Robot system, controller, and control method for robot system

Abstract

The invention provides a robot system, a controller, and a control method of the robot system. An operator and the like can grasp force actually acting on an object in the form of data. A robot system (1) is provided with a master robot (10), a slave robot (50), a force sensor (80), a display (30), and a controller (100) that executes a display process for displaying force data indicating a reaction force detected by the force sensor (80) on the display (30).

Description

Technical Field

[0001] The present disclosure relates to a robot system, a controller, and a control method of the robot system. Background Art

[0002] In the past, there is a known technology for feeding back to an operator who remotely operates a robot the force sense and / or tactile sense generated when the robot touches an object. For example, Patent Document 1 describes a robot for grinding operations that is remotely operated using an operating device. A force sensor for detecting the force and torque received from the object being ground is disposed on the robot arm. The force and torque detected by the force sensor are fed back to the operating device, so that the operator who operates the operating device can feel the reaction force and other forces generated by the robot arm during operation.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2021 / 095886 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, in a robot such as Patent Document 1, the force and torque detected by the force sensor are fed back to the grip of the operating device held by the operator. In this way, the operator can only understand the state of the robot arm from the feeling of the operator's hand. Therefore, there is a problem that although the operator can infer the force acting on the object from the robot arm, he cannot understand the actual force acting on the object.

[0008] An object of one aspect of the present disclosure is to realize a robot system that enables an operator or the like to grasp the force actually acting on an object in the form of data.

[0009] Solutions for solving problems

[0010] In order to solve the above-mentioned problems, a robot system involved in one embodiment of the present invention comprises: a master robot, which has a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot, which has a second link mechanism whose movement is synchronized with the movement of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor, which detects a reaction force of the force applied to an object from the second tool; a display; and a controller, wherein the controller performs display processing to display force data representing the reaction force detected by the force sensor on the display.

[0011] In order to solve the above-mentioned problems, a controller involved in one embodiment of the present invention is a controller for controlling a robot system, wherein the robot system comprises: a master robot having a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot having a second link mechanism whose movement is synchronized with the movement of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor that detects a reaction force of the force applied to an object from the second tool; and a display, wherein the controller performs display processing to display force data representing the reaction force detected by the force sensor on the display.

[0012] In order to solve the above-mentioned problems, in a control method of a robot system involved in one embodiment of the present invention, the robot system comprises: a master robot, which has a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot, which has a second link mechanism whose movement is synchronized with the movement of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor, which detects a reaction force of the force applied to an object from the second tool; and a display, wherein the control method includes display processing of displaying force data representing the reaction force detected by the force sensor on the display.

[0013] Effects of the Invention

[0014] According to one aspect of the present disclosure, it is possible to realize a robot system that enables an operator or the like to grasp the force actually acting on an object in the form of data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram showing an example of a robot system according to Embodiment 1 of the present disclosure.

[0016] Figure 2 It is shown Figure 1 A schematic diagram of the structure of the fixing part is shown.

[0017] Figure 3 It is shown Figure 1 An exploded perspective view of the structure of the fixing portion shown.

[0018] Figure 4 It is a diagram for explaining parameters detected by the force sensor included in the fixing part.

[0019] Figure 5 This is a block diagram showing the internal structure of each unit included in the robot system according to Embodiment 1 of the present disclosure.

[0020] Figure 6 It is shown Figure 5 A flow chart of the control method implemented by the controller shown.

[0021] Figure 7 A diagram showing an example of a display screen displayed during the display process.

[0022] Figure 8 This is an external perspective view showing a modified example of the fixing portion of the robot system according to the first embodiment.

[0023] Fig. 9 It is shown Figure 8 A schematic diagram of the structure of the fixing part is shown. DETAILED DESCRIPTION

[0024] [Implementation method 1]

[0025] Below, refer to Figure 1 to Figure 6 To describe in detail an embodiment of the present disclosure. In addition, for ease of description, as Figure 1 As shown in FIG. 1 and FIG. 2 , the coordinate axes are defined by three directions, namely, the X-axis, the Y-axis, and the Z-axis. The coordinate axes are based on the operator operating the main robot 10. The X-axis direction in each figure is set as the front-back direction, the Y-axis direction is set as the left-right direction, and the Z-axis direction is set as the up-down direction. Figure 1 In the above, the positive direction of the X-axis is set as the front direction, the positive direction of the Y-axis is set as the left direction, and the positive direction of the Z-axis is set as the upward direction.

