Robot control device

Abstract

Provided is a robot control device capable of continuing operation of a robot when contact is detected. A robot control device includes: a program management unit that executes a robot program including a contact skip operation command including an external force threshold value for stopping a robot when the robot detects an external force; and a contact operation execution unit that, in accordance with the contact skip operation command, stops the movement of the robot and executes the next command block of the robot program when the external force detected by the robot exceeds the external force threshold value during the movement of the robot.

Description

Technical Field

[0001] The present disclosure relates to a robot control device. Background Art

[0002] Conventionally, a technique for a collaborative robot that detects contact with a person and stops its operation has been disclosed. For example, a technique for setting load information of a workpiece to be held in order to accurately measure the contact force of a collaborative robot has been disclosed.

[0003] In addition, a technique for a system that operates a machine tool robot in order to automate a machining site has been disclosed. For example, a technique for operating a robot using numerical control instructions familiar to users of a machine tool has been disclosed (see, for example, Patent Document 1).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2014-241018 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] When a robot detects contact with an object while moving, the robot control device sometimes stops the operation of the robot when contact is detected and cannot continue the operation of the robot. Therefore, a robot control device that can continue the operation of the robot when contact is detected is desired.

[0009] Means for Solving the Problems

[0010] One aspect of the present disclosure is a robot control device including: a program management unit that executes a robot program including a contact skip action instruction including an external force threshold value for stopping the robot when the robot detects an external force; and a contact action execution unit that, based on the contact skip action instruction, during movement of the robot, when the external force detected by the robot exceeds the external force threshold value, stops the movement of the robot and executes the next instruction block of the robot program. Brief Description of the Drawings

[0011] Figure 1 is a functional block diagram of the numerical control system of the present embodiment.

[0012] Figure 2 is a functional block diagram of the numerical control device and the robot control device of the present embodiment.

[0013] Figure 3This is a diagram showing an example of the robot program of the present embodiment.

[0014] Figure 4 This is a diagram schematically showing the operation of the robot when Figure 3 executing the shown robot program. Detailed Embodiment

[0015] Hereinafter, an example of an embodiment of the present disclosure will be described. Figure 1 This is a functional block diagram of the numerical control system 1 of the present embodiment.

[0016] The numerical control system 1 includes: a machine tool 2 that machines a workpiece (not shown); a numerical control device (CNC) 4 that controls the operation of the machine tool 2; a collaborative robot 3 that is disposed near the machine tool 2; and a robot control device 5 that controls the operation of the collaborative robot 3. The numerical control system 1 performs interlocking control of the operations of the machine tool 2 and the collaborative robot 3 by using the numerically controlled device 4 and the robot control device 5 that are communicably connected to each other.

[0017] The machine tool 2 machines a workpiece (not shown) according to a machine tool control signal transmitted from the numerical control device 4. Here, the machine tool 2 is, for example, a lathe, a drill press, a milling machine, a grinding machine, a laser processing machine, an injection molding machine, etc., but is not limited thereto.

[0018] The collaborative robot 3 operates under the control of the robot control device 5 and, for example, performs a predetermined operation on the workpiece machined by the machine tool 2. The collaborative robot 3 is, for example, an articulated robot, and a tool 3b for gripping, machining, or inspecting the workpiece is attached to the front end portion 3a of its arm. Hereinafter, the case where the collaborative robot 3 is a 6-axis articulated robot will be described, but it is not limited thereto. In addition, hereinafter, the case where the collaborative robot 3 is a 6-axis articulated robot will be described, but the number of axes is not limited thereto.

