WO2020262170A1 - Teaching device and teaching method - Google Patents

Teaching device and teaching method Download PDF

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Publication number
WO2020262170A1
WO2020262170A1 PCT/JP2020/023812 JP2020023812W WO2020262170A1 WO 2020262170 A1 WO2020262170 A1 WO 2020262170A1 JP 2020023812 W JP2020023812 W JP 2020023812W WO 2020262170 A1 WO2020262170 A1 WO 2020262170A1
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WO
WIPO (PCT)
Prior art keywords
force
robot hand
servo
unit
lock instruction
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PCT/JP2020/023812
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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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Publication of WO2020262170A1 publication Critical patent/WO2020262170A1/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 is possessed by the robot hand from a torque sensor that detects torque due to a repulsive force in the direction opposite to the gripping direction applied to the tip of the finger of the robot hand and a 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 repulsive 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 value and reverse direction of the repulsive force calculated by the hand control unit and the force calculation unit after the robot hand is servo-locked by the hand control unit are registered as the gripping force value and direction taught to the robot hand. It is characterized by having a power registration unit.
  • 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 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 applies torque (a moment component around an axis (one axis or more)) due to a repulsive force in a direction opposite to the gripping direction applied to the tip of the finger 102 of the robot hand 101. It is a detection sensor that detects.
  • 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 repulsive 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 repulsive 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 repulsive 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 force registration unit 17, and a recording unit 18.
  • 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 repulsive force calculated by the force calculation unit 12 in real time.
  • the information indicating the repulsive 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 repulsive force applied to the robot hand 101.
  • the force registration unit 17 sets the value of the repulsive force calculated by the force calculation unit 12 and the reverse direction after the robot hand 101 is servo-locked by the hand control unit 15 as the value of the gripping force taught to the robot hand 101. And the direction is 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 robot hand 101 is pressed against the object 201 to be in the servo-locked state (stationary state).
  • the torque sensor 11 can detect the torque due to the repulsive 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 manually applies a force to the finger 102 in the gripping direction or operates the finger 102 with the teaching pendant to press the finger 102 against the object 201 in the gripping direction.
  • the pressing force applied to the finger 102 is canceled by the repulsive force from the object 201, so that the torque sensor 11 cannot detect the torque.
  • the user inputs a servo lock instruction to the teaching device when it is determined from the repulsive force (pressing force) felt by the finger 102 from the finger 102 or the degree of deformation of the object 201 that the gripping state is optimal.
  • the hand control unit 15 servo-locks the robot hand 101.
  • the user releases the finger 102.
  • the torque sensor 11 detects the torque due to this repulsive force, and the force calculation unit 12 calculates the repulsive force from this torque.
  • the arrow indicated by reference numeral 501 indicates the repulsive force applied from the object 201.
  • the notification unit 16 notifies the repulsive force calculated by the force calculation unit 12 in real time, and the display device displays information indicating the repulsive force.
  • the user can confirm the repulsive force applied to the finger 102 and re-teach the pressing force applied to the finger 102. That is, the user may perform re-teaching by confirming the repulsive force after putting the robot hand 101 in the servo-locked state, returning the robot hand 101 to the servo-on state, and repeating the above operation again if necessary.
  • the force registration unit 17 registers the repulsive force value and the reverse direction calculated by the force calculation unit 12 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 torque sensor 11 that detects the torque due to the repulsive force applied to the tip of the finger 102 of the robot hand 101 in the direction opposite to the gripping direction.
  • a force calculation unit 12 that calculates the repulsive 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.
  • the hand control unit 15 that servo-locks the robot hand 101 at the timing when the instruction receiving unit 14 receives the servo lock instruction, and the repulsion calculated by the force calculation unit 12 after the robot hand 101 is servo-locked by the hand control unit 15.
  • a force registration unit 17 for registering the force value and the reverse direction as the gripping force value and direction taught to the robot hand 101 is provided. As a result, the teaching device according to the first embodiment 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 applied to the robot hand 101 for detecting torque due to a repulsive force in a direction opposite to the gripping direction 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 repulsive 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 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 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 repulsive 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 repulsive force detected by the force sensor 21.
  • the force teaching unit 22 includes a notification unit 23, a lock instruction receiving unit 24, a hand control unit 25, a force registration unit 26, and a recording unit 27.
  • 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 notification unit 23 notifies the repulsive force detected by the force sensor 21 in real time.
  • the information indicating the repulsive force notified by the notification unit 23 is displayed on the display device.
  • the notification unit 23 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 23 is unnecessary when the user does not need to teach while checking the repulsive force applied to the robot hand 101.
  • the lock instruction reception unit 24 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 25 servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 24.
