Control method of robot system, robot system, and storage medium

Abstract

The present application provides a robot system control method, a robot system and a storage medium, which can reduce the probability of false judgment of successful insertion. The robot system control method includes: a detection step of detecting the position of a female connector; a reference position setting step of setting a reference position based on the detected position of the female connector, the reference position being a reference for judging whether a male connector is successfully inserted into the female connector; and an insertion action step of moving the male connector located at an insertion start position along the insertion direction of the female connector, taking the position where the robot has a force sensor detects a predetermined force generated by the contact between the male connector and the female connector as a comparison position, comparing the reference position and the comparison position to judge whether the insertion is successful.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot system control method, a robot system, and a program. BACKGROUND

[0002] For example, in Patent Document 1, a robot system control method is described in which a workpiece is inserted into an insertion hole by a robot. In this control method, the positional deviation of the workpiece with respect to the insertion hole is detected based on the movement amount of the workpiece from the start position of the operation and the force received, and based on the detection result, it is determined whether the workpiece has been successfully inserted into the insertion hole. Further, for example, in Patent Document 2, a method is described in which the position of the insertion hole is detected based on an image captured by a camera, and a workpiece is inserted.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2012-125852

[0004] Patent Document 2: Japanese Patent Application Publication No. 2014-043322

[0005] However, when an error occurs in the method of detecting the position of the insertion hole based on the image captured by the camera as described in Patent Document 2, the set position of the insertion hole can sometimes deviate from the actual position. In this case, if the insertion of the workpiece is performed in a state in which the insertion hole has deviated from the actual position, even if the robot system is driven as instructed and it is determined that the workpiece has been normally inserted into the insertion hole, it can actually not have been normally inserted, resulting in an erroneous determination as to whether the insertion has been successful.

[0006] In Patent Document 1, although the method of detecting the position of the insertion hole is not described, when the position of the insertion hole is detected based on the image captured by the camera as in Patent Document 2, the same problem as described above can occur. SUMMARY

[0007] The robot system control method of the present application is a robot system control method in which a robot having a gripping portion grips a male connector and inserts the male connector into an insertion hole of a female connector, the robot system control method comprising:

[0008] detecting the position of the female connector;

[0009] setting a reference position based on the detected position of the female connector, the reference position being a reference for determining whether the male connector has been successfully inserted into the female connector; and

[0010] The insertion action step moves the male connector positioned at an insertion start position in the insertion direction of the female connector, and the robot having a force sensor detects a position at which a predetermined force generated by contact of the male connector with the female connector, as a comparison position, and compares the reference position and the comparison position to determine whether the male connector is successfully inserted into the female connector.

[0011] The robot system of the present application is an insertion of a male connector into an insertion hole of a female connector, and the robot system has:

[0012] A robot provided with a holding portion that holds a male connector; and

[0013] A robot control device that controls the robot,

[0014] The robot control device detects a position of the female connector,

[0015] The robot control device sets a reference position based on the detected position of the female connector, the reference position being a reference for determining whether the male connector is successfully inserted into the female connector,

[0016] The robot control device uses the robot to move the male connector positioned at an insertion start position in the insertion direction of the female connector, and the robot having a force sensor detects a position at which a predetermined force generated by contact of the male connector with the female connector, as a comparison position, and compares the reference position and the comparison position to determine whether the male connector is successfully inserted into the female connector.

[0017] The program of the present application is a command to a robot system having a robot and a robot control device, so that a male connector is held by a holding portion and inserted into an insertion hole of a female connector, the robot having the holding portion and a force sensor, the robot control device controlling the robot, the program causing the robot system to perform the following steps:

[0018] A detection step of detecting a position of the female connector;

[0019] A reference position setting step of setting a reference position based on the detected position of the female connector, the reference position being a reference for determining whether the male connector is successfully inserted into the female connector; and

[0020] The insertion action step moves the male connector positioned at the insertion start position in the insertion direction of the female connector, and the force sensor possessed by the robot during the movement detects a position at which a predetermined force generated by contact of the male connector with the female connector. The reference position and the detected position are compared to determine whether the male connector is successfully inserted into the female connector. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a diagram showing the overall configuration of a robot system according to a preferred embodiment.

