Processing device

Abstract

To efficiently process a long workpiece.SOLUTION: A control device is configured to: move a multi-axis robot 11 based on an input N to an input device 30; store a moving path TP of the multi-axis 11 while moving the multi-axis robot 11 based on the input N to the input device 30; calculate a predicted path A based on the stored moving path TP; and automatically move the multi-axis robot 11 along the predicted path A when a predetermined trigger operation is detected on the input device 30.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a processing device. [Background technology]

[0002] In remotely performed processing such as remote welding, a robot may move a tool instead of a human hand. In such processing, an operator remotely controls the robot. For example, Patent Document 1 discloses a working device used for welding. In this working device, a torch is moved by a remote control unit. In response to an input to the remote control unit, the torch movement distance is converted at different ratios between the X-axis direction and the Y-axis direction. With this configuration, for example, the torch can be accurately moved by a large amount in the X-axis direction and a small amount in the Y-axis direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-133564 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, when welding a long workpiece, Patent Document 1 discloses that the workpiece can be efficiently welded by moving the torch longitudinally at a large rate. However, welding often requires delicate operations. Therefore, moving the torch at a large rate may not be suitable for the operations that skilled operators have been trained to perform over many years.

[0005] An object of the present disclosure is to provide a processing device that can efficiently process a long workpiece. [Means for solving the problem]

[0006] A processing apparatus according to one aspect of the present disclosure includes a multi-axis robot, an input device for an operator to move the multi-axis robot, and a control device that moves the multi-axis robot based on input to the input device, the control device being configured to: move the multi-axis robot based on input to the input device; store a movement path of the multi-axis robot while moving the multi-axis robot based on input to the input device; calculate a predicted path based on the stored movement path; and, when a predetermined trigger action is detected on the input device, automatically move the multi-axis robot along the predicted path.

[0007] The input to the input device for moving the multi-axis robot may include a component of movement in a predetermined first direction, and the trigger action may include a component of movement in a second direction opposite to the first direction.

[0008] The input to the input device for moving the multi-axis robot may include movement within a predetermined range from a predetermined surface, and the trigger action may include moving the input device out of the predetermined range.

[0009] The input to the input device for moving the multi-axis robot may be slower than a predetermined speed, and the trigger operation may be faster than the predetermined speed.

[0010] The input device may control a multi-axis robot by position control and have a physical range of motion.

[0011] The controller may be further configured to automatically move the multi-axis robot along a predicted path when the input device reaches a predetermined limit associated with a physical range of motion.

[0012] Another aspect of the invention is a method implemented by at least one computer, comprising: moving a multi-axis robot based on operator input to an input device for moving the multi-axis robot; storing a path of movement of the multi-axis robot while moving the multi-axis robot based on the input to the input device; calculating a predicted path of movement based on the stored path of movement; and automatically moving the multi-axis robot along the predicted path when a predetermined trigger action is detected on the input device.

[0013] Yet another aspect of the present invention is a program that causes at least one computer to perform the following operations: move a multi-axis robot based on an input from an operator to an input device for moving the multi-axis robot; store a movement path of the multi-axis robot while moving the multi-axis robot based on the input to the input device; calculate a predicted path based on the stored movement path; and automatically move the multi-axis robot along the predicted path when a predetermined trigger action is detected on the input device. [Effects of the Invention]

[0014] According to the present disclosure, a long workpiece can be efficiently machined. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic view showing a processing device according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing an example of the operation of the processing device. [Figure 3] FIG. 3 is a flowchart showing an example of the operation of the processing device. [Figure 4] FIG. 4 is a flowchart continuing from FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Specific dimensions, materials, numerical values, etc. shown in the embodiments are merely examples for ease of understanding and do not limit the present disclosure unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present disclosure are not shown.

[0017] FIG. 1 is a schematic diagram showing a processing apparatus 100 according to an embodiment. In this embodiment, the processing apparatus 100 is used for welding. The processing apparatus 100 may also be used for other processing. For example, in other embodiments, the processing apparatus 100 may be used for gouging or chipping. Processing for which the processing apparatus 100 can be used is not limited to these.

