Robotic system

Abstract

A robot system (1) comprises: a robot (2) which grasps and carries a workpiece; and a control device (3) which controls the robot (2), the control device (3) comprising: a physical information acquisition unit (8) which acquires the physical information of an actual worker who cooperates with the robot (2) to perform work on the workpiece; a physical information storage unit (7) which stores the physical information of a reference worker; a program storage unit (7) which stores an action program including one or more teaching points, wherein the one or more teaching points configure the workpiece in a position and posture suitable for the work performed by the reference worker; and a program correction unit (6) which corrects the teaching points of the action program stored in the program storage unit (7) based on the physical information of the actual worker acquired by the physical information acquisition unit (8) and the physical information of the reference worker stored in the physical information storage unit (7).

Description

Technical Field

[0001] The present invention relates to robotic systems. Background Art

[0002] A robot system is known in which a robot and a worker cooperate to perform assembly work (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-062016 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] Teaching a robot ensures that when a worker is working on a workpiece supported by the robot, the workpiece is positioned and positioned in a way that is easy for that worker to work on. However, if a worker is replaced, the height and position of the workpiece that is easy for one worker may become difficult for another worker of a different height, placing an additional burden on the other worker.

[0008] On the other hand, if the robot is taught to each worker, the workpiece can be arranged in a position and posture suitable for all workers, but the time required for teaching becomes enormous.

[0009] Therefore, it is desired to arrange the workpiece in a position and posture suitable for all workers without re-teaching the robot, thereby reducing the burden on the workers.

[0010] Solutions for solving problems

[0011] One embodiment of the present invention is a robot system comprising: a robot that grips and carries a workpiece; and a control device that controls the robot, the control device comprising: a physical information acquisition unit that acquires the physical information of an actual worker who collaborates with the robot to perform work on the workpiece; a physical information storage unit that stores the physical information of a benchmark worker; a program storage unit that stores an action program including one or more teaching points, wherein the one or more teaching points configure the workpiece in a position and posture suitable for the work to be performed by the benchmark worker; and a program correction unit that corrects the teaching points of the action program stored in the program storage unit based on the physical information of the actual worker acquired by the physical information acquisition unit and the physical information of the benchmark worker stored in the physical information storage unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a diagram showing the overall configuration of a robot system according to one embodiment of the present invention.

[0013] Figure 2 Yes Figure 1 Block diagram of the robot system.

[0014] Figure 3 It means that the corresponding Figure 2 The identification information and height of the workers in the memory.

[0015] Figure 4 Is to express Figure 1 FIG. 1 is a diagram showing an example of reference operator identification information corresponding to an action program stored in a memory and a mark corresponding to each teaching point.

[0016] Figure 5 It means that there is Figure 4 A diagram showing an example of identification information of an actual operator corresponding to a teaching point marked with a mark requiring correction in an operation program.

[0017] Figure 6 It is an explanation Figure 1 A diagram showing the relationship between teaching points and a reference operator for an example of an action program in a robot system.

[0018] Figure 7 Is the instruction execution Figure 6 A diagram showing the relationship between the teaching points and the actual operator when performing an action program.

[0019] Figure 8 Is the instruction execution Figure 6 A diagram showing the relationship between the teaching points and other actual operators when performing an action program.

[0020] Figure 9 yes Figure 1 A modification of the robot system is a diagram showing teaching points of an example of an operation program involving two reference workers and two actual workers.

[0021] Figure 10 Is to express Figure 9 FIG. 1 is a diagram showing an example of identification information of a reference worker and an actual worker corresponding to teaching points of an operation program, and a mark corresponding to each teaching point.

[0022] Figure 11 yes Figure 1 Another variation of the robot system is a diagram showing an example of a case where two reference workers are associated with three teaching points.

[0023] Figure 12 It means in Figure 11 A diagram showing an example of a situation in which three actual workers are associated with three teaching points in a robot system.

[0024] Figure 13 Is to express Figure 12 A diagram showing an example of identification information of a reference worker and an actual worker corresponding to teaching points, and a mark corresponding to each teaching point.

[0025] Figure 14 yes Figure 8 , which is a diagram illustrating an upper limit value and a lower limit value of a teaching point when there are objects above and below the working point.

[0026] Figure 15 It means that there is Figure 14 FIG. 1 is a diagram showing an example of identification information of an actual operator, an upper limit value, and a lower limit value corresponding to a teaching point of a mark requiring correction in an operation program.

