Robot control device

Abstract

A robot control device includes a temperature detection section that detects a measurement temperature of a robot, and a force control section that performs force control of the robot. The robot control device includes a change amount detection section that detects a change amount of a position of the robot, and a calculation section that calculates a length of a predetermined measurement section. The change amount detection section detects the change amount from an initial position, i.e., a first position, of the robot to a second position of the robot after the robot is driven by the force control. The calculation section calculates the length of the measurement section based on a correlation between the length of the measurement section and the change amount and the measurement temperature, the measurement temperature, and the change amount.

Description

Technical Field

[0001] This disclosure relates to robot control devices. Background Technology

[0002] In conventional technologies, devices with contact probes are known for measuring workpiece dimensions. A mechanical control unit moves the contact probe mechanically to detect its position when it contacts the workpiece. The control unit can then calculate the workpiece dimension based on the contact probe's position. For example, the machine may bring the contact probe into contact with the surfaces on both sides of the workpiece in the thickness direction. The control unit can then calculate the workpiece thickness based on the difference in the contact probe's position at this point.

[0003] The robotic device includes: a robot for moving a work tool and a robot control unit for controlling the robot. It is known that the robot control unit installs force sensors on the robot to precisely control its position and orientation. The force sensors detect the forces acting when components supported by the robot come into contact with other components. The robot control unit can precisely adjust the robot's position and orientation based on the output of the force sensors. For example, by employing force sensors, the robot device can be used to measure the dimensions of workpieces with high precision.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 3-158701

[0007] Patent Document 2: Japanese Patent Publication No. 2016-524136

[0008] Patent Document 3: Japanese Patent Application Publication No. 5-80648

[0009] Patent Document 4: Japanese Patent Application Publication No. 3-140801 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] The robot control unit can move measuring instruments such as contact probes using the robot. The dimensions of the workpiece can be measured based on the robot's position and orientation when the measuring instrument is positioned relative to the workpiece at a specified location.

[0012] However, the robot's position and orientation depend on its temperature. For example, when the robot is in operation, its temperature rises, and structural components such as the robot's arm may expand thermally. As a result, even if a motion command is issued to move the tool tip to the specified coordinates of the teach point, the actual position of the tool tip may change depending on the robot's temperature.

[0013] Thus, there is a problem that the length of the workpiece's measuring portion, calculated based on the robot's position and orientation, changes depending on the robot's temperature. Furthermore, when the workpiece's temperature changes, its shape changes due to thermal expansion or contraction. This also leads to a problem where the length of the workpiece's measuring portion, detected by the robot control device, changes.

[0014] Methods for solving problems

[0015] The robot control device of the first aspect of this disclosure includes: a temperature detection unit that detects at least one of a measured temperature of the robot and a measured temperature of the workpiece; a force control unit that performs force control on the robot; and a state detection unit that detects the position and orientation of the robot. The robot control device also includes: a change detection unit that detects the change in the robot's position; and a calculation unit that calculates the length of a predetermined measuring portion. The state detection unit detects the robot's initial position, i.e., a first position, and a second position of the robot after being driven by force control. The change detection unit detects the change from the first position to the second position. The relationship between the length of the measuring portion and the change and the measured temperature is predetermined. The calculation unit calculates the length of the measuring portion based on the measured temperature, the change, and the relationship.

[0016] The robot control device of the second aspect of this disclosure includes: a temperature detection unit that detects at least one of the measured temperature of the robot and the measured temperature of the workpiece; a force control unit that performs force control on the robot; and a state detection unit that detects the position and orientation of the robot. The robot control device also includes: a change detection unit that detects the change in the robot's orientation; and a calculation unit that calculates a predetermined angle related to a measurement surface. The state detection unit detects the robot's initial orientation, i.e., a first orientation, and the robot's second orientation after being driven by force control. The change detection unit detects the change from the first orientation to the second orientation. The relationship between the angle related to the measurement surface and the change and the measured temperature is predetermined. The calculation unit calculates the angle related to the measurement surface based on the measured temperature, the change, and the relationship. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the robot device according to the first embodiment.

[0018] Figure 2 This is a block diagram of the robot device according to the first embodiment.

[0019] Figure 3 It is an enlarged 3D view of the gauge and the workpiece.

[0020] Figure 4It is a side view of the robot, gauges, and workpiece when the robot's temperature changes.

[0021] Figure 5 It shows the robot, gauges, and side view of the workpiece when the workpiece's temperature changes.

[0022] Figure 6 This is an enlarged side view of the robot device according to the third embodiment.

[0023] Figure 7 It is a three-dimensional view of the workpiece and the contacting parts.

[0024] Figure 8 It is a side view of the robot, the workpiece, and the contacting parts.

[0025] Figure 9 This is a side view of the robot, workpiece, and abutment component according to the fourth embodiment.

[0026] Figure 10 This is an enlarged partial cross-sectional view of the robot device according to the fifth embodiment.

[0027] Figure 11 It is a partial sectional view of the robot, the pressing component, and the workpiece.

[0028] Figure 12 This is an enlarged side view of the robot device according to the sixth embodiment.

[0029] Figure 13 This is a block diagram of the robot device according to the sixth embodiment.

[0030] Figure 14 It is a side view of the robot, grinding tools, and workpiece. Detailed Implementation

[0031] (First Implementation)

[0032] Reference Figures 1 to 5 The robot control device of the first embodiment and the robot device having the robot control device will be described. The robot device of this embodiment measures the dimensions of a predetermined measuring portion of a workpiece.

[0033] Figure 1 This is a schematic diagram of the robot device according to this embodiment. The robot device 5 includes: a manipulator 2 as a working tool, and a robot 1 that moves the manipulator 2. The robot 1 of this embodiment is a multi-joint robot including multiple joints 18. The robot 1 includes multiple movable structural components. The structural components of the robot 1 are configured to rotate about each drive axis.

[0034] The robot 1 of this embodiment includes: a base portion 14 and a rotating base 13 rotatable relative to the base portion 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is rotatably supported on the rotating base 13. The upper arm 11 is rotatably supported on the lower arm 12. The robot 1 includes: a wrist portion 15 rotatably supported on the upper arm 11. A manipulator 2 is fixed to a flange 16 of the wrist portion 15. Furthermore, the upper arm 11 or the flange 16 rotates about a predetermined drive axis.

[0035] The robot in this embodiment has six drive axes, but is not limited to this configuration. A robot whose position and orientation can be changed using any mechanism can be employed. Furthermore, the working tool in this embodiment is a robotic arm with two grippers, but is not limited to this configuration. The working tool can be any device corresponding to the task performed by the robotic device.

[0036] A reference coordinate system 91 is established for the robot device 5 in this embodiment. The reference coordinate system 91 is also called the world coordinate system. The reference coordinate system 91 is a coordinate system in which the position of the origin is fixed and the orientation of the coordinate axes is fixed.

[0037] Furthermore, a tool coordinate system 92 with an origin is set at any position on the working tool for the robot device 5. In this embodiment, the origin of the tool coordinate system 92 is set at the midpoint between the front ends of the two claws of the robot arm 2, i.e., the tool front end point. The tool coordinate system 92 is a coordinate system whose position and orientation change along with the working tool. The position of the robot 1 corresponds to the origin position of the tool coordinate system 92 in the reference coordinate system 91. In addition, the orientation of the robot 1 corresponds to the orientation of the tool coordinate system 92 relative to the reference coordinate system 91.

[0038] Figure 2 A block diagram illustrating the robot device of this embodiment. (Refer to...) Figure 1 and Figure 2 The robot 1 includes a robot drive device that changes the position and posture of the robot 1. The robot drive device includes robot drive motors 22 for structural components such as drive arms and wrists. In this embodiment, multiple robot drive motors 22 are arranged corresponding to each drive axis.

