Robot, robot system, method and computer program for performing a grinding process

Abstract

To shorten cycle time of scraping processing in forming a plurality of recesses by scraping processing by a robot. A robot (12) includes a base (34), a pair of scraping tools (42, 44) disposed facing each other on the base (34), the pair of scraping tools (42, 44) each having a base end connected to the base (34) and a front end scraping a surface, the pair of scraping tools (42, 44) extending so as to approach or separate from each other from the base end toward the front end, and a moving mechanism (18) rotating the base (34) between a first posture in which one of the pair of scraping tools (42, 44) is closer to a work than the other and a second posture in which the other is closer to the work than the one.

Description

Technical Field

[0001] This disclosure relates to a robot, robot system, method, and computer program for performing scraping and grinding processes. Background Technology

[0002] A robot for performing scraping processing is known (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2004-042164 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] The aim is to reduce the cycle time of scraping processes when multiple recesses are formed by scraping processes performed by robots.

[0008] Solution for solving the problem

[0009] In one aspect of this disclosure, there is a robot for performing scraping operations to flatten the surface of a workpiece. The robot comprises: a base; a pair of scraping tools disposed on the base facing each other, each pair of scraping tools having a base end connected to the base and a front end for scraping the surface, the pair of scraping tools extending in a manner that approaches or separates each other from the base end toward the front end; and a moving mechanism that rotates the base between a first posture and a second posture, the first posture being that one of the scraping tools is closer to the surface than the other, and the second posture being that the other tool is closer to the surface than the first.

[0010] In another aspect of this disclosure, there is a method for using the aforementioned robot to perform scraping processing, which is used to scrape the surface of a workpiece to make it flat. In this method, the processor controls the moving mechanism such that: with the base configured in a first posture, one front end is pressed against the surface and the base is moved in a first direction, thereby performing a first scraping process; after the first scraping process, the base is rotated from the first posture to a second posture; with the base configured in the second posture, the other front end is pressed against the surface and the base is moved in a second direction opposite to the first direction, thereby performing a second scraping process.

[0011] The effects of the invention

[0012] According to this disclosure, the scraping tool can be switched by rotating the base between a first posture and a second posture, thereby forming one recess using one scraping tool and forming the next recess using the other scraping tool. This shortens the time from the end of the first scraping process forming one recess to the start of the second scraping process forming the next recess, thus enabling the continuous and efficient formation of multiple recesses on the surface. Consequently, the scraping cycle time is shortened, thereby increasing productivity. Attached Figure Description

[0013] Figure 1 This is a diagram of a robot system involved in one implementation method.

[0014] Figure 2 yes Figure 1 The diagram shows a block diagram of the robot system.

[0015] Figure 3 yes Figure 1 An enlarged view of the end effector shown.

[0016] Figure 4 Viewed from above Figure 3 An enlarged view of the cutting edge of the scraping tool shown.

[0017] Figure 5 This shows the state of the scraping tool being pressed against the surface of the workpiece.

[0018] Figure 6 This shows the base being configured in the first posture.

[0019] Figure 7 This illustrates a first recess formed on the surface of a workpiece using a scraping tool.

[0020] Figure 8 This shows the base being configured in the second posture.

[0021] Figure 9 This illustrates a second recess formed on the surface of a workpiece using another scraping tool.

[0022] Figure 10 This shows multiple recesses formed on the surface of a workpiece in an arranged manner.

[0023] Figure 11 This is another illustration of scraping, showing a recess formed in a manner that extends from one end edge of the workpiece surface to the other end edge.

[0024] Figure 12 An example is shown of a teaching point set on the surface of a workpiece for a recess formed by one of the scraping tools.

[0025] Figure 13 This is a diagram used to illustrate the speed command as a position control command and the speed command as a force control command.

[0026] Figure 14 This shows the actual movement trajectory of one of the scraping tools during the scraping process.

[0027] Figure 15 This illustrates an example of a teaching point set on the surface of a workpiece for a recess formed by another scraping tool.

[0028] Figure 16 This shows the actual movement trajectory of the other party's scraping tool during the scraping process.

[0029] Figure 17 This illustrates an example of the time-varying characteristics of pressing pressure during scraping.

[0030] Figure 18 This illustrates another example of the time-varying characteristics of pressing pressure during scraping.

[0031] Figure 19 This is a diagram used to illustrate the scraping process that forms multiple rows of recesses.

[0032] Figure 20 This is a diagram used to illustrate the scraping process that forms multiple rows of recesses.

[0033] Figure 21 This is a diagram used to illustrate the scraping process that forms multiple rows of recesses.

[0034] Figure 22 This is a diagram used to illustrate the scraping process that forms multiple rows of recesses.

[0035] Figure 23 This is a diagram of a robot system according to another embodiment.

[0036] Figure 24 yes Figure 23 The diagram shows a block diagram of the robot system.

[0037] Figure 25 yes Figure 23 An enlarged view of the end effector shown.

[0038] Figure 26 This is an enlarged view of the end effector according to another embodiment.

[0039] Figure 27 It is used to explain its use. Figure 26 The diagram shows the scraping process of the end effector.

[0040] Figure 28This is an enlarged view of the end effector according to another embodiment. Detailed Implementation

[0041] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Furthermore, in the various embodiments described below, the same reference numerals will be used to refer to the same elements, and repeated descriptions will be omitted. Additionally, in the following description, the positive x-axis direction of the robot coordinate system C1 in the figures will sometimes be referred to as the right, the positive y-axis direction as the front, and the positive z-axis direction as the top.

[0042] First, refer to Figures 1-3 The following describes a robot system 10 according to one embodiment. Robot system 10 is a system for performing scraping processing, which is used to scrape the surface Q of a workpiece W to make it flat. Scraping processing refers to the process of scraping the surface Q of the workpiece W to make the minute irregularities formed on the surface Q within a predetermined range (e.g., on the order of μm) in the thickness direction of the workpiece W.

[0043] These minute irregularities function as so-called "oil reservoirs" for accumulating lubricating oil on surface Q, which is used as a sliding surface. For example, scraping includes roughing to reduce the minute irregularities formed when the surface of a workpiece is machined by a milling disc or the like to a first size (e.g., 10 μm or less), and finishing to reduce the minute irregularities to a second size (e.g., 5 μm or less) smaller than the first size after roughing.

[0044] The robot system 10 includes a robot 12, a force sensor 14, and a control device 16. In this embodiment, the robot 12 is a vertical articulated robot, which has a moving mechanism 18 and an end effector 20. The moving mechanism 18 includes a robot base 22, a rotating body 24, a lower arm 26, an upper arm 28, and a wrist 30. The robot base 22 is fixed to the floor of the workcell. The rotating body 24 is mounted on the robot base 22 in a manner that allows it to rotate about a vertical axis.

[0045] The lower arm portion 26 is rotatably mounted on the rotating body 24, and the upper arm portion 28 is rotatably mounted on the front end of the lower arm portion 26. The wrist portion 30 has a wrist base 30a, which is rotatably mounted on the front end of the upper arm portion 28 about axis A1; and a wrist flange 30b, which is rotatably mounted on the wrist base 30a about axis A2. Axis A2 is orthogonal to axis A1 and rotates about axis A1.

[0046] Servo motors 32 are installed in each of the constituent elements of the mobile mechanism 18 (robot base 22, rotating body 24, lower arm 26, upper arm 28, wrist 30). Figure 2 These servo motors 32, according to instructions from the control unit 16, cause the movable elements of the moving mechanism 18 (rotating body 24, lower arm 26, upper arm 28, wrist 30, wrist flange 30b) to rotate around the drive shaft. As a result, the moving mechanism 18 can move the end effector 20 and configure it to any position and posture.

