WO2021199931A1 - Teaching device - Google Patents

Teaching device Download PDF

Info

Publication number
WO2021199931A1
WO2021199931A1 PCT/JP2021/008926 JP2021008926W WO2021199931A1 WO 2021199931 A1 WO2021199931 A1 WO 2021199931A1 JP 2021008926 W JP2021008926 W JP 2021008926W WO 2021199931 A1 WO2021199931 A1 WO 2021199931A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
unit
hand
teaching
mode
Prior art date
Application number
PCT/JP2021/008926
Other languages
French (fr)
Japanese (ja)
Inventor
匠 山下
Original Assignee
アズビル株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by アズビル株式会社 filed Critical アズビル株式会社
Publication of WO2021199931A1 publication Critical patent/WO2021199931A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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 for directly teaching a robot arm and a robot hand.
  • Patent Document 1 a teaching device for directly teaching a robot arm is known (see, for example, Patent Document 1).
  • the teaching device disclosed in Patent Document 1 is configured to be able to switch between a follow-up mode (teaching mode) and another mode as an operation mode according to an operation by an operator's finger.
  • the present invention has been made to solve the above-mentioned problems, and when direct teaching is performed to the robot arm and the robot hand with respect to the conventional configuration, teaching that facilitates teaching as intended by the operator.
  • the purpose is to provide the device.
  • the teaching device has a switching unit capable of switching the operation mode of the robot to the hand instruction mode, and the robot so as to fix the position and orientation of the robot arm possessed by the robot when the operation mode is the hand instruction mode.
  • An instruction unit that gives an operation instruction to the control unit of the arm and an operation instruction to the control unit of the robot hand so as to move the robot hand of the robot according to an external force, and an operation mode.
  • the robot hand is provided with a recording control unit for recording data indicating the current opening degree of the robot hand in the recording unit in response to an operation by the operator.
  • FIG. It is a figure which shows the configuration example of the robot which concerns on Embodiment 1.
  • FIG. It is a figure which shows the structural example of the command part which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the operation example of the command part which concerns on Embodiment 1.
  • FIG. It is a figure which shows the structural example of the command part which concerns on Embodiment 2.
  • FIG. It is a flowchart which shows the operation example of the change amount determination part and the switching part in Embodiment 2.
  • FIG. 1 is a diagram showing a configuration example of a robot according to the first embodiment.
  • the robot includes a robot arm 1, a robot hand 2, and a command unit 3.
  • a teaching device is applied to the command unit 3.
  • the teaching device is a device for an operator to directly teach the robot arm 1 and the robot hand 2.
  • the direct teaching to the robot arm 1 is a direct teaching of the position and posture with respect to the robot arm 1.
  • Positional posture means position and posture.
  • the direct teaching to the robot hand 2 is a direct teaching of the opening degree to the robot hand 2.
  • the robot has a teaching mode and other modes set as operation modes. Further, in the teaching mode, an arm teaching mode for performing direct teaching to the robot arm 1 and a hand teaching mode for performing direct teaching to the robot hand 2 are set.
  • the robot arm 1 includes a control unit (motor driver) 11, a motor 12, and a torque detection unit 13.
  • control unit 11, motor 12 and torque detection unit 13 When the robot arm 1 has a plurality of joints, the above configuration (control unit 11, motor 12 and torque detection unit 13) is provided for each joint.
  • the control unit 11 drives and controls the motor 12 in response to an instruction from the instruction unit 33, which will be described later, of the command unit 3.
  • the motor 12 operates in response to drive control by the control unit 11. Further, the motor 12 has an angle detection unit (not shown) that detects the rotation angle of the joint to which the motor 12 is attached.
  • the torque detection unit 13 detects the torque (arm torque) in the motor 12.
  • FIG. 1 shows a case where the robot arm 1 is provided with a torque detection unit 13 for detecting torque in the motor 12.
  • the robot arm 1 may include a detection unit that detects other parameters corresponding to the torque in the motor 12.
  • the robot arm 1 may include a double encoder type detection unit instead of the torque detection unit 13.
  • This detection unit includes an encoder that detects the rotation angle of the drive side of the output shaft of the motor 12, an encoder that detects the rotation angle of the load side of the output shaft, and an estimation unit. Then, the estimation unit obtains the twist amount of the output shaft from the detection results of the two encoders, and estimates the load applied to the motor 12 from the twist amount and the rigidity of the output shaft as the above parameters.
  • the robot arm 1 may include a current detection type detection unit instead of the torque detection unit 13. This detection unit has an estimation unit. The estimation unit estimates the load applied to the motor 12 as the above parameter from the current value flowing through the control unit 11.
  • the robot arm 1 may be provided with a force sensor at the hand of the robot arm 1 instead of the torque detection unit 13.
  • This force sensor can indicate the magnitude and direction of the force and torque applied by the operator to the hand of the robot arm 1 by a three-dimensional space vector, whereby the above parameters can be detected.
  • the robot hand 2 includes a control unit (motor driver) 21, a motor 22, and a torque detection unit 23.
  • the control unit 21 drives and controls the motor 22 in response to an instruction from the instruction unit 33, which will be described later, of the command unit 3.
  • the motor 22 operates in response to drive control by the control unit 21. Further, the motor 22 has an opening degree detecting unit (not shown) for detecting the opening degree of the robot hand 2.
  • the torque detection unit 23 detects the torque (hand torque) in the motor 22.
  • FIG. 1 shows a case where the robot hand 2 is provided with a torque detection unit 23 that detects torque in the motor 22.
  • the robot hand 2 may include a detection unit that detects other parameters corresponding to the torque in the motor 22.
  • the robot hand 2 may include a double encoder type detection unit instead of the torque detection unit 23.
  • This detection unit includes an encoder that detects the rotation angle of the drive side of the output shaft of the motor 22, an encoder that detects the rotation angle of the load side of the output shaft, and an estimation unit. Then, the estimation unit obtains the twist amount of the output shaft from the detection results of the two encoders, and estimates the load applied to the motor 22 from the twist amount and the rigidity of the output shaft as the above parameters.
  • the robot hand 2 may include a current detection type detection unit instead of the torque detection unit 23. This detection unit has an estimation unit. The estimation unit estimates the load applied to the motor 22 from the current value flowing through the control unit 21 as the above parameter.
  • the command unit 3 includes a recording unit 31, a switching unit 32, an instruction unit 33, a calculation unit 34, and a recording control unit 35.
  • the command unit 3 is realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
  • LSI Large Scale Integration
  • CPU Central Processing Unit
  • the recording unit 31 records various data related to the robot.
  • the recording unit 31 records data indicating the position and orientation of the robot arm 1 (position and orientation based on the rotation angle of the joint detected by the angle detection unit) in response to control by the recording control unit 35. Further, the recording unit 31 records data indicating the opening degree of the robot hand 2 (the opening degree of the robot hand 2 detected by the opening degree detecting unit) in response to the control by the recording control unit 35.
  • the recording unit 31 is composed of an HDD (Hard Disk Drive), a DVD (Digital entirely Disc), a memory, or the like. Note that FIG. 2 shows a case where the recording unit 31 is provided inside the command unit 3. However, the present invention is not limited to this, and the recording unit 31 may be provided outside the command unit 3.
  • the switching unit 32 switches the operation mode of the robot to various modes (arm teaching mode, hand teaching mode or other mode) according to the operation by the operator. At this time, the operator instructs the robot to switch the operation mode to various modes, for example, by pressing a button (not shown) provided on the robot.
  • the instruction unit 33 gives an operation instruction to the control unit 11 of the robot arm 1 and an operation instruction of at least one of the operation instructions to the control unit 21 of the robot hand 2.
  • the instruction unit 33 gives an operation instruction to the control unit 21 so as to fix the opening degree of the robot hand 2, and moves the robot arm 1 following an external force. An operation instruction is given to the control unit 11 as described above. Further, when the operation mode is the hand teaching mode, the instruction unit 33 gives an operation instruction to the control unit 11 so as to fix the position and orientation of the robot arm 1, and causes the robot hand 2 to follow an external force. An operation instruction is given to the control unit 21 so as to move it.
  • the instruction unit 33 gives an operation instruction to the control unit 21 so as to fix the opening degree of the robot hand 2 when the operation mode is the arm teaching mode, but this operation instruction is indispensable. is not it.
  • the calculation unit 34 calculates the current value output to the motor 12 so as to move the robot arm 1 following an external force based on the detection result by the torque detection unit 13 when the operation mode is the arm teaching mode. ..
  • the current value calculated by the calculation unit 34 is notified to the control unit 11 via the instruction unit 33. Further, when the operation mode is the hand teaching mode, the calculation unit 34 calculates the current value output to the motor 22 so as to move the robot hand 2 following the external force based on the detection result by the torque detection unit 23. calculate.
  • the current value calculated by the calculation unit 34 is notified to the control unit 21 via the instruction unit 33.
