Robot operating devices and robots

Abstract

A robot operating device (1) is mounted on a robot having a long tool (170) fixed to a flange (160) at its front end. The robot operating device (1) includes: a handle (3) having an inner hole through which the tool (170) passes and being able to be held by one hand of an operator in the form of surrounding the long axis (Y) of the tool (170); and a sensor (5) that mounts the handle (3) to the flange (160) and detects the force or torque applied to the handle (3) by the operator. The robot is able to perform actions by guidance control, which changes position and orientation based on the force or torque detected by the sensor (5).

Description

Technical Field

[0001] This disclosure relates to a robot operating device and a robot. Background Technology

[0002] A robot operating device is known in which an operator applies force to the robot to perform actions through guided control (e.g., see Patent Document 1).

[0003] The robot's operating device includes a handle mounted to the front end of the robot arm via a force sensor. The force sensor detects the force applied to the handle, and the robot moves according to the magnitude and direction of the detected force. The handle is arranged along a plane spaced apart from and parallel to the central axis of the robot's flange.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-34412 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] When using such a handle for guided control to position the tip of a long tool, such as a hand or welding torch, positioned along the central axis of a flange, it is difficult for the operator to gain a direct feel for operating the tool. That is, the operator holding the handle feels like remotely operating the tool, thus requiring a certain level of skill to precisely position the tool tip at the desired location and angle. Therefore, it is desirable to guide the robot's movements using guided control, providing a feeling of directly operating a long tool fixed to the flange.

[0009] Solution for solving the problem

[0010] One aspect of this disclosure is a robotic manipulator mounted on a robot, the robot having an elongated tool fixed to a flange at its front end, comprising: a handle having an inner hole through which the tool passes and capable of being held by an operator's hand in a configuration surrounding the long axis of the tool; and a sensor mounted on the flange and detecting forces or torques applied to the handle by the operator, the robot being able to perform actions via guided control, the guided control changing position and orientation based on the forces or torques detected by the sensor. Attached Figure Description

[0011] Figure 1 This is a perspective view of a robot illustrating one embodiment of the present disclosure.

[0012] Figure 2 This partially illustrates a robot operating device having one embodiment of the present disclosure. Figure 1 The front view of the robot after a section has been cut out.

[0013] Figure 3 It is shown Figure 1 A side view of the robot's operating device.

[0014] Figure 4 It is shown in Figure 1 A partial 3D view of the robot's main body flange with a welding torch mounted on it using an adapter.

[0015] Figure 5 It is shown in Figure 4 A partial 3D view of the adapter with the bracket installed.

[0016] Figure 6 It is shown in Figure 5 A partial 3D view of the bracket with the second handle installed.

[0017] Figure 7 It is shown in Figure 6 The bracket is equipped with sensors, and a partial 3D view shows the status of the first handle.

[0018] Figure 8 It shows that the workers are holding Figure 7 A partial 3D view of the state of the first and second handles.

[0019] Figure 9 It is shown Figure 2 The front view of a modified example of a robot using an operating device after a section has been cut out.

[0020] Figure 10 It is shown Figure 9 A side view of the robot's operating device.

[0021] Figure 11 It is shown Figure 2 A perspective view of another variation of the robot's operating device. Detailed Implementation

[0022] Hereinafter, a robot operating device 1 and a robot 100 according to one embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0023] like Figure 1 As shown, the robot 100 of this embodiment includes a robot body (robot) 101 and a robot operation device 1 installed on the robot body 101. A control device 102 for controlling the robot body 101 is connected to the robot body 101.

[0024] like Figure 1 As shown, the robot body 101 is, for example, a vertical six-axis multi-joint robot, comprising: a base 110 disposed on a surface such as the ground; and a rotating body 120 supported on the base 110 in a manner that enables it to rotate about a first axis A.

[0025] In addition, the robot body 101 includes: a first arm 130, which is supported on the rotating body 120 in a manner that allows it to rotate about a second axis B; and a second arm 140, which is supported on the first arm 130 in a manner that allows it to rotate about a third axis C. Moreover, the robot body 101 includes a three-axis wrist unit 150 supported on the front end of the second arm 140.