[0026] (Overview of the Robot System)

[0027] Figure 1 This is a schematic diagram showing an example of the robot system 1 according to the first embodiment of the present disclosure. Figure 1 The robot system 1 illustrated is a robot system for filing an object W. The robot system 1 includes a master robot 10 , a slave robot 50 , a display 30 , a force sensor 80 , and a controller 100 .

[0028] The robot system 1 is a system that is centrally controlled by a controller 100 and remotely controls a slave robot 50 through a master robot 10. The controller 100 is connected to a master controller 20 and a slave controller 60 via a network 40 so that information can be communicated. The controller 100 sends a command signal to the master controller 20 and the slave controller 60 to control the master robot 10 and the slave robot 50.

[0029] The main robot 10 is a robot operated by an operator. The main robot 10 has a first link mechanism 11 and a first tool 15. The first link mechanism 11 is a link mechanism capable of moving the first tool 15 in the X-axis direction and the Z-axis direction. The first link mechanism 11 is mounted on a base 12 fixed to the ground or a workbench. Figure 1 The first link mechanism 11 shown is a parallel link mechanism. In addition, as the first link mechanism 11, a link mechanism that can move the first tool 15 in the Y-axis direction may be adopted.

[0030] The first link mechanism 11 includes a first actuator 14 that applies a driving force to the first link mechanism 11. The first actuator 14 is driven based on a command signal from a main controller 20 described later. The first actuator 14 is, for example, an electric motor.

[0031] The first actuator 14 may include a first encoder (not shown) for detecting the rotation angle of the output shaft of the first actuator 14, and a first angle sensor (not shown) for reading the scale of the first encoder. The first encoder may be mounted on the output shaft of the first actuator 14. The first actuator 14 may send an output signal indicating the rotation angle of the output shaft of the first actuator 14 detected by the first angle sensor to the controller 100 via the main controller 20. The controller 100 may detect the position information of the first tool 15 based on the rotation angle of the output shaft of the first actuator 14. In addition, the controller 100 may also control the action of the first actuator 14 based on the rotation angle of the output shaft of the first actuator 14.

[0032] The first tool 15 is a tool connected to the first link mechanism 11 and operated by an operator. The first tool 15 has a first gripping portion 16 and a first processing head 17. The first gripping portion 16 is a portion gripped by the operator. A file capable of filing is formed on the first processing head 17. The first processing head 17 is not a head that actually processes the object W, but a virtual processing head. The operator grips the first gripping portion 16 to operate the first tool 15. When the operator operates the first tool 15, the first link mechanism 11 is actuated, thereby the first tool 15 moves in the X-axis direction and / or the Z-axis direction. That is, the first processing head 17 moves in the X-axis direction and / or the Z-axis direction.

[0033] The first link mechanism 11 may also include a first parallel link mechanism 13. The first parallel link mechanism 13 is a mechanism for maintaining a constant posture of the first processing head 17 of the first tool 15. More specifically, the first parallel link mechanism 13 is a mechanism for maintaining a constant posture of the first processing head 17 in such a manner that the surface of the first processing head 17 on which the file is formed becomes horizontal.

[0034] The display 30 is arranged at a position where the operator who operates the first tool 15 can check the data displayed on the display 30. Various information is displayed on the display 30. In addition, a plurality of displays 30 may be arranged. For example, a display 30 separate from the display 30 that the operator can check may be arranged at a position that a third party other than the operator who operates the first tool 15 can check.

[0035] The slave robot 50 is a robot that actually processes the object W. The structure of the slave robot 50 is substantially the same as that of the master robot 10. The slave robot 50 has a second link mechanism 51 and a second tool 55. The second link mechanism 51 is a link mechanism that enables the second tool 55 to move in the X-axis direction and the Z-axis direction. The second link mechanism 51 is mounted on a base 52 fixed to the ground or a workbench. Figure 1 The second link mechanism 51 shown is a parallel link mechanism. In addition, as the second link mechanism 51, a link mechanism that can move the second tool 55 in the Y-axis direction can also be adopted.

[0036] The second link mechanism 51 includes a second actuator 54 that applies a driving force to the second link mechanism 51. The second actuator 54 is driven based on a command signal from a controller 60 described later. The second actuator 54 is, for example, an electric motor.

