Force information display device

Abstract

The invention relates to a force information display device. The control unit (11) executes: a first calculation process in which the angle of the robot hand (40) after displacement is calculated on the basis of the angular velocity input from the gyroscope sensor (53); and a first display process or a second display process, the first display process being based on a post-displacement angle of the robot hand (40). And a second display process for converting at least one of a force and a torque in a force sensor coordinate system, which is input from the force sensor (51) and fixed to the force sensor, into at least one of a force and a torque in an absolute coordinate system fixed to the ground, and displaying the converted result on the display (14), the second display process being performed on the basis of a post-displacement angle of the robot hand (40). The relationship between the absolute coordinate system and the force sensor coordinate system is displayed on a display (14).

Description

Technical Field

[0001] The present invention relates to a force information display device for displaying force information detected by a force sensor. Background Art

[0002] Patent Document 1 describes a grinding robot capable of direct teaching. The grinding robot has a workpiece to be ground mounted on the front end of a robot arm via a joint. In addition, the disclosure describes that a force sensor is mounted between the robot arm and the joint.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2023-44449 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] When monitoring at least one of the force and torque acting on such a force sensor mounted on a robot arm, the coordinate axis of the force sensor coordinate system fixed to the force sensor is tilted relative to the coordinate axis of the absolute coordinate system fixed to the earth. Therefore, the force and torque acting on the force sensor in the force sensor coordinate system are different from the force and torque in the absolute coordinate system, and there is a problem that it is difficult for the operator to grasp the force and torque in the absolute coordinate system acting on the workpiece.

[0008] One aspect of the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a force information display device that allows an operator to easily grasp at least one of a force and a moment acting on a workpiece in an absolute coordinate system.

[0009] Solutions for solving problems

[0010] In order to solve the above-mentioned problem, a force information display device according to one embodiment of the present invention comprises: a signal input unit to which detection signals of the force sensor and the gyro sensor respectively are input from a force sensor and a gyro sensor arranged between a robot arm and a robot hand; and a control unit, wherein the control unit performs the following processing: a first calculation processing to calculate the angle of the robot hand after displacement based on the angular velocity input from the gyro sensor via the signal input unit; and a first display processing or a second display processing, wherein the first display processing converts at least one of a force and a torque in a force sensor coordinate system fixed to the force sensor input from the force sensor via the signal input unit based on the angle of displacement of the robot hand calculated in the first calculation processing and displays the converted result on a display, and the second display processing displays the relationship between the absolute coordinate system and the force sensor coordinate system on the display based on the angle of displacement of the robot hand calculated in the first calculation processing.

[0011] Effects of the Invention

[0012] According to one embodiment of the present invention, at least one of the force and torque in the absolute coordinate system, or the relationship between the absolute coordinate system and the force sensor coordinate system is displayed on a display, so that the operator can easily grasp at least one of the force and torque in the absolute coordinate system acting on the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing an example of a schematic configuration of a force information display system according to Embodiment 1.

[0014] Figure 2 This is a block diagram showing an example of the electrical configuration of the force information display device according to the first embodiment.

[0015] Figure 3 This is a flowchart showing an example of a first force information display process executed by the control unit involved in the first embodiment.

[0016] Figure 4 This is a diagram showing an example of a display screen displayed on a display of the force information display device according to the first embodiment.

[0017] Figure 5 This is a flowchart showing an example of the second force information display process executed by the control unit involved in the second embodiment.

[0018] Figure 6This is a diagram showing an example of a display screen displayed on a display of a force information display device according to the second embodiment. DETAILED DESCRIPTION

[0019] Embodiment 1 and Embodiment 2 that embody the present invention will be described in detail below with reference to the drawings. The same or equivalent components and members shown in the drawings are denoted by the same reference numerals, and duplicate descriptions are omitted as appropriate.

[0020] [Implementation Method 1]

[0021] [Schematic Structure of Force Information Display System 100]

[0022] First, based on Figure 1 A schematic configuration of a force information display system 100 according to Embodiment 1 of the present disclosure will be described. Figure 1 FIG. 1 is a diagram showing an example of a schematic structure of a force information display system 100 according to Embodiment 1. Figure 1 As shown, the force information display system 100 includes a force information display device 10, a robot arm 30, a robot hand 40, a force sensor 51, a triaxial acceleration sensor 52, and a triaxial gyro sensor 53. The robot arm 30 is configured to enable teaching by direct teaching, online teaching, and the like.

