WO2022138596A1 - ロボット用操作装置およびロボット - Google Patents
ロボット用操作装置およびロボット Download PDFInfo
- Publication number
- WO2022138596A1 WO2022138596A1 PCT/JP2021/047153 JP2021047153W WO2022138596A1 WO 2022138596 A1 WO2022138596 A1 WO 2022138596A1 JP 2021047153 W JP2021047153 W JP 2021047153W WO 2022138596 A1 WO2022138596 A1 WO 2022138596A1
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- WO
- WIPO (PCT)
- Prior art keywords
- robot
- handle
- switch
- tool
- bracket
- Prior art date
Links
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 7
- 238000003466 welding Methods 0.000 description 39
- 210000003813 thumb Anatomy 0.000 description 9
- 210000004247 hand Anatomy 0.000 description 7
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 210000000707 wrist Anatomy 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 210000003811 finger Anatomy 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- 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
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36162—Pendant control box
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39427—Panel on arm, hand of robot, controlled axis
Definitions
- This disclosure relates to a robot operating device and a robot.
- a robot operating device in which an operator applies force to a robot to operate the robot by read-through control (see, for example, Patent Document 1).
- This robot operating device includes two handles that the operator holds with both hands, and operates the robot by the resultant force applied to both handles.
- Tools such as the hand part are fixed to the flange provided at the cutting edge of the robot along the rotation axis of the flange, and the two handles are the center surface of the hand part (the center of the two fingers of the hand part). It extends to both sides of the plane that extends in the direction orthogonal to the opening and closing direction of the finger. As a result, the operator standing in front of the hand portion can grasp the two handles with both hands.
- One aspect of the present disclosure is a robot operating device mounted on a robot, which is a lead-through control in which the robot detects a force applied by an operator and changes a position and an attitude according to the detected force.
- a bracket that is fixed to the flange at the tip of the robot and attaches a long tool along the plane including the rotation axis at a position eccentric to the rotation axis of the robot, and the bracket. It comprises two handles that are fixed to and gripped by both hands of the operator, one of which is arranged on the plane so as to extend along the longitudinal axis of the tool and the other.
- the handle of the robot is arranged in the vicinity of the tool so as to extend in a direction intersecting the plane.
- FIG. 7 is an exploded perspective view showing a state in which the robot operating device of FIG. 7 is changed for left-handed use. It is an exploded perspective view which shows the operation device for a robot which concerns on 4th modification.
- FIG. 9 is an exploded perspective view showing a state in which the robot operating device of FIG. 9 is changed for left-handed use. It is an exploded perspective view which shows the operation device for a robot which concerns on 5th modification. It is a perspective view which shows the robot which attached the hand as a tool. It is a side view which shows the robot which concerns on the 2nd Embodiment of this disclosure, and which attached the welding torch to the flange. It is a front view which shows the robot of FIG.
- FIG. 8 is a perspective view illustrating a procedure for attaching a first handle and a second handle of the robot operating device of FIG. 18. It is a perspective view which shows the modification of the robot operation apparatus of FIG.
- the robot operating device 1 and the robot 100 according to the first embodiment of the present disclosure will be described below with reference to the drawings.
- the robot 100 according to the present embodiment has a built-in sensor that detects a force applied by an operator, and by read-through control that changes the position and posture of the robot 100 according to the magnitude and direction of the force detected by the sensor. It is a movable robot.
- the robot 100 is a vertical 6-axis articulated robot, and has a base 110 installed on an installed surface such as a floor surface and a first axis line with respect to the base 110. It is equipped with a swivel cylinder 120 that is rotatably supported around A. Further, the robot 100 includes a first arm 130 rotatably supported by the swivel cylinder 120 around the second axis B, and a second arm 140 rotatably supported by the first arm 130 around the third axis C. , A 3-axis wrist unit 150 supported by the tip of the second arm 140 is provided.
- the wrist unit 150 is equipped with a flange 160 that can rotate around the most advanced rotation axis (sixth axis) X.
- the robot 100 according to the present embodiment includes a robot operating device 1 fixed to a flange 160.
- the robot operating device 1 includes a bracket 2 fixed to the flange 160 and two handles 3 and 4 fixed to the bracket 2.
- the bracket 2 is a member for fixing a long tool such as a welding torch 170 to the flange 160, and is a bracket body 5 fixed to the flange 160 and a fixing block 6 for fixing the welding torch 170 to the bracket body 5. And have.
- the welding torch 170 includes a tubular torch body 171 curved in one direction, a substantially columnar neck holder 172 connected to the base end of the torch body 171 and a guide tube 173 connected to the base end of the neck holder 172. It is equipped with.
- the guide tube 173, the neck holder 172, and the torch body 171 are provided with an inner hole (not shown) through which the welding wire 180 is passed in the longitudinal direction.
