Robot system

Abstract

To provide a robot system that can suppress deterioration in workability when an operator operates a robot while interlocking the robot with an operation motion.SOLUTION: A robot system 100 includes: an operation device 20 for detecting an operation motion by an operator; a robot 10 operating while interlocking with the operation motion detected by the operation device 20; and a controller 29 for switching an operable range of the robot 10 from a normal range to a restricted range that has a range smaller than the normal range.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This disclosure relates to robotic systems. [Background technology]

[0002] Conventionally, a system that makes a slave device follow a master device is known. For example, Patent Document 1 discloses a force haptic transmission system that includes a master device including an operator and a slave device including a contactor that contacts a contact object. In the system disclosed in Patent Document 1, a force applied by an operator to an operation unit of the master device is transmitted to the slave device by bilateral control in which the operations of the master device and the slave device follow each other. As a result, the slave device operates in conjunction with the force applied to the operator by the operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6964293 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the haptic transmission system of the above-mentioned Patent Document 1, the slave device is operated in conjunction with the operation action applied to the master device by the operator, so that the operation action of the operator on the master device is directly reflected in the operation of the slave device. Therefore, the operator needs to be careful not to make too large an operation action on the operation device as the master device so that the operation action as the slave device is not too large. This reduces the operability of the robot operation due to the operation action being performed while paying attention to the range of motion. For this reason, it is desired to suppress the reduction in operability when operating a robot in conjunction with the operation action by the operator.

[0005] This disclosure has been made to solve the problems described above, and one objective of this disclosure is to provide a robot system that can suppress a decrease in workability when the robot is operated in conjunction with an operating action by an operator. [Means for solving the problem]

[0006] A robot system according to one aspect of the present disclosure includes an operating device that detects an operating action by an operator, a robot that operates in conjunction with the operating action detected by the operating device, and a control unit that switches the operating range of the robot from a normal range to a limited range that is smaller than the normal range.

[0007] As described above, the robot system according to one aspect of the disclosure includes a control unit that switches the robot's motion range from a normal range to a limited range that is smaller than the normal range. This allows the control unit to automatically prevent the motion range of the robot from becoming too large by switching the motion range of the robot to a limited range that is smaller than the normal range. Therefore, even if the operator does not pay attention to the motion range while performing the operation, the motion range of the robot can be prevented from becoming too large. As a result, when the robot is operated in conjunction with the operation of the operator, a decrease in workability can be prevented. Effect of the Invention

[0008] According to the present disclosure, when a robot is operated in conjunction with an operating action by an operator, a decrease in workability can be suppressed. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view showing an overall configuration of a robot system according to an embodiment. [Diagram 2] FIG. 1 is a block diagram showing a configuration of a robot system according to an embodiment. [Diagram 3] FIG. 2 is a perspective view for explaining a configuration of an operating device according to an embodiment. [Figure 4]FIG. 2 is a diagram showing a schematic diagram of a normal operating range of a robot. [Diagram 5] FIG. 1 is a diagram showing a schematic diagram of a motion range of a robot within a restricted range. [Figure 6] FIG. 2 is a diagram illustrating a touch panel of the teaching device. [Figure 7] 11 is a diagram for explaining switching between a base coordinate system and a tool coordinate system; FIG. [Figure 8] 11 is a flowchart for explaining a process for switching the operating range of a robot by a robot system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0011] The configuration of a robot system 100 according to this embodiment will be described with reference to FIGS.

[0012] (Robot system configuration) As shown in FIG. 1, the robot system 100 includes a robot 10 and an operating device 20. The robot system 100 is a master-slave system. The robot 10 is a slave device that operates in conjunction with an operating action of an operator detected by the operating device 20 through remote control. The robot 10 is connected to the operating device 20 via a network. The operating device 20 is a master device that detects the operating action of the operator. In this embodiment, the robot 10 is, for example, an industrial robot that performs grinding such as deburring on a workpiece 101.

[0013] 2, specifically, the robot 10 includes a control unit 19. The control unit 19 controls the operation of each part of the robot 10. The operation device 20 includes a control unit 29. The control unit 29 controls the operation of each part of the operation device 20. The robot system 100 operates as a master-slave system by remote control, with the control unit 19 of the robot 10 and the control unit 29 of the operation device 20 transmitting and receiving signals to and from each other.

[0014] The robot 10 includes a robot arm 11, a processing tool 12, and a sensor 13. The robot arm 11 is a six-axis vertical articulated robot arm having a plurality of link members. The base end of the robot arm 11 is attached to a base fixed to a floor surface. A processing tool 12, which is an end effector, is attached to the tip of the robot arm 11. The processing tool 12 includes a grinder that performs grinding processing on a workpiece 101 by rotating a disk member. The sensor 13 is disposed between the processing tool 12 and the robot arm 11 at the tip portion of the robot arm 11. That is, the processing tool 12 is attached to the robot arm 11 via the sensor 13. The sensor 13 includes, for example, a piezoelectric, optical, capacitive, or strain gauge force sensor. The sensor 13 detects a contact force applied to the robot 10. For example, the sensor 13 detects six-axis forces, including forces along three mutually orthogonal axial directions and rotational forces around three mutually orthogonal axial directions. The sensor 13 detects a contact force generated when the processing tool 12 comes into contact with the workpiece 101 due to the operation of the robot arm 11. The sensor 13 is an example of a contact sensor.