[0047] The end effector 20 is detachably mounted to the wrist flange 30b with the aid of the force sensor 14. See below for reference. Figure 3 The structure of the end effector 20 is described below. The end effector 20 has a base 34, a mounting flange 36, a pair of scraping tool holders 38 and 40, and a pair of scraping tools 42 and 44.

[0048] The base 34 is a rod-shaped member extending straight along axis A3. Axis A3 is orthogonal to axis A2 and rotates about axis A2. A mounting flange 36 is a cylindrical member centered on axis A2, and is fixedly disposed at the center of the top surface 34a of the base 34. In this embodiment, the mounting flange 36 is fixed to the front end of the force sensor 14, for example, using fasteners (bolts, etc.). A pair of scraping tool holders 38 and 40 are respectively fixed to the bottom surface 34b of the base 34 and are arranged apart from each other in the direction of axis A3.

[0049] A pair of scraping tools 42 and 44 are disposed on the base 34 facing each other in the direction of axis A3. In this embodiment, the pair of scraping tools 42 and 44 are configured symmetrically about axis A2. More specifically, the scraping tool 42 has a shank 46 and a cutting edge 48. The shank 46 is a flexible member extending in a generally straight line from its base end 46a along axis A4 to the front end 46b, and is fixed to the scraping tool holder 38 at its base end 46a, for example, using fasteners (bolts, etc.).

[0050] The cutting edge 48 is an iron component extending from its base 48a along axis A4 to its front end 48b, the base 48a of which is fixed to the front end 46b of the handle 46. Figure 4 As shown, when viewed from above, the tip 48b of the cutting edge 48 is curved outward from both ends toward the center in its width direction. The cutting edge 48 uses its tip 48b to scrape the surface Q of the workpiece W.

[0051] The base end 46a of the shank 46 defines the base end of the scraping tool 42, while the front end 48b of the cutting edge 48 defines the front end of the scraping tool 42. The base end 46a of the scraping tool 42 is connected to the base 34 by means of the scraping tool retaining part 38, thereby supporting the scraping tool 42 on the base 34. In this embodiment, the axis A4 is inclined at an angle θ1 relative to the axis A3, and the scraping tool 42 extends in a manner that approaches the scraping tool 44 from its base end 46a toward the front end 48b.

[0052] The scraping tool 44 has the same structure as the scraping tool 42. Specifically, the scraping tool 44 has a shank 50 and a cutting edge 52. The shank 50 is a flexible member that extends in a generally straight line from its base end 50a along the axis A5 to the front end 50b, and the shank 50 is fixed at the base end 50a to the scraping tool holding portion 40.

[0053] The cutting edge 52 extends from its base end 52a along axis A5 to its front end 52b, and the base end 52a of the cutting edge 52 is fixed to the front end 50b of the handle 50. Figure 4 As shown, similar to the cutting edge 48, the tip 52b of the cutting edge 52 is curved outward from both ends in its width direction toward the center. The cutting edge 52 scrapes the surface Q of the workpiece W using its tip 52b.

[0054] The base end 50a of the handle 50 defines the base end of the scraping tool 44, while the front end 52b of the cutting edge 52 defines the front end of the scraping tool 44. The base end 50a of the scraping tool 44 is connected to the base 34 by means of the scraping tool holding part 40, thereby supporting the scraping tool 44 on the base 34.

[0055] In this embodiment, axis A5 is inclined at an angle θ2 relative to axis A3, and scraping tool 44 extends toward scraping tool 42 from its base end 50a toward its front end 52b. Furthermore, the inclination angle θ1 of axis A4 of scraping tool 42 relative to axis A3 is approximately the same as the inclination angle θ2 of axis A5 of scraping tool 44 relative to axis A3 (θ1 = θ2).

[0056] In this way, a pair of scraping tools 42 and 44 are arranged facing each other in the direction of axis A3, extending in such a way that they approach each other from their base ends 46a and 50a toward their front ends 48b and 52b. Moreover, the front ends 48b of scraping tool 42 and the front ends 52b of scraping tool 44 are spaced apart by a distance δ in the direction of axis A3.

[0057] Force sensor 14 is used to detect the pressing force F exerted by the moving mechanism 18 when the scraping tool 42 or 44 is pressed against the surface Q of the workpiece W. For example, force sensor 14 is a six-axis force sensor having a cylindrical body and a plurality of strain gauges (not shown) disposed on the body, which is inserted between the wrist flange 30b and the end effector 20. In this embodiment, force sensor 14 is configured such that its central axis coincides with axis A2 (in other words, it is concentrically arranged with wrist flange 30b and mounting flange 36).

[0058] Control device 16 controls the movements of robot 12. For example... Figure 2 As shown, the control device 16 is a computer having a processor 60, a memory 62, an I / O interface 64, an input device 66, and a display device 68. The processor 60 is communicatively connected to the memory 62, the I / O interface 64, the input device 66, and the display device 68 via a bus 70, and the processor 60 performs calculations for performing scraping processing while communicating with these components.

[0059] The memory 62 includes RAM or ROM, etc., for temporarily or permanently storing various data used in the computational processing performed by the processor 60, as well as various data generated during the computational processing. The I / O interface 64 includes, for example, an Ethernet port, a USB port, a fiber optic connector, or an HDMI terminal, and communicates with external devices via wired or wireless means under instructions from the processor 60. In this embodiment, the force sensor 14 and each servo motor 32 of the motion mechanism 18 are connected to the I / O interface 64 in a communicative manner.

[0060] The input device 66 includes a keyboard, mouse, or touch panel, enabling an operator to input data. The display device 68 includes a liquid crystal display or an organic EL display, which displays various data in a visually verifiable manner under instructions from the processor 60. Furthermore, the input device 66 or the display device 68 can be integrally assembled into the housing of the control device 16, or it can be separately mounted externally within the housing of the control device 16.

[0061] like Figure 1 As shown, a robot coordinate system C1 is established for the moving mechanism 18. The robot coordinate system C1 is a coordinate system used to control the movement of each movable element of the moving mechanism 18, and it is fixed relative to the robot base 22. In this embodiment, the robot coordinate system C1 is established for the moving mechanism 18 such that its origin is located at the center of the robot base 22, and its z-axis coincides with the rotation axis of the rotating body 24.

[0062] like Figure 3 As shown, a tool coordinate system C2 is established for the scraping tool 42. The tool coordinate system C2 is used to define the position and orientation of the scraping tool 42 within the robot coordinate system C1. This tool coordinate system C2 is positioned at a known location relative to the wrist flange 30b. In this embodiment, the tool coordinate system C2 is established for the scraping tool 42 such that the origin (so-called TCP) of the tool coordinate system C2 is located at the center of the front end 48b of the cutting edge 48 when the shank 46 is not bent, and the z-axis of the tool coordinate system C2 is parallel to the axis A4 (or the normal direction of the curved surface of the front end 48b at its center).

[0063] When the scraping tool 42 is moved, the processor 60 of the control device 16 sets the tool coordinate system C2 in the robot coordinate system C1, so that the scraping tool 42 is configured in a position and posture represented by the set tool coordinate system C2, and generates commands (position commands, speed commands, torque commands, etc.) for each servo motor 32 of the moving mechanism unit 18. In this way, the processor 60 positions the scraping tool 42 at any position and posture in the robot coordinate system C1.

[0064] On the other hand, a tool coordinate system C3 is established for the scraping tool 44. The tool coordinate system C3 is a coordinate system used to define the position and orientation of the scraping tool 44 in the robot coordinate system C1. The tool coordinate system C3 is configured at a known position relative to the wrist flange 30b. The tool coordinate system C3 is established for the scraping tool 44 such that the origin (TCP) of the tool coordinate system C3 is configured at the center of the front end 52b of the cutting edge 52 in the unbent state of the shank 50, and the z-axis of the tool coordinate system C3 is parallel to the axis A5.