[0039] The robot device 5 has a tool drive device for driving the robotic arm 2. The tool drive device includes a robotic arm drive motor 21 that drives the gripper of the robotic arm 2. The robotic arm drive motor 21 drives the gripper of the robotic arm 2, thereby opening or closing the gripper. Alternatively, the robotic arm can also be configured to be driven by air pressure or the like.

[0040] The robot device 5 has a control device 4 that serves as a robot control device for controlling the robot 1 and the robotic arm 2. The control device 4 includes: a control device main body 40 and a teach pendant 37 for an operator to operate the control device main body 40. The control device main body 40 includes: an arithmetic processing unit (computer) having a CPU (Central Processing Unit) as a processor. The arithmetic processing unit has RAM (Random Access Memory) and ROM (Read Only Memory) connected to the CPU via a bus.

[0041] The teach pendant 37 is connected to the control unit main body 40 via a communication device. The teach pendant 37 includes an input section 38 for inputting information related to the robot 1 and the robotic arm 2. The input section 38 consists of input components such as a keyboard and dials. The teach pendant 37 also includes a display section 39 for displaying information related to the robot 1 and the robotic arm 2. The display section 39 can be any display panel, such as a liquid crystal display panel or an organic EL (Electro Luminescence) display panel. Furthermore, if the teach pendant has a touch panel display panel, the display panel functions as both an input section and a display section.

[0042] The control device 4 inputs a pre-created motion program 46 for performing the actions of the robot 1 and the robotic arm 2. Alternatively, the operator can operate the teach pendant 37 to drive the robot 1, thereby setting the teach point of the robot 1. The control device 4 can then generate the motion program 46 based on the teach point.

[0043] The control device main body 40 includes a motion control unit 43 that controls the movements of the robot 1 and the robotic arm 2. The motion control unit 43 sends motion commands to the robot drive unit 45 to drive the robot 1. The robot drive unit 45 includes circuitry for driving the robot drive motor 22. The robot drive unit 45 supplies power to the robot drive motor 22 according to the motion commands. Additionally, the motion control unit 43 sends motion commands to the tool drive unit 44 to drive the robotic arm 2. The tool drive unit 44 includes circuitry for driving the robotic arm drive motor 21. The tool drive unit 44 supplies power to the robotic arm drive motor 21 according to the motion commands.

[0044] The control device main body 40 includes a storage unit 42 for storing information related to the control of the robot 1 and the manipulator 2. The storage unit 42 may be constructed from a non-temporary storage medium capable of storing information. For example, the storage unit 42 may be constructed from a storage medium such as volatile memory, non-volatile memory, magnetic storage medium, or optical storage medium. The action program 46 is stored in the storage unit 42.

[0045] The motion control unit 43 is equivalent to a processor that drives the robot according to the motion program 46. The processor is configured to read information stored in the storage unit 42. The processor reads the motion program 46 and implements the control of the robot 1 and the manipulator 2 determined by the motion program 46, thereby performing the function of the motion control unit 43.

[0046] Robot 1 includes a state detector for detecting the position and attitude of robot 1. In this embodiment, the state detector includes a position detector 19 mounted on the robot drive motor 22 of each drive axis to detect the rotational position. The position detector 19 may be configured as an encoder that detects the rotation angle of the output shaft of the robot drive motor 22. In this embodiment, the position and attitude of robot 1 are detected based on the outputs of multiple position detectors 19.

[0047] The control device 4 includes a force sensor 24 mounted on the robot 1 as a force detector. In this embodiment, the force sensor 24 is a 6-axis sensor. In the robot device 5 of this embodiment, the force sensor 24 is disposed between the flange 16 and the manipulator 2. The force sensor 24 detects the force and torque acting on the component held by the manipulator 2. The force sensor 24 can be any type of force sensor, such as a strain sensor or a capacitive sensor.

[0048] In this embodiment, the force detected by the force sensor includes a linear force and a torque that acts as a force causing the axis to rotate. A sensor coordinate system is set for the force sensor 24 to detect the forces acting on the sensor. The forces detected by the force sensor 24 include forces in the three mutually orthogonal axes of the sensor coordinate system and forces about the three axes. More specifically, the force sensor 24 detects forces in the orthogonal three-axis (X-axis, Y-axis, and Z-axis) directions and torques that act as forces about the three axes (W-axis, P-axis, and R-axis).

[0049] In this embodiment, the robot 1 is equipped with a temperature sensor 25 for measuring the temperature of the robot 1. The measured temperature of the robot 1 can be a representative temperature of the robot 1. For example, the temperature of the air surrounding the robot, the temperature of a structural component of the robot such as the base housing, or the temperature of the housing of the working tool can be used. Alternatively, the measured temperature of the robot 1 can be the average of the temperatures of multiple structural components of the robot 1. For example, by installing temperature sensors on the housings of each joint of the robot, the measured temperature of the robot can be detected by averaging multiple temperatures. Furthermore, the multiple temperatures used to calculate the average value can include the temperature of the working tool.

[0050] The control device 4 in this embodiment can measure the dimensions of components supported on the robot or components fixed by a fixing member. In this example, the diameter of the hole 75a of the workpiece 75 fixed to the fixing member 71 is measured.

[0051] The control unit body 40 includes a measurement control unit 51 that controls the measurement of a predetermined measurement section. The measurement control unit 51 has a state detection unit 52 that detects the robot's position and orientation. The state detection unit 52 detects the robot's position and orientation based on the output of a position detector 19 mounted on the robot drive motor 22.

[0052] The measurement control unit 51 includes a temperature detection unit 53 that detects at least one of the measured temperature of the robot and the measured temperature of the workpiece. The temperature detection unit 53 detects the temperature of the robot or the temperature of the workpiece based on the output of at least one temperature sensor disposed in the environment surrounding the robot 1, the manipulator 2, and the robot device 5. In this example, the temperature detection unit 53 detects the temperature of the robot 1 based on the output of the temperature sensor 25.

[0053] The measurement and control unit 51 includes a change detection unit 54 that calculates the amount of change in the robot's position. The state detection unit 52 detects the robot's initial position (first position) and its second position after being driven by force control. The change detection unit 54 detects the amount of change in the robot's position from the first position to the second position.

[0054] The measurement control unit 51 includes a calculation unit 55 for calculating the length of a predetermined measurement portion. In this embodiment, the calculation unit 55 calculates the dimensions of a predetermined portion of the workpiece.

[0055] The measurement and control unit 51, the status detection unit 52, the temperature detection unit 53, the change detection unit 54, and the calculation unit 55 are equivalent to processors driven according to the action program 46. The processor reads the action program 46 to implement the control determined by the action program 46, thereby performing its function as each unit.

[0056] Additionally, the measurement and control unit 51 includes a force control unit 56 that implements force control of the robot. In this embodiment, the control that adjusts the robot's position and posture based on the force detected by the force detector is referred to as force control. In force control, the force generated when a component supported by the robot comes into contact with a component fixed to a fixed component is utilized. Furthermore, in force control, the robot's movements can be controlled based on the magnitude and direction of the force acting on the point of application, which are predetermined. For example, the force control unit 56 can implement compliance control or impedance control based on the force detected by the force sensor 24.

[0057] The measurement and control unit 51 includes a motion command generation unit 57, which generates motion commands for the robot based on the robot's motion determined by the force control unit 56. The motion control unit 43 controls the robot 1 and the robotic arm 2 based on the motion commands generated by the motion command generation unit 57.

[0058] The force control unit 56 and the motion instruction generation unit 57 are equivalent to processors that drive according to the motion program 46. The processor reads the motion program 46 to implement the control determined by the motion program, thereby performing its function as a unit.