[0022] Figure 2 is a cross-sectional view showing an insertion operation performed by the robot system.

[0023] Figure 3 is a flowchart showing the procedure of the insertion operation.

[0024] Figure 4 is a flowchart showing the procedure of the insertion operation.

[0025] Figure 5 is a cross-sectional view showing each procedure of the insertion operation.

[0026] Figure 6 is a cross-sectional view showing each procedure of the insertion operation.

[0027] Figure 7 is a cross-sectional view showing each procedure of the insertion operation.

[0028] Figure 8 is a cross-sectional view showing each procedure of the insertion operation.

[0029] Figure 9 is a cross-sectional view showing each procedure of the insertion operation.

[0030] Figure 10 is a cross-sectional view showing each procedure of the insertion operation.

[0031] Figure 11 is a cross-sectional view showing each procedure of the insertion operation.

[0032] Figure 12 is a cross-sectional view showing each procedure of the insertion operation.

[0033] Figure 13 is a cross-sectional view showing a modification of the detection step.

[0034] Figure 14 is a block diagram showing the hardware configuration of the robot system.

[0035] Figure 15 is a block diagram showing the hardware configuration of the robot system.

[0036] Figure 16 is a block diagram showing a hardware configuration of a robot system.

[0037] Explanation of Reference Signs

[0038] 1... robot system, 1A... robot system, 1B... robot system, 1C... robot system, 2... robot, 21... base, 22... robot arm, 220... arm, 221... first arm, 222... second arm, 223... third arm, 224... fourth arm, 225... fifth arm, 226... sixth arm, 23... end effector, 24... force sensor, 3... robot control device, 4... camera, 51... controller, 52... computer, 53... computer, 54... controller, 55... computer, 56... network, 57... cloud, 6... circuit board, 7... cable, 8... female connector, 8A... side surface, 81... insertion hole, 811... opening, 812... stopper, 9... male connector, 91... base, 92... insertion portion, 230... gripping portion, 231... claw portion, 232... claw portion, F0... force, Fa... reference position, Fs... comparison position, Ps... insertion start position, S1... detection step, S11... step, S12... step, S2... movement step, S3... reference position setting step, S4... insertion action step, S41... step, S42... step, S43... step, S44... step, S45... step, S46... step, S47... step, WD... work table. DETAILED DESCRIPTION

[0039] Hereinafter, the control method of the robot system, the robot system, and the program of the present application will be described in detail based on the preferred embodiments shown in the drawings.

[0040] Figure 1 is a block diagram showing a hardware configuration of a robot system. Figure 2 is a cross-sectional view showing an insertion work performed by the robot system. Figure 3 and Figure 4 are flowcharts each showing a procedure of the insertion work. Figures 5 to 12 are cross-sectional views each showing each procedure of the insertion work.

[0041] It should be noted that below, three mutually orthogonal axes are referred to as the X-axis, Y-axis, and Z-axis. Furthermore, the direction along the X-axis is also referred to as the "X-axis direction," the direction along the Y-axis is also referred to as the "Y-axis direction," and the direction along the Z-axis is also referred to as the "Z-axis direction." Furthermore, the arrow side of each axis is also referred to as the "positive side," and the opposite side is also referred to as the "negative side." Furthermore, the positive side in the Z-axis direction is also referred to as "up," and the negative side in the Z-axis direction is also referred to as "down."

[0042] Figure 1 The robot system 1 shown in FIG. 1 includes a robot 2, a robot control device 3 for controlling the robot 2, and a camera 4 as a position detection device. Figure 2 As shown, such a robot system 1 can perform an insertion operation of inserting the male connector 9 into the female connector 8 to mechanically and electrically connect them.

[0043] First, before describing the robot system 1 , the female connector 8 and the male connector 9 will be described.

[0044] Female connector 8

[0045] like Figure 2 As shown, female connector 8 is mounted on the top surface of circuit board 6. Female connector 8 has an insertion hole 81 for inserting male connector 9. Terminals (not shown) connected to circuit board 6 are located within insertion hole 81. Insertion hole 81 extends in the X-axis direction and opens on side surface 8A on the negative side in the X-axis direction. This positions male connector 9 relative to female connector 8 on the negative side in the X-axis direction. Furthermore, male connector 9 can be inserted into insertion hole 81 of female connector 8 by moving male connector 9 toward the positive side in the X-axis direction.