- the welding torch 170 welds the work by projecting the welding wire 180 penetrating the inner hole from the tip of the torch body 171 and generating an arc between the torch and the torch 170.
- the fixed block 6 includes a pair of half-split block members 7 and 8 that grip the cylindrical body portion 171a of the torch body 171 from the radial direction.
- Each of the half-split block members 7 and 8 includes recesses 7a and 8a having a substantially semi-circular cross-sectional shape that form through holes having a substantially circular cross-sectional shape that can penetrate the body portion 171a when combined.
- the welding torch 170 Since the welding torch 170 has a long shape as described above, it cannot penetrate the inside of the wrist unit 150 and is supported by the bracket 2 at a position eccentric with respect to the rotation axis X of the flange 160. Torch. Then, the torch body 171 is curved from a position fixed to the bracket 2 along a plane (hereinafter referred to as a tool plane) P including the rotation axis X of the flange 160, and the welding wire 180 is formed on the rotation axis X of the flange 160. It is arranged so as to project at the crossing position. The intersection of the rotation axis X of the flange 160 and the welding wire 180 is generally set as the tool tip point.
- One half-split block member 8 is provided with two handle fixing portions 9 and 10 for fixing the two handles 3 and 4.
- the handles 3 and 4 are oriented in a direction orthogonal to the tool plane P at a position close to the longitudinal axis Y of the first handle (one handle) 3 arranged along the tool plane P and the welding torch 170 which is a tool.
- the first handle 3 is a straight rod-shaped member that the operator can grasp with his right hand.
- One handle fixing portion 9 extends in a cantilever shape along the tool plane P in a direction away from the rotation axis X of the flange 160.
- the first handle 3 is fixed to the tip of the handle fixing portion 9, and has a gap between the first handle 3 and the welding torch 170 so that four fingers other than the thumb of the right hand can be inserted, and is attached to the longitudinal axis Y of the welding torch 170. Arranged in parallel.
- the first handle 3 is arranged on the tool plane P in a form extending in the direction along the longitudinal axis Y of the welding torch 170.
- a lead-through switch 11 that can be operated by the thumb of the right hand while holding the first handle 3 is provided at the tip of the first handle 3.
- the lead-through switch 11 functions to enable the lead-through control when the pressing force by the thumb is applied, and to disable the lead-through control when the pressing force is released.
- the second handle 4 is a straight rod-shaped member arranged at a position where an operator who holds the first handle 3 with his right hand can hold it with his left hand.
- the other handle fixing portion (mounting portion) 10 is provided with two push button switches (operation switches) 12 and 13 at positions that can be operated by the thumb of the left hand while holding the second handle 4 in the forward hand. ..
- One push button switch 12 is a teaching button (operation switch, position teaching switch) that stores the angle of each axis of the robot 100 at the time of being pushed when the push button switch 12 is pushed.
- the other push button switch 13 is a mode switching button (operation switch, operation mode change switch) that switches the operation mode of the robot 100 between orthogonal operation and each axis operation each time the robot 100 is pressed.
- the operator grips the first handle 3 with the right hand and the second handle 4 with the left hand.
- the lead-through switch 11 provided on the first handle 3 is pressed.
- the read-through control becomes effective, so that the force applied by the operator to the first handle 3 and the second handle 4 is detected by the sensor built in the robot 100, and the position and posture corresponding to the detected force are detected.
- the robot 100 is operated. Then, at a desired position, the operator presses the teaching button 12 provided on the other handle fixing portion 10 of the second handle 4, and the angle of each axis of the robot 100 at the time of pressing is stored. .. By repeating this operation, the operation program of the robot 100 can be taught.
- the first handle 3 gripped by the right hand is on the rotation axis X of the flange 160 and the tool plane P on which the torch body 171 is arranged. It is arranged along. As a result, the first handle 3 does not protrude significantly from the tool plane P, so that the possibility of interference between the peripheral member and the first handle 3 can be reduced.
- the operator who grips the first handle 3 with his right hand can hold the torch body 171.
- the torch body 171 can be moved with the same feeling as when it is directly grasped and operated. This makes it easy for the operator to intuitively control the position and posture of the torch body 171 so that the tip of the welding wire 180 arranged at the tip point of the tool can be accurately arranged at the position intended by the operator. can.
- the first handle 3 is gripped by the right hand and the second handle 4 is gripped by the left hand, it is possible to further facilitate the control of the position and posture of the welding torch 170 when the dominant hand is the right hand. can.
- the second handle 4 projects and extends only to one side of the tool plane P and does not project to both sides of the tool plane P, the possibility of interference with peripheral members can be sufficiently suppressed.
- the second handle 4 is arranged at a position close to the longitudinal axis Y of the torch main body 171, the force applied by the operator to the second handle 4 can be directly transmitted to the torch main body 171 and is intuitive to the operator. Operation is possible.
