WO2022163467A1 - キサゲ加工を行うロボット、ロボットシステム、方法、及びコンピュータプログラム - Google Patents
キサゲ加工を行うロボット、ロボットシステム、方法、及びコンピュータプログラム Download PDFInfo
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- WO2022163467A1 WO2022163467A1 PCT/JP2022/001833 JP2022001833W WO2022163467A1 WO 2022163467 A1 WO2022163467 A1 WO 2022163467A1 JP 2022001833 W JP2022001833 W JP 2022001833W WO 2022163467 A1 WO2022163467 A1 WO 2022163467A1
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- Prior art keywords
- scraper
- base portion
- axis
- robot
- posture
- Prior art date
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- 238000007790 scraping Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims description 40
- 238000004590 computer program Methods 0.000 title claims description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000008569 process Effects 0.000 claims description 34
- 239000012530 fluid Substances 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 abstract description 9
- 239000012636 effector Substances 0.000 description 37
- 210000000707 wrist Anatomy 0.000 description 32
- 238000003825 pressing Methods 0.000 description 28
- 238000003754 machining Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
- B23D79/02—Machines or devices for scraping
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
- B26D3/08—Making a superficial cut in the surface of the work without removal of material, e.g. scoring, incising
Definitions
- the present disclosure relates to a robot, a robot system, a method, and a computer program that perform scraping.
- Patent Document 1 A robot that performs scraping processing is known (for example, Patent Document 1).
- a robot that performs scraping to flatten the surface of a workpiece includes a base and a pair of scrapers provided on the base so as to face each other, the scrapers being connected to the base. a pair of scrapers each having a proximal end for scraping a surface and a tip for scraping a surface, and extending toward or away from each other from the proximal end toward the distal end; and a moving mechanism that rotates the base between a first posture in which the other is closer to the surface than the other and a second posture in which the other is closer to the surface than the other.
- a method of performing scraping for flattening a surface of a workpiece using the robot described above includes: a processor, with the base portion arranged in the first posture, A first scraping process is performed by pressing the tip against the surface and moving the base part in a first direction, and after the first scraping process, the base part is rotated from the first posture to the second posture. With the base portion placed in the second posture, the other tip is pressed against the surface to move the base portion in the second direction opposite to the first direction, thereby performing the second scraping process. to control the moving mechanism unit.
- the scrapers are switched by pivoting the base portion between a first position and a second position, one scraper forming one recess while the other scraper forms the next recess. can be formed.
- the time from the end of the first scraping process for forming one recess to the start of the second scraping process for forming the next recess can be shortened. It can be formed continuously and efficiently. As a result, the cycle time of the scraping process can be shortened, so that the productivity can be improved.
- FIG. 1 is a diagram of a robotic system according to one embodiment
- FIG. 2 is a block diagram of the robot system shown in FIG. 1
- FIG. 2 is an enlarged view of the end effector shown in FIG. 1
- FIG. FIG. 4 is an enlarged view of the blade portion of the scraper shown in FIG. 3 as viewed from above; The scraper is pressed against the work surface.
- the state where the base part is arranged in the 1st posture is shown. 1 shows a first recess formed in the surface of a workpiece with one scraper; The state in which the base portion is arranged in the second posture is shown.
- FIG. 10 shows a second recess formed in the surface of the workpiece with the other scraper; A plurality of recesses formed to line up on the surface of the workpiece is shown.
- FIG. 10 is a diagram for explaining another example of scraping, showing a recess formed to extend from one edge of the surface of the work to the other edge.
- 1 shows an example of teaching points set on the surface of a work for recesses formed by one scraper.
- FIG. 4 is a diagram for explaining a speed command as a position control command and a speed command as a force control command; The trajectory that one scraper actually moves during scraping is shown.
- An example of teaching points set on the surface of the workpiece for forming recesses with the other scraper is shown.
- FIG. 10 is a diagram of a robot system according to another embodiment
- 24 is a block diagram of the robot system shown in FIG. 23
- FIG. 10 is a diagram of a robot system according to another embodiment
- FIG. 24 is an enlarged view of the end effector shown in FIG. 23;
- FIG. FIG. 11 is an enlarged view of an end effector according to another embodiment;
- FIG. 27 is a diagram for explaining scraping using the end effector shown in FIG. 26;
- FIG. 11 is an enlarged view of an end effector according to still another embodiment;
- the plus direction of the x-axis of the robot coordinate system C1 in the drawing may be referred to as the right side, the plus direction of the y-axis as the front side, and the plus direction of the z-axis as the upper side.
- FIG. The robot system 10 is a system for scraping the surface Q of the workpiece W to flatten it.
- the scraping process is a process of scraping the surface Q of the workpiece W in order to make the dimension of the fine unevenness formed on the surface Q of the workpiece W in the thickness direction of the workpiece W within a predetermined range (for example, ⁇ m order). is.
- This fine unevenness functions as a so-called "oil reservoir” for accumulating lubricating oil on the surface Q used as a sliding surface.
- the scraping process includes roughing to reduce the fine unevenness formed when the surface of the work is processed by a milling machine or the like to a first dimension (for example, 10 ⁇ m) or less, and after the roughing, the fine unevenness is removed. , and finishing to a second dimension (eg, 5 ⁇ m) or less smaller than the first dimension.
- the robot system 10 includes a robot 12, a force sensor 14, and a controller 16.
- the robot 12 is a vertically articulated robot and has a movement mechanism 18 and an end effector 20 .
- the movement mechanism section 18 has a robot base 22 , a swing body 24 , a lower arm section 26 , an upper arm section 28 and a wrist section 30 .
- the robot base 22 is fixed on the floor of the workcell.
- the swing barrel 24 is provided on the robot base 22 so as to be swingable about a vertical axis.
- the lower arm 26 is rotatably provided on the revolving barrel 24 about the horizontal axis
- the upper arm 28 is rotatably provided at the tip of the lower arm 26 .
- the wrist part 30 includes a wrist base 30a provided at the tip of the upper arm 28 so as to be rotatable about the axis A1, and a wrist base 30a so as to be rotatable about the axis A2. and a wrist flange 30b provided.
- the axis A2 is orthogonal to the axis A1 and rotates around the axis A1.
- a servo motor 32 (FIG. 2) is provided for each component of the movement mechanism section 18 (the robot base 22, the swing body 24, the lower arm section 26, the upper arm section 28, and the wrist section 30). These servo motors 32 rotate each movable element (swivel barrel 24, lower arm section 26, upper arm section 28, wrist section 30, wrist flange 30b) of the moving mechanism section 18 around the drive shaft according to commands from the control device 16. rotate to As a result, the moving mechanism section 18 can move the end effector 20 to place it in any desired position and orientation.
- the end effector 20 is detachably attached to the wrist flange 30b via the force sensor 14.
- the configuration of the end effector 20 will be described below with reference to FIG.
- the end effector 20 has a base portion 34, a mounting flange 36, a pair of scraper retainers 38 and 40, and a pair of scrapers 42 and 44. As shown in FIG.
- the base portion 34 is a rod-shaped member extending straight along the axis A3.
- Axis A3 is perpendicular to axis A2 and rotates around axis A2.