[0046] The female connector 8 of this embodiment is a non-ZIF (Zero Insertion Force) type connector. A non-ZIF connector, also known as a "non-ZIF connector" or a "single-action connector," requires an insertion force to insert the male connector 9 into the insertion hole 81. However, the female connector 8 is not limited to a non-ZIF type connector; for example, a ZIF type connector may also be used.

[0047] Male connector 9

[0048] like Figure 2As shown, male connector 9 includes a base 91 and an insertion portion 92 that protrudes from base 91 and is inserted into insertion hole 81 of female connector 8. Insertion portion 92 is provided with terminals (not shown). When insertion portion 92 is properly inserted into insertion hole 81, the terminals are electrically connected to each other. Furthermore, male connector 9 is connected to cable 7. Cable 7 may be any cable, such as an FPC (Flexible Printed Circuits), an FFC (Flexible Flat Cable), an optical cable, a LAN cable, a USB cable, or a coaxial cable.

[0049] The female connector 8 and the male connector 9 have been described above. Next, each component of the robot system 1 will be described.

[0050] Robot 2

[0051] like Figure 1 As shown, the robot 2 in this embodiment is a single-arm six-axis vertical multi-joint robot. It should be noted that there is no particular limitation on the robot 2. For example, it can also be a dual-arm multi-joint robot, a SCARA robot (horizontal multi-joint robot), etc. In addition, the robot 2 can also be a fixed robot fixed to a floor, etc., or a self-propelled robot capable of operating on its own. Such a robot 2 has a base 21, a robotic arm 22, an end effector 23 mounted on the top of the robotic arm 22, and a force sensor 24 arranged between the robotic arm 22 and the end effector 23.

[0052] The base 21 is a support body that supports the robot arm 22 from the bottom side so that it can be driven, for example, it is fixed to the floor in the factory or on a stand in the factory. The robot arm 22 has a plurality of arms 220 connected in a manner that can rotate with each other. The robot arm 22 has a first arm 221, a second arm 222, a third arm 223, a fourth arm 224, a fifth arm 225 and a sixth arm 226 as a plurality of arms 220, and these arms 221 to 226 are connected in sequence starting from the side of the base 21. In addition, adjacent arms are connected by joints, and the arm on the top side can rotate freely relative to the arm on the base side. It should be noted that the number of arms 220 is not limited to six.

[0053] The end effector 23 is attached to the sixth arm 226 via the force sensor 24. Furthermore, the end effector 23 includes a gripping portion 230 for gripping the male connector 9. Furthermore, the gripping portion 230 includes a pair of claws 231 and 232 for clamping the male connector 9. However, the gripping portion 230 is not particularly limited as long as it can grip the male connector 9. For example, it may grip the male connector 9 using an air chuck or the like.

[0054] The force sensor 24 is disposed between the sixth arm 226 and the end effector 23. The force sensor 24 can detect a force applied to the male connector 9 held by the end effector 23.

[0055] Camera 4

[0056] The camera 4 is arranged above the robot 2. Figure 2 As shown, the image is taken from above the female connector 8. The robot control device 3 detects the position of the female connector 8 based on the image of the female connector 8 obtained by the camera 4. There is no particular limitation as the camera 4, and a 2D camera, a 3D camera, etc. can be used. It should be noted that, as described later, in this embodiment, when the insertion operation is performed, it is performed with the female connector 8 placed on the workbench WD. Therefore, the Z-axis coordinate of the female connector 8 can be calculated in advance based on the height of the workbench WD and pre-set. Therefore, it is only necessary to detect the coordinates (X, Y, U) of the female connector 8, so a 2D camera is sufficient. It should be noted that U refers to the coordinate around the Z axis. In this regard, when the Z-axis coordinate of the female connector 8 is unknown, the coordinates (X, Y, Z, U) can also be detected by a 3D camera.

