JP-7856887-B2 - robot systems

JP7856887B2JP 7856887 B2JP7856887 B2JP 7856887B2JP-7856887-B2

Inventors

加藤雄資
八谷徳孝

Assignees

株式会社デンソーウェーブ

Dates

Publication Date: 20260512
Application Date: 20220302

Claims (5)

A robotic system capable of direct teaching, A robot with an arm, An external force detection unit for detecting an external force applied to the arm, A part detection unit detects whether the external force detected by the external force detection unit was applied to the first part of the arm or to the second part located closer to the tip than the first part, When performing direct teaching, the control unit moves the arm in a first movement mode based on the external force detected by the external force detection unit when the first part is detected by the part detection unit, and moves the arm in a second movement mode that is less mobile than the first movement mode based on the external force detected by the external force detection unit when the second part is detected by the part detection unit. Equipped with , The first mode of movement is a mode of movement in which the arm is moved at a first speed, The robot system is characterized in that the second mode of movement is a mode in which the arm is moved at a second speed lower than the first speed .
A robotic system capable of direct teaching, A robot with an arm, An external force detection unit for detecting an external force applied to the arm, A part detection unit detects whether the external force detected by the external force detection unit was applied to the first part of the arm or to the second part located closer to the tip than the first part, When performing direct teaching, the control unit moves the arm in a first movement mode based on the external force detected by the external force detection unit when the first part is detected by the part detection unit, and moves the arm in a second movement mode that is less mobile than the first movement mode based on the external force detected by the external force detection unit when the second part is detected by the part detection unit. Equipped with , The first mode of movement is a mode of movement in which the arm is moved while generating a first movement resistance, The robot system is characterized in that the second mode of movement is a mode of movement in which the arm is moved while generating a second movement resistance that is higher than the first movement resistance .
A robotic system capable of direct teaching, A robot with an arm, An external force detection unit for detecting an external force applied to the arm, A part detection unit detects whether the external force detected by the external force detection unit was applied to the first part of the arm or to the second part located closer to the tip than the first part, When performing direct teaching, the control unit moves the arm in a first movement mode based on the external force detected by the external force detection unit when the first part is detected by the part detection unit, and moves the arm in a second movement mode that is less mobile than the first movement mode based on the external force detected by the external force detection unit when the second part is detected by the part detection unit. Equipped with , The first mode of movement is a mode of movement in which the arm is accelerated with a first acceleration, The robot system is characterized in that the second mode of movement is a mode of movement in which the arm is accelerated with a second acceleration lower than the first acceleration .
The arm has a plurality of links that are connected so as to be rotatable relative to each other, The first part is a link other than the tip among the plurality of links, The robot system according to any one of claims 1 to 3 , wherein the second part is the leading link among the plurality of links.
The aforementioned multiple links include three or more links, A force sensor for detecting the force and moment applied to the arm is provided in the middle of the third link from the tip. The robot system according to claim 4 , wherein the external force detection unit detects the external force based on the force and moment detected by the force sensor.

Description

This invention relates to a robotic system capable of direct teaching. In this type of robot system, it is desirable to be able to move the robot at high speed when moving the tool at the end of the robot arm from one work area to another, and at low speed when aligning the tool with the workpiece. Therefore, the robot system described in Patent Document 1 switches to different operating modes depending on the position of the double tap when the external force detected by the 6-axis force sensor is a double tap caused by two external forces within a predetermined time. Japanese Patent Publication No. 2019-18257 A schematic diagram of a robot.A block diagram showing the configuration of the robot system.A block diagram showing the configuration of a machine learning system.A flowchart illustrating the steps involved in machine learning.A flowchart illustrating the procedure for direct teaching.A schematic diagram of an example of a robot modification.A block diagram showing an example configuration of a modified robot system.A block diagram showing the configuration of other modified robot systems.Schematic diagram of other modified robots. The following describes one embodiment of a robot system capable of direct teaching, with reference to the drawings. First, let's explain the configuration of the six-axis vertical articulated robot that the robot system is equipped with. As shown in Figure 1, the robot 20 comprises a base B fixed to the floor, a first link 21 supported so as to be able to pivot around a first axis J1 perpendicular to the base B, a second link 22 supported so as to be able to swing around a second axis J2 horizontal to the first link 21, a third link 23 supported at the tip of the second link 22 so as to be able to swing around a third axis J3 parallel to the second axis J2, a fourth link 24 supported so as to be able to twist and rotate around a fourth axis J4 in the direction in which the third link 23 extends, a fifth link 25 (wrist) supported at the tip of the fourth link 24 so as to be able to swing around a fifth axis J5 parallel to the second axis J2, and a sixth link 26 (flange) supported so as to twist and rotate around a sixth axis J6 in the direction in which the fifth link 25 extends. The first to sixth links 26 constitute the arm of the robot 20. In other words, the arm has first links 21 to sixth links 26 that are connected so as to be rotatable relative to each other. A six-axis force sensor 31 for detecting force and moment is positioned midway along the fourth link 24 (the third link from the tip, a predetermined link). The force sensor 31 can detect forces and moments applied to the arm on the tip side of the force sensor 31, specifically the portion of the fourth link 24 (the third link from the tip) on the tip side of the force sensor 31, the fifth link 25, and the sixth link 26. If the force sensor 31 is attached to the sixth link 26 at the tip, it can only detect forces and moments applied to the sixth link 26 at the tip or to the tool or other object on the tip side of the sixth link 26. Furthermore, if the force sensor 31 is attached to a link closer to the base, such as the first link 21, the force sensor 31 requires high rigidity to withstand large forces and high detection accuracy to detect minute external forces. A torque sensor 32E is provided between the fourth link 24 and the fifth link 25 to detect the torque acting between the fourth link 24 and the fifth link 25. A torque sensor 32F (not shown) is provided between the fifth link 25 and the sixth link 26 to detect the torque acting between the fifth link 25 and the sixth link 26. The torque sensors 32E and 32F are collectively referred to as torque sensor 32. In other words, the torque sensor 32 detects the torque acting between the interconnected links. As shown in Figure 2, the robot system 10 includes a direct teaching control unit 50. The direct teaching control unit 50 (control unit) allows the user to select a direct teaching mode in which they manually move the robot 20 by applying external force directly. When the direct teaching mode is selected, the robot can be easily taught an operation program by sequentially storing the position information of each axis of the robot 20 through teaching operations at each manually moved position. The direct teaching control unit 50 then switches the operation mode (movement pattern) according to the part of the robot 20's arm to which the external force (hereinafter referred to as "movement external force") applied by the user to move the arm during direct teaching is applied. The robot 20 is equipped with a joint angle sensor 33, an external force detection unit 36, and a contact area detection unit 37. The joint angle sensor 33 (angle sensor) includes joint angle sensor 33A for detecting the angle (joint angle) between base B and first link 21, joint angle sensor 33B for detecting the angle between first link 21 and second link 22, joint angle sensor 33C fo