  • the calculation unit 34 When the robot arm 1 is provided with a detection unit that detects a parameter corresponding to the torque in the motor 12, the calculation unit 34 performs a calculation using the detection result by the detection unit. Similarly, when the robot hand 2 includes a detection unit that detects a parameter corresponding to the torque in the motor 22, the calculation unit 34 performs a calculation using the detection result by the detection unit.
  • the recording control unit 35 determines the current position / orientation of the robot arm 1 (position / orientation based on the rotation angle of the joint detected by the angle detection unit) in response to an operation by the operator.
  • the recording unit 31 is made to record the indicated data.
  • the operator instructs the recording of data by, for example, pressing a button (not shown) provided on the robot.
  • the recording control unit 35 responds to the operation by the operator when the operation mode is the hand teaching mode, and the current opening degree of the robot hand 2 (the opening degree of the robot hand 2 detected by the opening degree detecting unit). Is recorded in the recording unit 31.
  • the operator instructs the recording of data by, for example, pressing a button (not shown) provided on the robot.
  • the command unit 3 (teaching device) according to the first embodiment shown in FIGS. 1 and 2 will be described with reference to FIG.
  • direct teaching to the robot arm 1 is easy because the operator can operate the robot arm 1 without touching the robot hand 2.
  • the direct teaching to the robot hand 2 has no choice but to be in a state where the operator is substantially touching the tip of the robot arm 1. Therefore, the position and posture of the robot arm 1 may be displaced while the operator is teaching the opening degree of the robot hand 2, and the robot arm 1 is likely to move unintentionally. This is one of the factors that make it difficult for the direct teaching to the robot hand 2 to be as intended by the operator. Therefore, in the teaching device according to the first embodiment, when the direct teaching to the robot hand 2 is performed, the robot arm is prevented from shifting the position and posture of the robot arm 1 by transmitting the force to the robot arm 1. The position and orientation of 1 are automatically fixed.
  • the switching unit 32 sets the robot operation mode to the arm teaching mode in response to the operation by the operator. Switching (step ST301).
  • the instruction unit 33 gives an operation instruction to the control unit 21 so as to fix the opening degree of the robot hand 2, and also gives an operation instruction to the control unit 11 to move the robot arm 1 following an external force.
  • the operator performs direct instruction to the robot arm 1. That is, the operator directly moves the robot arm 1 to bring the robot arm 1 into a desired position and posture.
  • the recording control unit 35 causes the recording unit 31 to record data indicating the current position and orientation of the robot arm 1 in response to an operation by the operator (step ST303).
  • the data indicating the position and orientation of the robot arm 1 is recorded in the recording unit 31 as data indicating the teaching points for the robot arm 1.
  • the switching unit 32 switches the robot operation mode to the hand teaching mode according to the operation by the operator (step ST304).
  • the instruction unit 33 gives an operation instruction to the control unit 11 so as to fix the position and orientation of the robot arm 1, and also gives an operation instruction to the control unit 21 to move the robot hand 2 following an external force.
  • the operator carries out direct teaching to the robot hand 2. That is, the operator directly moves the robot hand 2 to make the robot hand 2 have a desired opening degree.
  • the recording control unit 35 causes the recording unit 31 to record data indicating the current opening degree of the robot hand 2 in response to an operation by the operator (step ST306).
  • the data indicating the opening degree of the robot hand 2 is recorded in the recording unit 31 as data indicating the teaching points for the robot hand 2.
  • the present invention is not limited to this, and the operator may perform the direct teaching to the robot hand 2 and then the direct teaching to the robot arm 1.
  • the teaching device includes a switching unit 32 capable of switching the operation mode of the robot to the hand teaching mode, and a robot possessed by the robot when the operation mode is the hand teaching mode.
  • An operation instruction is given to the control unit 11 of the robot arm 1 so as to fix the position and orientation of the arm 1, and the robot hand 2 has the robot hand 2 of the robot so as to move following an external force.
  • the recording unit 31 records data indicating the current opening degree of the robot hand 2 in response to an operation by the operator when the operation mode is the hand teaching mode and the instruction unit 33 that gives an operation instruction to the control unit 21. It is provided with a recording control unit 35 for making the robot.
  • Embodiment 2 In the teaching device according to the first embodiment, a case where the operation mode is switched to the hand teaching mode according to the operation by the operator is shown.
  • the mode is switched to the hand teaching mode based on the torque in the motor 22 or the amount of change in the parameter corresponding to the torque. Show the case.
  • FIG. 4 is a diagram showing a configuration example of a command unit 3 (teaching device) according to the second embodiment.
  • the command unit 3 according to the second embodiment shown in FIG. 4 adds a change amount determination unit 36 to the command unit 3 according to the first embodiment shown in FIG. 2 to change the operation of the switching unit 32. ..
  • Other configurations are the same, and the same reference numerals are given and the description thereof will be omitted.
  • the change amount determination unit 36 determines whether the torque change amount is equal to or greater than the specified value based on the torque detected by the torque detection unit 23.
  • the specified value is a value that can detect that the operator is opening and closing the robot hand 2, and is, for example, about 1 to 30 N in terms of force.
  • the robot hand 2 includes a detection unit that detects a parameter corresponding to the torque in the motor 22 instead of the torque detection unit 23, the change amount determination unit 36 is detected by the detection unit. Based on the parameters, it is determined whether the amount of change in the parameters is equal to or greater than the specified value.
  • the switching unit 32 in the second embodiment sets the operation mode to the hand teaching mode when the operation mode of the robot is the teaching mode and the change amount determination unit 36 determines that the change amount is equal to or more than the specified value. Switch. Further, when the operation mode of the robot is the teaching mode, the switching unit 32 switches the operation mode to the arm teaching mode when the change amount determination unit 36 determines that the change amount is less than the specified value.
  • the change amount determination unit 36 and the switching unit 32 in the second embodiment shown in FIG. 4 will be described with reference to FIG. It is assumed that the operation mode of the robot is the arm teaching mode.
  • the change amount determination unit 36 is based on the torque detected by the torque detection unit 23. Then, it is determined whether the amount of change in torque is equal to or greater than the specified value (step ST501).
  • the switching unit 32 switches the robot operation mode to the hand teaching mode (step ST502).
  • step ST501 determines in step ST501 that the change amount is less than the specified value
  • the switching unit 32 does not switch. Therefore, the operation mode of the robot remains the arm teaching mode.
  • the teaching device monitors the change in torque in the motor 22, switches to the hand teaching mode when the change amount is equal to or more than the specified value, and automatically fixes the position and orientation of the robot arm 1. do.
  • this teaching device maintains the arm teaching mode and does not fix the position and posture of the robot arm 1.
  • this teaching device can distinguish between the direct teaching to the robot arm 1 and the direct teaching to the robot hand 2 without requiring a special operation by the operator.
  • the robot hand 2 includes a detection unit that detects a parameter corresponding to the torque in the motor 22 instead of the torque detection unit 23.
  • the teaching device is applied to the command unit 3 in the first and second embodiments.
  • the present invention is not limited to this, and the teaching device may be configured separately from the command unit 3.
  • the detection unit that detects the parameter corresponding to the torque in the motor 12 instead of the torque detection unit 13 is not limited to the one shown above.
  • the robot arm 1 may include a motion capture system that detects the movement of the operator instead of the torque detection unit 13. This motion capture system can estimate that the operator is trying to apply an external force to the hand of the robot arm 1 or the magnitude and direction of the external force, and can detect the above parameters by this estimation.
  • the detection unit that detects the parameter corresponding to the torque in the motor 22 instead of the torque detection unit 23 is not limited to the one shown above.
  • the robot hand 2 may include a tactile sensor instead of the torque detection unit 23. This tactile sensor can detect changes in the external force and direction applied by the operator to the robot hand 2, and the above parameters can be detected by this detection.
  • the robot hand 2 may be provided with an image recognition camera that detects the movement of the worker's hand. This image recognition camera can estimate from the change in the image that the operator is trying to touch or leave the hand of the robot arm 1, and the above parameter can be detected by this estimation.
  • the robot hand 2 may include an image recognition camera that detects the deflection of the fingertip of the robot hand 2.
  • This image recognition camera can estimate the external force or the direction of the external force applied by the operator to the hand of the robot arm 1 from the change in the image, and can detect the above parameters by this estimation.
  • the robot hand 2 may include a switch for determining that the operator intends to change the gripping force or the opening degree of the robot hand 2. This switch can estimate that the operator is trying to change the gripping force or the opening degree of the robot hand 2 from the change in its own state, and the above parameter can be detected by this estimation.
  • the teaching device facilitates teaching as intended by the operator when direct teaching is performed on the robot arm and the robot hand. Therefore, teaching for direct teaching to the robot arm and the robot hand. Suitable for use in equipment.

