Assistance device and robot system

Abstract

The assistance device assists the generation of setting data relating to the control of a robot including a robot arm having a plurality of arm elements and a plurality of joint parts connecting the plurality of arm elements so as to be rotatable about a rotation axis. The assist device includes a display unit and a control unit that controls the display unit. The control unit performs acquisition processing and display processing. The control unit acquires, in the acquisition process, joint force data indicating a force acting on each of the plurality of joints, and specific point force data indicating a force acting on a specific point at the tip of the robot arm. The control unit controls the display unit during the display processing so as to display a joint force waveform indicating a temporal change in each of the joint forces and a specific point force waveform indicating a temporal change in the specific point force.

Description

Technical Field

[0001] The present invention relates to an assisting device for assisting generation of setting data related to control of a robot and a robot system including the assisting device. Background Art

[0002] Conventionally, there is known a robot having a robot arm whose arm is rotatably connected to a plurality of joints. In such a robot, parameters related to the control of the robot are set so that the robot arm performs a desired motion.

[0003] Patent document 1 discloses a technique for assisting the setting of parameters related to the control of a robot. In the technique disclosed in Patent document 1, a force detector is used to detect the force acting on a specific point (tool center point; TCP) at the tip of a robot arm on which an end effector is mounted. Then, a detection waveform indicating the temporal change of a detection value detected by the force detector and a stored waveform related to the force stored in advance in a storage medium are displayed on a display unit, and the setting of the parameter is received by a receiving unit.

[0004] In the technology disclosed in Patent Document 1, the temporal change of the force acting on a specific point at the front end of the robot arm based only on the detection waveform displayed on the display unit and the stored waveform becomes an indicator for parameter setting, so it may not be possible to set the parameters related to the control of the robot in detail.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 6582483 Summary of the invention

[0008] An object of the present invention is to provide an assist device and a robot system capable of setting parameters related to robot control in detail.

[0009] An auxiliary device according to one aspect of the present invention is a device that assists in setting parameters related to the control of a robot having a robot arm, the robot arm having a plurality of arm elements and a plurality of joints that connect the plurality of arm elements in a manner that allows the plurality of arm elements to rotate around a rotation axis, and the auxiliary device having a display unit and a control unit that controls the display unit. The control unit performs: an acquisition process to acquire data representing joint forces acting on each of the plurality of joints and data representing specific point forces acting on a specific point at the front end of the robot arm; and a display process to control the display unit to display joint force waveforms representing temporal changes in each of the joint forces and specific point force waveforms representing temporal changes in the specific point forces.

[0010] Another aspect of the present invention relates to a robot system comprising: a robot having a robot arm, the robot arm having a plurality of arm elements and a plurality of joints connecting the plurality of arm elements in a manner capable of rotating around a rotation axis; and the above-mentioned auxiliary device, which assists in generating setting data related to the control of the robot.

[0011] The objects, features and advantages of the present invention will become more apparent from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a block diagram of a robot system according to an embodiment of the present invention.

[0013] Figure 2 This is a three-dimensional diagram of a robot included in the robot system.

[0014] Figure 3 This is a cross-sectional view of a joint portion in the robot arm of the robot.

[0015] Figure 4 This is a diagram showing data acquired in an acquisition process by a control unit of an assist device included in the robot system.

[0016] Figure 5 This is a diagram showing a display screen that the control unit of the support device causes the display unit to display during the display process.

[0017] Figure 6 This is a diagram for explaining the recognition process performed by the control unit of the support device. DETAILED DESCRIPTION

[0018] Hereinafter, an assist device and a robot system according to embodiments of the present invention will be described with reference to the drawings.

[0019] like Figure 1 As shown, the robot system 100 according to the present embodiment includes a robot 5, a control device 6, and an auxiliary device 7. In the robot system 100, the auxiliary device 7 assists in setting parameters related to the control of the robot 5. The operator of the robot system 100 can set parameters related to the control of the robot 5 using the auxiliary device 7. The control device 6 controls the operation of the robot 5 by sending a control signal according to a control program CP to the robot 5, and the control program CP records setting data SD generated according to the setting of the parameters.

