Robot system, robot system control method, and computer program

Abstract

A robot system (1) is provided with: a processing tool (13) that processes a workpiece (100); a housing part (11) capable of housing the treatment tool (13); a sensor (5) that detects a predetermined detection target in a predetermined detection region; and a control unit (3) that houses the treatment tool (13) in the housing unit (11) in response to the sensor (5) detecting a predetermined detection target in the detection region.

Description

Technical Field

[0001] The present disclosure relates to a robot system, a robot system control method, and a computer program. Background Art

[0002] In the past, when manufacturing products based on collaborative work between workers and robots, the work space between the worker and the robot was divided by placing the robot in a virtual safety fence, safety area, etc., and the robot was stopped when the worker entered the robot's work space.

[0003] For example, in a robot system disclosed in Patent Document 1, the trajectory of a workpiece, tool, etc. of the robot in a three-dimensional space is calculated, and control is performed so that the robot can stop within a virtual safety fence area.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2004-322244 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] However, if the robot is simply stopped, processing tools such as tools and kits attached to the robot arm are exposed, and other movable objects may interfere with the processing tool, causing the processing tool to be damaged or broken.

[0009] The present disclosure has been made in view of the above-mentioned actual situation, and an object of the present disclosure is to provide a robot system, a robot system control method, and a computer program that can suppress the possibility of breakage or damage of a treatment tool.

[0010] Means for solving problems

[0011] In order to achieve the above-mentioned purpose, the robot system disclosed in the present invention comprises: a processing tool that processes a workpiece; a storage portion that can store the processing tool; a sensor that detects a predetermined detection object in a predetermined detection area; and a control portion that stores the processing tool in the storage portion in response to the sensor detecting the predetermined detection object in the detection area.

[0012] Effects of the Invention

[0013] According to the present disclosure, when the sensor detects the detection object in the detection area, the treatment tool is stored in the storage portion, thereby preventing the treatment tool from being damaged or broken. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a perspective view showing a robot system according to Embodiment 1 of the present disclosure.

[0015] Figure 2 This is a diagram illustrating the configuration of the robot system according to the first embodiment.

[0016] Figure 3A This is a diagram showing a state in which the robot tool according to the first embodiment houses a processing tool.

[0017] Figure 3B This is a diagram showing a state in which the robot tool according to the first embodiment exposes a processing tool.

[0018] Figure 4 This is a block diagram of the robot system according to the first embodiment.

[0019] Figure 5 This is a flowchart showing the robot tool control process of the robot system according to the first embodiment.

[0020] Figure 6A This is a detailed diagram showing a state in which the robot tool according to the second embodiment of the present disclosure accommodates a processing tool.

[0021] Figure 6B This is a detailed diagram showing a state in which the robot tool according to the second embodiment exposes a processing tool.

[0022] Figure 7A This is a diagram illustrating a state in which the robot tool according to the second embodiment starts to expose a processing tool.

[0023] Figure 7B This is a diagram illustrating a state in which the robot tool according to the second embodiment starts to accommodate a processing tool.

[0024] Figure 8 This is a diagram showing a state in which the robot tool according to the third embodiment of the present disclosure accommodates a processing tool.

[0025] Figure 9A This is a diagram illustrating a state in which the robot tool according to the third embodiment starts to expose a processing tool.

[0026] Figure 9B This is a diagram illustrating a state in which the robot tool according to the third embodiment exposes a processing tool.

[0027] Figure 10 This is a diagram illustrating a state in which the robot tool according to the third embodiment starts to accommodate a processing tool.

[0028] Figure 11 This is a diagram illustrating the structure of a robot system according to a fourth embodiment.

[0029] Figure 12This is a flowchart showing the robot control processing of the robot system according to the fourth embodiment.

[0030] Figure 13 This is a diagram showing a state in which a processing tool is housed in a robot tool according to a modified example of the present disclosure.

[0031] Figure 14 This is a diagram showing a robot tool according to another modified example of the present disclosure in a state where a processing tool is accommodated.

[0032] Figure 15 This is a diagram showing a robot tool according to still another modified example of the present disclosure, in a state where a processing tool is housed.

[0033] Figure 16A This is a diagram showing a state in which the robot tool according to the fourth embodiment houses a processing tool.

[0034] Figure 16B This is a diagram showing a state in which the robot tool according to the fourth embodiment exposes a processing tool. DETAILED DESCRIPTION

[0035] Hereinafter, a robot system and a robot system control method according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

[0036] Furthermore, for ease of understanding, an orthogonal coordinate system XYZ is established. In the orthogonal coordinate system XYZ shown in the various figures, the forward and backward directions of a processing tool, described later, of the robot tool of the embodiment are defined as the Y-axis direction, the direction in which the cylinder and processing tool, described later, are arranged is defined as the X-axis direction, and the direction perpendicular to the Y-axis and X-axis directions is defined as the Z-axis direction. This coordinate system will be used as appropriate to explain Embodiment 1 below.

[0037] [Implementation Method 1]

[0038] The robot system of the first embodiment cooperates with the operator to process the workpiece using a processing tool to manufacture a product. Figure 1 In the robot system 1 shown, the robot tool 10 is designed to stop when the operator 200 passes over the human detection sensor 5 and enters the robot's working area. In addition, when the robot system 1 detects that the operator 200 has entered the working area through the human detection sensor 5, the robot tool 10 stops. Figure 2 The processing tool 13 shown is accommodated in the accommodation portion 11 .

[0039] (Structure of Robot System 1)

[0040] like Figure 1 and Figure 2As shown, the robot system 1 includes a robot 2 having a robot arm 6 to which a robot tool 10 is attached, a controller 3 for controlling the motion of the robot 2 , and a human detection sensor 5 for detecting the motion of a worker 200 .

[0041] The robot 2 is a vertical multi-joint robot with six degrees of freedom that processes a workpiece 100 in cooperation with an operator 200. A robot tool 10 is mounted on a flange 9 of a robot arm 6 of the robot 2.

