Control system, control method and program

Abstract

To provide a control system, a control method, and a program that enable notifying a user of information indicating reaction force received from a target object by an attachment.SOLUTION: A control system 200 controls a device body 10 with a base and an attachment mounting part, which approaches a target object by moving in a first direction, and also controls an attachment 20, which is mounted to the attachment mounting part and approaches the target object by moving in the first direction. The control system notifies a user of information indicating each of a plurality of types of components of reaction force received from the target object by the attachment 20.SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present invention relates to a control system, a control method, and a program.

Background Art

[0002] In a waste melting furnace, solidified slag may adhere to the discharge port of the molten slag and its periphery. If this slag grows, there is a risk of blocking the slag discharge port. Therefore, it is necessary to insert a working rod into the furnace mouth to remove the slag. Regarding the above work, a configuration in which the work conventionally performed by an operator (human) is replaced by a vertically articulated robot has been disclosed (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a control system, a control method, and a program capable of notifying a user of information indicating a reaction force received by an attachment from an object.

Means for Solving the Problems

[0005] To solve the above problems, the present invention proposes the following means. A control system according to the present invention includes a base and an attachment mounting portion, and a device body that approaches an object by moving in a first direction, and an attachment that is attached to the attachment mounting portion and approaches the object by moving in the first direction. A control system that controls the attachment, and notifies a user of information indicating each of a plurality of types of components of a reaction force received by the attachment from the object.

Advantages of the Invention

[0006] According to the present invention, information indicating the reaction force received by the attachment from the object can be notified to the user.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Modes for Carrying Out the Invention

[0008] Hereinafter, with reference to the drawings, a control system 200 according to an embodiment of the present invention will be described. In the description of the control system 200, first, the controlled object 100 will be described.

[0009] (Controlled Object 100) As shown in FIG. 1, the control system 200 controls the controlled object 100. The controlled object 100 is used, for example, to remove an object (slag S) deposited inside the melting furnace M. Specifically, the controlled object 100 removes the slag S by operating the working rod R and physically contacting the working rod R with the slag S. Hereinafter, this embodiment will be described by taking the above application as an example.

[0010] The controlled object 100 includes a device main body 10 and an attachment 20. The device main body 10 moves the attachment 20 (described later) to the vicinity of the melting furnace M. The device main body 10 includes a base 11, an arm 12, a joint 13, and a hand 14.

[0011] The base 11 is a part of the device main body 10 installed at the work site. One end of the arm 12 is connected to the base 11. One end of the arm 12 is connected to the base 11, and the other end is connected to the joint 13. The joint 13 connects the arm 12 and the hand 14. The hand 14 is connected to the arm 12 via the joint 13. In addition, the attachment 20 is connected to the hand 14. Thereby, six degrees of freedom are imparted to the attachment 20.

[0012] For the device main body 10, for example, a known six-axis vertical articulated robot is preferably used. In this embodiment, the device main body 10 moves the attachment 20 in the first direction D1 and the second direction D2 shown in FIG. 1 by the hand 14. The first direction D1 refers to a linear direction approaching the slag S deposited inside the melting furnace M from the hand 14 of the device main body 10. The second direction D2 refers to the direction opposite to the first direction D1.

[0013] The attachment 20 is attached to the hand 14 of the apparatus main body 10. As shown in FIG. 2, the attachment 20 includes a base portion 21, a movable portion 22, a force sensor 23, a gripper 24, and a drive portion 25. In the attachment 20, the movable portion 22 moves in a first direction D1 and a second direction D2 by a servo motor 25m (described later) provided on the base portion 21. In the following, the moving direction of the movable portion 22 described above may be particularly referred to as the axial direction.

[0014] The base portion 21 is a portion to which the attachment 20 is attached to the hand 14 of the apparatus main body 10. As shown in FIG. 2, the base portion 21 includes a first plate 21p1, a first shaft 21s1, a second plate 21p2, a second shaft 21s2, a third plate 21p3, and a fourth plate 21p4.

[0015] The first plate 21p1 has a surface on the second direction D2 side attached to the hand 14. Thereby, the base portion 21 is attached to the hand 14. The first plate 21p1 is, for example, disk-shaped. A plurality of first shafts 21s1 are connected to a surface of the first plate 21p1 on the first direction D1 side at equal intervals from the center in the disk shape.

[0016] The first shaft 21s1 has an end on the second direction D2 side connected to a surface of the first plate 21p1 on the first direction D1 side, and an end on the first direction D1 side connected to a surface of the second plate 21p2 on the second direction D2 side. In the axial direction of the base portion 21, a servo motor 25m and a servo motor control portion (not shown) are located at a portion where the first shaft 21s1 is provided (described later).

[0017] The second plate 21p2 has a surface on the second direction D2 side connected to the first shaft 21s1. Thereby, the first shaft 21s1 is supported together with the first plate 21p1. The second plate 21p2 is, for example, disk-shaped. On the surface of the second plate 21p2 on the first direction D1 side, a plurality of second shafts 21s2 are connected at intervals with equal radial distances from the center in the disk shape.

