Assistance device and robot system

Abstract

Assistance device (7) which assists in setting a parameter relating to the control of a robot (5) which is equipped with a robot arm (3) having a plurality of arm elements (1, 11 - 16) and a plurality of joint parts (2, 21 - 27) which pivotably connect the plurality of arm elements (1, 11 - 16) about a pivot axis (J1 - J7), wherein the assistance device (7) comprises: a display unit (72); and a control unit (73) that controls the display unit (72), the control unit (73) performs: a data acquisition process (S1) for acquiring data (D1) of a force acting on a joint (F1), specifying a force (F1) acting on each of the plurality of joint parts (2, 21-27), and data (D2) of a force acting on a specific point (F2), specifying a force acting on a specific point (TCP) at a distal end of the robot arm (3); and a display process (S2) for controlling the display unit (72) to display a waveform of the force acting on a joint (F1W) indicating a change over time in each of the forces acting on a joint, and a waveform of the force acting on a specific point (F2W) indicating a change over time in the force acting on a specific point (F2).

Description

Technical field

[0001] The present invention relates to an assistance device that assists in generating setting data relating to the control of a robot and a robot system comprising it. Technical background

[0002] A robot equipped with a robot arm whose arms are pivotably connected to a multitude of joints is known from the prior art. In such a robot, the parameter settings for the robot's control are configured so that the robot arm performs the desired operations.

[0003] The publication JP 6 582 483 B2 discloses a technology for assisting in the setting of parameters relating to the control of a robot. In the technology disclosed in JP 6 582 483 B2, the force acting on a specific point at the distal end of a robot arm (tool center; TCP), on which an end effector is mounted, is detected by a force detector. Subsequently, a detection waveform, which indicates the change over time of a detection value detected by the force detector, and a storage waveform of the acting force, pre-stored in a storage medium, are displayed in a display unit, and parameter settings are received by a receiving unit.

[0004] In the technology disclosed in publication JP 6 582 483 B2, only the temporal change of the force acting on the specific point at the distal end of the robot arm, based on the detected waveform and the stored waveform displayed in the display unit, serves as an indicator for parameter settings. Therefore, there is a risk that the parameters for controlling a robot cannot be set in detail.

[0005] German patent application DE 11 2021 000 503 B4 describes a control system comprising a sensor that detects acceleration based on a robot's vibration and an interpolator that interpolates a multitude of sensor data sets detected by the sensor. The control system further includes a data generator that calculates a correlation coefficient based on a multitude of interpolated data sets, combines the multitude of interpolated data sets based on this correlation coefficient, and averages the composite data using fine sampling intervals resulting from the combination of the multitude of interpolated data sets.

[0006] The German patent application DE 10 2020 204 950 A1 describes a control device configured to control a mechanical device with a movable component driven by a motor, wherein the control device comprises a radio signal exchange unit, a data acquisition unit, a data processing unit, a delay time processing unit and a time synchronization unit.

[0007] The publication DE 10 2019 205 890 A1 describes a control system comprising a driven body, a control device, and a sensor. The control device includes a storage unit, an operating control unit, a correction value calculation unit, a correction value update unit, and a determination unit.

[0008] The publication DE 10 2019 108 804 B4 describes a robot system for performing a learning check using a motor encoder and a sensor, which includes a robot mechanism unit and a robot control device.

[0009] German patent application DE 10 2016 123 716 A1 describes a device for removing a molded product, wherein the device is intended to suppress displacement vibration of an attachment mounted on the front end of each of one or more approach frames by active control using one or more electromagnetic actuators. The device comprises a system for active vibration suppression. One or more electromagnetic actuators are mounted on the attachment of each approach frame or on each approach frame.

[0010] Publication WO 2019 / 064 916 A1 describes a robot simulator comprising a program execution unit that executes a robot program containing tasks involving information about the robot's operating elements. The robot simulator further comprises a state information calculation unit and a display control unit. Description of the invention

[0011] One object of the present invention is to provide an assistance device with which parameters relating to the control of a robot and a robot system can be set in detail, as well as a robot system.

[0012] This problem is solved by the subject matter of the independent claims. Further embodiments constitute the subject matter of the dependent claims.

[0013] An assistance device according to one aspect of the present invention is a device that assists in setting a parameter relating to the control of a robot which is equipped with a robot arm having a plurality of arm elements and a plurality of joint parts which pivotably connect the plurality of arm elements about a pivot axis, and which has a display unit and a control unit which controls the display unit.The control unit performs: a capture process to acquire data of a force acting on a joint, indicating a force acting on each of the multiple joint components, and data of a force acting on a specific point, indicating a force acting on a specific point at a distal end of the robot arm; and a display process to control the display unit to display a waveform of the force acting on a joint, indicating a temporal change in each of the forces acting on a joint, and a waveform of the force acting on a specific point, indicating a temporal change in the force acting on a specific point.

[0014] A robot system according to a further aspect of the present invention comprises: a robot equipped with a robot arm having a plurality of arm elements and a plurality of joint parts that pivotably connect the plurality of arm elements about a pivot axis; and the assistance device that assists in generating setting data relating to the control of the robot.