[0027] Figure 16 yes Figure 2 Another variation of the robot system is a block diagram of a robot system including a sensor capable of detecting physical information or identification information of an actual worker. DETAILED DESCRIPTION

[0028] Hereinafter, a robot system 1 according to an embodiment of the present invention will be described with reference to the drawings.

[0029] like Figure 1 As shown, the robot system 1 of this embodiment includes a six-axis multi-articulated robot 2 and a control device 3 that controls the robot 2 .

[0030] The robot 2 has a built-in sensor such as a force sensor (not shown) that detects contact from the outside. When the sensor detects contact, the robot 2 stops or slows down. Therefore, the robot 2 is a collaborative robot that can work in collaboration with a worker.

[0031] The work performed by the operator may be any work such as assembling parts to the workpiece W, tightening screws, adjusting the position of the mounted parts, etc.

[0032] A hand 5 capable of gripping a workpiece W is attached to the distal end of the wrist 4 of the robot 2 .

[0033] like Figure 2 As shown, the control device 3 includes at least one processor (program correction unit) 6 , at least one memory (physical information storage unit, program storage unit) 7 , and an input device (physical information acquisition unit) 8 .

[0034] like Figure 3 As shown, the memory 7 stores the identification information S of the reference worker, ie, the height (physical information) L of the reference worker. S In addition, the memory 7 stores the identification information R1, R2, R3, R4 of the actual operator who may actually work with the robot 2, and the height (physical information) L of the actual operator. R1 , L R2 , L R3 , L R4 .

[0035] The memory 7 also stores an operating program for operating the robot 2. The operating program includes a plurality of teaching points. At least one teaching point is a working point where the workpiece W held by the robot 2 is moved to the teaching point to position the workpiece W in a standard position and posture that is easy for a human operator to work on.

[0036] In this embodiment, a flag indicating whether correction is required according to the height of the worker, that is, a flag indicating whether correction is required or not, can be stored for each teaching point included in the operation program.

[0037] Before executing the action program, the processor 6 inputs the identification information R1, R2, R3, and R4 of the actual operator using the input device 8. The input device 8 can be any device capable of inputting identification information, such as a keyboard, touch display, mouse, or card reader.

[0038] When the identification information R1, R2, R3, and R4 of the actual operator is input, the processor 6 uses the input identification information R1, R2, R3, and R4 as a key to read the height L of the actual operator stored in the memory 7. R1 , L R2 , L R3 , L R4 Then, the processor 6 calculates the actual height L of the operator read out. R1 , L R2 , L R3 , L R4 , and the height L of the reference worker stored in the memory 7 S The difference ΔL is calculated and the coordinates of the teaching points are corrected only for the teaching points that store the marks that need to be corrected.

[0039] Specifically, the reference operator who has input the identification information S inputs his or her own identification information S and uses a teaching operation panel (not shown) to teach the robot 2 a plurality of teaching points, thereby creating an action program that can arrange the workpiece W in a position and posture suitable for the reference operator to perform the work. Figure 4 As shown, the created operation program is stored in the memory 7 in association with the identification information S of the reference worker.

[0040] Alternatively, the identification information S of the reference worker is associated with an operation program created offline so as to arrange the workpiece W at a position and posture assumed to be suitable for the reference worker and stored in the memory 7 .

[0041] When creating an action program, teach multiple teaching points P1 to P4, and Figure 4 As shown, each teaching point P1 to P4 is marked with the height L of the actual operator. R1 、L R2 、L R3 、L R4 A mark indicating whether correction is needed or not. Figure 4 Only the identification information S of the reference worker corresponding to the operation program and the teaching points P1 to P4 and the marks in the operation program are displayed.

[0042] As an action program, for example, Figure 6 As shown in the figure, it is assumed that robot 2 grasps and lifts a workpiece W placed on a worktable 10 and moves it to a work position where an operator performs work. This motion program includes a teaching point P1 for the position where the workpiece W on the worktable 10 is grasped, a teaching point P2 for the position where the workpiece W is lifted from the worktable 10, a teaching point P3 for the position where the workpiece W is lifted from above the worktable 10, and a teaching point P4 for the work position where the operator performs work.

[0043] In this motion program, marks indicating that no correction is required are marked at the teaching points P1, P2, and P3, and a mark indicating that correction is required is marked only at the teaching point P4.