[0023] [Schematic Structure of Robot Arm 30]

[0024] The robot arm 30 is a multi-joint arm including a plurality of arms 31. The four arms 31 of the robot arm 30 are connected by three joints 32. However, the number of arms 31 included in the robot arm 30 is not limited to only four, and the number of joints 32 connecting the arms 31 is not limited to only three.

[0025] The robot hand 40 is configured to be able to grip the workpiece W by means of two claws 41 that are opened and closed by an actuator (not shown). The robot hand 40 is attached to the robot arm 30 via a force sensor 51, a three-axis acceleration sensor 52, and a three-axis gyro sensor 53. The robot arm 30 has six degrees of freedom and supports the robot hand 40 in a manner that enables the position and posture of the robot hand 40 to be changed.

[0026] The force sensor 51 detects the direction and magnitude of the force and torque acting on itself. The force sensor 51 is a six-axis force sensor that detects force components FX, FY, and FZ in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system with the axial direction set as the Z-axis direction, and torque components MX, MY, and MZ with the three axes of rotation being the X-axis, Y-axis, and Z-axis. The force sensor 51 is coaxially arranged with the robot hand 40. Here, Figure 1An example of three axes, namely, the X-axis, the Y-axis, and the Z-axis, of the force sensor coordinate system fixed to the force sensor 51 are shown by solid lines in FIG. Figure 1 An example of three axes of the X-axis, the Y-axis, and the Z-axis of an absolute coordinate system fixed to the earth in which the vertical direction is the Z-axis direction is shown by dotted lines.

[0027] Therefore, the force sensor 51 detects force components FX, FY, and FZ acting on the robot hand 40 in the three axial directions of the X axis, Y axis, and Z axis, and moment components MX, MY, and MZ acting on the robot hand 40 with the three axes of the X axis, Y axis, and Z axis as rotation axes. Hereinafter, FX, FY, FZ, MX, MY, and MZ are also described as force components, or simply described as detection values. The force sensor 51 outputs a signal related to the detection value to the force information display device 10.

[0028] The three-axis acceleration sensor 52 detects the acceleration acting on itself. The three-axis acceleration sensor 52 is configured in a manner that the Z-axis direction is coaxial with the Z-axis of the force sensor 51, and detects the acceleration components AX, AY, and AZ in the three axis directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system. AX, AY, and AZ are also recorded as components of acceleration, or simply recorded as detection values. The three-axis acceleration sensor 52 outputs a signal related to the detection value to the force information display device 10.

[0029] The three-axis gyro sensor 53 detects the angular velocity acting on itself. The three-axis gyro sensor 53 is configured in a manner that the Z-axis direction is coaxial with the Z-axis of the force sensor 51, and detects the angular velocity components WX, WY, and WZ with the three axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system as the rotation axis. Hereinafter, WX, WY, and WZ are also recorded as components of angular velocity, or are only recorded as detection values. The three-axis gyro sensor 53 outputs a signal related to the detection value to the force information display device 10.

[0030] [Schematic Structure of Force Information Display Device 10]

[0031] based on Figure 1 and Figure 2 Next, a schematic structure of the force information display device 10 will be described. Figure 2 1 is a block diagram showing an example of the electrical structure of the force information display device 10 according to the first embodiment. Figure 2 As shown, the force information display device 10 includes a control unit 11 , an operation unit 12 , a communication unit 13 , a display 14 , a storage unit 15 , and a signal input unit 16 .

[0032] The control unit 11 is composed of, for example, a CPU (Central Processing Unit). The control unit 11 may also be composed of a GPU (Graphic Processing Unit), a DSP (Digital Signal Processor), an MPU (Micro Processing Unit), an FPU (Floating point number Processing Unit), a PPU (Physics Processing Unit), a microcontroller, or a combination thereof.

[0033] The storage unit 15 is composed of a semiconductor RAM (Random Access Memory), a flash memory, a HDD (Hard Disk Drive), an SSD (Solid State Drive), an ODD (Optical Disk Drive), or a combination thereof. The control unit 11 performs various calculations based on various programs and various parameters stored in the storage unit 15.

[0034] The operation unit 12 is composed of a plurality of button switches, and the power can be turned on and off, various instructions can be input, etc. by pressing the button switches. The communication unit 13 functions as an example of a communication interface for communicating with a PC (Personal Computer) or the like. The display 14 is composed of a liquid crystal display, an organic EL display, etc. Figure 4 As shown, the display 14 displays, for example, components of force acting on the workpiece W in the force sensor coordinate system, three-axis coordinate axes, and the like.