[0037] The second actuator 54 may include a second encoder (not shown) for detecting the rotation angle of the output shaft of the second actuator 54, and a second angle sensor (not shown) for reading the scale of the second encoder. The second encoder may be mounted on the output shaft of the second actuator 54. The second actuator 54 may send an output signal indicating the rotation angle of the output shaft of the second actuator 54 detected by the second angle sensor to the controller 100 via the slave controller 60. The controller 100 may detect the position information of the second tool 55 based on the rotation angle of the output shaft of the second actuator 54. In addition, the controller 100 may also control the action of the second actuator 54 based on the rotation angle of the output shaft of the second actuator 54.

[0038] The second tool 55 is a tool connected to the second link mechanism 51 and actually processes the object W. The second tool 55 has a second gripping portion 56 and a second processing head 57. The second gripping portion 56 is not a gripping portion actually gripped by the operator, but a virtual gripping portion. A file for filing the object W is formed in the second processing head 57. The second processing head 57 is a head that actually processes the object W. The second tool 55 is driven by the second link mechanism 51. The second tool 55 moves in the X-axis direction and the Z-axis direction by the second link mechanism 51 being synchronously operated with the first link mechanism 11. That is, the second processing head 57 moves in the X-axis direction and / or the Z-axis direction.

[0039] The second link mechanism 51 may also include a second parallel link mechanism 53. The second parallel link mechanism 53 is a mechanism for maintaining a constant posture of the second processing head 57 of the second tool 55. More specifically, the second parallel link mechanism 53 is a mechanism for maintaining a constant posture of the second processing head 57 in such a manner that the surface of the second processing head 57 on which the file is formed becomes horizontal.

[0040] The robot system 1 may also include a fixing unit 70. The object W processed by the second tool 55 is fixed to the ground or the workbench by the fixing unit 70. Figure 2 and Figure 3 , the fixing portion 70 will be described in detail. Figure 2 It is shown Figure 1 A schematic diagram of the structure of the fixing portion 70 is shown. Figure 3 It is shown Figure 1 The structure of the fixing portion 70 is shown in an exploded perspective view.

[0041] like Figure 2 As shown in FIG. 1 , the fixing unit 70 includes a vise 71 and a force sensor 80. The object W is fixed to the ground or the workbench by being clamped by the vise 71. The vise 71 is arranged on the force sensor 80. Figure 3 As shown, the bench vise 71 can be mounted on the force sensor 80 by means of bolts B1. The force sensor 80 is disposed on the connecting member 72 and fixed to the ground or the workbench by means of the connecting member 72. The force sensor 80 can be mounted on the connecting member 72 by means of bolts B2.

[0042] Reference Figure 4 Parameters detected by the force sensor 80 included in the fixing portion 70 will be described. Figure 4 2 is a diagram for explaining parameters detected by the force sensor 80 provided in the fixing portion 70. Figure 4 As shown, the force sensor 80 is a six-axis force sensor that can detect loads (Fx, Fy, Fz) in the X-axis direction, the Y-axis direction, and the Z-axis direction, and simultaneously detect moments (Mx, My, Mz) around the X-axis direction, the Y-axis direction, and the Z-axis direction. The force sensor 80 is a strain sensor having a strain generating body (Japanese: strain generating body) (not shown). A vise 71 is mounted on the first surface 81 of the force sensor 80, and a connector 72 is mounted on the second surface on the opposite side of the first surface 81. In addition, the force sensor 80 is not limited to a strain sensor, and a piezoelectric, optical, or other force sensor may also be used.

[0043] The force sensor 80 detects the reaction force and moment of the force acting from the second tool 55 on the object W. For example, Figure 2As shown in FIG. 1 , when the second tool 55 moves in the direction of arrow X1 in a state where the second machining head 57 is in contact with the object W, a friction force F1 acts between the second machining head 57 and the object W. The force sensor 80 detects a reaction force F2 of the friction force F1 acting on the object W via the vise 71. The force sensor 80 sends an output signal indicating the detected reaction force and moment value to the slave controller 60.

[0044] According to the structure in which the fixing part 70 has the force sensor 80, the reaction force and moment of the force acting on the object W from the second tool 55 are transmitted to the vise 71 of the fixing part 70. The force sensor 80 can detect the reaction force and moment transmitted to the vise 71. By being arranged on the fixing part 70 side, the force sensor 80 can detect the reaction force and moment of the force acting on the object W with higher accuracy than when it is arranged on the second tool 55 side. Thus, the reaction force of the force acting on the object W from the second tool 55 can be accurately detected. In addition, the force sensor 80 only needs to be able to detect the reaction force of the force acting on the object W at least in the X-axis direction.