[0057] It should be noted that in this embodiment, camera 4 is disposed separately from robot 2 and its position relative to workbench WD is fixed, but this is not limiting. For example, camera 4 may be fixed to robot arm 22 or end effector 2 of robot 2. In this case, robot arm 22 is moved so that female connector 8 is within the field of view of camera 4, and in this state, camera 4 can capture images. Furthermore, any position detection device capable of detecting the position of female connector 8 is not limited to camera 4; for example, a laser profiling device may also be used.

[0058] Robot control device 3

[0059] like Figure 1 As shown, the robot controller 3 is connected to the robot 2. The robot controller 3 is comprised of, for example, a computer, comprising a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface. Furthermore, the memory stores a program P executable by the processor, and the processor reads and executes the program P stored in the memory. The robot controller 3 causes the robot 2 to perform the insertion operation according to the program P.

[0060] The program P is a program that issues a command to the robot system 1 to perform the insertion operation. Figure 3As shown, the program P causes the robot system 1 to execute the following steps: a detection step S1 of detecting the position of the female connector 8; a movement step S2 of moving the male connector 9 to the insertion start position Ps; a reference position setting step S3 of setting the reference position Fa based on the position of the female connector 8; and an insertion action step S4 of moving the male connector 9 in the insertion direction of the female connector 8, taking the position at which the force F0 is detected by the force sensor 24 as the comparison position Fs, and comparing the reference position Fa and the comparison position Fs to determine whether or not the insertion is successful. As to each of the steps, a detailed description will be given as a control method of the robot system 1 described later.

[0061] The overall configuration of the robot system 1 has been described above. Next, a control method of the robot system 1 by the robot control device 3 will be described. Note that the description of the control method of the robot system 1 can also serve as a description of the program P.

[0062] The control method of the robot system 1 by the robot control device 3 is a method of gripping the male connector 9 by the robot 2 and inserting the gripped male connector 9 into the insertion hole 81 of the female connector 8. Such a control method is executed by the program P. Therefore, as shown in Figure 3 the same as the program P, includes: a detection step S1 of detecting the position of the female connector 8; a movement step S2 of moving the male connector 9 to the insertion start position Ps; a reference position setting step S3 of setting the reference position Fa based on the position of the female connector 8; and an insertion action step S4 of moving the male connector 9 in the insertion direction of the female connector 8, taking the position at which the force F0 is detected by the force sensor 24 as the comparison position Fs, and comparing the reference position Fa and the comparison position Fs to determine whether or not the insertion is successful. Next, each of the steps S1 to S4 will be described based on the flowchart shown in Figure 4

[0063] [1] Detection Step S1

[0064] First, as shown in Figure 5 ​As shown, as step Sll, the female connector 8 placed on the work table WD is imaged by the camera 4, and the imaged image is output to the robot control device 3. Note that the female connector 8 is placed on the work table WD, which can be performed by the robot system 1 itself, or by another robot system. Further, it can be configured to be transported by a conveyor or the like. Next, as step S12, the robot control device 3 detects the position and attitude of the female connector 8 based on the image from the camera 4. The position within the image from the camera 4 is associated with the coordinates (X, Y, Z, U) by the robot control device 3. Therefore, the coordinates (X, Y, Z, U) of the female connector 8 can be determined based on the position of the female connector 8 within the image. Note that, as described above, the Z-axis coordinate is known and is set in advance based on the height of the work table WD. Further, regarding the attitude (orientation) of the female connector 8, for example, it can also be detected by template matching of the outline shape of the female connector 8 within the image with 3D shape data of the female connector 8 acquired in advance. The method of detecting the position and attitude is not particularly limited.

[0065] [2] Moving Step S2

[0066] Next, as shown in Figure 6 , the robot 2 holds the male connector 9 by the holding portion 230 and moves the male connector 9 to the insertion start position Ps. The insertion start position Ps is determined based on the coordinates (X, Y, Z, U) of the female connector 8 detected in the detection step S1 so that the insertion portion 92 of the male connector 9 and the insertion hole 81 of the female connector 8 are aligned in the X-axis direction.