Landscapes

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

Abstract

The present invention comprises: a switching unit (32) which can switch the operating mode of a robot to a hand teaching mode; an instruction unit (33) which, when the operating mode is the hand teaching mode, issues an operation instruction to a control unit (11) of a robot arm (1) of the robot so as to immobilize the position and attitude of the robot arm (1), and issues an operation instruction to a control unit (21) of a robot hand (2) of the robot so as to move the robot hand (2) in a manner following an external force; and a recording control unit (35) which, when the operating mode is the hand teaching mode, records, in a recording unit (31), data indicating the current degree of opening of the robot hand (2) in response to an operation by an operator.

Description

教示装置Teaching device
　この発明は、ロボットアーム及びロボットハンドに対してダイレクト教示を行うための教示装置に関する。 The present invention relates to a teaching device for directly teaching a robot arm and a robot hand.
　従来、ロボットアームに対してダイレクト教示を行うための教示装置が知られている（例えば特許文献１参照）。特許文献１に開示された教示装置は、作業者の指による操作に応じ、運転モードとして追従モード（教示モード）と他のモードとを切換え可能に構成されている。 Conventionally, a teaching device for directly teaching a robot arm is known (see, for example, Patent Document 1). The teaching device disclosed in Patent Document 1 is configured to be able to switch between a follow-up mode (teaching mode) and another mode as an operation mode according to an operation by an operator's finger.
特開２０１９－２５６２３号公報Japanese Unexamined Patent Publication No. 2019-25623
　一方、１人の作業者が、ロボットアーム及びロボットハンドに対してダイレクト教示を行う場合もある。この場合、ロボットアームのみに対するダイレクト教示に対して複雑な教示となるため、作業者の意図通りに教示し難くなり、改善が求められている。 On the other hand, one worker may give direct instruction to the robot arm and the robot hand. In this case, since the direct teaching only for the robot arm is complicated, it becomes difficult to teach as intended by the operator, 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、従来構成に対し、ロボットアーム及びロボットハンドに対してダイレクト教示を行う場合に、作業者の意図通りに教示し易くなる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-mentioned problems, and when direct teaching is performed to the robot arm and the robot hand with respect to the conventional configuration, teaching that facilitates teaching as intended by the operator. The purpose is to provide the device.
　この発明に係る教示装置は、ロボットの運転モードをハンド教示モードに切換え可能な切換え部と、運転モードがハンド教示モードである場合に、ロボットが有するロボットアームの位置姿勢を固定するように当該ロボットアームが有する制御部に対して動作指示を行うとともに、当該ロボットが有するロボットハンドを外力に追従して動かすように当該ロボットハンドが有する制御部に対して動作指示を行う指示部と、運転モードがハンド教示モードである場合に、作業者による操作に応じ、ロボットハンドの現在の開度を示すデータを記録部に記録させる記録制御部とを備えたことを特徴とする。 The teaching device according to the present invention has a switching unit capable of switching the operation mode of the robot to the hand instruction mode, and the robot so as to fix the position and orientation of the robot arm possessed by the robot when the operation mode is the hand instruction mode. An instruction unit that gives an operation instruction to the control unit of the arm and an operation instruction to the control unit of the robot hand so as to move the robot hand of the robot according to an external force, and an operation mode. In the hand teaching mode, the robot hand is provided with a recording control unit for recording data indicating the current opening degree of the robot hand in the recording unit in response to an operation by the operator.
　この発明によれば、上記のように構成したので、従来構成に対し、ロボットアーム及びロボットハンドに対してダイレクト教示を行う場合に、作業者の意図通りに教示し易くなる。 According to the present invention, since the configuration is as described above, it becomes easy to teach as the operator intends when directly teaching the robot arm and the robot hand with respect to the conventional configuration.
実施の形態１に係るロボットの構成例を示す図である。It is a figure which shows the configuration example of the robot which concerns on Embodiment 1. FIG. 実施の形態１に係る指令部の構成例を示す図である。It is a figure which shows the structural example of the command part which concerns on Embodiment 1. FIG. 実施の形態１に係る指令部の動作例を示すフローチャートである。It is a flowchart which shows the operation example of the command part which concerns on Embodiment 1. FIG. 実施の形態２に係る指令部の構成例を示す図である。It is a figure which shows the structural example of the command part which concerns on Embodiment 2. FIG. 実施の形態２における変化量判定部及び切換え部の動作例を示すフローチャートである。It is a flowchart which shows the operation example of the change amount determination part and the switching part in 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に係るロボットの構成例を示す図である。
　ロボットは、図１に示すように、ロボットアーム１、ロボットハンド２及び指令部３を備えている。そして、図１では指令部３に教示装置が適用されている。教示装置は、作業者がロボットアーム１及びロボットハンド２に対してダイレクト教示を行うための装置である。ロボットアーム１に対するダイレクト教示は、ロボットアーム１に対する位置姿勢のダイレクト教示である。位置姿勢とは、位置及び姿勢を意味する。また、ロボットハンド２に対するダイレクト教示は、ロボットハンド２に対する開度のダイレクト教示である。 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 of a robot according to the first embodiment.
As shown in FIG. 1, the robot includes a robot arm 1, a robot hand 2, and a command unit 3. Then, in FIG. 1, a teaching device is applied to the command unit 3. The teaching device is a device for an operator to directly teach the robot arm 1 and the robot hand 2. The direct teaching to the robot arm 1 is a direct teaching of the position and posture with respect to the robot arm 1. Positional posture means position and posture. Further, the direct teaching to the robot hand 2 is a direct teaching of the opening degree to the robot hand 2.
　なお、ロボットには、運転モードとして、教示モード及びその他のモードが設定されている。また、教示モードには、ロボットアーム１に対してダイレクト教示を行うためのアーム教示モード、及び、ロボットハンド２に対してダイレクト教示を行うためのハンド教示モードが設定されている。 The robot has a teaching mode and other modes set as operation modes. Further, in the teaching mode, an arm teaching mode for performing direct teaching to the robot arm 1 and a hand teaching mode for performing direct teaching to the robot hand 2 are set.
　ロボットアーム１は、図１に示すように、制御部（モータドライバ）１１、モータ１２及びトルク検出部１３を備えている。ロボットアーム１が複数の関節を有する場合には、上記構成（制御部１１、モータ１２及びトルク検出部１３）は関節毎に設けられる。 As shown in FIG. 1, the robot arm 1 includes a control unit (motor driver) 11, a motor 12, and a torque detection unit 13. When the robot arm 1 has a plurality of joints, the above configuration (control unit 11, motor 12 and torque detection unit 13) is provided for each joint.
　制御部１１は、指令部３の後述する指示部３３による指示に応じ、モータ１２を駆動制御する。
　モータ１２は、制御部１１による駆動制御に応じて動作する。また、モータ１２は、モータ１２が取付けられた関節の回転角度を検出する角度検出部（不図示）を有している。
　トルク検出部１３は、モータ１２におけるトルク（アームトルク）を検出する。 The control unit 11 drives and controls the motor 12 in response to an instruction from the instruction unit 33, which will be described later, of the command unit 3.
The motor 12 operates in response to drive control by the control unit 11. Further, the motor 12 has an angle detection unit (not shown) that detects the rotation angle of the joint to which the motor 12 is attached.
The torque detection unit 13 detects the torque (arm torque) in the motor 12.
　なお図１では、ロボットアーム１が、モータ１２におけるトルクを検出するトルク検出部１３を備えた場合を示している。しかしながら、これに限らず、ロボットアーム１は、モータ１２におけるトルクに相当するその他のパラメータを検出する検出部を備えていてもよい。 Note that FIG. 1 shows a case where the robot arm 1 is provided with a torque detection unit 13 for detecting torque in the motor 12. However, not limited to this, the robot arm 1 may include a detection unit that detects other parameters corresponding to the torque in the motor 12.
　例えば、ロボットアーム１は、トルク検出部１３に代えて、ダブルエンコーダ式の検出部を備えていてもよい。この検出部は、モータ１２が有する出力軸の駆動側の回転角度を検出するエンコーダ、当該出力軸の負荷側の回転角度を検出するエンコーダ、及び推定部を有する。そして、推定部は、２つのエンコーダによる検出結果から上記出力軸のねじれ量を求め、当該ねじれ量及び当該出力軸の剛性からモータ１２に加わる負荷を上記パラメータとして推定する。
　また例えば、ロボットアーム１は、トルク検出部１３に代えて、電流検知式の検出部を備えていてもよい。この検出部は、推定部を有する。推定部は、制御部１１に流れる電流値からモータ１２に加わる負荷を上記パラメータとして推定する。
　また例えば、ロボットアーム１は、トルク検出部１３に代えて、ロボットアーム１の手先に力覚センサを備えていてもよい。この力覚センサは、作業者がロボットアーム１の手先に加えている力及びトルクの大きさ及び方向を３次元空間ベクトルで示すことができ、これにより上記パラメータを検出できる。 For example, the robot arm 1 may include a double encoder type detection unit instead of the torque detection unit 13. This detection unit includes an encoder that detects the rotation angle of the drive side of the output shaft of the motor 12, an encoder that detects the rotation angle of the load side of the output shaft, and an estimation unit. Then, the estimation unit obtains the twist amount of the output shaft from the detection results of the two encoders, and estimates the load applied to the motor 12 from the twist amount and the rigidity of the output shaft as the above parameters.
Further, for example, the robot arm 1 may include a current detection type detection unit instead of the torque detection unit 13. This detection unit has an estimation unit. The estimation unit estimates the load applied to the motor 12 as the above parameter from the current value flowing through the control unit 11.