[0065] When the scraping tool 44 is moved, the processor 60 sets a tool coordinate system C3 in the robot coordinate system C1, so that the scraping tool 44 is configured in a position and posture represented by the set tool coordinate system C3, and generates instructions for each servo motor 32 of the moving mechanism 18. In this way, the processor 60 can position the scraping tool 44 at any position and posture in the robot coordinate system C1.

[0066] A sensor coordinate system C4 is established for the force sensor 14. The sensor coordinate system C4 is a coordinate system used to define the direction of the force acting on the force sensor 14. In this embodiment, the sensor coordinate system C4 is established for the force sensor 14 such that the origin of the sensor coordinate system C4 is located at the center of the force sensor 14, and the z-axis of the sensor coordinate system C4 is consistent with the axis A2.

[0067] exist Figure 5The diagram shows the state in which the moving mechanism 18 presses the tip 48b (or 52b) of the scraping tool 42 (or 44) against the surface Q of the workpiece W. When the moving mechanism 18 presses the tip 48b (52b) of the scraping tool 42 (44) against the surface Q in a direction orthogonal to the surface Q with a pressing force F, the reaction force F' of the pressing force F is applied from the surface Q to the force sensor 14 via the scraping tool 42 (44).

[0068] Each strain gauge of the force sensor 14 sends detection data corresponding to the force acting on the force sensor 14 at this time to the control device 16. The processor 60 calculates the force f and the torque τ in the x-axis, y-axis and z-axis directions of the sensor coordinate system C4 acting on the force sensor 14 at this time based on the detection data received from the force sensor 14 through the I / O interface 64. The processor 60 calculates the magnitude of the reaction force F' acting on the front end 48b (52b) in the direction orthogonal to the surface Q based on the force f, the torque τ and the current state data CD of the scraping tool 44 (or 46).

[0069] The state data CD includes, for example, at least one of the following: the angle θ3 between axis A4 (axis A5) and surface Q; the distance d1 between axis A2 (or the origin of sensor coordinate system C3) and the front end 48b (50b) of scraping tool 42 (44); the distance d2 between axis A2 and the base end 46a (50a) of scraping tool 42 (44); the distance d3 between the base end 46a (50a) of scraping tool 42 (44) and the front end 48b (50b); position data representing the position and orientation of tool coordinate system C2 (C3) in robot coordinate system C1; and deflection data of handle 46 (50) (e.g., deflection amount or elastic modulus). In this way, force sensor 14 detects the reaction force F' as the pressing force F, and control device 16 can determine the magnitude of the pressing force F (reaction force F') based on the detection data of force sensor 14.

[0070] Next, the scraping process performed by robot 12 will be explained. Additionally, workpiece W can also be scraped using its left edge B1 ( Figure 10 The base 34 is positioned in a known location in the robot coordinate system C1, closer to the mobile mechanism 18 (specifically, the robot base 22) than the right edge B2. First, the processor 60 actuates the mobile mechanism 18 to configure the base 34 (i.e., the end effector 20) in a first pose OR1. Figure 6 The image shows the base 34 configured in the first pose OR1 state.

[0071] When the base 34 is configured in the first pose OR1, the tip 48b of the scraping tool 42 is closer to the surface Q of the workpiece W than the tip 52b of the scraping tool 44. Furthermore, the axis A3 of the base 34 is configured approximately parallel to the xz plane of the robot coordinate system C1, and the axis A4 of the scraping tool 42 is at an angle θ3 relative to the surface Q. _1 The axes are tilted and their axes A1, A2 and A3 are approximately orthogonal to each other.

[0072] Next, with the base 34 configured in the first posture OR1, the processor 60 presses the tip 48b of the scraping tool 42 against the surface Q and moves the base 34 (end effector 20) to the right, then separates the tip 48b from the surface Q. As a result, Figure 7 As shown, a recess R1 is formed on surface Q. This recess R1 has a depth in the μm range and functions as the aforementioned "oil accumulation area". Thus, a first scraping process SC1 is performed to form the recess R1 using a scraping tool 42.

[0073] After the first scraping process SC1, the processor 60 actuates the moving mechanism 18 to move the base 34 (end effector 20) from... Figure 6 The first posture shown OR1 is as follows Figure 8 The second posture OR2 rotation is shown. When the base 34 is configured in the second posture OR2, the tip 52b of the scraping tool 44 is closer to the surface Q than the tip 48b of the scraping tool 42. Furthermore, the axis A3 of the base 34 is configured approximately parallel to the xz plane of the robot coordinate system C1, and the axis A5 of the scraping tool 44 is at an angle θ3 relative to the surface Q. _2 The axes are tilted and their axes A1, A2 and A3 are approximately orthogonal to each other.

[0074] Next, with the base 34 configured in the second posture OR2, the processor 60 presses the tip 52b of the scraping tool 44 against the surface Q at a position away from the right of the recess R1, and moves the base 34 (end effector 20) to the left, after which the tip 52b separates from the surface Q. As a result, as... Figure 9 As shown, a recess R2 is formed on surface Q adjacent to the right side of recess R1. Like recess R1, recess R2 has a depth in the μm range. Thus, a second scraping process SC2 is performed to form recess R2 using scraping tool 44.

[0075] Subsequently, the processor 60 repeats the following series of actions: by rotating the base 34 from the second posture OR2 to the first posture OR1, the tip 48b of the scraping tool 42 is pressed against the surface Q and the base 34 is moved to the right to form the recess R. 2m-1(m is a positive integer), the recess R is formed by rotating the base 34 from the first posture OR1 to the second posture OR2, causing the tip 52b of the scraping tool 44 to press against the surface Q and moving the base 34 to the left. 2m The result is as follows: Figure 10 As shown, multiple recesses R1 to R7 can be formed on surface Q, arranged along the x-axis of robot coordinate system C1 from a position near the left edge B1 to a position near the right edge B2 of surface Q.

[0076] exist Figure 11 Another example of scraping processing is shown below. Figure 11 In the example shown, with the base 34 configured in a first posture OR1, the processor 60 presses the tip 48b of the scraping tool 42 against the surface Q near the left edge B1 and moves the base 34 to the right near the right edge B2, then separates the tip 48b from the surface Q. As a result, as... Figure 11 As shown, a recess R1 is formed on surface Q, extending from a position near the left end edge B1 to a position near the right end edge B2. Thus, a first scraping process SC1 is performed to form the recess R1 using a scraping tool 42.

[0077] After the first scraping process SC1, the processor 60 rotates the base 34 from a first posture OR1 to a second posture OR2, pressing the tip 52b of the scraping tool 44 against the surface Q at the rear side of the right end of the recess R1. The processor 60 then moves the base 34 from a position near the right edge B2 to a position near the left edge B1, and then separates the tip 52b from the surface Q. This performs the second scraping process SC2, which forms the recess R2 using the scraping tool 44. As a result, the recess R2, extending from a position near the right edge B2 to a position near the left edge B1, is formed on the surface Q adjacent to the rear side of the recess R1.

[0078] Subsequently, the processor 60 repeats the following series of actions: by rotating the base 34 from the second posture OR2 to the first posture OR1, the tip 48b of the scraping tool 42 is pressed against the surface Q and the base 34 is moved to the right to form the recess R. 2m-1 The recess R is formed by rotating the base 34 from the first position OR1 to the second position OR2, causing the tip 52b of the scraping tool 44 to press against the surface Q and moving the base 34 to the left. 2m Therefore, it is possible to form multiple recesses R1, R2... on surface Q, extending from the left edge B1 to the right edge B2 of surface Q and arranged in the y-axis direction of robot coordinate system C1.

[0079] As mentioned above, in Figure 10 and Figure 11In the example shown, processor 60 scrapes the SC in the 2m-1 step. 2m-1 In the middle, the recess R is formed by pressing the scraping tool 42 against the surface Q and moving it to the right. 2m-1 On the other hand, in the 2m scraping process of SC 2m In the middle, the recess R is formed by pressing the scraping tool 44 against the surface Q and moving it to the left. 2m .