[0044] When there is a teaching point P4 marked with a mark that needs to be corrected, the processor 6 uses the input device 8 to input the identification information R1, R2, R3, and R4 of the actual operator. Figure 5 As shown, the input identification information R1 , R2 , R3 , and R4 of the actual operator is stored in the memory 7 in correspondence with the teaching point P4 . Figure 5 Only the reference operator identification information S corresponding to the operation program, the teaching points P1, P2, P3, P4 in the operation program, the marks, and the actual operator identification information R1, R2, R3, R4 are displayed.

[0045] Then, when executing the operating program, the processor 6 performs the following correction on the teaching point P4 marked with a correction-needed flag.

[0046] For example, the coordinates of the teaching point P4 marked with a mark requiring correction are set to (x, y, z). The processor 6 calculates the coordinates of the teaching point P4 based on the height L of the reference worker S. S and the actual height L of operator R1 R1 , calculate the difference ΔL=L R1 -L S .

[0047] Then, the z coordinate of the teaching point P4 is corrected using the following formula.

[0048] z′=z+αΔL

[0049] Here, α is a positive constant and is set to an appropriate value through experiments or the like.

[0050] On the other hand, the processor 6 does not correct the teaching points P1 , P2 , and P3 marked with a mark indicating that no correction is required.

[0051] In this way, according to the robot system 1 of this embodiment, when there is a height difference between the reference operator S who has performed the teaching of the action program and the actual operator R1 who is different from the reference operator S, the z coordinate of the teaching point P4 that needs to be corrected is corrected, and the coordinates of the teaching points P1, P2, and P3 that do not need to be corrected are not corrected but maintained.

[0052] For example, Figure 6 as well as Figure 7 As shown, in the actual height L of the operator R1 R1 Greater than the height L of the standard operator S S In the case of , the z coordinate of the teaching point P4 taught by the reference operator S is increased by an amount proportional to the height difference ΔL. Figure 6 as well as Figure 8 As shown, in the actual height L of the operator R2 R2 Smaller than the height L of the standard operator S S In this case, the z coordinate of the teaching point P4 taught by the reference worker S is reduced by an amount proportional to the height difference ΔL.

[0053] Therefore, when an action program is created that includes a teaching point P4 that makes it easy for the reference worker S to work on the workpiece W, when actual workers R1 and R2 whose heights are different from that of the reference worker S perform the work, the z coordinate of the teaching point P4 of the action program is increased or decreased.

[0054] Since the amount of increase or decrease in the z-coordinate caused by the correction is proportional to the height difference ΔL, the actual worker R1, who is taller than the reference worker S, can easily work on the workpiece W that is positioned higher than the reference worker S. Furthermore, the actual worker R2, who is shorter than the reference worker S, can easily work on the workpiece W that is positioned lower than the reference worker S.

[0055] This has the following advantages: even when actual workers R1 and R2 have a large height difference ΔL with respect to the reference worker S, the workpiece W can be arranged in a position and posture suitable for the actual workers R1 and R2, thereby reducing the burden imposed on the actual workers R1 and R2.

[0056] On the other hand, since the teaching points P1 , P2 , and P3 marked with correction-unnecessary marks are not corrected, interference between the workpiece W and the worktable 10 can be prevented during the operation of gripping the workpiece W on the worktable 10 and the operation of detaching the workpiece W from the worktable 10 .

[0057] That is, according to the robot system 1 of this embodiment, it is possible to set whether correction is required for each teaching point P1, P2, P3, P4 of the motion program, and to adjust the teaching point according to the actual height L of the workers R1, R2, R3, R4. R1 , L R2 , L R3 , L R4 , only the required teaching points P1, P2, P3, and P4 are corrected. This has the following advantages: there is no need to re-teach the motion program.

[0058] In addition, in the robot system 1 of this embodiment, an example is given of a case where an action program suitable for a reference worker S is used and another actual worker R1 (or actual worker R2) different from the reference worker S cooperates with the robot 2 to perform an operation. Figure 9 As shown, the robot system 1 of this embodiment can also be applied when different reference workers S1 and S2 and different actual workers R1 and R3 work in collaboration with the robot 2 at different teaching points P1, P2, P3, and P4.

[0059] Figure 9 The example shown is an example in which two actual workers R1 and R3 perform work in cooperation with the robot 2 using the motion program appropriately taught by the two reference workers S1 and S2 .

[0060] In this case, when creating an action program, Figure 10As shown, the identification information S1 of reference operator S1 is stored correspondingly at teaching point P1, where reference operator S1 performs work, and the identification information S2 of reference operator S2 is stored correspondingly at teaching point P4, where reference operator S2 performs work. Furthermore, these reference points P1 and P4 are marked as requiring correction, while the other teaching points P2 and P3 are marked as not requiring correction.

