Processing device

Abstract

To allow an operator to recognize that a processed part and a processing part are on the verge of contacting with each other in a better manner than conventional arts.SOLUTION: A processing device includes: a processing part which processes a processed part; an adjustment part which adjusts a space between the processed part and the processing part on the basis of an instruction signal transmitted from an instruction device in accordance with an instruction of an operator; an imaging part which captures images of the processed part and the processing part; a transmission part which transmits the images of the processed part and the processing part obtained by the imaging part to the instruction device; and a transmission part which transmits a state that the processing part and the processed part are on the verge of contacting with each other.SELECTED DRAWING: Figure 4B

Description

Technical Field

[0001] The present disclosure relates to a processing apparatus.

Background Art

[0002] Patent Document 1 discloses a remote operation control device for a robot. The remote operation control device photographs the position and posture of an object in a working environment using a camera.

[0003] In the case of a remotely operated robot, the part to be processed and the processing part are brought into contact to perform a processing operation. In this case, the part to be processed and the processing part are photographed with a camera, and based on the image data obtained by the photographing, the part to be processed and the processing part are displayed on a display device so that an operator can confirm that the part to be processed and the processing part are just about to come into contact.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, depending on the installation position of the camera and the resolution of the display device, it may be difficult to tell that the part to be processed and the processing part are just about to come into contact. Also, even if the number or position of the cameras is adjusted, there are limitations in adjusting the field of view due to location restrictions and blind spots.

[0006] The technology of the present disclosure has been made in view of the above facts, and an object thereof is to provide a processing apparatus capable of better recognizing that the part to be processed and the processing part are just about to come into contact than the prior art.

Means for Solving the Problems

[0007] To achieve the above object, a processing apparatus according to an aspect of the technology of the present disclosure includes a processing unit that performs processing on a workpiece, an adjusting unit that adjusts the distance between the workpiece and the processing unit based on an instruction signal transmitted from an instruction device according to an operator's instruction, an imaging unit that images the workpiece and the processing unit, and a transmission unit that is separate from the imaging unit and transmits information immediately before the processing unit comes into contact with the workpiece.

Effect of the Invention

[0008] The technology of the present disclosure can better enable recognition that the workpiece and the processing unit are about to come into contact compared to the prior art.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

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Figure 4A

Figure 4B

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Figure 11

Embodiments for Carrying Out the Invention

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

[0011] [First Embodiment] (Configuration) In the following description, the horizontal plane is taken as the X-axis - Y-axis plane, and the vertical direction (i.e., the up-and-down direction) is taken as the Z-axis direction.

[0012] FIG. 1 is a block diagram showing an example of a master-slave system 10 according to the first embodiment. The master-slave system 10 includes a master control device 12 and a slave control device 14.

[0013] The master control device 12 is an example of the "indicating device" of the technology of the present disclosure. The slave control device 14 is an example of the "processing device" of the technology of the present disclosure.

[0014] FIG. 2 is a diagram showing an example of the schematic configuration of the slave control device 14. FIG. 3 is a diagram showing an example of the configuration of the processing part 34. The slave control device 14 is attached to a rotating shaft 32 that is rotatably attached to the upper side of a support column 30, and includes a processing part 34 that rotates around the rotating shaft 32, an arm 22 having a plurality of joints, a processed part 24 attached to the tip of the arm 22 via a holding part 26, a microphone (hereinafter referred to as "mic") 77, and a camera 85.

[0015] The camera 85 is an example of the "imaging part" of the technology of the present disclosure.

[0016] The processing unit 34 is a rotating body (cylindrical shape) including a side surface 34S1 on the positive Y-axis side, a side surface 34S2 on the negative Y-axis side, and a circumferential surface 34S0. A grinding surface is formed on the circumferential surface 34S0. On the side surface 34S1 on the positive Y-axis side, a plurality (eight in the example shown in FIG. 3) of blades 36N1, 36N2, ··· are attached separately from the camera 85. On the side surface 34S2 on the negative Y-axis side, a plurality of blades 36M1, 36M2, ··· are attached.

[0017] The blades 36N1, 36N2, ···, 36M1, 36M2, ··· are an example of the "transmission part" of the technology of the present disclosure.