[0019] The collaborative robot 3 has functions such as a contact stop function, a retraction mode function, and a reverse motion function, and can work safely in cooperation with people. The contact stop function is a function that immediately stops when contacting a person with a light force (for example, 10 to 20 N (i.e., 1 to 2 kgf)). The retraction mode function is a function that allows the arm to retract under each axis by a person pushing the arm of the collaborative robot 3. The reverse motion function is a function that immediately reverses the arm to reduce pinching when the collaborative robot 3 contacts a hard object. The collaborative robot 3 includes an external force detection unit 31 (refer to Figure 2)。The external force detection sensor is, for example, a torque sensor, a force sensor, etc. That is, the collaborative robot 3 detects contact with a person through the external force detection sensor, and the robot control device 5 stops the operation of the collaborative robot 3 based on the external force detected by the external force detection sensor. Thereby, the collaborative robot 3 can cooperate with a person to perform operations safely.

[0020] The numerical control device 4 and the robot control device 5 are computers respectively constituted by the following hardware: an arithmetic processing unit such as a CPU (Central Processing Unit); an auxiliary storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various computer programs; a main storage unit such as a RAM (Random Access Memory) that stores data temporarily required for the arithmetic processing unit to execute computer programs; an operation unit such as a keyboard for an operator to perform various operations; and a display unit such as a display for displaying various information to the operator, etc. These numerical control device 4 and robot control device 5 can mutually transmit and receive various signals through, for example, Ethernet (registered trademark).

[0021] Figure 2 is a functional block diagram of the numerical control device 4 and the robot control device 5 of the present embodiment. First, the detailed structure of the numerical control device 4 will be described. As Figure 2 shown, the numerical control device 4 realizes various functions such as the function of controlling the operation of the machine tool 2 and the function of generating the operation path of the control axis of the collaborative robot 3 through the above-mentioned hardware constitution.

[0022] The numerical control device 4 controls the collaborative robot 3 via the robot control device 5 using a numerical control program. That is, the numerical control device 4 generates various instructions for controlling the operations of the collaborative robot 3 and the tool 3b according to the numerical control program for the robot, and sends them to the robot control device 5. More specifically, the numerical control device 4 includes a program input unit 41, an analysis unit 42, an operation control unit 43, a storage unit 44, a robot instruction signal generation unit 45, and a data transceiver unit 46.

[0023] The program input unit 41 reads out the numerical control program for the robot constituted by a plurality of robot instruction program blocks from the storage unit 44, and sequentially inputs it to the analysis unit 42.

[0024] The analysis unit 42 analyzes the instruction categories of the numerical control program based on the values input from the program input unit 41 for each instruction program block, and outputs the analysis results to the motion control unit 43 and the robot instruction signal generation unit 45. More specifically, when the instruction category of the instruction program block is a numerical control instruction for the machine tool 2, the analysis unit 42 sends the numerical control instruction for the machine tool to the motion control unit 43. When the instruction category of the instruction program block is a numerical control instruction for the collaborative robot 3, the analysis unit 42 outputs the numerical control instruction for the robot (hereinafter also referred to as the robot control instruction) to the robot instruction signal generation unit 45.

[0025] Based on the analysis result sent from the analysis unit 42, the motion control unit 43 generates a machine tool control signal for controlling the motion of the machine tool 2, and inputs it to the actuators that drive the various axes of the machine tool 2. The machine tool 2 operates according to the machine tool control signal input from the motion control unit 43 to machine a workpiece (not shown).

[0026] The storage unit 44 stores, for example, a plurality of numerical control programs created based on the operations of the operator. More specifically, the storage unit 44 stores numerical control programs composed of a plurality of instruction program blocks for the machine tool 2 for controlling the motion of the machine tool 2, or a plurality of instruction program blocks for the collaborative robot 3 for controlling the motion of the collaborative robot 3. The numerical control programs stored in the storage unit 44 are described in a known programming language such as G code or M code for controlling the motion of the machine tool 2.

[0027] In addition, the storage unit 44 stores, for example, mechanical coordinate values representing the positions of the various axes of the machine tool 2 (i.e., the positions of the tool table or worktable of the machine tool 2, etc.) operating under the above numerical control program. In addition, these mechanical coordinate values are defined in a machine tool coordinate system with a reference point determined at an arbitrary position on or near the machine tool 2 as the origin. In the storage unit 44, the latest values of the mechanical coordinate values that change successively under the numerical control program are stored by being updated successively through a process (not shown).