[0015] The object, features and advantages of the present invention will become clearer from the detailed description below and the accompanying drawings. Brief description of the drawings Fig. 1 is a block diagram of a robot system according to an embodiment of the present invention; Fig. Figure 2 is a perspective view of a robot provided in the robot system; Fig. Figure 3 is a cross-sectional view of a joint part in a robot arm of the robot; Fig. Figure 4 is a diagram showing data acquired by a control unit of an assistance device provided in the robot system during a data acquisition process; Fig. 5 is a diagram showing a display screen on which the control unit of the assistance device causes a display unit to display in a display process; Fig. Figure 6 is a diagram describing a recognition process performed by the control unit of the assistance device. Description of the embodiment

[0016] An assistance device and a robot system according to an embodiment of the present invention are described below with reference to the drawings.

[0017] As in Fig. As shown in Figure 1, a robot system 100 according to the present embodiment comprises a robot 5, a control device 6, and an assistance device 7. In the robot system 100, the assistance device 7 assists in setting parameters for the control of the robot 5. An operator of the robot system 100 can use the assistance device 7 to set the parameters for the control of the robot 5. The control device 6 controls the operation of the robot 5 by transmitting a control signal according to a control program CP, which records setting data SD generated based on the parameter settings for the robot 5.

[0018] Robot 5 will be used in addition to Fig. 1 with reference to the Fig. 2 and Fig. 3 described. As in Fig. As shown in Figure 2, robot 5, for example, is a vertical seven-axis articulated robot. Robot 5 has a robot arm 3 with a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, a sixth axis J6, and a seventh axis J7 as seven pivot axes. The robot arm 3 has a base unit 11, a shaft unit 12, a first arm 13, a second arm 14, a third arm 15, and a head unit 16 as a plurality of arm elements 1. Additionally, the robot arm 3 has a first joint part 21, a second joint part 22, a third joint part 23, a fourth joint part 24, a fifth joint part 25, a sixth joint part 26, and a seventh joint part 27 as a plurality of joint parts 2.

[0019] The base unit 11 is a housing that is mounted on the floor, a base, or the like. The shaft unit 12 is connected to the upper surface of the base unit 11 via the first joint part 21. The shaft unit 12 is pivotable in both the forward and backward directions about the first axis J1, which extends vertically through the first joint part 21. The first arm 13 has a predetermined length, and its proximal end is connected to the shaft unit 12 via the second joint part 22. The first arm 13 is pivotable about the second axis J2, which extends horizontally through the second joint part 22. The first arm 13 incorporates the third joint part 23 at its midpoint. The distal end of the first arm 13 is pivotable about the third axis J3, which extends axially through the third joint part 23.

[0020] The second arm 14 is an arm connected below the first arm 13, and its proximal end is connected to the distal end of the first arm 13 via the fourth joint part 24. The second arm 14 is pivotable about the fourth axis J4, which extends horizontally through the fourth joint part 24. The second arm 14 incorporates the fifth joint part 25 in its center. The distal end of the second arm 14 is pivotable about the fifth axis J5, which extends axially through the fifth joint part 25. The third arm 15 is an arm connected below the second arm 14, and its proximal end is connected to the distal end of the second arm 14 via the sixth joint part 26. The third arm 15 is pivotable about the sixth axis J6, which extends horizontally through the sixth joint part 26.

[0021] The head unit 16 is connected to the distal end of the third arm 15 via the seventh joint 27. The head unit 16 is pivotable about the seventh axis J7, which extends vertically through the seventh joint 27. The head unit 16 represents the distal end of the robot arm 3, and an end effector 17 is mounted on it. The end effector 17 is, for example, a tool such as a screwdriver, a gripper, or a grinder. The end effector 17 can perform various tasks such as screwing, gripping, and machining.

[0022] A specific point (tool center point) TCP, which serves as a reference point for the position of the end effector 17, is set on the head unit 16, which is the distal end of the robot arm 3. The position of the specific point TCP on the head unit 16 can be set to any position and is, for example, set on the seventh axis J7, which is the pivot axis of the head unit 16.

[0023] In the robot arm 3, the first joint part 21, the third joint part 23, the fifth joint part 25, and the seventh joint part 27 have a housing shape with a vertically extending, essentially cylindrical form. The second joint part 22, the fourth joint part 24, and the sixth joint part 26 have a housing shape with a horizontally extending, essentially cylindrical form.

[0024] In the description below, the base unit 11, the shaft unit 12, the first arm 13, the second arm 14, the third arm 15 and the head unit 16 can be generally referred to as "arm element 1", and the first joint part 21, the second joint part 22, the third joint part 23, the fourth joint part 24, the fifth joint part 25, the sixth joint part 26 and the seventh joint part 27 can be generally referred to as "joint part 2".

[0025] As in Fig. As shown in Figure 3, the robot arm 3 has a receiving part 2S for receiving a drive mechanism 4 of the robot arm 3, with essentially the same structure in each of the plurality of joint parts 2. The drive mechanism 4, which is received in the receiving part 2S of each joint part 2, has a motor 41, a reduction gear 42, a brake 43, a torque sensor 44 and a control board 45.

[0026] The motor 41 is a servo motor that serves as a drive source for pivoting the arm element 1 about the pivot axis and has a motor shaft 41S that generates a rotational force. The reduction gear 42 reduces the number of revolutions of the motor shaft 41S by a predetermined reduction ratio for transmission to a pivoting mechanism. The brake 43 applies a braking effect to the rotation of the motor shaft 41S.

[0027] The torque sensor 44 detects the torque exerted by the motor 41 on the arm element 1. This means that the torque sensor 44 detects the torque of the arm element 1, which is connected to the joint part 2 about the pivot axis.