[0059] Figure 3 This is an enlarged perspective view showing the gauge and workpiece of this embodiment. (Refer to...) Figure 1 and Figure 3 In this embodiment, the workpiece 75 is formed in the shape of a circular plate. A circular hole 75a is formed in the center of the workpiece 75. The workpiece 75 is fixed to the stand 89 by a fixing member 71. A hole 71a is formed in the fixing member 71 in a manner corresponding to the hole 75a of the workpiece 75.

[0060] The robot device 5 includes a gauge 81, which serves as a measuring instrument for measuring the diameter of the hole 75a in the workpiece 75. The gripping part 81a of the gauge 81 is held by the claw of the robot arm 2.

[0061] The gauge 81 includes a measuring section 81b, which has the function of measuring dimensions by abutting against the workpiece 75. The measuring section 81b is formed in the shape of a frustum cone. As shown by arrow 95, the measuring section 81b is inserted into the hole 75a of the workpiece 75. The diameter of the hole 75a can be measured based on the position where the measuring section 81b stops after contacting the hole 75a. That is, the diameter of the hole 75a can be measured based on the depth to which the measuring section 81b is inserted into the workpiece 75.

[0062] Figure 4 This diagram shows the robot, gauge, and side view of the workpiece used to measure the diameter of the hole in the workpiece according to this embodiment. Figure 4 The state P1 represents the robot's initial position when the measurement begins, i.e., the first position, and the robot's final position P2 when the diameter of the hole 75a is calculated.

[0063] The force control unit 56 of the control device 4 moves the gauge 81 so that the axial direction of the measuring part 81b of the gauge 81 is approximately aligned with the axial direction of the hole 75a of the workpiece 75. As shown by arrow 95, the measuring part 81b is inserted into the hole 75a. In this example, the gauge 81 is moved in the direction of the Z-axis of the tool coordinate system 92.

[0064] When the measuring unit 81b is inserted into the hole 75a, the force control unit 56 performs force control based on the output of the force sensor 24. The force control unit 56 calculates the force and torque in a predetermined direction at the point of application based on the output of the force sensor 24. The force control unit 56 controls the robot's position and orientation so that the force and torque in the predetermined direction at the point of application become their respective target values.

[0065] In this example, the position and orientation of the gauge 81 can be controlled so that a uniform force is applied radially to the outer peripheral surface of the measuring part 81b. The force control unit 56, for example, can control the robot 1 so that at the tool tip point, which serves as the point of action, a reaction force is applied only in the negative direction of the Z-axis of the tool coordinate system 92, while forces and torques in other directions are close to zero. Through force control, the measuring part 81b can be configured with accurate position and orientation relative to the hole 75a. Here, the position and orientation of the gauge 81 can be adjusted so that the axis of the measuring part 81b is aligned with the axis of the hole 75a.

[0066] The first position P1 is the robot's position when the gauge 81 separates from the workpiece 75. The state detection unit 52 detects the first position P1 using the coordinate values ​​of the reference coordinate system 91. As shown by arrow 95, the force control unit 56 moves the gauge 81 relative to the hole 75a. The measuring part 81b of the gauge 81 contacts the hole 75a of the workpiece 75. The force control unit 56 calculates the robot's motion direction and motion amount, so that the force and torque detected by the force sensor 24 are close to the target values. The motion command generation unit 57 generates motion commands for the robot 1 based on the calculation results of the force control unit 56. The motion control unit 43 controls the robot 1 based on the motion commands generated by the motion command generation unit 57.

[0067] The second position P2 is the robot's position when force control ends. The state detection unit 52 detects the second position P2 when the gauge 81 is positioned at the desired position through force control using the coordinate values ​​of the reference coordinate system 91. The change detection unit 54 detects the change in the robot's position Hx from the first position P1 to the second position P2. The change in the robot's position Hx can be calculated based on the coordinate values ​​of the first position P1 and the second position P2 in the reference coordinate system. In this embodiment, the change in the robot's position Hx corresponds to the insertion depth of the gauge 81 into the workpiece 75. The calculation unit 55 can calculate the diameter of the hole 75a based on the change in position Hx.

[0068] Here, when the temperature of robot 1 changes, the actual position and posture of the robot change relative to the commanded position and posture values. For example, when the temperature of robot 1 rises, and the length of the upper arm 11 or lower arm 12 changes, the coordinate values ​​of the tool tip point in the reference coordinate system 91 change. (Refer to...) Figure 4When the temperature of the workpiece 75 remains constant while the temperature of the robot 1 changes, the second position P2 remains unchanged, but the first position P1 changes. Therefore, when the temperature of the robot 1 changes, the calculated change in position Hx changes. Here, the measurement control unit 51 calculates the size of the hole 75a in the workpiece 75 based on the temperature of the robot 1.

[0069] In this embodiment, the relationship between the change in length of the measuring portion relative to the robot's position and the robot's measuring temperature is predetermined. In this example, the diameter of the hole 75a corresponds to the length of the measuring portion. In this embodiment, the relationship is determined by pre-measured reference data.

[0070] Table 1 shows the reference data, which illustrates the relationship between the diameter of the hole 75a and the changes in the temperature and position of the robot 1. The reference data 47 of this embodiment is pre-created and stored in the storage unit 42. The reference data includes the following groups of data: a reference temperature related to the measured temperature, a reference change related to the change in position, and a reference length related to the length of the measured portion. Furthermore, the reference data includes multiple groups.

[0071] [Table 1]

[0072]

[0073] In this example, the robot's temperature is represented by reference temperature Ta and reference temperature Tb. At each reference temperature Ta and Tb, reference workpieces are generated as reference changes H1, H2, and H3, representing the change in position as the insertion depth. Furthermore, in each reference workpiece, the diameter of the hole, i.e., the reference lengths D1a, D2a, and D3a, is accurately measured by a measuring instrument such as a micrometer or laser sensor.

[0074] For example, a reference workpiece is manufactured with the change in position at a reference temperature Ta (the robot's temperature) as the reference change amount H1. The diameter of the hole in the reference workpiece is measured as the reference length D1a. The same reference workpiece is manufactured and the hole diameter is measured using a reference temperature Tb. In this case, a reference workpiece is manufactured that also has reference changes H1, H2, and H3 at the reference temperature Tb. Thus, the reference data includes multiple sets of data: reference temperature, reference change in position, and reference length.

[0075] The baseline data in Table 1 consists of two temperatures, but is not limited to this method; it can also consist of three or more temperatures. Furthermore, it can generate any number of baseline variations and baseline lengths.

[0076] In the actual measurement of the length of the measured portion, the calculation unit 55 of the measurement control unit 51 can calculate the diameter of the hole 75a based on the robot's measured temperature, the change in position, and the correlation shown in the reference data. In this embodiment, the calculation unit 55 uses the change in position and the robot 1's measured temperature to perform interpolation or extrapolation, thereby calculating the diameter of the hole 75a.

[0077] More specifically, the temperature detection unit 53 detects the measured temperature Trx of the robot 1 based on the output of the temperature sensor 25 (e.g., Ta ≤ Trx < Tb). The change detection unit 54 detects the change in the position of the robot Hx (e.g., H1 ≤ Hx < H2). The calculation unit 55 calculates the diameter Dx of the hole 75a of the workpiece 75 using the following formula (1).

[0078] Dx=Dax+Ct(Dbx-Dax)…(1)

[0079] Here, the variables Dax, Dbx and Ct in equation (1) can be calculated using equations (2) to (5).