[0080] In this way, the processor 60 alternately switches the scraping tools 42 and 44 by rotating the base 34 between the first posture OR1 and the second posture OR2, thereby forming the recess R using the scraping tool 42. 2m-1 On the other hand, the recess R is formed using the scraping tool 44. 2m For example, the processor 60 can also rotate the wrist 30 about axis A1 by using a servo motor 32 to rotate the wrist 30 relative to the upper arm 28, thereby causing the base 34 to rotate between a first posture OR1 and a second posture OR2.

[0081] Next, refer to Figures 12-18 The control of robot 12 during scraping is further explained in detail. To form a recess R, multiple teaching points TP are set for surface Q. n .exist Figure 12 The diagram shows how the aforementioned recess R is formed. 2m-1 The three teaching points TP are set. n (n = 1, 2, 3). Furthermore, Figure 12 The three teaching points TP shown n For example, any number of teaching points (TPs) can be set (e.g., more than 4). n .

[0082] These teaching points (TP) n This is used to specify the positioning of the front end 48b of the scraping tool 42 (that is, the origin of the tool coordinate system C2: TCP) to form the recess R. 2m-1 The coordinates of the robot's coordinate system C1. During the 2m-1 scraping process SC... 2m-1 At that time, the processor 60 configures the base 34 in a first posture OR1 and begins position control to generate a method for moving the scraping tool 42 to the teaching point TP via the moving mechanism 18. n Position control command PC n .

[0083] Processor 60 follows the position control instruction PC nThe processor 60 actuates each of the servo motors 32 in the moving mechanism section 18, thereby positioning the scraping tool 42 in the sequence of teach points TP1→TP2→TP3. Through this position control, the processor 60 directs the scraping tool 42 (specifically, the front end 48b) along the path defined by the multiple teach points TP1→TP2→TP3. n The specified movement path MP moves.

[0084] Furthermore, in this embodiment, for ease of understanding, it is assumed that the surface Q of the workpiece W is approximately parallel to the xy plane of the robot coordinate system C1, and the direction MD of the movement path MP is approximately parallel to the xz plane of the robot coordinate system C1. Position control command PC n It has a function to specify the movement of the scraping tool 42 (or wrist flange 30b) to the teaching point TP. n The speed V at that time P_n Speed ​​Command PC V_n .

[0085] After position control begins, the processor 60, according to the position control instruction PC1, actuates the moving mechanism 18 to move the scraping tool 42 toward the teach point TP1. When the tip 48b of the scraping tool 42 is positioned at the teach point TP1, as... Figure 13 As shown, the front end 48b moves upward from surface Q.

[0086] When the scraping tool 42 reaches the teach point TP1, the processor 60 begins force control. After force control begins, the processor 60 controls the position of the wrist flange 30b (or the origin of the tool coordinate system C2) of the moving mechanism 18 in a manner based on the detection data of the force sensor 14, so as to control the pressing force F of the moving mechanism 18 that makes the scraping tool 42 press against the surface Q of the workpiece W to a predetermined target value φ.

[0087] Specifically, the processor 60 generates a force control instruction FC in the force control process. This force control instruction FC is used to control the position of the wrist flange 30b of the moving mechanism 18 to control the pressing force F (specifically, the reaction force F') obtained based on the detection data of the force sensor 14 to the target value φ. Then, the processor 60 adds the force control instruction FC to the position control instruction PC. n In the middle, the servo motor 32 of the moving mechanism 18 is activated.

[0088] Therefore, the processor 60 follows the position control instruction PC. n The scraping tool 42 (or wrist flange 30b) is moved along the surface Q in the direction MD of the movement path MP, and the scraping tool 42 (wrist flange 30b) is moved in the direction of approaching or separating from the surface Q (i.e., the z-axis direction of the robot coordinate system C1) according to the force control command FC.

[0089] Force control command FC has speed command FC V The speed command FC V This specifies the speed at which the scraping tool 42 moves along the z-axis of the robot coordinate system C1 in order to achieve the target value φ of the pressing force F. In force control, the processor 60 follows the speed command FC. V The moving mechanism 18 is activated, thereby moving the scraping tool 42 (wrist flange 30b) in the z-axis direction of the robot coordinate system C1.

[0090] When the scraping tool 42 reaches the teach point TP1, the processor 60 generates the speed instruction PC. V_2 PC2 serves as the position control command for moving the scraping tool 42 toward the teach point TP2, and generates the speed command FC. V_0 As a force control command (FC). Figure 13 The diagram schematically illustrates the speed instruction PC generated by the processor 60 when the scraping tool 42 reaches the teach point TP1. V_2 and speed command FC V_0 .

[0091] After the scraping tool 42 reaches the teach point TP1, the processor 60 executes the speed command PC. V_2 The moving mechanism 18 is activated to move the scraping tool 42 toward the teach point TP2 in accordance with the speed command PC. V_2 The corresponding (more specifically, the same) speed V P_2 Move along surface Q in direction MD.

[0092] At the same time, processor 50 generates speed instruction FC V_0 The pressing force F is controlled to the target value φ, and the speed command FC is set accordingly. V_0 Added to the speed command PC for servo motor 32 V_2 In this way, the scraping tool 42 moves in the direction toward surface Q (i.e., downward) at the speed command FC. V_0 The corresponding (more specifically, the same) speed V F_0 Movement. As a result, the moving mechanism 18 causes the scraping tool 42 to move after passing the teaching point TP1. Figure 13 Move along the direction MD' in the middle.

[0093] exist Figure 14 The solid line shows the actual trajectory TR of the scraping tool 16 (specifically, the front end 32a) during the scraping process. After passing the teaching point TP1, the scraping tool 16 moves toward the surface Q along the trajectory TR, which is inclined at an angle θ2 relative to the surface Q, and abuts against the surface Q at position P1.

[0094] Here, when Figure 14When the distances between the teaching point TP1 and position P1 in the robot coordinate system C1 along the x-axis and z-axis are set as distances x1 and z1 respectively, and these distances x1 and z1, and the velocity command PC are... V_2 (speed V) P_2 ) and speed command FC V_0 (speed V) F_0 It satisfies the following equation (1).

[0095] z1 / x1=FC V_0 / PC V_2 =V F_0 / V P_2 …(1)

[0096] Additionally, angle θ4, distances x1 and z1, and velocity command PC. V_2 (speed V) P_2 ) and speed command FC V_0 (speed V) F_0 It satisfies the following equation (2).

[0097] θ4=tan -1 (z1 / x1)=tan -1 (FC V_0 / PC V_2 ) = tan -1 (V F_0 / V P_2 (2)

[0098] Therefore, when assuming the processing conditions MC for scraping are set as x1 = 10 [mm] and z1 = 5 [mm], the angle θ4 ≈ 26.6° can be determined according to equation (2). In this case, the speed V is set as the processing condition MC. P_2 (i.e., speed command PC) V_2 When the value is set to 100 [mm / sec], the velocity V can be calculated according to equation (1). F_0 (i.e., speed command FC) V_0 The value is determined to be 50 [mm / sec]. Thus, the distance x1 and z1, and the speed command PC are appropriately set as machining conditions MC. V_2 (speed V) P_2 ) and speed command FC V_0 (speed V) F_0 This allows the angle θ4 to be controlled within a desired range (e.g., 15° to 35°).

[0099] In addition, processor 60 can also process these processing conditions MC(x1, z1, θ4, V) P_2 PC V_2 V F_0 FC V_0At least one parameter in the process is automatically determined based on other parameters of the processing condition MC input by the operator. For example, suppose the operator operates the input device 66 and inputs x1 = 10 [mm], z1 = 5 [mm], and VP_2 (PCV_2) = 100 [mm / sec] as the processing condition MC. In this case, the processor 60 can automatically determine θ4 = 26.6° and V based on the input data of the processing condition MC and the above equations (1) and (2). F_0 (FC V_0 ) = 50 [mm / sec] as other parameters of the processing condition MC.