[0028] The control board 45 performs the drive control of the motor 41 based on the control signal sent by the control device 6. This control signal forms the basis of the control program CP, which records the setting data SD. This controls the operation of the robot arm 3. The setting data SD recorded in the control program CP is a data set of parameter setting values ​​for the control of the robot 5. The parameters for controlling the robot 5 include the rotational speed at which each arm element 1 in the robot arm 3 pivots about the pivot axis, the torque of each arm element 1 about the pivot axis, and the like. The control board 45 executes a variety of operating modes, including a first operating mode, a second operating mode, and a third operating mode via the drive control of the motor 41.

[0029] The first operating mode is one in which it is assumed that the operator working with the robot 5 is performing a task while approaching the working area of ​​the robot arm 3. When the first operating mode is executed, the control board 45 performs drive control of the motor 41, so that the robot arm 3 operates continuously at a predetermined initial speed, which is specified in the setting data SD in response to the control signal according to the setting data SD recorded in the control program CP.

[0030] The second operating mode is one in which it is assumed that the operator working with the robot 5 does not approach the operating area of ​​the robot arm 3. When the second operating mode is executed, the control board 45 executes the drive control of the motor 41 such that, in response to the control signal according to the setting data SD recorded in the control program CP, the robot arm 3 continuously operates at a second speed that is faster than the first speed specified in the setting data SD.

[0031] The third operating mode is one in which the operator directly applies a force to the robot arm 3 to guide it and teach it how to operate. When the third operating mode is executed, the control board 45 performs drive control of the motor 41 to regulate the operation of the robot arm 3 beyond a predefined third speed, which is specified in the setting data SD in response to the control signal according to the setting data SD recorded in the control program CP.

[0032] As described at the beginning, the assistance device 7 is a device that assists in setting parameters for the control of the robot 5. An operator can use the assistance device 7 to set the parameters for the control of the robot 5. The assistance device 7 is used in addition to Fig. 1 with reference to the Fig. 4 to 6 described.

[0033] Assistance device 7, for example, has a PC and is like in Fig. 1 shown equipped with an operating unit 71, a display unit 72 and a control unit 73.

[0034] The display unit 72 includes, for example, a liquid crystal display or the like. The display operation of the display unit 72 is controlled by the control unit 73. The operating unit 71 includes a keyboard, a mouse, a touch panel integrated into the display unit 72, or the like. The operating unit 71 receives various command inputs from the operator regarding a display mode of the display unit 72.

[0035] The control unit 73 comprises a central processing unit (CPU), a storage area such as a hard disk drive (HDD) and flash memory for storing an assistance control program, random access memory (RAM) used as a workspace for the CPU, and the like. The control unit 73 executes various processes, such as a data acquisition process S1, which is in Fig. As shown in section 4, a display process S2 is used, which is located in Fig. 5 is shown and a recognition process S3, which is in Fig. Figure 6 shows how the CPU executes the assistant control programs stored in the hard drive or flash memory.

[0036] In the acquisition process S1, the control unit 73 acquires the data D1 of the force acting on a joint and the data D2 of the force acting on a specific point, as shown in Fig. Figure 4 shows the force D1 acting on a joint. This data is a set of data F1 representing the force acting on each of the plurality of joint parts 2 in the robot arm 3. The force D2 acting on a specific point is a set of data F2 representing the force acting on the specific point TCP in the head unit 16, which is the distal end of the robot arm 3.

[0037] In the present embodiment, the control unit 73 detects the torque about the pivot axis of each arm element 1 connected to each joint part 2 as each force F1 acting on a joint corresponding to each joint part 2. Specifically, the control unit 73 detects the torque detection value detected by each torque sensor 44 corresponding to each joint part 2 as each force F1 acting on a joint corresponding to each joint part 2. This means that the data D1 of the force acting on a joint detected by the control unit 73 includes all data of the torque detection value detected by each torque sensor 44 corresponding to each joint part 2.

[0038] Additionally, the control unit 73 calculates the force F2 acting on a specific point TCP, based on each joint part 2 corresponding to the force F1 acting on a joint. This allows the control unit 73 to acquire the data of the force D2 acting on a specific point, which defines the data group of the force F2 acting on a specific point. The control unit 73 acquires a component of the force F2 acting on a specific point in each axial direction, corresponding to each of the three axes, X-axis, Y-axis, and Z-axis, in the orthogonal XYZ coordinate system around the specific point TCP (three-dimensional orthogonal coordinate system), and the torque about each axis as data of the force F2 acting on a specific point.This means that the data D2 of the force acting on a specific point, acquired by the control unit 73, includes an X-component F2X, which specifies the component in the X-axis direction, a Y-component F2Y, which specifies the component in the Y-axis direction, a Z-component F2Z, which specifies the component in the Z-axis direction, a roll component F2RX, which specifies the torque about the X-axis, a pitch component F2PY, which specifies the torque about the Y-axis, and a yaw component F2YZ, which specifies the torque about the Z-axis about the specific point, which specifies the force F2 acting on the specific point TCP.

[0039] It is noted that a force-torque sensor, which is a force detector that detects the force acting on the specific point TCP at the distal end of the robot arm 3, can be attached to the robot 5. The force-torque sensor measures the force acting on the specific point TCP along the three X, Y, and Z detection axes, and the torque around the three X, Y, and Z detection axes in the sensor coordinate system, which is the orthogonal XYZ coordinate system.When such a force-torque sensor is attached to the robot 5, the control unit 73, based on the measured value from the force-torque sensor, records the data D2 of the force acting on a specific point, including the X-component F2X, the Y-component F2Y, the Z-component F2Z, the roll-component F2RX, the pitch-component F2PY and the yaw-component F2YZ of the force F2 acting on a specific point TCP.