  • the force registration unit 26 sets the repulsive force value and the reverse direction detected by the force sensor 21 after the robot hand 101 is servo-locked by the hand control unit 25 as the gripping force value and the gripping force value taught to the robot hand 101.
  • the direction is registered in the recording unit 27.
  • the recording unit 27 is composed of an HDD, a DVD, a memory, or the like. Further, FIG. 4 shows a case where the recording unit 27 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 27 may be provided outside the teaching device.
  • FIG. 3 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 manually applies a force to the finger 102 in the gripping direction or operates the finger 102 with the teaching pendant to press the finger 102 against the object 201 in the gripping direction.
  • the notification unit 23 notifies the repulsive force detected by the force sensor 21 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 inputs a servo lock instruction to the teaching device when it is determined from the repulsive force (pressing force) felt by the finger 102 from the finger 102 or the degree of deformation of the object 201 that the gripping state is optimal.
  • the hand control unit 25 servo-locks the robot hand 101.
  • the user releases the finger 102.
  • the force sensor 21 detects this repulsive force.
  • the arrow indicated by reference numeral 502 indicates the repulsive force applied from the object 201.
  • the force registration unit 26 registers the value and the reverse direction of the repulsive force detected by the force sensor 21 in the recording unit 27 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 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 lock instruction receiving unit 24 that receives the servo lock instruction from the robot
  • the hand control unit 25 that servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 24, and the robot hand 101 by the hand control unit 25.
  • It is provided with a force registration unit 26 that registers the value and reverse direction of the repulsive force detected by the force sensor 21 after being servo-locked as the value and direction of the gripping force taught to the robot hand 101.
  • 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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Abstract

The present invention is provided with: a torque sensor (11) which detects torque generated by a repulsive force, in a direction opposite to a grasping direction, applied to the tip of a finger of (102) of a robot hand (101); a force calculation unit (12) which, from the torque detected by the torque sensor (11), calculates the repulsive 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); 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 reverse direction of the repulsive force that has been calculated by the force calculation unit (12) after the hand control unit (15) implemented a servo lock on the robot hand (101).

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、把持方向と反対方向の反発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反発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、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反発力の値及び逆方向を、当該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 repulsive force in the direction opposite to the gripping direction applied to the tip of the finger of the robot hand and a 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 repulsive 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 value and reverse direction of the repulsive force calculated by the hand control unit and the force calculation unit after the robot hand is servo-locked by the hand control unit are registered as the gripping force value and direction taught to the robot hand. It is characterized by having a power registration unit.
　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である。It is a block which shows the structural example of the teaching apparatus which concerns on Embodiment 2.
　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、把持方向とは反対方向の反発力によるトルク（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 applies torque (a moment component around an axis (one axis or more)) due to a repulsive force in a direction opposite to the gripping direction applied to the tip of the finger 102 of the robot hand 101. It is a detection sensor that detects. 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反発力を算出する。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反発力を算出する。 The force calculation unit 12 calculates the repulsive 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 repulsive 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、力登録部１７及び記録部１８を有している。 The force teaching unit 13 registers the gripping force taught to the robot hand 101 based on the repulsive 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 force registration unit 17, and a recording unit 18.
　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により算出された反発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１６は不要である。 The notification unit 16 notifies the repulsive force calculated by the force calculation unit 12 in real time. The information indicating the repulsive 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 repulsive force applied to the robot hand 101.
　力登録部１７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。 The force registration unit 17 sets the value of the repulsive force calculated by the force calculation unit 12 and the reverse direction after the robot hand 101 is servo-locked by the hand control unit 15 as the value of the gripping force taught to the robot hand 101. And the direction is 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２０１に押付けると、この押付力が物体２０１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、ユーザがロボットハンド１０１を物体２０１に押付け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から手を離すと、ロボットハンド１０１には反発力のみが加えられた状態となり、トルクセンサ１１はこの反発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 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 torque sensor 11 that can detect the torque due to the repulsive force applied to the robot hand 101.
On the other hand, when the user presses the robot hand 101 against the object 201 while the robot hand 101 can be freely moved, the pressing force is canceled by the repulsive force from the object 201, 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 pressed against the object 201 to be in the servo-locked state (stationary state). As a result, when the user releases the robot hand 101 in this state, only the repulsive force is applied to the robot hand 101, and the torque sensor 11 can detect the torque due to the repulsive force.
　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、フィンガ１０２に対して手で把持方向に力を加え又は教示ペンダントでフィンガ１０２を操作し、フィンガ１０２を物体２０１に把持方向に押付ける。なおこの状態では、フィンガ１０２に加えられた押付力は物体２０１からの反発力によって相殺されてしまうため、トルクセンサ１１ではトルクを検出できない。 Next, the user manually applies a force to the finger 102 in the gripping direction or operates the finger 102 with the teaching pendant to press the finger 102 against the object 201 in the gripping direction. In this state, the pressing force applied to the finger 102 is canceled by the repulsive force from the object 201, so that the torque sensor 11 cannot detect the torque.