[0100] During the period when the scraping tool 42 is in contact with surface Q, the processor 60 moves the scraping tool 42 in the direction MD according to the position control instruction PC2, and generates a speed instruction FC. V_1 The force control command FC is used to control the pressing force F to a target value φ through force control. According to this speed command FC... V_1 Position the wrist flange 30b of the moving mechanism 18 in the z-axis direction of the robot coordinate system C1 in accordance with the velocity command FC. V_1 The corresponding (more specifically, the same) speed V F_1 Displacement is performed.

[0101] Here, the speed command FC is generated during the period when the scraping tool 42 abuts against the surface Q. V_1 (i.e., velocity V) F_1 The maximum value can be set to be higher than the speed command FC generated before the scraping tool 42 comes into contact with the surface Q. V_0 (i.e., velocity V) F_0 Large. In this way, the processor 60 uses the moving mechanism 18 to press the scraping tool 42 with a pressing force F corresponding to the target value φ while moving it to the right along the surface Q, thereby performing scraping processing by scraping the surface Q with the front end 48b of the scraping tool 42.

[0102] When the scraping tool 42 (or wrist flange 30b) reaches the position corresponding to the teaching point TP2, the processor 60 terminates force control. On the other hand, the processor 60 generates a position control command PC3 to move the scraping tool 42 toward the teaching point TP3. Then, the processor 60 causes the robot 12 to move according to the position control command PC3, thereby moving the scraping tool 42 to the upper right toward the teaching point TP3.

[0103] As a result, the scraping tool 42 moves to the upper right along a trajectory TR that is inclined at an angle θ5 (<90°) relative to the surface Q of the workpiece W, and the tip 48b of the scraping tool 42 separates from the surface Q at position P2. Thus, the surface Q is scraped from position P1 to position P2 over the entire distance x2 using the scraping tool 42, completing the 2m-1 scraping process SC. 2m-1 Finish.

[0104] Furthermore, in this embodiment, the coordinates of position P2 in the x-axis direction of the robot coordinate system C1 are assumed to be approximately the same as those of the teaching point TP2. Then, the scraping tool 42 reaches the teaching point TP3 (or a position directly below it). The second m-1 scraping process SC is then performed in this manner. 2m-1 A recess R of length x2 is formed on surface Q, which has a robot coordinate system C1. 2m-1 .

[0105] Processor 60 is processed by scraping SC with the 2m-1. 2m-1 The same method is used to form the aforementioned recess R. 2m 2m scraping process SC 2m Specifically, such as Figure 15 As shown, a recess R is formed along surface Q. 2m 3 teaching points TP n (n = 1, 2, 3). In this embodiment, Figure 15 The image shown is used to form the recess R. 2m Teaching point TP n and Figure 12 The image shown is used to form the recess R. 2m-1 Teaching point TP n Symmetrical with respect to a plane parallel to the yz plane of the robot coordinate system C1.

[0106] Furthermore, the processor 60 performs SC scraping processing in the 2m stage. 2m In the process of scraping SC as described above in step 2m-1 2m-1 Similarly, position control and force control are performed. Specifically, processor 60 performs scraping of SC in the 2m-1 step. 2m-1 Chinese scraping tool 42 arrived Figure 14 After teaching point TP3, the base 34 is rotated to the second posture OR2, and position control is initiated to generate a position for moving the front end 52b of the scraping tool 44 (origin of tool coordinate system C3: TCP) to the position indicated by the moving mechanism 18. Figure 15 The teaching point TP shown n Position control command PC n .

[0107] Then, the processor 60 reaches the scraping tool 44. Figure 15 When the teaching point TP1 is shown, force control is started to generate a force control command FC. This force control command FC is used to control the position of the wrist flange 30b of the moving mechanism 18 to control the pressing force F (reaction force F') obtained based on the detection data of the force sensor 14 to the target value φ.

[0108] During the period when the scraping tool 44 abuts against surface Q, the processor 60 moves the scraping tool 44 along the direction MD according to the position control command PC2, and displaces the position of the wrist flange 30b of the moving mechanism 18 in the z-axis direction of the robot coordinate system C1 according to the force control command FC. Then, when the scraping tool 44 (or wrist flange 30b) reaches the surface Q, the processor 60 moves the scraping tool 44 along the direction MD according to the position control command PC2, and displaces the position of the wrist flange 30b of the moving mechanism 18 in the z-axis direction of the robot coordinate system C1. Figure 15 When the position corresponding to the teaching point TP2 is reached, the processor 60 terminates force control and generates a position control instruction PC3 to move the scraping tool 44 toward the teaching point TP3.

[0109] Through this position and force control, the processor 60 directs the tip 52b of the scraping tool 44 along... Figure 16 The trajectory TR shown is moved. Thus, the scraping tool 44 moves surface Q from [location] over the entire range of distance x2. Figure 16 The material is scraped from position P1 to position P2 to form a recess R with a length x2 on surface Q. 2m .

[0110] In addition, processor 60 can also complete the SC scraping process at the end of the 2m-1 step. 2m-1 Time (that is, when the scraping tool 42 reaches) Figure 14 When the teaching point TP3 is reached, the base 34 is rotated to the second posture OR2, and then the second m scraping process SC begins. 2m Position control, thereby initiating the movement of the scraping tool 44 toward the next recess R. 2m And set Figure 15 The action of moving the teaching point TP1 in the diagram.

[0111] Similarly, processor 60 can also finish the 2m scraping process SC. 2m Time (that is, when the scraping tool 44 reaches) Figure 16 When the teaching point TP3 is reached, the base 34 is rotated to the first posture OR1, and then the next scraping process SC begins. 2m-1 Position control, thereby initiating the movement of the scraping tool 42 toward the next recess R. 2m-1 And set Figure 12 The action of moving the teaching point TP1 in the diagram.

[0112] Alternatively, processor 60 can also complete the SC scraping process at the end of the 2m-1 step. 2m-1 At that time, the 2m scraping process of SC began.2m Position control, in order to move the scraping tool 44 in the direction Figure 15 During the movement of the teaching point TP1, the base 34 is rotated from the first posture OR1 to the second posture OR2.

[0113] Similarly, processor 60 can also finish the 2m scraping process SC. 2m At that time, the next scraping process SC begins. 2m-1 Position control, in order to move the scraping tool 42 towards Figure 12 During the movement of the teaching point TP1, the base 34 is rotated from the second posture OR2 to the first posture OR1. In this case, the processor 60 executes in parallel actions to move the scraping tool 42 or 44 to the next teaching point TP. n The movement of the base 34 and the rotation of the base 34 around axis A1.

[0114] exist Figure 17 The diagram illustrates the formation of Figure 10 The time-varying characteristics of the pressing force F during the scraping process SC of the recesses R1 to R7 shown. For example... Figure 17 As shown, after the processor 60 brings the scraping tool 42 or 44 to position P1 against surface Q, the pressing pressure F rises sharply to reach its peak value. P Subsequently, the pressing force F decreases sharply as the scraping tool 42 or 44 approaches the teaching point TP2, and becomes zero when the scraping tool 42 or 44 separates from the surface Q at position P2.

[0115] Here, Figure 10 The length x2 of the recesses R1 to R7 is relatively short; therefore, the distance (x1+x2) between teaching point TP1 and teaching point TP2 is set to be relatively short. In this case, before the pressing pressure F reaches the target value φ of force control (or at the point of reaching it), the processor 60 moves the scraping tool 42 or 44 upward. Therefore, in this embodiment, the peak value F... P For the target value F T the following.