[0042] like Figure 3A 、 Figure 3B As shown, the robot tool 10 includes: a housing 11 that houses a processing tool 13; a cylinder 12 that exposes the processing tool 13 from the housing 11; the processing tool 13 that processes the workpiece 100; and an elastic member 14 that applies force in a direction in which the processing tool 13 is housed in the housing 11.

[0043] The housing portion 11 includes: a main body portion 15, which houses the base of the processing tool 13, the cylinder 12, the elastic member 14, the monitoring sensor 40, etc.; and a small-diameter portion 17, which houses the end portion of the processing tool 13 or exposes it. The housing portion 11 houses the processing tool 13 in the internal space, isolating the processing tool 13 from the operator 200. The small-diameter portion 17 is arranged to be connected to the opening 16 of the main body portion 15, so that the end portion of the processing tool 13 is exposed or housed. The housing portion 11 has such strength and size that it is sufficient to prevent the housinged processing tool 13 from being damaged, contaminated, deformed, etc. even if there is contact or collision with tools, cleaning tools, the operator 200, etc. The housing portion 11 is mounted on the flange 9 of the robot arm 6.

[0044] The opening 16 is provided at the -Y direction end of the main body 15. A funnel-shaped small diameter portion 17 is provided at the opening 16 so that the processing tool 13 can move forward and backward. The small diameter portion 17 has an outer diameter slightly larger than the outer diameter of the processing tool 13. Figure 3A As shown, when the processing tool 13 is accommodated in the accommodation portion 11 , the distal end portion of the processing tool 13 is accommodated in the small-diameter portion 17 .

[0045] The cylinder 12 is an air cylinder and is located within the housing 11. Under the control of the tool control unit 31, the cylinder 12 uses pressurized air supplied via the solenoid valve 8 to extend the rod's protrusion. As the rod extends, the cylinder 12 presses the connecting plate 18 connected to the processing tool 13 in the -Y direction, thereby exposing the distal end of the processing tool 13 from the housing 11. Hereinafter, "exposing the distal end of the processing tool 13 from the housing 11" will be referred to as "exposing the processing tool 13 from the housing 11."

[0046] The solenoid valve 8 is opened by the control of the controller 3 to supply pressurized air as a power source, thereby extending the rod of the cylinder 12. In addition, the solenoid valve 8 is controlled by the controller 3 to stop the supply of pressurized air and exhaust the pressurized air in the cylinder 12, thereby shortening the protrusion of the rod.

[0047] The processing tool 13 is a tool for processing a workpiece, such as a soldering iron, a screwdriver, a cutting tool, a mounter, a dispenser, etc., and any tool is acceptable as long as it can process the workpiece. In the following description, as an example, the processing tool 13 is assumed to be a soldering iron. The processing tool 13 is connected to the cylinder 12 via the connecting plate 18, thereby being arranged in the housing portion 11. The processing tool 13 is exposed from the housing portion 11, or is housed in the housing portion 11. The processing tool 13 can process the workpiece 100 by exposing its end portion from the housing portion 11.

[0048] The elastic member 14 is, for example, a tension spring and is disposed in the housing portion 11. The elastic member 14 urges the connecting plate 18 in a direction to house the processing tool 13. The cylinder 12 and the elastic member 14 function as a moving portion for moving the processing tool 13.

[0049] The connecting plate 18 is an L-shaped member when viewed from the Z-axis direction. It connects the processing tool 13 to the cylinder 12 and the elastic member 14. The connecting plate 18 includes an advance / retract mechanism connecting portion 18A, which connects to the distal end of the cylinder 12 rod and one end of the elastic member 14; and a processing tool mounting portion 18B, which is fixed to the advance / retract mechanism connecting portion 18A and onto which the processing tool 13 is mounted. The advance / retract mechanism connecting portion 18A and the processing tool mounting portion 18B may also be integrally formed.

[0050] The monitoring sensor 40 detects whether the processing tool 13 is in the storage position in the storage portion 11. The monitoring sensor 40 is, for example, a micro switch fixed at a position where it contacts the processing tool 13 when the rod of the cylinder 12 is in the retracted state, and sends an ON signal to the controller 3.

[0051] The controller 3 has a computer with a CPU (Central Processing Unit), a programmable controller (PLC), etc., and realizes the functions of the robot control unit 30 and the tool control unit 31 described later by executing the computer program stored in the storage unit 32A and 32B to process the workpiece. Figure 4 As shown, the controller 3 includes a robot control unit 30 and a tool control unit 31. The robot control unit 30 controls the operation of the robot arm 6 of the robot 2. The tool control unit 31, which is, for example, a programmable controller and a solenoid valve 8, controls the operation of the robot tool 10 of the robot 2 based on whether the human detection sensor 5 detects the operator 200.

[0052] The storage units 32A and 32B are configured to include memory such as ROM (Read Only Memory) and RAM (Random Access Memory). Part or all of the ROM is composed of electrically erasable memory, such as flash memory. The ROM stores programs executed by the CPU and programmable controller of the controller 3, as well as data required for program execution. The RAM stores data generated during program execution, data after changes, and the like. In this embodiment, the robot control unit 30 uses the storage unit 32A, and the tool control unit 31 uses the storage unit 32B, but the storage units may also be shared.

[0053] The controller 3 includes an input interface (hereinafter referred to as input I / F) 33 and an output interface (hereinafter referred to as output I / F) 34 for transmitting and receiving data with external devices. The input I / F 33 receives data from the human detection sensor 5 and the robot arm 6 and transmits it to the controller 3. The output I / F 34 transmits control signals output by the controller 3 to the robot arm 6, the solenoid valve 8, the robot tool 10, and the like.

[0054] The teaching pendant (not shown) instructs the robot 2 to process the workpiece 100 in what posture, in what order, under what conditions, through online teaching or offline teaching. The teaching pendant includes an emergency stop button, a display unit, an enable switch, and motion axis keys.