[0015] The control unit 19 includes a calculation device such as a CPU (Central Processing Unit), memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and a storage device such as a hard disk. The control unit 19 executes control processing by the calculation device based on programs and parameters stored in the storage device. The control unit 19 also includes a communication module. The control unit 19 controls the operation of each part of the robot 10 based on a control signal acquired from the control unit 29 of the operation device 20 via the communication module. The control unit 19 outputs the detection result of the contact force detected by the sensor 13 to the control unit 29. The control unit 19 also controls the operation of the drive source including a servo motor to rotate the joints of the robot arm 11 and operate the robot arm 11. The control unit 19 operates the robot arm 11 to change the position and inclination of the processing tool 12. The control unit 19 also controls the operation of the processing tool 12. For example, the control unit 19 has a main CPU that controls the overall operation of the robot 10 and a servo CPU that controls the current supplied to the drive source including a servo motor.

[0016] As shown in FIG. 3, the operation device 20 includes a gripper 21, a link member 22, a drive unit 23, and a sensor 24. The drive unit 23 is an example of an operation drive unit. The gripper 21 is gripped by an operator to operate the operation of the robot 10. The gripper 21 is changed in position and inclination by an operation operation by the operator while being gripped by both hands of the operator, for example. In addition, a switch 21a is arranged on the gripper 21. The switch 21a receives an input operation for operating the operation of the processing tool 12. For example, the switch 21a receives an input operation for switching on and off the rotation of a disk member of a grinder of the processing tool 12. The link member 22 has six arm members of a parallel link structure that support a support plate 21b on which the gripper 21 is arranged.

[0017] In the link member 22, a pair of arm members are arranged radially toward each of three different directions with respect to the support plate 21b. In each of the six arm members of the link member 22, two rod-shaped members are connected to each other via a joint. The joint connecting the rod-shaped members is a universal joint such as a ball joint, and rotates around three axes. In addition, each of the six arm members of the link member 22 is connected to the support plate 21b, on whose tip the grip part 21 is arranged, via a joint part that is a universal joint such as a ball joint. The drive unit 23 includes a servo motor arranged for each of the six arm members of the link member 22. The drive unit 23 drives each of the six arm members in the link member 22. Each of the six arm members of the link member 22 is connected to the rotating shaft of the servo motor of the drive unit 23 via a reducer or the like at the base end opposite the grip part 21. The driving unit 23 drives the link member 22 to drive the gripper 21 connected to the link member 22. The driving unit 23 also includes an encoder that detects the rotational position around the axis of the servo motor as a detection unit. In this embodiment, the driving unit 23 links the operation device 20 with the robot 10. The linked operation between the operation device 20 and the robot 10 will be described in detail later.

[0018] The sensor 24, like the sensor 13 of the robot 10, includes a force sensor such as a piezoelectric type, an optical type, a capacitance type, or a strain gauge. The sensor 24 detects an operating force applied to the gripping portion 21 by an operating action of an operator. The sensor 24 is disposed between the gripping portion 21 and the link member 22. Specifically, the sensor 24 is disposed on the support plate 21b. For example, the sensor 24 detects six-axis forces including forces along three mutually orthogonal axial directions and rotational forces about three mutually orthogonal axial directions.

[0019] As shown in FIG. 1, the operation device 20 includes a teaching device 25 and a storage unit 26. The teaching device 25 accepts an input operation by an operator. The teaching device 25 has a touch panel 25a and a plurality of operation switches 25b. The teaching device 25 accepts an operation for teaching the operation of the robot 10 based on the input operation on the touch panel 25a and the plurality of operation switches 25b. That is, the teaching device 25 accepts an input operation for storing a setting value for controlling the operation of the robot 10. The teaching device 25 is a so-called teaching pendant. The teaching device 25 is connected to a control unit 29. The teaching device 25 outputs an operation signal based on the accepted input operation to the control unit 29. In addition, the teaching device 25 displays information indicating the state of the robot system 100 on the touch panel 25a based on a signal from the control unit 29. The teaching device 25 is an example of a switching operation unit.

[0020] The storage unit 26 stores a program executed by the control unit 29 and parameters for the control of the operation device 20 by the control unit 29. The storage unit 26 includes a storage device such as a hard disk. The control unit 29 includes a calculation device such as a CPU and a memory. Like the control unit 19, the control unit 29 executes control processing by the calculation device based on the program and parameters stored in the storage unit 26. The control unit 29 also includes a communication module. The control unit 29 generates a control signal for operating the robot 10, and outputs the generated control signal to the control unit 19 of the robot 10 via the communication module. The control unit 29 operates the drive unit 23. The control unit 29 also acquires an operation signal from the teaching device 25.

[0021] (Interlocking between the operation device and the robot) The robot system 100 performs bilateral control in which the posture and force of the robot 10 and the operating device 20 are made to follow each other. The control unit 29 of the operating device 20 acquires the detection result of the detector of the drive unit 23 and the detection result of the sensor 24. Then, based on the acquired detection result, the control unit 29 of the operating device 20 detects the operating operation of moving the gripper 21 by the operator. The control unit 29 detects the operating operation including the posture including the position and angle of the gripper 21 and the force applied to the gripper 21. Then, based on the detected operating operation, the control unit 29 generates an operation signal for operating the robot 10. The control unit 29 operates the robot 10 in conjunction with the operating operation of moving the gripper 21, thereby changing the position and angle of the processing tool 12 of the robot 10. That is, based on an operation signal from the control unit 29, the robot 10 changes the position and angle of the processing tool 12 so as to follow the posture including the position and angle of the gripper 21 changed by the operating operation of the operator, and controls the force that the processing tool 12 applies to the workpiece 101 so as to follow the operating force applied to the gripper 21. For example, the robot 10 operates to move the processing tool 12 a distance and in a direction equivalent to the distance and direction, respectively, moved by the gripper 21 of the operating device 20.