[0116] On the other hand, Figure 18 The diagram illustrates the formation of Figure 11 The time-varying characteristics of the pressing force F during the scraping process SC of the recesses R1 and R2 shown are illustrated. Figure 18 As shown, after the processor 60 causes the scraping tool 42 or 44 to abut against the surface Q at position P1, the pressing pressure F increases sharply to reach the target value φ.

[0117] Subsequently, while controlling the position of the wrist flange 30b through force control to maintain the pressing force F at the target value φ, the processor 60 moves the scraping tool 42 or 44 in the direction MD through position control. Furthermore, the pressing force F decreases sharply as the scraping tool 42 or 44 approaches the teach point TP2, becoming zero when the scraping tool 42 or 44 separates from the surface Q at position P2. The processor 60 controls the pressing force F to a target value φ through force control. Figure 17 or Figure 18 The size shown.

[0118] Furthermore, the processor 60 can also continue to perform force control in parallel with position control after the scraping tool 42 or 44 passes the teach point TP1 and before it reaches the teach point TP3. In this case, as the scraping tool 42 or 44 approaches the teach point TP2, position control takes precedence over force control, and the processor 60 causes the scraping tool 42 or 44 (wrist flange 30b) to move in a direction away from the surface Q (i.e., upward) before reaching the position corresponding to the teach point TP2.

[0119] Then, the processor 60 causes the scraping tool 42 or 44 to separate from the surface Q at position P2 and move towards the teaching point TP3 along a trajectory TR inclined in such a way as to form an angle θ5. In this case, position P2 is more towards the teaching point TP3 than teaching point TP2 (i.e., Figure 14 On the right side, or Figure 16 The left side) is offset, and the endpoint of the trajectory TR of the front end 48b of scraping tool 42 or the front end 52b of scraping tool 44 is located below the teaching point TP3. In this case, it is also possible to... Figure 17 or Figure 18 Control the pressing force F as shown.

[0120] As described above, in this embodiment, the robot 12 has: a pair of scraping tools 42 and 44 that extend in such a way as they approach each other from the base ends 46a and 48a toward the front ends 48b and 52b; and a moving mechanism 18 that causes the base 34 to rotate between a first posture OR1 and a second posture OR2.

[0121] According to this structure, the scraping tools 42 and 44 can be switched by rotating the base 34 between the first posture OR1 and the second posture OR2, thereby enabling the scraping tool 42 to form the recess R. 2m-1 On the other hand, the recess R is formed using the scraping tool 44. 2m Therefore, it is possible to shorten the time required to form one recess R. 2m-1 2m-1 scraping process SC 2m-1 At the end, it forms the next recess R. 2m 2m scraping process SC2m The time from the start to the end allows for the continuous and efficient formation of multiple recesses R on the surface Q. As a result, the scraping cycle time can be shortened, thus increasing productivity.

[0122] Furthermore, in this embodiment, the base 34 extends along axis A3 (first axis), and a pair of scraping tools 42 and 44 are arranged facing each other in the direction of axis A3. Moreover, the moving mechanism 18 rotates the base 34 about axis A1 (second axis), which is orthogonal to axis A3. According to this structure, the posture OR of the base 34 can be switched quickly and with high precision between a first posture OR1 and a second posture OR2.

[0123] Furthermore, in this embodiment, the pair of scraping tools 42 and 44 are configured to be symmetrical about each other with respect to an axis A2 (third axis) orthogonal to axes A1 and A3. According to this structure, the angle by which the base 34 rotates about axis A1 is the same when switching the posture OR of the base 34 between a first posture OR1 and a second posture OR2.

[0124] This minimizes the movement of the base 34 during posture OR switching, thus shortening the scraping cycle time and simplifying the control for posture OR switching. Furthermore, it ensures that the torque applied to the wrist 30 during posture OR switching at the base 34 is consistent, thereby enabling high-precision control of the end effector 20's posture.

[0125] In addition, processor 60 can also be formed Figure 10 Following the recess R7 shown, a second row of recesses R8 to R7 are continuously formed on the rear side of the first row of recesses R1 to R7. 14 . Reference Figure 19 To illustrate this scraping process, after the processor 60 forms the recess R7 using the scraping tool 42, it rotates the base 34 from the first position OR1 to the second position OR2, and forms the recess R8 adjacent to the rear side of the recess R7 using the scraping tool 44.

[0126] Subsequently, while switching the orientation of the base 34 between a first orientation OR1 and a second orientation OR2, the processor 60 uses the scraping tool 42 to form a recess R. 2m-1 On the other hand, the recess R is formed using the scraping tool 44. 2m Therefore, as Figure 20 As shown, on the rear side of the first row of recesses R1 to R7, the second row of recesses R8 to R7 are formed sequentially from the right end edge B2 toward the left end edge B1. 14 For these recesses R1 to R 14 Center, concave part R 2m-1 set up Figure 12The teaching points TP1 to TP3 are shown. On the other hand, for the concave portion R... 2m set up Figure 15 The teaching points TP1 to TP3 are shown. The processor 60 forms the recesses R1 to R3 by executing the position control and force control described above. 14 .

[0127] In addition, such as Figure 21 As shown, when the recess R6 is adjacent to the right edge B2, after the processor 60 forms the recess R6 using the scraping tool 44, it rotates the base 34 from the second posture OR1 to the first posture OR1 and forms the recess R7 using the scraping tool 42 in a manner adjacent to the rear side of the recess R6.

[0128] Subsequently, while switching the orientation of the base 34 between a first orientation OR1 and a second orientation OR2, the processor 60 uses the scraping tool 42 to form a recess R. 2m-1 On the other hand, the recess R is formed using the scraping tool 44. 2m Therefore, as Figure 22 As shown, on the rear side of the first row of recesses R1 to R6, the second row of recesses R7 to R6 are formed sequentially from the right end edge B2 toward the left end edge B1. 12 .

[0129] Furthermore, the processor 60 can also form the recess R by moving the scraping tool 44 to the left while switching the posture of the base 34 between the first posture OR1 and the second posture OR2. 2m-1 On the other hand, the recess R is formed by moving the scraping tool 42 to the right. 2m The processor 60 automatically executes the aforementioned scraping process SC according to the computer program PG. This computer program PG may also be provided in the form of a memory 62 recorded on a computer-readable recording medium such as a semiconductor memory, magnetic recording medium, or optical recording medium.

[0130] Next, refer to Figures 23-25 To illustrate another embodiment of the robot system 80, we will now describe a robot system 80. The robot system 80 differs from the robot system 10 described above in that it also includes a cleaning device 82. The cleaning device 82 has a fluid device 84 and a hose 86. For example, the fluid device 84 is an electric pump that supplies or draws in fluid (e.g., compressed gas). One end of the hose 86 is connected to the fluid device 84, and the other end of the hose 86 has an opening 88. The fluid device 84 supplies fluid to the hose 86 and sprays the fluid to the outside through the opening 88. Alternatively, the fluid device 84 draws in external gas through the opening 88.

[0131] On the other hand, such as Figure 25As shown, a mounting member 90 is provided on the robot 12. The mounting member 90 has a rod 92 and a retaining ring 94 fixedly disposed at the front end of the rod 92. The base end of the rod 92 is fixed to a movable element of the moving mechanism 18 (e.g., upper arm 28 or wrist 30) or an end effector 20 (e.g., base 34).

[0132] The hose 86 of the cleaning device 82 is fixed inside the retaining ring 94. The retaining ring 94 holds the hose 86 in such a way that the opening 88 of the hose 86 is positioned between the front ends 48b of a pair of scraping tools 42 and the front end 52b of a pair of scraping tools 44 and toward the front ends 48b and 52b.

[0133] During the scraping process SC performed by the scraping tools 42 or 44, the processor 60 activates the fluid device 84 to blow away the chips generated by the scraping process by ejecting fluid from the opening 88, or to draw the chips generated by the scraping process into the hose 86 through the opening 88 by drawing in external gas. This cleaning device 82 prevents the chips generated during the scraping process from adhering to the scraping tools 42 or 44, thus improving the processing quality.