[0055] like Figure 1 As shown, human detection sensors 5 are installed vertically at two corners of the work platform 7 on the side where the operator 200 performs work. Human detection sensors 5, for example, include a light curtain with an interlocking function and detect whether the operator 200 has entered the robot's operating area on the work platform 7. Human detection sensors 5 are connected to the tool control unit 31 via sensor signal lines 35, which transmit the operator 200's entry to the controller 3.

[0056] A workpiece 100, serving as a processing target, is placed on the work table 7 and secured by a fixture (not shown). The work table 7 serves as the work area for the robot 2. When a portion of the body of an operator 200 enters the work table 7, the human detection sensor 5 detects this, causing the controller 3 to stop the robot 2 and store the processing tool 13 in the storage unit 11.

[0057] (Robotic Tool Control)

[0058] Next, refer to Figure 5The following describes the robot tool control performed when machining a workpiece 100 in the robot system 1. Furthermore, in the robot system 1, a main process (not shown) is executed in parallel with the robot tool control when machining the workpiece 100, which operates the robot 2, which includes the machining tool 13 and the robot arm 6. During the main process, the robot control unit 30 machines the workpiece 100 using the machining tool 13. Furthermore, the robot control unit 30 stops the operation of the robot arm 6 when machining of the workpiece 100 is completed or when the human detection sensor 5 detects that an operator 200 has entered the work area.

[0059] When the robot system 1 is started, the tool control unit 31 starts Figure 5 The robot tool control process shown in FIG. 10 performs an initialization process (step S101). In this initialization process, the tool control unit 31 controls the solenoid valve 8 to exhaust the cylinder 12, thereby placing the processing tool 13 in the stored state. Upon receiving the on data from the monitoring sensor 40, the tool control unit 31 determines that the processing tool 13 is stored.

[0060] Next, the tool control unit 31 determines whether or not at least a part of the body of the worker 200 has entered the work area based on the output data of the human detection sensor 5 (step S102 ).

[0061] When the human detection sensor 5 detects that at least a part of the body of the worker 200 has entered the work area (step S102: Yes), the process returns to step S102. Therefore, the processing tool 13 remains in the stored state.

[0062] If it is determined that the operator 200 has not entered the work area (step S102: No), the tool control unit 31 controls the solenoid valve 8 to supply pressurized air to the cylinder 12, thereby exposing the processing tool 13 from the storage unit 11 and enabling the start of processing of the workpiece 100 (step S103). Thereafter, processing of the workpiece 100 is performed as appropriate in the main process.

[0063] Next, the tool control unit 31 communicates with the robot control unit 30, receives data indicating the progress of the machining operation on the workpiece 100, and determines whether the machining operation has been completed (step S104). If the machining operation on the workpiece 100 is completed (step S104: Yes), the tool control unit 31 controls the solenoid valve 8 to exhaust the pressurized air in the cylinder 12, and the elastic member 14 contracts to accommodate the machining tool 13 in the accommodating portion 11 (step S105). On the other hand, if the machining operation on the workpiece 100 is not completed (step S104: No), the process proceeds to step S107.

[0064] In step S106, it is determined whether the processing tool 13 has been stored in the storage section 11 based on whether the monitoring sensor 40 has outputted the on data. If the processing tool 13 has been stored in the storage section 11 (step S106: Yes), the operation of the robot system 1 ends. If the processing tool 13 has not been stored in the storage section 11 (step S106: No), the process returns to step S105 and attempts to store the processing tool 13 again.

[0065] In step S107, the human detection sensor 5 determines whether at least a portion of the operator 200's body has entered the work area. If at least a portion of the operator 200's body has entered the work area (step S107: Yes), the tool control unit 31 controls the solenoid valve 8 to exhaust the air in the cylinder 12 and store the processing tool 13 in the storage unit 11 (step S108). At this time, the robot control unit 30 stops the operation of the robot arm 6 in the main process.

[0066] Next, the tool control unit 31 determines whether the processing tool 13 has been accommodated in the accommodating portion 11 based on whether the output data of the monitoring sensor 40 is on or off (step S109). If the processing tool 13 has not been accommodated in the accommodating portion 11 (step S109: No), the process returns to step S108 and attempts to accommodate the processing tool 13 again.

[0067] If it is determined in step S109 that the processing tool 13 has been stored in the storage unit 11 (step S109: Yes), the output data from the human detection sensor 5 is used to determine whether at least a portion of the operator 200's body has entered the work area. If it is determined that at least a portion of the operator 200's body has entered the work area (step S110: Yes), the process returns to step S110. The process of step S110 is repeated until the operator 200's body exits the work area. If the operator 200's body exits the work area and the human detection sensor 5 does not detect a person in the work area (step S110: No), the process returns to step S103.

[0068] If the body of the worker 200 exits the work area and the human detection sensor 5 does not detect a human in the work area (step S107 : No), the process returns to step S104 .

[0069] Thus, according to the robot system 1 of this embodiment, when at least a portion of the operator 200's body enters the work area, the processing tool 13 is prevented from being exposed from the storage portion 11, or the processing tool 13 is stored in the storage portion 11. Therefore, the possibility of interference between the operator 200 and the processing tool 13 can be further reduced. Consequently, breakage or damage to the processing tool 13 can be suppressed, thereby preventing a decrease in work efficiency.

[0070] [Implementation Method 2]

[0071] In the first embodiment, the processing tool 13 is isolated from the working area by accommodating the distal end of the processing tool 13 in the small diameter portion 17, but the isolation method is arbitrary. Figure 6A 、 Figure 6B As shown, the processing tool 13 is isolated from the working area by a door 20 disposed at the opening 16 of the storage portion 11 .

[0072] In the second embodiment, the storage section 11 includes a main body 15 that stores the processing tool 13 , the cylinder 12 , the elastic member 14 , etc., and a door 20 that opens and closes in conjunction with the advancement and retreat of the processing tool 13 relative to the storage section 11 .

[0073] The door 20 opens when the processing tool 13 is exposed from the storage section 11 and is in the exposed state, and closes when the processing tool 13 is stored in the storage section 11. In order to close the opening 16, the door 20 is configured to be movable along the opening 16. A rack 22 is mounted on the inner surface of the storage section 11 of the door 20. A gear 24 is rotatably mounted inside the storage section 11 and meshes with the rack 22. These gears are driven by the movement of the processing tool 13 and function as a door drive unit for opening and closing the door 20.