[0018] The end of the second shaft 21s2 on the second direction D2 side is connected to the surface of the first plate 21p1 on the first direction D1 side, and the end on the first direction D1 side is connected to the surface of the third plate 21p3 on the second direction D2 side. In the axial direction of the base portion 21, the motor shaft 25ms of the servo motor 25m is located at the portion where the second shaft 21s2 is provided (described later).

[0019] The surface of the third plate 21p3 on the second direction D2 side is connected to the second shaft 21s2. Thereby, the second shaft 21s2 is supported together with the second plate 21p2. The third plate 21p3 is, for example, disk-shaped. On the surface of the third plate 21p3 on the first direction side, the ends on the second direction side of a plurality of support rails 25l are connected (described later).

[0020] The surface of the fourth plate 21p4 on the second direction D2 side is connected to the ends on the first direction side of a plurality of support rails 25l. Thereby, the support rails 25l are supported together with the third plate 21p3. The fourth plate 21p4 is, for example, disk-shaped. Also, the fourth plate 21p4 has a role of preventing the bottom plate 22b from coming off the support rails 25l when the bottom plate 22b moves to the end in the first direction D1 of the support rails 25l. For the connection and attachment between the respective components in the base portion 21 described above, for example, bolt fastening is preferably used.

[0021] The movable part 22 is attached to the base part 21 and moves in the axial direction. The movable part 22 includes a top plate 22t, a support part 22l, a shaft support part 22s, and a bottom plate 22b. The top plate 22t is provided on the side of the first direction D1 in the axial direction of the movable part 22. On the surface of the top plate 22t on the side of the first direction D1, a force sensor 23 and a gripper 24 for attaching the above-described working rod R are attached. Further, a support portion 22l and a shaft support portion 22s are connected to the surface of the top plate 22t on the side of the second direction D2.

[0022] The support portion 22l is a plurality of rod-shaped members provided between the top plate 22t and the bottom plate 22b. The end portion of the support portion 22l on the side of the first direction D1 is connected to the surface of the top plate 22t on the side of the second direction D2. The surface of the top plate 22t on the side of the second direction D2 is connected to the bottom plate 22b.

[0023] The shaft support portion 22s is provided at the center of the top plate 22t. The end portion of the shaft support portion 22s on the side of the first direction D1 is connected to the surface of the top plate 22t on the side of the second direction D2. The end portion of the shaft support portion 22s on the side of the second direction D2 is connected to the end portion of a ball screw 25s (described later) on the side of the first direction D1. The bottom plate 22b is, for example, a disk-shaped member. The bottom plate 22b has a female screw portion (not shown) at the center of the disk shape and engages with the ball screw 25s. Thereby, as the ball screw 25s rotates, the bottom plate 22b slides in the axial direction of the ball screw 25s. Thereby, the movable part 22 moves in the axial direction. Further, the bottom plate 22b is provided with a through hole (not shown) through which a support rail 25l passes.

[0024] The force sensor 23 is a sensor provided on the movable part 22. The force sensor 23 senses, for example, the axial pressure applied to the movable part 22. With the above-described configuration, the force sensor 23 senses, for example, the magnitude of the reaction force generated when the working rod R contacts the slag S or the magnitude of the change in the reaction force. By setting a threshold value for the magnitude of this reaction force or the magnitude of the change in the reaction force, control is performed to prevent an excessive reaction force from being applied from the working rod R toward the attachment 20 (details will be described later).

[0025] The gripper 24 is provided so as to be in contact with the force sensor 23 provided on the movable part 22. The gripper 24 is, for example, a part that grips to attach the working rod R operated by the control system 200 to the attachment 20. The reaction force generated in the working rod R is transmitted to the force sensor 23 via this gripper 24.

[0026] The drive unit 25 changes the distance between the movable part 22 and the base part 21 in the axial direction. The drive unit 25 includes a servo motor 25m, a ball screw 25s, and a support rail 25l. The servo motor 25m is located at a part where the first shaft 21s1 is provided in the axial direction of the attachment 20. The servo motor 25m is driven by a servo motor control unit (not shown). The servo motor 25m includes a motor shaft 25ms. The end of the motor shaft 25ms on the first direction D1 side is connected to the end of the ball screw 25s on the second direction D2 side.

[0027] The ball screw 25s passes through the female screw part provided at the center of the bottom plate 22b. In this state, the ball screw 25s rotates by the servo motor 25m. As a result, the bottom plate 22b moves in the axial direction, and thus the movable part 22 moves in the axial direction. The support rail 25l has its end on the second direction D2 side connected to the surface on the first direction D1 side of the third plate 21p3. The support rail 25l passes through the through hole provided in the bottom plate 22b. Also, the support rail 25l is slidable through this through hole. This prevents the bottom plate 22b and the movable part 22 from rotating in the axial direction due to the rotation of the servo motor 25m, and ensures that the movable part 22 moves in the axial direction by the mechanism of the ball screw 25s.

[0028] Also, the moving speed of the moving mechanism of the attachment 20 is faster than the moving speed of the apparatus main body 10. Alternatively, as long as a moving speed equivalent to this configuration can be ensured, for example, a hydraulic cylinder may be used for the drive unit 25.