[0035] The signal input unit 16 is electrically connected to the force sensor 51, the three-axis acceleration sensor 52, and the three-axis gyro sensor 53. The signal input unit 16 outputs the detection value detected based on the detection signal of each sensor input from the force sensor 51, the three-axis acceleration sensor 52, and the three-axis gyro sensor 53 to the control unit 11. The control unit 11 stores the detection values ​​of the force sensor 51, the three-axis acceleration sensor 52, and the three-axis gyro sensor 53 input from the signal input unit 16 in the storage unit 15.

[0036] [First force information display processing]

[0037] Next, based on Figure 3 and Figure 4An example of the first force information display process executed by the control unit 11 of the force information display device 10 when teaching of the robot arm 30 is performed in a state where the workpiece W is gripped by the robot hand 40 will be described. Figure 3 1 is a flowchart showing an example of a first force information display process executed by the control unit 11 of the force information display device 10 . Figure 4 1 is a diagram showing an example of a display screen displayed on the display 14 of the force information display device 10. Figure 3 The program of the first force information display process shown is stored in advance in the storage unit 15 .

[0038] like Figure 3 As shown, in step S11 , after the control unit 11 acquires the detection values ​​of the force sensor 51 , the triaxial acceleration sensor 52 , and the triaxial gyro sensor 53 , which are input from the signal input unit 16 , the process proceeds to step S12 .

[0039] Specifically, the control unit 11 stores the force components FX, FY, and FZ in the three axis directions of the X axis, Y axis, and Z axis of the force sensor coordinate system input from the force sensor 51, and the moment components MX, MY, and MZ with the three axes as the rotation axis in the storage unit 15. The control unit 11 stores the acceleration components AX, AY, and AZ in the three axis directions of the X axis, Y axis, and Z axis of the force sensor coordinate system input from the three-axis acceleration sensor 52 in the storage unit 15. The control unit 11 stores the angular velocity components WX, WY, and WZ with the three axes of the X axis, Y axis, and Z axis of the force sensor coordinate system as the rotation axis input from the three-axis gyro sensor 53 in the storage unit 15.

[0040] In step S12, the control unit 11 reads the angular velocity components WX, WY, and WZ of the three-axis gyro sensor 53 with the three axes of the force sensor coordinate system as the rotation axes from the storage unit 15. Then, the control unit 11 calculates the angle of the robot hand 40 after displacement, that is, the direction of the workpiece W after displacement, based on the read angular velocity components WX, WY, and WZ, and stores the calculation result in the storage unit 15.

[0041] In addition, the control unit 11 reads the acceleration components AX, AY, and AZ in the three-axis directions of the force sensor coordinate system of the three-axis acceleration sensor 52 from the storage unit 15. Then, the control unit 11 calculates the movement distance of the robot hand 40 in the three-axis directions, that is, the movement distance of the workpiece W in the three-axis directions based on the read acceleration components AX, AY, and AZ, and enters the processing of step S13 after storing the calculation result in the storage unit 15.

[0042] In step S13, the control unit 11 reads the mass MH of the robot hand 40 from the storage unit 15. The control unit 11 sequentially reads the acceleration components AX, AY, and AZ of the three-axis directions of the force sensor coordinate system of the three-axis acceleration sensor 52 from the storage unit 15. Then, the control unit 11 multiplies the acceleration components AX, AY, and AZ in the three-axis directions by the mass MH of the robot hand 40 to calculate the inertial force components FAX, FAY, and FAZ in the three-axis directions of the force sensor coordinate system of the robot hand 40. After storing the inertial force components FAX, FAY, and FAZ of the robot hand 40 in the three-axis directions of the force sensor coordinate system in the storage unit 15, the control unit 11 proceeds to the processing of step S14. In addition, the mass MH of the robot hand 40 is pre-stored in the storage unit 15.

[0043] In step S14, the control unit 11 reads the force components FX, FY, FZ in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system input from the force sensor 51, and the inertial force components FAX, FAY, and FAZ of the robot hand 40 in the three axial directions of the force sensor coordinate system from the storage unit 15. Then, the control unit 11 subtracts the inertial force components FAX, FAY, and FAZ in the three axial directions from the force components FX, FY, and FZ in the three axial directions, respectively, and stores the subtraction results as the force components FX, FY, and FZ (correction force) of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system in the storage unit 15. Thereafter, the control unit 11 proceeds to the processing of step S15.

[0044] In step S15, the control unit 11 reads the force components FX, FY, and FZ (correction force) of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system from the storage unit 15. In addition, the control unit 11 reads the moment components MX, MY, and MZ with the three axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system as the rotation axis stored in the storage unit 15 in the above step S11. Then, the control unit 11 displays the force components FX, FY, and FZ (correction force) of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system, and the moment components MX, MY, and MZ with the three axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system as the rotation axis on the display 14. Thereafter, the control unit 11 proceeds to the processing of step S16.

