Robot system

Abstract

The present invention provides a robot system that can more reliably improve the safety around the robot. The robot system includes: a robot (1) controlled by a robot control device (20); and a wireless communication device (30) worn or carried by a person present around the robot (1); the wireless communication device (30) has a sensor capable of detecting acceleration; the wireless communication device (30) is configured to send information about the acceleration to the robot control device (20) of the robot (1) when the person does not operate the wireless communication device (30); the robot control device (20) restricts the operation of the robot (1) when the acceleration exceeds a threshold value.

Description

Technical Field

[0001] The present invention relates to a robot system. Background Art

[0002] Currently, the following technologies are known: An emergency stop button is provided on a remote operation device for remotely operating a robot. In addition, the following technology is known: Based on the detection results of an attitude sensor, an acceleration sensor, etc. provided on the remote operation device, it is determined whether there is an abnormality in the operator. For example, refer to Patent Document 1.

[0003] In addition, a glove is known, and an enable switch and an emergency stop switch are provided on the glove. For example, refer to Patent Document 2.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2010-58216

[0007] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2016-60017 Summary of the Invention

[0008] Problems to be Solved by the Invention

[0009] In the above technologies, in order to stop the robot, it is necessary to operate the emergency stop button. In this case, when the operator falls, etc., the operation of the emergency stop button will be delayed, and thus the emergency stop of the robot may be delayed.

[0010] In addition, in the former technology, the abnormality of a person who does not hold the remote operation device cannot be detected. In addition, in the latter technology, if multiple people wear gloves provided with an enable switch and an emergency stop switch, the robot cannot be stably controlled.

[0011] In view of the foregoing circumstances, a technology is desired that can more reliably improve the safety around the robot.

[0012] Solution to the Problem

[0013] One aspect of the present invention is a robot system including: a robot controlled by a robot control device; and a wireless communication device worn or carried by a person existing around the robot; the wireless communication device having a sensor capable of detecting acceleration; the wireless communication device configured to transmit information about the acceleration to the robot control device of the robot in a state where the person does not operate the wireless communication device; and the robot control device restricting the operation of the robot when the acceleration exceeds a threshold value. Brief Description of the Drawings

[0014] Figure 1 It is a three-dimensional schematic diagram of a robot system of an embodiment.

[0015] Figure 2 It is a block diagram of the robot control device and the wireless communication device of this embodiment.

[0016] Figure 3 It is a schematic diagram of the first modification example of this embodiment.

[0017] Figure 4 It is a schematic diagram of the second modification example of this embodiment.

[0018] Figure 5 It is a front view schematic diagram of the wireless communication device of this embodiment.

[0019] Figure 6 It is a front view schematic diagram of the teaching operation panel of this embodiment.

[0020] Figure 7 It is a schematic diagram of the third modification example of this embodiment.

[0021] Explanation of reference numerals:

[0022] 1: Robot

[0023] 10: Arm

[0024] 20: Robot control device

[0025] 22: Display device

[0026] 23: Storage device

[0027] 23c: Motion restriction program

[0028] 24: Input device

[0029] 24a: Teaching operation panel

[0030] 30: Wireless communication device

[0031] 32: Display device

[0032] 34: Input device

[0033] 36: Sensor (sensor capable of detecting acceleration)

[0034] 50: Height detection device

[0035] 51: First antenna

[0036] 52: Second antenna Detailed implementation manners

[0037] A robot system according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0038] As Figure 1 shown, a robot system according to an embodiment includes: a robot 1; and a robot control device 20 for controlling the robot 1. A variety of tools according to the operations performed by the robot 1 are mounted on the wrist flange 12 at the front end of the arm 10 of the robot 1, and the robot 1 performs operations using the tools. There are also cases where no tool is mounted at the front end of the arm 10.

[0039] This robot system includes a wireless communication device 30, which is worn or carried by a person, i.e., an operator OP, existing around the robot 1. In the present embodiment, the wireless communication device 30 is mounted on a hat or a helmet, whereby the operator OP wears the wireless communication device 30 on the head.