[0028] In addition, the storage unit 44 stores, for example, robot coordinate values representing the position and posture of the control point of the collaborative robot 3 (e.g., the tip 3a of the arm of the collaborative robot 3) operating under the control of the robot control device 5, in other words, representing the positions of the respective control axes of the collaborative robot 3. In addition, as described above, these robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system. In the storage unit 44, the latest values of the robot coordinate values that change successively under the numerical control program are stored by being updated successively using the robot coordinate values obtained from the robot control device 5 through a process (not shown).

[0029] In addition, the storage unit 44 stores teaching positions such as the start point and end point of the collaborative robot 3 input by an operator, for example. Specifically, the storage unit 44 stores the teaching positions input from a teach pendant or the like, the teaching positions input from a keyboard or the like, and the like. At the teaching position of the collaborative robot 3, robot coordinate values indicating the positions of the respective control axes of the collaborative robot 3 are included, and these robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system.

[0030] Based on the analysis result of each robot instruction program block input from the analysis unit 42, the robot instruction signal generation unit 45 generates a robot instruction signal for each robot instruction program block, and writes the generated robot instruction signal to the data transceiver unit 46.

[0031] Specifically, based on the numerical control instruction for the robot as the analysis result input from the analysis unit 42, the robot instruction signal generation unit 45 generates a robot instruction signal for each robot instruction program block, and writes the generated robot instruction signal to the data transceiver unit 46.

[0032] The data transceiver unit 46 transceives various data such as instructions and robot coordinate values with the data transceiver unit 60 of the robot control device 5. Specifically, the data transceiver unit 46 sends the robot instruction signal generated by the robot instruction signal generation unit 45 to the data transceiver unit 60 of the robot control device 5.

[0033] Next, the structure of the robot control device 5 will be described in detail. As Figure 2 shown, in the robot control device 5, various functions such as a storage unit 51, an analysis unit 52, a robot command generation unit 53, a program management unit 54, a trajectory control unit 55, a kinematics control unit 56, a servo control unit 57, a load setting selection unit 58, a dynamics control unit 59, a data transceiver unit 60, a contact action execution unit 61, and a contact control unit 62 are implemented by the above hardware structure. The robot control device 5 controls the operation of the collaborative robot 3 based on the instructions sent from the numerical control device 4 by using these functional units.

[0034] The storage unit 51 stores a robot program and various information for controlling the collaborative robot 3. In addition, the storage unit 51 stores the load setting of the collaborative robot 3. Further, in the present embodiment, although the storage unit 51 is provided in the robot control device 5, the storage unit 51 may also be provided in the numerical control device 4, or may be provided in an electronic device or an external server outside the numerical control device 4 and the robot control device 5.

[0035] The data transceiver unit 60 receives the robot instruction signal sent from the data transceiver unit 46 of the numerical control device 4. Additionally, the data transceiver unit 60 sequentially outputs the received robot instruction signal to the analysis unit 52.

[0036] The analysis unit 52 analyzes the robot instruction signal input from the data transceiver unit 60. Additionally, the analysis unit 52 outputs its analysis result to the robot command generation unit 53.

[0037] The robot command generation unit 53 generates a robot command corresponding to the robot instruction signal based on the analysis result of the robot instruction signal input from the analysis unit 52. The robot command generation unit 53 outputs the generated robot command to the program management unit 54.

[0038] When a robot command is input from the robot command generation unit 53, the program management unit 54 sequentially executes the robot command, thereby generating an action plan for the collaborative robot 3 corresponding to the above robot instruction signal and outputting it to the trajectory control unit 55.

[0039] Additionally, when the robot command input from the robot command generation unit 53 is a program block robot command, the program management unit 54 adds the input program block robot command to the robot program stored in the storage unit 51. Thus, in the storage unit 51, a robot program corresponding to the robot instruction signal sent from the numerical control device 4 is generated and stored. The program management unit 54 receives a robot program start instruction as a robot command, thereby starting and regenerating the stored robot program.