[0067] [3] Reference Position Setting Step S3

[0068] Next, as shown in Figure 7 , the robot control device 3 sets the reference position Fa based on the position of the female connector 8 detected in the detection step S1. The reference position Fa is a position that serves as a reference for determining whether the insertion work is successful. The reference position Fa is set to lie in the Y-Z plane orthogonal to the X-axis direction as the insertion direction and to overlap the insertion hole 81. In consideration of the position detection error that can occur in the detection step S1, it is preferable to set avoiding the both end portions of the insertion hole 81 in the X-axis direction. Thereby, even if the position of the female connector 8 detected in the detection step S1 deviates from the actual position, it is possible to more accurately determine whether the insertion in the insertion action step S4 is successful.

[0069] The reference position Fa is set between the opening 811, the negative end of the insertion hole 81 in the X-axis direction, and the stopper 812, the positive end of the insertion hole 81 in the X-axis direction (a surface that limits further movement of the male connector 9 in the positive X-axis direction). For example, a predetermined reference position setting rule is defined in program P as follows: the reference position Fa is set at a position that is M (mm) shifted from the opening 811 toward the positive X-axis direction, or the reference position Fa is set at a position that is N (mm) shifted from the front end of the male connector 9 at the insertion start position Ps toward the positive X-axis direction. The robot controller 3 sets the reference position Fa according to this rule. M and N are appropriately modified depending on the shape and size of the female connector 8.

[0070] [4] Insert action step S4

[0071] Then, if Figure 8 As shown, as step S41, robot 2 starts insertion work to insert male connector 9 into female connector 8. Specifically, robot 2 moves arm 22 to move male connector 9 toward the insertion direction of female connector 8, that is, toward the positive side in the X-axis direction.

[0072] Next, as step S42, the robot control device 3 determines whether the force sensor 24 detects the force F0 during step S41. When the force generated by the actual contact between the female connector 8 and the male connector 9 is defined as F1, the force F1 is equivalent to, for example Figure 9 The force generated by the insertion being performed correctly and the male connector 9 hitting the stop 812, or as shown Figure 10 The force shown is generated when the insertion is not smooth and the male connector 9 hits the side surface 8A of the female connector 8. The robot controller 3 determines whether the force F1 reaches the force F0.

[0073] Furthermore, when the target force for insertion is F2, it is preferable to set force F0 to a value smaller than target force F2. In other words, force F0 is preferably set such that F1 ≤ F0 < F2. This allows for more accurate determination of successful insertion.

[0074] When force sensor 24 detects force F0, robot 2 quickly stops movement of male connector 9 in steps S43 and S44. Furthermore, robot control device 3 determines the position of the tip of male connector 9 at the time force sensor 24 detects force F0 as comparison position Fs. By stopping movement of male connector 9 in step S43, excessive force is less likely to be applied to female connector 8 and male connector 9, effectively preventing male connector 9 from disengaging from grip 230 and preventing damage or malfunction of female connector 8 and male connector 9.

[0075] Next, as step S45, the robot control device 3 compares the comparison position Fs with the reference position Fa, and determines whether or not the male connector 9 is successfully inserted into the female connector 8. Specifically, when it is detected that the comparison position Fs is located on the downstream side of the insertion direction, i.e., the positive side of the X-axis direction, with respect to the reference position Fa, in other words, when the force F0 is detected after passing the reference position Fa, the robot control device 3 determines that the insertion work is successful. In this case, as shown in FIG. 8, the male connector 9 is properly inserted into the insertion hole 81, and the front end thereof collides against the stopper 812, becoming a state of completion of insertion. When it is determined that the insertion is successful, the robot control device 3 ends the insertion work. Figure 9

[0076] On the other hand, when the comparison position Fs is located on the upstream side of the insertion direction, i.e., the negative side of the X-axis direction, with respect to the reference position Fa, in other words, when the force F0 is detected before passing the reference position Fa, the robot control device 3 determines that the insertion work is failed. In this case, as shown in FIG. 9, the male connector 9 is deviated with respect to the insertion hole 81 in the Z-axis direction or the Y-axis direction, and the insertion portion 92 collides against the side surface 8A of the female connector 8, becoming a state where the male connector 9 cannot be inserted into the female connector 8. Figure 10