- the mounting flange 36 is a cylindrical member centered on the axis A ⁇ b>2 and fixed to the center of the top surface 34 a of the base portion 34 .
- the mounting flange 36 is fixed to the tip of the force sensor 14 using fasteners (bolts or the like), for example.
- a pair of scraper holding portions 38 and 40 are fixed to the bottom surface 34b of the base portion 34, respectively, and are spaced apart from each other in the direction of the axis A3.
- a pair of scrapers 42 and 44 are provided on the base portion 34 so as to face each other in the direction of the axis A3.
- the pair of scrapers 42 and 44 are arranged symmetrically with respect to the axis A2.
- the scraper 42 has a handle 46 and a blade 48 .
- the handle 46 is a flexible member that extends substantially linearly along the axis A4 from its proximal end 46a to its distal end 46b. It is fixed to the holding portion 38 .
- the blade portion 48 is an iron member extending along the axis A4 from its base end 48a to its tip 48b. As shown in FIG. 4, the tip 48b of the blade portion 48 is curved so as to bulge outward from both ends in the width direction toward the center when viewed from above. The blade portion 48 cuts the surface Q of the work W with its tip 48b.
- the proximal end 46 a of the handle 46 defines the proximal end of the scraper 42
- the distal end 48 b of the blade 48 defines the distal end of the scraper 42
- a proximal end 46 a of the scraper 42 is connected to the base portion 34 via the scraper holding portion 38 , thereby being supported by the base portion 34 .
- the axis A4 is inclined by an angle ⁇ 1 with respect to the axis A3, and the scraper 42 extends from its proximal end 46a toward its distal end 48b so as to approach the scraper 44. As shown in FIG.
- the scraper 44 has the same configuration as the scraper 42. Specifically, the scraper 44 has a handle 50 and a blade 52 .
- the handle portion 50 is a flexible member that extends substantially linearly along the axis A5 from its proximal end 50a to its distal end 50b, and is fixed to the scraper holding portion 40 at its proximal end 50a.
- the blade portion 52 extends from its proximal end 52a to its distal end 52b along the axis A5, and its proximal end 52a is fixed to the distal end 50b of the handle portion 50.
- the tip 52b of the blade portion 52 like the blade portion 48, is curved so as to bulge outward from both ends in the width direction toward the center.
- the blade portion 52 cuts the surface Q of the work W with its tip 52b.
- the proximal end 50 a of the handle portion 50 defines the proximal end of the scraper 44
- the distal end 52 b of the blade portion 52 defines the distal end of the scraper 44
- the scraper 44 is connected at its proximal end 50a to the base portion 34 via the scraper holding portion 40, thereby being supported by the base portion 34. As shown in FIG.
- the axis A5 is inclined at an angle ⁇ 2 with respect to the axis A3, and the scraper 44 extends from its proximal end 50a toward its distal end 52b so as to approach the scraper 42.
- the pair of scrapers 42 and 44 are arranged opposite to each other in the direction of the axis A3, and extend from their proximal ends 46a and 50a toward their distal ends 48b and 52b so as to approach each other.
- the tip 48b of the scraper 42 and the tip 52b of the scraper 44 are separated by a distance ⁇ in the direction of the axis A3.
- the force sensor 14 detects the pressing force F with which the moving mechanism 18 presses the scraper 42 or 44 against the surface Q of the workpiece W.
- the force sensor 14 is a 6-axis force sensor having a cylindrical main body and a plurality of strain gauges (both not shown) provided on the main body. is inserted between
- the force sensor 14 is arranged such that its central axis coincides with the axis A2 (in other words, concentrically with the wrist flange 30b and the mounting flange 36).
- controller 16 controls the operation of the robot 12.
- controller 16 is a computer having processor 60 , memory 62 , I/O interface 64 , input device 66 and display device 68 .
- Processor 60 is communicatively connected via bus 70 to memory 62, I/O interface 64, input device 66, and display device 68, and communicates with these components to perform scraping. Perform arithmetic processing.
- the memory 62 has RAM, ROM, or the like, and temporarily or permanently stores various data used in the arithmetic processing executed by the processor 60 and various data generated during the arithmetic processing.
- the I/O interface 64 has, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and exchanges data with external devices under instructions from the processor 60. Communicate by wire or wirelessly.
- each servo motor 32 and the force sensor 14 of the moving mechanism section 18 are communicably connected to the I/O interface 64 .
- the input device 66 has a keyboard, mouse, touch panel, etc., and allows the operator to input data.
- the display device 68 has a liquid crystal display, an organic EL display, or the like, and visually displays various data under commands from the processor 60 .
- the input device 66 or the display device 68 may be integrated into the housing of the control device 16, or may be externally attached to the housing of the control device 16 as a separate body. .
- the robot 12 is set with a robot coordinate system C1.
- the robot coordinate system C ⁇ b>1 is a coordinate system for controlling the motion of each movable element of the moving mechanism section 18 and is fixed with respect to the robot base 22 .
- the robot coordinate system C1 is set with respect to the movement mechanism section 18 such that its origin is located at the center of the robot base 22 and its z-axis coincides with the pivot axis of the swing barrel 24. It is
- the scraper 42 is set with a tool coordinate system C2.
- the tool coordinate system C2 is a coordinate system that defines the position and orientation of the scraper 42 in the robot coordinate system C1, and is arranged at a known position with respect to the wrist flange 30b.
- the origin (so-called TCP) of the tool coordinate system C2 is placed at the center of the tip 48b of the blade 48 when the handle 46 is not bent, and its z-axis is aligned with the axis A4 (
- the scraper 42 is set so as to be parallel to the center of the tip 48b and the normal direction of the curved surface of the tip 48b.
- the processor 60 of the controller 16 sets a tool coordinate system C2 in the robot coordinate system C1 and places the scraper 42 in the position and orientation represented by the set tool coordinate system C2.
- a command position command, speed command, torque command, etc.
- processor 60 can position scraper 42 at any position and orientation in robot coordinate system C1.
- the scraper 44 is set with a tool coordinate system C3.
- the tool coordinate system C3 is a coordinate system that defines the position and orientation of the scraper 44 in the robot coordinate system C1, and is arranged at a known position with respect to the wrist flange 30b.
- the tool coordinate system C3 is positioned on the scraper 44 such that its origin (TCP) is located at the center of the tip 52b of the blade 52 when the handle 50 is in an unflexed state, and its z-axis is parallel to the axis A5. is set against
- the processor 60 When moving the scraper 44, the processor 60 sets the tool coordinate system C3 in the robot coordinate system C1, and moves the movement mechanism 18 so as to place the scraper 44 in the position and orientation represented by the set tool coordinate system C3. command to each servo motor 32 of . Thus, processor 60 can position scraper 44 at any position and orientation in robot coordinate system C1.
- a sensor coordinate system C4 is set in the force sensor 14.
- the sensor coordinate system C4 is a coordinate system that defines the direction of force acting on the force sensor 14 .
- the sensor coordinate system C4 is set with respect to the force sensor 14 such that its origin is located at the center of the force sensor 14 and its z-axis coincides with the axis A2.