- the force applied to the second handle 4 is assisted in an operation that is difficult only with the first handle 3, for example, in an operation of rotating the welding torch 170 around the longitudinal axis of the first handle 3. It has the advantage that it can be easily operated.
- a teaching button 12 and an operation mode switching button 13 are arranged on the other handle fixing portion 10 that attaches the second handle 4 to the bracket 2. As a result, the operator can operate the teaching button 12 and the operation mode switching button 13 with the thumb of the left hand while holding the second handle 4 with the left hand.
- the teaching button 12 and the operation mode switching button 13 are provided on the other handle fixing portion 10 for fixing the second handle 4.
- the teaching button 12 or the operation mode switching button 13 functions as the teaching button 12 or the operation mode switching button 13 by a short press operation, and for example, a tool operation for teaching a tool operation command by a long press operation. The function may be changed to a teaching switch or the like.
- the teaching button 12 or the operation mode switching button 13 may be provided with an LED lamp (notification function) that informs the state by turning on or off. By turning on or off the LED lamp, the operator can easily visually recognize the current state of the teaching button 12 or the operation mode switching button 13.
- LED lamp notification function
- the case where the first handle 3 is gripped with the right hand and the second handle 4 is gripped with the left hand has been described. Instead of this, by projecting the second handle 4 to the opposite side of the tool plane P from FIG. 3, the first handle 3 is gripped with the left hand and the second handle 4 is gripped with the right hand for operation. You may do it. By doing so, the position and posture of the welding torch 170 can be easily operated when the dominant hand is the left hand.
- the teaching button 12 and the operation mode switching button 13 can be provided on the other handle fixing portion 10 for fixing the second handle 4, as shown in FIG. 4, as shown in the bracket main body 5 or FIG. May be provided on the wrist unit 150. Even with these, the teaching button 12 and the operation mode switching can be performed at a position where the operator holding the first handle 3 with his right hand can operate it with his left hand released from the second handle 4 (the hand holding the other handle 4). Button 13 can be arranged.
- first handle 3 and the second handle 4 may be detachably provided on the bracket 2.
- first handle 3 can be attached to and detached from one half block member 8 together with the one handle fixing portion 9 by a bolt 14.
- second handle 4 can be attached to and detached from the other handle fixing portion 10 by the bolt 15.
- the first handle 3 and the second handle 4 By removing the first handle 3 and the second handle 4 from the bracket 2 after the teaching operation by the lead-through control is completed, it is possible to significantly reduce the interference with the peripheral members during the execution of the taught operation program. There is. By providing the relay connector 17 on the cable 16 connected to the lead-through switch 11 provided on the first handle 3, the first handle 3 can be easily attached and detached.
- the first handle 3 is removed from one half-split block member 8 together with one handle fixing portion 9, and as shown in FIG. 8, the one half-split block member 8 is inverted.
- the first handle 3 and one handle fixing portion 9 may be fixed to the surface. As a result, it is possible to standardize the parts without providing parts for each dominant hand.
- the first handle 3 since the first handle 3 is arranged on the tool plane P, it is not necessary to change the position of the first handle 3 according to the operator having a different dominant hand. Therefore, it can be used as a robot operating device 1 for workers with different dominant hands by simply changing the position of the second handle 4 without preparing separate parts.
- the cable (not shown) connected to the teaching button 12 and the operation mode switching button 13 provided on one of the half-split block members 8 is attached to and detached from the connector (not shown) provided on the wrist unit 150. Thereby, it is possible to easily attach / detach one half-split block member 8.
- the teaching button 12 or the like is arranged on the half-split block member 8 for fixing the first handle 3, instead of this, it is fixed to the bracket main body 5 as shown in FIG.
- the other handle fixing portion 10, the teaching button 12, and the like may be arranged on the other half-split block member 7.
- one half is attached to one half block member 8 for fixing the first handle 3 while allowing the position of the second handle 4 to be reversed in response to the case where the dominant hand is different.
- the handle fixing portion 9 can be integrated, and the number of parts can be reduced.
- the switch box 20 provided with the other handle fixing portion 10 and the teaching button 12 and the like may be fixed to the bracket main body 5 separately from the half-split block members 7 and 8. ..
- the welding torch 170 is exemplified as a tool fixed to the flange 160 by the bracket 2, but instead, the length is arranged at a position offset with respect to the rotation axis X of the flange 160.
- Any other tool may be used as long as it is a scale tool.
- an optical fiber cable that guides a laser beam is connected to the base end side, and a nozzle for laser welding or laser processing that emits the laser beam from the tip may be adopted.
- a tool in which a power cable is connected to the base end side and the work is machined by a tool arranged at the tip may be adopted.