[0020] [Robot structure]

[0021] Apart from Figure 1 In addition, refer to Figure 2 and Figure 3 The robot 5 is described. Figure 2As shown, the robot 5 is, for example, a vertical multi-joint 7-axis robot. The robot 5 has a robot arm 3, which has a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, a sixth axis J6, and a seventh axis J7 as seven rotation axes. The robot arm 3 has a base 11, a trunk 12, a first arm 13, a second arm 14, a third arm 15, and a head 16 as a plurality of arm elements 1. In addition, the robot arm 3 has a first joint 21, a second joint 22, a third joint 23, a fourth joint 24, a fifth joint 25, a sixth joint 26, and a seventh joint 27 as a plurality of joints 2.

[0022] The base portion 11 is a shell fixedly arranged on the ground, a pedestal, etc. The trunk portion 12 is connected to the upper surface of the base portion 11 via the first joint portion 21. The trunk portion 12 can rotate in both positive and negative directions around the first axis J1 extending in the vertical direction through the first joint portion 21. The first arm 13 has a predetermined length, and its base end portion is connected to the trunk portion 12 via the second joint portion 22. The first arm 13 can swing around the second axis J2 extending in the horizontal direction through the second joint portion 22. The first arm 13 has a third joint portion 23 in the middle thereof. The front end side member of the first arm 13 can rotate around the third axis J3 extending along the axial direction of the arm through the third joint portion 23.

[0023] The second arm 14 is an arm connected to the downstream of the first arm 13, and its base end is connected to the front end of the first arm 13 via the fourth joint 24. The second arm 14 can swing around the fourth axis J4 extending in the horizontal direction through the fourth joint 24. The second arm 14 has a fifth joint 25 in the middle. The front end side member of the second arm 14 can rotate around the axis of the fifth axis J5 extending along the axial direction of the arm through the fifth joint 25. The third arm 15 is an arm connected to the downstream of the second arm 14, and its base end is connected to the front end of the second arm 14 via the sixth joint 26. The third arm 15 can swing around the sixth axis J6 extending in the horizontal direction through the sixth joint 26.

[0024] The head 16 is connected to the front end of the third arm 15 via the seventh joint 27. The head 16 can rotate around the seventh axis J7 extending in the vertical direction through the seventh joint 27. The head 16 constitutes the front end of the robot arm 3 and is equipped with an end effector 17. The end effector 17 is, for example, a tool such as a screwdriver, a clamp, or a grinder. The end effector 17 performs various operations such as thread tightening, gripping, and processing.

[0025] A specific point (tool center point) TCP, which is a reference for the position of the end effector 17, is set in the head 16, which is the front end of the robot arm 3. The position of the specific point TCP in the head 16 can be set at any position, for example, on the seventh axis J7, which is the rotation axis of the head 16.

[0026] In the robot arm 3, the first joint 21, the third joint 23, the fifth joint 25 and the seventh joint 27 have a substantially cylindrical shell shape extending in the vertical direction. On the other hand, the second joint 22, the fourth joint 24 and the sixth joint 26 have a substantially cylindrical shell shape extending in the horizontal direction.

[0027] In the following description, the base 11, the trunk 12, the first arm 13, the second arm 14, the third arm 15 and the head 16 are sometimes collectively referred to as the "arm element 1", and the first joint 21, the second joint 22, the third joint 23, the fourth joint 24, the fifth joint 25, the sixth joint 26 and the seventh joint 27 are sometimes collectively referred to as the "joint 2".

[0028] like Figure 3 As shown, the robot arm 3 has a housing portion 2S for housing a driving mechanism 4 of the robot arm 3 having substantially the same structure at each of the plurality of joints 2. The driving mechanism 4 housed in the housing portion 2S of each joint 2 includes a motor 41, a speed reducer 42, a brake 43, a torque sensor 44, and a control board 45.

[0029] The motor 41 is a servomotor that is a driving source for rotating the arm element 1 around the axis of rotation, and includes a motor shaft 41S that generates a rotational force. The speed reducer 42 reduces the rotation speed of the motor shaft 41S at a predetermined speed reduction ratio and transmits it to the rotating mechanism. The brake 43 applies a brake to the rotation of the motor shaft 41S.

[0030] The torque sensor 44 detects the rotation torque applied by the motor 41 to the arm element 1. That is, the torque sensor 44 detects the torque around the rotation axis of the arm element 1 connected to the joint part 2.

[0031] The control board 45 performs drive control of the motor 41 based on a control signal sent from the control device 6 according to the control program CP in which the setting data SD is recorded. Thus, the action of the robot arm 3 is controlled. The setting data SD recorded in the control program CP is a data group of setting values ​​of parameters related to the control of the robot 5. The parameters related to the control of the robot 5 include the speed of each arm element 1 in the robot arm 3 when the axis rotates around the axis of rotation, the torque of each arm element 1 around the axis of rotation, etc. The control board 45 performs a plurality of action modes including a first action mode, a second action mode, and a third action mode for the drive control of the motor 41.