- FIG. 5 shows a state in which the moving mechanism 18 presses the tip 48b (or 52b) of the scraper 42 (or 44) against the surface Q of the work W.
- the moving mechanism 18 presses the tip 48b (52b) of the scraper 42 (44) against the surface Q with a pressing force F in a direction perpendicular to the surface Q, the reaction force F' of the pressing force F It is applied to force sensor 14 from surface Q via scraper 42 (44).
- Each of the strain gauges of the force sensor 14 transmits detection data corresponding to the force acting on the force sensor 14 at this time to the control device 16.
- the processor 60 calculates the force f acting on the force sensor 14 at this time in the x-, y-, and z-axis directions of the sensor coordinate system C4. , and the torque ⁇ around the x-axis, the y-axis, and the z-axis.
- the processor 60 calculates the reaction force F' Calculate the magnitude of
- the state data CD includes, for example, the angle ⁇ 3 between the axis A4 (axis A5) and the surface Q, the distance d1 between the axis A2 (or the origin of the sensor coordinate system C3) and the tip 48b (50b) of the scraper 42 (44), Distance d2 between axis A2 and base end 46a (50a) of scraper 42 (44), distance d3 between base end 46a (50a) and tip 48b (50b) of scraper 42 (44), tool coordinates in robot coordinate system C1
- At least one of position data indicating the position and orientation of system C2 (C3) and deflection data (for example, deflection amount or elastic modulus) of handle 46 (50) is included.
- the force sensor 14 detects the reaction force F' as the pressing force F
- the control device 16 obtains the magnitude of the pressing force F (reaction force F') based on the detection data of the force sensor 14. can be done.
- the workpiece W is placed at a known position in the robot coordinate system C1 so that the left edge B1 (FIG. 10) of the workpiece W is closer to the moving mechanism unit 18 (specifically, the robot base 22) than the right edge B2.
- the processor 60 operates the movement mechanism section 18 to place the base section 34 (that is, the end effector 20) in the first posture OR1.
- FIG. 6 shows a state in which the base portion 34 is arranged in the first posture OR1.
- the tip 48b of the scraper 42 is closer to the surface Q of the work W than the tip 52b of the scraper 44 is.
- the axis A3 of the base portion 34 is arranged substantially parallel to the xz plane of the robot coordinate system C1
- the axis A4 of the scraper 42 is inclined at an angle ⁇ 3_1 with respect to the surface Q
- the axis A1, A2 and A3 are substantially orthogonal to each other.
- the processor 60 moves the base portion 34 (end effector 20) to the right by pressing the tip 48b of the scraper 42 against the surface Q while the base portion 34 is placed in the first posture OR1.
- the tip 48b is separated from the surface Q.
- a recess R1 is formed in the surface Q as shown in FIG.
- This concave portion R1 has a depth on the order of ⁇ m and functions as the above-mentioned "oil reservoir".
- the scraper 42 performs the first scraping SC 1 for forming the recess R 1 .
- the processor 60 operates the moving mechanism 18 to move the base 34 (end effector 20) from the first posture OR1 shown in FIG. 6 to the second posture OR1 shown in FIG. to the posture OR2.
- the tip 52b of the scraper 44 is closer to the surface Q than the tip 48b of the scraper 42 is.
- the axis A3 of the base portion 34 is arranged substantially parallel to the xz plane of the robot coordinate system C1
- the axis A5 of the scraper 44 is inclined at an angle ⁇ 3_2 with respect to the surface Q
- the axis A1, A2 and A3 are substantially orthogonal to each other.
- the processor 60 presses the tip 52b of the scraper 44 against the surface Q at a position separated to the right of the recess R1 with the base portion 34 placed in the second posture OR2, and the base portion 34 (end After moving the effector 20) to the left, the tip 52b is separated from the surface Q.
- a recess R2 is formed on the surface Q adjacent to the right side of the recess R1 .
- the recess R2 has a depth on the order of ⁇ m.
- the scraper 44 performs the second scraping SC 2 for forming the recess R 2 .
- the processor 60 rotates the base portion 34 from the second posture OR2 to the first posture OR1, presses the tip 48b of the scraper 42 against the surface Q, and moves the base portion 34 to the right to form the recess R. 2m ⁇ 1 (m is a positive integer), the base portion 34 is rotated from the first posture OR1 to the second posture OR2, the tip 52b of the scraper 44 is pressed against the surface Q, and the base portion 34 is moved to the left. A series of operations of forming the concave portion R 2m by moving it in the direction is repeated. As a result, as shown in FIG.
- a plurality of recesses R 1 to R 7 aligned in the x-axis direction of the robot coordinate system C1 from a position near the left edge B1 to a position near the right edge B2 of the surface Q are formed on the surface Q. can be formed.
- FIG. 11 shows another example of scraping.
- the processor 60 presses the tip 48b of the scraper 42 against the surface Q at a position near the left edge B1 while the base portion 34 is placed in the first orientation OR1, and the base portion 34 is After moving rightward to a position near the right edge B2, the tip 48b is separated from the surface Q.
- a recess R1 extending from a position near the left edge B1 to a position near the right edge B2 is formed on the surface Q.
- the scraper 42 performs the first scraping SC 1 for forming the recess R 1 .
- the processor 60 rotates the base portion 34 from the first posture OR1 to the second posture OR2, and moves the tip 52b of the scraper 44 to the rear side of the right end of the recess R1 .
- the tip 52b is separated from the surface Q after the base portion 34 is moved leftward from a position near the right edge B2 to a position near the left edge B1.
- the scraper 44 performs the second scraping SC 2 for forming the recess R 2 .
- a recess R2 extending from a position near the right edge B2 to a position near the left edge B1 is formed on the surface Q adjacent to the rear side of the recess R1 .
- the processor 60 rotates the base portion 34 from the second posture OR2 to the first posture OR1, presses the tip 48b of the scraper 42 against the surface Q, and moves the base portion 34 to the right to form the recess.
- R 2m-1 is formed, the base portion 34 is rotated from the first posture OR1 to the second posture OR2, and the tip 52b of the scraper 44 is pressed against the surface Q to move the base portion 34 to the left.
- a series of operations for forming the recess R2m is repeated. . . extending from the left edge B1 to the right edge B2 of the surface Q and aligned in the y - axis direction of the robot coordinate system C1.
- the processor 60 presses the scraper 42 against the surface Q and moves it to the right in the scraping process SC 2m-1 of the 2m-1th recess R 2m . -1 , in the 2m scraping process SC 2m , the scraper 44 is pressed against the surface Q and moved leftward to form a recess R 2m .
- the processor 60 alternately switches between the scrapers 42 and 44 by rotating the base portion 34 between the first orientation OR1 and the second orientation OR2, and the scraper 42 forms the recess R2m-1 .
- the scraper 44 forms a recess R 2m .
- the processor 60 operates the servo motor 32 that rotates the wrist portion 30 with respect to the upper arm portion 28 to rotate the wrist portion 30 around the axis A1, thereby moving the base portion 34 to the first posture. You may rotate between OR1 and 2nd attitude
- These teaching points TPn define the coordinates of the robot coordinate system C1 for positioning the tip 48b of the scraper 42 (that is, the origin of the tool coordinate system C2: TCP) in order to form the recess R2m-1 .