[0029] As described above, the attachment 20 is moved in the first direction D1 and the second direction D2 by the hand 14. In addition to this, the movable part 22 reciprocates in the first direction D1 and the second direction D2 by the drive part 25 of the attachment 20. Further, a working rod R is attached to the attachment 20 via a gripper 24. This working rod R reciprocates in the first direction D1 and the second direction D2 by the drive part 25. By bringing the tip of the reciprocating working rod R into contact with the slag S, the slag S inside the melting furnace M is removed. As shown in FIGS. 1 and 2, a holding part may be provided between the end of the working rod R on the attachment 20 side and the end on the melting furnace M side. By holding the middle part of the working rod R in this way, it may be ensured that the working rod R reciprocates smoothly.

[0030] (Control system 200) Next, with reference to the schematic diagrams of FIGS. 3 to 8, the flowcharts of FIGS. 9 and 10, and the system configuration diagram shown in FIG. 11, the specific movements of the apparatus main body 10 and the attachment 20 in the control system 200 will be described. The control system 200 includes a front-of-furnace operation room 210 and a control panel 220. First, as shown in FIG. 11, in the control system 200 installed at the work site, the apparatus main body 10 is connected to a robot control panel 211 provided in the front-of-furnace operation room 210. The robot control panel 211 is connected to a programming pendant 212 and a coordinate calculator 213, respectively. Further, the attachment 20 and the robot control panel 211 are connected to a control panel 220 operated by the user.

[0031] The robot control panel 211 and the control panel 220 provided in the front-of-furnace operation room 210 each include a system control device including a processor such as a CPU (Central Processing Unit) and a memory connected by a bus, and execute a program. The robot control panel 211 and the control panel 220 each function as a device including a reception means, a determination means, a control means, and a discrimination means by executing a program. The reception means receives the first command FW and the second command BW (described later) via the operation of the operation lever 221 by the user. The determination means determines whether or not a parameter related to the reaction force received by the attachment 20 from the object (for example, the magnitude of the reaction force or the magnitude of the change in the reaction force) exceeds a predetermined threshold value.

[0032] Note that the above-described parameters and threshold values are appropriately determined according to the use of the control system 200. For example, when the control system 200 is used for the purpose of removing the slag S deposited inside the melting furnace M by the working rod R attached to the tip of the attachment 20, the parameter is the magnitude of the reaction force generated by the contact between the slag S and the working rod R. The parameter can be acquired by the control panel 220 from the force sensor 23. The threshold value is preferably stored in the determination means in advance.

[0033] The control means changes the moving directions of the apparatus main body 10 and the attachment 20 according to the result determined by the determination means. Specific control will be described later. The discrimination means is means for discriminating the position of the attachment 20. Specifically, among a plurality of positions where the attachment 20 can move along the first direction D1, a position relatively far from the object is defined as a remote position BN (retracted position), a region closer to the object than the remote position BN is defined as an intermediate position N, and a position closer to the object than the intermediate position N is defined as a proximity position NF (advanced position). In the present embodiment, it is preferable that the size of the region related to the intermediate position N is arbitrarily determined by the user. The discrimination means discriminates whether the current position of the attachment 20 is any of the remote position BN, the proximity position NF, and the intermediate position N. The discrimination means may, for example, discriminate the distance between the first plate 21p1 of the base portion 21 and the top plate 22t of the movable portion 22 by a sensor, or may discriminate the position by analyzing the rotation amount of the servo motor 25m.

[0034] The control panel 220 includes an operation lever 221 and a display 222. The control system 200 according to the present embodiment operates when the receiving means receives a command by the user operating the operation lever 221. The commands using the operation lever 221 by the user are as follows. That is, a first command FW (forward command) for moving (forward) the apparatus main body 10 and the attachment 20 in the first direction D1, and a second command BW (backward command) for moving (backward) the apparatus main body 10 and the attachment 20 in the second direction D2.

[0035] The display 222 is used to grasp information for judging each requirement when the user operates the control panel 220. As shown in FIG. 12, the display 222 functions as a first notification means I1, a second notification means I2, a third notification means I3, and a fourth notification means I4.

[0036] The first notification means I1 notifies the user of information indicating the position of the tip of the attachment 20 (in this embodiment, the tip of the working rod R) and information indicating the position of the slag S. The first notification means I1 displays each component in color on the numeral indicating the distance (mm display) and displays it in the middle of the display 222, so that the distance is visually recognizable and easy to display.

[0037] The second notification means I2 notifies the user of information indicating the distance from the tip of the attachment 20 to the refractory placed in the melting furnace M. This information is displayed as a numerical value in mm in a table located below the display 222. Further, the second notification means I2 displays the distance in color according to the distance, so that the distance is visually recognizable and easy to display. The position of the slag S located in the melting furnace M is recognized as follows. That is, when a reaction force is sensed from the attachment 20 before the tip of the attachment 20 contacts the refractory placed in the melting furnace M (before the above-mentioned mm display becomes 0 mm), it is determined that the tip of the attachment 20 and the slag S have come into contact, and the position of the slag S is recognized.