[0045] The robot system 1 may include an angular velocity sensor 58 for detecting the angular velocity of the second tool 55. The angular velocity sensor 58 is disposed on the second tool 55. More specifically, the angular velocity sensor 58 is disposed on the gripping portion of the second tool 55. The angular velocity sensor 58 transmits an output signal indicating the detected angular velocity to the slave controller 60.

[0046] The robot system 1 may include an acceleration sensor 59 for detecting the acceleration of the second tool 55. The acceleration sensor 59 is disposed on the second tool 55. More specifically, the acceleration sensor 59 is disposed on the gripping portion of the second tool 55. The acceleration sensor 59 transmits an output signal indicating the detected acceleration to the slave controller 60.

[0047] The robot system 1 may include a camera 90 for capturing an image of a processing state of the object W. The camera 90 transmits an output signal representing captured image data to the controller 60. The image captured by the camera 90 may be a still image or a moving image.

[0048] (Internal structure of the robot system)

[0049] Reference Figure 5 , to illustrate the internal structure of each part included in the robot system 1. Figure 51 is a block diagram showing the internal structure of each part included in the robot system 1. The controller 100 includes a processor 101, a primary memory 102, a secondary memory 103, a communication IF 104, and a bus 105. The processor 101, the primary memory 102, the secondary memory 103, and the communication IF 104 are connected to each other via the bus 105. As a device that can be used as the controller 100, for example, a workstation constituting a cloud server can be cited.

[0050] The control program P1 is stored in the secondary memory 103. The processor 101 expands the control program P1 stored in the secondary memory 103 on the primary memory 102. In addition, the processor 101 executes each process included in the control method S1 described later according to the command included in the control program P1 expanded on the primary memory 102. As a device that can be used as the processor 101, for example, a CPU (Central Processing Unit) can be cited. In addition, as a device that can be used as the primary memory 102, for example, a semiconductor RAM (Random Access Memory) can be cited. In addition, as a device that can be used as the secondary memory 103, for example, an HDD (Hard Disk Drive) can be cited.

[0051] The communication IF 104 is an interface for communicating with the main controller 20 and the slave controller 60 via the network 40. As an interface that can be used as the communication IF 104, for example, an Ethernet (registered trademark) interface can be cited. In addition, as the network 40 that can be used, a PAN (Personal Area Network), a LAN (Local Area Network), a CAN (Campus Area Network), a MAN (Metropolitan Area Network), a WAN (Wide Area Network), a GAN (Global Area Network), or the Internet including these networks can be cited. The Internet can be an intranet, an extranet, or the Internet.

[0052] In addition, the control program P1 can be recorded in a computer-readable non-transitory tangible recording medium. The recording medium can be the secondary storage 103 or other recording media. For example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, etc. can be used as other recording media.

[0053] In addition, in the present embodiment, a structure is adopted in which a single processor (processor 101) is used to execute the control method S1, but the present disclosure is not limited to this. That is, a structure in which a plurality of processors are used to execute the control method S1 may also be adopted. In this case, the plurality of processors that execute the control method S1 may be provided in a single computer in such a manner that they can communicate with each other via a bus, or may be dispersedly provided in a plurality of computers in such a manner that they can communicate with each other via a network 40. For example, a method in which the processors of each of the plurality of computers constituting the cloud server cooperate to execute the control method S1 may also be considered.

[0054] The main controller 20 mainly controls the main robot 10. The main controller 20 is a device having a processor, a memory, a communication IF, and an input / output IF. As a device that can be used as the main controller 20, for example, a personal computer (PC) and a PLC (programmable logic controller) can be cited. The processor of the main controller 20 mainly executes various processes related to the control of the movement of the main robot 10 according to the instructions included in the control program stored in the memory.

[0055] The main controller 20 is connected to the first actuator 14 of the first link mechanism 11. The main controller 20 sends a control signal to the first actuator 14 according to the command signal obtained from the controller 100. In addition, the main controller 20 obtains information sent from the first actuator 14 and sends the information obtained from the first actuator 14 to the controller 100.

[0056] The main controller 20 is connected to the display 30 so as to be able to communicate information. The main controller 20 displays the information acquired from the controller 100 on the display 30 in accordance with the command signal acquired from the controller 100 .

[0057] The slave controller 60 mainly controls the slave robot 50. The slave controller 60 is a device having a processor, a memory, a communication IF, and an input / output IF. As devices that can be used as the slave controller 60, for example, a personal computer (PC) and a PLC (programmable logic controller) can be cited. The processor of the slave controller 60 mainly executes various processes related to the control of the movement of the slave robot 50 according to the commands included in the control program stored in the memory.