[0080] Dax=D1a+Ch(D2a-D1a)…(2)

[0081] Dbx=D1b+Ch(D2b-D1b)…(3)

[0082] Ct=(Trx-Ta) / (Tb-Ta)…(4)

[0083] Ch=(Hx-H1) / (H2-H1)…(5)

[0084] Equation (1) represents interpolation based on the robot's temperature. Equations (2) and (3) represent interpolation based on the change in position. Thus, in this embodiment, interpolation is performed using the change in position and temperature to calculate the length of the measurement section, but this method is not limited to this. Alternatively, extrapolation can be performed using at least one of the change in position and the measured temperature to calculate the length of the measurement section.

[0085] In this embodiment, the predetermined relationship between the length of the measuring portion and the change in position and the measuring temperature is determined by a table, but this method is not limited to. For example, the length of the measuring portion can also be calculated using a polynomial with the change in position and the measuring temperature as variables.

[0086] Here, even when the workpiece's shape changes due to temperature variations, the dimensions of the measuring portion can be calculated using the same control methods described above. Next, the control for calculating the length of the measuring portion based on the workpiece's temperature will be explained.

[0087] Figure 5 This shows the robot, gauges, and a side view of the workpiece as its temperature changes. Figure 5 The diagram shows the states of the robot's initial position P1 and its final position P2 after force control is applied. Here, we illustrate an example where the temperature of robot 1 remains constant while the temperature of workpiece 75 rises. The temperature of workpiece 75 increases compared to... Figure 4 The workpiece shown is 75 mm thick.

[0088] Temperature sensor 25 is configured to directly measure the temperature of workpiece 75. Alternatively, temperature sensor 25 may be configured to measure the temperature of the air surrounding workpiece 75 as the temperature of workpiece 75. Temperature detection unit 53 detects the temperature of workpiece 75 based on the output of temperature sensor 25.

[0089] The robot's first position P1 remains constant regardless of the temperature of the workpiece 75. In contrast, when the temperature of the workpiece 75 changes, the robot's second position P2 changes according to the temperature of the workpiece 75. The state detection unit 52 detects the robot's first position P1 and second position P2.

[0090] The change detection unit 54 detects the change in the robot's position from the first position P1 to the second position P2. When the temperature of the workpiece 75 rises and the workpiece 75 becomes thicker, the insertion depth of the measuring part 81b of the gauge 81 relative to the hole 75a decreases.

[0091] Before performing the measurement, the operator can create reference data that uses the workpiece's reference temperature instead of the robot's reference temperature in Table 1. Furthermore, similar to the case of robot temperature changes, the calculation unit 55 can calculate the diameter of the hole 75a in the workpiece 75 based on the robot's position change, the workpiece's measured temperature, and the correlation shown in the reference data.

[0092] In the robot control device of this embodiment, by implementing force control, the component supported on the robot can be positioned accurately relative to the component fixed to the fixed component. However, due to the influence of the robot's temperature or the workpiece's temperature, the robot's position during measurement may be inaccurate. Nevertheless, in this embodiment, in order to calculate the length of the measuring portion based on the relationship between the measured temperature, the change in position, and the length of the measuring portion, the length of the measuring portion can be calculated with high precision.

[0093] In this embodiment, a gauge is used as the measuring instrument for measuring dimensions, but this method is not limited to it. Any measuring instrument capable of measuring the length of the measured portion can be used. Furthermore, in this embodiment, the workpiece dimension is the diameter of the hole, but this method is not limited to it; the dimension of any part of the workpiece can be measured.

[0094] In this embodiment, the gauge, serving as the measuring instrument, is supported by the robot, and the workpiece is fixed to a fixed component, but this is not the only option. Alternatively, the workpiece can be supported by the robot, and the measuring instrument can be fixed to the fixed component. Furthermore, the dimensions of the workpiece supported by the robot can also be measured.

[0095] In this embodiment, a 6-axis force sensor is disposed on the wrist as a force detector, but this is not a limitation. The force detector can be any sensor capable of detecting force and torque acting on the point of application. For example, torque sensors can also be disposed on the joints of the robot. Multiple torque sensors are disposed on the drive shafts of multiple joints of the robot. Each torque sensor can detect the torque about the drive shaft of the joint. The force control unit can detect the force and torque acting on the point of application based on the output of the torque sensors.

[0096] (Second Implementation)

[0097] Reference Figures 1 to 5 The robot control device and robot device in the second embodiment will be described. In this embodiment, the robot control device calculates the length of the measuring portion based on the combined measured temperatures of the robot and the workpiece. In this embodiment, as in the first embodiment, the diameter of the hole 75a in the workpiece 75 is measured.

[0098] The robot device has multiple temperature sensors. A first temperature sensor is configured to measure the temperature of the robot. A second temperature sensor is configured to measure the temperature of the workpiece. A temperature detection unit 53 detects the measured temperatures of the robot 1 and the workpiece. The structure of the other parts of the robot device is the same as that of the robot device 5 in the first embodiment (see reference 5). Figure 1 as well as Figure 2 ).

[0099] The state detection unit 52 detects the robot's position and orientation at the first position P1 and the second position P2. The change detection unit 54 detects the change in position Hx.

[0100] The operator can predetermine the reference temperature T0 of the workpiece. The reference temperature T0 can be, for example, a temperature close to room temperature. Table 2 shows the reference data, which illustrates the relationship between the change in position and the reference length corresponding to the diameter of the hole 71a, and the reference temperature of the robot when the workpiece temperature is the reference temperature T0. For example, the operator creates a reference workpiece with a hole diameter of reference length D1 when the workpiece temperature is the reference temperature T0. Then, the reference data is created by actually measuring the reference changes H1a, H2a, and H3a of the robot's position when it changes to reference temperatures Tr1, Tr2, and Tr3. Similarly, a reference workpiece with a reference length D2 is created when the workpiece is at the reference temperature T0, and the reference changes H1b, H2b, and H3b are actually measured.

[0101] [Table 2]

[0102]

[0103] Furthermore, Table 3 represents the reference data, which shows the relationship between the reference length at the reference temperature and the reference length corresponding to the diameter of the hole 71a at the reference temperature T0, and the reference temperature of the workpiece. For example, the operator manufactures a reference workpiece with a hole diameter of reference length D01 at the reference temperature T0. Then, by actually measuring the reference lengths D1a, D2a, and D3a at reference temperatures Tw1, Tw2, and Tw3, the operator creates the reference data. Similarly, a reference workpiece with a reference length D02 at the reference temperature T0 is manufactured, and the reference lengths D1b, D2b, and D3b are actually measured.

[0104] [Table 3]

[0105]

[0106] In actual measurement, the measurement control unit 51 detects the measurement temperature of the robot, the measurement temperature of the workpiece, and the change in position. For example, when the robot temperature is the measurement temperature T (Tr1≤Trx<Tr2), the workpiece temperature is the measurement temperature Twx (Tw1≤Twx<Tw2), and the change in robot position is the change Hx, the following equations (6) to (11) hold.

[0107] (Hxa-H1a) / (H2a-H1a)=(Trx-Tr1) / (Tr2-Tr1)…(6)

[0108] (Hxb-H1b) / (H2b-H1b)=(Trx-Tr1) / (Tr2-Tr1)…(7)

[0109] (Dx-D1) / (D2-D1)=(Hx-Hxa) / (Hxb-Hxa)…(8)

[0110] (Dax-D1a) / (D2a-D1a)=(Twx-Tw1) / (Tw2-Tw1)…(9)

[0111] (Dbx-D1b) / (D2b-D1b)=(Twx-Tw1) / (Tw2-Tw1)…(10)

[0112] (D0x-D01) / (D02-D01)=(Dx-Dax) / (Dbx-Dax)…(11)

[0113] The calculation unit 55 can calculate the diameter D0x of the hole in the workpiece at the reference temperature T0 by interpolation or extrapolation based on the change in the robot's position, the robot's measured temperature, and the workpiece's measured temperature. The length D0x at the reference temperature T0 can be calculated according to the following formula (12).