[0026] like Figure 2 and Figure 3 As shown, the wrist unit 150 has a flange 160 that is rotatable about the foremost rotation axis (sixth axis) X. The foremost wrist element 151 of the robot body 101 is hollow, and the flange 160 is also formed as an annular shape with an inner hole 160a. Furthermore, the diagram of the mechanism for rotating the flange 160 about the rotation axis X is omitted.

[0027] The control device 102 controls the robot body 101 according to the taught action program. In addition, when instructed to perform guided control, the control device 102 can move the position and posture of the robot body 101 according to the magnitude and direction of the force or torque detected by the sensor 5, as described later.

[0028] An annular adapter 161 with an inner hole 161a is fixed to the flange 160 of the robot body 101. The adapter 161 is a relay component for mounting the tool and the bracket 2 (described later) to the flange 160.

[0029] Tools, for example, are long tools like a welding torch 170, such as... Figure 4 As shown, the tool is fixed to the flange 160 using the adapter 161.

[0030] The welding torch 170 comprises: a tubular welding torch body 171, which bends in one direction at a midpoint along its length; a generally cylindrical neck support 172 connected to the base end of the welding torch body 171; and a guide tube 173 connected to the base end of the neck support 172. The neck support 172 has an outer diameter larger than that of the welding torch body 171.

[0031] The guide tube 173, neck support 172, and welding torch body 171 have an inner hole (not shown) through which the welding wire 180 passes along its length. The welding torch 170 welds the workpiece by causing the welding wire 180, which passes through the inner hole, to protrude from the front end of the welding torch body 171 and generate an electric arc between the welding wire 180 and the workpiece.

[0032] In this embodiment, such as Figure 2 As shown, the welding torch 170 allows the guide tube 173, which is connected to the base end side of the neck support 172, to pass through the inner hole 161a of the adapter 161 and the inner hole 160a of the flange 160, and fixes the base end side of the neck support 172 to the adapter 161. Thus, the welding torch body 171 is configured such that a portion of its long axis Y, connected to the neck support 172, is positioned coaxial with the rotation axis X of the flange 160.

[0033] like Figure 2 and Figure 3 As shown, the robot operating device 1 includes: a bracket 2, which is detachably mounted on a flange 160 via an adapter 161; and a first handle (handle) 3, a second handle 4, and a sensor 5, which are detachably mounted on the bracket 2.

[0034] The bracket 2 has two legs 6 extending parallel to the rotation axis X at a position radially separated from the neck bracket 172. The base end of each leg 6 is detachably mounted to the adapter 161, and the front ends of the two legs 6 are connected by a first mounting part 7. In addition, a second mounting part 8 is disposed near the base end of the two legs 6.

[0035] The first mounting portion 7 is formed as an annular shape with an inner hole 7a, the inner hole 7a having an inner diameter capable of inserting the front end of the neck bracket 172. The foot portion 6 has a length approximately equal to the axial length of the neck bracket 172, such as... Figure 5 As shown, by fixing the base end to the adapter 161, the first mounting part 7 can be positioned near the base end of the welding torch body 171. The second mounting part 8 is the part that fixes the second handle 4 to the base end of the bracket 2.

[0036] Sensor 5 is a six-axis sensor capable of detecting forces along three orthogonal axes and torques around those three axes, such as... Figure 2 As shown, the sensor 5 is formed in an annular shape with an inner hole 5a, the inner hole 5a being large enough to allow the welding torch body 171 to pass through in a radially spaced gap. Figure 7 As shown, the sensor 5 is inserted into the inner hole 5a from the front end side of the welding torch body 171 and moved along the long axis Y to the base end side of the welding torch body 171, thereby detachably fixing one end of the sensor 5 to the first mounting part 7 of the bracket 2 fixed to the flange 160.

[0037] In addition, such as Figure 2 As shown, the first handle 3 is formed as a cylinder with an inner hole 3a, the inner hole 3a being large enough to allow the welding torch body 171 to pass through in a radially spaced manner. Figure 7As shown, the first handle 3 is detachably fixed to the other end of the sensor 5 mounted on the first mounting part 7 by inserting the welding torch body 171 from the front end side into the inner hole 3a and moving it along the long axis Y to the base end side of the welding torch body 171. Thus, the first handle 3 is positioned to surround the welding torch body 171 extending along the rotation axis X of the flange 160.