- a nozzle in which a fluid tube is connected to the base end side and the fluid is discharged from the tip end may be adopted.
- first handle 3 and the second handle 4 are fixed to the fixing block 6 for fixing the welding torch 170 to the bracket main body 5 .
- the first handle 3 and the second handle 4 may be fixed to the bracket 2.
- the positions of the second handle 4 may be interchangeably configured. good.
- screw holes (not shown) to which the bolts 15 for fixing the second handle 4 can be fastened may be provided on both sides of the tool plane P of the fixing block 6.
- the handles 3 and 4 can be arranged so as to be compatible with both right-handed and left-handed people by simply changing the position of the second handle 4 while the welding torch 170 is fixed to the bracket 2.
- the robot 100 according to the present embodiment also includes a robot operating device 300 fixed to the flange 160.
- the robot operating device 300 according to the present embodiment includes a bracket 310 fixed to the flange 160.
- the bracket 310 is a member for fixing a long tool such as a welding torch 170 to the flange 160.
- the bracket 310 includes a bracket body 5, an adapter (first handle portion) 311 for fixing the bracket body 5 to the flange 160, and a fixing block (second handle portion) 6 for fixing the welding torch 170 to the bracket body 5. ing.
- the adapter 311 is a columnar member arranged coaxially with the rotation axis X of the flange 160. As shown in FIG. 16, the adapter 311 is gripped by one of the operator's hands (here, the left hand) in a form that wraps around the outer peripheral surface over a range wider than half a circumference, and is held in various directions with respect to the flange 160. It has an outer diameter that allows force to be applied.
- a lead-through switch 11 that can be operated by the thumb of the left hand while holding the adapter 311 is provided on the outer peripheral surface of the adapter 311 at a position on the tool plane P on the torch body 171 side.
- the lead-through switch 11 is a push button type switch, and the first cable 320 is connected to it.
- a connector (first connector) 321 is attached to the end of the first cable 320.
- the main body cable 330 connected to the control device (not shown) is wired from the control device along the outer surface of the guide tube 173 to the vicinity of the neck holder 172, and the connector 321 of the first cable 320 is connected. It is provided with a relay connector 331 to which the cable can be connected.
- the adapter 311 is provided with a through hole (passage portion) 312 penetrating in the radial direction, and a female screw (not shown) is formed in the vicinity of the opening at one end of the through hole 312.
- the lead-through switch 11 is provided with a male screw (not shown), and is fixed to the adapter 311 in a state where the button portion to be operated is exposed to the outside by fastening the male screw to the female screw of the through hole 312.
- the bracket main body 5 is provided with a through hole 5a that penetrates in the direction along the tool plane P and allows the first cable 320 to pass through.
- the first cable 320 connected to the lead-through switch 11 is taken out from an opening located on the back surface of the lead-through switch 11 through the through hole 312 of the adapter 311 and is curved toward the tip end side of the welding torch 170. .. Then, the first cable 320 is pulled out to the welding torch 170 side through the through hole 5a of the bracket main body 5.
- reference numeral 350 is a hook-and-loop fastener for fixing the connectors 321 and 331 of the main body cable 330 and the first cable 320 in a connected state to the welding torch 170.
- the fixing block 6 is fixed to the bracket main body 5 in a state where the body portion 171a of the torch main body 171 is sandwiched between the pair of half-split block members 7 and 8.
- the fixed block 6 can be gripped by the right hand of the operator so as to wrap the longitudinal axis Y of the torch body 171 and has a size sufficient to apply force to the torch body 171 in various directions.
- the fixed block 6 is provided with two pushbutton switches 12 and 13.
- the push button switches 12 and 13 are arranged at positions that can be operated by the thumb of the right hand while holding the fixed block 6.
- One push button switch 12 is a teaching button (operation switch, position teaching switch) that stores the angle of each axis of the robot 100 at the time of being pushed when the push button switch 12 is pushed.
- the other push button switch 13 is a mode switching button (operation switch, operation mode change switch) that switches the operation mode of the robot 100 between orthogonal operation and each axis operation each time the robot 100 is pressed.
- the second cable 340 is connected to the push button switches 12 and 13.
- a connector (not shown) is attached to the end of the second cable 340.
- a connector connected to a cable (not shown) that has been wired inside the robot 100 is fixed to the outer surface of the wrist unit 150 of the robot 100.
- the second cable 340 connected to the push button switches 12 and 13 has a hook-and-loop fastener 360 in the middle position in the length direction at a position extended from the push button switches 12 and 13 along the neck holder 172 of the welding torch 170. It is fixed to the neck holder 172 by. From that position, the second cable 340 is connected to the connector (second connector) 341 of the wrist unit 150 across the space on the flange 160 side of the adapter 311.