[0038] The third notification means I3 notifies the user of information indicating whether the current position of the attachment 20 is any of the remote position BN, the intermediate position N, and the proximity position NF. This information is displayed at the upper part of the display 222. The fourth notification means I4 notifies the user of information indicating whether the tip of the attachment 20 is in contact with the slag S or not. The fourth notification means I4 displays the reaction force generated in the working rod R according to the numerical value of the force sensor 23 in a table located below the display 222. Further, the fourth notification means I4 visually displays the magnitude of the reaction force in an easy-to-recognize manner by color-coding according to the magnitude of the reaction force. Also, regarding each of the above-mentioned information, an image located at the center of the screen may be referred to. This image visually displays the positions of the working rod R and the slag S in the melting furnace M on a cross-sectional view based on each of the above-mentioned information.

[0039] (Control method) Next, the specific movements of the apparatus main body 10 and the attachment 20 by each of the above-mentioned means and operations will be described. First, regarding the positions of the apparatus main body 10 and the attachment 20, they are described as follows. That is, as shown in FIG. 3, the position before the apparatus main body 10 moves is set as the origin O. The position where the apparatus main body 10 advances in the first direction D1 (the most advanced position) is set as the main body forward position Fr. The position of the apparatus main body 10 can be determined, for example, based on the control value of the robot control panel 211. Also, the information indicating the origin O and the main body forward position Fr is stored in the robot control panel 211 in advance.

[0040] Regarding the position of the attachment 20, it is described as follows based on the positional relationship between the bottom plate 22b in the movable part 22 and the ball screw 25s of the drive part 25. That is, as shown in FIG. 3, the end on the second direction D2 side of the ball screw 25s, that is, the end on the second direction D2 side in the movable range of the bottom plate 22b is defined as the retracted end B. The center of the movable range of the ball screw 25s is defined as the intermediate position N. The end on the first direction D1 side of the ball screw 25s, that is, the end on the first direction D1 side in the operating range of the bottom plate 22b is defined as the advanced end F. The remote position BN of the attachment 20 described above is the area between the intermediate position N and the retracted end B. The proximity position NF of the attachment 20 is the area between the intermediate position N and the advanced end F. The position of the attachment 20 can be determined based on, for example, the control value of the servo motor 25m by the control panel 220. Also, the information indicating the retracted end B, the intermediate position N, and the advanced end F is stored in the control panel 220 in advance.

[0041] In this embodiment, first, the control flow will be described based on FIGS. 9 and 10. Then, specific control examples will be described based on FIGS. 3 to 8.

[0042] (Control Flow) In this embodiment, the control system 200 controls the attachment 20 and the apparatus main body 10 in parallel. Hereinafter, the control flows of the attachment 20 and the apparatus main body 10 will be described.

[0043] (First Mode) First, the operation of the first mode will be described. The first mode is a mode in which the attachment 20 and the apparatus main body 10 operate according to the operation flowcharts shown in FIGS. 9 and 10. Hereinafter, the operation flowchart of the attachment 20 shown in FIG. 9 will be described. The user inputs a first command FW using the operation lever 221 (step SA1). When the reception means receives this command, the determination means determines whether a parameter regarding the reaction force received by the attachment 20 from the object exceeds a predetermined threshold value (step SA2). For example, the determination means reads out a threshold value stored in advance and makes a determination by comparing this threshold value with the parameter acquired from the force sensor 23. When the determination means determines that the reaction force does not exceed the threshold value (step SA2: NO), the discrimination means discriminates whether the attachment 20 is at the forward end F (step SA3). For example, the discrimination means makes a discrimination by comparing the control value of the control panel 220 with the information indicating the forward end F stored in the control panel 220. When the discrimination means discriminates that the attachment 20 is not at the forward end F (step SA3: NO), the attachment 20 is moved in the first direction D1 (step SA4). Then, the flow ends. When the discrimination means discriminates that the attachment 20 is at the forward end F (step SA3: YES), the flow ends as it is.

[0044] When the second command BW is input using the operation lever 221 (step SA5), or when it is determined that a reaction force is generated in the attachment 20 when the first command FW is input (step SA2: YES), the discrimination means discriminates whether the attachment 20 is at the backward end B (step SA6). When it is discriminated that the attachment 20 is not at the backward end B (step SA6: NO), the attachment 20 is moved in the second direction D2 (step SA7), and the flow ends. When it is discriminated that the attachment 20 is at the backward end B (step SA6: YES), the flow ends as it is.

[0045] Next, the operation flowchart of the apparatus main body 10 shown in FIG. 10 will be described. First, when the receiving means receives an input of either the first command FW or the second command BW by the operation lever 221 (step SR1), the discrimination means discriminates the position of the attachment 20 (step SR2). When it is discriminated that the position of the attachment 20 is in the proximity position NF (that is, on the first direction D1 side from the intermediate position N) (step SR2: YES), the apparatus main body 10 is moved in the first direction D1 (step SR3), and the flow ends. For example, the discrimination means discriminates by comparing the control value of the control panel 220 with the information indicating the intermediate position N stored in the control panel 220. When it is discriminated that the position of the attachment 20 is not in the proximity position NF (step SR2: NO), it is discriminated whether the position of the attachment 20 is in the remote position BN (step SR4). When it is discriminated that the position of the attachment 20 is in the remote position BN (that is, on the second direction D2 side from the intermediate position N) (step SR4: YES), the apparatus main body 10 is moved in the second direction D2 (step SR5), and the flow ends. When it is discriminated that the attachment 20 is neither in the proximity position NF nor in the remote position BN, that is, in the intermediate position N (step SR4: NO), the flow ends as it is.