[0045] In addition, it can also be set that the control unit 11 displays on the display 14 the force components FX, FY, FZ (correction force) of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system, and at least one of the torque components MX, MY, and MZ with the X-axis, Y-axis, and Z-axis of the force sensor coordinate system as the rotation axis.

[0046] In step S16, the control unit 11 displays the coordinate axes of the X-axis, Y-axis, and Z-axis of the absolute coordinate system with the vertical direction as the Z-axis direction on the display 14. In addition, the control unit 11 reads the direction of the workpiece W after displacement and the distance of movement of the workpiece W in the three-axis directions stored in the above step S12. Then, the control unit 11 displays the coordinate axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system on the display 14 so that the Z-axis direction of the force sensor coordinate system matches the direction of the workpiece W after displacement. In addition, the control unit 11 displays the origin of the coordinate axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system on the display 14 so that the origin of the coordinate axes of the X-axis, Y-axis, and Z-axis of the absolute coordinate system overlaps. Thereafter, the control unit 11 proceeds to the processing of step S17.

[0047] In step S17 , the control unit 11 calculates the inclination angle θ of the Z axis of the force sensor coordinate system with respect to the Z axis of the absolute coordinate system, displays the calculation result on the display 14 , and then proceeds to the process of step S18 .

[0048] Here, based on Figure 4 , an example of displaying the force components of the workpiece W in the force sensor coordinate system, the coordinate axes of the absolute coordinate system, and the coordinate axes of the force sensor coordinate system on the display 14 will be described. Figure 4 As shown in FIG. 1 , graphs showing changes in force components FX, FY, and FZ (correction force) of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system are arranged in a vertical row on the left side of the screen. In addition, graphs showing changes in moment components MX, MY, and MZ of the workpiece W with the three axes of rotation of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system are arranged in a vertical row on the right side of the graph showing force components in the three axial directions, that is, in the approximate center of the left-right direction of the screen.

[0049] Furthermore, the coordinate axes of the absolute coordinate system whose vertical direction is the Z-axis direction are displayed as dotted lines and arranged on the right side of the screen. In addition, the coordinate axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system are displayed as solid lines and overlapped with the coordinate axes of the absolute coordinate system so that the Z-axis direction of the force sensor coordinate system matches the orientation of the workpiece W after displacement. The origin of the coordinate axes of the force sensor coordinate system is displayed so as to overlap with the origin of the coordinate axes of the absolute coordinate system. In addition, the inclination angle θ of the Z-axis of the force sensor coordinate system relative to the Z-axis of the absolute coordinate system is displayed.

[0050] Thus, the operator can easily check the changes in the force components FX, FY, and FZ of the workpiece W in the three-axis directions of the force sensor coordinate system, and the changes in the moment components MX, MY, and MZ with the three axes as the rotation axes. In addition, the inclination angle of the Z-axis direction of the workpiece W relative to the vertical direction can be easily checked. In addition, the force components FX, FY, and FZ of the workpiece W in the three-axis directions of the force sensor coordinate system, and the moment components MX, MY, and MZ with the three axes as the rotation axes can also be displayed as numerical values ​​instead of graphs.

[0051] Then, if Figure 3 As shown, in step S18, the control unit 11 reads the force components FX, FY, and FZ in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system input from the force sensor 51 in the above step S11 from the storage unit 15. Then, the control unit 11 calculates the resultant force F1 acting on the robot hand 40 and the workpiece W based on the force components FX, FY, and FZ in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system, and stores the calculation result in the storage unit 15.

[0052] Next, the control unit 11 reads the acceleration components AX, AY, AZ in the three axis directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system input from the three-axis acceleration sensor 52 stored in the above step S11 from the storage unit 15. Then, the control unit 11 calculates the acceleration A1 of the robot hand 40 and the workpiece W in the moving direction, that is, the direction in which the force acts on the robot hand 40 and the workpiece W, based on the acceleration components AX, AY, AZ in the three axis directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system, and stores the calculation result in the storage unit 15.

[0053] Then, the control unit 11 reads the mass MH of the robot hand 40 from the storage unit 15, and multiplies the mass MH of the robot hand 40 by the acceleration A1 in the moving direction to calculate the inertial force FH of the robot hand 40. In addition, the control unit 11 multiplies the mass MH of the robot hand 40 by the gravitational acceleration G to calculate the force in the gravitational direction of the robot hand 40, that is, the weight MHG.