Further, for example, the robot arm 1 may be provided with a force sensor at the hand of the robot arm 1 instead of the torque detection unit 13. This force sensor can indicate the magnitude and direction of the force and torque applied by the operator to the hand of the robot arm 1 by a three-dimensional space vector, whereby the above parameters can be detected.
　ロボットハンド２は、図１に示すように、制御部（モータドライバ）２１、モータ２２及びトルク検出部２３を備えている。 As shown in FIG. 1, the robot hand 2 includes a control unit (motor driver) 21, a motor 22, and a torque detection unit 23.
　制御部２１は、指令部３の後述する指示部３３による指示に応じ、モータ２２を駆動制御する。
　モータ２２は、制御部２１による駆動制御に応じて動作する。また、モータ２２は、ロボットハンド２の開度を検出する開度検出部（不図示）を有している。
　トルク検出部２３は、モータ２２におけるトルク（ハンドトルク）を検出する。 The control unit 21 drives and controls the motor 22 in response to an instruction from the instruction unit 33, which will be described later, of the command unit 3.
The motor 22 operates in response to drive control by the control unit 21. Further, the motor 22 has an opening degree detecting unit (not shown) for detecting the opening degree of the robot hand 2.
The torque detection unit 23 detects the torque (hand torque) in the motor 22.
　なお図１では、ロボットハンド２が、モータ２２におけるトルクを検出するトルク検出部２３を備えた場合を示している。しかしながら、これに限らず、ロボットハンド２は、モータ２２におけるトルクに相当するその他のパラメータを検出する検出部を備えていてもよい。 Note that FIG. 1 shows a case where the robot hand 2 is provided with a torque detection unit 23 that detects torque in the motor 22. However, not limited to this, the robot hand 2 may include a detection unit that detects other parameters corresponding to the torque in the motor 22.
　例えば、ロボットハンド２は、トルク検出部２３に代えて、ダブルエンコーダ式の検出部を備えていてもよい。この検出部は、モータ２２が有する出力軸の駆動側の回転角度を検出するエンコーダ、当該出力軸の負荷側の回転角度を検出するエンコーダ、及び推定部を有する。そして、推定部は、２つのエンコーダによる検出結果から上記出力軸のねじれ量を求め、当該ねじれ量及び当該出力軸の剛性からモータ２２に加わる負荷を上記パラメータとして推定する。
　また例えば、ロボットハンド２は、トルク検出部２３に代えて、電流検知式の検出部を備えていてもよい。この検出部は、推定部を有する。推定部は、制御部２１に流れる電流値からモータ２２に加わる負荷を上記パラメータとして推定する。 For example, the robot hand 2 may include a double encoder type detection unit instead of the torque detection unit 23. This detection unit includes an encoder that detects the rotation angle of the drive side of the output shaft of the motor 22, an encoder that detects the rotation angle of the load side of the output shaft, and an estimation unit. Then, the estimation unit obtains the twist amount of the output shaft from the detection results of the two encoders, and estimates the load applied to the motor 22 from the twist amount and the rigidity of the output shaft as the above parameters.
Further, for example, the robot hand 2 may include a current detection type detection unit instead of the torque detection unit 23. This detection unit has an estimation unit. The estimation unit estimates the load applied to the motor 22 from the current value flowing through the control unit 21 as the above parameter.
　指令部３は、図２に示すように、記録部３１、切換え部３２、指示部３３、計算部３４及び記録制御部３５を備えている。なお、指令部３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。 As shown in FIG. 2, the command unit 3 includes a recording unit 31, a switching unit 32, an instruction unit 33, a calculation unit 34, and a recording control unit 35. The command unit 3 is realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
　記録部３１は、ロボットに関する各種データを記録する。この記録部３１は、記録制御部３５による制御に応じ、ロボットアーム１の位置姿勢（角度検出部により検出された関節の回転角度に基づく位置姿勢）を示すデータを記録する。また、記録部３１は、記録制御部３５による制御に応じ、ロボットハンド２の開度（開度検出部により検出されたロボットハンド２の開度）を示すデータを記録する。 The recording unit 31 records various data related to the robot. The recording unit 31 records data indicating the position and orientation of the robot arm 1 (position and orientation based on the rotation angle of the joint detected by the angle detection unit) in response to control by the recording control unit 35. Further, the recording unit 31 records data indicating the opening degree of the robot hand 2 (the opening degree of the robot hand 2 detected by the opening degree detecting unit) in response to the control by the recording control unit 35.
　記録部３１は、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）、ＤＶＤ（Ｄｉｇｉｔａｌ　Ｖｅｒｓａｔｉｌｅ　Ｄｉｓｃ）又はメモリ等によって構成される。
　なお図２では、記録部３１が指令部３の内部に設けられた場合を示している。しかしながら、これに限らず、記録部３１は指令部３の外部に設けられていてもよい。 The recording unit 31 is composed of an HDD (Hard Disk Drive), a DVD (Digital Versailles Disc), a memory, or the like.
Note that FIG. 2 shows a case where the recording unit 31 is provided inside the command unit 3. However, the present invention is not limited to this, and the recording unit 31 may be provided outside the command unit 3.
　切換え部３２は、作業者による操作に応じ、ロボットの運転モードを各種モード（アーム教示モード、ハンド教示モード又はその他のモード）に切換える。この際、作業者は、例えばロボットに設けられたボタン（不図示）を押す等により、運転モードを各種モードへ切換えるよう指示する。 The switching unit 32 switches the operation mode of the robot to various modes (arm teaching mode, hand teaching mode or other mode) according to the operation by the operator. At this time, the operator instructs the robot to switch the operation mode to various modes, for example, by pressing a button (not shown) provided on the robot.
　指示部３３は、ロボットアーム１が有する制御部１１に対する動作指示、及び、ロボットハンド２が有する制御部２１に対する動作指示のうちの少なくとも一方の動作指示を行う。 The instruction unit 33 gives an operation instruction to the control unit 11 of the robot arm 1 and an operation instruction of at least one of the operation instructions to the control unit 21 of the robot hand 2.
　この指示部３３は、運転モードがアーム教示モードである場合に、ロボットハンド２の開度を固定するように制御部２１に対して動作指示を行うとともに、ロボットアーム１を外力に追従して動かすように制御部１１に対して動作指示を行う。
　また、指示部３３は、運転モードがハンド教示モードである場合に、ロボットアーム１の位置姿勢を固定するように制御部１１に対して動作指示を行うとともに、ロボットハンド２を外力に追従して動かすように制御部２１に対して動作指示を行う。 When the operation mode is the arm teaching mode, the instruction unit 33 gives an operation instruction to the control unit 21 so as to fix the opening degree of the robot hand 2, and moves the robot arm 1 following an external force. An operation instruction is given to the control unit 11 as described above.
Further, when the operation mode is the hand teaching mode, the instruction unit 33 gives an operation instruction to the control unit 11 so as to fix the position and orientation of the robot arm 1, and causes the robot hand 2 to follow an external force. An operation instruction is given to the control unit 21 so as to move it.
　なお上記では、指示部３３は、運転モードがアーム教示モードである場合に、ロボットハンド２の開度を固定するように制御部２１に対して動作指示を行うとしたが、この動作指示は必須ではない。 In the above, the instruction unit 33 gives an operation instruction to the control unit 21 so as to fix the opening degree of the robot hand 2 when the operation mode is the arm teaching mode, but this operation instruction is indispensable. is not it.
　計算部３４は、運転モードがアーム教示モードである場合に、トルク検出部１３による検出結果に基づいて、ロボットアーム１を外力に追従して動かすように、モータ１２に出力する電流値を算出する。計算部３４により算出された電流値は、指示部３３を介して制御部１１に通知される。
　また、計算部３４は、運転モードがハンド教示モードである場合に、トルク検出部２３による検出結果に基づいて、ロボットハンド２を外力に追従して動かすように、モータ２２に出力する電流値を算出する。計算部３４により算出された電流値は、指示部３３を介して制御部２１に通知される。 The calculation unit 34 calculates the current value output to the motor 12 so as to move the robot arm 1 following an external force based on the detection result by the torque detection unit 13 when the operation mode is the arm teaching mode. .. The current value calculated by the calculation unit 34 is notified to the control unit 11 via the instruction unit 33.
Further, when the operation mode is the hand teaching mode, the calculation unit 34 calculates the current value output to the motor 22 so as to move the robot hand 2 following the external force based on the detection result by the torque detection unit 23. calculate. The current value calculated by the calculation unit 34 is notified to the control unit 21 via the instruction unit 33.
　なお、ロボットアーム１がモータ１２におけるトルクに相当するパラメータを検出する検出部を備えている場合には、計算部３４は、当該検出部による検出結果を用いて計算を行う。
　同様に、ロボットハンド２がモータ２２におけるトルクに相当するパラメータを検出する検出部を備えている場合には、計算部３４は、当該検出部による検出結果を用いて計算を行う。 When the robot arm 1 is provided with a detection unit that detects a parameter corresponding to the torque in the motor 12, the calculation unit 34 performs a calculation using the detection result by the detection unit.
Similarly, when the robot hand 2 includes a detection unit that detects a parameter corresponding to the torque in the motor 22, the calculation unit 34 performs a calculation using the detection result by the detection unit.
　記録制御部３５は、運転モードがアーム教示モードである場合に、作業者による操作に応じ、現在のロボットアーム１の位置姿勢（角度検出部により検出された関節の回転角度に基づく位置姿勢）を示すデータを記録部３１に記録させる。この際、作業者は、例えばロボットに設けられたボタン（不図示）を押す等により、データの記録を指示する。
　また、記録制御部３５は、運転モードがハンド教示モードである場合に、作業者による操作に応じ、現在のロボットハンド２の開度（開度検出部により検出されたロボットハンド２の開度）を示すデータを記録部３１に記録させる。この際、作業者は、例えばロボットに設けられたボタン（不図示）を押す等により、データの記録を指示する。 When the operation mode is the arm teaching mode, the recording control unit 35 determines the current position / orientation of the robot arm 1 (position / orientation based on the rotation angle of the joint detected by the angle detection unit) in response to an operation by the operator. The recording unit 31 is made to record the indicated data. At this time, the operator instructs the recording of data by, for example, pressing a button (not shown) provided on the robot.