[0046] (Second mode) Next, the operation in the second mode will be described. The second mode is a mode in which the attachment 20 and the apparatus main body 10 are operated according to the operation flowchart shown in FIG. 13. In the second mode, the control of the attachment 20 and the control of the apparatus main body 10 are performed simultaneously and in parallel. First, the user inputs the first command FW by the operation lever 221 (step SS1). When this command is received by the receiving means, the determination means determines whether a parameter regarding the reaction force received by the attachment 20 from the object exceeds a predetermined threshold value (step SS2). When the determination means determines that the reaction force does not exceed the threshold value (step SS2: NO), the discrimination means discriminates whether the attachment 20 is at the forward end F (step SS3). In parallel with this, the discrimination means discriminates the position of the attachment 20 (step SS5). When the discrimination means determines that the attachment 20 is not at the forward end F (step SS3: NO), the attachment 20 is moved in the first direction D1 (step SS4). Then, the flow ends. When the discrimination means determines that the attachment 20 is at the forward end F (step SS3: YES), the flow ends as it is. When it is determined that the position of the attachment 20 is at the proximity position NF (that is, on the first direction D1 side of the intermediate position N) (step SS5: YES), the apparatus main body 10 is moved in the first direction D1 (step SS6), and the flow ends. When it is determined that the position of the attachment 20 is not at the proximity position NF (that is, on the second direction D2 side of the intermediate position N) (step SS5: NO), the flow ends as it is. That is, when the reaction force does not exceed the threshold value (step SS2: NO), the attachment 20 is not at the forward end F (step SS3: NO), and the attachment 20 is at the proximity position NF (step SS5: YES), the attachment 20 is moved in the first direction D1 together with the apparatus main body 10.

[0047] When a second command BW is input by the operation lever 221 (step SS7), or when it is determined that a reaction force is generated in the attachment 20 when the first command FW is input (step SS1) (step SS2: YES), the discrimination means discriminates whether the attachment 20 is at the backward end B (step SS8). In parallel with this, it is discriminated whether the position of the attachment 20 is at the remote position BN (step SS10). When it is determined that the attachment 20 is not at the backward end B (step SS8: NO), the attachment 20 is moved in the second direction D2 (step SS9), and the flow ends. When it is determined that the attachment 20 is at the backward end B (step SS8: YES), the flow ends as it is. When it is determined that the position of the attachment 20 is at the remote position BN (i.e., on the D2 side of the intermediate position N in the second direction D2) (step SS10: YES), the apparatus main body 10 is moved in the second direction D2 (step SS11), and the flow ends. When it is determined that the position of the attachment 20 is not at the remote position BN (i.e., on the D1 side of the intermediate position N in the first direction D1) (step SS10: NO), the flow ends as it is. That is, the determination means determines whether or not the parameter regarding the reaction force received by the attachment 20 from the object exceeds the threshold value, and the moving directions of the apparatus main body 10 and the attachment 20 by the control means are changed according to the determination result. In addition, in the above control, when the discrimination means discriminates that the attachment 20 is at the intermediate position N, control for suppressing the movement of the apparatus main body 10 may be provided.

[0048] (Control Example) The above operation flowchart of the attachment 20 and the flowchart of the apparatus main body 10 are simultaneously started by the input of the first command FW or the second command BW to the operation lever 221. The specific movements when the above operation flows are performed simultaneously are as shown in FIGS. 3 to 8. From the initial position shown in FIG. 3, either the first command FW or the second command BW is input by the operation lever 221. Hereinafter, the case where the first command FW is input by the operation lever 221 will be described as an example. In the initial state shown in FIG. 3, the apparatus main body 10 is located at the origin O, and the attachment 20 is located at the intermediate position N.

[0049] As shown in FIG. 4, when a first command FW is input by the operation lever 221, the attachment 20 moves in the first direction D1 through steps SA1, SA2(NO), SA3(NO), SA4 shown in FIG. 9. As shown in FIG. 5, the apparatus main body 10 also moves in the first direction D1 through steps SR1, SR2(YES), SR3 shown in FIG. 10. However, in this control example, at this time, the apparatus main body 10 takes more time to start than the attachment 20. Therefore, even if the control signals are transmitted in parallel from the robot control panel 211 and the control panel 220 respectively, seemingly, the attachment 20 moves forward to the forward end F first, and then the apparatus main body 10 moves.