[0114] D0x=D01+C0(D02-D01)…(12)

[0115] Here, the variable C0 is calculated according to equations (13) to (21).

[0116] C0=(Dx-Dax) / (Dbx-Dax)…(13)

[0117] Dx=D1+C1(D2-D1)…(14)

[0118] C1=(Hx-Hxa) / (Hxb-Hxa)…(15)

[0119] Hxa=H1a+C2(H2a-H1a)…(16)

[0120] Hxb=H1b+C2(H2b-H1b)…(17)

[0121] C2=(Trx-Tr1) / (Tr2-Tr1)…(18)

[0122] Dax=D1a+C3(D2a-D1a)…(19)

[0123] Dbx=D1b+C3(D2b-D1b)…(20)

[0124] C3=(Twx-Tw1) / (Tw2-Tw1)…(21)

[0125] In this way, even when the robot's temperature and the workpiece's temperature change simultaneously, the operator can create reference data representing the relationship between the length of the measuring part and its position, as well as the measurement temperature. Furthermore, even if both the robot's and workpiece's measurement temperatures change simultaneously, the measurement control unit can calculate the length of the measuring part with high accuracy.

[0126] The structure, function, and effects of other robot control devices and robot devices are the same as those of the robot control devices and robot devices of the first embodiment, and therefore will not be described again here.

[0127] (Third Implementation)

[0128] Reference Figures 6 to 8The robot control device and robot device in the third embodiment will be described below. The robot control device in this embodiment measures the machining length of a component supported on the robot or a component fixed to a fixed component. That is, it measures the length of the machined portion of the workpiece in a predetermined direction.

[0129] Figure 6 A schematic side view of the robot device according to this embodiment. Figure 7 This is an enlarged perspective view of the workpiece and the contacting parts. (Refer to...) Figure 2 , Figure 6 as well as Figure 7 In the robot device 7 of this embodiment, a manipulator 2 mounted on the robot 1 holds a workpiece 76. The workpiece 76 corresponds to a component supported by the robot 1. The workpiece 76 of this embodiment has a cylindrical shape. The bottom surface 76a of the workpiece 76 is cut using other cutting devices. For example, the robot device 7 cuts the bottom surface 76a by bringing it into contact with a grinding device or grinding machine. The bottom surface 76a corresponds to a machined surface.

[0130] The robot device 7 of this embodiment has an abutting member 83 for the bottom surface 76a of the workpiece 76 to abut. The surface 83a of the abutting member 83 is formed as a plane. The abutting member 83 is equivalent to a member fixed to the fixing member 72. The fixing member 72 is fixed to the stand 89.

[0131] The measurement control unit 51 of the control device 4 calculates the machining length of the workpiece 76 in the axial direction. Before and after machining, the measurement control unit 51 contacts the bottom surface 76a of the workpiece 76 with the surface 83a of the abutting member 83. Furthermore, it calculates the machining length based on the change in the robot's position.

[0132] Figure 8 The side view shows the robot, the workpiece, and the contacting component at a first position before workpiece processing and a second position after workpiece processing. The first position P1 is the position of the robot when the workpiece 76 supported by the robot 1 is in contact with the contacting component 83 before workpiece 76 is processed.

[0133] As indicated by arrow 95, robot 1 moves workpiece 76 to contact the abutment member 83. At this time, force control unit 56 applies force control so that the bottom surface 76a of workpiece 76 contacts the surface 83a of abutment member 83. For example, the position and orientation of the robot are controlled so that the torque acting on the tool tip in a predetermined direction is close to zero. State detection unit 52 detects the robot's first position P1.

[0134] Next, the bottom surface 76a of the workpiece 76 is machined into a flat surface using other devices. The second position P2 is the position of the robot when the workpiece 76, supported by the robot 1, contacts the abutment member 83 after machining. The force control unit 56 performs force control so that the bottom surface 76a of the workpiece 76 contacts the surface 83a of the abutment member 83. The state detection unit 52 detects the robot's second position P2.

[0135] The change detection unit 54 calculates the distance between the first position P1 and the second position P2 as the change in position. The calculation unit 55 calculates the axial machining length of the workpiece 76, which is the length of the measuring portion, based on the change in position. That is, the calculation unit 55 calculates the machining length of the component supported by the robot in the direction from the first position to the second position.

[0136] In this embodiment, the machining length is also calculated based on at least one of the measured temperatures of the robot and the workpiece. First, an example of calculating the machining length based on the measured temperature of robot 1 will be described. As shown in Table 4, the operator can create a set of reference data including the reference change in the robot's position, the robot's reference temperature, and the reference length.

[0137] [Table 4]

[0138]

[0139] Similar to the first embodiment, for example, when the robot's temperature is a reference temperature Ta, each reference workpiece can be generated with the positional change amount as the reference change amount H1, H2, H3. Furthermore, the machining lengths D1a, D2a, and D3a, which serve as reference lengths, can be accurately measured using a measuring instrument or the like.

[0140] In the actual measurement of the machining length of a workpiece, when the robot temperature is the measurement temperature Trx (e.g., Ta ≤ Trx < Tb) and the position change is Hx (e.g., H1 ≤ Hx < H2), the machining length Dx can be calculated using the following formula (22), similar to the first embodiment.

[0141] Dx=Dax+Ct(Dbx-Dax)…(22)

[0142] In addition, the variables Dax, Dbx and Ct contained in equation (22) can be calculated by equations (23) to (26).

[0143] Dax=D1a+Ch(D2a-D1a)…(23)

[0144] Dbx=D1b+Ch(D2b-D1b)…(24)

[0145] Ct=(Trx-Ta) / (Tb-Ta)…(25)

[0146] Ch=(Hx-H1) / (H2-H1)…(26)

[0147] Next, the temperature change of the workpiece will be explained. When the workpiece temperature changes, reference data can be generated that changes the robot's reference temperature in Table 4 to the workpiece's reference temperature. Temperature sensor 25 can be configured to detect the temperature of workpiece 76. Temperature detection unit 53 detects the temperature of workpiece 75 based on the output of temperature sensor 25. Measurement control unit 51 can detect the measured temperature of the workpiece and calculate the machining length Dx using the same calculation methods as in equations (22) to (26).

[0148] In this embodiment, the workpiece is held by a robotic arm, and the abutment component is fixed to a fixed component, but this method is not limited to this. The same control can also be implemented when the workpiece is fixed to the fixed component and the abutment component is moved by the robotic arm. The surface of the workpiece fixed to the fixed component can be processed, for example, by other robotic devices.

[0149] The structure, function, and effects of other robot control devices and robot devices are the same as those of the robot control devices and robot devices in the first to second embodiments, and therefore will not be repeated here.

[0150] (Fourth Implementation)

[0151] Reference Figure 9 The robot control device and robot device of the fourth embodiment will be described. The robot control device of this embodiment calculates angles related to a predetermined measurement surface. Specifically, the robot control device of this embodiment measures the machining angle, i.e., the angle of machining, of a component supported on the robot or a component fixed to a fixed component. The measurement surface is the surface of the workpiece to be machined. The robot control device measures the angle between the surface before machining and the surface after machining when viewed from a predetermined direction. The structure of the robot device of this embodiment is the same as that of the robot device 7 of the third embodiment.

[0152] Figure 9 Side views showing the robot, workpiece, and contacting components in the first and second postures. (Refer to...) Figure 2 and Figure 9Here, an example of machining a workpiece 76 supported by a robot 1 is described. Before machining, the bottom surface 76a of the workpiece 76 is planar. The robot device 7 of this embodiment cuts the bottom surface 76a into a planar shape. At this time, machining is performed in a manner where the angle of the bottom surface 76a relative to the axis 79 of the workpiece 76 before machining is different from the angle of the bottom surface 76a relative to the axis 79 after machining. The bottom surface 76a before machining is perpendicular to the axis 79, but the bottom surface 76a after machining is inclined at an angle Sx relative to the axis 79.