[0018] One end of each of the blades 36N1, 36N2, ···, 36M1, 36M2, ··· is attached to the rotating shaft 32, and the other end is located on the rotating shaft 32 side rather than the circumferential surface 34S0. As the rotating shaft 32 rotates, the processing unit 34 rotates, and each of the blades 36N1, 36N2, ···, 36M1, 36M2, ··· causes the air on the rotating shaft 32 side to flow radially outward.

[0019] The processing unit 34 exerts processing on the workpiece 24. Specifically, when the posture of the arm 22 is controlled, specifically, when the distance between the processing unit 34 and the workpiece 24 is narrowed and the workpiece surface of the workpiece 24 contacts the circumferential surface 34S0 of the processing unit 34, the workpiece surface of the workpiece 24 is polished by the grinding surface formed on the circumferential surface 34S0 of the processing unit 34.

[0020] Note that the processing is not limited to polishing in this way, and cutting or the like may also be used.

[0021] FIG. 4A is a diagram showing an example of the state where the distance between the processing unit 34 and the workpiece 24 is narrowed. FIG. 4B is a diagram showing an example of the state immediately before the contact between the processing unit 34 and the workpiece 24.

[0022] As shown in FIG. 4A, the distance between the processing unit 34 and the workpiece 24 is narrowed for processing the workpiece 24.

[0023] As shown in FIG. 4B, just before the machining part 34 comes into contact with the workpiece part 24, the air flowing radially outward from the side of the rotation axis 32 due to each of the blades 36N1, 36N2, ···, 36M1, 36M2, ··· as the machining part 34 rotates hits the workpiece part 24 in the region 91. For this reason, a wind noise is generated.

[0024] Just before contact means that the workpiece part 24 is brought closer to the machining part 34 by a predetermined distance greater than 0, and when the machining part 34 rotates, the air from each of the blades 36N1, 36N2, ···, 36M1, 36M2, ··· hits the workpiece part 24 in the region 91, and the microphone 77 starts to detect the wind noise generated thereby.

[0025] FIG. 5 is a block diagram showing an example of the control system of the master control device 12. The control system of the master control device 12 includes a computer 40, a UI (User Interface) system device 52, a display device 54, a speaker 56, and a communication device 58. The UI system device 52 is, for example, a keyboard and a mouse or the like.

[0026] The computer 40 includes a processor 42, an NVM (Non-volatile memory) 44, a RAM (Random Access Memory) 46, and an input / output (I / O) port 48. The processor 42, the NVM 44, the RAM 46, and the input / output (I / O) port 48 are interconnected by a bus 50. The UI system device 52, the display device 54, the speaker 56, and the communication device 58 are connected to the input / output (I / O) port 48.

[0027] Processor 42 is a processing device including a DSP (Digital Signal Processor), a CPU (Central Processing Unit), and a GPU (Graphics Processing Unit). The DSP and the GPU operate under the control of the CPU and are responsible for executing each of the processes described later. Here, as an example of the processor 42, a processing device including a DSP, a CPU, and a GPU is given, but this is merely an example. The processor 42 may be one or more CPUs and DSPs integrating GPU functions, or one or more CPUs and DSPs not integrating GPU functions, or a TPU (Tensor Processing Unit) may be mounted.

[0028] NVM 44 is a non-volatile storage device that stores programs and various parameters, etc. Examples of the NVM 44 include a flash memory (for example, EEPROM (Electrically Erasable and Programmable Read Only Memory)).

[0029] RAM 46 is a memory in which information is temporarily stored and is used as a work memory by the processor 42. Examples of the RAM 46 include a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory), etc.

[0030] FIG. 6 is a block diagram showing an example of the control system of the slave control device 14. The control system of the slave control device 14 includes a computer 60, motors 71 provided in each of a plurality of joints of the arm 22, a microphone 77, a rotating device (for example, a motor) 79 that rotates the processing unit 34 by rotating the rotating shaft 32, a communication device 81, and a camera 85.

[0031] The communication device 81 is an example of the "transmission unit" of the technology of the present disclosure.