[0040] As in Fig. As shown in Figure 5, the control unit 73 controls the display unit 72 such that during the display process S2, information to assist in setting the parameters for controlling the robot 5 is displayed on the display screen DS of the display unit 72. The control unit 73 controls the display unit 72 so that a waveform of the force F1W acting on a joint is displayed on the display screen DS, showing the change over time of each force F1 acting on a joint according to the plurality of joint parts 2, and a waveform of the force F2W acting on a specific point, showing the change over time of the force F2 acting on a specific point, based on the data of the force D1 acting on a joint and the data of the force D2 acting on a specific point.

[0041] Through the display process S2 of the control unit 73, the waveform of the force F1W acting on a joint, which shows the change over time of the force F1 acting on each joint part 2 of the robot arm 3, and the waveform of the force F2W acting on a specific point, which shows the change over time of the force F2 acting on the specific point TCP at the distal end of the robot arm 3, are displayed on the display screen DS of the display unit 72. By checking the waveform of the force F1W acting on a joint and the waveform of the force F2W acting on a specific point, which are displayed on the screen DS of the display unit 72, the operator can compare the change over time of each force F1 acting on each joint part and the change over time of the force F2 acting on the specific point TCP at the distal end of the robot arm 3.As a result, in addition to the temporal change of the force F2 acting on a specific point, the temporal change of each force F1 acting on a joint serves as an indicator for setting parameters for controlling the robot 5, so that the operator can set the parameters for controlling the robot 5 in detail.

[0042] In the present embodiment, the control unit 73 controls the display unit 72 to display each torque waveform, which indicates the time variation of the torque about the pivot axis of each arm element 1 connected to each joint part 2 of the robot arm 3, as each waveform of the force F1W acting on a joint. In this case, the waveform of the force F1W acting on a joint includes a first torque waveform corresponding to the first joint part 21, a second torque waveform corresponding to the second joint part 22, a third torque waveform corresponding to the third joint part 23, a fourth torque waveform corresponding to the fourth joint part 24, a fifth torque waveform corresponding to the fifth joint part 25, a sixth torque waveform corresponding to the sixth joint part 26, and a seventh torque waveform corresponding to the seventh joint part 27.Additionally, the control unit 73 controls the display unit 72 to display each component waveform, indicating the temporal change of the X-component F2X, the Y-component F2Y, the Z-component F2Z, the roll component F2RX, the pitch component F2PY, and the yaw component F2YZ around the specific point F2, which is represented as the waveform of the force F2W acting on the specific point TCP of the robot arm 3. In this case, the waveform of the force F2W acting on a specific point comprises the waveform of the X-component, the waveform of the Y-component, the waveform of the Z-component, the waveform of the roll component, the waveform of the pitch component, and the waveform of the yaw component, corresponding to each component of the force F2 acting on a specific point.

[0043] In this aspect, each waveform of the force F1W acting on a joint, as each torque waveform showing the time-dependent change of the torque about the pivot axis of each arm element 1 corresponding to each joint part 2 of the robot arm 3, and the waveform of the force F2W acting on a specific point, as each component waveform showing the time-dependent change in each component of the force F2 acting on a specific point in the orthogonal XYZ coordinate system around the specific point TCP of the robot arm 3, are displayed on the display screen DS of the display unit 72. In the example of the Fig. 5. The first torque waveform F1W, corresponding to the first joint part 21, and the fourth torque waveform F1W4, corresponding to the fourth joint part 24, are displayed in the display unit 72 as the waveform of the force F1W acting on a joint, and the waveform of the Z-component F2WZ and the waveform of the yaw component F2WYZ are displayed in the display unit 72 as the waveform of a force F2W acting on a specific point. The operator checks each waveform of the force F1W acting on a joint as each torque waveform corresponding to each joint part 2 and the waveform of the force F2W acting on a specific point as each component waveform corresponding to each component of the force F2 acting on a specific point, which is displayed on the display screen DS of the display unit 72.This allows the operator to compare the change over time of the torque acting on each joint part 2 and the change over time of each component of the force F2 acting on a specific point TCP at the distal end of the robot arm 3.

[0044] The control unit 73 can control the display unit 72 in display process S2 to display each waveform of the force F1W acting on a joint, corresponding to each joint part 2, and the waveform of the force F2W acting on a specific point, both on the same time axis. In this case, the waveform of the force F1W acting on a joint and the waveform of the force F2W acting on a specific point are each displayed on the same time axis on the display screen DS of the display unit 72. This allows the operator to easily compare the temporal change of each force F1 acting on each joint part 2 and the temporal change of the force F2 acting on the specific point TCP at the distal end of the robot arm 3. Therefore, the operator can efficiently adjust the parameters for controlling the robot 5.