[0061] Furthermore, before executing the action program, the processor 6 only needs to input the identification information R1 and R3 of the actual workers R1 and R3 for each of the teaching points P1 and P4 marked with the signs that need to be corrected. Thus, when executing the action program, the teaching points P1 and P4 marked with the signs that need to be corrected respectively store the identification information S1 and S2 of the reference workers S1 and S2 and the identification information R1 and R3 of the actual workers R1 and R3. Therefore, the processor 6 can use the identification information S1, S2, R1, R3 as a key for each of the teaching points P1 and P4 to read the height L of the reference workers S1 and S2 and the actual workers R1 and R3 from the memory 7. S1 , L S2 , L R1 , L R3 , and find the difference ΔL, and correct the z coordinate of each teaching point.

[0062] in addition, Figure 11 as well as Figure 12 The example shown is as follows: Figure 11 As shown, the motion program appropriately taught by two reference workers S1 and S2 is used, as shown in FIG. Figure 12 As shown in FIG, three other actual operators R1, R2, and R3 work together with the robot 2 to perform the work. Figure 11 as well as Figure 12 The hatched teaching points P3, P5, and P6 are the working points.

[0063] In this case, when creating the motion program, the identification information S1 of reference operator S1 is stored in association with the teaching points P3 and P6 where reference operator S1 works, and the identification information S2 of reference operator S2 is stored in association with the teaching point P5 where reference operator S2 works. Reference points P3, P5, and P6 are marked as requiring correction, while the remaining teaching points P1, P2, and P4 are marked as not requiring correction.

[0064] Furthermore, before executing the action program, the processor 6 may input the identification information R1, R2, R3 of the actual operator R1, R2, R3 to each of the teaching points P3, P5, P6 marked with a mark requiring correction. Figure 13 As shown, when the action program is executed, the identification information S1, S2 of the reference workers S1, S2 and the identification information R1, R2, R3 of the actual workers R1, R2, R3 are stored in correspondence at the teaching points P1, P5, and P6, respectively. Therefore, the processor 6 can use the identification information S1, S2, R1, R2, R3 as a key to read the height L of the reference workers S1, S2 and the actual workers R1, R2, R3 from the memory 7 for each teaching point P1, P2, P3, P4, P5, and P6. S1 、L S2 、L R1 、L R2 、L R3 , and calculate the difference ΔL, and correct the z coordinate of the teaching point P1, P2, P3, P4, P5, P6 for each teaching point P1, P2, P3, P4, P5, P6.

[0065] In addition, in this embodiment, in order to avoid the actual height L of the workers R1, R2, R3, and R4 R1 、L R2 、L R3 、L R4 In order to avoid the adverse effects of the correction of the teaching points P1, P2, P3, and P4, at least one of an upper limit and a lower limit can be set for each teaching point P1, P2, P3, and P4. Figure 14 As shown in the figure, if there are objects 30 such as external structures above and below the working point where the actual worker R2 works on the workpiece W, according to the height L of the actual worker R2, R2 If the teaching point P4 is uniformly moved up and down, there is a risk of interference between the workpiece W or the robot 2 and the object 30 .

[0066] Therefore, if Figure 15 As shown, the upper limit or lower limit can be set for the teaching point P4 marked with a mark indicating that correction is required. Furthermore, if the correction based on the height difference ΔL results in the teaching point P4 being above the upper limit or below the lower limit, the processor 6 can correct the z-coordinate of the teaching point P4 to the upper limit or lower limit.

[0067] In addition, in this embodiment, it is set that before executing the action program, the identification information R1, R2, R3, R4 of the actual operator R1, R2, R3, R4 is input for each teaching point P1, P2, P3, P4, but instead, as shown in FIG. Figure 16 As shown, it is also possible to configure physical information L that can detect actual workers R1, R2, R3, and R4. R1 、L R2 、L R3 、L R4 Or the sensor 20 for detecting the identification information R1, R2, R3, and R4. R1 、L R2 、L R3 、L R4 The sensor 20 may be, for example, a camera that captures images of workers working on the workpiece W at a work site. The sensor 20 that can detect the marker information R1, R2, R3, and R4 may be a face recognition device or a fingerprint recognition device.

[0068] According to the sensor 20, even if the actual workers R1, R2, R3, R4 do not input the identification information R1, R2, R3, R4, the physical information L can be automatically obtained. R1 、L R2 、L R3 、L R4 , and can prevent input omissions.