Further, the recording control unit 35 responds to the operation by the operator when the operation mode is the hand teaching mode, and the current opening degree of the robot hand 2 (the opening degree of the robot hand 2 detected by the opening degree detecting unit). Is recorded in the recording unit 31. At this time, the operator instructs the recording of data by, for example, pressing a button (not shown) provided on the robot.
　次に、図１，２に示す実施の形態１に係る指令部３（教示装置）の動作例について、図３を参照しながら説明する。
　ここで、ロボットアーム１に対するダイレクト教示は、作業者がロボットハンド２に触れることなくロボットアーム１を動作させることが可能であるため、容易である。一方、ロボットハンド２に対するダイレクト教示は、実質的に作業者がロボットアーム１の先端に触れている状態にならざるを得ない。そのため、作業者がロボットハンド２の開度を教示している最中にロボットアーム１の位置姿勢がずれる等のように、意に反する動きが生じ易い状態となる。これが、ロボットハンド２に対するダイレクト教示が作業者の意図通りになり難くなる要因の一つである。
　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２に対するダイレクト教示が実施されている場合には、ロボットアーム１に力が伝達されてロボットアーム１の位置姿勢がずれないように、ロボットアーム１の位置姿勢を自動的に固定する。 Next, an operation example of the command unit 3 (teaching device) according to the first embodiment shown in FIGS. 1 and 2 will be described with reference to FIG.
Here, direct teaching to the robot arm 1 is easy because the operator can operate the robot arm 1 without touching the robot hand 2. On the other hand, the direct teaching to the robot hand 2 has no choice but to be in a state where the operator is substantially touching the tip of the robot arm 1. Therefore, the position and posture of the robot arm 1 may be displaced while the operator is teaching the opening degree of the robot hand 2, and the robot arm 1 is likely to move unintentionally. This is one of the factors that make it difficult for the direct teaching to the robot hand 2 to be as intended by the operator.
Therefore, in the teaching device according to the first embodiment, when the direct teaching to the robot hand 2 is performed, the robot arm is prevented from shifting the position and posture of the robot arm 1 by transmitting the force to the robot arm 1. The position and orientation of 1 are automatically fixed.
　図１，２に示す実施の形態１に係る指令部３の動作例では、図３に示すように、まず、切換え部３２は、作業者による操作に応じ、ロボットの運転モードをアーム教示モードに切換える（ステップＳＴ３０１）。 In the operation example of the command unit 3 according to the first embodiment shown in FIGS. 1 and 2, first, as shown in FIG. 3, the switching unit 32 sets the robot operation mode to the arm teaching mode in response to the operation by the operator. Switching (step ST301).
　次いで、指示部３３は、ロボットハンド２の開度を固定するように制御部２１に対して動作指示を行うとともに、ロボットアーム１を外力に追従して動かすように制御部１１に対して動作指示を行う（ステップＳＴ３０２）。その後、作業者は、ロボットアーム１に対するダイレクト教示を実施する。すなわち、作業者は、ロボットアーム１を直接動かし、ロボットアーム１を所望の位置姿勢とさせる。 Next, the instruction unit 33 gives an operation instruction to the control unit 21 so as to fix the opening degree of the robot hand 2, and also gives an operation instruction to the control unit 11 to move the robot arm 1 following an external force. (Step ST302). After that, the operator performs direct instruction to the robot arm 1. That is, the operator directly moves the robot arm 1 to bring the robot arm 1 into a desired position and posture.
　次いで、記録制御部３５は、作業者による操作に応じ、現在のロボットアーム１の位置姿勢を示すデータを記録部３１に記録させる（ステップＳＴ３０３）。これにより、記録部３１には、上記ロボットアーム１の位置姿勢を示すデータが、ロボットアーム１に対する教示点を示すデータとして記録される。 Next, the recording control unit 35 causes the recording unit 31 to record data indicating the current position and orientation of the robot arm 1 in response to an operation by the operator (step ST303). As a result, the data indicating the position and orientation of the robot arm 1 is recorded in the recording unit 31 as data indicating the teaching points for the robot arm 1.
　次いで、切換え部３２は、作業者による操作に応じ、ロボットの運転モードをハンド教示モードに切換える（ステップＳＴ３０４）。 Next, the switching unit 32 switches the robot operation mode to the hand teaching mode according to the operation by the operator (step ST304).
　次いで、指示部３３は、ロボットアーム１の位置姿勢を固定するように制御部１１に対して動作指示を行うとともに、ロボットハンド２を外力に追従して動かすように制御部２１に対して動作指示を行う（ステップＳＴ３０５）。その後、作業者は、ロボットハンド２に対するダイレクト教示を実施する。すなわち、作業者は、ロボットハンド２を直接動かし、ロボットハンド２を所望の開度とさせる。 Next, the instruction unit 33 gives an operation instruction to the control unit 11 so as to fix the position and orientation of the robot arm 1, and also gives an operation instruction to the control unit 21 to move the robot hand 2 following an external force. (Step ST305). After that, the operator carries out direct teaching to the robot hand 2. That is, the operator directly moves the robot hand 2 to make the robot hand 2 have a desired opening degree.
　次いで、記録制御部３５は、作業者による操作に応じ、現在のロボットハンド２の開度を示すデータを記録部３１に記録させる（ステップＳＴ３０６）。これにより、記録部３１には、上記ロボットハンド２の開度を示すデータが、ロボットハンド２に対する教示点を示すデータとして記録される。 Next, the recording control unit 35 causes the recording unit 31 to record data indicating the current opening degree of the robot hand 2 in response to an operation by the operator (step ST306). As a result, the data indicating the opening degree of the robot hand 2 is recorded in the recording unit 31 as data indicating the teaching points for the robot hand 2.
　なお上記では、作業者が、ロボットアーム１に対するダイレクト教示を実施し、その後に、ロボットハンド２に対するダイレクト教示を実施する場合を示した。しかしながら、これに限らず、作業者は、ロボットハンド２に対するダイレクト教示を実施し、その後に、ロボットアーム１に対するダイレクト教示を実施してもよい。 In the above, the case where the operator performs the direct teaching to the robot arm 1 and then the direct teaching to the robot hand 2 is shown. However, the present invention is not limited to this, and the operator may perform the direct teaching to the robot hand 2 and then the direct teaching to the robot arm 1.
　以上のように、この実施の形態１によれば、教示装置は、ロボットの運転モードをハンド教示モードに切換え可能な切換え部３２と、運転モードがハンド教示モードである場合に、ロボットが有するロボットアーム１の位置姿勢を固定するように当該ロボットアーム１が有する制御部１１に対して動作指示を行うとともに、当該ロボットが有するロボットハンド２を外力に追従して動かすように当該ロボットハンド２が有する制御部２１に対して動作指示を行う指示部３３と、運転モードがハンド教示モードである場合に、作業者による操作に応じ、ロボットハンド２の現在の開度を示すデータを記録部３１に記録させる記録制御部３５とを備えた。これにより、実施の形態１に係る教示装置は、従来構成に対し、ロボットアーム１及びロボットハンド２に対してダイレクト教示を行う場合に、作業者の意図通りに教示し易くなる。 As described above, according to the first embodiment, the teaching device includes a switching unit 32 capable of switching the operation mode of the robot to the hand teaching mode, and a robot possessed by the robot when the operation mode is the hand teaching mode. An operation instruction is given to the control unit 11 of the robot arm 1 so as to fix the position and orientation of the arm 1, and the robot hand 2 has the robot hand 2 of the robot so as to move following an external force. The recording unit 31 records data indicating the current opening degree of the robot hand 2 in response to an operation by the operator when the operation mode is the hand teaching mode and the instruction unit 33 that gives an operation instruction to the control unit 21. It is provided with a recording control unit 35 for making the robot. As a result, the teaching device according to the first embodiment can easily teach the conventional configuration as intended by the operator when the robot arm 1 and the robot hand 2 are directly taught.
実施の形態２．
　実施の形態１に係る教示装置では、作業者による操作に応じ、運転モードをハンド教示モードに切換える場合を示した。これに対し、実施の形態２に係る教示装置では、運転モードが教示モードである場合において、モータ２２におけるトルク又は当該トルクに相当するパラメータの変化量に基づいて、ハンド教示モードへの切換えを行う場合を示す。
　図４は実施の形態２に係る指令部３（教示装置）の構成例を示す図である。図４に示す実施の形態２に係る指令部３は、図２に示す実施の形態１に係る指令部３に対し、変化量判定部３６を追加し、切換え部３２の動作を変更している。その他の構成は同様であり、同一の符号を付してその説明を省略する。 Embodiment 2.
In the teaching device according to the first embodiment, a case where the operation mode is switched to the hand teaching mode according to the operation by the operator is shown. On the other hand, in the teaching device according to the second embodiment, when the operation mode is the teaching mode, the mode is switched to the hand teaching mode based on the torque in the motor 22 or the amount of change in the parameter corresponding to the torque. Show the case.
FIG. 4 is a diagram showing a configuration example of a command unit 3 (teaching device) according to the second embodiment. The command unit 3 according to the second embodiment shown in FIG. 4 adds a change amount determination unit 36 to the command unit 3 according to the first embodiment shown in FIG. 2 to change the operation of the switching unit 32. .. Other configurations are the same, and the same reference numerals are given and the description thereof will be omitted.