[0077] When it is determined that the insertion is failed, as shown in FIG. 10, as step S46, the robot 2 moves the arm 22 so that the male connector 9 is moved in the opposite direction of the insertion direction, i.e., the negative side of the X-axis direction. Thereby, the contact between the male connector 9 and the female connector 8 is released. Next, as shown in FIG. 11, as step S47, the insertion start position Ps is changed from the position of the last time, and the process is restarted from the moving step S2 until it is determined that the insertion is successful in step S45. Figure 11 Figure 12 Figure 12 Note that, in FIG. 11, the insertion start position Ps of the last time is shown as Ps(n), and the insertion start position Ps of this time is shown as Ps(n+1). The insertion start position Ps(n+1) is deviated at least in one of the Y-axis direction and the Z-axis direction with respect to the insertion start position Ps(n) of the last time. As a manner of deviation of the insertion start position Ps, for example, when viewed from the X-axis direction, it can be a spiral-like deviation, or it can be a linear deviation in the Z-axis direction or the Y-axis direction.

[0078] The control method of the robot system 1 has been described above. According to such a control method, in order to determine whether or not the male connector 9 is successfully inserted into the female connector 8 based on the comparison between the comparison position Fs and the reference position Fa, even if the coordinates (X, Y, Z, U) of the female connector 8 detected in the detecting step S1 are deviated from the actual coordinates (X, Y, Z, U) of the female connector 8, the probability of erroneous determination of successful insertion can be reduced compared with the conventional method. ​​​​

[0079] As described above, the control method of the robot system 1 is the control method of the robot system 1 in which the robot 2 holds the male connector 9 by the holding portion 230 and inserts the male connector 9 into the insertion hole 81 of the female connector 8, and includes the detection step S1 of detecting the position of the female connector 8, the reference position setting step S3 of setting, based on the detected position of the female connector 8, a reference position Fa as a reference for determining whether the male connector 9 is successfully inserted into the female connector 8, and the insertion action step S4 of moving the male connector 9 located at the insertion start position Ps in the X-axis direction as the insertion direction of the female connector 8, and comparing the reference position Fa and a comparison position Fs that is the position at which the predetermined force F0 generated by the contact of the male connector 9 with the female connector 8 is detected by the force sensor 24 of the robot 2 in the movement to determine whether the insertion is successful. According to such a control method, in order to determine whether the male connector 9 is successfully inserted into the female connector 8 based on the comparison of the comparison position Fs and the reference position Fa, even if the coordinates (X, Y, Z, U) of the female connector 8 detected in the detection step S1 deviate from the actual coordinates (X, Y, Z, U) of the female connector 8, the probability of erroneously determining whether the insertion is successful can be reduced compared with the conventional method.

[0080] Further, as described above, in the insertion action step S4, when the comparison position Fs is located on the downstream side of the insertion direction with respect to the reference position Fa, it is determined that the male connector 9 is successfully inserted into the female connector 8. According to such a determination method, it is possible to more accurately determine whether the insertion is successful.

[0081] Further, as described above, when it is determined that the insertion is successful, the insertion action step S4 is ended. Thereby, it is possible to quickly end the insertion work.

[0082] Further, as described above, in the insertion action step S4, when the comparison position Fs is located on the upstream side of the insertion direction with respect to the reference position Fa, it is determined that the male connector 9 is not successfully inserted into the female connector 8, that is, the insertion is failed. According to such a determination method, it is possible to more accurately determine whether the insertion is successful.

[0083] Further, as described above, when it is determined that the insertion is failed, the insertion start position Ps is changed and the insertion action step S4 is performed again. Thereby, it is possible to successfully insert the male connector 9 into the female connector 8.

[0084] Further, as described above, in the insertion operation step S4, the movement of the male connector 9 is stopped when the force sensor detects the predetermined force F0. Thereby, it is difficult to apply excessive force to the female connector 8 and the male connector 9, and it is possible to effectively suppress the male connector 9 from being detached from the holding portion 230, damage and malfunction of the female connector 8 and the male connector 9.