[0040] The arm 10 of the robot 1 includes a plurality of arm members and a plurality of joints. In addition, the arm 10 includes a plurality of servo motors, and the plurality of servo motors respectively drive the plurality of joints. As each servo motor, various servo motors such as a rotary motor and a linear motor are used. Each servo motor has a working position detection device for detecting its working position and working speed, and the working position detection device is an encoder as an example. The detection value of the working position detection device is sent to the robot control device 20.

[0041] As Figure 2 shown, the robot control device 20 includes: a processor 21 such as a CPU; a display device 22; a storage device 23 having a non-volatile memory, a ROM, and a RAM, etc.; an input device 24 such as a keyboard, a touch panel, and an operation panel; and a transceiver unit 25 for transmitting and receiving signals. The transceiver unit (reception unit) 25 has an antenna, and it uses the antenna to transmit and receive signals. In addition, the input device 24 and the transceiver unit 25 function as an input unit. The robot control device 20 communicates using the wireless communication device 30 and short-range wireless communication. Although the robot control device 20 is provided on the robot 1 in the present embodiment, the robot control device 20 can also be a computer provided outside the robot 1 and having the above configuration.

[0042] A system program 23a is stored in the storage device 23, and the system program 23a undertakes the basic functions of the robot control device 20. An operation program 23b is also stored in the storage device 23. The operation program 23b is generated based on the reference coordinate system of the robot 1 and is used to sequentially arrange the front end of a tool, for example, mounted at the front end of the arm 10 at predetermined operation positions in the reference coordinate system.

[0043] The robot control device 20 includes a teaching operation panel 24a, which is part of the input device 24 and is composed of a tablet computer or the like. In one example, the teaching operation panel 24a has an input section such as a touch screen, and the teaching operation panel 24a is used when, for example, generating an action program 23b and manually operating the arm 10 of the robot 1, etc.( Figure 1 )). In Figure 1 , the operator OP uses the teaching operation panel 24a to set the action program 23b.

[0044] As Figure 2 shown, the wireless communication device 30 includes: a processor 31 such as a CPU; a display device 32; a storage device 33 having a non-volatile memory, a ROM, a RAM, etc.; an input device 34 that is a touch panel, buttons, dials, various keys, etc.; and a transceiver section 35 for transmitting and receiving signals. The transceiver section (reception section) 35 has an antenna, and it uses the antenna to transmit and receive signals. In addition, the input device 34 and the transceiver section 35 function as an input section.

[0045] In one example, the transceiver section 35 communicates with the robot control device 20 using a well-known short-range wireless communication such as Bluetooth (registered trademark). The wireless communication device 30 includes a sensor 36 capable of detecting acceleration. As the sensor 36, a single-axis accelerometer, a two-axis accelerometer, a three-axis accelerometer, a six-axis accelerometer, a gyro sensor, etc. can be used. The gyro sensor can detect acceleration in the tilt direction.

[0046] The wireless communication device 30 sequentially transmits the acceleration detection result of the sensor 36 as information about acceleration (hereinafter may be simply referred to as "acceleration information") to the robot control device 20 by short-range wireless communication. In one example, an input device 34 is provided on the wireless communication device 30, and by operating the input device 34, the switching of sending / not sending acceleration information to the robot control device 20 is performed. Alternatively, according to the operation of the robot control device 20, the switching of sending / not sending acceleration information to the robot control device 20 is performed.

[0047] In another example, according to the distance between the wireless communication device 30 and the robot control device 20, the robot control device 2 switches between receiving / not receiving acceleration information from the wireless communication device 30. The distance is calculated in one example based on the intensity of the signal received by the robot control device 20 from the wireless communication device 30, or the intensity of the signal received by the wireless communication device 30 from the robot control device 20. The robot control device 20 and the wireless communication device 30 that obtain the distance measurement result in this way function as a distance measurement unit.