- the processor 60 places the base portion 34 in the first orientation OR1, starts position control, and moves the scraper 42 by the movement mechanism 18 to the teaching point TP.
- a position control command PC n for moving to n is generated.
- the processor 60 operates the servomotors 32 of the moving mechanism section 18 according to the position control command PCn to position the scraper 42 in order of the teaching points TP1 ⁇ TP2 ⁇ TP3. Through this position control, the processor 60 moves the scraper 42 (specifically, the tip 48b) along the movement path MP defined by the plurality of teaching points TPn .
- the surface Q of the workpiece W is substantially parallel to the xy plane of the robot coordinate system C1
- the direction MD of the movement path MP is the Assume that it is substantially parallel to the xz plane.
- the position control command PC n has a speed command PC V_n that defines the speed V P_n for moving the scraper 42 (or the wrist flange 30b) to the teaching point TP n .
- the processor 60 After starting the position control, the processor 60 operates the moving mechanism section 18 according to the position control command PC1 to move the scraper 42 to the teaching point TP1.
- the tip 48b of the scraper 42 When the tip 48b of the scraper 42 is positioned at the teaching point TP1, the tip 48b is separated upward from the surface Q as shown in FIG.
- processor 60 begins force control. After starting the force control, the processor 60 controls the pressing force F with which the moving mechanism unit 18 presses the scraper 42 against the surface Q of the work W to a predetermined target value ⁇ based on the detection data of the force sensor 14. It controls the position of the wrist flange 30b of the moving mechanism 18 (or the origin of the tool coordinate system C2).
- the processor 60 controls the pressing force F (specifically, the reaction force F′) acquired based on the detection data of the force sensor 14 to the target value ⁇ . Generate a force control command FC for controlling the position of the 18 wrist flange 30b. The processor 60 then adds the force control command FC to the position control command PCn to operate the servo motor 32 of the moving mechanism section 18 .
- the processor 60 moves the scraper 42 (or the wrist flange 30b) along the surface Q in the direction MD of the movement path MP according to the position control command PCn , and moves the scraper 42 (or the wrist flange 30b) according to the force control command FC. 30b) is moved toward or away from the surface Q (that is, the z-axis direction of the robot coordinate system C1).
- the force control command FC has a speed command FCV that defines the speed at which the scraper 42 is moved in the z-axis direction of the robot coordinate system C1 so that the pressing force F reaches the target value ⁇ .
- the processor 60 moves the scraper 42 (wrist flange 30b) in the z-axis direction of the robot coordinate system C1 by operating the movement mechanism section 18 according to the speed command FC V.
- FIG. 13 schematically shows the speed command PC V_2 and the speed command FC V_0 generated by the processor 60 when the scraper 42 reaches the taught point TP1 .
- the processor 60 operates the moving mechanism section 18 according to the speed command PC V_2 to move the scraper 42 toward the teaching point TP2 to correspond to the speed command PC V_2 ( specifically, Practically, it is moved along the surface Q in the direction MD at a velocity V P_2 which coincides with the velocity.
- the processor 60 generates a speed command FC V_0 to control the pressing force F to the target value ⁇ , and adds it to the speed command PC V_2 to the servo motor 32 to move the scraper 42 in the direction toward the surface Q (that is, , downward) at a speed V F_0 corresponding to (specifically, matching) the speed command FC V_0 .
- the moving mechanism 18 moves the scraper 42 in the direction MD' in FIG. 13 after passing the teaching point TP1.
- the trajectory TR actually followed by the scraper 42 (specifically, the tip 48b) in the scraping SC 2m-1 of the 2m-1 is shown by a solid line.
- the scraper 42 moves toward the surface Q on a trajectory TR inclined so as to form an angle ⁇ 4 ( ⁇ 90°) with respect to the surface Q, and reaches the surface Q at a position P1. abut.
- distances x1 and z1 be the distances in the x-axis and z-axis directions of the robot coordinate system C1 between teaching point TP1 and position P1 in FIG.
- the command PC V_2 (velocity V P_2 ) and the speed command FC V_0 (velocity V F_0 ) satisfy the following formula (1).
- the angle ⁇ 4 ⁇ 26.6° can be determined from equation (2).
- the speed V P_2 that is, the speed command PC V_2
- the speed V F_0 that is, the speed command FC V_0
- the angle ⁇ 4 can be set within a desired range (for example, 15° to 35°).
- a speed command FC V_1 is generated as FC.
- FC V_1 the position of the wrist flange 30b of the moving mechanism unit 18 is moved in the z-axis direction of the robot coordinate system C1 at a speed V F_1 corresponding to (more specifically, matching with) the speed command FC V_1 . Displace.
- the maximum value of the speed command FC V_1 generated while the scraper 42 is in contact with the surface Q (that is, speed V F_1 ) is the maximum value of the speed command FC V_0 generated before the scraper 42 contacts the surface Q ( That is, it can be set larger than the speed V F — 0 ).
- the processor 60 moves rightward along the surface Q while pressing the scraper 42 with the pressing force F having a magnitude corresponding to the target value ⁇ by the movement mechanism 18 . Execute scraping SC 2m-1 for scraping Q.
- processor 60 When scraper 42 (or wrist flange 30b) reaches the position corresponding to teaching point TP2 , processor 60 terminates force control while issuing position control command PC3 to move scraper 42 to teaching point TP3. Generate. Then, the processor 60 operates the robot 12 according to the position control command PC3 to move the scraper 42 upward and to the right toward the teaching point TP3 .
- the scraper 42 moves upward and to the right on a trajectory TR inclined so as to form an angle ⁇ 5 ( ⁇ 90°) with respect to the surface Q of the work W, and the tip 48b of the scraper 42 touches the surface Q at a position P2. Move away from Q.
- the surface Q is scraped by the scraper 42 from the position P1 to the position P2 over the distance x2, and the 2m-1 scraping SC 2m-1 is completed.
- the processor 60 executes the 2m-th scraping SC 2m for forming the recesses R 2m described above in the same manner as the 2m-1 scraping SC 2m-1 .
- the teaching point TPn for forming the recess R2m shown in FIG. 15 is the teaching point TPn for forming the recess R2m -1 shown in FIG. It is symmetrical with respect to a plane parallel to the -z plane.
- the processor 60 performs position control and force control in the same manner as the 2m-1 scraping SC 2m-1 described above. Specifically, the processor 60 causes the scraper 42 to reach the teaching point TP3 shown in FIG. 15. At the same time, position control is started, and a position control command PCn for moving the tip 52b of the scraper 44 (the origin of the tool coordinate system C3: TCP) by the moving mechanism 18 to the teaching point TPn shown in FIG. Generate.
- the processor 60 starts force control when the scraper 44 reaches the teaching point TP1 shown in FIG.
- a force control command FC is generated for controlling the position of the wrist flange 30b of the moving mechanism 18 so as to control the target value ⁇ .