[0153] The temperature detection unit 53 acquires at least one of the measured temperatures of the robot 1 and the workpiece 76. Here, an example of temperature change in the robot 1 will be described. The temperature detection unit 53 detects the measured temperature of the robot 1.

[0154] The force control unit 56 controls the force by having the bottom surface 76a, before processing, contact the surface 83a of the abutting member 83, thereby giving the robot a first posture R1. The first posture R1 is the robot's initial posture. The first posture R1 is the robot's posture when the workpiece 76 supported on the robot 1 contacts the abutting member 83 fixed to the fixing member 72 before processing. The state detection unit 52 detects the position and posture of the robot 1.

[0155] Next, the robot device 7 transports the workpiece 76 to another device for cutting the bottom surface 76a. Then, the robot device 7 positions the machined workpiece 76 above the abutting member 83. The force control unit 56 applies force control, causing the machined bottom surface 76a to contact the surface 83a of the abutting member 83.

[0156] By using force control to drive the robot, the robot's posture becomes the second posture R2. The second posture R2 is the robot's final posture. The second posture R2 is the robot's posture when the workpiece 76 supported on the robot 1 after processing comes into contact with the abutment member 83 fixed to the fixed member 72. The state detection unit 52 detects the position and posture of the robot 1.

[0157] The change detection unit 54 detects the change in the robot's posture. The change detection unit 54 detects the change in the robot 1's posture from the first posture R1 to the second posture R2. This change in posture is equivalent to the change in the angle of the bottom surface 76a relative to the axis of the workpiece 76 when cutting the bottom surface 76a. Based on the first robot's posture R1 and the second robot's posture R2, the change in the robot's posture can be calculated.

[0158] The operator pre-prepared baseline data, which determined the changes in angles related to the measurement surface relative to the robot's posture and the correlation between the robot's measurement temperature and the baseline data 47 showing the correlations.

[0159] [Table 5]

[0160]

[0161] The reference data here includes several sets of data, including: reference change related to the change in posture, reference temperature related to the measurement temperature, and reference angle related to the machining angle. In this example, the angle related to the measurement surface is the machining angle during machining. The machining angle corresponds to the change in the robot's posture when machining a part supported by the robot or a part fixed to a fixed part.

[0162] For example, similar to Embodiment 1, each reference workpiece is manufactured at the robot's reference temperature Ta, with the change in posture serving as reference changes S1, S2, and S3. Furthermore, the reference angles B1a, B2a, and B3a of the reference workpieces are accurately measured using a measuring instrument such as a laser measuring instrument. The same measurement is also performed at the robot's reference temperature Tb.

[0163] In the measurement of the machining angle of the workpiece, the calculation unit 55 can calculate the angle related to the measurement surface by interpolation or extrapolation using the change in posture and the measurement temperature. In this example, with the robot's measurement temperature Trx (Ta≤Trx<Tb) and the change in posture Sx (S1≤Sx<S2), the machining angle Bx can be calculated by the following formula (27).

[0164] Bx=Bax+Ct(Bbx-Bax)…(27)

[0165] Here, the variables Bax, Bbx, and Ct can be calculated using equations (28) to (31).

[0166] Bax=B1a+Ch(B2a-B1a)…(28)

[0167] Bbx=B1b+Ch(B2b-B1b)…(29)

[0168] Ct=(Trx-Ta) / (Tb-Ta)…(30)

[0169] Ch=(Sx-S1) / (S2-S1)…(31)

[0170] By implementing the control described in this embodiment, machining angles can be measured with high precision. In the above embodiment, the machining angle is calculated based on the robot's measured temperature, but this method is not limited to. The machining angle can also be calculated based on the workpiece's measured temperature, as in embodiments 1 to 3.

[0171] Furthermore, in the above embodiment, the robot 1 holds the workpiece 76 to be processed, and the fixing member 72 fixes the abutment member 83, but this method is not limited to. The robot can support the contact member and fix the workpiece to the fixing member. In this case, the change in posture can be calculated based on a first posture when the contact member contacts the workpiece surface before processing and a second posture when the contact member contacts the workpiece surface after processing. The operator can prepare reference data in advance. Furthermore, the calculation unit can calculate the processing angle of the workpiece based on the robot's measured temperature or the workpiece's measured temperature, the change in posture, and the reference data.

[0172] In the above embodiments, the machining angle is calculated, but not limited to this method. Any angle related to a predetermined measurement surface can be measured. For example, a measuring instrument for detecting machining angles can be used to detect the machining angle.

[0173] The structure, function, and effects of other robot control devices and robot devices are the same as those of the robot control devices and robot devices in the first to third embodiments, and therefore will not be repeated here.

[0174] (Fifth Implementation)

[0175] Reference Figure 10 as well as Figure 11 The robot control device and robot device of the fifth embodiment will be described. In this embodiment, the robot control device measures the length of the measuring part by the amount of movement of the sliding member that applies force in a predetermined direction.

[0176] Figure 10 This is an enlarged partial cross-sectional view of the robot device of this embodiment. The workpiece 77 includes a sliding member 77c and a spring 77b serving as a force-applying member. The workpiece 77 of this embodiment is a push-button switch or a keypad switch device, etc. The sliding member 77c is formed to slide along a recess formed in the substrate 77a. As shown by arrow 96, the sliding member 77c is forceped by the spring 77b in a predetermined force-applying direction. The robot arm 2 holds a pressing member 84 for pressing the sliding member 77c.

[0177] Figure 11 This is a partial cross-sectional view showing the robot, pressing component, and workpiece when the robot is positioned in a first position and a second position. An example of temperature change in the robot is illustrated here. The first position P1 is the position where the pressing component 84, supported by the robot 1, contacts the sliding component 77c. Alternatively, the first position could also be the position where the pressing component 84 is separated from the sliding component 77c.

[0178] Reference Figure 2 as well as Figure 11As indicated by arrow 95, the force control unit 56 of the control device 4 controls the position and posture of the robot, causing the pressing member 84 to move in the opposite direction to the direction of the spring's force. The force control unit 56 controls the robot in a manner close to predetermined target values ​​of force and torque. The pressing member 84 presses against the sliding member 77c.

[0179] The second position P2 is the position at which the sliding member 77c of the pressing member 84 ends its pressing action. Alternatively, the second position P2 is the robot's position when the pressing member 84 presses the sliding member 77c with a predetermined force in the opposite direction to the applied force. The force control unit 56 can press the sliding member 77c to a position where it does not move. Alternatively, the force control unit 56 can press the sliding member 77c until the reaction force from the spring 77b reaches a predetermined target value.

[0180] Temperature detection unit 53 detects the measured temperature of robot 1. Status detection unit 52 detects the first position P1 and the second position P2. Change detection unit 54 detects the change in the robot's position. The operator creates reference data that represents the relationship between the moving length of the sliding component and the measured temperature and the change in position. Furthermore, calculation unit 55 can calculate the moving amount of sliding component 77c based on the measured temperature, the change in the robot's position, and the predetermined reference data.

[0181] When the temperature of workpiece 77 changes, the operator creates reference data including the reference temperature of the workpiece. The measurement control unit 51 can calculate the amount of movement of the sliding component by detecting the measured temperature of workpiece 77.

[0182] In the robot control device of this embodiment, at least one of the measured temperature of the robot and the measured temperature of the workpiece can be detected, and the amount of movement of the sliding component in the direction opposite to the applied force can be calculated with high precision based on each measured temperature.