[0038] like Figure 8 As shown, the first handle 3 has an outer diameter such that an operator can grip it with one hand (here, the right hand) in a manner that encompasses an area wider than half a circumference and apply force in various directions. The entire circumferential area of ​​the outer surface of the first handle 3 is formed with grooves 9 for accommodating fingers gripping the first handle 3 and protrusions 10. Furthermore, two push-button switches (operation switches) 12 and 13 are provided on the outer surface of the first handle 3 at positions operable by the index finger or thumb of the gripping hand.

[0039] One button switch 12 is a teaching button (operation switch, position teaching prediction switch) that stores the angle of each axis of the robot body 101 at the moment of pressing. Another button switch 13 is a mode switching button (operation switch, motion mode change switch) that switches the motion mode of the robot body 101 between orthogonal motion and individual axis motion each time it is pressed.

[0040] The second handle 4 is formed as an annular shape with an inner hole 4a, which has an inner diameter capable of inserting the bracket 2 and the neck bracket 172. Figure 6 As shown, the second handle 4 is detachably fixed to the second mounting part 8 of the bracket 2 at the position where the welding torch body 171 is inserted into the inner hole 4a from the front end side and moved along the long axis Y to the base end side of the bracket 2.

[0041] like Figure 8 As shown, the second handle 4 has an outer diameter such that the operator can hold the second handle 4 with their other hand (here, the left hand) in a shape that surrounds an area wider than half a circumference. A guide switch 11 that can be operated by the thumb of the hand holding the handle 4 is provided on the outer circumference of the second handle 4.

[0042] The guide switch 11 is a push-button switch connected to the control device 102 via a cable (not shown). The operator sends a guide control command to the control device 102 by pressing the guide switch 11 with the hand holding the second handle 4. The second handle 4 is fixed to the second mounting portion 8 in phase with the guide switch 11, positioned on the opposite side of the operator's face from the front of the welding torch body 171 across the rotation axis X of the flange 160.

[0043] The operation of the robot operating device 1 and the robot 100 configured as described in this embodiment will be explained below.

[0044] When guiding and teaching the robot body 101 using the robot operating device 1 of this embodiment, the operator holds the first handle 3 with their right hand and the second handle 4 with their left hand. Then, the operator presses the guide switch 11 provided on the second handle 4 with the fingers of their left hand holding the second handle 4.

[0045] Thus, the guidance control takes effect. In this state, the operator applies force to the first handle 3, thereby using the sensor 5 to detect the magnitude and direction of the applied force and torque, and causing the robot body 101 to move to the position and posture corresponding to the detected force and torque.

[0046] Then, with the operator having set the action mode by pressing the mode switch button 13 on the first handle 3, the robot body 101 is guided to move by the operator, and the teach button 12 is pressed at the desired position. This stores the angles of each axis of the robot body 101 at the moment the button is pressed, as well as the action mode at that position. Furthermore, by repeating this action, the action program of the robot body 101 can be taught.

[0047] In this configuration, the first handle 3, fixed to the flange 160 by the bracket 2, is formed into a cylindrical shape that is easy for the operator to grip, and is coaxially arranged at the base end of the welding torch body 171 with the long axis Y of the welding torch body 171. Thus, the operator holding the first handle 3 can apply force to the first handle 3 with the same feeling as when holding the base end of the welding torch body 171, and guide the robot 100 to move.

[0048] As a result, the operator can easily and intuitively control the position and orientation of the welding torch body 171, and can precisely position the tip of the welding wire 180, which is positioned at the tool tip, to the desired location. Furthermore, when applying force to the right hand holding the first handle 3, the left hand holding the second handle 4 can be used as an aid, and the sensor 5 can detect various forces and torques.

[0049] Furthermore, since a gap is provided between the inner hole 3a of the first handle 3 and the welding torch body 171, the operation of the robot body 101 based on the guidance control of holding the first handle 3 can be performed even when the welding torch body 171 is overheated. Additionally, since a gap is also provided between the inner hole 5a of the sensor 5 and the welding torch body 171, heat transfer from the welding torch body 171 to the sensor 5 can be suppressed, preventing changes in the detection accuracy of the sensor 5.