- the first cable 320 and the second cable 340 are arranged in the above-described manner so as to avoid the outer peripheral surface of the adapter 311 and the outer surface of the fixed block 6 located in the area gripped by the operator. .. This makes it possible to prevent the first cable 320 and the second cable 340 from interfering with the operation by the operator when the operator teaches the robot 100 while controlling the read-through.
- the operator grasps the adapter 311 with the left hand, the fixed block 6 with the right hand, and attaches the adapter 311 to the adapter 311.
- the provided lead-through switch 11 is pressed with the thumb of the left hand.
- the read-through control becomes effective, so that the force applied by the operator to the adapter 311 and the fixed block 6 is detected by the sensor built in the robot 100, and the robot 100 is set to the position and posture according to the detected force. Is activated. Then, at a desired position, the operator presses the teaching button 12 provided on the fixed block 6, and the angle of each axis of the robot 100 at the time of pressing is stored. By repeating this operation, the operation program of the robot 100 can be taught.
- the robot uses the adapter 311 as the first handle while enabling read-through control. Force can be applied to 100. Further, by providing the operation switches 12 and 13 on the fixed block 6 for fixing the torch main body 171 to the bracket main body 5, teaching or the like is performed while applying force to the torch main body 171 with the fixed block 6 as the second handle portion. Can be done.
- the first handle portion and the second handle portion composed of the adapter 311 and the fixing block 6 have a rotation axis X of the flange 160 and a length of the welding torch 170 more than the first handle 3 and the second handle 4 in the first embodiment. Does not protrude significantly from the axis Y. Therefore, it is possible to suppress interference with peripheral members and facilitate teaching. Further, there is an advantage that interference with peripheral members can be significantly reduced even when the instructional operation program is executed without removing the handles 3 and 4 after the instruction.
- the operator who grips the fixed block 6 with his right hand can move the torch body 171 with the same feeling as directly gripping and operating the torch body 171. Can be done. This makes it easy for the operator to intuitively control the position and posture of the torch body 171 so that the tip of the welding wire 180 arranged at the tip point of the tool can be accurately arranged at the position intended by the operator. can.
- the adapter 311 is gripped by the left hand and the fixed block 6 is gripped by the right hand, the position and posture of the welding torch 170 can be further easily controlled when the dominant hand is the right hand.
- the force applied to the adapter 311 is supplemented in operations that are difficult to perform with the adapter 311 alone, for example, in an operation of rotating the welding torch 170 around the rotation axis X of the flange 160. It has the advantage that it can be easily operated.
- the operator can switch the teaching button 12 and the operation mode with the thumb of the right hand while holding the fixed block 6 with the right hand.
- Button 13 can be operated.
- the first cable 320 and the second cable 340 are wired so as to avoid the area gripped by the operator on the outer peripheral surface of the adapter 311 with the left hand and the area gripped by the worker on the outer surface of the fixed block 6 with the right hand. Therefore, the first cable 320 and the second cable 340 do not interfere with the operation.
- the teaching button 12 or the operation mode switching button 13 functions as the teaching button 12 or the operation mode switching button 13 by a short press operation, and for example, a tool operation command is taught by a long press operation.
- the function may be changed to a tool operation teaching switch or the like.
- the adapter 311 is gripped with the left hand and the fixed block 6 is gripped with the right hand has been described.
- the adapter 311 may be gripped with the right hand and the fixing block 6 may be gripped with the left hand for operation. This makes it possible to easily operate the position and posture of the welding torch 170 when the dominant hand is the left hand.
- the lead-through switch 11 is arranged on the tool plane on the outer peripheral surface of the adapter 311, the dominant hand can be replaced without changing the position of the lead-through switch 11. Further, even if the wiring routes of the first cable 320 and the second cable 340 are maintained as described above, the first cable 320 and the second cable 340 do not interfere with the operator. That is, it is possible to facilitate changes when operated by workers with different dominant hands.
- the fixed block 6 which is the second handle portion has the same first handle (first detachable handle) 3 and second handle as the robot operating device 1 according to the first embodiment.
- (Second detachable handle) 4 may be provided with removable screw holes 18, 361 and pin holes 4a.
- the first handle 3 has a hollow structure having an inner hole 3a, and a female screw (not shown) capable of fastening a male screw (not shown) of the lead-through switch 11 to the inner surface of the tip (not shown). May be provided.
- reference numeral 360 is a screw for fixing the first handle 3 to the fixing block 6.
- the first handle 3 and the second handle 4 are fixed to the fixing block 6, and the connector 321 and the first cable 320 are passed through the inner hole 3a of the first handle 3.
- the male screw of the lead-through switch 11 is fastened to the female screw, and the connector 321 of the first cable 320 is connected to the connector 331 of the main body cable 330.
- the first cable 320 can be wired without running along the outer surface of the first handle 3.
