JP-7856591-B2 - Robot control method and system

JP7856591B2JP 7856591 B2JP7856591 B2JP 7856591B2JP-7856591-B2

Inventors

西佳一郎
中須信昭

Assignees

株式会社日立製作所

Dates

Publication Date: 20260511
Application Date: 20230206

Claims (12)

A method of controlling a robot, which is performed by a computer. The aforementioned computer is It has a computing device, a storage device connected to the computing device, and a network interface connected to the computing device, A robot having a hand for gripping a workpiece, and a processing machine having a gripping mechanism for gripping the workpiece are connected. The robot control method is as follows: The first step involves the computer acquiring first operational information regarding the operating status of the robot and second operational information regarding the operating status of the processing machine. The computer controls the robot in order to cause the robot to perform the task of gripping the workpiece and placing the workpiece in the gripping mechanism, Includes, The second step described above is: A third step in which the computer determines whether or not to start a first correction process to correct the position and orientation of the workpiece relative to the gripping mechanism based on the second operation information, A fourth step in which the computer performs the first correction process using the first operation information and the second operation information, The computer includes a fifth step of determining whether or not to terminate the first correction process based on the second operational information, The third step includes the step of the computer starting the first correction process when the closing operation of the gripping mechanism is started, A robot control method characterized in that the fifth step includes the step of terminating the first correction process when the computer has completed the closing operation of the gripping mechanism .
A robot control method according to claim 1, The fifth step is a robot control method characterized in that the computer determines whether or not the closing operation of the gripping mechanism has been completed based on the elapsed time since the closing operation of the gripping mechanism was started.
A robot control method according to claim 2, The fifth step of the robot control method is characterized in that the computer terminates the first correction process when the closing operation of the gripping mechanism is completed and the force acting on the hand is less than a threshold.
A method of controlling a robot, which is performed by a computer. The aforementioned computer is It has a computing device, a storage device connected to the computing device, and a network interface connected to the computing device, A robot having a hand for gripping a workpiece, and a processing machine having a gripping mechanism for gripping the workpiece are connected. The robot control method is as follows: The first step involves the computer acquiring first operational information regarding the operating status of the robot and second operational information regarding the operating status of the processing machine. The computer controls the robot in order to cause the robot to perform the task of gripping the workpiece and placing the workpiece in the gripping mechanism, Includes, The second step described above is: A third step in which the computer determines whether or not to start a first correction process to correct the position and orientation of the workpiece relative to the gripping mechanism based on the second operation information, A fourth step in which the computer performs the first correction process using the first operation information and the second operation information, A fifth step in which the computer determines whether or not to terminate the first correction process based on the second operational information, A sixth step in which the computer determines whether or not to start a second correction process to correct the gripping position of the workpiece of the gripping mechanism based on the second operation information, A seventh step in which the computer performs the second correction process using the first operation information and the second operation information, A robot control method characterized by comprising an eighth step in which the computer determines whether or not to terminate the second correction process based on the first operation information.
A robot control method according to claim 4, The sixth step includes the step of the computer starting the second correction process when the opening operation of the gripping mechanism is started, The robot control method is characterized in that the eighth step includes the step of terminating the second correction process if the computer determines that the force with which the workpiece is pressed against the gripping mechanism is greater than a threshold.
A robot control method according to claim 4, The fourth step includes the step of interrupting the first correction process if the computer detects that a force greater than or equal to a predetermined value is applied to the hand or that the execution time of the first correction process exceeds a predetermined value. The seventh step is a robot control method characterized in that the computer interrupts the second correction process if a force greater than a predetermined value is applied to the hand or if the execution time of the second correction process exceeds a predetermined value.
A robot control method according to claim 4, A robot control method characterized in that the gripping mechanism grips the workpiece at at least one of a point, a line, and a surface.
A system comprising a computer, a robot having a hand for gripping a workpiece, and a processing machine having a gripping mechanism for gripping the workpiece, The aforementioned computer is First operational information regarding the operating status of the robot and second operational information regarding the operating status of the processing machine are acquired. The robot control process is executed to cause the robot to perform the task of gripping the workpiece and placing the workpiece in the gripping mechanism. In the robot control process described above, the computer, A first process that determines whether or not to start a first correction process to correct the position and orientation of the workpiece relative to the gripping mechanism based on the second operational information, A second process which performs the first correction process using the first operation information and the second operation information, Position and attitude correction is performed, which includes a third process that determines whether or not to terminate the first correction process based on the second operational information, In the first process, when the closing operation of the gripping mechanism is started, the computer starts the first correction process. The system is characterized in that, in the third process, the computer terminates the first correction process when the closing operation of the gripping mechanism is completed.
The system according to claim 8, The system is characterized in that, in the third process, the computer terminates the first correction process when the closing operation of the gripping mechanism is completed and the force acting on the hand is less than a threshold.
A system comprising a computer, a robot having a hand for gripping a workpiece, and a processing machine having a gripping mechanism for gripping the workpiece, The aforementioned computer is First operational information regarding the operating status of the robot and second operational information regarding the operating status of the processing machine are acquired. The robot control process is executed to cause the robot to perform the task of gripping the workpiece and placing the workpiece in the gripping mechanism. In the robot control process described above, the computer, A first process that determines whether or not to start a first correction process to correct the position and orientation of the workpiece relative to the gripping mechanism based on the second operational information, A second process which performs the first correction process using the first operation information and the second operation information, Position and attitude correction is performed, which includes a third process that determines whether or not to terminate the first correction process based on the second operational information, A fourth process to determine whether or not to start a second correction process to correct the gripping position of the workpiece of the gripping mechanism based on the second operational information, A fifth process which executes the second correction process using the first operation information and the second operation information, A system characterized by performing a gripping position correction, which includes a sixth process for determining whether or not to terminate the second correction process based on the first operational information.
The system according to claim 10, In the fourth process, when the opening operation of the gripping mechanism is started, the computer starts the second correction process. The system is characterized in that, in the sixth process, the computer terminates the second correction process if the force with which the workpiece is pressed against the gripping mechanism is greater than a threshold.
The system according to claim 10, The system is characterized in that the gripping position correction is performed after the position and orientation correction is performed.