[0050] In addition, since the outer peripheral surface of the first handle 3 is provided with concave and convex 9, 10 for placing the fingers of the operator holding the first handle 3, it has the following advantages: the operator can easily apply force to the first handle 3 and can easily move the robot body 101 to the desired posture.

[0051] Furthermore, since the first handle 3 and the second handle 4 are configured coaxially with the neck support 172 and the main body 171 of the welding torch 170 using the bracket 2, the first handle 3 and the second handle 4 will not protrude significantly radially from the rotation axis X of the flange 160. Therefore, it has the following advantages: it can suppress interference between the first handle 3 and the second handle 4 and surrounding components, thereby facilitating teaching.

[0052] Furthermore, since the first handle 3, the second handle 4, and the sensor 5 are detachably mounted on the bracket 2, interference with surrounding components during execution can be further reduced by disassembling them after teaching the action program and before executing the action program. Additionally, disassembling the bracket 2 further reduces interference. In these cases, it is not necessary to remove the welding torch 170 from the flange 160, which has the advantage of reducing the time required for disassembly.

[0053] Furthermore, even without disassembling the first handle 3, the second handle 4, the sensor 5, and the bracket 2, since they are coaxially configured with the neck bracket 172 and the welding torch body 171, it is difficult for them to interfere with the surrounding components when performing the action program.

[0054] In addition, since the first handle 3 and the second handle 4 are configured to be coaxial with the neck support 172 and the main body 171 of the welding torch 170 by using the bracket 2, it has the following advantages: regardless of which hand the operator is dominant, the operation can be easily carried out by simply changing the gripping hand.

[0055] Furthermore, the robot operating device 1 according to this embodiment includes a sensor 5 between the first handle 3 and the support 2 to detect the force or torque applied to the first handle 3. This provides the advantage that even if the robot body 101 is a general-purpose robot without the sensor 5, it is possible to guide and control the robot body 101 while simultaneously teaching it. Moreover, after teaching is completed, the robot operating device 1 can be detached, allowing the robot to execute the taught action program as a general-purpose robot.

[0056] In addition, the teach button 12 or the action mode switching button 13 can function as the teach button 12 or the action mode switching button 13 by short-pressing, for example, the function can also be changed to a tool action teach switch for teaching tool action commands by long-pressing.

[0057] In this embodiment, the sensor 5, the first handle 3, and the second handle 4 are detachably mounted on the outside of the welding torch 170 to a bracket 2 fixed to the flange 160 using an adapter 161. Alternatively, as... Figure 9 and Figure 10 As shown, the neck support 172 of the welding torch 170 can also be used as a support 2, and the sensor 5 and the first handle 3 can be detachably fixed to the flange 160 using the neck support 172. Additionally, as... Figure 10 As shown, the neck support 172 itself can also be used as a second handle, and the guide switch 11 can be set on the neck support 172.

[0058] Furthermore, in this embodiment, an example is given of a robot body 101 having a hollow flange 160 and the welding torch 170 being coaxially arranged with the rotation axis X of the flange 160. Instead, as... Figure 11 As shown, it can also be applied to the following situation: when the flange 160 does not have an inner hole 160a, the welding torch 170 is supported by the bracket 2 at a position eccentric to the rotation axis X of the flange 160.

[0059] exist Figure 11 In the example shown, the welding torch body 171 is configured such that it bends along a plane P containing the rotation axis X of the flange 160 from a position fixed to the bracket 2, and the welding wire 180 protrudes toward a position intersecting the rotation axis X of the flange 160. The intersection point of the rotation axis X of the flange 160 and the welding wire 180 is typically set as the tool tip point.

[0060] In this configuration, the adapter 161, which fixes the bracket 2 to the flange 160, forms a second handle with a guide switch 11, and the sensor 5, through which the welding torch body 171 passes, and the first handle 3 are fixed to the bracket 2. Thus, since the first handle 3 is positioned around the long axis Y of the welding torch body 171, the operator holding the first handle 3 can also operate the robot body 101 via guide control with the feeling of directly holding the welding torch body 171. Furthermore, after teaching, the first handle 3 and the sensor 5 can be removed from the bracket 2 without disassembling the welding torch body 171.