[0085] Further, as described above, the robot system 1 is a robot system that inserts the male connector 9 into the insertion hole 81 of the female connector 8, and includes the robot 2 provided with the holding portion 230 that holds the male connector 9, and the robot control device 3 that controls the robot 2, the robot control device 3 detects the position of the female connector 8, sets the reference position Fa that is a reference for determining whether the male connector 9 is successfully inserted into the female connector 8, based on the detected position of the female connector 8, moves the male connector 9 located at the insertion start position Ps along the insertion direction of the female connector 8 using the robot 2, uses the force sensor 24 possessed by the robot 2 in the movement to detect the position of the predetermined force F0 generated by the contact of the male connector 9 with the female connector 8, compares the reference position Fa and the comparison position Fs, and determines whether the insertion is successful. According to such a robot system 1, since it is determined whether the male connector 9 is successfully inserted into the female connector 8 based on the comparison of the comparison position Fs and the reference position Fa, even if the coordinates (X, Y, Z, U) of the female connector 8 detected in the detection step S1 deviate from the actual coordinates (X, Y, Z, U) of the female connector 8, it is possible to reduce the probability of erroneously determining whether the insertion is successful, compared with the conventional method.

[0086] Further, as described above, the program P is a program that issues a command to the robot system 1 having the robot 2 provided with the holding portion 230 and the force sensor 24 and the robot control device 3 that controls the robot 2, so that the robot 2 holds the male connector 9 by the holding portion 230 and inserts the male connector 9 into the insertion hole 81 of the female connector 8, and the program causes the robot system 1 to execute the following steps: a detection step S1 of detecting the position of the female connector 8; a reference position setting step S3 of setting a reference position Fa serving as a reference for determining whether or not the male connector 9 is successfully inserted into the female connector 8, based on the detected position of the female connector 8; and an insertion operation step S4 of moving the male connector 9 located at an insertion start position Ps in the X-axis direction that is the insertion direction of the female connector 8, and comparing the reference position Fa with a comparison position Fs that is a position at which the force sensor 24 possessed by the robot 2 detects a predetermined force F0 generated by contact of the male connector 9 with the female connector 8 in the movement, to determine whether or not the insertion is successful. According to such a program P, whether or not the male connector 9 is successfully inserted into the female connector 8 is determined based on the comparison of the comparison position Fs with the reference position Fa, and thus even if the coordinates (X, Y, Z, U) of the female connector 8 detected in the detection step S1 deviate from the actual coordinates (X, Y, Z, U) of the female connector 8, the probability of erroneously determining whether or not the insertion is successful can be reduced as compared with the conventional method.

[0087] The control method of the robot system, the robot system, and the program of the present application have been described above with respect to the illustrated embodiment, but the present application is not limited thereto. Further, each portion constituting the robot system can be replaced with any constitution capable of exerting the same function. Further, any constitution can be added. Further, the order of each step in the control method of the robot system can be appropriately changed as long as the insertion operation can be performed, and for example, the order of the movement step S2 and the reference position setting step S3 can be changed.

[0088] For example, in the above-described embodiment, the position of the female connector 8 is detected using the camera 4 as the position detection device, but the method of detecting the position of the female connector 8 is not limited thereto, and for example, the detection can be performed without using the position detection device. For example, as shown in Figure 13 The position of the female connector 8 can be detected by, for example, lifting the male connector 9 held by the holding portion 230 in the Z-axis direction while shifting the position of the male connector 9 held by the holding portion 230 in the X-Y plane and detecting contact with the upper surface of the female connector 8 by the force sensor 24, and further, the position of the female connector 8 can be detected more accurately by also bringing the male connector 9 into contact with the female connector 8 from the Y-axis direction and the X-axis direction.

[0089] Next, the hardware configuration of the robot system will be described. Figure 14 The overall configuration of the robot system 1A in which the robot 2, the controller 51, and the computer 52 are connected is shown in FIG. 2. The control of the robot 2 can also be executed by the processor in the controller 51 reading out the instructions in the memory, and can also be executed by the processor in the computer 52 reading out the instructions in the memory and through the controller 51. Therefore, either one or both of the controller 51 and the computer 52 can be the "robot control device 3".

[0090] Further, Figure 15 The overall configuration of the robot system 1B in which the computer 53 is directly connected to the robot 2 is shown in FIG. 3. The control of the robot 2 is directly executed by the processor in the computer 53 reading out the instructions in the memory. Therefore, the computer 53 can be the "robot control device 3".