[0074] The rack 21 is mounted on the rack mounting portion 18C of the coupling plate 18. A gear 23 that meshes with the rack 21 and the gear 24 is rotatably mounted inside the accommodating portion 11.

[0075] The door 20 is opened by the racks 21 and 22 and the gears 23 and 24 when the processing tool 13 is exposed from the storage portion 11 , and is closed when the processing tool 13 is stored in the storage portion 11 .

[0076] In the second embodiment, as in the first embodiment, the tool control unit 31 performs Figure 5 The following describes the opening and closing operation of the door 20. As in the first embodiment, when machining the workpiece 100, the robot system 1 executes a main process (not shown) for operating the robot 2 including the machining tool 13 in parallel with the robot tool control.

[0077] (Action of opening door 20)

[0078] like Figure 7A As shown by the arrow A, the tool control unit 31 is Figure 5 In step S103, air is supplied to the cylinder 12 to extend the rod, moving the connecting plate 18 and the processing tool 13 in the -Y direction. By moving the connecting plate 18 in the -Y direction, the rack 21 moves in the -Y direction, and the gear 23 rotates in the direction indicated by the arrow B.

[0079] By the rotation of the gear 23, the gear 24 meshing with the gear 23 rotates in the direction of arrow C. As a result, the rack 22 meshing with the gear 24 moves in the direction of arrow D, and the door 20 mounted with the rack 22 starts to open. Figure 6B As shown, the processing tool 13 is exposed from the storage portion 11, allowing processing operations. In addition, the structure is configured so that the processing tool 13 does not contact the door 20 when the door 20 is opened by adjusting the overall length, number of teeth, installation position, etc. of the racks 21 and 22, and the diameter, number of teeth, installation position, etc. of the gears 23 and 24.

[0080] (Action of closing door 20)

[0081] like Figure 7B As shown by the arrow E, the tool control unit 31 is Figure 5 In steps S105 and S108, the air in the cylinder 12 is exhausted, and the connecting plate 18 and the processing tool 13 are moved in the +Y direction. As the rack 21 moves in the +Y direction due to the movement of the connecting plate 18, the gear 23 rotates in the direction indicated by the arrow F.

[0082] By the rotation of the gear 23, the gear 24 meshing with the gear 23 rotates in the direction of arrow G. As a result, the rack 22 meshing with the gear 24 moves in the direction of arrow H, that is, the +X direction, and the door 20 mounted with the rack 22 starts to close. Figure 6A As shown, the door 20 is closed, the processing tool 13 is accommodated in the accommodation portion 11 , and the processing tool 13 is isolated in the accommodation portion 11 .

[0083] As described above, according to the robot system 1 of the second embodiment, when the processing tool 13 is stored in the storage section 11 , the opening 16 of the storage section 11 is closed by the door 20 , and the processing tool 13 is more strictly isolated from the work area.

[0084] [Implementation Method 3]

[0085] In the second embodiment, the door 20 is opened and closed in accordance with the advance and retreat of the processing tool 13 by means of a rack and pinion pair. Figures 8 to 10 As shown, the door 20 is opened and closed according to the advance and retreat of the processing tool 13 by a link mechanism attached to the connecting plate 18 and the door 20, which is different from the second embodiment.

[0086] The door 20 is mounted to the end of the opening 16 via a hinge 25 so as to be openable and closable. A cam follower 26 is mounted to the cam follower mounting portion 18D formed at the -Y direction end of the connecting plate 18. The cam follower 26 is movably mounted to the hollow portion 27A of the hollow elliptical cam 27. One end of a connecting rod 28 is rotatably mounted to the -Y direction end of the cam 27. One end of a connecting rod 29 is rotatably mounted to the other end of the connecting rod 28. The door 20 is mounted to the other end of the connecting rod 29 so as to be openable and closable. The connecting rod mechanism 19 is driven by the movement of the processing tool 13 and functions as a door drive unit for opening and closing the door 20.

[0087] In the third embodiment, as in the second embodiment, the tool control unit 31 performs Figure 5 The same flowchart of the robot tool control. Figure 5 The door 20 is opened in step S103, and closed in steps S105 and S108. The opening and closing of the door 20 will be described below. As in the first embodiment, in the robot system 1, when machining the workpiece 100, a main process (not shown) for operating the robot 2 including the machining tool 13 is executed in parallel with the robot tool control.

[0088] (Action of opening door 20)

[0089] like Figure 9A As indicated by arrow P, the tool control unit 31 extends the rod of the cylinder 12, moving the connecting plate 18 and the processing tool 13 in the -Y direction. The movement of the connecting plate 18 causes the cam follower 26 to move in the -Y direction within the hollow portion 27A of the cam 27. At this point, the cam 27 is pressed near its center by the curved portion 18E of the connecting plate 18, causing the -Y end of the cam 27 to move in the direction of arrow Q.

[0090] like Figure 9A 、 Figure 9B As shown, by the movement of the -Y direction end side of the cam 27 in the direction of arrow Q, the links 28 and 29 move in the direction of arrow Q and rotate as indicated by arrow R. Furthermore, the rotation of the link 29 also rotates the door 20 in the direction of arrow R, thereby opening the door 20 and exposing the processing tool 13 from the storage portion 11. Furthermore, by adjusting the size of the cam follower mounting portion 18D, the mounting position of the cam follower 26, the overall length of the cam 27, the shape of the hollow portion 27A, the overall length and mounting position of the links 28 and 29, and other settings, the processing tool 13 is prevented from contacting the door 20 when the door 20 is open.

[0091] (Action of closing door 20)

[0092] like Figure 10As shown by arrow S, the head of cylinder 12 or the -Y end of elastic member 14 moves in the +Y direction, thereby moving connecting plate 18 and processing tool 13 in the +Y direction. As cam follower 26 and connecting plate 18 move in the +Y direction, the -Y end of cam 27 moves in the direction of arrow T.