[0018] For example, the processing apparatus 100 includes a processing robot 10, a control device 20, an input device 30, and a monitor 40. The processing apparatus 100 may further include other components.

[0019] For example, the processing robot 10 includes a multi-axis robot 11 and a tool 12. The processing robot 10 may further include other components.

[0020] The multi-axis robot 11 holds the tool 12. The multi-axis robot 11 moves the tool 12 based on a signal from the control device 20. For example, the multi-axis robot 11 may be a multi-joint robot with multiple degrees of freedom and may include an arm. For example, the multi-axis robot 11 may move the tool 12 with six degrees of freedom, including an X direction, a Y direction, a Z direction, a pitch direction, a yoke direction, and a roll direction.

[0021] For example, the multi-axis robot 11 may include multiple motors for moving the tool 12. For example, the motors may be servo motors, and the multi-axis robot 11 may include multiple encoders Se. The encoders Se are communicatively connected to a PC 21 (described later) of the control device 20 via wired or wireless communication. The encoders Se transmit measurement data to the PC 21. The control device 20 can obtain the position of the origin of the tool 12 and the attitude of the tool 12 based on the measurement data from the encoders Se. For example, the origin of the tool 12 may be set to any point on the tool 12, such as the tip or center of the tool 12. Alternatively, the origin of the tool 12 may be set to any point on the arm of the multi-axis robot 11, such as the tip of the arm. The position of the origin of the tool 12 is not limited thereto.

[0022] The tool 12 is used to process the workpiece W. When the processing apparatus 100 is used for welding, the tool 12 is a heat source for welding, and specifically, in this embodiment, the tool 12 is a welding torch. Note that the tool 12 is not limited to a welding torch. In this embodiment, the processing apparatus 100 performs arc welding. In this embodiment, the tool 12 generates an arc discharge and melts the portion to be welded of the workpiece W. The arc welding may be, for example, TIG welding, plasma welding, gas metal arc welding, submerged arc welding, shielded metal arc welding, self-shielded arc welding, or electrogas arc welding. In other embodiments, the processing apparatus 100 may perform welding other than arc welding, such as laser welding, electron beam welding, electroslag welding, brazing (soldering, brazing), gas welding, or plastic welding. The welding performed by the processing apparatus 100 is not limited to these. As described above, the processing apparatus 100 may also be used for processing other than welding, such as thermal spraying, gouging, or chipping. Depending on the type of processing being performed, the tool 12 may be a laser head, an electron gun, a welding rod, an electrode guide, a soldering iron, a gas torch, a thermal spray gun, a heat pen, a gas gouging torch, an air arc gouging torch, a plasma arc gouging torch, a laser gouging torch, a grinder, a chipping hammer, a wire brush or an air chipper, or the like.

[0023] In this embodiment, the machining robot 10 includes a camera CM. For example, the camera CM may include an imaging element such as a CMOS or CCD. For example, the camera CM may include a single camera. Alternatively, for example, the camera CM may include multiple cameras (e.g., a stereo camera). The camera CM is communicatively connected to a PC 21 via wired or wireless communication. The camera CM transmits images and videos to the PC 21. For example, the control device 20 may be configured to extract a specific point on the workpiece W based on known image processing and measure the distance to the extracted point based on multiple images taken from different positions. The camera CM is also communicatively connected to a monitor 40 via wired or wireless communication. The camera CM transmits images and videos to the monitor 40. The camera CM moves together with the multi-axis robot 11. For example, the camera CM may be fixed to any position on the tool 12 from which the camera CM can capture images of the workpiece W, such as the side of the tool 12.

[0024] The control device 20 controls the processing robot 10. The control device 20 may also control the entire processing device 100. For example, the control device 20 may be realized by one or more computers. In this embodiment, the control device 20 includes a single PC 21. In other embodiments, the control device 20 may include multiple PCs. The control device 20 may also include other components such as a teaching pendant.