[0032] The configuration of the computer 60 is the same as that of the computer 40 in the control system of the master control device 12, so its description will be omitted. Note that a motor 71 provided for each of a plurality of joints of the arm 22, a microphone 77, a rotating device 79, and a communication device 81 are connected to the input / output (I / O) port 68 of the computer 60 of the slave control device 14.

[0033] (Function) As shown in FIGS. 4A and 4B, the processing unit 34 rotates in the clockwise direction R as the rotating shaft 32 rotates, by means of the rotating device 79.

[0034] In the slave control device 14, the camera 85 photographs the workpiece 24 and the processing unit 34, and the communication device 81 transmits the image data obtained by the photographing to the master control device 12. In the master control device 12, the communication device 58 receives the image data transmitted from the slave control device 14, and the display device 54 displays the workpiece 24 and the processing unit 34 on the display device 54 based on the image data. In the master control device 12, the operator confirms the workpiece 24 and the processing unit 34 displayed on the display device 54 for processing the workpiece 24. The operator is an example of the "operator" of the technology of the present disclosure.

[0035] FIG. 7 is a timing chart showing an example of the processing of the master-slave system 10.

[0036] For processing the workpiece 24, the operator inputs an approach instruction to bring the workpiece 24 closer to the processing unit 34 via the UI system device 52. The processor 42 of the master control device 12 receives the approach instruction in step 70 and transmits an instruction signal of the approach instruction to the slave control device 14 via the communication device 58 in step 72.

[0037] The communication device 81 of the slave control device 14 receives the instruction signal of the approach instruction in step 74, and the processor 62 controls each motor 71 in step 76 so that the workpiece 24 approaches the processing unit 34. As a result, as shown in FIG. 4A, the arm 22 approaches the workpiece 24 to the processing unit 34. Thereby, the distance between the processing unit 34 and the workpiece 24 is adjusted to be narrowed.

[0038] As shown in FIG. 4B, immediately before the processing unit 34 contacts the workpiece 24, the air flowing radially outward from the side of the rotation shaft 32 due to each blade 36N1, 36N2, ···, 36M1, 36M2, ··· accompanying the rotation of the processing unit 34 hits the workpiece 24 in the region 91. Therefore, a whistling sound is generated.

[0039] In step 78, the microphone 77 detects the whistling sound. When the microphone 77 detects the whistling sound, the processor 62 knows that the processing unit 34 and the workpiece 24 are about to contact, and in step 80, transmits to the master control device 12 via the communication device 81 that the processing unit 34 and the workpiece 24 are about to contact.

[0040] The communication device 58 of the master control device 12 receives in step 82 that the processing unit 34 and the workpiece 24 are about to contact, and in step 84, the processor 42 notifies the operator by emitting a warning sound from the speaker 56 that the processing unit 34 and the workpiece 24 are about to contact.

[0041] Notifying the operator that the processing unit 34 and the workpiece unit 24 are about to come into contact is to give the operator an opportunity to slowly approach the workpiece unit 24 to the processing unit 34 for fine adjustment so that the processing unit 34 and the workpiece unit 24 do not collide. The operator who knows that the processing unit 34 and the workpiece unit 24 are about to come into contact inputs an instruction to adjust the distance between the processing unit 34 and the workpiece unit 24 via the UI device 52. In step 86, the processor 42 of the master control device 12 receives the instruction to adjust the distance between the processing unit 34 and the workpiece unit 24 input via the UI device 52, and in step 88, the instruction to adjust the distance between the processing unit 34 and the workpiece unit 24 is transmitted to the slave control device 14 via the communication device 58.

[0042] The communication device 81 of the slave control device 14 receives the instruction to adjust the distance between the processing unit 34 and the workpiece unit 24 in step 90. In step 90, the processor 62 controls each motor 71 so that the distance between the processing unit 34 and the workpiece unit 24 is adjusted. For example, the processor 62 controls each motor 71 so that the approach of the workpiece unit 24 to the processing unit 34 is stopped. The adjustment of the distance is not limited to the stop of the approach, and the speed at which the workpiece unit 24 approaches the processing unit 34 may be decreased (greater than 0). The operator inputs an instruction via the UI device 52 so that the workpiece unit 24 approaches the processing unit 34 at a speed slower than the speed at the time of the approach instruction in step 70. The processor 42 of the master control device 12 transmits the instruction at that time to the slave control device 14 via the communication device 58. The communication device 81 of the slave control device 14 receives the instruction, and the processor 62 of the slave control device 14 controls each motor 71 so that the workpiece unit 24 approaches the processing unit 34 at a speed slower than the speed at the time of the approach instruction in step 70.