[0069] In this case, the physical information L detected by the sensor 20 is R1 、L R2 、L R3 、L R4 By using shoulder height, it is possible to perform high-precision detection even when the actual workers R1, R2, R3, and R4 are wearing helmets.

[0070] In addition, in this embodiment, the z coordinates of the teaching points P1, P2, P3, and P4 are corrected by an amount proportional to the height difference ΔL between the reference worker S and the actual workers R1, R2, R3, and R4, but instead, they can be corrected by an amount calculated by an arbitrary function that monotonically increases according to the height difference ΔL.

[0071] In addition, in this embodiment, the case where the teaching point with the mark requiring correction is consistent with the working point of the reference operator is described as an example, but instead, the mark requiring correction may be set at a teaching point that is not the working point of the reference operator. Figure 9When the table 10 does not exist, the time required for a series of operations can sometimes be shortened by appropriately correcting the teaching points P2 and P3.

[0072] For example, in an action program including a plurality of work points, when correcting teaching points P2 and P3 that are not work points, correction may be performed using the average value of the height differences between the work points before and after the teaching points P2 and P3.

[0073] Specifically, if Figure 9 As an example, the z coordinates of the teaching points P2 and P3 are corrected using the following formula.

[0074] ΔL1=L R1 -L S1

[0075] ΔL4=L R3 -L S2

[0076] z′=z+α(ΔL1+ΔL4) / 2

[0077] Here, ΔL1 is the difference at the teaching point P1, ΔL4 is the difference at the teaching point P4, and α is a positive constant.

[0078] exist Figure 9 In the example shown, since the corrections for teaching points P1 and P4, which are working points, are both made to reduce the z coordinate, the path length after correction would be longer than the path length before correction if teaching points P2 and P3, which are not working points, were not corrected. In contrast, by correcting teaching points P2 and P3, which are not working points, in accordance with the corrections for teaching points P1 and P4, which are teaching points, the path length from teaching point P1 to teaching point P4 can be shortened, thereby improving work efficiency.

[0079] Description of reference numerals:

[0080] 1: Robotic system

[0081] 2: Robot

[0082] 3: Control device

[0083] 6: Processor (program correction unit)

[0084] 7: Memory (physical information storage unit, program storage unit)

[0085] 8: Input device (physical information acquisition unit)

[0086] L S , L S1 , L S2 :Height of the benchmark worker (physical information)

[0087] L R1 、L R2 、L R3 、L R4 :Actual worker's height (physical information)

[0088] P1, P2, P3, P4, P5, P6: teaching points

[0089] R1, R2, R3, R4: Identification information of the actual operator

[0090] S, S1, S2: identification information of the benchmark operator

[0091] W: workpiece

Claims

1. A robot system, characterized in that: have: a single robot that holds and carries a workpiece; and a control device that controls the robot, The control device has: a physical information acquisition unit that acquires physical information of an actual worker who works on the workpiece in cooperation with the robot; a physical information storage unit storing physical information of a reference worker; a program storage unit storing an operation program including one or more teaching points for placing the workpiece at a position and posture suitable for an operation to be performed by the reference operator, and whether each of the teaching points requires correction; as well as A program correction unit corrects the teaching points of the action program stored in the program storage unit based on the physical information of the actual worker acquired by the physical information acquisition unit, the physical information of the reference worker stored in the physical information storage unit, and whether the correction is necessary.

2. The robot system according to claim 1, wherein: The program storage unit can store information on whether the correction is required for each of the teaching points. The program correction unit corrects the teaching points storing information requiring correction, and does not correct the teaching points storing information requiring no correction.

3. The robot system according to claim 1, wherein: The program storage unit can store at least one of an upper limit value and a lower limit value for each of the teaching points. The program correction unit corrects the vertical coordinate of the teaching point for which the upper limit value or the lower limit value is stored so as to be equal to or greater than the lower limit value and equal to or less than the upper limit value.

4. The robot system according to any one of claims 1 to 3, characterized in that: The physical information storage unit stores the identification information of the actual worker in correspondence with the physical information. The program storage unit can store, for each of the teaching points, identification information of the actual operator who performs the work at the teaching point. The physical information acquiring unit acquires the physical information of the actual worker stored in the physical information storage unit based on the identification information stored in the program storage unit for each of the teaching points.

5. The robot system according to any one of claims 1 to 3, characterized in that: The physical information acquisition unit includes a sensor that detects the physical information or identification information of the actual worker.

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