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Control Device, Robot System, And Robot

一种控制装置、机器人的技术，应用在程序控制机械手、机械手、制造工具等方向，能够解决机器人处理的物品破损、难以重启作业等问题

Active Publication Date: 2020-02-28
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the inventors of the present application found that, in the case of stopping the work during execution of the force control, it sometimes becomes difficult to restart the work depending on the manner of stopping. The state of the robot, or damage to the items handled by the robot

Method used

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  • Control Device, Robot System, And Robot
  • Control Device, Robot System, And Robot
  • Control Device, Robot System, And Robot

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0027] figure 1 It is an explanatory diagram showing a configuration example of the robot system. This robot system includes a camera 30 , a transport device 50 , a robot 100 , and a control device 200 . The robot 100 and the control device 200 are communicably connected by cables or wirelessly. The surroundings of the work area of ​​the robot 100 are surrounded by safety fences CG. A safety gate DR through which a person can enter and exit is provided on the safety fence CG. A signal indicating the open / close state of the safety door DR is supplied to the control device 200 .

[0028] This robot 100 is a single-arm robot that is used by attaching various end effectors to an arm flange 120 located at the front end of an arm 110 . The arm 110 is provided with six joints J1 to J6. Joints J2, J3, J5 are flexion joints, and joints J1, J4, J6 are torsion joints. On the arm flange 120 located at the front end of the joint J6, various end effectors for performing operations suc...

no. 2 approach

[0060] Figure 7 It is a flowchart showing the execution procedure of the force / position simultaneous control process in the second embodiment. The second embodiment differs from the first embodiment only in a part of the execution steps of the force / position simultaneous control process, and the device structure is the same as that of the first embodiment. Figure 7 and Figure 6 The only difference is that steps S241 to S244 are added after step S240, and other Figure 6 same.

[0061]In steps S241 to S243, the processor 210 monitors the force applied to the movable unit MU, the movement amount of the movable unit MU, and the speed of the movable unit MU, and in the case where at least one of them reaches a predetermined threshold or more Next, go to step S244 and execute error handling. The movement amount of the movable unit MU is a value based on the time point when the position control is stopped in step S210. For example, a process of stopping the robot 100 complet...

no. 3 approach

[0065] Figure 8 It is a flowchart showing the execution procedure of the force / position simultaneous control process in the third embodiment. The third embodiment differs from the first embodiment only in a part of the execution steps of the force / position simultaneous control process, and the device structure is the same as that of the first embodiment. Figure 8 and Figure 6 The only difference is that steps S245 and S246 are added after step S240, and other Figure 6 same.

[0066] In step S245, it is determined whether or not the movement amount of movable unit MU after the position control is stopped in step S210 is equal to or greater than a predetermined threshold. If the amount of movement of the movable unit MU has not reached the predetermined threshold, the process returns to step S220. On the other hand, when the movement amount of the movable unit MU is equal to or greater than the predetermined threshold, the process proceeds to step S246, and returns to st...

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Abstract

The invention provides a control device, a robot system, and a robot, which can reduce the possibility of bad situations when the operation is stopped in the execution process of force control. The control device includes a control unit which executes a control force to a movable unit according to an output of a force detection unit. The control unit executes a stop control of the movable unit when a predetermined stop condition is satisfied. The stop control includes a second control which continues the force control to control the movable unit when the stop condition is satisfied during theexecution of a first control including a force control.

Description

technical field [0001] The present invention relates to a robot control device, a robot system and a robot. Background technique [0002] As a robot, a robot that performs force control using a force detection unit is known. There are various kinds of work in force control work. Patent Document 1 describes a technique for screw fastening using force control. Patent Document 2 describes a technique for conveying an article using force control using a dual-arm robot. During the operation of the robot, the operation of the robot may be stopped due to some reasons such as opening of a safety door. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2018-62050 [0004] Patent Document 2: Japanese Unexamined Patent Publication No. 2012-76805 [0005] However, the inventors of the present application have found that when work is stopped during execution of force control, depending on the manner of the stop, it may be difficult to restart the work or there may be problems...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08B25J19/02
CPCB25J9/1633B25J9/161B25J13/085B25J19/02
Inventor 竹内馨狩户信宏濑下勇
Owner SEIKO EPSON CORP
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