[0061] In this embodiment, a groove 9 and a protrusion 10 for accommodating fingers that grip the first handle 3 are provided along the entire circumferential range of the outer peripheral surface of the first handle 3. However, the protrusions and concave surfaces may also be provided on a portion of the circumferential direction. Furthermore, while a form in which the protrusions and concave surfaces extend circumferentially is provided, a form in which they extend axially, or a form in which they extend in both the circumferential and axial directions, may also be adopted.

[0062] Alternatively, instead of the groove 9 for placing the fingers of the operator holding the first handle 3, a recessed part or a protrusion of any shape can be provided.

[0063] Furthermore, in the above embodiments, the first handle 3 and sensor 5 are exemplified as having a cylindrical or annular shape with inner holes 3a and 5a through which the tool passes. Alternatively, the first handle 3 and sensor 5 can also be, for example, a C-shaped shape with a slit extending from the outer peripheral surface through the inner holes 3a and 5a, allowing the tool to pass through radially.

[0064] In addition, in this embodiment, a welding torch 170 is described as an example of a tool fixed to the flange 160. However, any other tool can be used as long as it is long. For example, a nozzle for laser welding or laser processing can also be used, which is connected to an optical fiber cable for guiding the laser to the base end side and emits the laser from the front end.

[0065] Alternatively, a tool with a power cable connected to the base and a tool positioned at the front end can be used to process the workpiece. Alternatively, a nozzle with a fluid pipe connected to the base and ejecting fluid from the front end can also be used.

[0066] Alternatively, a hand can be used to open and close the fingers located at the front end by means of electricity or pressurized fluid supplied through a power cable or fluid pipe connected to the base end.

[0067] Explanation of reference numerals in the attached figures:

[0068] 1: Robot operating device

[0069] 2: Bracket

[0070] 3: First handle (handle)

[0071] 3a: Inner hole

[0072] 5: Sensors

[0073] 9: Groove (concave / convex)

[0074] 10: Protrusions (convex or concave)

[0075] 11: Guide switch

[0076] 12: Teach button (operation switch, position teaching prediction switch)

[0077] 13: Mode switching button (operation switch, action mode change switch)

[0078] 100: Robot

[0079] 160: Flange

[0080] 170: Welding torch (tool)

[0081] 172: Neck brace (handle)

[0082] Y: Major axis

Claims

1. A robot operating device, mounted on a robot, wherein a long tool is fixed to a flange at the front end of the robot, wherein, The tool extends from the flange along the rotation axis of the flange, and the robot operating device includes: The handle has an inner hole through which the tool passes along the axis of rotation, and can be held by one hand by the operator in the form of a long axis surrounding the tool. as well as A sensor is mounted on the flange such that the handle passes through the inner hole along the axis of rotation, and detects the force or torque applied to the handle by the operator. The robot is capable of performing actions through guided control, which changes its position and orientation based on forces or torques detected by the sensors.

2. The robot operating device according to claim 1, wherein, The robot's operating device has a bracket fixed to the flange. The sensor is fixed to the bracket.

3. The robot operating device according to claim 1, wherein, The robot's operating device includes a guide switch, which is installed near the flange and operated by the operator's other hand to switch the guide control to active or inactive.

4. The robot operating device according to claim 2, wherein, The robot's operating device includes a guide switch, which is installed near the flange and operated by the operator's other hand to switch the guide control to active or inactive.

5. The robot operating device according to any one of claims 1 to 4, wherein, The handle is equipped with at least one of a position teaching prediction switch and an operation mode change switch, the operation switch being operated by one hand of the operator while holding the handle.

6. The robot operating device according to claim 5, wherein, At least one of the operation switches can be changed to a tool action teaching switch for teaching tool action commands by long-pressing.

7. The robot operating device according to any one of claims 1 to 4, wherein, The handle can be removed from the flange while keeping the tool fixed to the flange.

8. The robot operating device according to any one of claims 1 to 4, wherein, The sensor can be removed from the flange while keeping the tool fixed to the flange.

9. The robot operating device according to any one of claims 1 to 4, wherein, The outer peripheral surface of the handle is provided with grooves and protrusions for accommodating the fingers of the operator's hand that holds the handle.

10. A robot, wherein, The robot is equipped with a robot operating device according to any one of claims 1 to 9.

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