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Control method and robot system

A control method and robot technology, applied in general control systems, control/adjustment systems, program-controlled manipulators, etc., can solve problems such as unrecognizable replacement hands, inability to use replacement hands, and inability to ensure safety.

Pending Publication Date: 2021-05-28
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, when a replacement hand that does not have a switch unit that recognizes the type of replacement hand is attached to the robot, the robot cannot recognize the replacement hand and cannot perform actions using the replacement hand, so safety cannot be ensured.

Method used

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  • Control method and robot system

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Experimental program
Comparison scheme
Effect test

no. 1 approach

[0043] figure 1 It is a figure which shows the overall structure of the robot system of 1st Embodiment. figure 2 yes figure 1 A block diagram of the robotic system is shown. image 3 is shown installed on figure 1 A diagram of the end effector of the robotic arm that the shown robot possesses. Figure 4 is for illustration figure 1 A conceptual diagram of a unit operation program of an operation program executed by the robot system shown. Figure 5 ~ Figure 10 is showing figure 1 A side view of the state in which the robot executes the motion program shown. Figure 11 is for illustration figure 1 Flowchart of the control actions of the robot system shown.

[0044] Hereinafter, the control method and robot system of the present invention will be described in detail based on preferred embodiments shown in the drawings. It should be noted that, for the convenience of description, the X-axis, the Y-axis and the Z-axis are shown as three mutually orthogonal axes. In addi...

no. 2 approach

[0138] Figure 12 It is a flowchart for explaining the control operation of the robot system of the second embodiment.

[0139] Next, the second embodiment will be described, but in the following description, the differences from the first embodiment will be mainly described, and the description of the same matters will be omitted.

[0140] Such as Figure 12 As shown, in this embodiment, step S201, step S202, step S203, step S204, step S205, step S206, step S207 and step S208 are executed in sequence.

[0141] It should be pointed out that step S201 is the same as step S101, step S202 is the same as step S102, step S203 is the same as step S103, step S204 is the same as step S105, step S205 is the same as step S104, step S206 is the same as step S106, and step S207 is the same as step S107 Same, step S208 is the same as step S108.

[0142]That is, in this embodiment, before executing the operating program, based on the information acquired in the acquiring step, the veloci...

Deformed example 1

[0149] Figure 14 It is a block diagram showing Modification 1 centering on the hardware of the robot system.

[0150] Figure 14 The figure shows the overall structure of the robot system 100B in which the robot 1 is directly connected to the computer 63 . The control of the robot 1 is directly executed by the processor of the computer 63 reading instructions stored in the memory.

[0151] Therefore, the computer 63 can be used as a "control device".

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Abstract

The invention provides a control method and a robot system which can improve safety. The control method is characterized in that the control method is used for a robot provided with: a robot arm which has an arm and is driven on the basis of an operation program, and on which one of a plurality of end effectors can be selectively attached and detached; and a detecting section configured to detect motion of the robot arm. The control method comprises a acquiring step for acquiring information concerning the plurality of end effectors and acquiring the operation program; a driving step for driving the robot arm on the basis of the operation program acquired by the acquisition step, in which the speeds of the positions to be estimated for the speeds are calculated for each of the plurality of end effectors on the basis of the detection results of the detection unit, and when it is determined that, in a result of the calculation, speed of the speed estimation target part moving at the highest speed when the robot arm is driven by the operation program is equal to or higher than predetermined speed, operating speed of the robot arm is reduced.

Description

technical field [0001] The present invention relates to a control method and a robot system. Background technique [0002] For example, a robot is disclosed in Patent Document 1, which includes: a replacement hand with a switch unit for switching settings of corresponding types; a robot body selectively equipped with a replacement hand; and a robot body control unit that controls The robot body. [0003] In the robot of Patent Document 1, the robot main body control unit recognizes the type of the replacement hand based on the switch unit attached to the replacement hand of the robot main body. Thereby, the robot can recognize which replacement hand is installed, for example, by giving feedback to the control of the robot, thereby improving the safety of operators around the robot. In other words, no matter what kind of replacement hand is installed, it can be recognized, so it is possible to calculate the part where the movement speed of the replacement hand is fast, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1602B25J19/0095B25J15/04G05B2219/39468B25J9/1612B25J9/1664B25J13/088B25J9/1674
Inventor 山田喜士木下敬文
Owner SEIKO EPSON CORP
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