[0022] Furthermore, in this embodiment, the control unit 29 operates the drive unit 23 in conjunction with the detected contact force based on the detection result of the contact force detected by the sensor 13 of the robot 10. Specifically, the control unit 29 controls the operation of the drive unit 23, thereby controlling the output of the drive unit 23 so as to follow the contact force detected by the sensor 13. As a result, the contact force caused by the contact of the processing tool 12 with the workpiece 101 is transmitted to the operator who holds the gripper 21. In other words, the control unit 29 controls the output of the drive unit 23 that operates the gripper 21 so that the contact force caused by the contact of the processing tool 12 with the workpiece 101 is fed back to the operator.

[0023] (Switching the range of motion) As shown in FIG. 4, a normal range is set in advance as the operating range of the robot 10. The operating range of the robot 10 is set with a control point set for the robot 10 as a reference. For example, the control unit 29 sets the position of the tip of the processing tool 12 in the robot 10 as a reference control point. The control unit 29 detects an operation operation on the gripper 21, and changes the position and inclination of the control point, which is the tip of the processing tool 12, so as to be linked with the operation operation. The normal range as the operating range of the robot 10 is set based on a preset reference position and a range of three-dimensional directions based on the reference position. For example, in a base coordinate system, which is a spatial coordinate system based on an absolute three-dimensional space in which the robot 10 is placed, the coordinates of the reference position in the normal range are set in advance. Then, the position and size of the normal range are set by setting each range of the three-dimensional directions in the base coordinate system. The setting of the normal range is stored in the storage unit 26 in advance. The control unit 29 controls the operation of the robot 10 so that the position of the control point is included in the normal range. In addition, the movement range of the gripper 21 is limited so as to follow the movement range of the robot 10. For example, when the operator attempts to move the gripper 21 so as to operate the robot 10 beyond the normal range, the control unit 29 controls the driving of the drive unit 23 to generate a driving force in the gripper 21 so as to repel the operating force.

[0024] As shown in Fig. 5, in the robot system 100, the motion range of the robot 10 is limited by an input operation by an operator. In this embodiment, the teaching device 25 accepts an operation to switch the motion range of the robot 10. Then, the control unit 29 switches the motion range of the robot 10 from the normal range to the limited range based on the operation accepted by the teaching device 25. In the limited range, the motion range of the robot 10 is smaller than the normal range. The size of the limited range is set in advance and stored in the memory unit 26.

[0025] The limited range as the operating range of the robot 10 is set based on a preset reference position and a three-dimensional range based on the reference position, similar to the normal range. In this embodiment, the control unit 29 sets the reference position of the control point of the robot 10 in the limited range, and sets the limited range by limiting the operating range of the control point from the set reference position. Specifically, the control unit 29 sets the position of the control point at the timing when the contact force caused by the contact of the machining tool 12 with the workpiece 101 is detected as the reference position, based on the detection result from the sensor 13.

[0026] For example, the control unit 29 sets the operating range of the robot 10 to the normal range in a state where the reference position of the limited range is not set. The operator performs an operation on the gripper 21 so that the tip of the processing tool 12 comes into contact with the workpiece 101 in a state where the operation of the processing tool 12 is stopped. The control unit 29 operates the robot 10 in conjunction with the operation, and when the sensor 13 detects a contact force caused by the processing tool 12 contacting the workpiece 101, sets the position of the control point at the timing when the contact force is detected as the reference position. Then, when the operating range of the robot 10 is switched to the limited range, the control unit 29 controls the operation of the robot 10 so that the position of the control point is included in the limited range, similar to the operation of the normal range. In this way, the control unit 29 switches the operating range of the robot 10, thereby switching the moving range of the processing tool 12. The control unit 29 also limits the moving range of the gripper 21 of the operating device 20 in accordance with each of the operating ranges of the robot 10, the normal range and the limited range. That is, when the motion range of the robot 10 is switched from the normal range to the limited range, the control unit 29 limits the movement range of the gripper 21 to correspond to the switched motion range.

[0027] As shown in FIG. 6, the control unit 29 displays a switch button 31 for switching the remote control on and off on the touch panel 25a of the teaching device 25. For example, the control unit 29 changes a state in which the robot 10 is operated in conjunction with an operating action on the gripper 21 and a state in which the robot 10 is stopped without being linked to the operating action based on an input operation on the teaching device 25. When an input operation on the switch button 31 by an operator is accepted, the control unit 29 switches the remote control on and off. Then, in this embodiment, the control unit 29 switches the operation range of the robot 10 in a state in which the robot 10 is stopped being linked to an operating action detected by the operating device 20. When the remote control is off, the robot 10 waits in a state in which it has stopped operating, even if an operating action is performed on the operating device 20. The control unit 29 accepts an operation to switch the operation range between the normal range and the limited range only when the remote control is off. In other words, the control unit 29 does not accept an operation to switch the operation range when the remote control is on. Furthermore, the control unit 29 displays a movement limit button 32 for switching the movement range of the robot 10 between a normal range and a limited range on the touch panel 25a of the teaching device 25. When an input operation to the movement limit button 32 is accepted while the remote control is in an off state, the control unit 29 switches the movement limit between on and off. When the movement limit is on, the movement range of the robot 10 becomes the limited range, and when the movement limit is off, the movement range of the robot 10 becomes the normal range.