[0048] The robot control device 20 receives acceleration information from the wireless communication device 30. If it is determined based on the received information that the acceleration exceeds a threshold value, the operation of the robot 1 is restricted as described later. In addition, in the present embodiment, in the robot control device 20 that receives acceleration information from the wireless communication device 30, the operation restriction of the robot 1 becomes effective according to the acceleration information.

[0049] In another example, it is also possible to start sending acceleration information to the robot control device 20 when the wireless communication device 30 enters a predetermined area. Or, it is also possible to start receiving acceleration information by the robot control device 20 when the wireless communication device 30 enters a predetermined area. For example, a plurality of antennas are arranged on the periphery of the predetermined area, and the position of the wireless communication device relative to each antenna is calculated by the robot control device 20 or the wireless communication device 30, and it is determined whether the wireless communication device 30 has entered the predetermined area.

[0050] An operation control program 23c is stored in the storage device 23. If the detection result received by the robot control device 20 from the wireless communication device 30 exceeds a predetermined reference, operation restrictions on the arm 10 such as stopping the arm 10 and reducing the operation speed of the arm 10 are performed.

[0051] For example, when the magnitude of the acceleration detected by the sensor 36 exceeds a predetermined value, or when the magnitude of the acceleration in a predetermined direction of the acceleration exceeds a predetermined value, etc., the robot control device 20 performs operation restrictions on the arm 10.

[0052] If the wireless communication device 30 is pre-installed on a hat, helmet, headband, etc., the directions of the respective axes of the accelerometer, i.e., the sensor 36, can be made to roughly correspond to the up-down direction and the horizontal direction. Therefore, for example, operation restrictions on the arm 10 can be performed according to the acceleration in the up-down direction.

[0053] When the wireless communication device 30 is pre-installed on a nameplate, name tag, belt, etc. mounted on the chest, shoulder, abdomen, back, waist, or hip of the operator OP, the directions of the respective axes of the accelerometer, i.e., the sensor 36, can also be made to roughly correspond to the up-down direction and the horizontal direction.

[0054] When the wireless communication device 30 is worn on the head of the operator OP, when the operator OP inadvertently disrupts the posture, or when the operator OP is surprised, etc., there is a tendency for a large acceleration to be detected by the sensor 36. When the wireless communication device 30 is worn on the chest, shoulder, or back, etc., it has the same tendency as when worn on the head. When the wireless communication device 30 is worn on the waist, hip, etc., when the operator OP inadvertently disrupts the posture, or when the operator OP is surprised, etc., there is a tendency for a unique acceleration to be detected by the sensor 36.

[0055] The wireless communication device 30 can also be carried by the operator OP. For example, as Figure 1 shown, the wireless communication device 30 is placed in the breast pocket of the operator OP's clothes, the pocket of the trousers, etc., whereby the wireless communication device 30 can be carried by the operator OP.

[0056] When the wireless communication device 30 is worn or carried by the operator OP as described above, the operator OP does not need to hold the wireless communication device 30 by hand. That is, the wireless communication device 30 sends the acceleration information to the robot control device 20 without being operated by the operator OP. Therefore, the operator OP can use both hands on the teach pendant 24a, the operation input device 24, etc. without any inconvenience.

[0057] In addition, the wireless communication device 30 determines whether to restrict the movement of the arm 10, and the wireless communication device 30 can also send a signal for restricting the movement as acceleration information to the robot control device 20. In addition, the signal for restricting the movement is a kind of signal indicating that the acceleration exceeds the threshold value.

[0058] In addition, as Figure 3 shown, when there are multiple people such as the operator OP and the visitor V around the robot 1, multiple people can each wear or carry the wireless communication device 30. In this case, the multiple wireless communication devices 30 send the acceleration information to the robot control device 20. Then, if acceleration information indicating that the movement of the arm 10 should be restricted is sent from any one of the wireless communication devices 30 to the robot control device 20, the robot control device 20 restricts the movement of the arm 10.