　変化量判定部３６は、トルク検出部２３により検出されたトルクに基づいて、トルクの変化量が規定値以上であるかを判定する。規定値は、作業者がロボットハンド２を開閉していることを検出可能な値であり、例えば力に換算すると１～３０Ｎ程度である。なお、ロボットハンド２が、トルク検出部２３に代えて、モータ２２におけるトルクに相当するパラメータを検出する検出部を備えている場合には、変化量判定部３６は、当該検出部により検出されたパラメータに基づいて、パラメータの変化量が規定値以上であるかを判定する。 The change amount determination unit 36 determines whether the torque change amount is equal to or greater than the specified value based on the torque detected by the torque detection unit 23. The specified value is a value that can detect that the operator is opening and closing the robot hand 2, and is, for example, about 1 to 30 N in terms of force. When the robot hand 2 includes a detection unit that detects a parameter corresponding to the torque in the motor 22 instead of the torque detection unit 23, the change amount determination unit 36 is detected by the detection unit. Based on the parameters, it is determined whether the amount of change in the parameters is equal to or greater than the specified value.
　実施の形態２における切換え部３２は、ロボットの運転モードが教示モードである場合において、変化量判定部３６により変化量が規定値以上であると判定された場合に、運転モードをハンド教示モードに切換える。また、切換え部３２は、ロボットの運転モードが教示モードである場合において、変化量判定部３６により変化量が規定値未満であると判定された場合に、運転モードをアーム教示モードに切換える。 The switching unit 32 in the second embodiment sets the operation mode to the hand teaching mode when the operation mode of the robot is the teaching mode and the change amount determination unit 36 determines that the change amount is equal to or more than the specified value. Switch. Further, when the operation mode of the robot is the teaching mode, the switching unit 32 switches the operation mode to the arm teaching mode when the change amount determination unit 36 determines that the change amount is less than the specified value.
　次に、図４に示す実施の形態２における変化量判定部３６及び切換え部３２の動作例について、図５を参照しながら説明する。なお、ロボットの運転モードはアーム教示モードであるとする。
　図４に示す実施の形態２における変化量判定部３６及び切換え部３２の動作例では、図５に示すように、まず、変化量判定部３６は、トルク検出部２３により検出されたトルクに基づいて、トルクの変化量が規定値以上であるかを判定する（ステップＳＴ５０１）。 Next, an operation example of the change amount determination unit 36 and the switching unit 32 in the second embodiment shown in FIG. 4 will be described with reference to FIG. It is assumed that the operation mode of the robot is the arm teaching mode.
In the operation example of the change amount determination unit 36 and the switching unit 32 in the second embodiment shown in FIG. 4, first, as shown in FIG. 5, the change amount determination unit 36 is based on the torque detected by the torque detection unit 23. Then, it is determined whether the amount of change in torque is equal to or greater than the specified value (step ST501).
　このステップＳＴ５０１において、変化量判定部３６が変化量が規定値以上であると判定した場合には、切換え部３２は、ロボットの運転モードをハンド教示モードに切換える（ステップＳＴ５０２）。 When the change amount determination unit 36 determines in this step ST501 that the change amount is equal to or greater than the specified value, the switching unit 32 switches the robot operation mode to the hand teaching mode (step ST502).
　一方、ステップＳＴ５０１において、変化量判定部３６が変化量が規定値未満であると判定した場合には、切換え部３２は切換えを行わない。よって、ロボットの運転モードは、アーム教示モードのままとなる。 On the other hand, if the change amount determination unit 36 determines in step ST501 that the change amount is less than the specified value, the switching unit 32 does not switch. Therefore, the operation mode of the robot remains the arm teaching mode.
　ここで、作業者がロボットハンド２に対してダイレクト教示を実施している場合には、モータ２２におけるトルクに変化があると考えられる。そこで、実施の形態２に係る教示装置は、モータ２２におけるトルクの変化を監視し、その変化量が規定値以上である場合にハンド教示モードに切換え、ロボットアーム１の位置姿勢を自動的に固定する。一方、この教示装置は、上記トルクの変化量が規定値未満である場合には、アーム教示モードを維持し、ロボットアーム１の位置姿勢は固定しない。これにより、この教示装置は、実施の形態１における効果に加え、作業者による特別な操作を必要とせずに、ロボットアーム１に対するダイレクト教示とロボットハンド２に対するダイレクト教示とを区別可能となる。ロボットハンド２が、トルク検出部２３に代えて、モータ２２におけるトルクに相当するパラメータを検出する検出部を備えている場合についても同様である。 Here, when the operator is directly teaching the robot hand 2, it is considered that there is a change in the torque in the motor 22. Therefore, the teaching device according to the second embodiment monitors the change in torque in the motor 22, switches to the hand teaching mode when the change amount is equal to or more than the specified value, and automatically fixes the position and orientation of the robot arm 1. do. On the other hand, when the change amount of the torque is less than the specified value, this teaching device maintains the arm teaching mode and does not fix the position and posture of the robot arm 1. Thereby, in addition to the effect in the first embodiment, this teaching device can distinguish between the direct teaching to the robot arm 1 and the direct teaching to the robot hand 2 without requiring a special operation by the operator. The same applies to the case where the robot hand 2 includes a detection unit that detects a parameter corresponding to the torque in the motor 22 instead of the torque detection unit 23.
　なお実施の形態１，２では、教示装置が指令部３に適用された場合を示した。しかしながら、これに限らず、教示装置は指令部３とは別に構成されていてもよい。 In the first and second embodiments, the case where the teaching device is applied to the command unit 3 is shown. However, the present invention is not limited to this, and the teaching device may be configured separately from the command unit 3.
　また、トルク検出部１３に代わる、モータ１２におけるトルクに相当するパラメータを検出する検出部としては、上記に示したものに限らない。
　例えば、ロボットアーム１は、トルク検出部１３に代えて、作業者の動きを検出するモーションキャプチャシステムを備えていてもよい。このモーションキャプチャシステムは、作業者がロボットアーム１の手先に外力を加えようとしていること又はその外力の大きさ及び方向を推定でき、この推定により上記パラメータを検出できる。 Further, the detection unit that detects the parameter corresponding to the torque in the motor 12 instead of the torque detection unit 13 is not limited to the one shown above.
For example, the robot arm 1 may include a motion capture system that detects the movement of the operator instead of the torque detection unit 13. This motion capture system can estimate that the operator is trying to apply an external force to the hand of the robot arm 1 or the magnitude and direction of the external force, and can detect the above parameters by this estimation.
　また、トルク検出部２３に代わる、モータ２２におけるトルクに相当するパラメータを検出する検出部としては、上記に示したものに限らない。
　例えば、ロボットハンド２は、トルク検出部２３に代えて、触覚センサを備えていてもよい。この触覚センサは、作業者がロボットハンド２に加えている外力及び方向の変化を検出でき、この検出により上記パラメータを検出できる。
　また例えば、ロボットハンド２は、作業者の手の動きを検出する画像認識カメラを備えていてもよい。この画像認識カメラは、作業者がロボットアーム１の手先に接触しようとしていること又は離れようとしていることを画像の変化から推定でき、この推定により上記パラメータを検出できる。
　また例えば、ロボットハンド２は、ロボットハンド２の指先のたわみを検出する画像認識カメラを備えていてもよい。この画像認識カメラは、作業者がロボットアーム１の手先に加えている外力又は外力の方向等を画像の変化から推定でき、この推定により上記パラメータを検出できる。
　また例えば、ロボットハンド２は、作業者がロボットハンド２の把持力又は開度を変化させようとしていることを判定するスイッチを備えていてもよい。このスイッチは、作業者がロボットハンド２の把持力又は開度を変化させようとしていることを自身の状態の変化から推定でき、この推定により上記パラメータを検出できる。 Further, the detection unit that detects the parameter corresponding to the torque in the motor 22 instead of the torque detection unit 23 is not limited to the one shown above.
For example, the robot hand 2 may include a tactile sensor instead of the torque detection unit 23. This tactile sensor can detect changes in the external force and direction applied by the operator to the robot hand 2, and the above parameters can be detected by this detection.
Further, for example, the robot hand 2 may be provided with an image recognition camera that detects the movement of the worker's hand. This image recognition camera can estimate from the change in the image that the operator is trying to touch or leave the hand of the robot arm 1, and the above parameter can be detected by this estimation.
Further, for example, the robot hand 2 may include an image recognition camera that detects the deflection of the fingertip of the robot hand 2. This image recognition camera can estimate the external force or the direction of the external force applied by the operator to the hand of the robot arm 1 from the change in the image, and can detect the above parameters by this estimation.
Further, for example, the robot hand 2 may include a switch for determining that the operator intends to change the gripping force or the opening degree of the robot hand 2. This switch can estimate that the operator is trying to change the gripping force or the opening degree of the robot hand 2 from the change in its own state, and the above parameter can be detected by this estimation.
　また、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。 Further, 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. be.
この発明に係る教示装置は、ロボットアーム及びロボットハンドに対してダイレクト教示を行う場合に、作業者の意図通りに教示し易くなるので、ロボットアーム及びロボットハンドに対してダイレクト教示を行うための教示装置に用いるのに適している。 The teaching device according to the present invention facilitates teaching as intended by the operator when direct teaching is performed on the robot arm and the robot hand. Therefore, teaching for direct teaching to the robot arm and the robot hand. Suitable for use in equipment.
１　ロボットアーム
２　ロボットハンド
３　指令部
１１　制御部
１２　モータ
１３　トルク検出部
２１　制御部
２２　モータ
２３　トルク検出部
３１　記録部
３２　切換え部
３３　指示部
３４　計算部
３５　記録制御部
３６　変化量判定部 1 Robot arm 2 Robot hand 3 Command unit 11 Control unit 12 Motor 13 Torque detection unit 21 Control unit 22 Motor 23 Torque detection unit 31 Recording unit 32 Switching unit 33 Indicator 34 Calculation unit 35 Recording control unit 36 Change amount determination unit