[0093] By moving the -Y direction end of the cam 27 in the direction of arrow T, the connecting rods 28 and 29 move in the direction of arrow T and rotate in the direction indicated by arrow U. In addition, the door 20 to which the connecting rod 29 is rotatably mounted also rotates in the direction of arrow U, and the door 20 begins to close. After the processing tool 13 is accommodated in the accommodation portion 11, the door 20 closes, and the processing tool 13 is accommodated in the accommodation portion 11. Figure 8 The status shown.

[0094] As described above, according to the robot system 1 of the third embodiment, when the processing tool 13 is stored in the storage section 11 , the opening 16 of the storage section 11 is closed by the door 20 , and the processing tool 13 is more strictly isolated from the work area.

[0095] [Implementation Method 4]

[0096] In the first embodiment, one detection area is set in the robot system 1. In contrast, in the robot system 1 of the fourth embodiment, as shown in FIG. Figure 11 As shown, three detection areas R1 , R2 , and R3 are set in the working area of ​​the robot arm 6 and its surrounding area.

[0097] The three detection areas R1, R2, and R3 respectively include the working area and surrounding areas of the robot arm 6 on the workpieces 101, 102, and 103. Furthermore, when the robot system 1 detects the worker 200 in the detection areas R1, R2, and R3 including the working area where the robot arm 6 is performing processing, the robot system 1 moves the robot arm 6 to another detection area to process the workpiece 100.

[0098] The robot system 1 includes human detection sensors 51, 52, and 53. These sensors are reflective sensors such as area scanning sensors and safety laser scanners. These sensors are capable of detecting a human operator 200, using the range from the area close to the robot 2 to the area a certain distance away from the robot 2 as a single surface. The human detection sensor 51 detects whether the human operator 200 has entered detection area R1. The human detection sensor 52 detects whether the human operator 200 has entered detection area R2. The human detection sensor 53 detects whether the human operator 200 has entered detection area R3.

[0099] The robot system 1 processes the workpiece 101 arranged in the detection area R1, the workpiece 102 arranged in the detection area R2, and the workpiece 103 arranged in the detection area R3 in sequence according to a pre-set processing order. In addition, sometimes the processing tool 13 used in the processing of each workpiece is different. In this case, for example, the robot arm 6 has a plurality of processing tools 13 at its end, and the processing tool 13 is switched for each workpiece. Alternatively, the processing tool 13 can be set to a replaceable structure like a machine tool, and replaced with a processing tool corresponding to the workpiece. In the following description, the same processing tool 13 is used for all workpieces. In addition, in this embodiment, the robot tool 10 of any embodiment of embodiments 1-3 can also be installed on the robot arm 6.

[0100] The robot control unit 30 has an operation change function. This function is a function that, when the operator 200 enters any of the detection areas R1, R2, and R3, while the robot arm 6 is performing processing within the detection area where the operator 200 is detected, stores the processing tool 13 in the storage unit 11 and moves the robot arm 6 to a detection area outside the detection area where the operator 200 has not entered.

[0101] The storage unit 32A stores the processing order of the workpieces 100. The robot system 1 processes the workpieces 100 according to the stored processing order. The robot control unit 30 uses this processing order to identify the workpiece 100 with the earliest processing order among the unprocessed workpieces 100. The processing order of the workpieces 100 can be pre-stored in the robot system 1 or set by the operator 200, an administrator, or a user. In the following description, the processing order is workpiece 101 → 102 → 103 → 101, etc.

[0102] (Robot Control)

[0103] Reference Figure 12 , yes Figure 11 The robot control performed in the robot system 1 shown will be described.

[0104] When the robot system 1 is started, the robot control unit 30 and the tool control unit 31 start Figure 12 The robot control process shown in the embodiment 1 is performed in addition to Figure 5 In addition to the same processing as step S101 shown above, initial setting processing for confirming the number and positions of detection areas, the position of the workpiece 100, etc. is performed (step S201).

[0105] In step S202, the robot control unit 30 refers to the storage unit 32A to confirm the processing order of the workpieces 100 and controls the robot arm 6 to move to the work area where the workpiece 100 with the earliest processing order is located. In the initial state, the robot arm 6 moves to the processing area for processing the workpiece 101 according to the processing order. Furthermore, if there are already completed workpieces 100, these completed workpieces 100 are excluded and the workpiece 100 with the earliest processing order is determined. Furthermore, if the operator 200 enters the detection area where the workpiece 100 being processed is located, the workpiece 100 with the earliest processing order is determined, excluding the workpiece 100 located in the detection area where the operator 200 entered.

[0106] Next, in step S203, the output data from the human detection sensor 5 is used to determine whether the operator 200 has entered the detection area including the work area to which the robot arm 6 moves to perform processing operations. For example, when processing the workpiece 101, the operator 200 is determined to have entered the detection area R1. If the operator 200 has not entered the detection area including the work area to which the robot arm 6 moves (step S203: No), the tool control unit 31 exposes the processing tool 13 from the storage unit 11, enabling the processing of the workpiece 100 to begin (step S204). Thereafter, the processing of the workpiece 100 is appropriately performed in the main process. If the human detection sensor 5 detects that at least a portion of the operator 200's body has entered the detection area including the work area to which the robot arm 6 moves (step S203: Yes), the process returns to step S203.

[0107] In step S205, the tool control unit 31 determines whether the machining operation of the workpiece 100 being machined is completed. If the machining operation of the workpiece 100 is completed (step S205: Yes), the process proceeds to step S206. If the machining operation of the workpiece 100 is not completed (step S205: No), the process proceeds to step S209.

[0108] In step S206, the robot control unit 30 determines whether the processing of all workpieces 100 is complete. If the processing of all workpieces 100 is complete (step S206: Yes), the robot control unit 30 controls the tool control unit 31 to store the processing tool 13 in the storage unit 11 (step S207). If the processing of one or more workpieces 100 is not complete (step S206: No), the process returns to step S202.

