WO2022113420A1 - Robot et programme - Google Patents

Robot et programme Download PDF

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Publication number
WO2022113420A1
WO2022113420A1 PCT/JP2021/026618 JP2021026618W WO2022113420A1 WO 2022113420 A1 WO2022113420 A1 WO 2022113420A1 JP 2021026618 W JP2021026618 W JP 2021026618W WO 2022113420 A1 WO2022113420 A1 WO 2022113420A1
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WO
WIPO (PCT)
Prior art keywords
robot
functional module
setting information
functional
movable portion
Prior art date
Application number
PCT/JP2021/026618
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English (en)
Japanese (ja)
Inventor
正康 二川
Original Assignee
株式会社不二越
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 株式会社不二越 filed Critical 株式会社不二越
Publication of WO2022113420A1 publication Critical patent/WO2022113420A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof

Definitions

  • the present invention relates to robots and programs.
  • Patent Document 1 discloses a technique capable of preventing an air pipe from interfering with an industrial robot or an external structure by not exposing the air pipe to the outside of the robot body.
  • the present invention has been made in view of such problems, and an object thereof is to provide a robot and a program that can use a new application.
  • the robot according to the first aspect of the present invention is a robot having a movable portion and a mounting portion on which the functional module can be attached and detached, and the robot is set according to the setting information of the robot.
  • the mounting portion can mount two or more of the functional modules in a stacked manner, and the recognition means recognizes the mounting order of each of the mounted functional modules, and the above-mentioned.
  • the changing means changes the setting information according to the recognized mounting order.
  • the setting information includes a mass point model in which the robot is modeled by a mass point, and the control means generates a current for operating the movable portion according to the mass point model. Control.
  • the setting information includes an interference region which is a movable region in which the movable portion interferes with the robot or the functional module, and the control means is described according to the interference region. Controls the movement of moving parts.
  • the program according to the fifth aspect of the present invention is a program for controlling a robot having a movable portion and a mounting portion on which a functional module can be attached and detached, and uses a computer as setting information of the robot.
  • the control means for controlling the operation of the movable portion, the recognition means for recognizing the type of the functional module attached to the mounting portion, and the change for changing the setting information according to the type of the recognized functional module. make it function as a means.
  • a new application can be used by a robot.
  • FIG. 2A is a diagram showing a state in which the first function module is mounted on the mounting portion.
  • FIG. 2B is a diagram showing a state in which the first function module and the second function module are mounted on the mounting portion.
  • FIG. 2A is a diagram showing a state in which the first function module is mounted on the mounting portion.
  • FIG. 2B is a diagram showing a state in which the first function module and the second function module are mounted on the mounting portion.
  • FIG. 2B is a block diagram which shows an example of the functional structure of the robot shown in FIG.
  • It is a flowchart which shows an example of the flow of the process performed by each functional means shown in FIG. 3 in the robot which concerns on this embodiment.
  • the present embodiment will be described with reference to the accompanying drawings.
  • the same components are designated by the same reference numerals as possible in the drawings, and duplicate description is omitted.
  • FIG. 1 is a block diagram showing an example of a schematic configuration of the robot 1 according to the present embodiment.
  • the robot 1 includes a control device 20, a storage device 26, a mounting portion 28, and a movable portion 30.
  • the control device 20 mainly includes a CPU (Central Processing Unit) 22 and a memory 24.
  • a high-speed communication cable is mounted in the robot 1, and for example, the control device 20 communicates with each function module 29 described later using the high-speed communication cable (for example, serial communication).
  • the CPU 22 functions as various functional means by executing a predetermined program stored in the memory 24, the storage device 26, or the like. Details of this functional means will be described later.
  • the storage device 26 is composed of a storage storage or the like represented by a flash memory.
  • the storage device 26 stores various programs and various information necessary for executing the process in the control device 20, and information on the process result.
  • the mounting portion 28 is composed of a mounting bracket or the like to which one or more functional modules (I / O modules) 29 can be attached / detached (attached / detached).
  • the mounting portion 28 allows two or more functional modules 29 to be mounted in a stacked manner.
  • the functional module 29 is separated from the robot 1.
  • Examples of the functional module 29 include a camera, a scanner, a sensor, a light source, a memory, and the like.
  • Such a functional module 29 has an I / O (eg, cable or air piping) required for the corresponding application (specification).
  • the functional module 29 corresponding to a standard application has three air pipes (air solenoid valves).
  • the functional module 29 corresponding to the visual application has a LAN cable, a wiring for lighting, and two air pipes (air solenoid valves).
  • the functional module 29 corresponding to the cross laser visual application includes a LAN cable, a wiring for lighting, a wiring for a laser, and one air pipe (air solenoid valve).
  • the weight, shape (size), driver, and the like of the functional module 29 differ depending on the functional module ID (type of the functional module).
  • the functional module 29 transmits its own functional module ID to the control device 20 at regular intervals via the mounting portion 28 and the high-speed communication cable. For example, when the function modules 29 are mounted in a stacked manner on the mounting portion 28, each function module 29 transmits its own function module ID to the control device 20 in order from the function module 29 closest to the mounting portion 28. .. The functional module 29 may not transmit its own functional module ID to the control device 20 at regular intervals, but may transmit it in response to a request from the control device 20.
  • the movable portion 30 is a portion that can be moved by a motor or the like, and is composed of, for example, a robot arm, a robot hand, or the like.
  • the robot arm slides up and down or horizontally, and rotates along an axis of rotation, for example.
  • the robot hand is attached to the tip of the robot arm, for example, and grips an article or the like.
  • FIG. 2 is a diagram showing an example of a robot 1 in which a functional module 29 is attached to an attachment portion 28 according to the present embodiment.