[0058] The slave controller 60 is connected to the second actuator 54 of the second link mechanism 51. The slave controller 60 sends a control signal to the second actuator 54 according to the command signal obtained from the controller 100. In addition, the slave controller 60 obtains information sent from the second actuator 54 and sends the information obtained from the second actuator 54 to the controller 100.

[0059] The slave controller 60 is connected to the force sensor 80 in a manner that enables information communication. The slave controller 60 sends the parameters acquired from the force sensor 80 to the controller 100. In addition, the slave controller 60 may also be connected to the angular velocity sensor 58, the acceleration sensor 59, and the camera 90 in a manner that enables information communication. The slave controller 60 may also send the signals acquired from the angular velocity sensor 58, the acceleration sensor 59, and the camera 90 to the controller 100.

[0060] (Flow of control method)

[0061] Reference Figure 6 The flow of the control method S1 of the robot system 1 implemented by the controller 100 will be described. Figure 6 It is shown Figure 5 Flow chart of the control method S1 implemented by the controller 100 shown.

[0062] like Figure 6 As shown, the control method S1 includes a synchronization process S11, a detection process S12, and a display process S15. In addition, the control method S1 may also include a determination process S13 and a notification process S14. The processes S11 to S14 are repeatedly executed during the processing by the operator. The display process S15 is executed in parallel with the processes S11 to S14.

[0063] The synchronization process S11 is a process for synchronizing the movement of the master robot 10 with the movement of the slave robot 50. More specifically, the processor 101 of the controller 100 controls the first actuator 14 and the second actuator 54 in the synchronization process S11 so that the movement of the first link mechanism 11 and the movement of the second link mechanism 51 are synchronized with each other.

[0064] In the synchronization process S11, the processor 101 acquires information indicating the rotation angle of the output shaft of the first actuator 14 from the main controller 20. The processor 101 sends a command signal to the slave controller 60 via the communication IF 104 so that the rotation angle of the output shaft of the second actuator 54 becomes the same as the acquired rotation angle of the output shaft of the first actuator 14.

[0065] In the synchronization process S11, the processor 101 obtains information indicating the rotation angle of the output shaft of the second actuator 54 fed back from the controller 60 via the communication IF 104. In the synchronization process S11, the processor 101 sends a command signal to the main controller 20 via the communication IF 104 so that the fed-back rotation angle of the output shaft of the second actuator 54 becomes the same as the rotation angle of the output shaft of the first actuator 14. Thus, the operator can sense the reaction force and / or moment of the force acting on the object W from the second tool 55 via the first tool 15.

[0066] The detection process S12 is a process for detecting the reaction force and / or torque of the force acting on the object W by the force sensor 80 when the object W is processed by the second tool 55. In the detection process S12, the processor 101 obtains information indicating the value of the reaction force and / or torque of the force acting on the object W detected by the force sensor 80 from the controller 60 via the communication IF 104. In addition, in the detection process S12, the angular velocity of the second tool 55 may be detected by the angular velocity sensor 58. The processor 101 may also obtain information indicating the value of the angular velocity of the second tool 55 detected by the angular velocity sensor 58 from the angular velocity sensor 58 in the detection process S12.

[0067] Determination process S13 is a process for determining whether the parameter detected by force sensor 80 exceeds a threshold value. Processor 101 determines whether the value of the reaction force and / or moment of force sensor 80 acquired in detection process S12 is greater than the threshold value.

[0068] Notification processing S14 is a process for notifying the operator that the parameter detected by the force sensor 80 is a value greater than a threshold value. In notification processing S14, when the processor 101 determines in determination processing S13 that the value of the reaction force and / or torque detected by the force sensor 80 is greater than the threshold value, the operator is notified that the value of the reaction force and / or torque detected by the force sensor 80 exceeds the threshold value. The threshold value can be a value obtained through experiments or simulations, or it can be an arbitrary value set by the operator. In notification processing S14, the processor 101 notifies the operator through hearing and / or vision. For example, the processor 101 can issue an alarm to notify the operator, or it can display a warning on the display 30.

[0069] According to the configuration for executing the notification process S14 , the notification process S14 can make the worker aware that a force exceeding a threshold value is applied to the object W. Thus, the processing quality of the object W can be maintained.

[0070] The display process S15 is a process for displaying force data indicating the reaction force and / or moment detected by the force sensor 80 on the display 30. In the display process S15, the processor 101 generates a display screen for displaying the values ​​of the reaction force and / or moment of the force sensor 80 acquired in the detection process S12 on the display 30. In the display process S15, the processor 101 outputs the generated display screen to the main controller 20, and sends a command signal to the main controller 20 to display the output display screen on the display 30.