[0054] Then, the control unit 11 calculates the mass MW of the workpiece W by dividing the value obtained by subtracting the resultant force of the inertial force FH of the robot hand 40 and the weight MHG from the resultant force F1 by the value obtained by adding the gravitational acceleration G to the acceleration A1 in the moving direction, and stores the calculation result in the storage unit 15. Next, the control unit 11 calculates the weight MWG of the workpiece W by multiplying the mass MW of the workpiece W by the gravitational acceleration G and stores the calculation result in the storage unit 15, and then proceeds to the process of step S19. Thus, the control unit 11 can measure the weight of the workpiece W while the workpiece W is being transported.

[0055] In step S19, the control unit 11 reads the weight MWG of the workpiece W from the storage unit 15 and displays it on the display 14, and then proceeds to the process of step S20. Figure 4 As shown, the control unit 11 displays the weight MWG of the workpiece W below the Z axis of the absolute coordinate system.

[0056] In step S20, the control unit 11 determines whether the teaching of the robot arm 30 has been completed. For example, the control unit 11 determines whether the end button of the operation unit 12 has been pressed. Then, when the control unit 11 determines that the teaching of the robot arm 30 has not been completed (S20: "No"), it executes the processing after step S11 again. On the other hand, when the control unit 11 determines that the teaching of the robot arm 30 has been completed (S20: "Yes"), it ends the first force information display processing.

[0057] As described in detail above, in the force information display device 10 involved in the first embodiment, the coordinate axes of the three axes of the absolute coordinate system and the coordinate axes of the three axes of the force sensor coordinate system are displayed on the display 14. Thus, based on the orientation and the tilt angle θ of the Z axis of the force sensor coordinate system relative to the Z axis of the absolute coordinate system displayed on the display, the operator can easily understand how much the front end of the robot arm should be tilted relative to the vertical direction to perform the operation. In addition, based on the force components (correction forces) of the workpiece W in the three axis directions of the force sensor coordinate system and the moment components around the three axes displayed on the display 14, the operator can easily understand how much force is used to press the front end of the robot arm 30 to perform the operation.

[0058] In addition, the control unit 11 can measure the weight of the workpiece W while the workpiece W is being transported. As a result, the control unit 11 can display the weight MWG of the workpiece W on the display 14 while the workpiece W is being transported. Therefore, even while the workpiece W is being transported, the operator can grasp the weight MWG of the workpiece W in real time.

[0059] [Implementation Method 2]

[0060] Next, based on Figure 5 and Figure 6 Embodiment 2 of the present disclosure will be described. Figure 5 This is a flowchart showing an example of the second force information display process executed by the control unit 11 involved in the second embodiment. Figure 6 1 is a diagram showing an example of a display screen displayed on the display 14 of the force information display device 10 according to Embodiment 2. For convenience of description, components having the same functions as those described in Embodiment 1 are denoted by the same reference numerals, and description thereof will not be repeated.

[0061] [Second force information display process]

[0062] The control unit 11 of the force information display device 10 according to the second embodiment executes Figure 5 The second force information display process shown is used instead of Figure 3 The first force information display process shown. In addition, Figure 5 The program of the second force information display process shown is stored in advance in the storage unit 15 .

[0063] like Figure 5 As shown in FIG. 1 , after executing the processing of the above-mentioned steps S11 to S14, the control unit 11 proceeds to the processing of step S31. In step S31, the control unit 11 reads the force components FX, FY, and FZ of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system from the storage unit 15. In addition, the control unit 11 reads the moment components MX, MY, and MZ with the three axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system as the rotation axes stored in the storage unit 15 in the above-mentioned step S11.

[0064] In addition, the control unit 11 reads the direction of the workpiece W after displacement and the distance of movement of the workpiece W in the three-axis directions calculated in the above step S12 from the storage unit 15, and stores them in the storage unit 15 as the displacement information of the workpiece W. Then, based on the displacement information of the workpiece W, the control unit 11 transforms the force components of the workpiece W in the three-axis directions of the force sensor coordinate system and the moment components with the three axes as the rotation axes into the force components of the workpiece W in the three-axis directions of the absolute coordinate system and the moment components with the three axes of the absolute coordinate system as the rotation axes. Then, the control unit 11 stores the transformed force components of the workpiece W in the three-axis directions of the absolute coordinate system and the moment components with the three axes of the absolute coordinate system as the rotation axes in the storage unit 15. Thereafter, the control unit 11 proceeds to the processing of step S32.