  • FIG. 2A is a diagram showing a state in which the first function module 29A is attached to the attachment portion 28.
  • FIG. 2B is a diagram showing a state in which the first function module 29A and the second function module 29B are mounted on the mounting portion 28.
  • the mounting portion 28 is attached to a movable portion 30 (robot arm) which is on the upper side in the standard posture of the robot 1 when the robot 1 is set on the floor, for example.
  • the functional module 29 has a connecting portion (not shown) that can be attached to and detached from the mounting portion 28, and a connecting portion (not shown) that allows the other functional modules 29 to be attached and detached.
  • Two or more functional modules 29 can be attached in a stacked manner.
  • the functional module 29 that is determined to be attached to the uppermost portion (end) of the stack may have only one detachable connection portion to the attachment portion 28 or another functional module 29.
  • the user of the robot 1 can configure the robot 1 by combining a plurality of functional modules 29. Therefore, even if the application is changed, the user of the robot 1 can replace, add (add), or remove (reduce) the functional module 29 to change the robot 1 to a new one. It can be adapted to the application.
  • FIG. 3 is a block diagram showing an example of the functional configuration of the robot 1 shown in FIG.
  • the robot 1 includes a storage means 40, a recognition means 42, a change means 44, and a control means 46 as functional configurations.
  • the storage means 40 is realized by one or more storage devices 26.
  • Functional means other than the storage means 40 are realized by the control device 20 executing a program stored in the storage device 26 or the like.
  • the storage means 40 has a function of storing robot information 40A, functional module information 40B, and the like.
  • the robot information 40A includes the setting information of the robot 1.
  • the setting information includes, for example, various parameters such as the mass point model (center of gravity position and weight) of the robot 1, the shape, the current information, and the interference region.
  • This mass point model is, for example, a model of the robot 1 with mass points (abstract body). This mass point is regarded as a point where the entire mass is gathered at the center of gravity of the robot 1 when controlling the movement (movement) of the movable portion 30 and the posture (position) of the robot 1.
  • the shape includes the size (width, depth, height) of the robot 1.
  • the current information includes the current (amount) for operating the movable portion 30 for each movable portion 30 of the robot 1.
  • the interference region includes a movable region (movement amount and rotation amount) that interferes with the robot 1 itself (including cables and pipes) or the functional module 29 for each movable portion 30 of the robot 1.
  • This interference region may be defined in relation to, for example, the movable region of another movable portion 30.
  • various parameters of the setting information are stored as initial values before the functional module 29 is attached, and the recognition means 42 recognizes the attachment (mounting) of the functional module 29 by the changing means 44. The initial value is changed (corrected).
  • the function module information 40B is stored for each function module 29 in association with the function module ID of the function module 29.
  • the functional module information 40B includes, for example, the weight, shape, and driver of the functional module 29.
  • the shape includes the size (width, depth, height) of the functional module 29. This shape is used, for example, to change the interference region of the robot information 40A.
  • the driver includes a program for operating the function (for example, I / O) of the function module 29.
  • the recognition means 42 is a functional means for recognizing the mounting (mounting) of the functional module.
  • the recognition means 42 recognizes the type of the functional module 29 attached to the attachment portion 28.
  • the recognition means 42 automatically recognizes the type of the functional module based on the functional module ID transmitted from the functional module 29.
  • the recognition means 42 recognizes the mounting order of two or more functional modules 29 mounted in a stacked manner on the mounting portion 28. For example, the recognition means 42 recognizes the mounting order of the functional modules based on the order of the functional module IDs transmitted from each of the functional modules 29 and the signal indicating that they are mounted at the top (end) of the stack. ..
  • the changing means 44 is a functional means for changing the setting information in the robot information 40A, particularly the setting information related to the operation of the robot 1.
  • the changing means 44 changes the setting information according to each type of the functional module 29 recognized by the recognizing means 42.
  • the changing means 44 refers to the functional module information 40B and acquires the weight and shape of each of the recognized functional modules 29.
  • the changing means 44 corrects the weight and shape of the robot 1 based on the weight and shape of each of the acquired functional modules 29, and based on this correction result, the mass point model of the setting information in the robot information 40A, the interference region, and the like. , Change various parameters of the setting information.
  • the changing means 44 sets the rotation angle (interference region) at which the robot hand, which is one of the movable portions 30, interferes with the attachment portion 28 as an initial value 240. More than a degree.
  • the changing means 44 sets the rotation angle at which the robot hand interferes with the functional module 29 based on the shape of the functional module 29. Change more than once.
  • the changing means 44 is based on the shape of each of the functional modules 29, and the robot is used. The rotation angle at which the hand interferes with the functional module 29 is changed to 225 degrees or more.
  • the changing means 44 changes the setting information in the robot information 40A according to the recognized mounting order.
  • the changing means 44 adds the weight, shape, etc. of the functional module 29 acquired from the functional module information 40B to the mass point model, shape, etc. of the setting information in the robot information 40A according to the mounting order of the functional modules, and the setting information. Change various parameters of.
  • the control means 46 controls the operation of the movable portion 30 in consideration of the fact that the position of the center of gravity and the shape (size) of the entire functional module differ depending on, for example, the mounting order of the two or more functional modules 29. (For example, the current can be changed or the interference region cannot be moved).
  • the control means 46 is a functional means for controlling the entire robot 1.
  • the control means 46 controls the operation of the movable portion 30 of the robot 1 according to the setting information in the robot information 40A. Further, the control means 46 controls each I / O of the functional module 29 attached to the attachment portion 28.