[0045] The control unit 73 can control the display unit 72 during the display process S2 to display numerical data F1D of the force acting on a joint, the numerical data of each force F1 acting on a joint on each waveform of the force F1W acting on a joint, and numerical data F2D, which displays the numerical data of the force F2 acting on a specific point, the waveform of the force F2W acting on a specific point on the same display screen DS as each waveform of the force F1W acting on a joint and the waveform of the force F2W acting on a specific point. The numerical data of the force F1D acting on a joint includes numerical data of each torque about the pivot axis of each arm element 1 that is connected to each joint part 2 of the robot arm 3.Additionally, the numerical data of the force F2D acting on a specific point includes numerical data of the X-component F2X, the Y-component F2Y, the Z-component F2Z, the roll-component F2RX, the pitch-component F2PY and the yaw-component F2YZ, which specify each component of the force F2 acting on a specific point in the orthogonal XYZ coordinate system around the specific point TCP of the robot arm 3.

[0046] By comparing the time-dependent changes of each force F1 acting on a joint and the time-dependent changes of the force F2 acting on a specific point, based on each waveform of the force F1W acting on a joint and the waveform of the force F2W acting on a specific point displayed on the DS screen of display unit 72, the operator can verify the numerical data of the force F1D acting on a joint and the numerical data of the force F2D acting on a specific point. This allows the operator to adjust the parameters for controlling robot 5 more efficiently.

[0047] Furthermore, the control unit 73 can control the display unit 72 in the display process S2 to display any value of the maximum value and / or the minimum value and / or the average value of each force F1 acting on a joint on each waveform of the force F1W acting on a joint in a specified period T12 between a first time 1l and a second time T2 on the time axis as the numerical data F1D of the force acting on a joint.Similarly, the control unit 73 can control the display unit 72 to display at least one arbitrary value of the maximum value, the minimum value and the average value of the force F2 acting on a specific point on the waveform of the force F2W acting on a specific point in the specified time interval T12 between the first time T1 and the second time T2 on the time axis as the numerical data F2D of the force acting on a specific point.In this case, the operator can check the maximum value, minimum value and average value of each force F1 acting on a joint in the specified period T12 as the numerical values ​​of the force F1D acting on a joint, and check the maximum value, minimum value and average value of the force F2 acting on a specific point in the specified period T12 as the numerical values ​​of the force F2D acting on a specific point.

[0048] In the present embodiment, an instruction for selecting the waveform of the acting force to be displayed in the display unit 72 can be entered into the control unit 71 in the assistance device 7. This instruction can be entered from among the first to seventh torque waveforms contained in the waveform of the force acting on a joint F1W, the X-component waveform, the Y-component waveform, the Z-component waveform, the roll-component waveform, the pitch-component waveform, and the yaw-component waveform contained in the waveform of the force acting on a specific point F2W. In this case, the control unit 73 controls the display unit 72 to display the waveform of the acting force that corresponds to the instruction entered into the control unit 71 during the display process S2.

[0049] As in Fig. As shown in Figure 5, the display screen DS of display unit 72 features a first waveform discrimination display area DS1 next to the display area of ​​the numerical data F1D of the force acting on the joint, and a second waveform discrimination display area DS2 next to the display area of ​​the numerical data F2D of the force acting on a specific point. The first waveform discrimination display area DS1 is an area for distinguishing the first to seventh torque waveforms contained in the waveform of the force F1W acting on a joint, waveforms displayed in display unit 72, and waveforms not displayed in display unit 72, according to the selection instruction entered into the control unit 71.The second waveform discrimination display area DS2 is an area for distinguishing the X-component waveform, the Y-component waveform, the Z-component waveform, the roll-component waveform, the pitch-component waveform, and the yaw-component waveform that are included in the waveform of the force F2W acting on a specific point, in waveforms that are displayed in display unit 72, and undisplayed waveforms that are not shown in display unit 72, according to the selection instruction entered into the control unit 71.

[0050] Fig. Figure 5 shows an example in which an instruction to select the first torque waveform F1W1 and the fourth torque waveform F1W4 from the waveform of the force acting on a joint F1W, and the waveform of the Z-component F2WZ and the waveform of the yaw component F2WYZ from the waveform of the force acting on a specific point F2W, is entered into the control unit 71 as the waveform of the acting force to be displayed in the display unit 72. The operator can enter the instruction to select the waveform of the acting force to be displayed on the display screen DS of the display unit 72 via the control unit 71.The operator can then compare the change over time of the force F1 acting on a joint and the change over time of the force F2 acting on a specific point by referring to the first torque waveform F1W1 and the fourth torque waveform F1W4 derived from the waveform of the force F1W acting on a joint, and the waveform of the Z-component F2WZ and the waveform of the yaw component F2WYZ derived from the waveform of the force F2W acting on a specific point, which are displayed in the display unit 72 in response to the selection instruction. This allows the operator to efficiently adjust the parameters for controlling the robot 5.

[0051] As in Fig. As shown in Figure 6, there are cases in which the force F2 acting on a specific point is distributed in the axial directions of two axes in the orthogonal XYZ coordinate system of the specific point TCP at the distal end of the robot arm 3, and the magnitude of the component of the remaining one axial direction is smaller than a predetermined threshold. Fig. Figure 6 shows an example in which the force F2 acting on a specific point is distributed in the axial directions of two axes, the X-axis and the Z-axis, in the orthogonal XYZ coordinate system of the specific point TCP, and the force F2 acting on a specific point contains the X-component F2X and the Z-component F2Z as components of the axial directions. In this case, the torque that can influence the distribution of the force F2 acting on a specific point is one of the first to seventh torques corresponding to the first to seventh joint parts 21 to 27 of the robot arm 3 (in Fig. 6 the fourth torque, which corresponds to the fourth joint part 24), an important indicator for the parameter settings for controlling the robot 5.