[0059] In addition, as Figure 4 shown, when there are multiple robots 1 in a predetermined area and there is one or more people around the multiple robots 1, the acceleration information can also be sent from the wireless communication device 30 to the robot control devices 20 of the multiple robots 1 respectively. For example, in Figure 4 , if acceleration information indicating that the movement of the arm 10 should be restricted is sent from the wireless communication device 30 of the operator OP to the robot control device 20, the robot control device 20 restricts the movement of the arm 10. In addition, in Figure 4 's method, the thresholds for restricting the movements respectively set for the multiple robots 1 can be different from each other.

[0060] In the above configuration, as Figure 5 shown, the robot 1 that sends the acceleration information can also be displayed on the display device 32 of the wireless communication device 30. In Figure 5 this case, the robot 1 that sends the acceleration information is indicated by a diagonal line.

[0061] In addition, in the above configuration, a single robot 1 or multiple robots 1 can also be displayed on the display device 22 of the robot control device 20, the display device of the teaching operation panel 24a, and the display devices of other computers. Moreover, the wireless communication device 30 set to send acceleration information to each robot 1 can also be displayed. For example, as Figure 6 shown, two robots 1 and the wireless communication device 30 set to send acceleration information to each robot 1 are displayed on the display device of the teaching operation panel 34a. In Figure 6 this case, the wireless communication device 30 that sends acceleration information is indicated by a diagonal line.

[0062] For example, in Figure 5 this case, the operator OP can set the robot 1 to which acceleration information is to be sent by operating the input device 34 or the like. In this case, the wireless communication device 30 functions as a setting unit for switching the validity / invalidity of the motion restriction of the robot 1 in the robot control device 20.

[0063] In addition, in Figure 6 this case, the operator can set the robot 1 to which acceleration information is to be sent from each wireless communication device 30 by operating the touch screen of the teaching operation panel 24a. In this case, the teaching operation panel 24a functions as a setting unit for switching the validity / invalidity of the motion restriction of the robot 1 in the robot control device 20. This setting can be performed using the display device 22 and the input device 24, or can be performed using other computers. In this way, if this setting is made outside the wireless communication device 30, the person wearing the wireless communication device 30 cannot change this setting. Such a configuration is beneficial to improving the safety of the people around the robot 1.

[0064] In addition, in the above configuration, as Figure 7 shown, a height detection device 50 for detecting the height of the wireless communication device 30 is also provided. The height detection device 50 includes, for example, a first antenna 51 and a second antenna 52, and the second antenna 52 is provided at a position lower than the first antenna 51. Each antenna 51, 52 sends a signal (detection result) regarding the intensity of the signal received from the wireless communication device 30 to the robot control device 20, the wireless communication device 30, and other computers, etc. When receiving this signal, the robot control device 20, the wireless communication device 30, and other computers, etc. can determine the height of the wireless communication device 30 based on the intensities of the signals of the respective antennas 51, 52.

[0065] Moreover, the robot control device 20 can also change the threshold value of the acceleration for restricting the motion of the arm 10 according to the detection results of the respective antennas 51, 52, that is, the height of the wireless communication device 30.

[0066] For example, if the wireless communication device 30 is arranged at a position lower than that of the second antenna 52, the robot control device 20 reduces the threshold value of the acceleration for restricting the movement of the robot 1. When it is determined that the wireless communication device 30 is worn at a high position of an operator, such as on the head, chest, shoulder, etc., if the height of the wireless communication device 30 becomes lower, it indicates a high possibility that the operator bends down or falls. In such a case, if the acceleration threshold value is lower than the normal level, the operator OP can perform operations more safely.

[0067] In the above-described embodiment, acceleration information is transmitted from the wireless communication device 30 to the robot control device 20 without being operated by the operator OP. With this configuration, the following situation can be realized: the movement of the robot 1 is reliably restricted by the robot control device 20 at an appropriate timing.

[0068] In addition, in the above-described embodiment, the acceleration information from the wireless communication device 30 is transmitted to a plurality of robot control devices 20. This configuration is advantageous for ensuring the safety of people around the robot 1 when using a plurality of robots 1, for example, in a welding line or the like.