[0183] In the above embodiment, the pressing member 84 is supported on the robot 1, and the workpiece 77, including the sliding member 77c, is fixed to the fixing member 72, but this is not the only option. Alternatively, the workpiece including the sliding member can be supported on the robot, and the pressing member can be fixed to the fixing device.

[0184] The structure, function, and effects of other robot control devices and robot devices are the same as those of the robot control devices and robot devices in the first to fifth embodiments, and therefore will not be repeated here.

[0185] (Sixth Implementation Method)

[0186] Reference Figures 12 to 14The robot control device and robot device of the sixth embodiment will be described. In this embodiment, the robot device grinds the surface of a workpiece using a grinding tool. Then, the robot control device calculates the machining length in the direction perpendicular to the workpiece surface as the length of a predetermined measuring portion.

[0187] Figure 12 An enlarged side view of the robot device according to this embodiment. Figure 13 A block diagram illustrating the robot device of this embodiment. (Refer to...) Figure 12 as well as Figure 13 The robot device 9 in this embodiment has a grinding tool 3 as a working tool.

[0188] The grinding tool 3 includes a pad 3a that contacts the surface 78a of the workpiece 78. The pad 3a has a circular planar shape. The grinding tool 3 is configured such that the pad 3a rotates about a rotation axis passing through the center of the circle. The grinding tool 3 is fixed to the flange 16 via a force sensor 24. The tool tip point can be set, for example, at the center of the surface of the grinding tool 3 that contacts the pad 3a.

[0189] The motion control unit 43 sends an operation command to the tool drive unit 44 to drive the pad drive motor 23, which rotates the pad 3a. The tool drive unit 44 supplies power to the pad drive motor 23 according to the operation command. In this embodiment, the measurement control unit 51 of the control device 4 measures the machining length of the workpiece 78 fixed to the fixing member 72.

[0190] Figure 14 This is a side view showing the robot, grinding tool, and workpiece when the robot of this embodiment is configured in the first and second positions. As indicated by arrow 95, the control device 4 causes the grinding tool 3 to move in the direction along the surface 78a while in contact with the surface 78a of the workpiece 78, thereby grinding the surface 78a. By grinding the surface 78a of the workpiece 78, the workpiece 78 becomes thinner.

[0191] The first position P1 is the position of robot 1 when the grinding tool 3 supported by the robot comes into contact with the workpiece 78 fixed to the fixed component 72 before processing. The second position P2 is the position of robot 1 when the grinding tool 3 comes into contact with the workpiece 78 after processing.

[0192] When detecting the positions of the first position P1 and the second position P2, force control based on the force control unit 56 is implemented. The force control unit 56 controls the position and orientation of the robot 1 so that the surface of the pad 3a contacts the surface 78a of the workpiece 78. For example, at the tool tip point, which is the point of action, the position and orientation of the robot 1 are controlled so that the force and torque other than the force along the rotation axis of the pad 3a are close to zero.

[0193] First, the temperature change of robot 1 will be explained. Temperature detection unit 53 detects the measured temperature of robot 1. Status detection unit 52 detects the first position P1 and the second position P2 of the robot. Change detection unit 54 detects the change in position. Reference data representing the relationship between the change in machining length relative to the robot's position and the measured temperature is prepared in advance. Calculation unit 55 calculates the length of the measuring section based on the measured temperature, the change in the robot's position, and the reference data. In this embodiment, the machining length in the thickness direction of the workpiece 77 after grinding by grinding tool 3 can be calculated. In the case of workpiece temperature change, the measured temperature of the workpiece can be detected, and the machining length in the thickness direction of workpiece 77 can be calculated based on reference data including the reference temperature of the workpiece.

[0194] Furthermore, the pad 3a gradually thins during grinding. Therefore, the thickness of the worn pad can be calculated based on the pressing force and grinding time. For example, the thickness of the pad worn down during a single processing step can be subtracted from the change in robot position.

[0195] In the robot control device of this embodiment, the measured temperature of at least one of the robot's measured temperature and the workpiece's measured temperature is detected, and the processing length of the workpiece can be calculated with high accuracy based on the detected measured temperature.

[0196] In this embodiment, the grinding tool 3 is supported on the robot 1, and the workpiece 78 is fixed to the fixing component 72, but this is not the only option. Alternatively, the workpiece can be supported on the robot, and the grinding tool 3 can be fixed to the fixing device.

[0197] The structure, function, and effects of other robot control devices and robot devices are the same as those of the robot control devices and robot devices in the first to fifth embodiments, and therefore will not be repeated here.

[0198] In addition to the operations described above, the measurement control unit of the above-described embodiment can also be applied to robot devices that perform operations using the robot's first and second positions. For example, the measurement control unit can be applied to a robot device that measures the flatness of a wide surface of a workpiece. The robot device detects its position by having a contact member contact multiple points on the surface. When the measurement time is long, the temperature of the robot or the workpiece may change. For example, the robot temperature when measuring the initial measurement point may differ from the robot temperature when measuring the final measurement point. The measurement control unit that performs the temperature correction described above can be applied to such a robot device.

[0199] According to at least one of the above embodiments, it is possible to measure with high precision the length of a predetermined measurement portion or the angle related to a predetermined measurement surface.

[0200] This disclosure has been described in detail, but it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the core essence of this disclosure, or without departing from the core essence of this disclosure derived from the claims and their equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the above embodiments, the order of each action and the order of each process have been shown as an example, but this is not a limitation. Similarly, the use of numerical values ​​or mathematical formulas in the description of the above embodiments is also relevant.

[0201] Regarding the above-described embodiments and variations, the following notes are disclosed.

[0202] (Note 1)

[0203] A robot control device, comprising:

[0204] The temperature detection unit measures at least one of the measured temperature of the robot and the measured temperature of the workpiece.

[0205] The force control unit performs force control on the robot;

[0206] The status detection unit detects the robot's position and orientation.

[0207] The change detection unit detects changes in the robot's position; and

[0208] The calculation unit calculates the length of the predetermined measurement section.

[0209] The state detection unit detects the robot's initial position (first position) and the robot's second position after being driven by force control.

[0210] The change detection unit detects the change from the first position to the second position.

[0211] The relationship between the length of the measuring section and the change in length, as well as the measurement temperature, is determined in advance.

[0212] The calculation unit calculates the length of the measuring section based on the measured temperature, the amount of change, and related relationships.

[0213] (Note 2)

[0214] According to the robot control device described in Appendix 1, wherein,

[0215] Measure the dimensions of components supported by the robot or components fixed to fixed components.

[0216] The first position is the position of the robot when the parts supported by the robot separate from the parts fixed to the fixed parts.

[0217] The second position is: the position of the robot when the component supported on the robot comes into contact with the component fixed to the fixed component.

[0218] The length of the measured part is the size of the component supported by the robot or the size of the component fixed to the stationary component.

[0219] (Note 3)

[0220] According to the robot control device described in Appendix 1, wherein,

[0221] Measure the machining length of components supported by the robot or components fixed to a fixed component.

[0222] The first position is: the position of the robot when, before processing, the part supported on the robot comes into contact with the part fixed to the fixed part, thereby driving the robot using force control.

[0223] The second position is: the position of the robot when, after processing, the part supported on the robot comes into contact with the part fixed to the fixed part, thus determined by force control.

[0224] The length of the measured part is the machining length of the component supported by the robot or fixed to the fixed component in the direction from the first position to the second position.

[0225] (Note 4)

[0226] According to the robot control device described in Appendix 1, wherein,

[0227] The robot control device is used to measure the amount of movement of a sliding component that is subjected to a force in a predetermined direction.