[0028] <Changing the size of the restricted range> The teaching device 25 displays the size of the normal range and the size of the limited range on the touch panel 25a. For example, in a base coordinate system in which the robot 10 is placed, the vertical direction is the Z direction, and in a horizontal plane perpendicular to the vertical direction, two directions perpendicular to each other are the X direction and the Y direction, and the sizes of the ranges in each of the X direction, Y direction, and Z direction are set, thereby setting the sizes of the normal range and the limited range. The touch panel 25a displays numerical values ​​representing the sizes of the normal range and the limited range in each of the X direction, Y direction, and Z direction. For example, FIG. 6 shows an example in which the range in the Z direction is limited to -800 mm in the normal range, but is limited to -20 mm in the limited range.

[0029] In this embodiment, the teaching device 25 accepts an operation to change the size of the limited range. The control unit 29 changes the size of the limited range stored in the storage unit 26 based on the operation accepted by the teaching device 25. The control unit 29 stores the changed size of the limited range in the storage unit 26. For example, the control unit 29 changes the numerical values ​​that define the size of the limited range in each of the X direction, Y direction, and Z direction based on the operation of the touch panel 25a and the multiple operation switches 25b of the teaching device 25 while the linkage with the operation motion of the robot 10 is stopped.

[0030] (Switching coordinate systems) As shown in FIG. 7, in this embodiment, the control unit 29 switches between operating the robot 10 in a tool coordinate system based on the processing tool 12 and operating the robot 10 in a base coordinate system based on an absolute three-dimensional space regardless of the orientation of the processing tool 12. In the tool coordinate system, the robot 10 operates in a spatial coordinate system based on the orientation of the processing tool 12. Therefore, when the processing tool 12 is operated so as to be tilted, the vertical direction to the processing tool 12 based on the tilted processing tool 12 becomes the Z direction in the operating range of the robot 10. That is, in the tool coordinate system, when the processing tool 12 is tilted, the orientation that is the reference of the operating range is changed according to the tilt of the processing tool 12. Note that even in the case of the tool coordinate system, the operating device 20 operates according to a spatial coordinate system based on an absolute three-dimensional space. For example, as shown in the right diagram of FIG. 7, in the tool coordinate system, the operation of the robot 10 is in a spatial coordinate system based on the vertical direction to the processing tool 12, whereas the operation of the operating device 20 is in a spatial coordinate system based on the vertical direction. Therefore, in the operation in the tool coordinate system, when the processing tool 12 is tilted, the direction in which the gripper 21 is moved and the direction in which the processing tool 12 actually moves are different from each other. On the other hand, in the base coordinate system, both the operation of the robot 10 and the operation of the operating device 20 are performed, for example, according to a spatial coordinate system based on the vertical direction. Therefore, in the base coordinate system, even if the robot 10 performs an operation to tilt the processing tool 12, both of the operation ranges of the robot 10, the normal range and the limited range, are not changed.

[0031] The control unit 29 switches between the tool coordinate system and the base coordinate system based on an input operation by the operator. For example, by disposing an imaging unit that captures an image of the robot 10 and a display unit that displays an image captured by the imaging unit in the robot system 100, when an operation operation is performed on the operation device 20 by remote control while the operator visually checks the image on the display unit, the tool coordinate system and the base coordinate system are switched. When the robot 10 is operated by remote control while visually checking the image of the imaging unit disposed on the main body of the robot 10 such as the robot arm 11, an operation in the tool coordinate system is selected. On the other hand, when the robot 10 is operated by remote control while visually checking the image of the imaging unit disposed at a position different from the robot 10, an operation in the base coordinate system is selected. Also, when the robot 10 is directly visually checked, an operation in the base coordinate system is selected.

[0032] In this embodiment, the control unit 29 switches the motion range of the robot 10 from the normal range to the limited range in each of the motion of the robot 10 in the tool coordinate system and the motion of the robot 10 in the base coordinate system. That is, regardless of whether the tool coordinate system or the base coordinate system is selected, the control unit 29 switches the motion range based on the selected coordinate system between the normal range and the limited range. Therefore, in the tool coordinate system, the orientation of the motion range in absolute space changes every time the machining tool 12 is tilted, so the range of the limited range in absolute space is also changed.

[0033] (Robot movement range switching process) The process of switching the operating range of the robot 10 by the robot system 100 in this embodiment will be described based on a flowchart with reference to Fig. 8. The control process from step S1 to step S6 is executed by the control unit 29.

[0034] First, in step S1, an operation by an operator is detected with the motion range of the robot 10 set to a normal range, thereby remotely controlling the motion of the robot 10. Specifically, an operation applied to the gripper 21 is detected, and an operation signal for operating the robot 10 in conjunction with the detected operation is generated, and the generated operation signal is output to the robot 10.

[0035] Next, in step S2, a reference position in the limited range is set, thereby setting the limited range. Specifically, when the machining tool 12 comes into contact with the workpiece 101, a contact force is detected by the sensor 13 of the robot 10. Then, the detection result of the contact force by the sensor 13 is acquired, and based on the acquired detection result, the position of the control point, which is the tip of the machining tool 12 at the timing when the contact force is detected, is set as the reference position of the limited range. With the set reference position as a reference, the spatial position and size of the limited range are set based on the size of the limited range that is set in advance.

[0036] Next, in step S3, it is determined whether or not the linkage with the operation action of the operator of the robot 10 has been stopped. That is, it is determined whether or not the remote control has been switched from an ON state to an OFF state by operating the switching button 31 displayed on the touch panel 25a of the teaching device 25. If it is determined that the linkage with the operation action of the operator of the robot 10 has been stopped, the process proceeds to step S4. If it is not determined that the linkage with the operation action of the operator of the robot 10 has been stopped, the control process is put on hold.