- the processor 60 moves the scraper 44 in the direction MD according to the position control command PC2 , and moves the position of the wrist flange 30b of the movement mechanism 18 according to the force control command FC. It is displaced in the z-axis direction of the coordinate system C1. Then, when the scraper 44 ( or the wrist flange 30b) reaches the position corresponding to the teaching point TP2 in FIG . Generate position control command PC3 .
- the processor 60 moves the tip 52b of the scraper 44 along the trajectory TR shown in FIG. As a result, the scraper 44 scrapes the surface Q over a distance x2 from position P1 to position P2 in FIG.
- the processor 60 moves the base portion 34 to the second posture when the 2m-1th scraping SC 2m-1 is completed (that is , when the scraper 42 reaches the teaching point TP3 in FIG. 14).
- the processor 60 After rotating to OR2, start the position control of the scraping processing SC 2m of the 2nd m, and move the scraper 44 to the teaching point TP 1 in FIG. 15 set for the next recess R 2m . may start.
- the processor 60 rotates the base portion 34 to the first posture OR1 when the 2m-th scraping SC 2m is finished (that is , when the scraper 44 reaches the teaching point TP3 in FIG. 16). After moving, start the position control of the next scraping process SC 2m-1 , and move the scraper 42 to the teaching point TP 1 in FIG. 12 set for the next recess R 2m-1 . may start.
- the processor 60 starts position control of the 2m-th scraping SC 2m , and moves the scraper 44 to the teaching point TP 1 in FIG.
- the base portion 34 may be rotated from the first posture OR1 to the second posture OR2 while being moved to the second posture OR2.
- the processor 60 starts position control of the next scraping SC 2m-1 to move the scraper 42 to the teaching point TP 1 in FIG.
- the base portion 34 may be rotated from the second posture OR2 to the first posture OR1.
- the processor 60 concurrently executes the operation of moving the scraper 42 or 44 to the next taught point TPn and the operation of rotating the base portion 34 around the axis A1.
- FIG. 17 schematically shows time change characteristics of the pressing force F when force control is executed in the scraping process SC for forming the recesses R 1 to R 7 shown in FIG.
- force F rises sharply to reach peak value FP.
- the pressing force F abruptly decreases as the scraper 42 or 44 approaches the teaching point TP2 , and becomes zero when the scraper 42 or 44 separates from the surface Q at the position P2.
- the processor 60 moves the scraper 42 or 44 upward before (or when) the pressing force F reaches the force control target value ⁇ . Therefore, in this embodiment, the peak value FP is equal to or less than the target value FT .
- FIG. 18 schematically shows the time change characteristics of the pressing force F when force control is executed in the scraping processing SC for forming the recesses R1 and R2 shown in FIG.
- the pressing force F rises sharply to reach the target value ⁇ .
- the processor 60 moves the scraper 42 or 44 in the direction MD by position control while controlling the position of the wrist flange 30b so as to keep the pressing force F at the target value ⁇ by force control.
- the pressing force F abruptly decreases as the scraper 42 or 44 approaches the teaching point TP2, and becomes zero when the scraper 42 or 44 separates from the surface Q at the position P2.
- the processor 60 controls the pressing force F to have the magnitude shown in FIG. 17 or 18 .
- processor 60 may continue force control in parallel with the position control until the scraper 42 or 44 reaches the taught point TP3 after passing the taught point TP1 .
- position control dominates force control, and processor 60 moves scraper 42 or 44 (wrist flange 30b) to a position corresponding to taught point TP2 . It will move away from the surface Q (that is, upward) before reaching it.
- the processor 60 then separates the scraper 42 or 44 from the surface Q at the position P2 and moves it toward the taught point TP3 along the trajectory TR inclined to form an angle ⁇ 5.
- the position P2 is shifted from the teaching point TP2 toward the teaching point TP3 (that is , the right side in FIG. 14 or the left side in FIG. 16), and the tip 48b or 52b of the scraper 42 or 44
- the end point of the trajectory TR of is located below the teaching point TP3 .
- the pressing force F can be controlled as shown in FIG. 17 or FIG.
- the robot 12 has a pair of scrapers 42 and 44 extending from the proximal ends 46a and 48a toward the distal ends 48b and 52b so as to approach each other, and the first posture OR1. and a moving mechanism portion 18 that rotates the base portion 34 to and from the second posture OR2.
- the scrapers 42 and 44 are switched by rotating the base portion 34 between the first posture OR1 and the second posture OR2, and while the scraper 42 forms the concave portion R 2m ⁇ 1 , A scraper 44 can form a recess R2m .
- the time from the end of the 2m-1 scraping SC 2m- 1 forming one recess R 2m-1 to the start of the 2m scraping SC 2m forming the next recess R 2m can be shortened, a plurality of recesses R can be formed continuously on the surface Q efficiently.
- the cycle time of the scraping process can be shortened, so that the productivity can be improved.
- the base portion 34 extends along the axis A3 (first axis), and the pair of scrapers 42 and 44 are arranged to face each other in the direction of the axis A3. .
- the moving mechanism 18 rotates the base portion 34 around an axis A1 (second axis) that is perpendicular to the axis A3. According to this configuration, the orientation OR of the base portion 34 can be quickly and accurately switched between the first orientation OR1 and the second orientation OR2.
- the pair of scrapers 42 and 44 are arranged symmetrically with respect to an axis A2 (third axis) orthogonal to the axes A1 and A3. According to this configuration, when switching the orientation OR of the base portion 34 between the first orientation OR1 and the second orientation OR2, the base portion 34 can be rotated about the axis A1 at a common angle. can.
- the amount of movement of the base portion 34 when switching the orientation OR can be minimized, so that the scraping cycle time can be reduced and the control for switching the orientation OR can be simplified. Further, since the magnitude of the moment applied to the wrist portion 30 can be made uniform when the posture OR of the base portion 34 is switched, the posture of the end effector 20 can be controlled with high accuracy.
- the processor 60 After forming the recess R 7 shown in FIG. 10, the processor 60 continuously forms the second row of recesses R 8 to R 14 on the rear side of the first row of recesses R 1 to R 7 . good too. Such a scraping process will be described with reference to FIG. After forming the recess R7 with the scraper 42, the processor 60 rotates the base portion 34 from the first posture OR1 to the second posture OR2, and the scraper 44 moves the base portion 34 so that it is adjacent to the rear side of the recess R7 . A recess R8 is formed.
- the processor 60 switches the orientation of the base portion 34 between the first orientation OR1 and the second orientation OR2, forms the recess R2m ⁇ 1 with the scraper 42, and forms the recess R2m with the scraper 44.
- the second row of recesses R 8 to R 14 is formed behind the first row of recesses R 1 to R 7 in order from the right edge B2 toward the left edge B1.
- the teaching points TP 1 to TP 3 shown in FIG. 12 are set in the recess R 2m ⁇ 1
- the teaching points TP 1 to TP 3 shown in FIG. 15 are set in the recess R 2m . is set.
- Processor 60 forms recesses R 1 -R 14 by performing the position control and force control described above.
- the processor 60 forms the recess R6 with the scraper 44, and then moves the base portion 34 from the second orientation OR1 to the first position.
- the scraper 42 forms the recess R7 so as to be adjacent to the rear side of the recess R6.