[0050] As shown in FIG. 6, when the working rod R attached to the tip of the attachment 20 contacts the slag S, a reaction force is generated on the attachment 20. In this case, if the first command FW continues to be input, the attachment 20 does not move particularly through steps SA1, SA2(NO), SA3(YES) shown in FIG. 9 until it is determined that the reaction force exceeds the threshold value. On the other hand, as shown in FIG. 7, the apparatus main body 10 continues to move in the first direction D1 through steps SR1, SR2(YES), SR3 shown in FIG. 10. When it is determined that the reaction force exceeds the threshold value, as shown in FIG. 8, the attachment 20 moves in the second direction D2 through steps SA1, SA2(YES), SA6(NO), SA7 shown in FIG. 9.

[0051] Such movement prevents an excessive reaction force from occurring on the attachment 20 and damaging the attachment 20. After this state is reached, the user moves the operation lever 221 back and forth, and reciprocates the attachment 20 in the first direction D1 and the second direction D2 at high speed with the apparatus main body 10 stationary, thereby removing the slag S. Also, the apparatus main body 10 and the attachment 20 may be moved as follows based on the position of the attachment 20 detected by the discrimination means and the information on the reaction force detected by the determination means.

[0052] That is, when the determination means determines that the parameter has exceeded the threshold value, the attachment 20 may be moved in the second direction D2 until the parameter becomes equal to or less than a predetermined value. Further, when the determination means determines that the parameter has exceeded the threshold value, the attachment 20 is moved in the second direction D2 so as to maintain the state in which the parameter becomes equal to or less than a predetermined value and the attachment 20 is in contact with the object, and the apparatus main body 10 may be moved in the first direction D1.

[0053] Also, when it is determined that the parameter has not exceeded the threshold value, after the attachment 20 is moved in the first direction D1, if the discrimination means discriminates that the attachment 20 is at the proximity position NF, the apparatus main body 10 may be moved in the first direction D1. Further, when the reception means receives the second command BW, if the discrimination means discriminates that the attachment 20 is at the remote position BN, the apparatus main body 10 is moved in the second direction D2, and if the discrimination means discriminates that the attachment 20 is at the intermediate position N, the attachment 20 may be moved in the second direction D2.

[0054] Next, as a modification of using the control system 200 according to the present embodiment for purposes other than the above, an example of using the control system 200 for finishing a large forging will be described. That is, a rotary grinding wheel may be attached to the tip of the attachment 20, and the control system 200 may be used to press the rotary grinding wheel against the large forged part for finishing the large forged part. In this case, the above-described parameter may be the magnitude of the change in the reaction force instead of the reaction force.

[0055] Further, a setting means for setting a first reaction force mode and a second reaction force mode different from the first reaction force mode may be provided, and the above-described parameter may be made switchable so that the control system 200 can be used for a plurality of purposes. The first reaction force mode is a mode in which, in step SA2 of FIG. 9 and step SS2 of FIG. 13, the determination means is caused to determine whether or not the magnitude of the reaction force exceeds a predetermined threshold value as a parameter related to the reaction force received by the attachment 20 from the object. The second reaction force mode is a mode in which, in step SA2 of FIG. 9 and step SS2 of FIG. 13, the determination means is caused to determine whether or not the magnitude of the change in the reaction force exceeds a predetermined threshold value as a parameter related to the reaction force received by the attachment 20 from the object. That is, regarding the determination criteria by the above-described determination means, when the setting means sets the first reaction force mode, the magnitude of the reaction force may be used as a parameter, and when the second reaction force mode is set, the magnitude of the change in the reaction force may be used as a parameter.

[0056] Further, when the reception means receives the first command FW, the control system 200 may include control means (second mode) for moving the apparatus main body 10 and the attachment 20 in the first direction D1 when the determination means determines that the parameter does not exceed the threshold value, and moving the apparatus main body 10 and the attachment 20 in the second direction D2 when it is determined that the parameter exceeds the threshold value, and setting means for setting the first mode and the second mode.

[0057] Further, in the second mode, when the reception means receives the second command BW, the apparatus main body 10 and the attachment 20 may be moved in the second direction D2.

[0058] Specifically, when the reception means receives the first command FW, if the determination means determines that the parameter does not exceed the threshold value, the attachment 20 is moved in the first direction D1. When the discrimination means discriminates that the attachment 20 is at the proximity position NF, the apparatus main body 10 is moved in the first direction D1. When the determination means determines that the parameter exceeds the threshold value, the attachment 20 is moved in the second direction D2. When the discrimination means discriminates that the attachment 20 is at the remote position BN, the apparatus main body 10 is moved in the second direction D2. Thereby, when the reception means receives the first command FW, if the determination means determines that the parameter exceeds the threshold value, the attachment 20 moves in the second direction D2, and the apparatus main body 10 does not move in the first direction D1, and it is possible to quickly avoid an unexpected force during work.

[0059] As described above, according to the control system 200 according to the present embodiment, the moving speed of the attachment 20 is faster than the moving speed of the apparatus main body 10. By adopting such a configuration, it is possible to approach the object more quickly as compared with the case of approaching the object only by the apparatus main body 10. Further, instead of increasing the moving speed of the apparatus main body 10, by increasing the moving speed of the attachment 20 attached to the apparatus main body 10, it is possible to realize a quick approach to the object. Therefore, for example, large-scale work such as modification of the apparatus main body 10 can be suppressed.