[0037] In step S4, it is determined whether the motion range of the robot 10 has been switched from the normal range to the limited range. That is, it is determined whether the motion restriction button 32 displayed on the touch panel 25a of the teaching device 25 has been operated to enable the motion restriction for switching the motion range of the robot 10 from the normal range to a smaller limited range. If it is determined that the motion range of the robot 10 has been switched from the normal range to the limited range, the process proceeds to step S5. If it is not determined that the motion range of the robot 10 has been switched from the normal range to the limited range, the process proceeds to step S6.

[0038] In step S5, an operation by the operator is detected with the motion range of the robot 10 set to the limited range, and the motion of the robot 10 is remotely controlled. Specifically, with the motion range of the robot 10 switched to the limited range in step S4, the switching button 31 displayed on the touch panel 25a of the teaching device 25 is operated, whereby the remote control is switched from the OFF state to the ON state, and the motion of the robot 10 is remotely controlled.

[0039] In step S6, similarly to step S1, the operation range of the robot 10 is set to the normal range and an operation action by the operator is detected, whereby the operation of the robot 10 is remotely controlled. Specifically, in a state in which the operation range of the robot 10 is not switched and remains set to the normal range in step S4, the switching button 31 displayed on the touch panel 25a of the teaching device 25 is operated, whereby the remote control is switched from the OFF state to the ON state, and the operation of the robot 10 is remotely controlled.

[0040] A step of accepting an operation to set the size of the limited range may be executed. The step of setting the size of the limited range may be executed at any timing between steps S1 and S6, and may be executed, for example, after step S3, in a state where the interlocking of the robot 10 is stopped. Also, a step of switching whether the robot 10 is operated in the base coordinate system or the tool coordinate system may be executed. The step of switching the coordinate system may be executed at any timing between steps S1 and S6, and may be executed, for example, after step S3, in a state where the interlocking of the robot 10 is stopped.

[0041] [Effects of this embodiment] In this embodiment, the following effects can be obtained.

[0042] The robot system 100 includes a control unit 29 that switches the motion range of the robot 10 from a normal range to a limited range that is smaller than the normal range. As a result, by switching the motion range of the robot 10 to a limited range that is smaller than the normal range, the control unit 29 can automatically prevent the motion range of the robot 10 from becoming too large. Therefore, even if the robot 10 is not operated while paying attention to the motion range, the motion range of the robot 10 can be prevented from becoming too large. As a result, when the robot 10 is operated in conjunction with the operation of the operator, a decrease in workability can be prevented.

[0043] The robot system 100 includes a teaching device 25 as a switching operation unit that receives an operation to switch the motion range of the robot 10. The control unit 29 switches the motion range of the robot 10 from the normal range to the limited range based on the operation received by the teaching device 25. This allows the motion range of the robot 10 to be switched from the normal range to the limited range by an operation by the operator, so that the motion range of the robot 10 can be switched at a timing intended by the operator. This makes it possible to prevent the motion range of the robot 10 from being restricted to a small value at a timing unintended by the operator. As a result, it is possible to further prevent a decrease in workability in operating the robot 10.

[0044] The control unit 29 sets a reference position of the control point set for the robot 10, and sets the limited range by limiting the movement range of the control point from the set reference position. This allows the operator to easily grasp the small, limited movement range of the robot 10 by grasping the set reference position. Therefore, the operator can easily operate the robot 10 with the movement range of the robot 10 switched to the limited range, and therefore, deterioration of workability in operating the robot 10 can be further suppressed.

[0045] The robot 10 includes a sensor 13 as a contact sensor that detects a contact force applied to the robot 10. The control unit 29 sets the position of the control point at the timing when the contact force is detected as a reference position based on the detection result from the sensor 13. This allows the position where the contact force is applied to the robot 10 to be automatically set as the reference position, so that the operating range of the robot 10 can be narrowly restricted based on the state where the robot 10 is in contact with the target object, that is, the workpiece 101. Therefore, when the robot 10 performs handling operations such as processing, transporting, and assembly on the workpiece 101, it is possible to effectively suppress a decrease in the workability of the operation of the robot 10.

[0046] The operation device 20 includes a gripping unit 21 that is gripped by an operator, and detects an operation action of the operator to move the gripping unit 21. The robot 10 operates in conjunction with the operation action of the operator to move the gripping unit 21. The control unit 29 limits the movement range of the gripping unit 21 in accordance with each of the movement ranges of the normal range and the limited range of the robot 10. This allows the operator operating the robot 10 while gripping the gripping unit 21 to intuitively and easily recognize the movement range of the robot 10 by restricting the movement range of the gripping unit 21. As a result, the operator can intuitively and easily operate the robot 10, and therefore deterioration of workability in operating the robot 10 can be further suppressed.

[0047] The control unit 29 switches the motion range of the robot 10 in a state where the linkage with the operation motion detected by the operation device 20 of the robot 10 is stopped. This makes it possible to switch the motion range of the robot 10 in a state where the robot 10 is stopped. Therefore, unlike a case where the motion range of the robot 10 is switched in a state where the robot 10 is operating, it is possible to prevent the motion of the robot 10 from becoming unstable.

[0048] The robot system 100 includes a storage unit 26 that stores the size of a preset limited range. The teaching device 25, which serves as a switching operation unit, receives an operation to change the size of the limited range. The control unit 29 changes the size of the limited range stored in the storage unit 26 based on the operation received by the teaching device 25. This allows the operator to change the size of the limited range that limits the motion range of the robot 10 to a smaller size by operation, so that the operator can easily set an appropriate motion range for the robot 10.

