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WO-2026094147-A1 - ROBOT SYSTEM AND TEACHING DEVICE

WO2026094147A1WO 2026094147 A1WO2026094147 A1WO 2026094147A1WO-2026094147-A1

Abstract

Provided is a robot system that comprises one or more processors that control a robot arm having a tool. The processor can be set to perform at least one among: a first operation of the robot arm that, for inter-container movement of a target workpiece that needs to be moved, causes the tool to move in a direction away from an arbitrary position on an enclosure wall of a container after a portion of the tool has been disposed between the target workpiece and the enclosure wall; and a second operation of the robot arm for causing the tool, the portion of which is disposed inside the container, to rotate for the inter-container movement.

Inventors

  • Tooyama, Wataru

Assignees

  • ファナック株式会社

Dates

Publication Date
20260507
Application Date
20241029

Claims (10)

  1. A robot arm with a tool is controlled by one or more processors, The processor is capable of setting at least one of the following actions for moving a target workpiece that requires movement within a container: a first action of the robot arm, which involves positioning a part of the tool between the target workpiece and the enclosure wall of the container, and then causing the tool to move away from any position on the enclosure wall; or a second action of the robot arm, which involves causing the tool, with a part of it positioned inside the container, to rotate for movement within the container.
  2. The device includes a display for the aforementioned settings, The robot system according to claim 1, wherein the display device displays a setting screen for setting the position of the part of the tool before the movement away from the arbitrary position.
  3. The device includes a display for the aforementioned settings, The robot system according to claim 1, wherein the display device displays a setting screen for setting parameters for the rotation of the tool for movement within the container.
  4. The device includes a display for the aforementioned settings, The display device displays a tool image corresponding to the tool so that the user can change its position and orientation. The robotic system according to claim 1, wherein the processor is capable of setting the position of the portion of the tool before the movement away from the arbitrary position, depending on the position of at least the tool image.
  5. The device includes a display for the aforementioned settings, The display device displays a tool image corresponding to the tool so that the user can change its position and orientation. The robotic system according to claim 1, wherein the processor can set the rotation parameters of the tool, of which a portion is placed in the container, according to at least the orientation of the tool image.
  6. The device includes a display for the aforementioned settings, The display device displays a tool image corresponding to the tool so that the user can change its position and orientation. The robotic system according to claim 1, wherein the processor is capable of setting the position of the tool after the movement toward the arbitrary position, depending on at least the position of the tool image positioned at the second position.
  7. The robot system according to claim 1, wherein the processor is configured to estimate the result of the movement within the container, using the operation settings, and to display the estimated result on a display device.
  8. The processor is configured to perform multiple movements of the target workpiece within the container using the operation settings. The processor is configured to obtain the results of multiple movements within the containers, The robot system according to claim 1, wherein the processor is configured to learn, either or both, to estimate the result of the next movement within the container, or to create the operation settings for improving the result of the movement within the container, using at least the plurality of results and the operation settings corresponding to each of the plurality of results.
  9. The robot system according to claim 3, wherein the setting screen displayed on the display device allows the tool 40 to be configured to rotate only around a specific axis.
  10. A teaching device for teaching the movements of a robot arm for moving a target workpiece within a container, which requires movement within the container, Equipped with one or more processors capable of controlling a robotic arm with a tool, The processor is a teaching device capable of setting at least one of the following actions for movement within the container: a first action of the robot arm, which involves positioning a part of the tool between the target workpiece and the enclosure wall of the container, and then causing the tool to move away from any position on the enclosure wall; or a second action of the robot arm, which involves causing the part of the tool positioned inside the container to rotate for movement within the container.

Description

Robot system and teaching device This disclosure relates to a robotic system and a teaching device. Conventionally, robot systems are known that perform workpiece picking using a hand attached to the tip of a robot arm. See, for example, Patent Document 1. Furthermore, to facilitate the removal of workpieces near the container's enclosure wall, robot systems are known in which a hand attached to the robot arm approaches the workpiece from the opposite side of the enclosure wall, and then uses this hand to pull the workpiece into the container, performing the picking operation within the container's interior space. See, for example, Patent Document 2. This is a perspective view illustrating the movement of a tool using a part of a robot system in one embodiment.This is a perspective view illustrating the movement of a tool using a part of the robot system of this embodiment.This is a perspective view illustrating the movement of a tool using a part of the robot system of this embodiment.This is a schematic diagram of the robot system of this embodiment.This is a block diagram of the control device of this embodiment.This is a plan view of the container and workpiece used in this embodiment.This flowchart shows an example of the processing performed by the control device of this embodiment.This figure shows an example of the setting screen for the collapse operation in this embodiment.This figure shows an example of the setting screen for the collapse operation in this embodiment.This figure shows an example of the setting screen for the collapse operation in this embodiment.This flowchart shows an example of the processing performed by the control device of this embodiment.This is a perspective view showing a modified example of the tool of the robot system of this embodiment. The robot system 100 of the first embodiment will be described below with reference to the drawings. The robot used in the robot system 100 of this embodiment is a vertical articulated type, and as shown in Figure 4, it comprises a robot arm 20 and a control device 30. The robot arm 20 comprises an arm base 10, a plurality of arm members 21, 22, 23, 24, 25, 26, and a plurality of joints. Each of the joints is rotatable around axes J1 to J6 shown in Figure 4. The robot arm 20 also includes a plurality of motors 27 for driving each of the joints (see Figure 5). Each motor 27 has an operating position detection device for detecting its operating position and operating speed; the operating position detection device is, for example, an encoder. The detected values from the operating position detection device are transmitted to the control device 30. The number of arm members may be five or less, or seven or more. The robot arm 20 is not limited to a specific type. The robot arm 20 may be the arm of a horizontal articulated robot, the arm of a multi-link robot, etc. Furthermore, the robot arm 20 may be supported by a moving device such as a linear guide, an AGV (Automatic Guided Vehicle), a vehicle, a walking robot, etc. Furthermore, the robot arm 20 may be a robot arm for a collaborative robot. The collaborative robot has a function to detect contact between the robot arm 20 and people, objects, etc., using known sensors such as force sensors, contact sensors, and vision sensors, and to safely stop the robot arm 20 according to the detection result. The collaborative robot may also have a function to decelerate and stop the robot arm 20 immediately before contact with people, objects, etc. A tool 40 is attached to the robot arm 20, and the coordinate system 40A of the tool 40 (Figure 1) and the coordinate system 20A of the robot arm 20 (Figure 4) are associated within the control device 30. In this embodiment, the origin of the coordinate system 40A is fixed to the tool center point 40B, and the orientation of the coordinate system 40A is also fixed to the tool 40. Therefore, the position and orientation of the coordinate system 40A change with the position and orientation of the tool 40. The origin of the coordinate system 40A may be fixed to another position. In this embodiment, as shown in Figures 4 and 5, the tool 40 is a hand equipped with multiple claw members 41 and a motor 42 for driving the claw members 41. The motors 27 and 42 can be various known motors such as servo motors. In this embodiment, the tool 40 is attached to the furthest arm member 26 of the robot arm 20, but the tool 40 may be attached to other parts of the robot arm 20. In this embodiment, the motor 42 allows multiple claw members 41 to move in both the opening and closing directions. The tool 40 in this embodiment is referred to as a hand, and can hold the workpiece W within the container 200 and transport it to any desired position using the multiple claw members 41. The tool 40 may be of other types that can hold the workpiece W within the container 200 and transport it to any desired position. For example, the tool 40 may be a tool that uses air suction, magnet