Claims (4)

  1. 　ロボットの運転モードをハンド教示モードに切換え可能な切換え部と、
    　運転モードがハンド教示モードである場合に、前記ロボットが有するロボットアームの位置姿勢を固定するように当該ロボットアームが有する制御部に対して動作指示を行うとともに、当該ロボットが有するロボットハンドを外力に追従して動かすように当該ロボットハンドが有する制御部に対して動作指示を行う指示部と、
    　運転モードがハンド教示モードである場合に、作業者による操作に応じ、前記ロボットハンドの現在の開度を示すデータを記録部に記録させる記録制御部と
    　を備えた教示装置。     A switching unit that can switch the robot operation mode to the hand teaching mode,
    When the operation mode is the hand teaching mode, an operation instruction is given to the control unit of the robot arm so as to fix the position and orientation of the robot arm of the robot, and the robot hand of the robot is used as an external force. An instruction unit that gives an operation instruction to the control unit of the robot hand so that it follows and moves.
    A teaching device including a recording control unit that causes a recording unit to record data indicating the current opening degree of the robot hand in response to an operation by an operator when the operation mode is the hand teaching mode.
  2. 　前記切換え部は、作業者による操作に応じ、ハンド教示モードへの切換えを行う
    　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, wherein the switching unit switches to the hand teaching mode in response to an operation by an operator.
  3. 　前記ロボットハンドが有するモータにおけるトルク又は当該トルクに相当するパラメータに基づいて、当該トルク又は当該パラメータの変化量が規定値以上であるかを判定する変化量判定部を備え、
    　前記切換え部は、前記変化量判定部により変化量が規定値以上であると判定された場合に、前記ロボットの運転モードをハンド教示モードに切換える
    　ことを特徴とする請求項１記載の教示装置。     A change amount determination unit for determining whether the torque or the change amount of the parameter is equal to or more than a specified value based on the torque in the motor of the robot hand or the parameter corresponding to the torque is provided.
    The teaching device according to claim 1, wherein the switching unit switches the operation mode of the robot to the hand teaching mode when the change amount determination unit determines that the change amount is equal to or greater than a specified value.
  4. 　前記切換え部は、前記ロボットの運転モードをアーム教示モードに切換え可能であり、
    　前記指示部は、運転モードがアーム教示モードである場合に、前記ロボットハンドの開度を固定するように当該ロボットハンドが有する制御部に対して動作指示を行うとともに、前記ロボットアームを外力に追従して動かすように当該ロボットアームが有する制御部に対して動作指示を行い、
    　前記記録制御部は、運転モードがアーム教示モードである場合に、作業者による操作に応じ、前記ロボットアームの現在の位置姿勢を示すデータを前記記録部に記録させる
    　ことを特徴とする請求項１から請求項３のうちの何れか１項記載の教示装置。     The switching unit can switch the operation mode of the robot to the arm teaching mode.
    When the operation mode is the arm teaching mode, the instruction unit gives an operation instruction to the control unit of the robot hand so as to fix the opening degree of the robot hand, and follows the robot arm with an external force. Instruct the control unit of the robot arm to move the robot arm.
    1. The recording control unit is characterized in that, when the operation mode is the arm teaching mode, the recording unit records data indicating the current position and orientation of the robot arm in response to an operation by an operator. The teaching device according to any one of claims 3.
PCT/JP2021/008926 2020-04-01 2021-03-08 Teaching device WO2021199931A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020065477A JP2021160048A (en) 2020-04-01 2020-04-01 Teaching device
JP2020-065477 2020-04-01