[0040] Additionally, the program management unit 54 reads and executes a robot program containing a contact skip action instruction from the storage unit 51. Here, the contact skip action instruction includes an external force threshold for stopping the collaborative robot 3 when the collaborative robot 3 detects an external force.

[0041] Additionally, the contact skip action means that when the collaborative robot 3 detects an external force through a contact action such as contacting an object during the movement of the collaborative robot 3, the movement of the collaborative robot 3 is stopped and the next instruction program block is executed.

[0042] When an action plan is input from the program management unit 54, the trajectory control unit 55 calculates the timing data of the control points of the collaborative robot 3 and outputs it to the kinematic control unit 56.

[0043] The kinematic control unit 56 calculates the target angles of the respective joints of the collaborative robot 3 based on the input timing data and outputs them to the servo control unit 57.

[0044] The servo control unit 57 performs feedback control on each servo motor of the collaborative robot 3 in order to achieve the target angle input from the kinematic control unit 56, thereby generating a robot control signal for the collaborative robot 3 and inputting it to the servo motor of the collaborative robot 3. In addition, the servo control unit 57 generates a robot control signal that reflects the torque calculated by the dynamic control unit 59 described later. Thus, the robot control device 5 can control the collaborative robot 3 based on the load setting.

[0045] The load setting selection unit 58 selects the load setting stored in the storage unit 51 according to the robot instruction signal analyzed by the analysis unit 52, and notifies the selected load setting to the dynamic control unit 59.

[0046] The dynamic control unit 59 calculates the torque input to the collaborative robot 3 by inverse dynamics calculation according to the load setting selected by the load setting selection unit 58. The dynamic control unit 59 outputs the torque obtained by the calculation to the servo control unit 57.

[0047] Here, the inverse dynamics calculation of the collaborative robot 3 refers to a method of calculating the input torque for each motor to achieve such a response by considering the finger load, gravity, and self-weight applied to the collaborative robot 3 based on the desired motion (the time-series data of the position, velocity, and acceleration of each joint) calculated by the motion trajectory plan of the collaborative robot 3. Regarding such inverse dynamics calculations, numerical calculation methods such as the computed torque method or the Newton-Euler method are disclosed (for example, Japanese Patent Laid-Open No. 8-118275, Japanese Patent Laid-Open No. 2015-58520).

[0048] The contact action execution unit 61, according to the contact skip action instruction in the robot program, during the movement of the collaborative robot 3, when the external force detected by the collaborative robot 3 exceeds the external force threshold, stops the movement of the collaborative robot 3 and executes the next instruction block of the robot program.

[0049] The contact control unit 62 controls the contact stop action according to the detection result of the external force performed by the external force detection unit 31 in the collaborative robot 3. Here, the contact stop operation means that the collaborative robot 3 stops the action of the collaborative robot 3 according to the contact force from the outside.

[0050] The contact skip action instruction includes the following contents: the external force threshold for stopping the collaborative robot 3 when the collaborative robot 3 detects an external force, the action category of the collaborative robot 3, the target position of the collaborative robot 3, the moving speed of the collaborative robot 3, the contact position where the collaborative robot 3 contacts the object, etc.

[0051] In addition, the contact skip action instruction may also include the following: specifying the component of force or torque when the collaborative robot 3 detects an external force based on the moving direction or moving speed of the collaborative robot 3. For example, when the collaborative robot 3 moves in the +X direction, the contact skip action instruction may specify the component of force or torque in the +X direction when the external force detection unit 31 detects an external force.

[0052] In addition, the contact skip action instruction may also include the following: setting the external force threshold for the contact skip action to be smaller than the external force detection threshold for the contact stop action where the collaborative robot 3 stops operating due to an external contact.

[0053] In addition, the next instruction block of the robot program may also include the case of obtaining two positions where the collaborative robot 3 detects a contact during the contact skip action and measuring the size of the object based on the two obtained positions. Here, the two positions may be, for example, the first position where the collaborative robot 3 detects a contact while moving in the +X direction and the second position where the collaborative robot 3 detects a contact while moving in the -X direction. Thus, the robot control device 5 can measure the size of the object in the X direction from the two positions.