[0071] In the display process S15, the processor 101 may also generate a display screen for displaying the movement data on the display 30, the movement data being data indicating the movement state of the second tool 55 based on one or both of the angular velocity detected by the angular velocity sensor 58 and the acceleration detected by the acceleration sensor 59. In addition, in the display process S15, the processor 101 may also generate a display screen for displaying an image showing the processing state of the object W captured by the camera 90 on the display 30.

[0072] Reference Figure 7 , an example of a display screen 200 displayed on the display 30 is described. Figure 7 FIG. 4 is a diagram showing an example of a display screen displayed in the display process S15. Figure 7 The display screen 200 of the example shown displays force data 201 indicating the value of the reaction force and / or moment detected by the force sensor 80, movement data 202 indicating the movement state of the second tool 55 based on the angular velocity detected by the angular velocity sensor 58 and the acceleration detected by the acceleration sensor 59, and a camera image 203 representing the processing state of the object W captured by the camera 90. In addition, the force data 201, the movement data 202, and the camera image 203 may be displayed on different display screens.

[0073] In the display screen 200, force data 201 is displayed on the left side. In the force data 201, the values ​​of the loads (Fx, Fy, Fz) in the X-axis direction, the Y-axis direction, and the Z-axis direction detected by the force sensor 80 are displayed in their respective corresponding columns, and the values ​​of the moments (Mx, My, Mz) around the X-axis direction, the Y-axis direction, and the Z-axis direction are displayed in their respective corresponding columns. In addition, in the force data 201, only the values ​​of the loads (Fx, Fy, Fz) in the directions of the axes may be displayed, or only the value of the load (Fx) in the X-axis direction may be displayed. In addition, in the force data 201, a graph showing the temporal changes of the force and / or moment detected by the force sensor 80 may also be displayed.

[0074] In the display screen 200, the movement data 202 is displayed at the lower right side. In the movement data 202, the movement state of the second tool 55 in the X-axis direction and the Z-axis direction is shown based on the angular velocity detected by the angular velocity sensor 58 and the acceleration detected by the acceleration sensor 59. In addition, in the movement data 202 of the display screen 200, the movement state of the second tool 55 based on the angular velocity detected by the angular velocity sensor 58 or the acceleration detected by the acceleration sensor 59 may also be shown.

[0075] In the movement data 202, coordinate axes indicating the X-axis direction and the Z-axis direction and a pointer (Pointer) 202A indicating the position of the second tool 55 are displayed. In the display screen 200, when the pointer 202A is located at the zero point of the coordinates in the X-axis direction and the zero point of the coordinates in the Z-axis direction, it indicates that the second tool 55 is located at the initial position. When the second tool 55 moves in the X-axis direction from the initial position, the pointer 202A moves along the coordinate axis indicating the X-axis direction, and when the second tool 55 moves in the Z-axis direction from the initial position, the pointer 202A moves along the coordinate axis indicating the Z-axis direction.

[0076] A camera image 203 is displayed on the upper right side of the display screen 200. The camera image 203 may display a still image captured by the camera 90 or a moving image.

[0077] According to the configuration in which the processor 101 executes the display processing S5, force data indicating the reaction force of the force acting on the object W detected by the force sensor 80 is displayed on the display 30. Thus, it is possible to realize a robot system 1 in which an operator or the like can grasp the force actually acting on the object W in the form of data. The operator can operate the first tool 15 based on the force data 201 displayed on the display 30 in addition to the operating feeling of the first tool 15. In addition, since the force data 201 is displayed on the display 30, a third party other than the operator operating the first tool 15 can recognize the status of the processing operation. Thus, the operator can also guide and teach the third party on the processing operation based on the force data 201 on the display 30.

[0078] In the display process S5, the movement data 202 is displayed based on one or both of the angular velocity detected by the angular velocity sensor 58 and the acceleration detected by the acceleration sensor 59. According to such a configuration, the movement of the second tool 55 detected by one or both of the angular velocity sensor 58 and the acceleration sensor 59 can be displayed in real time on the display 30. Thus, the operator can confirm whether the movement of the master robot 10 and the movement of the slave robot 50 are synchronized normally.

[0079] In the display process S15, the camera image 203 is displayed on the display 30, so that the operator can check the processing state of the object W based on the image captured by the camera 90. Thus, the processing state of the object W can be checked objectively.