- the processor 60 switches the orientation of the base portion 34 between the first orientation OR1 and the second orientation OR2, forms the recess R2m ⁇ 1 with the scraper 42, and forms the recess R2m with the scraper 44.
- the second row of recesses R7 to R12 are formed behind the first row of recesses R1 to R6 in order from the right edge B2 toward the left edge B1. be.
- the processor 60 moves the scraper 44 leftward while switching the orientation of the base portion 34 between the first orientation OR1 and the second orientation OR2 to form the recessed portion R2m-1 .
- the recess R2m can also be formed by moving the scraper 42 to the right.
- the processor 60 automatically executes the scraping process SC described above according to the computer program PG.
- This computer program PG may be provided in a form recorded in the memory 62 as a computer-readable recording medium such as a semiconductor memory, magnetic recording medium, or optical recording medium.
- FIG. The robot system 80 differs from the robot system 10 described above in that it further includes a cleaning device 82 .
- the cleaning device 82 has a fluid device 84 and a hose 86 .
- the fluidic device 84 is an electric pump that supplies or draws fluid (eg, compressed gas).
- a hose 86 is connected to the fluid system 84 at one end and has an opening 88 at the other end.
- Fluid device 84 supplies fluid to hose 86 and ejects the fluid from opening 88 to the outside.
- fluidic device 84 draws outside air through opening 88 .
- the robot 12 is provided with a mounting member 90 as shown in FIG.
- the mounting member 90 has a rod 92 and a retaining ring 94 fixed to the tip of the rod 92 .
- the base end of the rod 92 is fixed to the movable element of the moving mechanism section 18 (for example, the upper arm section 28 or the wrist section 30) or the end effector 20 (for example, the base section 34).
- the hose 86 of the cleaning device 82 is inserted and fixed inside the retaining ring 94 .
- Retaining ring 94 holds hose 86 so that opening 88 of hose 86 is positioned between and faces tips 48b and 52b of a pair of scrapers 42 and 44 .
- the processor 60 While the scraper 42 or 44 is performing the scraping SC, the processor 60 operates the fluid device 84 to blow away the chips generated by the scraping with the fluid jetted from the opening 88, or Outside air is sucked through the opening 88 into the hose 86 by sucking the outside air from the portion 88 .
- the cleaning device 82 can prevent chips generated during the scraping process from adhering to the scraper 42 or 44, so that the quality of the process can be improved.
- End effector 100 may be removably attached to wrist flange 30b via force sensor 14 instead of end effector 20 described above.
- the end effector 100 differs from the end effector 20 described above in the following configuration.
- each of the scraper holding portions 38 and 40 is provided on the base portion 34 so as to be movable in the direction of the axis A3.
- the bottom surface 34b of the base portion 34 is provided with a rail (not shown) extending in the direction of the axis A3, and each of the scraper holding portions 38 and 40 is slidably mounted on the upper surface of the rail. It has an engagement portion for engagement. Thereby, the scraper holding portions 38 and 40 are engaged with the base portion 34 so as to be slidable in the direction of the axis A3.
- the scraper 42 is held by the scraper holding portion 38 so that the base end 46a of the handle portion 46 is rotatable around the axis A6.
- the scraper 44 is held by the scraper holding portion 40 so that the base end 50a of the handle portion 50 can rotate around the axis A7.
- Axes A6 and A7 are parallel to each other and perpendicular to axis A3.
- the scraper 42 is rotatably provided on the base portion 34 via the scraper holding portion 38
- the scraper 44 is rotatably provided on the base portion 34 via the scraper holding portion 40 .
- the end effector 100 further has scraper drive units 102 , 104 and 106 .
- the scraper driving section 102 has, for example, a servomotor and is fixed to the base section 34 .
- the scraper driving section 102 synchronously moves the scraper holding sections 38 and 40 toward and away from each other according to a command from the control device 16 .
- a ball screw mechanism (not shown) is provided inside the base portion 34, and the scraper driving portion 102 operates the scraper holding portions 38 and 40 (that is, , scrapers 42 and 44) can be moved synchronously toward and away from each other. Thereby, the distance ⁇ between the tip 48b of the scraper 42 and the tip 52b of the scraper 44 can be changed.
- the scraper driving section 104 has, for example, a servomotor and is fixed to the scraper holding section 38 .
- the scraper drive unit 104 rotates the scraper 42 around the axis A6 in response to a command from the control device 16, thereby changing the angle ⁇ 1 of the axis A4 with respect to the axis A3.
- the scraper driving section 106 has, for example, a servomotor and is fixed to the scraper holding section 40 .
- the scraper drive unit 106 rotates the scraper 44 around the axis A7 in response to a command from the control device 16, thereby changing the angle ⁇ 2 of the axis A5 with respect to the axis A3.
- the operator may operate the input device 66 to input the interval ⁇ as the machining condition MC.
- the processor 60 operates the scraper drive unit 102 to automatically arrange the scraper holders 38 and 40 so that the distance between the tips 48b and 52b is the input distance ⁇ .
- the operator may operate the input device 66 to input the angles ⁇ 1 and ⁇ 2 as the machining conditions MC.
- the processor 60 operates the scraper drive units 104 and 106 to rotate the scrapers 42 and 44 to the input angles ⁇ 1 and ⁇ 2, respectively.
- the operator operates the input device 66 to select the angles ⁇ 1 and ⁇ 2, the angle ⁇ 3 shown in FIG. 5 (specifically, the angle ⁇ 3_1 in FIG. 8), the angle ⁇ 6 at which the base portion 34 is rotated between the first posture OR1 and the second posture OR2, the above-described interval ⁇ , the dimension DM of the scrapers 42 and 44 (for example, the blade portion At least one parameter MC1 of 48 and 52 along the axes A4 and A5) may be input.
- the processor 60 may automatically determine a parameter MC2 other than the input parameter MC1 among the machining conditions MC according to the parameter MC1. For example, the operator inputs angle ⁇ 3 and dimension DM as parameter MC1.
- the processor 60 automatically determines the angles ⁇ 1 and ⁇ 2 as the parameter MC2, the angle ⁇ 6, and the interval ⁇ according to the input parameter MC1.
- the processor 60 moves the scrapers 42 and 44 by the scraper driving section 102 and rotates the scrapers 42 and 44 by the scraper driving sections 104 and 106 so that the determined angle ⁇ 1, angle ⁇ 2, and interval ⁇ are obtained.
- a data table DT1 storing parameters MC1 (for example, angle ⁇ 3, dimension DM) and parameters MC2 (for example, angle ⁇ 1 or ⁇ 2, angle ⁇ 6, interval ⁇ ) in association with each other is stored in the memory 62 in advance.
- the processor 60 can automatically determine the parameter MC2 by searching the data table DT1 for the parameter MC2 corresponding to the input parameter MC1.
- the processor 60 may determine the parameter MC2 according to the input parameter MC1 so that the angle ⁇ 6 is minimized. According to this configuration, the amount of movement for rotating the base portion 34 between the first orientation OR1 and the second orientation OR2 in the scraping process can be reduced, so the cycle time can be reduced.