[0054] In addition, the next instruction block of the robot program may also include the case where the collaborative robot 3 holds a workpiece of unknown size or holds the workpiece at the position where the collaborative robot 3 contacts the workpiece while searching for the position of the workpiece.

[0055] Next, the specific processing of the contact skip action will be described. The program management unit 54 executes the robot program. When there is a contact skip action instruction in the robot program, the program management unit 54 notifies the contact skip action instruction to the contact action execution unit 61.

[0056] During the movement of the collaborative robot 3, when the external force detected by the collaborative robot 3 exceeds the external force threshold according to the contact skip action instruction, the contact action execution unit 61 notifies the external force threshold to the contact control unit 62, and the contact control unit 62 starts monitoring the external force exceeding the external force threshold.

[0057] In addition, the contact action execution unit 61 notifies the action type, movement amount, and movement speed of the collaborative robot 3 to the robot command generation unit 53 according to the contact skip action signal, and the robot command generation unit 53 generates a robot command corresponding to the action type, movement amount, and movement speed of the collaborative robot 3. Then, the robot control device 5 performs the above control, and the collaborative robot 3 starts to move.

[0058] When the external force detected by the external force detection unit 31 exceeds the external force threshold, the contact control unit 62 notifies the servo control unit 57 of the situation of stopping the movement, and obtains the position information about the position where the external force detected by the external force detection unit 31 exceeds the external force threshold.

[0059] The contact control unit 62 notifies the obtained position information and the situation that the collaborative robot 3 has stopped to the contact action execution unit 61. The contact action execution unit 61 notifies the obtained position information and the situation that the collaborative robot 3 has stopped to the program management unit 54.

[0060] Then, as described above, when the contact action execution unit 61 notifies the situation that the collaborative robot 3 has stopped moving, the program management unit 54 executes the next instruction program block of the robot control instruction. In addition, the program management unit 54 executes, for example, the next instruction program block to measure the size of the object according to the obtained position information of the object.

[0061] Figure 3 It is a diagram showing an example of the robot program of the present embodiment. Figure 4 It schematically shows the execution Figure 3 The diagram of the movement of the collaborative robot 3 when executing the robot program shown. Figure 3 The robot program shown uses the contact skip action instruction, and the collaborative robot 3 measures the size of the workpiece as the object.

[0062] First, it is instructed that "user coordinate number = 1", and the collaborative robot 3 selects the user coordinate system No. 1. Then, it is instructed that "tool coordinate number = 1", and the collaborative robot 3 selects the tool coordinate system No. 1.

[0063] Next, it is instructed that "each axis position [1] 100% positioning", and the robot control device 5 moves and positions the collaborative robot 3 to the initial position (position [1]) through the actions of each axis of the collaborative robot 3. Next, it is instructed that "linear position [2] 500mm / s positioning", and the robot control device 5 linearly moves and positions the collaborative robot 3 to the workpiece size measurement start point (position [2]) at a speed of 500mm / sec.

[0064] Next, it is instructed that "linear skip position [3] 10mm / s 1.0N position temporary storage [1]", and the collaborative robot 3 and the robot control device 5 start the contact skip action. This instruction targets position [3], moves the collaborative robot 3 in the -X direction, and stops the movement of the collaborative robot 3 when the external force detection unit 31 detects an external force. Furthermore, this instruction sets the external force threshold for detecting the external force to 1.0N and sets the movement speed of the collaborative robot 3 to 10mm / sec.

[0065] According to this instruction, the robot control device 5 sets the position [3] as the target, and makes the collaborative robot 3 start to move in a straight line at a speed of 10 mm / sec in the -X direction. Then, when the robot control device 5 detects an external force exceeding 1.0 N, it stops the movement of the collaborative robot 3 and stores the position information of the position where the external force is detected in the position temporary storage [1].