- the bracket 310 is provided with a separate adapter 311 to be assembled to each other, a bracket main body 5, and a fixed block 6.
- the adapter 311 and the bracket main body 5, the bracket main body 5 and the half-split block member 7 of the fixed block 6, or the adapter 311 and the bracket main body 5 and the half-split block member 7 may be integrally configured. ..
- the first cable 320 after passing through the inner hole 3a of the first handle 3, the first cable 320 connects the connector 321 to the connector 331 of the main body cable 330 along the outer surface of the neck holder 172. You may. As a result, the range of external interference caused by the first cable 320 can be minimized.
- the adapter 311 is provided with a through hole 312 penetrating in the radial direction as a passage portion for arranging the first cable 320, but the adapter 311 is not limited to this.
- the opening for taking out the first cable 320 may be arranged not on the outer peripheral surface of the adapter 311 but on the mounting surface on which the bracket main body 5 is attached. According to this, since the first cable 320 does not pass through the outer peripheral surface of the adapter 311, there is an advantage that it does not get in the way when gripping the adapter 311. Further, instead of forming the passage portion by the through hole 312, it may be configured by a groove capable of accommodating the first cable 320.
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
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Abstract
Description
このロボット用操作装置は、作業者が両手でそれぞれ把持する2つのハンドルを備え、両ハンドルに加える合力によってロボットを動作させる。
本実施形態に係るロボット100は、作業者により加えられる力を検出するセンサを内蔵し、センサにより検出された力の大きさおよび方向に応じてロボット100の位置および姿勢を変更するリードスルー制御により動作可能なロボットである。
また、ロボット100は、旋回胴120に第2軸線B回りに回転可能に支持された第1アーム130と、第1アーム130に第3軸線C回りに回転可能に支持された第2アーム140と、第2アーム140の先端に支持された3軸の手首ユニット150とを備えている。
ブラケット2は、例えば、溶接トーチ170のような長尺のツールをフランジ160に固定する部材であり、フランジ160に固定されるブラケット本体5と、ブラケット本体5に溶接トーチ170を固定する固定ブロック6とを備えている。
ハンドル3,4は、ツール平面Pに沿って配置された第1ハンドル(一方のハンドル)3およびツールである溶接トーチ170の長手軸Yに近接する位置において、ツール平面Pに対して直交する方向に延びて配置された第2ハンドル(他方のハンドル)4の2つのみである。
リードスルースイッチ11は、親指による押圧力が付与された状態でリードスルー制御を有効にし、押圧力が解除された状態でリードスルー制御を無効にするよう機能する。
本実施形態に係るロボット用操作装置1を用いて、ロボット100をリードスルー制御しながら教示を行うには、作業者は、第1ハンドル3を右手で握り、第2ハンドル4を左手で握り、第1ハンドル3に設けられたリードスルースイッチ11を押下する。
第2ハンドル4は、ツール平面Pの片側のみに突出して延びており、ツール平面Pを挟んだ両側に突出していないので、周辺部材との干渉の可能性を十分に低く抑えることができる。第2ハンドル4は、トーチ本体171の長手軸Yに近接する位置に配置されているので、作業者が第2ハンドル4に加える力を直接トーチ本体171に伝えることができ、作業者の直感的な操作が可能となる。
また、第2ハンドル4をブラケット2に取り付ける他方のハンドル固定部10に、教示ボタン12および動作モード切替ボタン13が配置されている。これにより、作業者は、第2ハンドル4を左手で握った状態のままで、左手の親指によって教示ボタン12および動作モード切替ボタン13を操作できる。
第1ハンドル3に設けられたリードスルースイッチ11に接続するケーブル16に中継コネクタ17を設けることにより、第1ハンドル3の着脱を容易にすることができる。
