されたタイミングでの押付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２８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 27 registers the value and the reverse direction of the pressing force at the timing when the determination instruction is input in the recording unit 28 as the value and direction of the gripping force 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２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押付力を検出する力センサ２１と、ユーザからサーボロック指示を受付けるロック指示受付部２３と、ロック指示受付部２３によりサーボロック指示を受付けたタイミングで、ロボットハンド１０１をサーボロックするハンド制御部２４と、ユーザから決定指示を受付ける決定指示受付部２６と、ハンド制御部２４によりロボットハンド１０１がサーボロックされた後に力センサ２１により検出された押付力のうち、決定指示受付部２６により決定指示が受付けられたタイミングでの押付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２７とを備えた。これにより、実施の形態２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 second embodiment, the teaching device includes the force sensor 21 that detects the pressing 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 lock instruction receiving unit 23 that receives the servo lock instruction from the robot, the hand control unit 24 that servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 23, and the decision instruction receiving unit that receives the decision instruction from the user. Of the pressing forces detected by the force sensor 21 after the robot hand 101 is servo-locked by the unit 26 and the hand control unit 24, the value of the pressing force at the timing when the decision instruction is received by the decision instruction receiving unit 26 and A force registration unit 27 that registers the reverse direction as the value and direction of the gripping force taught to the robot hand 101 is provided. As a result, the teaching device according to the second 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、各実施の形態の自由な組合わせ、或いは各実施の形態の任意の構成要素の変形、若しくは各実施の形態において任意の構成要素の省略が可能である。 In the present invention, within the scope of the invention, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. is there.
　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　トルクセンサ
１２　力算出部
１３　力教示部
１４　ロック指示受付部
１５　ハンド制御部
１６　通知部
１７　決定指示受付部
１８　力登録部
１９　記録部
２１　力センサ
２２　力教示部
２３　ロック指示受付部
２４　ハンド制御部
２５　通知部
２６　決定指示受付部
２７　力登録部
２８　記録部
１０１　ロボットハンド
１０２　フィンガ 11 Torque sensor 12 Force calculation unit 13 Force teaching unit 14 Lock instruction receiving unit 15 Hand control unit 16 Notification unit 17 Decision instruction receiving unit 18 Force registration unit 19 Recording unit 21 Force sensor 22 Force teaching unit 23 Lock instruction receiving unit 24 Hand control Unit 25 Notification unit 26 Decision instruction reception unit 27 Power registration unit 28 Recording unit 101 Robot hand 102 Finger

Claims (7)