[0109] In step S208, it is determined whether the processing tool 13 has been accommodated in the accommodating section 11. If the processing tool 13 has been accommodated in the accommodating section 11 (step S208: Yes), the operation of the robot system 1 ends. If the processing tool 13 has not been accommodated in the accommodating section 11 (step S208: No), the process returns to step S207 and attempts to accommodate the processing tool 13 again.

[0110] In step S209, the human detection sensor 5 determines whether at least a portion of the operator 200's body has entered the detection area encompassing the work area where the robot arm 6 is currently operating. For example, if the operator is processing the workpiece 101, the sensor determines whether at least a portion of the operator 200's body has entered the detection area R1. If at least a portion of the operator 200's body has entered (step S209: Yes), the tool control unit 31 controls the solenoid valve 8 to retract the processing tool 13 into the receptacle 11 (step S210). At this point, the robot control unit 30 halts the operation of the robot arm 6 in the main process.

[0111] Next, the tool control unit 31 determines whether the processing tool 13 has been accommodated in the accommodating unit 11 (step S211). If the processing tool 13 has not been accommodated in the accommodating unit 11 (step S211: No), the process returns to step S210 and attempts to accommodate the processing tool 13 again.

[0112] In step S211, if the processing tool 13 has been stored in the storage section 11 (step S211: Yes), the process returns to step S202. Here, the robot control unit 30 moves the robot arm 6 to a processing area determined not to have entered the worker 200, in order to process the workpiece 100 in the next processing order. For example, if the workpiece 101 is previously processed and the worker is detected in detection area R1, the robot arm 6 moves to detection area R2. If the worker 200 is also detected in detection area R2, the robot arm 6 waits until the worker is no longer detected in a subsequent step S203. Similarly, if the workpiece 103 is previously processed and the worker is detected in detection area R3, the robot arm 6 moves to detection area R1. If the worker 200 is also detected in detection area R1, the robot arm 6 waits until the worker is no longer detected in a subsequent step S203.

[0113] Furthermore, it is preferable that before the robot arm 6 moves to another work area, it is determined whether the worker 200 is detected in at least another detection area through which the robot arm 6 passes during movement, and the robot arm 6 is moved only when the worker 200 is not detected.

[0114] Thus, according to the robot system 1 of this embodiment, when the operator 200 enters the detection area including the working area where the robot arm 6 is operating, the robot system 1 does not wait for the operator 200 to move out of the detection area, but instead switches to processing another workpiece 100, thereby reducing work stoppage time. Therefore, the processing efficiency of the workpiece 100 can be improved.

[0115] [Modification]

[0116] In the above embodiments, a soldering iron is used as an example of the processing tool 13. However, any processing tool can be used, including a screwdriver, ratchet, cutting tool, electric discharge machine, or other processing tool. The processing tool 13 can also be replaceable. Furthermore, in the present disclosure, the objects accommodated and isolated by the accommodating portion 11 can also be processing tools that perform various operations on the workpiece, including machining. For example, various processing tools that perform various operations on the workpiece can be used, such as nozzles that spray cleaning fluid or paint onto the workpiece, and suction heads that vacuum-absorb the workpiece.

[0117] In the above-described embodiments, the human detection sensor 5 is attached to the workbench 7 , but may be attached to the robot arm 6 or the storage unit 11 . Alternatively, it may be attached to the processing tool 13 .

[0118] In addition, in the above-mentioned embodiments 1-3, the human detection sensor 5 is an entry detection sensor based on a light curtain, but it can also be a presence detection sensor. Alternatively, a pallet-type sensor can be installed on the floor near the robot 2, or a surveillance camera-type sensor can be installed, or a combination of them can be provided. It can also be the human detection sensor 5 described in embodiment 4. The human detection sensor 5 of embodiment 4 can also be the human detection sensor 5 of embodiments 1-3, or it can be the above-mentioned sensor, or it can be another sensor. Regarding the monitoring sensor 40, as long as it can detect the movement of the processing tool 13, the type of sensor and the installation location are not limited.

[0119] Furthermore, although the human detection sensor 5 is shown as an example, the detection target is arbitrary, and for example, the arm of another robot, a tool, a transport tool, a tool used by an operator, etc. The type of sensor is appropriately selected according to the type of the detection target.

[0120] In the above-mentioned embodiments 1-3, the detection area of ​​the detection object is set as the working area of ​​the robot arm 6, but it is possible to arbitrarily set which area is used as the detection area of ​​the detection object. For example, as in the detection areas R1, R2, and R3 of the embodiment 4, the movable range of the robot arm 6 and a certain surrounding area can be used as the detection area. In addition, a part of the movable range of the robot arm 6, such as Figure 11The exclusion area R4 shown is excluded from the detection area. Furthermore, the number of detection areas and sensors can be arbitrary.

[0121] The tool control unit 31 may also be configured to, upon detecting that the operator 200 has entered the work area in steps S102, S107, and S110, sound a warning sound through a speaker, flash a light, or emit a warning light. This can prompt the operator 200 to quickly exit the work area, reduce interruption time in machining the workpiece 100, and improve the operating efficiency of the robot system 1. Furthermore, alarm processing may be performed during the main process.

[0122] In the above-mentioned embodiments, the robot tool 10 accommodates the processing tool 13 in the accommodating portion 11 or exposes the processing tool 13 from the accommodating portion 11 by moving the processing tool 13. However, for example, Figure 15 As shown, the processing tool 13 is not moved, but the end portion 41 of the receiving portion 11 is moved along the Y-axis direction by the driving device 42, thereby receiving the processing tool 13 in the receiving portion 11 or making it emerge from the receiving portion 11, and the receiving portion 11 can also be moved as a whole. Figure 16A 、 Figure 16B As shown, a hinge 44 may be opened and closed at the -Y end of the distal end 41 of the housing portion 11 in response to the Y-axis movement of the distal end 41, thereby opening and closing a double-leaf door 43 to accommodate and expose the processing tool 13. The robot tool 10 utilizes a drive device 42 to move the distal end 41 in the -Y direction, thereby accommodating the processing tool 13 in the housing portion 11 and closing the door 43. The robot tool 10 then moves the distal end 41 in the +Y direction, thereby exposing the processing tool 13 from the housing portion 11 and opening the door 43. Alternatively, the housing portion 11 and the processing tool 13 may be moved to accommodate the processing tool 13 in or expose the processing tool 13 from the housing portion 11. Any method is suitable as long as the relative movement of the housing portion 11 and the processing tool 13 allows the processing tool 13 to enter and exit the housing portion 11.