この場合には、一方の半割ブロック部材8に設けられている教示ボタン12および動作モード切替ボタン13に接続するケーブル(図示略)を、手首ユニット150に設けたコネクタ(図示略)に着脱することにより、一方の半割ブロック部材8の着脱を容易にすることができる。
また、図11に示されるように、他方のハンドル固定部10および教示ボタン12等が設けられるスイッチボックス20を半割ブロック部材7,8とは別個にブラケット本体5に固定することにしてもよい。
本実施形態の説明において、上述した第1の実施形態に係るロボット用操作装置1およびロボット100と構成を共通とする箇所には同一符号を付して説明を省略する。
本実施形態に係るロボット用操作装置300は、図15に示されるように、フランジ160に固定されるブラケット310を備えている。
また、ブラケット本体5には、ツール平面Pに沿う方向に貫通し、第1ケーブル320を通すことができる貫通孔5aが設けられている。
本実施形態に係るロボット用操作装置300を用いて、ロボット100をリードスルー制御しながら教示を行うには、作業者は、アダプタ311を左手で握り、固定ブロック6を右手で握り、アダプタ311に設けられたリードスルースイッチ11を左手の親指で押下する。
アダプタ311に加えて固定ブロック6を把持することにより、アダプタ311のみでは困難な操作、例えば、フランジ160の回転軸線X回りに溶接トーチ170を回転させる動作等において、アダプタ311に加える力を補助的に利用して、容易に操作することができるという利点がある。
また、アダプタ311の外周面の内の作業者が左手で把持する領域および固定ブロック6の外面の内の作業者が右手で把持する領域を避けて第1ケーブル320および第2ケーブル340が配線されているので、第1ケーブル320および第2ケーブル340が操作の邪魔にならない。
これにより、第1ケーブル320による外部への干渉範囲を最小限に抑えることができる。
また、通路部を貫通孔312によって構成することに代えて、第1ケーブル320を収容可能な溝により構成してもよい。
2,310 ブラケット
3 第1ハンドル(ハンドル、一方のハンドル、第1着脱ハンドル)
4 第2ハンドル(ハンドル、他方のハンドル、第2着脱ハンドル)
5 ブラケット本体
6 固定ブロック(第2ハンドル部)
11 リードスルースイッチ
12 教示ボタン(操作スイッチ、位置教示スイッチ)
13 モード切替ボタン(操作スイッチ、動作モード変更スイッチ)
10 他方のハンドル固定部(取付部)
100 ロボット
160 フランジ
170 溶接トーチ(ツール)
200 ハンド(ツール)
311 アダプタ(第1ハンドル部)
312 貫通孔(通路部)
320 第1ケーブル
321 コネクタ(第1コネクタ)
330 本体ケーブル
340 第2ケーブル
341 コネクタ(第2コネクタ)
P 平面(ツール平面)
X 回転軸線
Y 長手軸
Claims (18)
- ロボットに装着されるロボット用操作装置であって、
前記ロボットが、作業者により加えられる力を検出し、検出された力に応じて位置および姿勢を変更するリードスルー制御により動作可能であり、
前記ロボットの先端のフランジに固定され、該フランジの回転軸線に対して偏心した位置に、該回転軸線を含む平面に沿う形態で長尺のツールを取り付けるブラケットと、
該ブラケットに対して固定され、前記作業者の両手によってそれぞれ把持される2つのハンドルとを備え、
一方の前記ハンドルが、前記平面上に、前記ツールの長手軸に沿う方向に延びる形態で配置され、
他方の前記ハンドルが、前記ツールの近傍において、前記平面に交差する方向に延びる形態で配置されるロボット用操作装置。 - 一方の前記ハンドルに、一方の前記ハンドルを把持した状態の前記作業者の手によって操作され、前記リードスルー制御を有効または無効に切り替えるリードスルースイッチが設けられている請求項1に記載のロボット用操作装置。
- 一方の前記ハンドルを把持した状態の前記作業者の、他方の前記ハンドルを把持する手の届く範囲に、位置教示スイッチおよび動作モード変更スイッチの少なくとも1つの操作スイッチが配置されている請求項2に記載のロボット用操作装置。
- 前記操作スイッチの少なくとも1つが、他方の前記ハンドルを把持した状態の前記作業者の手によって操作可能な位置に配置されている請求項3に記載のロボット用操作装置。
- 他方の前記ハンドルが、前記ブラケットに対して取り外し可能に固定されている請求項1から請求項4のいずれかに記載のロボット用操作装置。
- 前記ブラケットの前記平面を挟んだ両側に、他方の前記ハンドルを択一的に取付可能な取付部が設けられている請求項5に記載のロボット用操作装置。
- 一方の前記ハンドルが、前記ブラケットに対して取り外し可能に固定されている請求項1から請求項6のいずれかに記載のロボット用操作装置。
- ロボットに装着されるロボット用操作装置であって、
前記ロボットが、作業者により加えられる力を検出し、検出された力に応じて位置および姿勢を変更するリードスルー制御により動作可能であり、
前記ロボットの先端のフランジに固定され、該フランジの回転軸線に対して偏心した位置に、該回転軸線を含む平面に沿う形態で長尺のツールを取り付けるブラケットを備え、
該ブラケットの前記フランジへの固定位置近傍に、前記作業者の一方の手によって前記回転軸線を包み込む形態で把持可能な第1ハンドル部が設けられ、前記ツールの前記ブラケットへの取付位置近傍に、前記作業者の他方の手によって前記ツールの長手軸を包み込む形態で把持可能な第2ハンドル部が設けられているロボット用操作装置。 - 前記第1ハンドル部に、該第1ハンドル部を把持した状態の前記一方の手によって操作され、前記リードスルー制御を有効または無効に切り替えるリードスルースイッチが設けられている請求項8に記載のロボット用操作装置。
- 前記ブラケットが、前記ツールを取り付けるブラケット本体と、該ブラケット本体を前記フランジに固定する柱状のアダプタとを備え、
該アダプタが前記第1ハンドル部を構成する請求項9に記載のロボット用操作装置。 - 前記リードスルースイッチに一端が接続された第1ケーブルを備え、