[0025] The PC 21 includes components such as a processor 21a and a storage device 21b, which are connected to each other via a bus. The PC 21 may further include other components. For example, the processor 21a includes a CPU (Central Processing Unit) and the like. For example, the storage device 21b includes a hard disk, a ROM (Read Only Memory) in which programs and the like are stored, and a RAM (Random Access Memory) as a work area and the like. For example, the operation of the PC 21 may be realized by the processor 21a executing a program stored in the storage device 21b.

[0026] The PC 21 is communicably connected to the multi-axis robot 11, the input device 30, and the monitor 40 via wire or wirelessly. The PC 21 controls the processing robot 10 based on signals from the input device 30.

[0027] The input device 30 receives input from the operator H for operating the processing robot 10. The input device 30 may further receive other inputs related to the processing robot 10 and the processing apparatus 100 from the operator H. For example, the input device 30 may include a device that uses position control or speed control to move the multi-axis robot 11. For example, the input device 30 may include at least one of a haptic device, a foot switch, a joystick, a button, a dial, a foot pedal, a touch panel, a smartphone, a tablet, a scroll wheel, a handle, a lever, a paddle shifter, and a motion controller. For example, the input device 30 receives input from the operator H for moving the tool 12 in at least one direction selected from the X direction, the Y direction, the Z direction, the pitch direction, the yoke direction, the roll direction, and combinations thereof.

[0028] 2 is a schematic diagram showing an example of the operation of the processing apparatus 100. In FIG. 2, the input device 30 is enlarged relative to the multi-axis robot 11 and the workpiece W for better understanding.

[0029] In this embodiment, the input device 30 is configured to use position control to move the multi-axis robot 11. In the example of FIG. 2, the input device 30 includes a haptic device 30A as an input device using position control. In other embodiments, the input device 30 using position control may include at least one of a touch panel, a smartphone, a tablet, a dial, a scroll wheel, a lever, and a motion controller. In still other embodiments, the input device 30 may be configured to use speed control to move the multi-axis robot 11. For example, the input device 30 using speed control may include at least one of a foot switch, a joystick, a button, a dial, a foot pedal, a touch panel, a smartphone, a tablet, a steering wheel, a lever, a paddle shifter, and a motion controller. The input device 30 is not limited thereto.

[0030] For example, in this embodiment, the control device 20 uses at least two coordinate systems. Specifically, the control device 20 uses at least a first coordinate system C1 and a second coordinate system C2. For example, each of the first coordinate system C1 and the second coordinate system C2 is an orthogonal coordinate system including an X-axis, a Y-axis, and a Z-axis.

[0031] The first coordinate system C1 is set relative to the multi-axis robot 11 and is used to operate the multi-axis robot 11. For example, the origin of the first coordinate system C1 may be set at any point on the multi-axis robot 11 or at a point outside the multi-axis robot 11 related to the multi-axis robot 11. For example, the origin of the first coordinate system C1 may be set at a predetermined point on the base. The origin of the first coordinate system C1 is not limited to this. For example, the Z-axis z1 may be set parallel to the vertical direction. The X-axis x1 is set in any direction perpendicular to the Z-axis z1. The Y-axis y1 is set perpendicular to both the X-axis x1 and the Z-axis z1. For example, the first coordinate system C1 may be a right-handed coordinate system.

[0032] The second coordinate system C2 is set relative to the input device 30. For example, in the example of FIG. 2, the haptic device 30A includes a multi-joint arm 31 with multiple degrees of freedom, similar to the multi-axis robot 11, and the operator H can specify the input N with six degrees of freedom, including the X direction, Y direction, Z direction, pitch direction, yoke direction, and roll direction. For example, the origin of the second coordinate system C2 may be set to any point on the input device 30 or a point outside the input device 30 related to the input device 30. For example, the origin of the second coordinate system C2 may be set to a predetermined point on the base. The origin of the second coordinate system C2 is not limited to this. For example, the Z axis z2 may be set parallel to the vertical direction. The X axis x2 is set in any direction perpendicular to the Z axis z2. The Y axis y2 is set perpendicular to both the X axis x2 and the Z axis z2. For example, the second coordinate system C2 may be a right-handed coordinate system.