[0228] The first position is: the position of the robot when the pressing component supported by the robot is in contact with the sliding component, or the position of the robot when the pressing component supported by the robot is separated from the sliding component.

[0229] The second position is the robot's position when the pressing component presses the sliding component with a predetermined force in the opposite direction to the applied force.

[0230] The length of the measuring part is the amount of movement of the sliding component in the direction opposite to the direction of the applied force.

[0231] (Note 5)

[0232] The robot control device according to any one of Appendices 1 to 4, wherein,

[0233] The correlation is determined by pre-measured baseline data.

[0234] The reference data includes multiple sets of the following: reference change related to the amount of change, reference temperature related to the measured temperature, and reference length related to the length of the measured part.

[0235] The calculation unit calculates the length of the measuring section by using the change in quantity and the measured temperature to perform interpolation or extrapolation calculations.

[0236] (Note 6)

[0237] A robot control device, comprising:

[0238] The temperature detection unit measures at least one of the measured temperature of the robot and the measured temperature of the workpiece.

[0239] The force control unit performs force control on the robot;

[0240] The status detection unit detects the robot's position and orientation.

[0241] The change detection unit detects changes in the robot's posture; and

[0242] The calculation unit calculates the angles related to the predetermined measurement surface.

[0243] The state detection unit detects the first pose, which is the robot's initial pose, and the second pose, which is the robot's pose after being driven by force control.

[0244] The change detection unit detects the change from the first attitude to the second attitude.

[0245] The relationship between the angles of the measurement surface and the change in angle, as well as the measurement temperature, is determined in advance.

[0246] The calculation unit calculates the angles related to the measurement surface based on the measured temperature, the amount of change, and the correlation.

[0247] (Note 7)

[0248] According to the robot control device described in Appendix 6, wherein...

[0249] Measure the machining angles of components supported on the robot or components fixed to fixed parts.

[0250] The first posture is: the robot's posture when the part supported on the robot comes into contact with the surface of the part fixed to the fixed part before processing, driven by force control.

[0251] The second posture is: the robot's posture when the part supported by the robot comes into contact with the surface of the part fixed to the fixed part after processing, driven by force control.

[0252] The angle related to the measurement surface is the machining angle corresponding to the amount of change of the component supported on the robot or the component fixed to the fixed component.

[0253] (Postscript 8)

[0254] According to the robot control device described in Appendix 6 or 7, wherein...

[0255] The correlation is determined by pre-measured baseline data.

[0256] The reference data includes multiple sets of the following: reference change related to the amount of change, reference temperature related to the measured temperature, and reference angle related to the angle of the measured surface.

[0257] The calculation unit calculates the angle related to the measurement surface by using the change in quantity and the measured temperature to perform interpolation or extrapolation calculations.

[0258] Symbol Explanation

[0259] 1. Robot

[0260] 2. Robotic Arm

[0261] 3 Grinding tools

[0262] 4. Control device

[0263] Robotic devices 5, 7, 8, and 9

[0264] 19 Position Detectors

[0265] 24 Force Sensors

[0266] 25 Temperature sensor

[0267] 40. Main body of the control device

[0268] 42 Storage Section

[0269] 47. Baseline Data

[0270] 51 Measurement and Control Department

[0271] 52 Condition Detection Department

[0272] 53 Temperature Detection Department

[0273] 54. Change Detection Department

[0274] 55. Computing Department

[0275] 56 Force Control Department

[0276] 71, 72 Fixed components

[0277] Workpieces 75 and 76

[0278] 77 workpieces

[0279] 77b Spring

[0280] 77c Sliding component

[0281] 78 workpieces

[0282] 78a surface

[0283] 81 Gauge

[0284] 83 Abutting parts

[0285] 83a surface

[0286] 84. Pressing component.

Claims

1. A robot control device, characterized in that, have: The temperature detection unit measures at least one of the measured temperature of the robot and the measured temperature of the workpiece. The force control unit performs force control on the robot; The status detection unit detects the robot's position and orientation. The change detection unit detects changes in the robot's position. as well as The calculation unit calculates the length of the predetermined measurement section. The state detection unit detects the robot's initial position, i.e., the first position, and the robot's second position after being driven by force control. The change detection unit detects the change from the first position to the second position. The relationship between the length of the measuring section and the change in length, as well as the measuring temperature, is predetermined. The calculation unit calculates the length of the measuring section based on the measured temperature, the amount of change, and the correlation.

2. The robot control device according to claim 1, characterized in that, Measure the dimensions of components supported by the robot or components fixed to fixed components. The first position is: the position of the robot when the component supported on the robot is separated from the component fixed to the fixed component. The second position is: the position of the robot when the component supported on the robot comes into contact with the component fixed to the fixed component. The length of the measuring part is the size of the component supported on the robot or the size of the component fixed to the fixed component.

3. The robot control device according to claim 1, characterized in that, Measure the machining length of components supported by the robot or components fixed to a fixed component. The first position is: the position of the robot when, prior to processing, the part supported on the robot comes into contact with the part fixed to the fixed part, thereby driving the robot using force control. The second position is: the position of the robot when, after processing, the part supported on the robot comes into contact with the part fixed to the fixed part, thereby driving the robot using force control. The length of the measuring portion is the machining length of the component supported on the robot or fixed to the fixed component in the direction from the first position toward the second position.

4. The robot control device according to claim 1, characterized in that, The robot control device is used to measure the amount of movement of the sliding component that is subjected to a force in a predetermined direction. The first position is: the position of the robot when the pressing component supported by the robot is in contact with the sliding component, or the position of the robot when the pressing component supported by the robot is separated from the sliding component. The second position is: the position of the robot when the pressing component presses the sliding component with a predetermined force in the direction opposite to the direction of the applied force. The length of the measuring part is the amount of movement of the sliding component in the direction opposite to the direction of the applied force.

5. The robot control device according to any one of claims 1 to 4, characterized in that, The correlation is determined by pre-measured baseline data. The reference data includes multiple sets of the following data: a reference change related to the change, a reference temperature related to the measured temperature, and a reference length related to the length of the measured portion. The calculation unit calculates the length of the measuring section by performing interpolation or extrapolation calculations using the change and the measured temperature.

6. A robot control device, characterized in that, have: The temperature detection unit measures at least one of the measured temperature of the robot and the measured temperature of the workpiece. The force control unit performs force control on the robot; The status detection unit detects the robot's position and orientation. The change detection unit detects changes in the robot's posture. as well as The calculation unit calculates the angles related to the predetermined measurement surface. The state detection unit detects the robot's initial posture, i.e., the first posture, and the robot's second posture after being driven by force control. The change detection unit detects the change from the first posture to the second posture. The relationship between the angle of the measurement surface and the change in angle, as well as the measurement temperature, is predetermined. The calculation unit calculates the angle related to the measurement surface based on the measured temperature, the amount of change, and the correlation.

7. The robot control device according to claim 6, characterized in that, Measure the machining angles of components supported on the robot or components fixed to fixed parts. The first posture is: the posture of the robot when, prior to processing, the part supported on the robot comes into contact with the surface of the part fixed to the fixed part, driven by force control. The second posture is: the robot's posture when the part supported on the robot comes into contact with the surface of the part fixed to the fixed part after processing, driven by force control. The angle related to the measurement surface is the machining angle corresponding to the change in the component supported on the robot or the component fixed to the fixed component.

8. The robot control device according to claim 6 or 7, characterized in that, The correlation is determined by pre-measured baseline data. The reference data includes multiple sets of the following data: a reference change related to the change amount, a reference temperature related to the measured temperature, and a reference angle related to the angle of the measured surface. The calculation unit calculates the angle related to the measurement surface by performing interpolation or extrapolation calculations using the change and the measured temperature.

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