Description

This invention relates to a control technology for a robot that performs the task of setting a workpiece onto a processing machine. In manufacturing, robots are used to place workpieces into the chuck mechanisms of processing machines. The robot performs the task of placing the workpiece into the chuck mechanism based on information regarding the workpiece's gripping position and its position relative to the chuck mechanism. Due to tolerances in the workpiece's external dimensions, errors in gripping position, errors in robot installation, and control errors in the robot's movable mechanism, the workpiece's position relative to the chuck mechanism may deviate from the expected position. This misalignment can generate significant forces between the robot and the chuck mechanism, leading to problems such as robot and chuck mechanism failure and a decrease in machining accuracy. International Publication No. 2022/172873 This is a diagram showing an example of the system configuration of Example 1.This figure shows an example of the work performed in the system of Example 1.This figure shows an example of the data structure of the work information in Example 1.This figure shows an example of the data structure of the processing machine information in Example 1.This figure shows an example of the data structure of posture information in Example 1.This figure shows an example of the data structure of the correction model information in Example 1.This figure shows an example of the data structure of the performance information in Example 1.This is a flowchart illustrating an example of the work control process performed by the computer in Example 1.This is a flowchart illustrating an example of the work control process performed by the computer in Example 1.This figure shows a specific example of the correction process performed by the computer in Example 1.This figure shows a specific example of the correction process performed by the computer in Example 1.This figure shows an example of a screen displayed by the computer in Example 1.This figure shows an example of a screen displayed by the computer in Example 1.This figure shows an example of the data structure of the correction model information in Example 2. The following describes embodiments of the present invention with reference to the drawings. However, the present invention is not limited to the embodiments described below. Those skilled in the art will readily understand that the specific configuration can be modified without departing from the spirit or intent of the present invention. In the invention described below, identical or similar components or functions are denoted by the same reference numerals, and redundant descriptions are omitted. The designations "First," "Second," "Third," etc., used in this specification are for identifying constituent elements and do not necessarily limit their number or order. The positions, sizes, shapes, and ranges of each component shown in the drawings may not represent the actual positions, sizes, shapes, and ranges, in order to facilitate understanding of the invention. Therefore, the present invention is not limited to the positions, sizes, shapes, and ranges disclosed in the drawings.