  • control means 46 controls the current for operating the movable portion 30 according to the mass point model included in the setting information in the robot information 40A. Specifically, the control means 46 increases the current as the mass point affecting the operation of the movable portion 30 in the mass point model increases, that is, as a large number of functional modules 29 are attached, and as the mass point becomes smaller. That is, the current is reduced so that the functional module 29 is not attached.
  • control means 46 controls the operation (movement, rotation, speed) of the movable portion 30 according to the interference region included in the setting information in the robot information 40A. Specifically, the control means 46 controls so that the movable portion 30 does not operate even in the interference region. In other words, the control means 46 controls the movable portion 30 so as not to collide with the robot 1 or the functional module 29. Further, for example, the control means 46 controls so that the operating speed is increased when the movable portion 30 is far from the interference region and the operating speed is decreased when the movable portion 30 is close to the interference region.
  • FIG. 4 is a flowchart showing an example of the flow of processing performed by each functional means shown in FIG. 3 in the robot 1 according to the present embodiment. Further, the processing of the following steps is started, for example, at the timing when the robot 1 is started. The order and contents of the following steps can be changed as appropriate.
  • Step SP10 The recognition means 42 recognizes each of the functional modules 29 attached to the attachment portion 28 in the order of attachment. Then, the process shifts to the process of step SP12.
  • Step SP12 The control means 46 loads the driver of each functional module 29 recognized in step SP10 with reference to the functional module information 40B, and makes the function of each functional module 29 operable (available). Further, the control means 46 may download an application corresponding to the functional module 29. The control means 46 may execute the screen display setting for each recognized functional module 29. Then, the process shifts to the process of step SP14.
  • the changing means 44 refers to the functional module information 40B and acquires the mass and shape of each of the recognized functional modules 29. Subsequently, the changing means 44 adds the mass and shape of each of the functional modules 29 to the mass and shape of the setting information in the robot information 40A according to the mounting order of the functional modules 29, and corrects (updates) the mass and shape. do. Subsequently, the changing means 44 changes various parameters of the setting information based on the corrected mass and shape. Specifically, the changing means 44 changes the mass model based on the corrected mass. Further, the changing means 44 changes the interference region based on the corrected shape. Then, the process shifts to the process of step SP16.
  • Step SP16 The control means 46 controls the operation of the movable portion 30 of the robot 1 according to the setting information in the robot information 40A.
  • the control means 46 controls the current for operating the movable portion 30 according to the mass point model included in the setting information in the robot information 40A, and the interference region corresponds to the interference region included in the setting information.
  • the movable portion 30 is controlled so as not to operate. Then, the process ends a series of processes shown in FIG.
  • the robot 1 has a movable portion 30 and a mounting portion 28 to which the functional module 29 can be attached and detached, and is a recognition means for recognizing the type of the functional module 29 mounted on the mounting portion 28. 42, a changing means 44 that changes the setting information of the robot 1 according to the type of the recognized functional module 29, and a control means 46 that controls the operation of the movable portion 30 according to the setting information.
  • the setting information of the robot 1 is changed according to the type of the functional module 29 attached to the robot 1, and the operation of the movable portion 30 is controlled according to the setting information. Therefore, even if the application of the robot 1 is changed, the user can use the application on the robot 1 by making the robot 1 newly recognize the corresponding function module 29. Further, since the setting information is changed, it is possible to suppress that the operation of the movable portion 30 is hindered.
  • two or more functional modules 29 can be attached to the attachment portion 28 in a stacked manner, and the recognition means 42 recognizes the attachment order of each of the attached functional modules 29 and changes the means 44. Changes the setting information according to the recognized mounting order.
  • the setting information includes a mass point model in which the robot 1 is modeled by mass points, and the control means 46 controls the current for operating the movable portion 30 according to the mass point model.
  • the setting information includes an interference region which is a movable region in which the movable portion 30 interferes with the robot 1 or the functional module 29, and the control means 46 operates the movable portion 30 according to the interference region. Control.
  • the attached functional module 29 suppresses the movable portion 30 from interfering with the robot 1 or the functional module 29. Can be done.
  • control device 20 may communicate with each functional module by wireless, infrared rays, or the like.
  • the control means 46 can control the operation of the movable portion 30 so as not to interfere with the cable or the pipe.
  • the recognition means 42 recognizes the type of the function module 29 based on the function module ID transmitted from the function module 29 has been described. Shapes, dimensions, drivers, etc. may be received. As a result, even when a new functional module 29 is distributed, the user can easily replace or add the functional module 29.
  • the mounting portion 28 is provided in the movable portion 30
  • the mounting portion 28 may be provided in a robot hand (not shown).
  • the recognition means 42 automatically recognizes the type of the function module based on the function module ID transmitted from the function module 29 has been described, but the recognition means 42 has the function module 29.
  • the setting screen may be displayed, the operation of the operator of the setting screen may be accepted, and the type of the functional module may be recognized.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Robot 1 pouvant utiliser une nouvelle application. Ce robot 1 a une partie mobile 30 et une partie de fixation 28 à laquelle un module fonctionnel 29 peut être fixé de façon détachable, et le robot comprend également : un moyen de commande 46 qui commande le fonctionnement de la partie mobile en fonction des informations de réglage du robot; un moyen d'identification 42 qui identifie le type du module fonctionnel 29 qui est fixé à la partie de fixation 28; et un moyen de modification 44 qui modifie les informations de réglage en fonction du type identifié du module fonctionnel 29.
PCT/JP2021/026618 2020-11-30 2021-07-15 Robot et programme WO2022113420A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-198071 2020-11-30
JP2020198071 2020-11-30