該第1ケーブルと、前記ロボットを制御する制御装置に接続され、前記ツールに沿って配線された本体ケーブルとが、前記第1ケーブルの他端に取り付けられた第1コネクタにより着脱可能に接続されている請求項10に記載のロボット用操作装置。 - 前記アダプタの外周面に、前記リードスルースイッチが取り付けられる開口が設けられ、
前記アダプタに、前記開口に連絡し前記第1ケーブルの一部を収容状態に配置する通路部が設けられ、
該通路部が、前記アダプタの外面の内、前記一方の手により把持される領域以外の位置から前記第1コネクタ側の前記第1ケーブルを前記アダプタの外方に露出させる請求項11に記載のロボット用操作装置。 - 前記第2ハンドル部に、前記平面上に、前記ツールの前記長手軸に沿う方向に延びる形態で着脱可能に取り付けられる第1着脱ハンドルおよび、前記平面に交差する方向に延びる形態で着脱可能に取り付けられる第2着脱ハンドルを備え、
前記リードスルースイッチが、前記アダプタに着脱可能に取り付けられ、
前記第1着脱ハンドルに、前記アダプタから取り外された前記リードスルースイッチを取付可能である請求項10から請求項12に記載のロボット用操作装置。 - 前記第2ハンドル部に、該第2ハンドル部を把持した状態の前記他方の手によって操作される、位置教示スイッチおよび動作モード変更スイッチの少なくとも1つの操作スイッチが設けられている請求項8から請求項13のいずれかに記載のロボット用操作装置。
- 前記操作スイッチに一端が接続された第2ケーブルを備え、
該第2ケーブルが、前記操作スイッチから前記ツールに沿って延ばされた後、前記アダプタよりも前記フランジ側を通って、前記ロボットの先端に設けられた第2コネクタに接続されている請求項14に記載のロボット用操作装置。 - 前記操作スイッチの少なくとも1つが、長押し操作によってツール動作指令を教示するためのツール動作教示スイッチに機能変更可能である請求項3から請求項7または請求項15のいずれかに記載のロボット用操作装置。
- 前記操作スイッチが、機能変更を報知する報知機能を備える請求項16に記載のロボット用操作装置。
- 請求項1から請求項17のいずれかに記載のロボット用操作装置を備えるロボット。
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CN202180074650.9A CN116472147A (zh) | 2020-12-25 | 2021-12-21 | 机器人用操作装置以及机器人 |
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JP7449441B1 (ja) | 2023-11-21 | 2024-03-13 | 株式会社ダイヘン | 溶接ロボット |
JP7494369B1 (ja) | 2023-11-21 | 2024-06-03 | 株式会社ダイヘン | 溶接ロボットおよびティーチングハンドル |
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JPS63278777A (ja) * | 1987-03-30 | 1988-11-16 | 株式会社明電舎 | ロボツトの教示運転方法 |
JPH01234185A (ja) * | 1988-03-16 | 1989-09-19 | Nitta Ind Corp | 力センサを用いたロボットの経路教示方法および装置 |
JPH0976183A (ja) * | 1995-09-14 | 1997-03-25 | Yaskawa Electric Corp | ロボットのダイレクトティーチング装置 |
CN111300433A (zh) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | 基于六维力传感器的机器人拖拽示教装置 |
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JP6717921B2 (ja) | 2018-12-10 | 2020-07-08 | ファナック株式会社 | ロボットを操作するハンドルを備えたロボット用操作装置 |
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- 2021-12-21 JP JP2022571472A patent/JP7481501B2/ja active Active
- 2021-12-21 DE DE112021004522.9T patent/DE112021004522T5/de active Pending
- 2021-12-22 TW TW110148303A patent/TW202239549A/zh unknown
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JPS63278777A (ja) * | 1987-03-30 | 1988-11-16 | 株式会社明電舎 | ロボツトの教示運転方法 |
JPH01234185A (ja) * | 1988-03-16 | 1989-09-19 | Nitta Ind Corp | 力センサを用いたロボットの経路教示方法および装置 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7449441B1 (ja) | 2023-11-21 | 2024-03-13 | 株式会社ダイヘン | 溶接ロボット |
JP7494369B1 (ja) | 2023-11-21 | 2024-06-03 | 株式会社ダイヘン | 溶接ロボットおよびティーチングハンドル |
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TW202239549A (zh) | 2022-10-16 |
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JP7481501B2 (ja) | 2024-05-10 |
US20240009858A1 (en) | 2024-01-11 |
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