[0123] In the above-described embodiments, the robot system 1 can resume machining the workpiece 100 after the worker 200 enters the work area and the worker 200 is no longer detected in the work area. The robot system 1 may be temporarily stopped.

[0124] In the above embodiments, robot 2 is a vertical multi-joint collaborative robot with six degrees of freedom. However, the type of robot is arbitrary. For example, it can also be a horizontal multi-joint collaborative robot with five or fewer degrees of freedom. Alternatively, it can be a vertical multi-joint collaborative robot with seven or more degrees of freedom, a dual-arm collaborative robot, a collaborative robot with parallel linkages, or other collaborative robots.

[0125] In the above embodiments, the processing tool 13 is exposed from the housing 11 by the cylinder 12. However, other actuators such as electric cylinders, hydraulic cylinders, electromagnetic solenoids, linear motors, and motors may also be used to move the processing tool. Furthermore, the processing tool 13 is housed in the housing 11 by the elastic member 14. However, it may also be housed in the housing 11 by the cylinder 12 or by other actuators.

[0126] In the above-mentioned embodiments, the elastic member 14 is a tension spring, but may be other members such as rubber or a torsion spring.

[0127] In the above embodiments, the robot control unit 30 and the tool control unit 31 have different structures. However, any structure can be used as long as the functions of the robot control unit 30 and the tool control unit 31 can be realized. For example, the tool control unit can be integrated into the robot control unit. Alternatively, the tool control unit can be composed of one or more CPUs.

[0128] In the above-mentioned embodiments 2 and 3, a single sliding door or a single swinging door 20 is provided at the opening 16. However, the door is not limited to sliding doors or swinging doors and can also be a folding door, or can also be a sliding door with two or more leaves, a swinging door, a double-sliding door, etc. The door opening and closing mechanism can also be a mechanism other than a rack and pinion or a connecting rod mechanism, such as a worm gear, or other mechanisms. Alternatively, the door can be opened and closed by independent power and control that is not linked to the processing tool 13. In this case, an actuator can be provided separately from the cylinder 12 to synchronize the operation of the cylinder 12 to open and close the door.

[0129] In the above embodiments, the connecting plate 18 has a stepped cross-section, but as long as the processing tool 13 can be exposed from the receiving portion 11 by the cylinder 12 and the processing tool 13 can be pulled into the receiving portion 11 by the elastic member 14, its shape and configuration are not limited. Figure 13 The connecting plate 18 shown in FIG. 1 has a processing tool mounting portion 18B fixed to the +Y direction end surface and the -X direction end surface of the processing tool 13, but a flat plate-shaped connecting plate may also be used. Alternatively, for example, Figure 14 As shown, the cylinder 12 and the elastic member 14 may be directly connected to the processing tool 13 without using a connecting plate to enable the processing tool 13 to advance and retreat. The arrangement of the components in the storage portion 11 may be variously changed.

[0130] In the fourth embodiment, the human detection sensors 51 , 52 , and 53 respectively use detection areas R1 , R2 , and R3 as their detection ranges. However, one human detection sensor may use multiple detection areas as its detection range and identify in which detection area the worker 200 is detected.

[0131] In the fourth embodiment described above, in step S203, if the operator 200 enters the work area where the robot arm 6 is located, the process waits until the operator 200 exits the work area. Alternatively, if the answer in step S203 is yes, the process may return to step S202, causing the robot arm 6 to move to another work area and process another workpiece.

[0132] In the fourth embodiment described above, step S209 determines whether the operator 200 has entered a single detection area that includes the work area where the robot arm 6 is currently operating. However, it is also possible to determine whether the operator 200 has entered all detection areas, including other detection areas. Thus, if the operator 200 has entered multiple areas, or if the operator 200 and another person have entered different areas, workpieces 100 placed in detection areas not entered by the operator can be selected at once, thereby reducing work downtime.

[0133] In the fourth embodiment, after the processing tool 13 is stored in the storage section 11 in step S211 , the process returns to step S202 and the robot arm 6 is moved. However, the robot arm 6 may be moved while the processing tool 13 is stored in the storage section 11 .

[0134] The present disclosure is capable of various embodiments and modifications without departing from the broad spirit and scope of the present disclosure. Furthermore, the aforementioned embodiments are intended to illustrate the present disclosure and do not limit its scope. That is, the scope of the present disclosure is not defined by the embodiments but by the claims. Furthermore, any modifications implemented within the meaning of the claims and their equivalents are considered to be within the scope of the present disclosure.

[0135] This application is based on Japanese Patent Application No. 2023-017015 filed on February 7, 2023. The entire specification, claims, and drawings of Japanese Patent Application No. 2023-017015 are incorporated herein by reference.

[0136] (Note)

[0137] The present disclosure can be implemented in the following ways.

[0138] (Note 1)

[0139] A robotic system comprising:

[0140] a processing tool, which processes the workpiece;

[0141] a receiving portion capable of receiving the treatment tool;

[0142] a sensor that detects a predetermined detection object in a predetermined detection area; and

[0143] The control unit stores the treatment tool in the storage unit in response to the sensor detecting a preset detection target object in the detection area.

[0144] (Note 2)

[0145] The robot system according to Supplementary Note 1, wherein:

[0146] There are multiple detection areas.

[0147] When the detection object enters the detection area including the place where the robot is processing the workpiece through the processing tool, the control unit stores the processing tool in the storage unit and moves the robot to the detection area outside the detection area including the place where the robot is processing the workpiece through the processing tool to process the workpiece.