[0080] [Variation]

[0081] Reference Figure 8 and Fig. 9 A modification of the fixing portion 70 of the first embodiment will be described. Figure 8 This is an external perspective view showing a modified example of the fixing unit 70 of the robot system 1 according to the first embodiment. Fig. 9 It is shown Figure 8 Schematic diagram of the structure of the fixing portion 70A shown in FIG. In the above embodiment, the method of fixing the object W by the vise 71 is described, but the fixing portion of the present disclosure is not limited to this. The fixing portion 70A may also have a fixing member 76 for fixing the object W. In addition, for the convenience of description, the same reference numerals are given to the components having the same functions as the components described in the above embodiment, and their descriptions are not repeated.

[0082] like Figure 8 As shown in FIG. 1 , the object W is fixed to the fixing table 75 by a fixing member 76 provided on the fixing table 75. The fixing member 76 is a member protruding upward from the fixing table 75, and a plurality of fixing members 76 are provided on the fixing table 75. The object W is fixed to the fixing table 75 by sandwiching the outer surface of the object W in the horizontal direction by the plurality of fixing members 76. Fig. 9 As shown, the fixing table 75 is disposed on the force sensor 80. The fixing table 75 can be mounted on the force sensor 80 by bolts or the like. The force sensor 80 detects the reaction force and moment of the force acting from the second tool 55 on the object W via the fixing table 75.

[0083] [Other Implementation Methods]

[0084] In the above-mentioned embodiment, the robot system 1 that performs filing processing on the object W is described, but the robot system 1 of the present disclosure is not limited to such a structure. If the processing that can be performed by the robot system 1 of the present disclosure is exemplified, grinding processing using a grinder, cutting processing using a saw, surface smoothing processing using a plane, or drilling processing using a drill (Japanese: cone) can be cited.

[0085] In addition, in the above-mentioned embodiment, the first link mechanism 11 and the second link mechanism 51 are parallel link mechanisms, but are not limited to such a structure. The first link mechanism 11 and the second link mechanism 51 may also be a serial link mechanism. In addition, the first link mechanism 11 and the second link mechanism 51 may also be a linear motion link mechanism that moves linearly in the X-axis direction.

[0086] In addition, in the above-mentioned embodiment, the fixing part 70, 70A has one force sensor 80, but the fixing part 70, 70A may also be a structure having a plurality of force sensors 80. For example, the fixing part 70, 70A may also have a force plate having a plurality of force sensors 80. A vise 71 or the like may also be arranged on the force plate. According to such a structure, the distribution of the force applied to the object W can be displayed on the display screen when the object W is processed. Thereby, a more detailed distribution of the force actually acting on the object W can be grasped.

[0087] In addition, in the above-mentioned embodiment, the force sensor 80 is configured in the fixing portion 70, 70A, but the present invention is not limited to such a configuration. The force sensor 80 may also be configured in the second tool 55. In this case, the force sensor 80 detects the reaction force and moment of the force acting from the second tool 55 on the object W via the second tool 55.

[0088] In addition, in the above-mentioned embodiment, the force data 201, the movement data 202, and the camera image 203 are displayed on the same display screen 200, but the present invention is not limited to such a structure. The force data 201, the movement data 202, and the camera image 203 may be displayed on different display screens, respectively. In addition, the robot system 1 may be configured to include any one of the angular velocity sensor 58 and the acceleration sensor 59, and the movement state of the second tool 55 based on any one of the angular velocity detected by the angular velocity sensor 58 and the acceleration detected by the acceleration sensor 59 may be shown in the movement data 202.

[0089] 〔Summarize〕

[0090] The robot system involved in method 1 of the present disclosure comprises: a master robot, which has a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot, which has a second link mechanism whose movement is synchronized with the movement of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor, which detects a reaction force of the force applied to an object from the second tool; a display; and a controller, wherein the controller performs display processing to display force data representing the reaction force detected by the force sensor on the display.

[0091] According to the configuration of aspect 1, force data indicating the reaction force of the force acting on the object detected by the force sensor is displayed on the display. This enables a robot system that allows an operator to grasp the actual force acting on the object in the form of data.

[0092] A robot system according to aspect 2 of the present disclosure is, in aspect 1 described above, further comprising a fixing unit that fixes the object to be processed by the second tool, wherein the fixing unit has the force sensor.

[0093] According to the structure of mode 2, the reaction force of the force acting on the object from the second tool is transmitted to the fixing part. The force sensor can detect the reaction force transmitted to the fixing part. By configuring the force sensor on the fixing part side, it is possible to detect the reaction force of the force acting on the object with higher accuracy than when configuring it on the second tool side. Thus, the reaction force of the force acting on the object from the second tool can be accurately detected.