[0065] In step S32 , the control unit 11 reads the force components of the workpiece W in the three axial directions of the absolute coordinate system and the moment components about the three axes of rotation of the absolute coordinate system from the storage unit 15 , displays the read information on the display 14 , and then proceeds to step S33 .

[0066] In step S33, the control unit 11 executes the processing of steps S18 and S19 to calculate the weight MWG of the workpiece W and stores it in the storage unit 15, and then displays the weight MWG of the workpiece W on the display 14. Thereafter, the control unit 11 proceeds to the processing of step S34.

[0067] Here, based on Figure 6 , an example of displaying the force component of the workpiece W in the absolute coordinate system and the weight MWG of the workpiece W on the display 14 will be described. Figure 6As shown, graphs representing changes in force components FX, FY, and FZ of the workpiece W in three axial directions of the X-axis, Y-axis, and Z-axis of the absolute coordinate system are arranged in a vertical row and displayed on the left side of the screen.

[0068] In addition, the graphs showing the changes of the moment components MX, MY, and MZ of the workpiece W with the three axes of the absolute coordinate system, X-axis, Y-axis, and Z-axis, as the rotation axes are arranged in a vertical row on the right side of the graph showing the force components in the three axis directions, that is, in the substantially central part of the left-right direction of the screen. Furthermore, the weight MWG of the workpiece W is arranged on the right side of the screen and displayed.

[0069] Thus, the operator can easily check the changes of the force components FX, FY, and FZ of the workpiece W in the three axial directions of the absolute coordinate system, and the changes of the moment components MX, MY, and MZ about the three axes of the absolute coordinate system. In addition, the operator can easily check the weight MWG of the workpiece W.

[0070] In addition, the control unit 11 may display the force components FX, FY, and FZ of the workpiece W in the three axial directions of the absolute coordinate system and the moment components MX, MY, and MZ with the three axes as the rotation axes, respectively, instead of using a graph. In addition, the control unit 11 may display the force components FX, FY, and FZ of the workpiece W in the three axial directions of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system and the moment components MX, MY, and MZ with the three axes of the X-axis, Y-axis, and Z-axis of the force sensor coordinate system as the rotation axes on the display 14 at the same time.

[0071] Then, if Figure 5 As shown, in step S34, the control unit 11 determines whether the teaching of the robot arm 30 has been completed. For example, the control unit 11 determines whether the end button of the operation unit 12 has been pressed. Then, when the control unit 11 determines that the teaching of the robot arm 30 has not been completed (S34: "No"), the control unit 11 executes the processing after step S11 again. On the other hand, when the control unit 11 determines that the teaching of the robot arm 30 has been completed (S34: "Yes"), the second force information display processing ends.

[0072] As described in detail above, in the force information display device 10 according to the second embodiment, the force components in the three-axis directions of the absolute coordinate system and the moment components around the three axes are displayed on the display 14. Thus, the operator can easily grasp the force components acting on the workpiece W in the three-axis directions of the absolute coordinate system and the moment components acting on the workpiece W around the three axes of the absolute coordinate system.

[0073] In addition, the control unit 11 can measure the weight of the workpiece W while the workpiece W is being transported. As a result, the control unit 11 can display the weight MWG of the workpiece W on the display 14 while the workpiece W is being transported. Therefore, the operator can also grasp the weight MWG of the workpiece W in real time while the workpiece W is being transported.

[0074] [Modification 1]

[0075] In the above-mentioned Embodiment 1 and Embodiment 2, the three-axis acceleration sensor 52 and the three-axis gyro sensor 53 may be configured as an integrated sensor. Furthermore, the force sensor 51, the three-axis acceleration sensor 52, and the three-axis gyro sensor 53 may be configured as an integrated sensor. In addition, the force sensor 51, the three-axis acceleration sensor 52, and the three-axis gyro sensor 53 may be configured as an integrated unit, or may be configured as a part of each unit separately. Thus, the number of components can be reduced.

[0076] [Additional Notes]

[0077] The present disclosure is not limited to the above-described embodiment and modifications, and various modifications can be made within the scope of the claims. Embodiments obtained by appropriately combining technical means disclosed in the embodiment and modifications are also included in the technical scope of the present disclosure.