　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、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。 Next, the user inputs a servo lock instruction to the teaching device when it is determined from the repulsive force (pressing force) felt by the finger 102 from the finger 102 or the degree of deformation of the object 201 that the gripping state is optimal.
Next, the hand control unit 15 servo-locks the robot hand 101.
　次いで、ユーザは、フィンガ１０２から手を離す。これにより、フィンガ１０２には物体２０１からの反発力のみが加わる。そして、トルクセンサ１１はこの反発力によるトルクを検出し、力算出部１２はこのトルクから当該反発力を算出する。図１において、符号５０１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 releases the finger 102. As a result, only the repulsive force from the object 201 is applied to the finger 102. Then, the torque sensor 11 detects the torque due to this repulsive force, and the force calculation unit 12 calculates the repulsive force from this torque. In FIG. 1, the arrow indicated by reference numeral 501 indicates the repulsive force applied from the object 201.
　また、通知部１６は力算出部１２により算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確認してフィンガ１０２に加える押付力を再教示することもできる。すなわち、ユーザは、ロボットハンド１０１をサーボロック状態とした後に反発力を確認し、必要に応じてロボットハンド１０１をサーボオン状態に戻して再度上記の操作を繰返すことで再教示を行ってもよい。 Further, the notification unit 16 notifies the repulsive force calculated by the force calculation unit 12 in real time, and the display device displays information indicating the repulsive force. As a result, the user can confirm the repulsive force applied to the finger 102 and re-teach the pressing force applied to the finger 102. That is, the user may perform re-teaching by confirming the repulsive force after putting the robot hand 101 in the servo-locked state, returning the robot hand 101 to the servo-on state, and repeating the above operation again if necessary.
　次いで、力登録部１７は、力算出部１２により算出された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 calculated by the force calculation unit 12 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反発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、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 torque sensor 11 that detects the torque due to the repulsive force applied to the tip of the finger 102 of the robot hand 101 in the direction opposite to the gripping direction. , A force calculation unit 12 that calculates the repulsive 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. The hand control unit 15 that servo-locks the robot hand 101 at the timing when the instruction receiving unit 14 receives the servo lock instruction, and the repulsion calculated by the force calculation unit 12 after the robot hand 101 is servo-locked by the hand control unit 15. A force registration unit 17 for registering the force value and the reverse direction as the gripping force value and direction taught to the robot hand 101 is provided. 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、把持方向とは反対方向の反発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反発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 applied to the robot hand 101 for detecting torque due to a repulsive force in a direction opposite to the gripping direction 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 repulsive 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反発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 21 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 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 repulsive 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２２は、図４に示すように、通知部２３、ロック指示受付部２４、ハンド制御部２５、力登録部２６及び記録部２７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 repulsive force detected by the force sensor 21. As shown in FIG. 4, the force teaching unit 22 includes a notification unit 23, a lock instruction receiving unit 24, a hand control unit 25, a force registration unit 26, and a recording unit 27. 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.
　通知部２３は、力センサ２１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２３により通知された反発力を示す情報は、表示装置に表示される。
　なお、通知部２３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２３は不要である。 The notification unit 23 notifies the repulsive force detected by the force sensor 21 in real time. The information indicating the repulsive force notified by the notification unit 23 is displayed on the display device.
The notification unit 23 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 23 is unnecessary when the user does not need to teach while checking the repulsive force applied to the robot hand 101.
　ロック指示受付部２４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 24 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２５は、ロック指示受付部２４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 25 servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 24.
　力登録部２６は、ハンド制御部２５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２７に登録する。 The force registration unit 26 sets the repulsive force value and the reverse direction detected by the force sensor 21 after the robot hand 101 is servo-locked by the hand control unit 25 as the gripping force value and the gripping force value taught to the robot hand 101. The direction is registered in the recording unit 27.
　なお、記録部２７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２７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２７は教示装置の外部に設けられていてもよい。 The recording unit 27 is composed of an HDD, a DVD, a memory, or the like.
Further, FIG. 4 shows a case where the recording unit 27 is provided inside the teaching device, but the present invention is not limited to this, and the recording unit 27 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２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 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 second embodiment, direct teaching of the gripping force is realized by using the force sensor 21 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、フィンガ１０２に対して手で把持方向に力を加え又は教示ペンダントでフィンガ１０２を操作し、フィンガ１０２を物体２０１に把持方向に押付ける。 Next, the user manually applies a force to the finger 102 in the gripping direction or operates the finger 102 with the teaching pendant to press the finger 102 against the object 201 in the gripping direction.