[0134] Next, refer to Figure 26 To illustrate another embodiment of the end effector 100, the end effector 100 can be detachably mounted to the wrist flange 30b using a force sensor 14, replacing the end effector 20 described above. The end effector 100 differs from the end effector 20 described above in the following structure.

[0135] Specifically, in the end effector 100, scraping tool holding portions 38 and 40 are respectively provided on the base 34 in a manner that allows them to move in the direction of axis A3. For example, a guide rail (not shown) extending in the direction of axis A3 is provided on the bottom surface 34b of the base 34, and the scraping tool holding portions 38 and 40 each have an engaging portion on their upper surface that allows them to engage with the guide rail in a slidable manner. Thus, the scraping tool holding portions 38 and 40 engage with the base 34 in a manner that allows them to slide in the direction of axis A3.

[0136] Furthermore, the scraping tool 42 is held in the scraping tool holder 38 such that the base end 46a of the shank 46 can rotate about axis A6. Similarly, the scraping tool 44 is held in the scraping tool holder 40 such that the base end 50a of the shank 50 can rotate about axis A7. Axis axes A6 and A7 are parallel to each other and orthogonal to axis A3. Thus, the scraping tool 42 is rotatably mounted on the base 34 via the scraping tool holder 38, and the scraping tool 44 is rotatably mounted on the base 34 via the scraping tool holder 40.

[0137] Additionally, the end effector 100 also includes scraping tool drive units 102, 104, and 106. The scraping tool drive unit 102, for example, has a servo motor and is fixed to the base 34. The scraping tool drive unit 102 moves synchronously with the scraping tool holding units 38 and 40 in a manner that brings them closer together or separates them from each other, according to instructions from the control device 16.

[0138] More specifically, a ball screw mechanism (not shown) is provided inside the base 34, and the scraping tool drive unit 102 can operate this ball screw mechanism to cause the scraping tool holding units 38 and 40 (i.e., scraping tools 42 and 44) ​​to move synchronously in a manner that brings them closer to or separates from each other. This allows the distance δ between the tip 48b of the scraping tool 42 and the tip 52b of the scraping tool 44 to vary.

[0139] On the other hand, the scraping tool drive unit 104 has, for example, a servo motor, which is fixed to the scraping tool holding unit 38. The scraping tool drive unit 104 rotates the scraping tool 42 about axis A6 according to the command from the control device 16, thereby enabling the angle θ1 of axis A4 relative to axis A3 to change.

[0140] Similarly, the scraping tool drive unit 106 has, for example, a servo motor, which is fixed to the scraping tool holding unit 40. The scraping tool drive unit 106 rotates the scraping tool 44 about axis A7 according to the command from the control device 16, thereby enabling the angle θ2 of axis A5 relative to axis A3 to change.

[0141] As an example, the operator can also operate the input device 66 to input the interval δ as the processing condition MC. In this case, the processor 60 actuates the scraping tool drive unit 102 to automatically configure the scraping tool holding units 38 and 40 such that the interval between the front ends 48b and 52b is the input interval δ.

[0142] As another example, the operator can also operate the input device 66 to input angles θ1 and θ2 as machining conditions MC. In this case, the processor 60 actuates the scraping tool drive units 104 and 106 to rotate the scraping tools 42 and 44 respectively, in accordance with the input angles θ1 and θ2.

[0143] As another example, the operator can also operate the input device 66 to input the angles θ1 and θ2 in the machining conditions MC. Figure 5 The angle θ3 shown (specifically, Figure 6 Angle θ3 in _1 and Figure 8 Angle θ3 in _2The parameters are: θ6, the angle θ6 used to rotate the base 34 between the first posture OR1 and the second posture OR2; the aforementioned interval δ; and at least one parameter MC1 among the dimensions DM of the scraping tools 42 and 44 (e.g., the length of the cutting edge 48 in the direction of axis A4 and the length of the cutting edge 52 in the direction of axis A5).

[0144] Then, the processor 60 can also automatically determine the input parameters MC2 other than parameter MC1 in the processing conditions MC based on parameter MC1. For example, the operator inputs angle θ3 and dimension DM as parameter MC1. Based on the input parameter MC1, the processor 60 automatically determines angles θ1 and θ2, angle θ6, and interval δ as parameter MC2. The processor 60 moves the scraping tools 42 and 44 via the scraping tool drive unit 102 in such a way that the determined angles θ1, angle θ2, and interval δ are obtained, and rotates the scraping tools 42 and 44 via the scraping tool drive units 104 and 106.

[0145] In this case, a data table DT1, which associates parameters MC1 (e.g., angle θ3, dimension DM) with parameters MC2 (e.g., angle θ1 or θ2, angle θ6, interval δ), can be pre-stored in memory 62. The processor 60 can automatically determine the parameter MC2 by searching the data table DT1 for the parameter MC2 corresponding to the input parameter MC1.

[0146] Furthermore, the processor 60 can also determine the parameter MC2 based on the input parameter MC1 in a manner that minimizes the angle θ6. According to this structure, the amount of movement required for the base 34 to rotate between the first posture OR1 and the second posture OR2 during scraping can be reduced, thus shortening the cycle time. Additionally, the processor 60 can also generate image data for an input screen used by the operator to input processing conditions MC and display this image data on the display device 68.

[0147] As described above, in this embodiment, a pair of scraping tools 42 and 44 are movably disposed on the base 34 with a variable spacing δ. Furthermore, the scraping tools 42 and 44 are rotatably disposed on the base 34. According to this structure, the configuration of the scraping tools 42 and 44 can be adjusted in detail according to the application by appropriately setting the processing conditions MC (angles θ1 and θ2, spacing δ).

[0148] Furthermore, the processor 60 can also rotate the scraping tool 42 or 44 relative to the base 34 when performing the scraping process SC using the end effector 100. (See reference...) Figure 27 To illustrate this function. Figure 27In the example shown, a protrusion E protruding upward from surface Q is formed on surface Q. In such a case, when performing a scraping process by scraping surface Q to the left using scraping tool 44, another scraping tool 42 may interfere with the protrusion E.

[0149] To avoid such interference, when the processor 60 performs scraping processing using the scraping tool 44, it uses the position data of the protrusion E in the robot coordinate system C1 to move the scraping tool drive unit 104, thereby causing the scraping tool 42 to rotate in a way that avoids the protrusion E, thus preventing interference between the scraping tool 42 and the protrusion E.

[0150] Alternatively, either scraping tool 42 or 44 may be movably disposed on the base 34, while the other scraping tool 42 or 44 may be fixed to the base 34. For example, if only scraping tool 42 is movably disposed on the base 34 along axis A3, the processor 60 may also, when performing scraping with scraping tool 44, actuate scraping tool drive unit 102 based on position data of protrusion E in robot coordinate system C1, thereby causing scraping tool 42 to move in a manner that avoids protrusion E, thereby preventing interference between scraping tool 42 and protrusion E.

[0151] Alternatively, in the end effector 100, one of the scraping tools 42 and 44 may be rotatably disposed on the base 34, while the other scraping tool 42 and 44 may be fixed to the base 34 in a non-rotatable manner. For example, the scraping tool 42 may be rotatably disposed on the scraping tool holder 38, while the scraping tool 44 may be fixed to the scraping tool holder 40 in a non-rotatable manner with its axis A5 inclined at an angle θ2 relative to the axis A3.

[0152] Furthermore, the cutting edge 48 of the scraping tool 42 and the cutting edge 52 of the scraping tool 44 may have different dimensions DM. For example, the width of the cutting edge 48 in the direction orthogonal to axis A4 may be smaller (or larger) than the width of the cutting edge 52 in the direction orthogonal to axis A5. In this case, the recess R formed by the scraping tool 42 2m-1 The width is less than (or greater than) the recess R formed by the scraping tool 44 2m The width.