[0078] [Note]

[0079] A force information display device of a first embodiment includes: a signal input unit to which detection signals of the force sensor and the gyro sensor are input from the force sensor and the gyro sensor disposed between the robot arm and the robot hand; and a control unit, wherein the control unit performs the following processing: a first calculation processing to calculate the angle of the robot hand after displacement based on the angular velocity input from the gyro sensor via the signal input unit; and a first display processing or a second display processing, wherein the first display processing converts at least one of a force and a torque in a force sensor coordinate system fixed to the force sensor input from the force sensor via the signal input unit based on the angle of the robot hand after displacement calculated in the first calculation processing, into at least one of a force and a torque in an absolute coordinate system fixed to the earth, and displays the converted result on a display, and the second display processing displays the relationship between the absolute coordinate system and the force sensor coordinate system on the display based on the angle of the robot hand after displacement calculated in the first calculation processing.

[0080] According to the force information display device of the first embodiment, at least one of the force and moment in the absolute coordinate system or the relationship between the absolute coordinate system and the force sensor coordinate system is displayed on the display, thereby allowing the operator to easily grasp at least one of the force and moment in the absolute coordinate system acting on the workpiece.

[0081] According to a second aspect, in the force information display device of the first aspect, the control unit may further display, on the display, an inclination angle of the force sensor coordinate system with respect to the absolute coordinate system in the second display process.

[0082] According to the force information display device of the second aspect, the inclination angle of the force sensor coordinate system relative to the absolute coordinate system is displayed on the display, so the operator can easily understand how much the tip of the robot arm should be tilted relative to the vertical direction to perform the work.

[0083] A third method can be set as follows: in the force information display device of the first method or the second method, the control unit also displays at least one of the force and the torque in the force sensor coordinate system input from the force sensor via the signal input unit on the display during the second display processing.

[0084] According to the force information display device of the third aspect, the operator can easily understand how much force is used to press the tip of the robot arm to perform the work based on the force or moment in the force sensor coordinate system acting on the workpiece displayed on the display.

[0085] A fourth method may be configured such that, in the force information display device of the third method, the device further comprises: an acceleration sensor; and a storage unit which pre-stores the mass of the robot hand, wherein the control unit further calculates the inertial force of the robot hand in the force sensor coordinate system based on the mass of the robot hand and the acceleration input from the acceleration sensor via the signal input unit in the second display processing, and displays the correction force obtained by subtracting the inertial force from the force in the force sensor coordinate system on the display.

[0086] According to the force information display device of the fourth aspect, the correction force in the force sensor coordinate system acting on the workpiece is displayed on the display, so the operator can easily understand the correction force in the force sensor coordinate system acting on the workpiece.

[0087] The fifth method can be set as follows: in the force information display device of the fourth method, the control unit performs the following processing: a second calculation processing, calculating the mass of the workpiece held by the robot hand based on the correction force and the acceleration in the direction of the correction force detected by the acceleration sensor and the gravitational acceleration; and a third calculation processing, multiplying the mass of the workpiece by the gravitational acceleration to calculate the weight of the workpiece.

[0088] According to the force information display device of the fifth aspect, the weight of the workpiece can be measured while the workpiece is being transported. As a result, even while the workpiece is being transported, the operator can grasp the weight of the workpiece in real time.

[0089] The sixth method can be set as follows: in the force information display device of the first method, it is also equipped with: an acceleration sensor; and a storage unit, which pre-stores the mass of the robot hand, wherein the control unit also performs the following processing in the first display processing: a fourth calculation processing, calculating the inertial force of the robot hand in the force sensor coordinate system according to the mass of the robot hand and the acceleration input from the acceleration sensor via the signal input unit; a fifth calculation processing, calculating the correction force obtained by subtracting the inertial force from the force in the force sensor coordinate system; and a first transformation processing, based on at least one of the correction force and the torque in the force sensor coordinate system, and the angle after the displacement of the robot hand calculated in the first calculation processing, transforming it into a force or torque in the absolute coordinate system, and displaying the force or torque in the absolute coordinate system transformed in the first transformation processing on the display.

[0090] According to the force information display device of the sixth aspect, the force or moment acting on the workpiece in the absolute coordinate system is displayed on the display, so the operator can easily understand the force or moment acting on the workpiece in the absolute coordinate system.

[0091] The seventh method can be set as follows: in the force information display device of the sixth method, the control unit performs the following processing: a sixth calculation processing, calculating the mass of the workpiece held by the robot hand based on the correction force, the acceleration in the direction of the correction force detected by the acceleration sensor, and the gravitational acceleration; and a seventh calculation processing, multiplying the mass of the workpiece by the gravitational acceleration to calculate the weight of the workpiece.

[0092] According to the force information display device of the seventh aspect, the weight of the workpiece can be measured while the workpiece is being transported. As a result, even while the workpiece is being transported, the operator can grasp the weight of the workpiece in real time.