[0049] The teaching device 25, which serves as a switching operation unit, accepts an operation for teaching the robot 10 to operate. The control unit 29 switches the motion range of the robot 10 based on the operation for switching the motion range accepted by the teaching device 25, which accepts the operation for teaching. This makes it possible to prevent the configuration of the robot system 100 from becoming complicated, compared to a case in which an operation unit for accepting an operation for teaching and an operation unit for switching the motion range of the robot 10 are separately arranged.

[0050] The robot 10 includes a robot arm 11 to which a processing tool 12 for performing grinding is attached. The control unit 29 switches the operating range of the robot 10, thereby switching the movement range of the processing tool 12. This makes it possible to effectively prevent the robot 10 from moving too large when the robot 10 performs grinding work using the processing tool 12. As a result, in the grinding work, it is possible to prevent a decrease in the workability of the operation of the robot 10 and effectively prevent the workpiece 101 from being cut too much.

[0051] The robot 10 includes a robot arm 11 to which a processing tool 12 is attached. The control unit 29 switches between operating the robot 10 in a tool coordinate system based on the orientation of the processing tool 12 and operating the robot 10 in a base coordinate system based on an absolute three-dimensional space regardless of the orientation of the processing tool 12. The control unit 29 also switches the operating range of the robot 10 from a normal range to a limited range for each of the operation of the robot 10 in the tool coordinate system and the operation of the robot 10 in the base coordinate system. This makes it possible to suppress a decrease in workability in operating the robot 10 both in the case of operating the robot 10 in a subjective tool coordinate system based on the orientation of the tool and in the case of operating the robot 10 in an absolute base coordinate system based on a three-dimensional space. Therefore, when an operator selects a coordinate system that is easy to operate the robot 10, a decrease in workability in operating the robot 10 can be effectively suppressed regardless of whether the tool coordinate system or the base coordinate system is selected.

[0052] The robot 10 includes a sensor 13 as a contact sensor that detects a contact force applied to the robot 10. The operation device 20 includes a drive unit 23 as an operation drive unit that links the operation device 20 with the robot 10. The control unit 29 operates the drive unit 23 in conjunction with the contact force based on the detection result detected by the sensor 13. This allows the operator to recognize the contact force detected by the sensor 13 based on the drive force from the drive unit 23. Therefore, the operator can easily recognize whether the robot 10 has contacted the target object, the workpiece 101, and can perform an operation operation to operate the robot 10 while switching the operating range based on the position of contact with the workpiece 101. As a result, when performing an operation on the workpiece 101, the decrease in workability in operating the robot 10 can be further suppressed.

[0053] The robot 10 is linked to an operation action detected by the operation device 20 through remote control. The control unit 29 switches the operation range of the robot 10 linked to an operation action detected by the operation device 20 through remote control from a normal range to a limited range. This makes it possible to effectively suppress a decrease in workability in operating the robot 10 when the robot 10 is operated through remote control.

[0054] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0055] For example, in the above embodiment, an example has been shown in which the motion range of the robot 10 is switched from the normal range to the limited range based on an operation received by the teaching device 25 as a switching operation unit, but the present disclosure is not limited to this. In the present disclosure, the motion range may be automatically switched from the normal range to the limited range by the control unit. For example, the motion range of the robot may be automatically switched from the normal range to the limited range at the timing when a contact sensor such as a force sensor detects contact between the robot's processing tool and the target workpiece.

[0056] In the above embodiment, an example was shown in which the limited range was set by limiting the operating range from the reference position of the control point, which is the tip portion of the processing tool 12, but the present disclosure is not limited to this. In the present disclosure, a normal range and a limited range, which are the operating range of the robot, may be set based on the multiple control points by setting multiple control points for the robot including the robot arm and the processing tool. That is, when the limited range is set, the operating range of the robot may be limited so that multiple control points are arranged within the limited range. In addition, when the limited range is set by limiting the operating range of one control point based on the reference position, the control point may be set for the robot arm rather than the processing tool. In addition, a point in space separated from the processing tool and the robot arm itself may be set as the control point.

[0057] In the above embodiment, the position of the control point at the timing when the contact force is detected is set as the reference position based on the detection result from the sensor 13 as a contact sensor, but the present disclosure is not limited to this. In the present disclosure, the reference position may be set based on the operation by the operator. For example, the position of the control point at the timing when the operating range of the robot is switched from the normal range to the limited range by the operation by the operator may be set as the reference position. For example, when the detection result from the contact sensor arranged on the robot detects that the processing tool is in contact with the workpiece, an operation to turn off the remote control by the operator is accepted. Then, the position of the control point at the timing when the operation to turn on the remote control by the operator is accepted after the operating range of the robot 10 is switched from the normal range to the limited range may be set as the reference position of the limited range.

[0058] In the above embodiment, the robot 10 operates in conjunction with the operation of moving the gripper 21 by the operator, and the movement range of the gripper 21 is limited in accordance with the movement range of the robot 10. However, the present disclosure is not limited to this. In the present disclosure, the operation of the operator may be detected by a detection unit such as a sensor arranged separately from the gripper. The movement range of the gripper may not be limited in accordance with the movement range of the robot. That is, when the robot operates within the limited range, the robot may be linked to the operation of the gripper, and when the robot is about to operate beyond the limited range, the robot may not be linked to the operation of the gripper. For example, the robot may operate in conjunction with the operation detected by the operation device, while the operation device may not be linked to the operation of the robot. In addition, the movement range of the gripper may not be limited when the movement range of the robot is switched to the limited range by operating the gripper by the operation drive unit following the movement of the robot, but the movement range of the gripper may be limited by controlling the operation of the operation drive unit separately from following the movement of the robot when the movement range of the robot is switched.