[0153] Alternatively, the processor 60 can also be formed using the scraping tool 42 as a roughing process. Figure 10 After all the recesses R1 to R7 are shown, as a finishing process, the scraping tool 44 is moved from the right end edge B2 to the left end edge B1 in a manner that passes over the recesses R1 to R7, thereby forming a layer on the recesses R1 to R7. Figure 11Recess R2 shown.

[0154] According to this structure, the processor 60 can use the scraping tools 42 and 44 separately to continuously perform roughing and finishing. In addition, the width of the cutting edge 48 of the scraping tool 42 for roughing can be smaller than (or larger than) the width of the cutting edge 52 of the scraping tool 44 for finishing.

[0155] Furthermore, in the above embodiments, it is described that the pair of scraping tools 42 and 44 extend in a manner that approaches each other from the base ends 46a and 50a toward the front ends 48b and 52b. However, the pair of scraping tools 42 and 44 may also extend in a manner that separates each other from the base ends 46a and 50a toward the front ends 48b and 52b.

[0156] exist Figure 28 This method is shown in the diagram. Figure 28 The end effector 20' shown differs from the end effector 20 described above in that the positions of the scraping tool holder 38 and the scraping tool 42 are interchanged with the positions of the scraping tool holder 40 and the scraping tool 44. In this end effector 20', the pair of scraping tools 42 and 44 extend in a manner that separates from each other as they move from the base ends 46a and 50a toward the front ends 48b and 52b.

[0157] A pair of scraping tools 42 and 44 can also be configured to be symmetrical about axis A2. In this end effector 20', the processor 60 can rotate the base 34 between a first posture OR1 and a second posture OR2 by actuating the moving mechanism 18. The first posture OR1 is when the tip 48b of the scraping tool 42 is closer to the surface Q of the workpiece W than the tip 52b of the scraping tool 44, and the second posture OR2 is when the tip 52b of the scraping tool 44 is closer to the surface Q of the workpiece W than the tip 48b of the scraping tool 42.

[0158] Furthermore, in the end effector 20', similar to the end effector 100 described above, the scraping tools 42 and 44 can also be provided in the base 34 in a manner that allows them to move in the direction of axis A3. Additionally, the scraping tools 42 and 44 can also be provided in the base 34 in a rotatable manner. In this case, the end effector 20' may also include the scraping tool drive units 102, 104, and 106 described above.

[0159] Furthermore, in the above embodiment, the wrist portion 30 (i.e., the end effector 20) is described as being rotatable about axis A1 and positioned at the front end of the upper arm portion 28. However, the wrist portion 30 may also be fixed to the front end of the upper arm portion 28 in a non-rotatable manner. In this case, the processor 60 rotates the base 34 between the first posture OR1 and the second posture OR2 by moving the rotating body 24, the lower arm portion 26, and the upper arm portion 28.

[0160] Additionally, the end effectors 20, 20', or 100 may also have scraping tools in addition to scraping tools 42 and 44. For example, the end effectors 20, 20', or 100 may also have a first pair of scraping tools 42A and 44A, and a second pair of scraping tools 42B and 44B arranged facing each other in a direction orthogonal to axes A3 and A2.

[0161] Furthermore, the aforementioned end effectors 20, 20', and 100 are just one example; other various configurations can also be considered. For instance, the base 34, scraping tools 42 and 44 can also be configured to extend along a common arc axis. In this case, the assembly of the base 34, scraping tools 42 and 44 has a generally C-shaped shape.

[0162] Furthermore, in the above embodiments, the processor 60 was described as performing position control and force control in parallel during the scraping process SC. However, the processor 60 can also perform the scraping process SC by performing only position control. In this case, multiple teaching points TP can be appropriately set for the surface Q of the workpiece W. n , come like Figure 17 or Figure 18 The pressing pressure F during the scraping process is controlled as shown. In this case, the force sensor 14 can be omitted from the robot system 10 or 80.

[0163] Force sensor 14 can be inserted between the work chamber and the robot base 22, or it can be disposed at any part of the robot 12. Furthermore, force sensor 14 is not limited to being disposed on the robot 12; it can also be disposed on the workpiece W side. For example, the pressing force F can be detected by inserting force sensor 14 between the workpiece W and the mounting surface on which the workpiece W is placed. Additionally, force sensor 14 is not limited to a six-axis force sensor; it can be a single-axis or three-axis force sensor, or any sensor capable of detecting the pressing force F.

[0164] Furthermore, robot 12 is not limited to a vertical multi-joint robot; for example, it can be any type of robot such as a horizontal multi-joint robot, a parallel linkage robot, or a movement mechanism with multiple ball screw mechanisms. The present disclosure has been described above through embodiments, but the above embodiments do not limit the invention as defined in the claims.

[0165] Explanation of reference numerals in the attached figures

[0166] 10, 80: Robot system; 12: Robot; 14: Force sensor; 16: Control device; 18: Moving mechanism; 20, 20', 100: End effector; 34: Base; 42, 44: Scraping tool; 60: Processor; 82: Cleaning device.

Claims

1. A robot for performing scraping operations, the scraping operation being used to scrape the surface of a workpiece to make it flat, said robot comprising: Base; A pair of scraping tools are disposed on the base in a manner facing each other. Each pair of scraping tools has a base end connected to the base and a front end for scraping the surface. The pair of scraping tools extend in a manner that they approach or separate each other from the base end toward the front end. as well as A movable mechanism rotates the base between a first posture and a second posture, wherein the first posture is in which one of the pair of scraping tools is closer to the surface than the other, and the second posture is in which the other tool is closer to the surface than the first tool. The pair of scraping tools each have: A handle portion is provided at the base portion, defining the base end; as well as The cutting edge, which is fixed immovably to the handle, defines the front end.

2. The robot according to claim 1, wherein, The base extends along the first axis. The pair of scraping tools are configured to face each other in the direction of the first axis. The moving mechanism causes the base to rotate about a second axis orthogonal to the first axis.

3. The robot according to claim 2, wherein, The pair of scraping tools are configured to be symmetrical about each other with respect to a third axis orthogonal to the first axis and the second axis.

4. The robot according to any one of claims 1 to 3, wherein, At least one of the pair of scraping tools is movably disposed on the base in such a way that the spacing between the pair of scraping tools is variable.

5. The robot according to any one of claims 1 to 3, wherein, At least one of the pair of scraping tools is rotatably disposed on the base.

6. The robot according to claim 4, wherein, At least one of the pair of scraping tools is rotatably disposed on the base.

7. A robot system comprising: The robot according to any one of claims 1 to 6; and Control device, which controls the robot in, The control device controls the moving mechanism unit such that: With the base configured in the first posture, the front end of one side is pressed against the surface and the base is moved in a first direction, thereby performing the first scraping process. After the first scraping process, the base is rotated from the first position to the second position. With the base configured in the second posture, the front end of the other party is pressed against the surface and the base is moved in a second direction opposite to the first direction, thereby performing the second scraping process.

8. The robot system according to claim 7, wherein, It also includes a cleaning device having an opening disposed between the front ends of the pair of scraping tools, the cleaning device sucking up chips generated by the scraping process through the opening or blowing away chips generated by the scraping process by ejecting fluid from the opening.

9. A method of performing scraping processing using a robot according to any one of claims 1 to 6, the scraping processing being used to scrape the surface of a workpiece to make it flat, wherein in this method, The processor controls the moving mechanism such that: With the base configured in the first posture, the front end of one side is pressed against the surface and the base is moved in a first direction, thereby performing the first scraping process. After the first scraping process, the base is rotated from the first position to the second position. With the base configured in the second posture, the front end of the other party is pressed against the surface and the base is moved in a second direction opposite to the first direction, thereby performing the second scraping process.

10. A computer program product comprising a computer program for causing a processor according to claim 9 to perform the method according to claim 9.

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