[0032] The first action mode is an action mode in which it is assumed that the operator cooperating with the robot 5 performs work close to the action range of the robot arm 3. When the first action mode is executed, the control board 45 controls the drive of the motor 41 in a manner such that the robot arm 3 continuously moves at a predetermined first speed indicated by the setting data SD according to a control signal corresponding to the setting data SD recorded in the control program CP.

[0033] The second action mode is an action mode in which it is assumed that the operator cooperating with the robot 5 does not approach the action range of the robot arm 3. When executing the second action mode, the control board 45 controls the drive of the motor 41 according to the control signal corresponding to the setting data SD recorded in the control program CP, so that the robot arm 3 continuously moves at a second speed faster than the first speed indicated by the setting data SD.

[0034] The third action mode is an action mode in which it is assumed that the operator directly applies force to the robot arm 3 to guide and teach the action of the robot arm 3. When the third action mode is executed, the control board 45 controls the drive of the motor 41 according to the control signal corresponding to the setting data SD recorded in the control program CP to limit the movement of the robot arm 3 exceeding the predetermined third speed shown in the setting data SD.

[0035] [Structure of auxiliary device]

[0036] As described above, the assisting device 7 is a device for assisting the setting of parameters related to the control of the robot 5. The operator can use the assisting device 7 to set the parameters related to the control of the robot 5. Figure 1 In addition, refer to Figure 4~Figure 6 The auxiliary device 7 will be described.

[0037] The auxiliary device 7 is constituted by, for example, a personal computer, such as Figure 1 As shown, an operation unit 71, a display unit 72 and a control unit 73 are provided.

[0038] The display unit 72 is composed of, for example, a liquid crystal display, etc. The display operation of the display unit 72 is controlled by the control unit 73. The operation unit 71 is composed of a keyboard, a mouse, or a touch panel provided on the display unit 72. The operation unit 71 receives input operations of various instructions related to the display mode of the display unit 72 by the operator.

[0039] The control unit 73 is composed of a CPU (Central Processing Unit), a storage area such as a HDD (Hard Disk Drive) storing auxiliary control programs, a flash memory, and a RAM (Random Access Memory) used as a CPU work area. The control unit 73 performs control by executing the auxiliary control programs stored in the HDD and flash memory through the CPU. Figure 4 The acquisition process S1 shown, Figure 5 The display processing S2 shown, Figure 6 Various processing such as the identification processing S3 shown.

[0040] (Get Processing)

[0041] The control unit 73 acquires the Figure 4 The joint force data D1 and specific point force data D2 are shown. The joint force data D1 is a data set representing the joint force F1 acting on each of the multiple joints 2 in the robot arm 3. The specific point force data D2 is a data set representing the specific point force F2 acting on a specific point TCP in the head 16 as the front end of the robot arm 3.

[0042] In the present embodiment, the control unit 73 obtains the torque around the rotation axis of each arm element 1 connected to each joint part 2 as each joint force F1 corresponding to each joint part 2. Specifically, the control unit 73 obtains the detection value of the torque detected by each torque sensor 44 corresponding to each joint part 2 as each joint force F1 corresponding to each joint part 2. That is, the joint force data D1 obtained by the control unit 73 includes each data of the detection value of the torque detected by each torque sensor 44 corresponding to each joint part 2.

[0043] In addition, the control unit 73 calculates the specific point force F2 acting on the specific point TCP based on the joint forces F1 corresponding to the joint parts 2. Thus, the control unit 73 obtains the specific point force data D2 of the data group representing the specific point force F2. The control unit 73 obtains the components of the specific point force F2 in each axial direction and the torque around each axis corresponding to the three axes of the X axis, the Y axis and the Z axis in the XYZ orthogonal coordinate system (three-dimensional orthogonal coordinate system) related to the specific point TCP as the data of the specific point force F2. That is, the specific point force data D2 obtained by the control unit 73 includes the X component F2X representing the component in the X-axis direction, the Y component F2Y representing the component in the Y-axis direction, the Z component F2Z representing the component in the Z-axis direction, the roll component F2RX representing the torque around the X axis, the pitch component F2PY representing the torque around the Y axis, and the yaw component F2YZ representing the torque around the Z axis for the specific point force F2 acting on the specific point TCP.