[0094] Regarding the robot system involved in Mode 3 of the present disclosure, in the above-mentioned Mode 1 or 2, it is also provided with one or both of an angular velocity sensor for detecting the angular velocity of the second tool and an acceleration sensor for detecting the acceleration of the second tool, and the controller displays the force data and movement data on the display, and the movement data is data representing the movement state of the second tool based on one or both of the angular velocity detected by the angular velocity sensor and the acceleration detected by the acceleration sensor.

[0095] According to the configuration of aspect 3, the motion of the second tool detected by one or both of the angular velocity sensor and the acceleration sensor can be displayed on the display in real time, thereby enabling the operator to confirm whether the motion of the master robot is normally synchronized with the motion of the slave robot.

[0096] Regarding the robot system involved in Mode 4 of the present disclosure, in any one of the above-mentioned Modes 1 to 3, it also has a camera for photographing the processing state of the object, and the controller displays the force data and the image representing the processing state photographed by the camera on a display.

[0097] According to the configuration of aspect 4, the operator can check the processing state of the object based on the image captured by the camera. Thus, the processing state of the object can be objectively checked.

[0098] In the robot system according to aspect 5 of the present disclosure, in any one of aspects 1 to 4, the controller further executes a notification process of notifying the operator that the force detected by the force sensor has a value greater than a threshold value.

[0099] According to the configuration of aspect 5, the worker can be made aware that a force exceeding a threshold value is applied to the object by the notification process. Thus, the processing quality of the object can be maintained.

[0100] The controller involved in mode 6 of the present disclosure is a controller for controlling a robot system, wherein the robot system comprises: a master robot having a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot having a second link mechanism whose movement is synchronized with the movement of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor that detects a reaction force of a force applied to an object from the second tool; and a display, wherein the controller performs display processing to display force data representing the reaction force detected by the force sensor on the display.

[0101] Regarding the control method of a robot system involved in Mode 7 of the present disclosure, the robot system comprises: a master robot having a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot having a second link mechanism whose movement is synchronized with the movement of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor that detects a reaction force of the force applied to an object from the second tool; and a display, wherein the control method includes display processing of displaying force data representing the reaction force detected by the force sensor on the display.

[0102] [Additional Notes]

[0103] The present disclosure is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. Embodiments obtained by appropriately combining technical means disclosed in different embodiments are also included in the technical scope of the present disclosure.

Claims

1. A robot system comprising: a master robot having a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; A slave robot having a second link mechanism whose motion is synchronized with that of the first link mechanism, and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor that detects a reaction force from a force applied to the object by the second tool; monitor; as well as Controller, The controller executes a display process of displaying force data representing the reaction force detected by the force sensor on the display.

2. The robot system according to claim 1, wherein: further comprising a fixing portion for fixing the object to be processed by the second tool, The fixing portion includes the force sensor.

3. The robot system according to claim 1 or 2, wherein: further comprising one or both of an angular velocity sensor for detecting the angular velocity of the second tool and an acceleration sensor for detecting the acceleration of the second tool, The controller displays the force data and movement data on the display, the movement data being data indicating a movement state of the second tool based on one or both of the angular velocity detected by the angular velocity sensor and the acceleration detected by the acceleration sensor.

4. The robot system according to claim 1 or 2, wherein: A camera is also provided for photographing the processing state of the object. The controller displays the force data and an image captured by the camera showing the machining state on a display.

5. The robot system according to claim 1 or 2, wherein: The controller further executes a notification process for notifying the worker that the force detected by the force sensor has a value greater than a threshold value.

6. A controller for controlling a robot system, the robot system comprising: a master robot having a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot having a second link mechanism whose motion is synchronized with that of the first link mechanism and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor for detecting a reaction force of a force applied to an object by the second tool; and a display, wherein: The controller performs a display process of displaying force data indicating the reaction force detected by the force sensor on the display.

7. A control method for a robot system, the robot system comprising: a master robot having a first link mechanism and a first tool connected to the first link mechanism and operated by an operator; a slave robot having a second link mechanism whose movement is synchronized with the movement of the first link mechanism and a second tool connected to the second link mechanism and driven by the second link mechanism; a force sensor for detecting a reaction force of a force applied to an object by the second tool; and a display, wherein: The control method includes display processing of displaying force data indicating the reaction force detected by the force sensor on the display.

Images