[0052] Therefore, if it is determined that the force F2 acting on a specific point is distributed in the axial directions of two axes in the orthogonal XYZ coordinate system of the specific point TCP, the control unit 73 recognizes the fourth torque corresponding to the fourth joint part 24, which can be an influencing factor for the distribution of the force F2 acting on a specific point, from the first to seventh torque corresponding to the first to seventh joint part 21 to 27, and outputs the recognition result in the recognition process S3.

[0053] In the example of the Fig.6 The control unit 73 recognizes the fourth torque, which corresponds to the fourth joint part 24 and can be an influencing factor for the distribution of the force F2 acting on a specific point, by comparing the temporal change of the X-component F2X and the Z-component F2Z, which are components of the axial directions of two axes of the specific point force F2, with the temporal change of the first to seventh torque, which corresponds to the first to seventh joint parts 21 to 27.Specifically, by comparing the rise start time, the rise speed, the maximum value in the specified time T12 and the like, the control unit 73 recognizes the fourth torque, which can be an influencing factor for the distribution of the force F2 acting on a specific point, with the time change of the first to seventh torque, which corresponds to the first to seventh joint part 21 to 27.

[0054] When the fourth torque corresponding to the fourth joint part 24 is detected, which can be an influencing factor on the distribution of the force F2 acting on a specific point, the control unit 73 outputs the detection result. For example, the control unit 73 can control the display unit 72 based on the detection result. In particular, the control unit 73 controls the display unit 72 so that the fourth torque waveform F1W4, which indicates the change over time of the fourth torque corresponding to the fourth joint part 24, which can be an influencing factor on the distribution of the force F2 acting on a specific point, is displayed on the display screen DS.If the force F2 acting on a specific point is distributed in the axial directions of two axes, the operator can adjust the parameter regarding the control of the robot 5 based on the recognition result in the recognition process S3 of the control unit 73, while concentrating on the torque, which can be an influencing factor for the distribution of the force F2 acting on a specific point.

[0055] As described above, the robot system 100 includes the assistance device 7, which can set the parameters for controlling the robot 5 in detail. Within the robot system 100, the control device 6 can control the operation of the robot 5 by sending the control signal to the robot 5 according to the control program CP, which records the parameter setting data SD that is configured in detail for controlling the robot 5.

[0056] It is noted that the specific embodiment described at the outset mainly comprises the invention with the configurations listed below.

[0057] An assistance device according to one aspect of the present invention is a device that assists in setting a parameter relating to the control of a robot which is equipped with a robot arm having a plurality of arm elements and a plurality of joint parts which pivotably connect the plurality of arm elements about a pivot axis, and which has a display unit and a control unit which controls the display unit.The control unit performs: a data acquisition process to acquire data of a force acting on a joint, indicating the force acting on each of the multitude of joint parts, and data of a force acting on a specific point, indicating the force acting on a specific point at a distal end of the robot arm; and a display process to control the display unit to display a waveform of the force acting on a joint, indicating a temporal change in each force acting on a joint, and a waveform of the force acting on a specific point, indicating a temporal change in the force acting on a specific point.

[0058] This assistive device displays the waveform of the force acting on a joint, which shows the change over time of the force acting on each joint part of the robot arm, and the waveform of the force acting on a specific point, which shows the change over time of the force acting on a specific point at the distal end of the robot arm. By checking both the waveform of the force acting on a joint and the waveform of the force acting on a specific point displayed on the unit, the operator can compare the change over time of each force acting on a joint part and the change over time of the force acting on a specific point at the distal end of the robot arm.As a result, in addition to the temporal change of the force acting on a specific point, the temporal change of each force acting on a joint serves as an indicator for setting parameters for controlling the robot, so that the operator can set the parameters for controlling the robot in detail.

[0059] In the assistance device, the control unit can control the display unit in such a way that, during the display process, it shows the waveform of the force acting on a joint and the waveform of the force acting on a specific point on an identical time axis.

[0060] According to this aspect, each waveform of the force acting on a joint and the waveform of the force acting on a specific point are displayed on the same time axis in the display unit. This allows the operator to easily compare the temporal change of each force acting on each joint component and the temporal change of the force acting on a specific point at the distal end of the robot arm. Therefore, the operator can efficiently adjust the parameters for controlling the robot.

[0061] In the assistance device, the control unit can control the display unit in such a way that it displays numerical data of each force acting on a joint on the waveform of the force acting on a joint and the waveform of the force acting on a specific point on an identical screen with each of the waveform of the force acting on a joint and the waveform of the force acting on a specific point in the display process.

[0062] According to this aspect, when comparing the temporal change of each force acting on a joint and the temporal change of the force acting on a specific point, the operator can verify the numerical data of each force acting on a joint and the force acting on a specific point based on each waveform displayed in the display unit. This allows the operator to adjust the parameters for controlling the robot more efficiently.

[0063] In the assistance device, the control unit can control the display unit to display any value of a maximum value and / or a minimum value and / or an average value of each force acting on a joint on each of the waveforms of the force acting on a joint and of the force acting on a specific point on the waveform of the force acting on a specific point in a specified period between a first time point and a second time point on the time axis in the display process as numerical data.

[0064] According to this aspect, the operator can check the maximum value, the minimum value and the average value of each force acting on a joint and the force acting on a specific point during the specified period as numerical data.