[0033] In the position control, the input device 30 specifies the position of the origin of the tool 12 relative to the origin of the multi-axis robot 11 (e.g., the origin of the first coordinate system C1). For example, the origin of the second coordinate system C2 may correspond to the origin of the first coordinate system C1, and the tip 31a of the arm 31 of the haptic device 30A may correspond to the origin of the tool 12. In this case, the control device 20 can specify the position of the origin of the tool 12 relative to the origin of the first coordinate system C1 by detecting the position of the tip 31a relative to the origin of the second coordinate system C2.

[0034] Specifically, the control device 20 receives an input N from the operator H to the second coordinate system C2 as an input to the first coordinate system C1. The control device 20 receives an input component in a direction along the X-axis x2 in the second coordinate system C2 as an input component in a direction along the X-axis x1 in the first coordinate system C1. Similarly, the control device 20 receives input components in directions along the Y-axis y2 and Z-axis z2 in the second coordinate system C2 as input components in directions along the Y-axis y1 and Z-axis z1 in the first coordinate system C1, respectively. The control device 20 may multiply the input component in each direction by a predetermined magnification (scale conversion). The control device 20 generates the movement direction of the tool 12 at that position, i.e., the movement path TP (a small section of the movement path TP), by combining the input components in all directions.

[0035] In this embodiment, the input device 30 has a physical range of movement R. In the present disclosure, the "physical range of movement" refers to a range within which the input device 30 can physically move. Specifically, in this embodiment, the tip 31a of the arm 31 cannot physically move outside the range of movement R due to the length of the arm 31. For example, in three dimensions, the range of movement R may have a spherical shape centered at the base of the arm 31. Furthermore, in two dimensions, the range of movement R may have a circular shape on the x2-y2 plane centered at the base of the arm 31 or the origin of the second coordinate system C2. The physical range of movement R is not limited to this and may vary depending on various factors such as the shape of the input device 30.

[0036] In this embodiment, a limit LM is set for the input device 30. For example, the limit LM is used when switching the operation mode from a manual remote welding mode to an automatic remote welding mode (details will be described later). In this embodiment, the limit LM is associated with the movable range R. For example, the limit LM may be a position that is a predetermined width inward from the outer edge of the movable range R. Also, for example, the limit LM may be a position where the distance from the center of the movable range R is a predetermined percentage of the distance from the center of the movable range R to the outer edge of the movable range R. Also, for example, the limit LM may coincide with the outer edge of the movable range R.

[0037] 1, the monitor 40 displays various information output from the control device 20. The monitor 40 also displays images and videos output from the camera CM. For example, the operator H may operate the input device 30 to remotely control the multi-axis robot 11 while viewing the images or videos on the monitor 40.

[0038] Next, the operation of the processing device 100 will be described.

[0039] Referring to FIG. 2, in this embodiment, the workpiece W includes a first workpiece W1 and a second workpiece W2. For example, each of the first workpiece W1 and the second workpiece W2 is a long plate. The workpiece W is not limited to this and may have other shapes. In this embodiment, butt welding is performed between a side surface W1a of the first workpiece W1 and a side surface W2a of the second workpiece W2. The first workpiece W1 and the second workpiece W2 are arranged so that the side surfaces W1a and W2a are parallel to the X-axis x1. Furthermore, weaving is performed during this butt welding. The weaving includes reciprocating the tool 12 in a direction intersecting the boundary line between the first workpiece W1 and the second workpiece W2 (in this example, the direction of the Y-axis y1). Therefore, the movement path TP of the tool 12 vibrates.

[0040] In this embodiment, the welding length L of the workpiece W along the X-axis x1 is longer than the movable range R of the input device 30. As described above, in FIG. 2, the input device 30 is enlarged relative to the multi-axis robot 11 and the workpiece W, and the welding length L is depicted as being shorter than the movable range R. However, on an actual scale, the welding length L is longer than the movable range R. For example, the welding length L may be several times, several dozen times, or several tens of times the movable range R. Furthermore, in this embodiment, the welding length L is longer than the limit LM (described in detail below) of the input device 30. For example, the welding length L may be several times, several dozen times, or several tens of times the limit LM.