[0060] The above configuration brings a remarkable effect, for example, when removing the slag S deposited inside the melting furnace M by the working rod R attached to the tip of the attachment 20. That is, in the above-described slag removal, it is necessary to operate the working rod R at high speed or with acceleration, and this configuration enables the above-described operation.

[0061] Further, the determination means determines whether or not a parameter related to the reaction force received by the attachment 20 from the object exceeds a threshold value, and the control means changes the moving direction of the attachment 20 according to the determination result. Here, when the attachment 20 is receiving a reaction force from the object, the apparatus main body 10 may further move in the first direction D1. As a result, the reaction force received by the attachment 20 may become excessive, and the attachment 20 may be damaged.

[0062] On the other hand, when the determination means determines that the parameter has exceeded the threshold value, the attachment 20 is moved in the second direction D2 opposite to the first direction D1. Also, as described above, the moving speed of the attachment 20 is faster than the moving speed of the apparatus main body 10. Thus, even when the apparatus main body 10 further moves in the first direction D1 while the attachment 20 is receiving a reaction force, the parameter can be moved so as to move away from the object. Therefore, it is possible to prevent the attachment 20 from being damaged and to perform work safely.

[0063] Also, when the parameter does not exceed the threshold value, the apparatus main body 10 is moved in the first direction D1 together with the attachment 20. By moving the attachment 20 and the apparatus main body 10 only when the threshold value is not exceeded, in addition to being able to move the attachment 20 quickly, safety can be ensured.

[0064] Also, the parameter is the magnitude of the reaction force. Thereby, by appropriately setting the threshold value, the attachment 20 can be moved in the second direction D2 before the reaction force received by the attachment 20 from the object becomes excessive.

[0065] Also, when the determination means determines that the parameter has exceeded the threshold value, the attachment 20 is moved in the second direction D2 until the parameter becomes equal to or less than a predetermined value. Thereby, while preventing the attachment 20 from receiving an excessive reaction force, the attachment 20 can be moved so as to follow the object.

[0066] Also, while moving the attachment 20 in the second direction D2 so as to maintain the state in which the attachment 20 is in contact with the object, the apparatus main body 10 is moved in the first direction D1. Thereby, while maintaining the contact state between the attachment 20 and the object, the apparatus main body 10 can be moved to an optimal position.

[0067] Also, when the discrimination means discriminates that the attachment 20 is at the proximity position NF, the apparatus main body 10 is moved in the first direction D1, and when the discrimination means discriminates that the attachment 20 is at the remote position BN, the apparatus main body 10 is moved in the second direction D2. That is, by auxiliary moving the apparatus main body 10 according to the position state of the attachment 20, it is possible to prevent the attachment 20 from moving more than necessary. Therefore, the time required for the attachment 20 to return to its original position can be reduced, and the workability can be improved.

[0068] When the attachment 20 approaches the object, it is preferable that the attachment 20 is at the proximity position NF. This is because when the attachment 20 is at the proximity position NF, there is room for the attachment 20 to move in the second direction D2. Therefore, when the attachment 20 is in contact with the object and receives a reaction force, for example, when the reaction force is about to increase, if the attachment 20 is at the proximity position NF, the attachment 20 can be released in the second direction D2. When the reception means receives the first command FW, when the determination means determines that the parameter does not exceed the threshold value, the attachment 20 is moved in the first direction D1. Then, when the discrimination means discriminates that the attachment 20 is at the proximity position NF, the apparatus main body 10 is moved in the first direction D1. Therefore, until the attachment 20 moves to the proximity position NF, the attachment 20 actively advances in the first direction D1.

[0069] On the one hand, when the attachment 20 is about to separate from the object, it is preferable for the attachment 20 to move to the remote position BN. This is because if the attachment 20 moves to the remote position BN, the attachment 20 can be quickly separated from the object, avoiding damage to the attachment 20 or the device main body 10, and suppressing excessive reaction force from being input to the attachment 20. When the receiving means receives the second command BW, the attachment 20 is moved in the second direction D2. Therefore, the attachment 20 can be quickly separated from the object, avoiding damage to the attachment 20 or the device main body 10. Further, when the discrimination means discriminates that the attachment 20 is at the remote position BN, the device main body 10 is moved in the second direction D2. Accordingly, excessive reaction force being input to the attachment 20 can be suppressed.

[0070] Also, when the discrimination means discriminates that the attachment 20 is at the intermediate position N, the movement of the device main body 10 is suppressed. Thereby, when the user tries to move only the attachment 20, the device main body 10 can be prevented from moving simultaneously. Thus, the operability of the control system 200 can be further improved.

[0071] Also, the parameter is the magnitude of the change in reaction force. For example, depending on the use of the control system 200, there may be a case where it is necessary to maintain a certain reaction force between the attachment 20 and the object. At this time, by setting the parameter as the magnitude of the change in reaction force, the reaction force can be maintained more efficiently compared to the case where the parameter is the magnitude of the reaction force.

[0072] The above configuration brings a remarkable effect, for example, when finishing a large forgings using a rotary grinding wheel attached to the tip of the attachment 20. That is, in the above-mentioned finishing process, it is necessary to press the rotary grinding wheel against the surface of the object with a certain force, and this configuration enables the above operation.