[0091] Further, Figure 16 The overall configuration of the robot system 1C in which the computer 55 is connected to the robot 2 in which the controller 54 is built-in, and the computer 55 is connected to the cloud 57 through the network 56 such as a LAN is shown in FIG. 4. The control of the robot 2 can also be executed by the processor in the computer 55 reading out the instructions in the memory, and can also be executed by the processor in the cloud 57 reading out the instructions in the memory through the computer 55. Therefore, either one, or any two, or all of the controller 54, the computer 55, and the cloud 57 can be the "robot control device 3".

Claims

1. A control method for a robot system, characterized in that: The control method of the robot system includes: gripping a male connector by a gripping portion of the robot and inserting the male connector into an insertion hole of the female connector; a detection step of detecting the position of the female connector; a reference position setting step of setting a reference position based on the detected position of the female connector, the reference position being a reference for determining whether the male connector is successfully inserted into the female connector; and An insertion operation step is performed to move the male connector located at an insertion start position along an insertion direction of the female connector, wherein a position at which a force sensor of the robot detects a predetermined force greater than or equal to a force generated by contact between the male connector and the female connector and less than a target force of the insertion operation is used as a comparison position, and the reference position and the comparison position are compared to determine whether the male connector is successfully inserted into the female connector. In the insertion operation step, when the comparison position where the predetermined force is detected is located upstream in the insertion direction relative to the reference position, it is determined that the male connector has not been successfully inserted into the female connector.

2. The control method of the robot system according to claim 1, characterized in that: In the insertion operation step, when the comparison position is located on the downstream side of the insertion direction relative to the reference position, it is determined that the male connector has been successfully inserted into the female connector.

3. The control method of the robot system according to claim 2, characterized in that: When it is determined that the male connector is successfully inserted into the female connector, the inserting operation step is ended.

4. The control method of the robot system according to claim 1, wherein: When it is determined that the male connector is not successfully inserted into the female connector, The insertion start position is changed and the insertion operation step is performed again.

5. The control method of the robot system according to any one of claims 1 to 3, characterized in that: In the inserting action step, when the force sensor detects the predetermined force, the movement of the male connector stops.

6. A robot system, characterized in that: Inserting the male connector into the insertion hole of the female connector, the robot system comprises: a robot provided with a gripping portion for gripping the male connector; and a robot control device for controlling the robot, The robot control device detects the position of the female connector, The robot control device sets a reference position based on the detected position of the female connector, wherein the reference position is used as a reference for determining whether the male connector is successfully inserted into the female connector. The robot control device uses the robot to perform an insertion operation of moving the male connector located at an insertion start position along an insertion direction of the female connector. During the insertion operation, a position at which a force sensor of the robot detects a predetermined force greater than or equal to a force generated by contact between the male connector and the female connector and less than a target force of the insertion operation is used as a comparison position. The reference position and the comparison position are compared to determine whether the male connector has been successfully inserted into the female connector. When determining whether the male connector is successfully inserted into the female connector, if the comparison position where the predetermined force is detected is located upstream of the reference position in the insertion direction, it is determined that the male connector is not successfully inserted into the female connector.

7. A storage medium, characterized in that: The storage medium stores a program that issues a command to a robot system including a robot and a robot control device, so that the robot grasps a male connector with a grasping portion and inserts the male connector into an insertion hole of a female connector, the robot including the grasping portion and a force sensor, and the robot control device controls the robot, the program causing the robot system to execute the following steps: a detection step of detecting the position of the female connector; a reference position setting step of setting a reference position based on the detected position of the female connector, wherein the reference position is used as a reference for determining whether the male connector is successfully inserted into the female connector; as well as An insertion operation step is performed to move the male connector located at an insertion start position along an insertion direction of the female connector, wherein a position at which a force sensor of the robot detects a predetermined force greater than or equal to a force generated by contact between the male connector and the female connector and less than a target force of the insertion operation is used as a comparison position, and the reference position and the comparison position are compared to determine whether the male connector is successfully inserted into the female connector. In the insertion operation step, when the comparison position where the predetermined force is detected is located on the upstream side of the insertion direction relative to the reference position, it is determined that the male connector has not been successfully inserted into the female connector.

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