[0148] (Note 3)

[0149] The robot system according to Supplementary Note 2, wherein:

[0150] After the treatment tool is stored in the storage portion, the robot is moved to a detection area outside the detection area including a location where the robot is processing the workpiece using the treatment tool to process the workpiece.

[0151] (Note 4)

[0152] The robot system according to any one of Supplementary Notes 1 to 3, wherein:

[0153] The storage unit includes an openable and closable door and a door driving unit for opening and closing the door.

[0154] The control unit controls the door driving unit to open the door when the treatment instrument is exposed from the storage unit, and to close the door after the treatment instrument is stored in the storage unit.

[0155] (Note 5)

[0156] The robot system according to any one of Supplementary Notes 1 to 4, wherein:

[0157] The robot system includes a moving unit that moves the treatment tool.

[0158] The control unit controls the moving unit to accommodate the treatment instrument in the accommodation unit or to expose the treatment instrument from the accommodation unit.

[0159] (Note 6)

[0160] The robot system according to Supplementary Note 5, wherein:

[0161] The storage unit has a door that can be opened and closed.

[0162] The door opens in response to an operation of exposing the treatment instrument from the housing portion, and closes in response to an operation of housing the treatment instrument in the housing portion.

[0163] (Note 7)

[0164] The robot system according to Supplementary Note 6, wherein:

[0165] The door is opened and closed by a rack and pinion pair or a linkage mechanism that is linked to the movement of the treatment tool.

[0166] (Note 8)

[0167] The robot system according to any one of Supplementary Notes 1 to 7, wherein:

[0168] The control unit moves the housing portion to house the treatment tool or expose the treatment tool.

[0169] (Note 9)

[0170] The robot system according to any one of Supplementary Notes 1 to 8, wherein:

[0171] The sensor detects the presence or absence of the detection object in a preset working area of ​​the robot system.

[0172] (Note 10)

[0173] A robot system control method, wherein:

[0174] While the robot is processing the workpiece through the processing tool, it detects that the detection object has entered the pre-set detection area.

[0175] In response to the detection, the treatment tool is housed in the housing.

[0176] (Note 11)

[0177] A computer program that causes a computer to perform the following actions:

[0178] The action of the robot processing the workpiece through the processing tool;

[0179] An action of detecting, by a sensor, that a detection target object has entered a pre-set detection area during workpiece processing; and

[0180] The control operation is performed so that the treatment tool is housed in the housing portion in response to the detection.

[0181] Description of labels

[0182] 1: Robot system; 2: Robot; 3: Controller; 5, 51, 52, 53: Human detection sensor; 6: Robot arm; 7: Workbench; 8: Solenoid valve; 9: Flange; 10: Robot tool; 11: Receiving section; 12: Cylinder; 13: Processing tool; 14: Elastic component; 15: Main body; 16: Opening; 17: Small diameter section; 18: Connecting plate; 18A: Advance and retraction mechanism connection section; 18B: Processing tool mounting section; 18C: Rack mounting section; 18D: Cam follower mounting section; 18E: Bending section; 19: Link mechanism; 20, 43: Door; 21, 22: Rack; 23, 24: Gear; 25, 44: Hinge; 26: Cam follower; 27: Cam; 27A: Hollow part; 28, 29: Connecting rod; 30: Robot control unit; 31: Tool control unit; 32A, 32B: Storage unit; 33: Input I / F; 34: Output I / F; 35: Sensor signal line; 40: Monitoring sensor; 41: Terminal; 42: Drive unit; 100, 101, 102, 103: Workpiece; 200: Operator; R1, R2, R3: Detection area; R4: Exclusion area.

Claims

1. A robot system comprising: a processing tool, which processes the workpiece; a receiving portion capable of receiving the treatment tool; a sensor that detects a predetermined detection object in a predetermined detection area; and The control unit stores the treatment tool in the storage unit in response to the sensor detecting a preset detection target object in the detection area.

2. The robot system according to claim 1, wherein: There are multiple detection areas. When the detection object enters the detection area including the place where the robot is processing the workpiece through the processing tool, the control unit stores the processing tool in the storage unit and moves the robot to the detection area outside the detection area including the place where the robot is processing the workpiece through the processing tool to process the workpiece.

3. The robot system according to claim 2, wherein: After the treatment tool is stored in the storage portion, the robot is moved to a detection area outside the detection area including a location where the robot is processing the workpiece using the treatment tool to process the workpiece.

4. The robot system according to any one of claims 1 to 3, wherein: The storage unit includes an openable and closable door and a door driving unit for opening and closing the door. The control unit controls the door driving unit to open the door when the treatment instrument is exposed from the storage unit, and to close the door after the treatment instrument is stored in the storage unit.

5. The robot system according to any one of claims 1 to 4, wherein: The robot system includes a moving unit that moves the treatment tool. The control unit controls the moving unit to accommodate the treatment instrument in the accommodation unit or to expose the treatment instrument from the accommodation unit.

6. The robot system according to claim 5, wherein: The storage unit has a door that can be opened and closed. The door opens in response to an operation of exposing the treatment instrument from the housing portion, and closes in response to an operation of housing the treatment instrument in the housing portion.

7. The robot system according to claim 6, wherein: The door is opened and closed by a rack and pinion pair or a linkage mechanism that is linked to the movement of the treatment tool.

8. The robot system according to any one of claims 1 to 7, wherein: The control unit moves the housing portion to house the treatment tool or expose the treatment tool.

9. The robot system according to any one of claims 1 to 8, wherein: The sensor detects the presence or absence of the detection object in a preset working area of ​​the robot system.

10. A robot system control method, wherein: While the robot is processing the workpiece through the processing tool, it detects that the detection object has entered the pre-set detection area. In response to the detection, the treatment tool is housed in the housing.

11. A computer program that causes a computer to perform the following actions: The action of the robot processing the workpiece through the processing tool; An action of detecting, by a sensor, that a detection target object has entered a pre-set detection area during workpiece processing; and The control operation is performed so that the treatment tool is housed in the housing portion in response to the detection.

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