[0069] In addition, in the above-described embodiment, the acceleration information from a plurality of wireless communication devices 30 is transmitted to the robot control device 20. This configuration can ensure the safety of each person even when there are multiple people around a single or multiple robots 1.

[0070] In addition, in the above-described embodiment, the validity / invalidity of the movement restriction of the robot 1 in the robot control device 20 can be switched using the wireless communication device 30. This configuration can reliably identify the wireless communication device 30 used for the movement restriction of the robot 1.

[0071] In addition, in the above-described embodiment, the validity / invalidity of the movement restriction of the robot 1 in the robot control device 20 can be switched using the robot control device 20 or other computers or the like. Since the wireless communication device 30 does not perform this switching, this configuration is advantageous for ensuring the safety of people around the robot 1.

[0072] In addition, an antenna of the transceiver unit 25 may be provided on the arm 10 of the robot 1. In this case, the acceleration signal from the wireless communication device 30 is received by this antenna. This configuration is advantageous for accurately measuring the distance between the arm 10 and the wireless communication device 30. This antenna may also be provided on the base B ( Figure 1 ) of the robot 1 to achieve the same effect.

[0073] In addition, in the above-described embodiment, the distance between the robot 1 and the wireless communication device 30 can also be measured, and based on the measured distance, it is determined whether the robot control device 20 performs motion restriction. With this configuration, unnecessary motion restriction is prevented, which is related to the improvement of the efficiency of the operation of the robot 1.

[0074] In the above-described embodiment, the robot 1 can also be a collaborative robot that collaborates with a human. In order to prevent harm to a human, the collaborative robot performs motion restriction if there is contact with a human or the like. However, if acceleration information is transmitted from the wireless communication device 30 to the robot 1 as described above, the safety of the humans around the robot 1 is further improved.

Claims

1. A robot system, characterized in that, Comprising: A robot, which is controlled by a robot control device; and A wireless communication device, which is worn or carried by a person existing around the robot; The wireless communication device has a sensor capable of detecting acceleration; The wireless communication device is configured to send information about the acceleration to the robot control device of the robot when the person does not operate the wireless communication device; When the acceleration exceeds a threshold value, the robot control device restricts the movement of the robot; The robot system further comprises: A height detection device, which detects the height of the wireless communication device; The robot control device changes the threshold value according to the detection result of the height detection device.

2. The robot system according to claim 1, wherein A plurality of the robots exist in a predetermined area; The wireless communication device is configured to send the information to the robot control devices of the plurality of robots when the person does not operate the wireless communication device; When the acceleration exceeds the threshold value, the robot control device of each robot restricts the movement of the robot.

3. The robot system according to claim 1, wherein A plurality of the wireless communication devices are respectively worn or carried by a plurality of the persons; Each wireless communication device is configured to send the information to the robot control device of the robot when the person does not operate the wireless communication device; When the acceleration exceeds the threshold value, the robot control device restricts the movement of the robot.

4. The robot system according to any one of claims 1 to 3, wherein The wireless communication device is worn on the head, chest, shoulder, abdomen, back, waist, or hip of the person.

5. The robot system according to any one of claims 1 to 3, wherein The wireless communication device sends a signal indicating that the acceleration has exceeded the threshold value as the information about the acceleration to the robot control device.

6. The robot system according to any one of claims 1 to 3, characterized in that, Having: A setting unit, which switches the validity / invalidity of the movement restriction of the robot in the robot control device.

7. The robot system according to claim 6, wherein The setting unit can set the robots among the plurality of robots that do not send the information of the wireless communication device.

8. The robot system according to any one of claims 1 to 3, wherein The robot is provided with a receiving unit for receiving the information; The receiving unit is installed on the arm or base of the robot.

9. The robot system according to any one of claims 1 to 3, characterized in that, Comprising: A distance measuring unit, which measures the distance between the robot and the wireless communication device; The robot control device determines whether to perform the movement restriction according to the measurement result of the distance measuring unit.

Images