[0066] Next, being instructed "100% positioning of each axis position [1]", the robot control device 5 makes the collaborative robot 3 move to and position at the initial position (position [1]) through the actions of each axis of the collaborative robot 3.

[0067] Next, being instructed "linear position [3] 500 mm / s positioning", the robot control device 5 makes the collaborative robot 3 linearly move to and position at the workpiece size measurement start point (position [3]) at a speed of 500 mm / sec.

[0068] Next, being instructed "linear skip position [2] 10 mm / s 1.0 N position temporary storage [2]", the collaborative robot 3 and the robot control device 5 start the contact skip action. This instruction sets the position [2] as the target, makes the collaborative robot 3 move in the +X direction, and stops the movement of the collaborative robot 3 when the external force detection unit 31 detects an external force. Furthermore, this instruction sets the external force threshold for detecting the external force to 1.0 N and sets the movement speed of the collaborative robot 3 to 10 mm / sec.

[0069] According to this instruction, the robot control device 5 sets the position [2] as the target, and makes the collaborative robot 3 start to move in a straight line at a speed of 10 mm / sec in the +X direction. Then, when the robot control device 5 detects an external force exceeding 1.0 N, it stops the movement of the collaborative robot 3 and stores the position information of the position where the external force is detected in the position temporary storage [2].

[0070] Next, being instructed "temporary storage [1] = position temporary storage [1, X] - position temporary storage [2, X]", the robot control device 5 measures the size of the workpiece from the position information of the position where the external force is detected. That is, the robot control device 5 subtracts the X coordinate value of the position temporary storage [2] from the X coordinate value of the position temporary storage [1] and stores this value in the temporary storage [1].

[0071] Next, being instructed "100% positioning of each axis position [1]", the robot control device 5 makes the collaborative robot 3 move to and position at the initial position (position [1]) through the actions of each axis of the collaborative robot 3. Then, being instructed "[End]", the robot program ends. In this way, the robot program can perform the contact skip action from the Figure 4 shown positions [2] and [3] and measure the size of the workpiece.

[0072] As described above, according to this embodiment, the robot control device 5 includes: a program management unit 54 that executes a robot program including a contact skip action instruction, the contact skip action instruction including an external force threshold for stopping the collaborative robot 3 when the collaborative robot 3 detects an external force; a contact action execution unit 61 that, according to the contact skip action instruction, during the movement of the collaborative robot 3, when the external force detected by the collaborative robot 3 exceeds the external force threshold, stops the movement of the collaborative robot 3 and executes the next instruction block of the robot program.

[0073] With this structure, the robot control device 5 sets the threshold of the external force applied to the collaborative robot 3 through an instruction in the robot program, moves the collaborative robot 3, and stops the movement of the collaborative robot 3 when an external force is detected. Thus, the robot control device 5 can perform contact detection on the object, and by executing the instruction of the next program block after detecting the contact, can execute a continuous robot program.

[0074] In addition, the next instruction block of the robot program may also include the following: obtaining the position where the collaborative robot 3 detects contact during the contact skip action, and measuring the size of the object based on the obtained position. With this structure, the robot control device 5 can measure the size of an object such as a workpiece processed by the machine tool 2.

[0075] In addition, the contact skip action instruction may also include the following: specifying the component of the force or torque when the external force detection unit 31 of the collaborative robot 3 detects an external force according to the moving direction or moving speed of the collaborative robot 3. With this structure, the robot control device 5 can measure the size of the object with respect to the specified component.

[0076] In addition, the contact skip action instruction may also include the following: setting the external force threshold of the contact skip action to be smaller than the external force detection threshold of the contact stop action in which the collaborative robot 3 stops operating due to an external contact. With this structure, the numerical control device 4 can measure the size of the object without stopping the operation when the collaborative robot 3 contacts the object.

[0077] The above describes the embodiments of the present invention, and the above numerical control system 1 can be implemented by hardware, software, or a combination thereof. In addition, the control method performed by the above numerical control system 1 can also be implemented by hardware, software, or a combination thereof. Here, implementing by software means implementing by a computer reading and executing a program.