[0059] In the above embodiment, the example in which the motion range of the robot 10 is switched in a state where the link with the operation action by the operator is stopped is shown, but the present disclosure is not limited to this. In the present disclosure, the motion range of the robot may be switched in a state where the robot is operating.

[0060] In the above embodiment, an example is shown in which an operation to change the size of the limited range is received by the teaching device 25 as a switching operation unit that receives an operation for teaching the robot 10 to operate, but the present disclosure is not limited to this. In the present disclosure, an operation to change the size of the limited range may be received by an operation unit arranged separately from an operation unit that receives an operation to switch the operating range of the robot. Also, an operation to switch the operating range of the robot may be arranged separately from an operation unit for teaching that receives an operation for teaching the robot to operate. That is, at least one of an operation to change the size of the limited range, an operation to switch the operating range, and an operation to switch the remote control on and off may be received by an operation unit different from the teaching device that teaches the robot to operate. For example, at least one of an operation to change the size of the limited range, an operation to switch the operating range, and an operation to switch the remote control on and off may be received by a keyboard, a pointing device such as a mouse, or a touch panel that also serves as a display unit such as a display.

[0061] In the above embodiment, the robot 10 has a processing tool 12 for performing grinding disposed on the robot arm 11 as an end effector, and the robot 10 performs grinding work on a target workpiece 101, but the present disclosure is not limited to this. In the present disclosure, the processing tool disposed on the robot may perform processing such as drilling, cutting, and polishing other than grinding. The robot may also perform handling such as assembly, transportation, and inspection other than processing. In addition, in a medical robot instead of an industrial robot, the operating range may be switched from a normal range to a limited range.

[0062] In the above embodiment, the operation of the robot 10 is switched between the tool coordinate system and the base coordinate system, but the present disclosure is not limited to this. In the present disclosure, the robot may operate in only one of the tool coordinate system and the base coordinate system.

[0063] In the above embodiment, an example has been shown in which the operation device 20 is linked to the robot 10 by the driving force of the drive unit 23 as an operation drive unit, but the present disclosure is not limited to this. In the present disclosure, an operation drive unit for linking the operation device with the robot may not be disposed. Also, when contact by the robot is detected, information notifying that contact has been detected may be displayed on a display device such as a display. Also, the detection of contact by the robot may be notified by outputting audio information, or by turning on or blinking a lighting device such as an LED (Light-Emitting Diode).

[0064] In the above embodiment, the robot 10 includes six vertical joints, and the operation device 20 includes a link member 22 with a parallel link structure, but the present disclosure is not limited to this. In the present disclosure, the robot may include joints with five or fewer axes or seven or more axes. A horizontally multi-jointed robot may be used. The robot may have a parallel link structure or a drive mechanism other than a robot arm with a serial link structure such as a linear motion mechanism. The operation device may include a link member with a serial link structure rather than a parallel link structure. That is, the operation device may include a vertically multi-jointed or horizontally multi-jointed robot. The operation device may include an operation unit having a plurality of switches, or an input device such as a joystick.

[0065] In the above embodiment, the sensor 13 serving as a contact sensor for detecting a contact force against the robot 10 is a force sensor, but the present disclosure is not limited to this. In the present disclosure, a capacitance sensor or a photoelectric sensor may be disposed instead of the contact sensor for detecting the contact force to detect that the robot has come into contact with a workpiece.

[0066] In the above embodiment, an example is shown in which the normal range and the limited range, which are the operating range of the robot 10, are set by setting the size in each of the three-dimensional directions with the reference position as the reference, but the present disclosure is not limited to this. In the present disclosure, the operating range may be set not only for the size in each of the three-dimensional directions but also for the rotation angle with each of the three-dimensional directions as the rotation axis. That is, the limited range may be set by setting six set values ​​of the size in each of the three-dimensional directions and the rotation angle with each of the three-dimensional directions as the rotation axis. Also, the range of set values ​​of the limited range may be set by setting not only negative values ​​but also positive values. Also, the operating range of a spherical robot may be set by setting a radial distance from the reference position. Also, the operating range may be set by setting multiple reference positions. For example, the normal range or the limited range in the vertical direction may be set by setting a reference position of the lower limit in the vertical downward direction and a reference position of the upper limit in the vertical upward direction. Also, the spatial position of the surface that is the boundary of the operating range may be set by setting three mutually different reference positions. For example, when placing a machining tool that performs grinding processing on a robot, a limit range can be set so that grinding processing is performed only on the parts that protrude from the reference surface by setting three points on the reference surface of the workpiece, which is the object to be processed, as reference positions.

[0067] In the above embodiment, the control unit 19 that controls the operation of the robot 10 and the control unit 29 that controls the operation of the operation device 20 are arranged separately from each other, but the present disclosure is not limited to this. In the present disclosure, the operation of the robot and the operation of the operation device may be controlled by a common control unit.

[0068] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0069] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0070] (Item 1) An operation device that detects an operation action by an operator; a robot that operates in conjunction with the operation detected by the operation device; A robot system comprising: a control unit that switches a motion range of the robot from a preset normal range to a limited range that is smaller than the normal range.

[0071] (Item 2) A switching operation unit that receives an operation to switch the motion range of the robot is further provided. 2. The robot system according to claim 1, wherein the control unit switches the motion range of the robot from the normal range to the restricted range based on the operation received by the switching operation unit.

[0072] (Item 3) 3. The robot system according to claim 1, wherein the control unit sets a reference position of a control point set for the robot and sets the limited range by limiting a motion range of the control point from the set reference position.