[0065] The assistance device can further include a control unit into which an instruction is entered to select a waveform for the display unit to show, specifically the waveform of the force acting on a joint and the waveform of the force acting on a specific point. In this case, the control unit controls the display unit so that it displays the waveform during the display process according to the command entered into the control unit.

[0066] In this respect, the operator can use the control unit to input the instruction to select the force waveform to be displayed on the display unit. The operator can then compare the change in force acting on a joint over time with the change in force acting on a specific point, focusing solely on the force waveform displayed on the display unit in response to the selection instruction. This allows the operator to efficiently adjust the parameters for controlling the robot.

[0067] In the assistive device, the control unit can acquire the torque about the pivot axis of each of the arm elements connected to each of the multiple joint components as data for each force acting on a joint. It can also acquire data for a component of the force acting on a specific point in each axial direction, corresponding to each of the three axes in a three-dimensional orthogonal coordinate system around that specific point, during the acquisition process. Additionally, the control unit can control the display unit to show the temporal change in each of the torques corresponding to each of the multiple joint components as the waveform of the force acting on that joint, and to show the temporal change in the component of the force acting on a specific point in each axial direction as the waveform of the force acting on that specific point during the display process.

[0068] In accordance with this aspect, each torque waveform, which shows the change in torque around the pivot axis of each arm element corresponding to each joint of the robot arm, and each component waveform, which shows the change in each component in each axial direction of the force acting on a specific point in the three-dimensional orthogonal coordinate system around that specific point, are displayed in the display unit. By checking each torque waveform corresponding to each joint and each component waveform corresponding to the component in each axial direction of the force acting on a specific point, as displayed in the display unit, the operator can compare the change in torque acting on each joint with the change in force acting on that specific point at the distal end of the robot arm.

[0069] In the assistance device, the control unit can, based on the magnitude of the component of the force acting on a specific point in each axial direction, if it is determined that the force acting on a specific point is distributed in the axial directions of two axes in the three-dimensional orthogonal coordinate system of the specific point in the axial directions of two axes, perform a recognition process to detect a torque that may be an influencing factor for the distribution of the force acting on a specific point from each of the torques corresponding to each of the multitude of joint parts, and to output a result of the recognition.

[0070] In the three-dimensional orthogonal coordinate system of a specific point at the distal end of the robot arm, the torque, which can influence the distribution of the force acting on that point, is an important indicator for setting the parameter related to the robot's control. This is because the force acting on a specific point is distributed in the axial directions of two axes from the torque about the pivot axis of each arm element, corresponding to each joint of the robot arm. Therefore, during the detection process, the control unit recognizes the torque, which can influence the distribution of the force acting on a specific point, and outputs the detection result.For example, by comparing the rate of change of the component in the axial directions of the force acting on a specific point with the rate of change of each torque corresponding to each joint part, the control unit identifies the torque that can influence the distribution of the force acting on that specific point. Specifically, by comparing the rate of increase, the rate of increase, the maximum value within a given time period, and similar parameters of the rate of change of each component of the force acting on a specific point with the rate of change of each torque corresponding to each joint part, the control unit identifies the torque that can influence the distribution of the force acting on that specific point.If the force acting on a specific point is distributed in the axial directions of two axes, the operator can adjust the parameter for controlling the robot based on the recognition result in the recognition process of the control unit, while focusing on the torque, which can be an influencing factor for the distribution of the force acting on a specific point.

[0071] A robot system according to another aspect of the present invention comprises: a robot equipped with a robot arm having a plurality of arm elements and a plurality of joint parts pivotably connecting the plurality of arm elements about a pivot axis; and the assistance device that assists in generating setting data relating to the control of the robot.

[0072] This robot system features an assistance device that can configure the robot's control parameters in detail. The robot system can control the robot arm's operation based on these parameter settings.

[0073] As described above, the present invention can provide the assistance device that can set parameters for controlling the robot in detail and the robot system.