- the processor 60 may also generate image data of an input screen for the operator to input the machining conditions MC, and cause the display device 68 to display the image data.
- the pair of scrapers 42 and 44 are movably provided on the base portion 34 so that the interval ⁇ can be varied. Also, the scrapers 42 and 44 are rotatably provided on the base portion 34 . According to this configuration, the arrangement of the scrapers 42 and 44 can be adjusted in detail according to the application by appropriately setting the machining conditions MC (angles ⁇ 1 and ⁇ 2, interval ⁇ ).
- the processor 60 may rotate the scraper 42 or 44 with respect to the base portion 34 while performing the scraping SC using the end effector 100 .
- This function will be described with reference to FIG.
- the surface Q is formed with a convex portion E protruding upward.
- the scraper 44 is scraping the surface Q to the left, the other scraper 42 may interfere with the projection E.
- FIG. 27 shows that the surface Q is formed with a convex portion E protruding upward.
- the processor 60 operates the scraper driving section 104 based on the position data of the convex portion E in the robot coordinate system C1 to move the scraper 42 when performing the scraping process with the scraper 44. Interference between the scraper 42 and the projection E can be prevented by rotating the scraper 42 so as to retreat from the projection E.
- one of the scrapers 42 and 44 may be movably provided on the base portion 34 while the other may be fixed to the base portion 34 .
- the processor 60 when executing the scraping process with the scraper 44, determines the position data of the convex portion E in the robot coordinate system C1.
- the scraper drive unit 102 may be operated to move the scraper 42 so as to retreat from the projections E, thereby preventing interference between the scraper 42 and the projections E.
- one of the scrapers 42 and 44 may be rotatably provided on the base portion 34, and the other may be fixed to the base portion 34 so as not to rotate.
- the scraper 42 is rotatably provided on the scraper holding portion 38
- the scraper 44 is non-rotatably fixed to the scraper holding portion 40 with its axis A5 inclined at an angle ⁇ 2 with respect to the axis A3.
- the blade portion 48 of the scraper 42 and the blade portion 52 of the scraper 44 may have different dimensions DM.
- the width of the blade portion 48 in the direction orthogonal to the axis A4 may be smaller (or larger) than the width of the blade portion 52 in the direction orthogonal to the axis A5.
- the width of the recess R 2m ⁇ 1 formed by the scraper 42 is smaller (or larger) than the width of the recess R 2m formed by the scraper 44 .
- the scraper 44 forms the recesses R 1 to R 7 from the right edge B2 to the left edge B1 .
- the recess R 2 shown in FIG. 11 may be formed overlying the recesses R 1 to R 7 by moving leftward so as to pass over the R 1 to R 7 .
- the processor 60 can selectively use the scrapers 42 and 44 to continuously perform rough machining and finishing machining. Further, the width of the blade portion 48 of the scraper 42 for rough machining may be smaller (or larger) than the width of the blade portion 52 of the scraper 44 for finishing machining.
- the pair of scrapers 42 and 44 extend from the proximal ends 46a and 50a toward the distal ends 48b and 52b so as to approach each other.
- a pair of scrapers 42 and 44 may extend away from each other from proximal ends 46a and 50a to distal ends 48b and 52b.
- FIG. 28 Such a form is shown in FIG.
- the end effector 20' shown in FIG. 28 differs from the end effector 20 described above in that the positions of the scraper holding portion 38 and the scraper 42 are interchanged with the positions of the scraper holding portion 40 and the scraper 44.
- a pair of scrapers 42 and 44 extend away from each other from proximal ends 46a and 50a toward distal ends 48b and 52b.
- the pair of scrapers 42 and 44 may be arranged symmetrically with respect to the axis A2. Also in this end effector 20', the processor 60 operates the moving mechanism 18 to move the base 34 to the first position where the tip 48b of the scraper 42 is closer to the surface Q of the work W than the tip 52b of the scraper 44 is. and a second posture OR2 in which the tip 52b of the scraper 44 is closer to the surface Q of the work W than the tip 48b of the scraper 42 is.
- the scrapers 42 and 44 may be provided on the base portion 34 so as to be movable in the direction of the axis A3. 44 may be rotatably provided on the base portion 34 .
- the end effector 20' may further comprise the scraper drives 102, 104 and 106 described above.
- the wrist portion 30 that is, the end effector 20
- the wrist portion 30 may be non-rotatably fixed to the distal end portion of the upper arm portion 28 .
- the processor 60 rotates the base portion 34 between the first posture OR1 and the second posture OR2 by operating the swing body 24, the lower arm portion 26, and the upper arm portion 28.
- the end effector 20, 20' or 100 may have additional scrapers in addition to the scrapers 42 and 44.
- the end effector 20, 20' or 100 may have a first pair of scrapers 42A and 44A and a second pair of scrapers 42B and 44B arranged opposite each other in a direction orthogonal to axes A3 and A2. good.
- base portion 34 and scrapers 42 and 44 may be configured to extend along a common arcuate axis. In this case, the assembly of base portion 34 and scrapers 42 and 44 would have a substantially C-shaped profile.
- the processor 60 executes position control and force control in parallel in the scraping SC.
- the processor 60 can also perform the scraping SC by executing only position control.
- the pressing force F during scraping can be controlled as shown in FIG. 17 or 18 .
- force sensor 14 can be omitted from robot system 10 or 80 .
- the force sensor 14 may be interposed between the work cell and the robot base 22, or may be provided at any part of the robot 12. Further, the force sensor 14 may be provided not only on the robot 12 but also on the work W side.
- the pressing force F can be detected by inserting the force sensor 14 between the work W and the mounting surface on which the work W is mounted.
- the force sensor 14 is not limited to a 6-axis force sensor, and may be, for example, a 1-axis or 3-axis force sensor, or any sensor capable of detecting the pressing force F. FIG.
- the robot 12 is not limited to a vertical multi-joint robot, but may be any type of robot such as a horizontal multi-joint robot, a parallel link robot, or a mobile machine having a plurality of ball screw mechanisms.
- a vertical multi-joint robot but may be any type of robot such as a horizontal multi-joint robot, a parallel link robot, or a mobile machine having a plurality of ball screw mechanisms.