[0043] Thus, in step 90, adjusting the distance between the processing unit 34 and the workpiece unit 24 is to perform accurate processing on the workpiece unit 24. This will be described in detail below.

[0044] By bringing the work surface of the work piece 24 into contact with the peripheral surface 34S0 of the machining part 34 as described above, the work surface of the work piece 24 is polished by the grinding surface formed on the peripheral surface 34S0 of the machining part 34. Since the machining part 34 has a cylindrical shape as described above, when the machining part 34 contacts the work piece 24, the machining part 34 basically makes point contact with the work piece 24. Therefore, in order to polish the entire surface of the work piece 24, the arm 22 is controlled so that the entire surface of the work piece 24 moves in the vertical direction and the depth direction of the paper surface of FIG. 1 so as to contact the machining part 34 that makes point contact.

[0045] By the way, when trying to polish the entire surface of the work piece 24 to a predetermined polishing depth, in order to prevent remaining uncut, it is necessary to bring the machining part 34 into contact with each point of the work piece 24 a predetermined number of times. Also, in order to prevent overcutting the work piece 24, it is necessary not to bring the machining part 34 into contact with the points where polishing has been completed up to the predetermined polishing depth.

[0046] In order to polish the entire surface of the work piece 24 to a predetermined polishing depth in this way and not to bring the machining part 34 into contact with the points where polishing has been completed up to the predetermined polishing depth, it is necessary to finely adjust the distance between the machining part 34 and the work piece 24.

[0047] Therefore, if the distance between the machining part 34 and the work piece 24 is not adjusted (step 90) as described above and remains at the speed at which the work piece 24 approaches the machining part 34 in step 76, there is a case where the points where polishing has been completed up to the predetermined polishing depth are further polished.

[0048] Therefore, in the present embodiment, when the workpiece 24 is about to come into contact with the processing unit 34, that is, when the microphone 77 starts to detect the above-mentioned Aeolian tone, this is transmitted to the master control device 12 (steps 80, 82), and it is notified that it is just before contact (step 84), thereby informing the operator that it is time for fine adjustment. Thus, the distance between the processing unit 34 and the workpiece 24 is adjusted (step 90). In a state where the distance between the processing unit 34 and the workpiece 24 is adjusted in this way, the arm 22 is controlled so that the processing unit 34 does not contact the point where the entire surface of the workpiece 24 has been polished at a predetermined polishing depth and the polishing has been completed up to the predetermined polishing depth. Thereby, accurate processing can be performed on the workpiece 24.

[0049] (Effect) As described above, when the processing unit 34 is about to come into contact with the workpiece 24, the air flowing from the rotation axis 32 side toward the outside in the radial direction due to each blade 36N1, 36N2, ···, 36M1, 36M2, ··· accompanying the rotation of the processing unit 34 hits the workpiece 24 in the region 91, generating an Aeolian tone. The microphone 77 detects the Aeolian tone, and it is transmitted to the master control device 12 that the processing unit 34 is about to come into contact with the workpiece 24, and this is notified to the operator via the speaker 56.

[0050] In this regard, conventionally, on the slave control device side, the processing unit and the workpiece are photographed by a camera, and on the master control device side, the processing unit and the workpiece are displayed on a display device. However, depending on the installation position of the camera and the resolution of the display device, it may be difficult to determine the moment of contact. Also, even if the number or position of the cameras is adjusted, there are limitations in the adjustment of the field of view due to location constraints and the existence of blind spots.

[0051] However, in the present embodiment, immediately before the processing unit 34 comes into contact with the workpiece 24, a plurality of blades are provided on the processing unit 34 so that a whistling sound is generated, separately from the camera 85. When the microphone 77 detects the whistling sound, the slave control device 14 notifies the operator that the processing unit 34 and the workpiece 24 are about to come into contact via the speaker 56 of the master control device 12.