Claims

[1] Assistance device (7) which assists in setting a parameter relating to the control of a robot (5) which is equipped with a robot arm (3) having a plurality of arm elements (1, 11 - 16) and a plurality of joint parts (2, 21 - 27) which pivotably connect the plurality of arm elements (1, 11 - 16) about a pivot axis (J1 - J7), wherein the assistance device (7) comprises: a display unit (72); and a control unit (73) that controls the display unit (72), the control unit (73) performs: a data acquisition process (S1) for acquiring data (D1) of a force acting on a joint (F1), specifying a force (F1) acting on each of the plurality of joint parts (2, 21-27), and data (D2) of a force acting on a specific point (F2), specifying a force acting on a specific point (TCP) at a distal end of the robot arm (3); and a display process (S2) for controlling the display unit (72) to display a waveform of the force acting on a joint (F1W) indicating a change over time in each of the forces acting on a joint, and a waveform of the force acting on a specific point (F2W) indicating a change over time in the force acting on a specific point (F2). [2] Assistance device (7) according to claim 1, wherein the control unit (73) controls the display unit (72) such that during the display process (S2) it displays the waveform of the force (F1W) acting on a joint and the waveform of the force (F2W) acting on a specific point on an identical time axis. [3] Assistance device (7) according to claim 2, wherein the control unit (73) controls the display unit (72) such that during the display process (S2) it displays numerical data (F1D, F2D) of each of the force (F1) acting on a joint on the waveform of the force (F1") acting on a joint and the force (F2) acting on a specific point on the waveform of the force (F2W) acting on a specific point on an identical screen (DS) with the waveform of the force (F1W) acting on a joint and the waveform of the force (F2W) acting on a specific point. [4] Assistance device (7) according to claim 3, wherein the control unit (73) controls the display unit (72) such that it displays a value of a maximum value and / or a minimum value and / or an average value of each of the force (F1) acting on a joint on the waveform of the force (F1) acting on a joint and of the force (F2) acting on a specific point on the waveform of the force (F2W) acting on a specific point in a predetermined period (T12) between a first time (T1) and a second time (T2) on the time axis in the display process (S2) as numerical data (F1D, F2D). [5] Assistance device (7) according to claim 1, further comprising an operating unit (71) into which a command is entered to select a waveform from the waveform of the force acting on a joint (F1W) as well as the waveform of the force acting on a specific point (F2W) to be displayed by the display unit (72), wherein the control unit (73) controls the display unit (72) so that it displays the waveform during the display process (S2) according to the command entered into the operating unit (71). [6] Assistance device (7) according to claim 1, wherein the control unit (73): the torque about the pivot axis (J1 - J7) of each of the arm elements (1, 11 - 16) connected to each of the plurality of joint parts (2, 21 - 27) is recorded as data (D1) of each force (F1) acting on a joint, and data of a component of the force (F2) acting on a specific point in each axial direction according to each of the three axes in a three-dimensional orthogonal coordinate system (XYZ) around the specific point (TCP) is recorded during the acquisition process (S1). the display unit (72) is controlled to display, during the display process (S2), a temporal change in each of the torques corresponding to each of the plurality of joint parts (2, 21 - 27) as each of the waveforms of the force acting on a joint (F1W) and to display a temporal change in the component of the force acting on a specific point (F2) in each axial direction as the waveform of the force acting on a specific point (F2W). [7] Assistance device (7) according to claim 6, wherein, based on the magnitude of the component of the force (F2) acting on a specific point in each axial direction, when it is determined that the force (F2) acting on a specific point is distributed in axial directions of two axes in the three-dimensional orthogonal coordinate system (XYZ) of the specific point (TCP), the control unit (73) performs a detection process (S3) to detect a torque that may be an influencing factor of the distribution of the force (F2) acting on a specific point, each from the torque corresponding to the plurality of joint parts (2, 21 - 27), and to output a result of the detection. [8] Robot system comprising: a robot (5) equipped with a robot arm (3) having a plurality of arm elements (1, 11-16) and a plurality of joint parts (2, 21-27) which connect the plurality of arm elements (1, 11-16) pivotably about a pivot axis (J1-J7); and the assistance device (7) according to one of claims 1 to 7, which assists in generating setting data relating to the control of the robot (5). [9] Assistance device (7) which assists in setting a parameter relating to the control of a robot (5) which is equipped with a robot arm (3) having a plurality of arm elements (1, 11 - 16) and a plurality of joint parts (2, 21 - 27) which connect the plurality of arm elements (1, 11 - 16) pivotably about a pivot axis (J1 - J7), wherein the parameters include a torque about the pivot axis (J1 - J7) of each of the arm elements (1, 11 - 16), wherein the assistance device (7) comprises: a display unit (72); and a control unit (73) that controls the display unit (72), the control unit (73) performs: a data acquisition process (S1) for acquiring the torque about the pivot axis (J1 - J7) of each of the arm elements (1, 11 - 16) as data (D1) of a force (F1) acting on a joint, indicating a force acting on each of the plurality of joint parts (2, 21 - 27), and for acquiring data (D2) of a force (F2) acting on a specific point by calculating the force (F2) acting on a specific point (TCP) at a distal end of the robot arm (3) based on each of the forces (F1) acting on a joint; and a display process (S2) for controlling the display unit (72) to display a temporal change in each torque corresponding to each of the plurality of joint parts (2, 21 - 27) as a waveform of the force acting on a joint (F1W) indicating a temporal change in each of the forces acting on a joint (F1), and a waveform of the force acting on a specific point (F2W) indicating a temporal change in the force acting on a specific point (F2). [10] Assistance device (7) according to claim 9, wherein the control unit (73): Data of a component of the force (F2) acting on a specific point in each axial direction corresponding to each of the three axes in a three-dimensional orthogonal coordinate system (XYZ) about the specific point (TCP) are acquired during the acquisition process (S1); and the display unit (72) is controlled to display, during the display process (S2), a temporal change in the component of the force (F2) acting on a specific point in each axial direction as the waveform of the force (F2W) acting on a specific point. [11] Assistance device (7) according to claim 10, wherein, based on the magnitude of the component of the force (F2) acting on a specific point in each axial direction, when it is determined that the force (F2) acting on a specific point is distributed in axial directions of two axes in the three-dimensional orthogonal coordinate system (XYZ) of the specific point (TCP), the control unit (73) performs a detection process (S3) to detect a torque that may be an influencing factor of the distribution of the force (F2) acting on a specific point, in each case from the torque corresponding to the plurality of joint parts (2, 21 - 27), and to output a result of the detection. [12] Robot system comprising: a robot (5) equipped with a robot arm (3) having a plurality of arm elements (1, 11-16) and a plurality of joint parts (2, 21-27) which connect the plurality of arm elements (1, 11-16) pivotably about a pivot axis (J1-J7); and the assistance device (7) according to one of claims 9 to 11, which assists in setting the parameters including the torque about the pivot axis (J1 - J7) of each of the arm elements (1, 11 - 16) with respect to the control of the robot (5).

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