[0073] (Item 4) the robot includes a contact sensor that detects a contact force applied to the robot; 4. The robot system according to item 3, wherein the control unit sets the position of the control point at the timing when the contact force is detected as the reference position based on a detection result from the contact sensor.

[0074] (Item 5) the operation device includes a gripping portion to be gripped by the operator, and detects an operation action of the operator to move the gripping portion; the robot operates in conjunction with an operation performed by the operator to move the gripping unit, 5. The robot system according to any one of items 1 to 4, wherein the control unit limits a movement range of the gripper in accordance with each of the normal range and the limited range of motion of the robot.

[0075] (Item 6) The robot system according to any one of items 1 to 5, wherein the control unit switches the motion range of the robot when linkage with the operation motion of the robot detected by the operation device is stopped.

[0076] (Item 7) A storage unit that stores a size of the limit range that is set in advance, The switching operation unit accepts an operation for changing the size of the limited range, 3. The robot system according to item 2, wherein the control unit changes the size of the limit range stored in the memory unit based on the operation accepted by the switching operation unit.

[0077] (Item 8) The switching operation unit receives an operation for teaching the robot an operation, The control unit switches the motion range of the robot based on an operation for switching the motion range accepted by the switching operation unit, which accepts an operation for teaching.

[0078] (Item 9) The robot includes a robot arm to which a processing tool for performing a grinding process is attached, 9. The robot system according to any one of items 1 to 8, wherein the control unit switches an operating range of the robot to switch a moving range of the processing tool.

[0079] (Item 10) the robot includes a robot arm to which a processing tool is attached; The control unit is Switching between operating the robot in a tool coordinate system based on a direction of the processing tool and operating the robot in a base coordinate system based on an absolute three-dimensional space regardless of the direction of the processing tool, The robot system according to any one of items 1 to 9, wherein a motion range of the robot is switched from the normal range to the limited range in each of the motion of the robot in the tool coordinate system and the motion of the robot in the base coordinate system.

[0080] (Item 11) the robot includes a contact sensor that detects a contact force applied to the robot; the operation device includes an operation drive unit that links the operation device with the robot, 11. The robot system according to any one of items 1 to 10, wherein the control unit operates the operation drive unit in conjunction with the contact force based on a detection result detected by the contact sensor.

[0081] (Item 12) The robot is linked to an operation action detected by the operation device through remote control, The control unit switches a motion range of the robot linked to an operation motion detected by the operation device by remote control from the normal range to the restricted range. [Explanation of symbols]

[0082] 10. Robot 11 Robot Arm 12 Processing tools 13 Sensor (contact sensor) 19 Control section 20 Operating device 21 Gripping part 23 Drive unit (operation drive unit) 25 Teaching device (switching operation section) 29 Control Unit 100 Robot System

Claims

1. An operation device that detects an operation action by an operator; a robot that operates in conjunction with the operation detected by the operation device; A robot system comprising: a control unit that switches a motion range of the robot from a preset normal range to a limited range that is smaller than the normal range.

2. A switching operation unit that receives an operation to switch the motion range of the robot is further provided. The robot system according to claim 1 , wherein the control unit switches the motion range of the robot from the normal range to the limited range based on an operation received by the switching operation unit.

3. 3. The robot system according to claim 1, wherein the control unit sets a reference position of a control point set for the robot and sets the limited range by limiting a motion range of the control point from the set reference position.

4. the robot includes a contact sensor that detects a contact force applied to the robot; The robot system according to claim 3 , wherein the control unit sets, based on a detection result from the contact sensor, a position of the control point at a timing when the contact force is detected as the reference position.

5. the operation device includes a gripping portion to be gripped by the operator, and detects an operation action of the operator to move the gripping portion; the robot operates in conjunction with an operation performed by the operator to move the gripping unit, The robot system according to claim 1 , wherein the control unit limits a movement range of the gripper in accordance with each of the normal range and the limited range of motion of the robot.

6. The robot system according to claim 1 , wherein the control unit switches the motion range of the robot in a state where linkage of the robot with the operation motion detected by the operation device is stopped.

7. A storage unit that stores a size of the limit range that is set in advance, The switching operation unit accepts an operation for changing the size of the limited range, The robot system according to claim 2 , wherein the control unit changes the size of the limited range stored in the storage unit based on an operation received by the switching operation unit.

8. The switching operation unit receives an operation for teaching the robot an operation, The robot system according to claim 2 , wherein the control unit switches the motion range of the robot based on an operation for switching the motion range received by the switching operation unit that receives an operation for teaching.

9. The robot includes a robot arm to which a processing tool for performing a grinding process is attached, The robot system according to claim 1 , wherein the control unit switches an operating range of the robot to switch a moving range of the processing tool.

10. the robot includes a robot arm to which a processing tool is attached; The control unit is Switching between operating the robot in a tool coordinate system based on a direction of the processing tool and operating the robot in a base coordinate system based on an absolute three-dimensional space regardless of the direction of the processing tool, The robot system according to claim 1 or 2, wherein an operating range of the robot is switched from the normal range to the limited range in each of an operation of the robot in the tool coordinate system and an operation of the robot in the base coordinate system.

11. the robot includes a contact sensor that detects a contact force applied to the robot; the operation device includes an operation drive unit that links the operation device with the robot, The robot system according to claim 1 , wherein the control unit operates the operation drive unit in conjunction with the contact force based on a detection result detected by the contact sensor.

12. The robot is linked to an operation action detected by the operation device through remote control, The robot system according to claim 1 , wherein the control unit switches a motion range of the robot linked to an operation motion detected by the operation device by remote control from the normal range to the limited range.

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