　また、通知部２３は力センサ２１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 23 notifies the repulsive force detected by the force sensor 21 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、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２５は、ロボットハンド１０１をサーボロックする。 Next, the user inputs a servo lock instruction to the teaching device when it is determined from the repulsive force (pressing force) felt by the finger 102 from the finger 102 or the degree of deformation of the object 201 that the gripping state is optimal.
Next, the hand control unit 25 servo-locks the robot hand 101.
　次いで、ユーザは、フィンガ１０２から手を離す。これにより、フィンガ１０２には物体２０１からの反発力のみが加わる。そして、力センサ２１はこの反発力を検出する。図３において、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 releases the finger 102. As a result, only the repulsive force from the object 201 is applied to the finger 102. Then, the force sensor 21 detects this repulsive force. In FIG. 3, the arrow indicated by reference numeral 502 indicates the repulsive force applied from the object 201.
　次いで、力登録部２６は、力センサ２１により検出された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２７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 26 registers the value and the reverse direction of the repulsive force detected by the force sensor 21 in the recording unit 27 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反発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２４と、ロック指示受付部２４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２５と、ハンド制御部２５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２６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 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 lock instruction receiving unit 24 that receives the servo lock instruction from the robot, the hand control unit 25 that servo-locks the robot hand 101 at the timing when the servo lock instruction is received by the lock instruction receiving unit 24, and the robot hand 101 by the hand control unit 25. It is provided with a force registration unit 26 that registers the value and reverse direction of the repulsive force detected by the force sensor 21 after being servo-locked as the value and direction of the gripping force taught to the robot hand 101. 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　力登録部
１８　記録部
２１　力センサ
２２　力教示部
２３　通知部
２４　ロック指示受付部
２５　ハンド制御部
２６　力登録部
２７　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 Force registration unit 18 Recording unit 21 Force sensor 22 Force teaching unit 23 Notification unit 24 Lock instruction receiving unit 25 Hand control unit 26 Force registration unit 27 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、把持方向と反対方向の反発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反発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、
    　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反発力の値及び逆方向を、当該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 torque due to the repulsive force applied to the tip of the finger of the robot hand in the direction opposite to the gripping direction
    A force calculation unit that calculates the repulsive 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.
    A force that registers the value and reverse direction of the repulsive force calculated by the force calculation unit after the robot hand is servo-locked by the hand control unit as the gripping force value and direction taught to the robot hand. A teaching device equipped with a registration unit.
  2. 　前記力算出部により算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記載の教示装置。     The teaching device according to claim 1, further comprising a notification unit that notifies the repulsive 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反発力を算出する
    　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 repulsive 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反発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、
    　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,
    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.
    Force registration for registering the value and reverse direction of the repulsive force detected by the force sensor after the robot hand is servo-locked by the hand control unit as the gripping force value and direction taught to the robot hand. A teaching device equipped with a unit.
  5. 　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４記載の教示装置。     The teaching device according to claim 4, further comprising a notification unit that notifies the repulsive 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、把持方向とは反対方向の反発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反発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、
    　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反発力の値及び逆方向を、当該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 torque sensor that detects torque due to a repulsive force in the direction opposite to the gripping direction applied to the tip of the finger of the robot hand.
    A force calculation step for calculating the repulsive force applied to the tip of the finger held by the robot hand from the torque detected by the torque sensor.
    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,
    A force registration step in which the value and reverse direction of the repulsive force calculated in the force calculation step after servo-locking the robot hand in the hand control step are registered as the gripping force value and direction taught to the robot hand. A teaching method characterized by having and.
  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、
    　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 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,
    A force registration step in which the value and reverse direction of the repulsive force detected by the force sensor after servo-locking the robot hand in the hand control step are registered as the gripping force value and direction taught to the robot hand. A teaching method characterized by having and.
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JPH11231925A (en) * 1998-02-10 1999-08-27 Yaskawa Electric Corp Hand of direct teaching robot
JP2010058202A (en) * 2008-09-02 2010-03-18 Yaskawa Electric Corp Robot teaching replaying device and teaching replaying method
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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
JP2018069385A (en) * 2016-10-31 2018-05-10 セイコーエプソン株式会社 Hand and robot
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JPH11231925A (en) * 1998-02-10 1999-08-27 Yaskawa Electric Corp Hand of direct teaching robot
JP2010058202A (en) * 2008-09-02 2010-03-18 Yaskawa Electric Corp Robot teaching replaying device and teaching replaying method
JP2010076012A (en) * 2008-09-24 2010-04-08 Toshiba Corp Manipulator system and control method thereof
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