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WO2022113420A1 true WO2022113420A1 (fr) 2022-06-02

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PCT/JP2021/026618 WO2022113420A1 (fr) 2020-11-30 2021-07-15 Robot et programme

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WO (1) WO2022113420A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07237165A (ja) * 1994-02-24 1995-09-12 Hitachi Constr Mach Co Ltd ロボットの工具交換確認方法
JP2004025387A (ja) * 2002-06-27 2004-01-29 Nachi Fujikoshi Corp 多関節ロボットの負荷重量及び負荷重心位置の自動算出方法
JP2011238041A (ja) * 2010-05-11 2011-11-24 Mitsubishi Electric Corp プログラム作成装置及びプログラム作成方法
JP2017087300A (ja) * 2015-11-02 2017-05-25 ファナック株式会社 オフラインのロボットプログラミング装置
JP2018183853A (ja) * 2017-04-27 2018-11-22 住友理工株式会社 接触検出装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07237165A (ja) * 1994-02-24 1995-09-12 Hitachi Constr Mach Co Ltd ロボットの工具交換確認方法
JP2004025387A (ja) * 2002-06-27 2004-01-29 Nachi Fujikoshi Corp 多関節ロボットの負荷重量及び負荷重心位置の自動算出方法
JP2011238041A (ja) * 2010-05-11 2011-11-24 Mitsubishi Electric Corp プログラム作成装置及びプログラム作成方法
JP2017087300A (ja) * 2015-11-02 2017-05-25 ファナック株式会社 オフラインのロボットプログラミング装置
JP2018183853A (ja) * 2017-04-27 2018-11-22 住友理工株式会社 接触検出装置

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