[0044] In addition, a force sensor, i.e., a force detector for detecting the force acting on the specific point TCP at the front end of the robot arm 3, may be mounted on the robot 5. The force sensor measures the force of the three detection axes of X, Y, and Z acting on the specific point TCP and the torque around the three detection axes of X, Y, and Z in the sensor coordinate system which is the XYZ orthogonal coordinate system. When such a force sensor is mounted on the robot 5, the control unit 73 acquires the specific point force data D2 including the X component F2X, the Y component F2Y, the Z component F2Z, the roll component F2RX, the pitch component F2PY, and the yaw component F2YZ for the specific point force F2 acting on the specific point TCP based on the measured value measured by the force sensor.

[0045] (Display Processing)

[0046] like Figure 5 As shown, the control unit 73 controls the display unit 72 in the display process S2 so that information for assisting in setting parameters related to the control of the robot 5 is displayed on the display screen DS of the display unit 72. Based on the joint force data D1 and the specific point force data D2, the control unit 73 controls the display unit 72 to display the joint force waveforms F1W representing the temporal changes of the joint forces F1 corresponding to the plurality of joint parts 2 and the specific point force waveforms F2W representing the temporal changes of the specific point forces F2 on the display screen DS.

[0047] Through the display processing S2 of the control unit 73, the joint force waveform F1W indicating the temporal change of the joint force F1 acting on each joint part 2 of the robot arm 3 and the specific point force waveform F2W indicating the temporal change of the specific point force F2 acting on the specific point TCP of the front end of the robot arm 3 are displayed on the display screen DS of the display unit 72. The operator can compare the temporal change of each joint force F1 acting on each joint part 2 with the temporal change of the specific point force F2 acting on the specific point TCP of the front end of the robot arm 3 by confirming the joint force waveform F1W and the specific point force waveform F2W displayed on the display screen DS of the display unit 72. Thus, in addition to the temporal change of the specific point force F2, the temporal change of each joint force F1 also becomes an index for setting the parameters related to the control of the robot 5, so the operator can set the parameters related to the control of the robot 5 in detail.

[0048] In the present embodiment, the control unit 73 controls the display unit 72 to display each torque waveform representing the temporal change of the torque around the rotation axis of each arm element 1 connected to each joint part 2 of the robot arm 3 as each joint force waveform F1W. In this case, the joint force waveform F1W includes a first torque waveform corresponding to the first joint part 21, a second torque waveform corresponding to the second joint part 22, a third torque waveform corresponding to the third joint part 23, a fourth torque waveform corresponding to the fourth joint part 24, a fifth torque waveform corresponding to the fifth joint part 25, a sixth torque waveform corresponding to the sixth joint part 26, and a seventh torque waveform corresponding to the seventh joint part 27. In addition, the control unit 73 controls the display unit 72 to display each component waveform representing the temporal change of the X component F2X, the Y component F2Y, the Z component F2Z, the roll component F2RX, the pitch component F2PY, and the yaw component F2YZ related to the specific point force F2 acting on the specific point TCP of the robot arm 3 as the specific point force waveform F2W. In this case, the specific point force waveform F2W includes an X component waveform, a Y component waveform, a Z component waveform, a roll component waveform, a pitch component waveform, and a yaw component waveform corresponding to each component of the specific point force F2.

[0049] In this method, each joint force waveform F1W as each torque waveform representing the temporal change of the torque around the rotation axis of each arm element 1 corresponding to each joint part 2 of the robot arm 3 and a specific point force waveform F2W as each component waveform representing the temporal change of each component of the specific point force F2 in the XYZ orthogonal coordinate system related to the specific point TCP of the robot arm 3 are displayed on the display screen DS of the display unit 72. Figure 5In the example, the first torque waveform F1W1 corresponding to the first joint 21 and the fourth torque waveform F1W4 corresponding to the fourth joint 24 are displayed on the display unit 72 as joint force waveforms F1W, and the Z component waveform F2WZ and the yaw component waveform F2WYZ are displayed on the display unit 72 as specific point force waveforms F2W. The operator confirms the joint force waveforms F1W as torque waveforms corresponding to the joints 2 and the specific point force waveforms F2W as component waveforms corresponding to the components of the specific point force F2 displayed on the display screen DS of the display unit 72. Thus, the operator can compare the temporal changes of the torque acting on the joints 2 with the temporal changes of the components of the specific point force F2 acting on the specific point TCP at the front end of the robot arm 3.

