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US-12617086-B2 - Teaching device, control device, and mechanical system

US12617086B2US 12617086 B2US12617086 B2US 12617086B2US-12617086-B2

Abstract

This teaching device comprises a teaching unit that, using a force detector, binds a force parameter of a force control command for a machine, and a movement trajectory of the machine which executes force control, and that simultaneously teaches the force parameter and the movement trajectory.

Inventors

  • Wanfeng Fu

Assignees

  • FANUC CORPORATION

Dates

Publication Date
20260505
Application Date
20211217

Claims (19)

  1. 1 . A teaching device, comprising: a teaching unit configured to associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using a force detector, wherein the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
  2. 2 . The teaching device according to claim 1 , wherein the teaching unit is configured to associate the force parameter with the motion trajectory by direct teaching or playback teaching, and record the force parameter and the motion trajectory.
  3. 3 . The teaching device according to claim 1 , further comprising a test execution unit configured to execute a test of the force control command.
  4. 4 . The teaching device according to claim 1 , further comprising an adjustment unit configured to manually or automatically adjust at least one of the force parameter, the motion trajectory or the another parameter other than the force parameter and the motion trajectory.
  5. 5 . The teaching device according to claim 1 , further comprising a registration unit configured to previously register the another parameter other than the force parameter and the motion trajectory as an initial value.
  6. 6 . The teaching device according to claim 1 , wherein the teaching unit includes a teaching start command for starting recording of teaching and a teaching end command for ending the recording of the teaching.
  7. 7 . The teaching device according to claim 1 , wherein the teaching unit is configured to associate the force parameter with the motion trajectory and stores the force parameter, for each teaching point constituting the motion trajectory, or for each predetermined motion section constituting the motion trajectory, or for each predetermined time interval during a motion.
  8. 8 . The teaching device according to claim 1 , wherein the teaching unit is configured to switch an interval at which the force parameter is associated with the motion trajectory.
  9. 9 . The teaching device according to claim 1 , wherein the teaching device includes a command editing unit configured to edit the force control command, and the command editing unit includes the teaching unit.
  10. 10 . The teaching device according to claim 1 , further comprising a program generation unit configured to generate a motion program for the machine based on the force control command.
  11. 11 . The teaching device according to claim 1 , wherein the force parameter includes a magnitude and an acting direction of a force applied to the work target.
  12. 12 . A controller, comprising: a teaching unit configured to associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using a force detector; a program generation unit configured to generate a motion program for the machine based on the force control command; and a control unit configured to operate the machine according to the motion program and perform a force control for the machine, wherein the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
  13. 13 . A machine system, comprising: a machine having a force detector; a teaching unit configured to associate a force parameter of a force control command for the machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using the force detector; a program generation unit configured to generate a motion program for the machine based on the force control command; and a control unit configured to operate the machine according to the motion program and perform a force control for the machine, wherein the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
  14. 14 . A teaching device, comprising: a program editing unit configured to receive an addition of a force control command to a machine; a command editing unit configured to associate force parameters including a magnitude and a direction of a force of the force control command with a motion trajectory of the machine, and teach or edit the force parameters; and a display unit configured to display information relating to a plurality of taught or edited force parameters including magnitudes and directions of the force control command associated with the motion trajectory.
  15. 15 . The teaching device according to claim 14 , wherein the command editing unit is configured to cause the display unit to display a teaching button representing starting or ending teaching of the force control command.
  16. 16 . The teaching device according to claim 15 , wherein the teaching device is configured to perform direct teaching in response to the teaching button representing starting of the teaching being pressed.
  17. 17 . The teaching device according to claim 14 , wherein the information is represented by a table showing teaching points indicating the motion trajectory, and the magnitude and the direction of the force corresponding to the teaching points.
  18. 18 . The teaching device according to claim 14 , wherein the command editing unit is configured to cause the display unit to display an execution button for executing a test of the force control command, and execute the test in response to the execution button being pressed.
  19. 19 . The teaching device according to claim 14 , wherein the command editing unit is configured to cause the display unit to display a screen for reteaching or reediting the information.

Description

RELATED APPLICATIONS The present application is a National Phase of International Application No. PCT/JP2021/046883 filed Dec. 17, 2021. TECHNICAL FIELD The present invention relates to a robot system having a user interface for capturing an object with an autofocus camera, and a capturing method using the interface. BACKGROUND ART In order to intuitively generate an operation program for machines including a robot and a machine tool, etc., icon-based programming has been proposed in which an operation program is generated by arranging icons representing control commands for the machine. On the other hand, an already well-known technique involves performing force control based on a force acting on a control point of the machine determined from information detected by a force detector including a force sensor or a torque sensor, etc. When teaching the force control command, it is necessary to teach many parameters, such as a motion trajectory of the machine, an approach speed of the machine to a work target, the magnitude and direction of a force applied to the work target, a movement speed and a posture of the machine, etc. As a method for teaching the motion trajectory of the machine, online teaching and offline teaching are well known. Online teaching includes playback teaching, in which the machine is actually moved using a teach pendant, etc., and the motion trajectory of the machine is recorded and played back, and direct teaching, in which the motion trajectory of the machine is recorded and taught while an operator directly moves a handle, etc., attached to or near a control target part of the machine. In the offline teaching, the motion trajectory of the machine is recorded and taught while a model of the machine is moved in a virtual space generated by a computer device. As a teaching method for the force control, a method for specifying and teaching various parameters such as an approach speed to a work target including a workpiece and a tool, the magnitude and direction of a force applied to the work target, and a movement speed of the machine is well known. However, the teaching of the force control command entails the following problems. (1) During the force control, the number of teaching points constituting the motion trajectory of the machine increases, whereby it is troublesome to adjust the position and posture of the machine at each teaching point. (2) In the force control command, it is necessary to teach many parameters such as the approach speed of the machine to the work target, the magnitude and direction of the force applied to the work target, the movement speed and posture of the machine, etc. Therefore, when the operator has limited knowledge of the parameters (especially when the operator is a beginner), the teaching becomes difficult and takes time. Further, (3) the parameters of the force control command cannot be taught intuitively, and knowledge relating to the coordinate system, etc., is required when setting the magnitude and direction of the force to be applied to the work target, making it inconvenient to use. In addition, (4) in adjusting the parameters of the taught force control command, the adjusted parameters are applied to all teaching points, and thus the magnitude and direction of the force cannot be flexibly adjusted for each teaching point. As prior art relating to the present application, for example, the documents mentioned below are known. Patent Literature 1 describes that a motion trajectory of a machine is taught by direct teaching, playback is interrupted by pressing a teaching switch during the playback, and the trajectory after the interruption is re-taught. Patent Literature 2 describes that a force control pressing device installed at a front end of a robot includes a moving mechanism unit, and a pressing direction of the force control pressing device is set. Further, it is described that the force control pressing device is provided with a force sensor to measure a force acting between a tool and a workpiece. Patent Literature 3 discloses a teaching method in which a robot is directly taught, based on an output signal of a force sensor, and describes that, only while a teaching switch is on, is a hand moved according to an operation force applied to the force sensor by operator to obtain a good operating feeling and to improve positioning accuracy. CITATION LIST Patent Literature [PTL 1] JP 2004-049731 A[PTL 2] JP 2018-118340 A[PTL 3] JP 1984(S59)-157715 A SUMMARY OF THE INVENTION Technical Problem In view of the problems in the prior art, the object of the present invention is to provide a technique for facilitating the teaching of force control. Solution to Problem One aspect of the present disclosure provides a teaching device comprising a teaching unit configured to associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and simultaneously teach the force paramete