[0041] With this configuration, the movable range R of the input device 30 is shorter than the welding length L, so the welding cannot be completed with a single pass P corresponding to a single input N. That is, to complete the welding, the operator H must repeat multiple passes P. Between multiple passes P, the operator H must return the arm 31 from the final position P1 of the input N to the initial position P0 of the input N. If the welding is interrupted when the arm 31 is returned, the efficiency of the welding decreases.

[0042] In this embodiment, to address this problem, an automatic remote welding mode is inserted between multiple passes P.

[0043] FIG. 3 is a flowchart showing an example of the operation of the processing device.

[0044] For example, the operations shown in FIG. 3 may begin when operator H begins welding.

[0045] The processor 21a of the PC 21 moves the multi-axis robot 11 based on the input N from the operator H to the input device 30 (step S100). In step S100, remote welding is performed based on the input from the operator H (manual remote welding mode).

[0046] While moving the multi-axis robot 11 based on the input N, the processor 21a stores the movement path TP of the tool 12, i.e., the movement path of the multi-axis robot 11, in the storage device 21b (step S102). For example, the processor 21a may store the movement path TP of the origin of the tool 12 as the movement path of the multi-axis robot 11. For example, the movement path TP of the origin of the tool 12 may be detected by at least one of the encoder Se and the camera CM, and the detected movement path may be stored in the storage device 21b. Alternatively, the processor 21a may store the input N from the operator H to the input device 30 as the movement path of the multi-axis robot 11.

[0047] The processor 21a determines whether or not weaving has been detected a predetermined number of times (step S104). For example, the processor 21a may analyze the movement path stored in the storage device 21b and determine whether or not vibrations with a predetermined number of periods are included.

[0048] If weaving is detected a predetermined number of times in step S104 (YES), the processor 21a calculates a predicted path of the tool 12, i.e., a predicted path of the multi-axis robot 11 (step S106). For example, the processor 21a may calculate a predetermined number of cycles of vibration from the current time point immediately before as the predicted path. For example, the processor 21a may calculate a moving average value as the position and a differential value as the velocity based on the detected data. The processor 21a may determine the path and velocity based on these. The processor 21a may also calculate a frequency based on the detected data. The processor 21a may add the calculated frequency component to the path. The processor 21a proceeds to step S108.

[0049] If weaving is not detected the predetermined number of times in step S104 (NO), the processor 21a skips step S106 and proceeds to step S108.

[0050] The processor 21a determines whether the input device 30 has reached the limit LM (step S108). For example, the processor 21a may determine whether the tip 31a of the arm 31 has reached the limit LM based on a signal from the input device 30.

[0051] If the input device 30 does not reach the limit LM in step S108 (NO), the processor 21a determines whether a predetermined trigger operation has been detected in the input device 30 (step S110). In the present disclosure, the "trigger operation" refers to an operation for switching the operation mode from the manual remote welding mode to the automatic remote welding mode.

[0052] Referring to FIG. 2, for example, in this embodiment, the input N for moving the multi-axis robot 11 for processing includes a movement component in the positive direction on the X-axis x2 and a vibration component on the Y-axis y2.

[0053] For example, as described above, when the arm 31 approaches the limit LM, the operator H needs to return the arm 31 from the final position P1 of the input N to the initial position P0 of the input N. In this embodiment, a predetermined motion included in this returning motion is detected as a trigger motion. For example, the trigger motion may include a predetermined trajectory indicated by an input to the input device 30. This trajectory is different from the input N for moving the multi-axis robot 11 for processing.

[0054] For example, the returning operation requires the operator H to move the arm 31 in the negative direction on the X-axis x2. Therefore, for example, the processor 21a may detect an operation that includes a component of movement in the negative direction on the X-axis x2 as a trigger operation.