[0050] The control unit 73 may also control the display unit 72 in the display processing S2 to display the joint force waveforms F1W and the specific point force waveforms F2W corresponding to the joint parts 2 on the same time axis. In this case, in the display screen DS of the display unit 72, the joint force waveforms F1W and the specific point force waveforms F2W are displayed on the same time axis. Thus, the operator can easily compare the temporal changes of the joint forces F1 acting on the joint parts 2 with the temporal changes of the specific point force F2 acting on the specific point TCP at the front end of the robot arm 3. Therefore, the operator can efficiently set the parameters related to the control of the robot 5.

[0051] The control unit 73 may also control the display unit 72 in the display processing S2 to display the joint force numerical data F1D representing the numerical data of each joint force F1 on each joint force waveform F1W and the specific point force numerical data F2D representing the numerical data of the specific point force F2 on the specific point force waveform F2W on the same display screen DS as the joint force waveform F1W and the specific point force waveform F2W. The joint force numerical data F1D includes the numerical data of each torque around the rotation axis of each arm element 1 connected to each joint part 2 of the robot arm 3. In addition, the specific point force numerical data F2D includes the numerical data of the X component F2X, the Y component F2Y, the Z component F2Z, the roll component F2RX, the pitch component F2PY and the yaw component F2YZ representing each component of the specific point force F2 in the XYZ orthogonal coordinate system related to the specific point TCP of the robot arm 3.

[0052] The operator can check the joint force numerical data F1D and the specific point force numerical data F2D by comparing the temporal changes of the joint force F1 and the temporal changes of the specific point force F2 based on the joint force waveform F1W and the specific point force waveform F2W displayed on the display screen DS of the display unit 72. Thus, the operator can set the parameters related to the control of the robot 5 more efficiently.

[0053] In addition, the control unit 73 may also control the display unit 72 in the display process S2 so that, for each joint force F1 on each joint force waveform F1W, at least one of the maximum value, minimum value, and average value in the predetermined period T12 between the first time point T1 and the second time point T2 on the time axis is displayed as the joint force numerical data F1D. Similarly, the control unit 73 may also control the display unit 72 so that, for the specific point force F2 on the specific point force waveform F2W, at least one of the maximum value, minimum value, and average value in the predetermined period T12 between the first time point T1 and the second time point T2 on the time axis is displayed as the specific point force numerical data F2D. In this case, the operator can confirm the maximum value, minimum value, and average value of each joint force F1 in the predetermined period T12 as the joint force numerical data F1D, and can confirm the maximum value, minimum value, and average value of the specific point force F2 in the predetermined period T12 as the specific point force numerical data F2D.

[0054] In the present embodiment, in the assist device 7, the operating unit 71 may be input with an instruction to select a force waveform to be displayed on the display unit 72 from among the first to seventh torque waveforms included in the joint force waveform F1W and the X component waveform, Y component waveform, Z component waveform, roll component waveform, pitch component waveform, and yaw component waveform included in the specific point force waveform F2W. In this case, the control unit 73 controls the display unit 72 in the display process S2 to display the force waveform corresponding to the instruction input to the operating unit 71.

[0055] like Figure 5As shown, on the display screen DS of the display unit 72, a first waveform display distinction area DS1 is provided adjacent to the display area of ​​the joint force numerical data F1D, and a second waveform display distinction area DS2 is provided adjacent to the display area of ​​the specific point force numerical data F2D. The first waveform display distinction area DS1 is an area for distinguishing the first to seventh torque waveforms included in the joint force waveform F1W into waveforms displayed on the display unit 72 and non-displayed waveforms not displayed on the display unit 72 according to the selection instruction input to the operation unit 71. The second waveform display distinction area DS2 is an area for distinguishing the X component waveform, Y component waveform, Z component waveform, roll component waveform, pitch component waveform, and yaw component waveform included in the specific point force waveform F2W into waveforms displayed on the display unit 72 and non-displayed waveforms not displayed on the display unit 72 according to the selection instruction input to the operation unit 71.