[0052] Therefore, the present embodiment can make the operator recognize better than the prior art that the processing unit and the workpiece are about to come into contact.

[0053] [Second Embodiment] (Configuration) The configuration of the second embodiment is substantially the same as the configuration of the first embodiment, so the different parts will be described.

[0054] FIG. 8 is a diagram showing an example of a state where the distance between the processing unit 34 and the workpiece 24 in the second embodiment becomes narrow. As shown in FIG. 8, in the second embodiment, the processing unit 34 is different in that, instead of a plurality of blades, it includes at least one string 37 separately from the camera 85. One end 37e1 of the string 37 is attached to the rotating shaft 32, and the other end 37e2 of the string 37 is located closer to the rotating shaft 32 than the circumferential surface 34S0. In the example shown in FIG. 8, the processing unit 34 is provided with one string 37, but a plurality of strings 37 may be provided on the processing unit 34. The string 37 is an example of the "transmission part" of the technology of the present disclosure.

[0055] FIG. 9 is a diagram showing an example of a state where the processing unit 34 and the workpiece 24 in the second embodiment are about to come into contact. As shown in FIG. 9, when the processing unit 34 and the workpiece 24 are about to come into contact, since the other end 37e2 of the string 37 is located closer to the rotating shaft 32 than the circumferential surface 34S0, the other end 37e2 of the string 37 comes into contact with the workpiece 24, and a contact sound is generated.

[0056] Just before contact means the time when the microphone 77 starts to detect the contact sound generated when the work piece 24 is brought closer to the processing part 34 by a predetermined distance greater than 0, and the other end 37e2 of the string 37 contacts the work piece 24 due to the rotation of the processing part 34.

[0057] (Operation) The operation of the second embodiment is substantially the same as that of the first embodiment, so the different parts will be described. In the first embodiment, in step 78, the microphone 77 detects the wind cut sound. In contrast, in the second embodiment, in step 78, the difference is that the microphone 77 detects the contact sound generated when the other end 37e2 of the string 37 contacts the work piece 24.

[0058] (Effect) This embodiment, like the first embodiment, can make the operator recognize better than the prior art that the processing part and the work piece are just before contact.

[0059] [Third Embodiment] (Configuration) The configuration of the third embodiment is substantially the same as that of the first embodiment, so the different parts will be described.

[0060] FIG. 10 is a diagram showing an example of the state where the distance between the processing part 34 and the work piece 24 in the third embodiment becomes narrow. FIG. 11 is a diagram showing an example of the state where the processing part 34 and the work piece 24 in the third embodiment are just before contact.

[0061] Instead of a plurality of blades, the processing part 34 of the third embodiment is provided with a distance sensor 100 separately from the camera 85 on a support part 32S that supports the rotation axis 32 and does not rotate, as shown in FIG. 9.

[0062] The distance sensor 100 is an example of the "measurement part" of the technology of the present disclosure. The communication device 81 is an example of the "transmission part" of the technology of the present disclosure.

[0063] (Operation) The operation of the second embodiment is substantially the same as that of the first embodiment, so the different parts will be described. In the first embodiment, in step 78, the microphone 77 detects the wind shear sound. In contrast, in the third embodiment, in step 78, the distance sensor 100 measures the distance between the processing unit 34 and the workpiece 24, and the processor 62 determines whether the processing unit 34 and the workpiece 24 are about to come into contact based on the distance. Note that "about to come into contact" means when the workpiece 24 is brought closer to the processing unit 34 at a predetermined distance greater than 0. When the processing unit 34 and the workpiece 24 are about to come into contact, in step 80, it is transmitted to the master control device 12 via the communication device 81 that the processing unit 34 and the workpiece 24 are about to come into contact.

[0064] (Effect) This embodiment, like the first embodiment, can make the operator recognize better than the prior art that the processing unit and the workpiece are about to come into contact.