Abstract
Description
z1/x1=FCV_0/PCV_2=VF_0/VP_2 …(1)
θ4=tan-1(z1/x1)=tan-1(FCV_0/PCV_2)=tan-1(VF_0/VP_2) …(2)
12 ロボット
14 力センサ
16 制御装置
18 移動機構部
20,20’,100 エンドエフェクタ
34 ベース部
42,44 スクレーパ
60 プロセッサ
82 清掃装置
Claims (9)
- ワークの表面を平坦にするために削るキサゲ加工を行うロボットであって、
ベース部と、
互いに対向するように前記ベース部に設けられた一対のスクレーパであって、前記ベース部に連結される基端、及び前記表面を削る先端を各々有し、該基端から該先端へ向かうにつれて互いに接近又は離反するように延在する、一対のスクレーパと、
前記一対のスクレーパの一方が他方よりも前記表面に近くなる第1の姿勢と、前記他方が前記一方よりも前記表面に近くなる第2の姿勢との間で前記ベース部を回動させる移動機構部と、を備える、ロボット。 - 前記ベース部は、第1の軸線に沿って延在し、
前記一対のスクレーパは、前記第1の軸線の方向に互いに対向するように配置され、
前記移動機構部は、前記第1の軸線と直交する第2の軸線の周りに前記ベース部を回動させる、請求項1に記載のロボット。 - 前記一対のスクレーパは、前記第1の軸線及び前記第2の軸線と直交する第3の軸線を基準として互いに対称に配置される、請求項2に記載のロボット。
- 前記一対のスクレーパのうちの少なくとも一方は、該一対のスクレーパの間隔を可変とするように前記ベース部に可動に設けられる、請求項1~3のいずれか1項に記載のロボット。
- 前記一対のスクレーパのうちの少なくとも一方は、前記ベース部に回動可能に設けられる、請求項1~4のいずれか1項に記載のロボット。
- 請求項1~5のいずれか1項に記載のロボットと、
前記ロボットを制御する制御装置と、を備え、
前記制御装置は、
前記ベース部を前記第1の姿勢に配置した状態で、前記一方の前記先端を前記表面へ押し付けて前記ベース部を第1の方向へ移動させることで、第1の前記キサゲ加工を実行し、
前記第1のキサゲ加工の後に、前記ベース部を前記第1の姿勢から前記第2の姿勢に回動させ、
前記ベース部を前記第2の姿勢に配置した状態で、前記他方の前記先端を前記表面へ押し付けて前記ベース部を前記第1の方向とは反対の第2の方向へ移動させることで、第2の前記キサゲ加工を実行する
ように、前記移動機構部を制御する、ロボットシステム。 - 前記一対のスクレーパの前記先端の間に配置された開口部を有し、前記キサゲ加工により生じた切屑を、前記開口部を通して吸引するか、又は前記開口部から噴射した流体によって吹き飛ばす清掃装置をさらに備える、請求項6に記載のロボットシステム。
- 請求項1~5のいずれか1項に記載のロボットを用いて、ワークの表面を平坦にするために削るキサゲ加工を行う方法であって、
プロセッサが、
前記ベース部を前記第1の姿勢に配置した状態で、前記一方の前記先端を前記表面へ押し付けて前記ベース部を第1の方向へ移動させることで、第1の前記キサゲ加工を実行し、
前記第1のキサゲ加工の後に、前記ベース部を前記第1の姿勢から前記第2の姿勢に回動させ、
前記ベース部を前記第2の姿勢に配置した状態で、前記他方の前記先端を前記表面へ押し付けて前記ベース部を前記第1の方向とは反対の第2の方向へ移動させることで、第2の前記キサゲ加工を実行する
ように、前記移動機構部を制御する、方法。 - 請求項8に記載の方法を前記プロセッサに実行させる、コンピュータプログラム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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DE112022000291.3T DE112022000291T5 (de) | 2021-01-26 | 2022-01-19 | Roboter zum durchführen von schaben, robotersystem, verfahren und computerprogramm |
CN202280010682.7A CN116847960A (zh) | 2021-01-26 | 2022-01-19 | 进行刮研加工的机器人、机器人系统、方法及计算机程序 |
US18/271,113 US20240051172A1 (en) | 2021-01-26 | 2022-01-19 | Robot for performing scraping, robot system, method, and computer program |
JP2022578286A JPWO2022163467A1 (ja) | 2021-01-26 | 2022-01-19 |
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US (1) | US20240051172A1 (ja) |
JP (1) | JPWO2022163467A1 (ja) |
CN (1) | CN116847960A (ja) |
DE (1) | DE112022000291T5 (ja) |
TW (1) | TW202228883A (ja) |
WO (1) | WO2022163467A1 (ja) |
Citations (7)
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JPH02212064A (ja) * | 1988-12-21 | 1990-08-23 | Maho Ag | フライス盤の主軸ハウジングに装着するための加工装置 |
JPH05123921A (ja) * | 1991-02-20 | 1993-05-21 | Nippon Spindle Mfg Co Ltd | キサゲ加工方法及びその装置 |
US20090159156A1 (en) * | 2007-12-20 | 2009-06-25 | Mannington Mills, Inc. | Dual-Edge Irregular Bevel-Cut System and Method |
JP2010240809A (ja) * | 2009-04-10 | 2010-10-28 | Star Micronics Co Ltd | 自動キサゲ装置 |
US20140342125A1 (en) * | 2013-03-15 | 2014-11-20 | Shaw Industries Group, Inc. | Automated hardwood texturing system and associated methods |
JP2016137551A (ja) * | 2015-01-28 | 2016-08-04 | ファナック株式会社 | ロボットを用いたキサゲ加工装置及びキサゲ加工方法 |
JP2017131974A (ja) * | 2016-01-25 | 2017-08-03 | 株式会社シュルード設計 | 設置機械のきさげ加工装置、および、設置機械のきさげ加工方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3702342B2 (ja) | 2002-07-10 | 2005-10-05 | 国立大学法人岐阜大学 | 柔軟な構造を特徴とする切削工具ホルダ及びその使用方法 |
-
2021
- 2021-12-27 TW TW110148876A patent/TW202228883A/zh unknown
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2022
- 2022-01-19 CN CN202280010682.7A patent/CN116847960A/zh active Pending
- 2022-01-19 DE DE112022000291.3T patent/DE112022000291T5/de active Pending
- 2022-01-19 WO PCT/JP2022/001833 patent/WO2022163467A1/ja active Application Filing
- 2022-01-19 JP JP2022578286A patent/JPWO2022163467A1/ja active Pending
- 2022-01-19 US US18/271,113 patent/US20240051172A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02212064A (ja) * | 1988-12-21 | 1990-08-23 | Maho Ag | フライス盤の主軸ハウジングに装着するための加工装置 |
JPH05123921A (ja) * | 1991-02-20 | 1993-05-21 | Nippon Spindle Mfg Co Ltd | キサゲ加工方法及びその装置 |
US20090159156A1 (en) * | 2007-12-20 | 2009-06-25 | Mannington Mills, Inc. | Dual-Edge Irregular Bevel-Cut System and Method |
JP2010240809A (ja) * | 2009-04-10 | 2010-10-28 | Star Micronics Co Ltd | 自動キサゲ装置 |
US20140342125A1 (en) * | 2013-03-15 | 2014-11-20 | Shaw Industries Group, Inc. | Automated hardwood texturing system and associated methods |
JP2016137551A (ja) * | 2015-01-28 | 2016-08-04 | ファナック株式会社 | ロボットを用いたキサゲ加工装置及びキサゲ加工方法 |
JP2017131974A (ja) * | 2016-01-25 | 2017-08-03 | 株式会社シュルード設計 | 設置機械のきさげ加工装置、および、設置機械のきさげ加工方法 |
Also Published As
Publication number | Publication date |
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TW202228883A (zh) | 2022-08-01 |
US20240051172A1 (en) | 2024-02-15 |
CN116847960A (zh) | 2023-10-03 |
JPWO2022163467A1 (ja) | 2022-08-04 |
DE112022000291T5 (de) | 2023-11-16 |
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