[0073] Also, the parameters can be changed by the setting means. As a result, the control system 200 can be used for multiple applications. For example, regarding the control system 200, when the first reaction force mode is set, it can be used for the operation of removing the slag S deposited inside the melting furnace M by the working rod R attached to the tip of the attachment 20. Also, when the second reaction force mode is set, it can be used for the operation of finishing a large forged product by the rotary grinder attached to the tip of the attachment 20.

[0074] Also, when it is determined that the attachment 20 is in the proximity position NF, the apparatus main body 10 is moved in the first direction D1, and when it is determined that the attachment 20 is in the remote position BN, the apparatus main body 10 is moved in the second direction D2. Thereby, it is possible to prevent the attachment 20 from moving more than necessary. Therefore, the time required for the attachment 20 to return to its original position can be reduced, and the workability can be improved.

[0075] Furthermore, it further includes a first notification means I1 for notifying the user of the information indicating the position of the tip of the attachment 20 and the information indicating the position of the object. As a result, the user can optimally operate the control system 200 using the notified information.

[0076] Furthermore, it further includes a second notification means I2 for notifying the user of the information indicating the distance from the tip of the attachment 20 to the object. As a result, the user can more appropriately grasp the positional relationship between the attachment 20 and the object. Therefore, for example, it is possible to appropriately determine which of the above-mentioned first command FW or second command BW should be performed.

[0077] Furthermore, it further includes a third notification means I3 for notifying the user of the position of the attachment 20. As a result, the user can grasp how the control system 200 operates according to the above-mentioned first command FW or second command BW, and can realize an optimal operation.

[0078] Furthermore, it further includes a fourth notification means I4 for notifying the user of information indicating whether or not the tip of the attachment 20 is in contact with the object. Thereby, when a reaction force is generated on the attachment 20, the user can appropriately identify whether the reaction force is due to the tip of the attachment 20 being appropriately in contact with the object, or whether it is due to contact with an unexpected substance or the like.

[0079] Note that the technical scope of the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, the force sensor 23 may be provided at the end of the attachment 20 on the second direction D2 side instead of the end on the first direction D1 side. Also, the control system 200 according to the present embodiment may be used for chipping work such as concrete. Note that all or part of each function of the control system 200 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. A computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk incorporated in a computer system. The program may also be transmitted via a telecommunication line.

[0080] In addition, within the scope not departing from the spirit of the present invention, it is possible to appropriately replace the components in the above-described embodiments with well-known components, and the above-described modification examples may also be appropriately combined.

Description of Reference Numerals

[0081] 10 Device main body 20 Attachment 200 Control system I1 First notification means I2 Second notification means I3 Third notification means I4 Fourth notification means D1 First direction D2 Second direction FW First instruction BW Second instruction BN Remote position N Intermediate position NF Proximity position F Forward end B Reverse end

Claims

1. A control system for controlling a device body having a base and an attachment mounting portion and approaching an object by moving in a first direction, and an attachment attached to the attachment mounting portion and approaching the object by moving in the first direction, the control system comprising: notifying a user of information indicating each of a plurality of types of components of a reaction force received by the attachment from the object. A control system characterized by the above.

2. The control system according to claim 1, characterized in that information indicating each of the plurality of types of components of the reaction force is notified together.

3. The control system according to claim 1 or 2, characterized in that information indicating whether or not the tip of the attachment is in contact with the object is notified to the user together with information indicating each of the plurality of types of components of the reaction force.

4. The control system according to any one of claims 1 to 3, characterized in that information indicating the distance from the tip of the attachment to the object is notified to the user together with information indicating each of the plurality of types of components of the reaction force.

5. The control system according to any one of claims 1 to 4, characterized in that information indicating the position of the tip of the attachment is notified to the user together with information indicating each of the plurality of types of components of the reaction force.

6. The control system according to any one of claims 1 to 5, characterized in that the information indicating the reaction force is color-coded and notified according to the magnitude of the reaction force.

7. When a position relatively far from the object among a plurality of positions where the attachment is movable along the first direction is defined as a remote position, a position closer to the object than the remote position is defined as an intermediate position, and a position closer to the object than the intermediate position is defined as a proximity position, information indicating which of the remote position, the intermediate position, and the proximity position the current position of the attachment is in is notified to the user. The control system according to any one of claims 1 to 6, characterized by the above.

8. The control system according to any one of claims 1 to 7, characterized in that information indicating the position of the tip of the attachment and information indicating the position of the object are notified to the user.

9. Notifying the user of a robot command value, an up-down angle, and a left-right angle. ​ ​ ​ ​ ​ ​ ​ The control system according to any one of claims 1 to 8, characterized by the above.

10. An apparatus main body having a base and an attachment mounting portion, and approaching an object by moving in a first direction, A control method for controlling an attachment attached to the attachment mounting portion and approaching the object by moving in the first direction, comprising: A notification step of notifying a user of information indicating each of a plurality of types of components of a reaction force received by the attachment from the object. A control method characterized by the above.

11. A program for causing a computer to function as the control system according to any one of claims 1 to 9.

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