[0056] exist Figure 5 In the figure, as the force waveform displayed on the display unit 72, an example is shown in which an instruction to select the first torque waveform F1W1 and the fourth torque waveform F1W4 in the joint force waveform F1W and the Z component waveform F2WZ and the yaw component waveform F2WYZ in the specific point force waveform F2W is input to the operation unit 71. The operator can input a selection instruction of the force waveform displayed on the display screen DS of the display unit 72 via the operation unit 71. Then, the operator can focus on the first torque waveform F1W1 and the fourth torque waveform F1W4 in the joint force waveform F1W and the Z component waveform F2WZ and the yaw component waveform F2WYZ in the specific point force waveform F2W displayed on the display unit 72 according to the selection instruction, and compare the temporal change of the joint force F1 and the temporal change of the specific point force F2. As a result, the operator can efficiently set the parameters related to the control of the robot 5.

[0057] (Recognition Processing)

[0058] like Figure 6 As shown, sometimes in the XYZ orthogonal coordinate system of the specific point TCP at the front end of the robot arm 3, the specific point force F2 is dispersed in the axial directions of two axes, and the magnitude of the axial component of the remaining axis is less than a predetermined threshold. Figure 6 , an example is shown in which the specific point force F2 is dispersed axially along the X-axis and the Z-axis in the XYZ orthogonal coordinate system of the specific point TCP, and the specific point force F2 includes the X component F2X and the Z component F2Z as axial components. In this case, the torque (in the first to seventh torques corresponding to the first to seventh joints 21 to 27 of the robot arm 3) that may be a factor affecting the dispersion of the specific point force F2 is Figure 6The fourth torque corresponding to the fourth joint 24 (wherein) becomes an important indicator for setting parameters related to the control of the robot 5.

[0059] Therefore, when the control unit 73 determines in the identification processing S3 that the specific point force F2 is dispersed axially toward two axes in the XYZ orthogonal coordinate system of the specific point TCP, it identifies the fourth torque corresponding to the fourth joint part 24 which may be an influencing factor of the dispersion of the specific point force F2 among the first to seventh torques corresponding to the first to seventh joint parts 21 to 27, and outputs its identification result.

[0060] exist Figure 6 In the example, the control unit 73 identifies the fourth torque corresponding to the fourth joint 24 that may be an influencing factor of the dispersion of the specific point force F2 by comparing the temporal changes of the axial components of the two axes of the specific point force F2, namely, the X component F2X and the Z component F2Z, with the temporal changes of the first to seventh torques corresponding to the first to seventh joints 21 to 27. Specifically, the control unit 73 compares the rising start time, the rising speed, the maximum value in the predetermined period T12, etc. with respect to the temporal changes of the X component F2X and the Z component F2Z of the specific point force F2 and the temporal changes of the first to seventh torques corresponding to the first to seventh joints 21 to 27, thereby identifying the fourth torque that may be an influencing factor of the dispersion of the specific point force F2.

[0061] When the fourth torque corresponding to the fourth joint part 24 that may be an influencing factor of the dispersion of the specific point force F2 is identified, the control unit 73 outputs its identification result. For example, the control unit 73 may also control the display unit 72 based on its identification result. Specifically, the control unit 73 controls the display unit 72 to display the fourth torque waveform F1W4 representing the temporal change of the fourth torque corresponding to the fourth joint part 24 that may be an influencing factor of the dispersion of the specific point force F2 on the display screen DS. In the case where the specific point force F2 is axially dispersed to two axes, the operator can focus on the torque that may be an influencing factor of the dispersion of the specific point force F2 based on the identification result in the identification processing S3 of the control unit 73, and set parameters related to the control of the robot 5.

[0062] As described above, the robot system 100 includes the auxiliary device 7 capable of setting parameters related to the control of the robot 5 in detail. In the robot system 100, the control device 6 can control the movement of the robot 5 by sending a control signal according to the control program CP in which the setting data SD related to the control of the robot 5 set in detail is recorded to the robot 5.

[0063] In addition, the above-mentioned specific embodiments mainly include inventions having the following structures.

[0064] An auxiliary device according to one aspect of the present invention is a device that assists in setting parameters related to the control of a robot having a robot arm, the robot arm having a plurality of arm elements and a plurality of joints that connect the plurality of arm elements in a manner that allows the plurality of arm elements to rotate around a rotation axis, and the auxiliary device having a display unit and a control unit that controls the display unit. The control unit performs: an acquisition process to acquire data representing joint forces acting on each of the plurality of joints and data representing specific point forces acting on a specific point at the front end of the robot arm; and a display process to control the display unit to display joint force waveforms representing temporal changes in each of the joint forces and specific point force waveforms representing temporal changes in the specific point forces.