Publications (1)

Publication Number Publication Date
WO2021199931A1 true WO2021199931A1 (en) 2021-10-07

Family

ID=77929057

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/008926 WO2021199931A1 (en) 2020-04-01 2021-03-08 Teaching device

Country Status (2)

Country Link
JP (1) JP2021160048A (en)
WO (1) WO2021199931A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024214220A1 (en) * 2023-04-12 2024-10-17 株式会社ニコン Load torque calculation device, encoder system, actuator, robot device, load torque calculation method, and program

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58161004A (en) * 1982-03-19 1983-09-24 Hitachi Ltd Method and device for teaching robot
JPH1177571A (en) * 1997-09-04 1999-03-23 Meidensha Corp Robot teaching method, robot working and controlling method and robot controller
JP2017164876A (en) * 2016-03-18 2017-09-21 セイコーエプソン株式会社 Control device, robot and robot system
JP2019018257A (en) * 2017-07-12 2019-02-07 ファナック株式会社 Robot system and teaching method of robot
JP2019030931A (en) * 2017-08-08 2019-02-28 キヤノン株式会社 Robot control device, control method, and robot apparatus
JP2020189381A (en) * 2019-05-22 2020-11-26 京セラドキュメントソリューションズ株式会社 Multi-joint robot device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58161004A (en) * 1982-03-19 1983-09-24 Hitachi Ltd Method and device for teaching robot
JPH1177571A (en) * 1997-09-04 1999-03-23 Meidensha Corp Robot teaching method, robot working and controlling method and robot controller
JP2017164876A (en) * 2016-03-18 2017-09-21 セイコーエプソン株式会社 Control device, robot and robot system
JP2019018257A (en) * 2017-07-12 2019-02-07 ファナック株式会社 Robot system and teaching method of robot
JP2019030931A (en) * 2017-08-08 2019-02-28 キヤノン株式会社 Robot control device, control method, and robot apparatus
JP2020189381A (en) * 2019-05-22 2020-11-26 京セラドキュメントソリューションズ株式会社 Multi-joint robot device

Also Published As

Publication number Publication date
JP2021160048A (en) 2021-10-11

Similar Documents

Publication Publication Date Title
JP5338297B2 (en) Robot control device
CN107717982B (en) Control device and operation method of mechanical arm
US9919422B1 (en) Methods and systems to provide mechanical feedback during movement of a robotic system
US10800032B2 (en) Industrial robot, controller, and method thereof
JP7049069B2 (en) Robot system and control method of robot system
JP6737831B2 (en) Installation form determination device, installation form determination computer program, and recording medium
US9102057B2 (en) Arm control apparatus, arm control method, arm control program, robot, and integrated electronic circuit for arm control
JPH09141580A (en) Operating range limiting device for direct teaching robot
JP5629528B2 (en) Control device, industrial robot, coordinate system reproduction method, and program
JP3307788B2 (en) Arm drive
WO2021199931A1 (en) Teaching device
JP2007249524A (en) Robot control system
JP6322948B2 (en) Robot control apparatus, robot system, robot, robot control method, and program
JPH07198370A (en) Position detection probe of force control robot
JP6767436B2 (en) Automatic machines and controls
JP2709001B2 (en) Work Object Position Detector for Force Control Robot
JPWO2020161880A1 (en) Motion model calculation device, control device, joint mechanism, motion model calculation method, program
JP4032263B2 (en) Robot direct teach device
US20230264353A1 (en) Manipulation apparatus, robot system, manipulation apparatus control method, and robot system control method
JP7185749B2 (en) ROBOT SYSTEM AND ROBOT SYSTEM CONTROL METHOD
JP2017202554A (en) Control device of manipulator device, control method of the manipulator device, and control program of the manipulator device
JP7193207B2 (en) Teaching device and teaching method
WO2022004568A1 (en) Control system, control method, and program
JP4465470B2 (en) Operating device and operating method therefor
WO2023218536A1 (en) Robot control device, robot system, and teaching device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21780908

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21780908

Country of ref document: EP

Kind code of ref document: A1