[0065] [Modification Example]

[0066] From the first embodiment to the third embodiment, it is transmitted to the master control device 12 via the communication device 81 that the processing unit 34 and the workpiece 24 are about to come into contact, and a warning sound is emitted from the speaker 56 of the master control device 12. The technology of the present disclosure is not limited to this. For example, instead of or together with emitting a warning sound from the speaker 56 of the master control device 12, light may be emitted from a light emitting unit such as an LED. Also, the distance between the master control device 12 and the slave control device 14 may be made shorter than that in the first embodiment or the second embodiment, and the operator may be directly notified by the wind shear sound or the contact sound. Furthermore, in the third embodiment, that the processing unit 34 and the workpiece 24 are about to come into contact may be expressed in the form of a bar that expands and contracts and displayed superimposed on the processing unit and the workpiece on the display device.

[0067] Further, in the first to third embodiments, the workpiece 24 is moved closer to the processing unit 34. The technology of the present disclosure is not limited to this. For example, the processing unit 34 may be moved closer to the workpiece 24, or both the processing unit 34 and the workpiece 24 may be moved.

[0068] Incidentally, in the first to third embodiments, as described above, the timing immediately before contact is the timing when the workpiece 24 approaches the processing unit 34 at a predetermined distance greater than zero. In the technology of the present disclosure, the predetermined distance may be increased or decreased. When the predetermined distance is made longer, it is transmitted that the workpiece 24 is immediately before contact at a timing when it is not as close to the processing unit 34 as in the case of the first embodiment or the like. For example, when the contact portion between the processing unit 34 and the workpiece 24 is narrow, the predetermined distance is increased. Also, when the predetermined distance is made shorter, it is transmitted that the workpiece 24 is immediately before contact at a timing when it is closer to the processing unit 34 than in the case of the first embodiment or the like. For example, when the contact portion between the processing unit 34 and the workpiece 24 is wide, the predetermined distance is decreased.

[0069] To increase the predetermined distance, the lengths of the blades 36N1, 36N2, ···, 36M1, 36M2, ··· are increased, the length of the string 37 is increased, or a value for determining whether it is immediately before contact between the processing unit 34 and the workpiece 24 is increased based on the distance between the processing unit 34 and the workpiece 24 measured by the distance sensor 100. To decrease the predetermined distance, the lengths of the blades 36N1, 36N2, ···, 36M1, 36M2, ··· are decreased, the length of the string 37 is decreased, or a value for determining whether it is immediately before contact between the processing unit 34 and the workpiece 24 is decreased based on the distance between the processing unit 34 and the workpiece 24 measured by the distance sensor 100. Increasing or decreasing the predetermined distance is adjusted during a time when polishing is not being performed.

Explanation of Reference Numerals

[0070] 14 Slave control device 34 Processing unit 24 Workpiece 22 Arm 85 Camera 81 Communication device 36N1 Blade

Claims

1. A processing unit that performs processing on a workpiece; An adjusting unit that adjusts the distance between the workpiece and the processing unit based on an instruction signal transmitted from an instruction device according to an operator's instruction; An imaging unit that images the workpiece and the processing unit; A transmission unit that is separate from the imaging unit and transmits information immediately before contact between the processing unit and the workpiece; A processing apparatus comprising the above.

2. The transmission unit according to claim 1, which transmits by sound or light.

3. The processing unit is attached to a rotating shaft, and the peripheral surface that rotates around the rotating shaft contacts the workpiece, thereby performing processing on the workpiece. The transmission unit is a blade attached to the rotating shaft or the processing unit such that air flows from the rotating shaft side to the outside when the processing unit rotates. The sound is a wind noise generated when the air flowing through the blade hits the workpiece. The processing apparatus according to claim 2.

4. The processing unit is attached to a rotating shaft, and the peripheral surface that rotates around the rotating shaft contacts the workpiece, thereby performing processing on the workpiece. The transmission unit is a string with one end attached to the rotating shaft or the processing unit and the other end located outside the peripheral surface when the processing unit rotates. The sound is a contact sound between the other end of the string and the workpiece. The processing apparatus according to claim 2.

5. Further comprising a measuring unit that measures the distance to the workpiece. When it is determined based on the measured distance that it is immediately before contact between the processing unit and the workpiece, the transmission unit transmits that it is immediately before contact between the processing unit and the workpiece. The processing apparatus according to claim 1.

6. The transmission unit according to claim 1, which transmits by at least one of directly to the operator and indirectly via the instruction device. The processing apparatus according to claim 1.

Images