[0065] According to the auxiliary device, a joint force waveform representing the temporal change of the joint force acting on each joint of the robot arm and a specific point force waveform representing the temporal change of the specific point force acting on a specific point at the front end of the robot arm are displayed on the display unit. The operator can compare the temporal change of each joint force acting on each joint with the temporal change of the specific point force acting on the specific point at the front end of the robot arm by confirming the joint force waveforms and the specific point force waveforms displayed on the display unit. Thus, in addition to the temporal change of the specific point force, the temporal change of each joint force also becomes an indicator for setting parameters related to the control of the robot, so the operator can set the parameters related to the control of the robot in detail.

[0066] In the above-mentioned assisting device, the control unit may control the display unit in the display process so as to display the joint force waveforms and the specific point force waveforms on the same time axis.

[0067] In this method, the waveforms of the joint forces and the waveforms of the specific point forces are displayed on the same time axis in the display unit. Thus, the operator can easily compare the temporal changes of the joint forces acting on the joints with the temporal changes of the specific point forces acting on the specific point of the front end of the robot arm. Therefore, the operator can efficiently set the parameters related to the control of the robot.

[0068] In the above-mentioned auxiliary device, the control unit may also control the display unit during the display processing so as to display the numerical data of each joint force on each joint force waveform and the specific point force on the specific point force waveform on the same screen as the joint force waveform and the specific point force waveform.

[0069] In this method, when comparing the temporal changes of the forces at each joint with the temporal changes of the forces at the specific point based on the waveforms of the forces at each joint and the forces at the specific point displayed on the display unit, the operator can confirm the numerical data of the forces at each joint and the forces at the specific point. Thus, the operator can more efficiently set the parameters related to the control of the robot.

[0070] In the above-mentioned auxiliary device, it may also be that the control unit controls the display unit during the display processing so that, with respect to each of the joint forces on the joint force waveforms and the specific point forces on the specific point force waveforms, at least one of the maximum value, the minimum value and the average value within a predetermined period between the first time point and the second time point on the time axis is displayed as the numerical data.

[0071] In this method, the operator can check the maximum value, minimum value, and average value of each joint acting force and specific point acting force in a predetermined period as numerical data.

[0072] The auxiliary device may further include an operating unit to which an instruction for selecting a waveform to be displayed on the display unit from among the joint force waveforms and the specific point force waveforms is input. In this case, the control unit controls the display unit during the display process to display a waveform corresponding to the instruction input to the operating unit.

[0073] In this method, the operator can input a selection command of the force waveform displayed on the display unit through the operation unit. Moreover, the operator can only focus on the force waveform displayed on the display unit according to the selection command, and compare the temporal change of the joint force with the temporal change of the force at a specific point. In this way, the operator can efficiently set the parameters related to the control of the robot.

[0074] In the above-mentioned auxiliary device, the control unit may also obtain the torque of each of the arm elements respectively connected to the multiple joints around the rotation axis as the data of each of the joint forces in the acquisition process, and obtain the data of each axial component of the specific point force corresponding to the three axes in the three-dimensional orthogonal coordinate system about the specific point. In addition, the control unit may control the display unit in the display process to display the temporal changes of each of the torques respectively corresponding to the multiple joints as the joint force waveforms, and display the temporal changes of each of the axial components of the specific point force as the specific point force waveforms.

[0075] In this method, each torque waveform representing the temporal change of the torque around the rotation axis of each arm element corresponding to each joint of the robot arm and each component waveform representing the temporal change of each axial component of the specific point force in the three-dimensional orthogonal coordinate system related to the specific point are displayed on the display unit. The operator can compare the temporal change of the torque acting on each joint and the temporal change of each component of the specific point force acting on the specific point at the front end of the robot arm by confirming each torque waveform corresponding to each joint and each component waveform corresponding to each axial component of the specific point force displayed on the display unit.

[0076] In the above-mentioned auxiliary device, it may also be that the control unit, when it is determined that the force at the specific point is dispersed axially to two axes in the three-dimensional orthogonal coordinate system of the specific point based on the respective sizes of the axial components of the force at the specific point, performs recognition processing for identifying the torques that may become the influencing factors of the dispersion of the force at the specific point among the torques corresponding to the multiple joints respectively, and outputs the recognition result.