[0093] The force information display device of the eighth aspect comprises: a signal input unit, to which detection signals of the force sensor, the gyro sensor and the acceleration sensor are input from the force sensor, the gyro sensor and the acceleration sensor arranged between the robot arm and the robot hand; a storage unit, which stores the mass of the robot hand in advance; and a control unit, wherein the control unit performs the following processing: a first calculation processing, to calculate the angle of the robot hand after displacement according to the angular velocity input from the gyro sensor via the signal input unit; a second calculation processing, to calculate the angle of the robot hand after displacement according to the mass of the robot hand The invention further comprises a step of calculating the inertial force of the robot hand in the force sensor coordinate system fixed to the force sensor based on the inertial force input from the acceleration sensor via the signal input unit and the acceleration input from the acceleration sensor via the signal input unit; a third calculation process for calculating a correction force obtained by subtracting the inertial force from the force in the force sensor coordinate system input from the force sensor via the signal input unit; and a transformation process for transforming the correction force in the force sensor coordinate system calculated in the third calculation process into a force in the absolute coordinate system fixed to the earth based on the angle of the robot hand after displacement calculated in the first calculation process.

[0094] According to the force information display device of the eighth aspect, the force information display device can calculate the force acting on the workpiece in the absolute coordinate system. As a result, the force information display device can display the force acting on the workpiece in the absolute coordinate system on the display, and the operator can easily grasp the force acting on the workpiece in the absolute coordinate system.

Claims

1. A force information display device, comprising: a signal input unit to which detection signals of the force sensor and the gyro sensor are input from the force sensor and the gyro sensor disposed between the robot arm and the robot hand; and Control Department, in, The control unit performs the following processing: a first calculation process of calculating a displacement angle of the robot hand based on an angular velocity input from the gyro sensor via the signal input unit; as well as The first display processing or the second display processing, the first display processing transforms at least one of the force and torque in the force sensor coordinate system fixed to the force sensor, which is input from the force sensor via the signal input unit, into at least one of the force and torque in the absolute coordinate system fixed to the earth based on the angle of the displacement of the robot hand calculated in the first calculation processing, and displays the transformed result on the display, the second display processing displays the relationship between the absolute coordinate system and the force sensor coordinate system on the display based on the angle of the displacement of the robot hand calculated in the first calculation processing.

2. The force information display device according to claim 1, wherein: The control unit further displays, on the display, an inclination angle of the force sensor coordinate system with respect to the absolute coordinate system in the second display process.

3. The force information display device according to claim 1 or 2, wherein: In the second display process, the control unit further displays, on the display, at least one of the force and the moment in the force sensor coordinate system input from the force sensor via the signal input unit.

4. The force information display device according to claim 3, further comprising: Accelerometer; and a storage unit that stores the mass of the robot hand in advance, in, In the second display processing, the control unit also calculates the inertial force of the robot hand in the force sensor coordinate system based on the mass of the robot hand and the acceleration input from the acceleration sensor via the signal input unit, and displays the correction force obtained by subtracting the inertial force from the force in the force sensor coordinate system on the display.

5. The force information display device according to claim 4, wherein: The control unit performs the following processing: a second calculation process of calculating the mass of the workpiece held by the robot hand based on the correction force, the acceleration in the direction in which the correction force acts detected by the acceleration sensor, and the gravitational acceleration; as well as In a third calculation process, the mass of the workpiece is multiplied by the gravitational acceleration to calculate the weight of the workpiece.

6. The force information display device according to claim 1, further comprising: Accelerometer; and a storage unit that stores the mass of the robot hand in advance, in, The control unit further performs the following processing in the first display processing: a fourth calculation process of calculating the inertial force of the robot hand in the force sensor coordinate system based on the mass of the robot hand and the acceleration input from the acceleration sensor via the signal input unit; a fifth calculation process of calculating a correction force obtained by subtracting the inertial force from the force in the force sensor coordinate system; as well as a first conversion process, converting at least one of the correction force and the torque in the force sensor coordinate system and the angle of the displacement of the robot hand calculated in the first calculation process into a force or torque in the absolute coordinate system; The force or moment in the absolute coordinate system obtained by the first transformation process is displayed on a display.

7. The force information display device according to claim 6, wherein: The control unit performs the following processing: a sixth calculation process of calculating the mass of the workpiece held by the robot hand based on the correction force, the acceleration in the direction in which the correction force acts detected by the acceleration sensor, and the gravitational acceleration; as well as In a seventh calculation process, the mass of the workpiece is multiplied by the gravitational acceleration to calculate the weight of the workpiece.

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