  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、把持方向と同一方向の押付力によるトルクを検出するトルクセンサと、
    　前記トルクセンサにより検出されたトルクから、前記ロボットハンドが有するフィンガの先端に加えられた押付力を算出する力算出部と、
    　ユーザからサーボロック指示を受付けるロック指示受付部と、
    　前記ロック指示受付部によりサーボロック指示を受付けたタイミングで、前記ロボットハンドをサーボロックするハンド制御部と、
    　ユーザから決定指示を受付ける決定指示受付部と、
    　前記ハンド制御部により前記ロボットハンドがサーボロックされた後に前記力算出部により算出された押付力のうち、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押付力の値及び方向を、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 torque sensor that detects the torque applied to the tip of the finger of the robot hand due to the pressing force in the same direction as the gripping direction,
    A force calculation unit that calculates the pressing force applied to the tip of the finger held by the robot hand from the torque detected by the torque sensor.
    A lock instruction reception unit that receives servo lock instructions from the user,
    A hand control unit that servo-locks the robot hand at the timing when the servo lock instruction is received by the lock instruction receiving unit.
    The decision instruction reception unit that accepts decision instructions from users,
    Of the pressing force calculated by the force calculating unit after the robot hand is servo-locked by the hand control unit, the value and direction of the pressing force at the timing when the determination instruction is received by the determination instruction receiving unit are determined. A teaching device including a force registration unit that registers the value and direction of the gripping force taught to the robot hand.
  2. 　前記力算出部により算出された押付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記載の教示装置。     The teaching device according to claim 1, further comprising a notification unit that notifies the pressing force calculated by the force calculation unit in real time.
  3. 　前記力算出部は、前記トルクセンサの検出値から初期値を差し引いた差分値及び取付け位置までのハンド長さに基づいて、前記ロボットハンドに加えられた押付力を算出する
    　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 claim is characterized in that the force calculation unit calculates the pressing force applied to the robot hand based on the difference value obtained by subtracting the initial value from the detection value of the torque sensor and the hand length to the mounting position. The teaching device according to claim 1 or 2.
  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押付力を検出する力センサと、
    　ユーザからサーボロック指示を受付けるロック指示受付部と、
    　前記ロック指示受付部によりサーボロック指示を受付けたタイミングで、前記ロボットハンドをサーボロックするハンド制御部と、
    　ユーザから決定指示を受付ける決定指示受付部と、
    　前記ハンド制御部により前記ロボットハンドがサーボロックされた後に前記力センサにより検出された押付力のうち、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押付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 pressing force applied to the tip of the finger held by the robot hand in the direction opposite to the gripping direction,
    A lock instruction reception unit that receives servo lock instructions from the user,
    A hand control unit that servo-locks the robot hand at the timing when the servo lock instruction is received by the lock instruction receiving unit.
    The decision instruction reception unit that accepts decision instructions from users,
    Of the pressing forces detected by the force sensor after the robot hand is servo-locked by the hand control unit, the value and the reverse direction of the pressing force at the timing when the determination instruction is received by the determination instruction receiving unit are determined. A teaching device including a force registration unit that registers the value and direction of the gripping force taught to the robot hand.
  5. 　前記力センサにより検出された押付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４記載の教示装置。     The teaching device according to claim 4, further comprising a notification unit for notifying the pressing force detected by the force sensor in real time.
  6. 　ロボットハンドが有するフィンガの先端に加えられた、把持方向と同一方向の押付力によるトルクを検出するトルクセンサを備えた教示装置による教示方法であって、
    　前記トルクセンサにより検出されたトルクから、前記ロボットハンドが有するフィンガの先端に加えられた押付力を算出する力算出ステップと、
    　ユーザからサーボロック指示を受付けるロック指示受付ステップと、
    　前記ロック指示受付ステップにおいてサーボロック指示を受付けたタイミングで、前記ロボットハンドをサーボロックするハンド制御ステップと、
    　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、
    　前記ハンド制御ステップにおいて前記ロボットハンドをサーボロックした後に前記力算出ステップにおいて算出した押付力のうち、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押付力の値及び方向を、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。     This is a teaching method using a teaching device equipped with a torque sensor that detects torque due to a pressing force applied to the tip of a finger held by a robot hand in the same direction as the gripping direction.
    A force calculation step for calculating the pressing force applied to the tip of the finger held by the robot hand from the torque detected by the torque sensor, and
    The lock instruction reception step for receiving the servo lock instruction from the user,
    A hand control step for servo-locking the robot hand at the timing of receiving the servo lock instruction in the lock instruction receiving step,
    The decision instruction reception step for accepting decision instructions from the user,
    Of the pressing forces calculated in the force calculation step after the robot hand is servo-locked in the hand control step, the value and direction of the pressing force at the timing when the decision instruction is received in the decision instruction receiving step is determined by the robot hand. A teaching method comprising: a force registration step to register as a value and direction of a gripping force taught to.
  7. 　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押付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、
    　ユーザからサーボロック指示を受付けるロック指示受付ステップと、
    　前記ロック指示受付ステップにおいてサーボロック指示を受付けたタイミングで、前記ロボットハンドをサーボロックするハンド制御ステップと、
    　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、
    　前記ハンド制御ステップにおいて前記ロボットハンドをサーボロックした後に前記力センサにより検出された押付力のうち、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押付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 pressing force applied to the tip of the finger of the robot hand in the direction opposite to the gripping direction.
    A lock instruction reception step that accepts servo lock instructions from the user,
    A hand control step that servo-locks the robot hand at the timing when the servo lock instruction is received in the lock instruction receiving step,
    The decision instruction reception step for accepting decision instructions from the user,
    Of the pressing forces detected by the force sensor after the robot hand is servo-locked in the hand control step, the value and the reverse direction of the pressing force at the timing when the decision instruction is received in the decision instruction reception step are determined by the robot. A teaching method comprising: having a force registration step to register as a gripping force value and direction taught to the hand.
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Citations (4)

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JPH11231925A (en) * 1998-02-10 1999-08-27 Yaskawa Electric Corp Hand of direct teaching robot
JP2016047591A (en) * 2014-08-27 2016-04-07 キヤノン株式会社 Robot teaching device and method, and robot system
WO2017036520A1 (en) * 2015-09-02 2017-03-09 Abb Schweiz Ag System and method for generating a robot program with a hand-held teaching device
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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11231925A (en) * 1998-02-10 1999-08-27 Yaskawa Electric Corp Hand of direct teaching robot
JP2016047591A (en) * 2014-08-27 2016-04-07 キヤノン株式会社 Robot teaching device and method, and robot system
WO2017036520A1 (en) * 2015-09-02 2017-03-09 Abb Schweiz Ag System and method for generating a robot program with a hand-held teaching device
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

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