[0077] In the case where the specific point force at the front end of the robot arm is dispersed in the axial direction of two axes in the three-dimensional orthogonal coordinate system, the torque of each arm element around the rotation axis corresponding to each joint of the robot arm, which may be the influencing factor of the dispersion of the specific point force, becomes an important index for setting the parameters related to the control of the robot. Therefore, the control unit identifies the torque that may be the influencing factor of the dispersion of the specific point force in the identification process and outputs its identification result. For example, the control unit identifies the torque that may be the influencing factor of the dispersion of the specific point force by comparing the temporal change of the axial components of the two axes of the specific point force with the temporal change of each torque corresponding to each joint. Specifically, the control unit compares the rise start time, the rise speed, the maximum value in a predetermined period, etc. with respect to each component of the specific point force and the temporal change of each torque corresponding to each joint, thereby identifying the torque that may be the influencing factor of the dispersion of the specific point force. In the case where the specific point force is dispersed in the axial direction of two axes, the operator can focus on the torque that may be the influencing factor of the dispersion of the specific point force based on the identification result in the identification process of the control unit, and set the parameters related to the control of the robot.

[0078] Another aspect of the present invention relates to a robot system comprising: a robot having a robot arm, the robot arm having a plurality of arm elements and a plurality of joints connecting the plurality of arm elements in a manner capable of rotating around a rotation axis; and the above-mentioned auxiliary device, which assists in generating setting data related to the control of the robot.

[0079] According to this robot system, an assist device capable of setting parameters related to the control of the robot in detail is provided. In the robot system, the operation of the robot arm can be controlled based on the setting values ​​of the parameters related to the control of the robot that have been set in detail.

[0080] As described above, according to the present invention, it is possible to provide an assist device and a robot system capable of setting parameters related to the control of a robot in detail.

Claims

1. An assisting device for assisting in setting parameters related to control of a robot having a robot arm, the robot arm having a plurality of arm elements and a plurality of joints connecting the plurality of arm elements in a manner rotatable around a rotation axis, wherein: The auxiliary device comprises: display unit; and a control unit for controlling the display unit, The control unit performs: Acquisition processing, acquiring data of joint force representing the force acting on each of the plurality of joints and data of specific point force representing the force acting on a specific point at the front end of the robot arm; and The display process controls the display unit to display the joint force waveforms respectively indicating the temporal changes of the joint forces and the specific point force waveform indicating the temporal changes of the specific point forces.

2. The auxiliary device according to claim 1, wherein: The control unit controls the display unit in the display process so as to display the joint force waveforms and the specific point force waveforms on the same time axis.

3. The auxiliary device according to claim 2, wherein: The control unit controls the display unit in the display processing to display the numerical data of each joint force on each joint force waveform and the specific point force on the specific point force waveform on the same screen as each joint force waveform and the specific point force waveform.

4. The auxiliary device according to claim 3, wherein: The control unit controls the display unit during the display processing so as to display at least one of the maximum value, the minimum value and the average value within a predetermined period between the first time point and the second time point on the time axis as the numerical data for each joint force on the joint force waveform and the specific point force on the specific point force waveform.

5. The auxiliary device according to claim 1, wherein: The assist device further includes an operation unit to which an instruction is input for selecting a waveform to be displayed on the display unit from among the joint force waveforms and the specific point force waveforms. The control section controls the display section in the display process so as to display a waveform corresponding to an instruction input to the operation section.

6. The auxiliary device according to claim 1, wherein: The control unit obtains the torque around the rotation axis of each of the arm elements respectively connected to the plurality of joints as the data of each joint force in the acquisition process, and obtains the data of each axial component of the specific point force corresponding to the three axes in the three-dimensional orthogonal coordinate system about the specific point, The control unit controls the display unit during the display processing to display the temporal changes of each of the torques corresponding to the multiple joints as each of the joint force waveforms, and to display the temporal changes of each of the axial components of the specific point force as the specific point force waveform.

7. The auxiliary device according to claim 6, wherein: When the control unit determines that the force at the specific point is dispersed axially along two axes in the three-dimensional orthogonal coordinate system of the specific point based on the respective sizes of the axial components of the force at the specific point, the control unit performs recognition processing for identifying torques that may become factors affecting the dispersion of the force at the specific point among the torques corresponding to the multiple joints respectively, and outputs the recognition result.

8. A robot system comprising: A robot having a robot arm including a plurality of arm elements and a plurality of joints connecting the plurality of arm elements so as to be rotatable around a rotation axis; and The assisting device according to any one of claims 1 to 7 assists in generating setting data related to the control of the robot.

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