[0078] The program can use various types of non-transitory computer-readable media to store and provide to the computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include: magnetic recording media (such as hard disks), magneto-optical recording media (such as magneto-optical discs), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (such as mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).

[0079] Although the present disclosure has been described in detail, the present disclosure is not limited to the above-described respective embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. within the scope of not departing from the gist of the present disclosure, or within the scope of not departing from the gist of the present disclosure derived from the content described in the claims and their equivalents. In addition, these embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each action or the order of each process is shown as an example and is not limited to these orders. In addition, the same applies to the cases where numerical values or mathematical formulas are used in the description of the above-described embodiments.

[0080] Regarding the above-described embodiments and modification examples, the following additional remarks are further disclosed.

[0081] (Additional Remark 1)

[0082] A robot control device (5), comprising:

[0083] A program management unit (54) that executes a robot program including a contact skip action instruction, the contact skip action instruction including an external force threshold for stopping the robot when the robot detects an external force;

[0084] A contact action execution unit (61) that, according to the contact skip action instruction, during the movement of the robot, when the external force detected by the robot exceeds the external force threshold, stops the movement of the robot and executes the next instruction block of the robot program.

[0085] (Additional Remark 2)

[0086] The robot control device according to Supplementary Note 1, wherein the next instruction program block of the robot program includes the following: obtaining the position where the robot detects contact during the contact skip action, and measuring the size of the object based on the obtained position.

[0087] (Supplementary Note 3)

[0088] The robot control device according to Supplementary Note 1, wherein the contact skip action instruction includes the following: specifying the component of the force or torque when the robot detects an external force according to the moving direction or moving speed of the robot.

[0089] (Supplementary Note 4)

[0090] The robot control device according to Supplementary Note 1, wherein the robot is a collaborative robot that detects contact with a person and stops operating,

[0091] The contact skip action instruction includes the following: setting the external force threshold of the contact skip action to be smaller than the external force detection threshold of the contact stop action where the collaborative robot stops operating due to contact from the outside.

[0092] Explanation of reference numerals

[0093] 1 Numerical control system

[0094] 2 Machine tool

[0095] 3 Collaborative robot

[0096] 4 Numerical control device

[0097] 5 Robot control device

[0098] 31 External force detection unit

[0099] 41 Program input unit

[0100] 42 Analysis unit

[0101] 43 Motion control unit

[0102] 44 Storage unit

[0103] 45 Robot instruction signal generation unit

[0104] 46 Data transceiver unit

[0105] 51 Storage unit

[0106] 52 Analysis unit

[0107] 53 Robot command generation unit

[0108] 54 Program management unit

[0109] 55 Trajectory control unit

[0110] 56 Kinematics control unit

[0111] 57 Servo control unit

[0112] 58 Load setting selection unit

[0113] 59 Dynamics control unit

[0114] 60 Data transceiver unit

[0115] 61 Contact action execution unit

[0116] 62 Contact control unit.

Claims

1. A robot control device, characterized in that, Comprising: A program management department that executes a robot program including a contact skip action instruction, the contact skip action instruction including an external force threshold for stopping the robot when the robot detects an external force; A contact action execution department that, according to the contact skip action instruction, during the movement of the robot, when the external force detected by the robot exceeds the external force threshold, stops the movement of the robot and executes the next instruction block of the robot program.

2. The robot control device according to claim 1, wherein: The next instruction block of the robot program includes the following content: obtaining the position where the robot detects contact during the contact skip action and measuring the size of the object according to the obtained position.

3. The robot control device according to claim 1, wherein: The contact skip action instruction includes the following content: specifying the component of the force or torque when the robot detects an external force according to the moving direction or moving speed of the robot.

4. The robot control device according to claim 1, wherein: The robot is a collaborative robot that detects contact with a person and stops operating, The contact skip action instruction includes the following content: setting the external force threshold of the contact skip action to be smaller than the external force detection threshold of the contact stop action for the collaborative robot to stop operating due to external contact.

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