[0055] Furthermore, the operator H may move the arm 31 on a predetermined surface such as a table. In this case, for example, the input N for moving the multi-axis robot 11 for processing includes movement along a predetermined x2-y2 plane. In this case, for example, the input N may include movement within a predetermined range from the predetermined x2-y2 plane. For example, the component of the input N in the direction of the Z axis z2 may be defined as α1≦z2≦α2 (α1<α2) so as to have a certain range. For example, α1 and α2 may be preset by the operator. For example, in a return operation, the operator H is assumed to lift the arm 31 from the predetermined surface and then move the arm 31 in the negative direction of the X axis x2. Therefore, for example, the processor 21a may detect the operation of moving the input device 30 outside the predetermined range (α1≦z2≦α2) as a trigger operation.

[0056] Furthermore, in the return operation, it is assumed that the operator H moves the arm 31 from the final position P1 to the initial position P0 more quickly than the input N for moving the multi-axis robot 11 for processing. In this case, by setting a predetermined speed as a threshold, the return operation can be distinguished from the input N. For example, the input N is slower than the predetermined speed, and the return operation is faster than the predetermined speed. Therefore, for example, the processor 21a may detect an operation faster than the predetermined speed as a trigger operation. Note that, for example, in the return operation, the arm 31 is moved in the negative direction on the X-axis x2, so the speeds are compared in absolute values.

[0057] Processor 21a may determine in step S110 that a trigger action has been detected when one of the above examples of trigger actions has been detected. Alternatively, processor 21a may determine in step S110 that a trigger action has been detected when multiple or all of the above examples of trigger actions have been detected.

[0058] 3, if no trigger action is detected in step S110 (NO), the processor 21a repeats steps S102 to S110. For example, these steps may be repeated at predetermined intervals.

[0059] If the input device 30 reaches the limit LM in step S108 (YES), or if a trigger operation is detected in step S110 (YES), the processor 21a transitions to an automatic remote welding mode (step S112). In the automatic remote welding mode, the multi-axis robot 11 and the tool 12 are moved based on the predicted path calculated in step S106.

[0060] Referring to FIG. 2, when the operation mode is switched from the manual remote welding mode to the automatic remote welding mode, the multi-axis robot 11 is automatically moved along the predicted path A. Therefore, welding continues while the arm 31 is returned from the final position P1 to the initial position P0. For example, the path P is switched to the predicted path A so that weaving is smoothly connected between the path P and the predicted path A. For example, the processor 21a may detect a position on the predicted path A that corresponds to the current position of the multi-axis robot 11 and connect the predicted path A to the path P from the detected position. Note that if a return operation, which will be described later, is not detected when the multi-axis robot 11 reaches the end point of the predicted path A, the processor 21a may repeat the predicted path A.

[0061] FIG. 4 is a flowchart continuing from FIG.

[0062] The processor 21a determines whether a predetermined return operation has been detected (step S114). In the present disclosure, the term "return operation" refers to an operation for switching the operation mode from the automatic remote welding mode to the manual remote welding mode.

[0063] 2, after returning the arm 31 from the final position P1 to the initial position P0, the operator H repeats the input N. Therefore, for example, the processor 21a may detect a movement including a component of movement in the positive direction on the X-axis x2 as a return movement.

[0064] It is also assumed that after returning the arm 31 from the final position P1 to the initial position P0, the operator H places the arm 31 on a predetermined surface such as a table again, and then moves the arm 31 in the positive direction of the X-axis x2. Therefore, for example, the processor 21a may detect the action of moving the input device 30 inside a predetermined range (α1≦z2≦α2) as the return action.

[0065] As described above, the input N is slower than the predetermined speed, and the returning action is faster than the predetermined speed. Therefore, for example, the processor 21a may detect an action slower than the predetermined speed as a returning action.

[0066] When one of the above examples of the return operation is detected, the processor 21a may determine in step S114 that the return operation is detected. Alternatively, when multiple or all of the above examples of the return operation are detected, the processor 21a may determine in step S114 that the return operation is detected.

[0067] 4, if a return operation is not detected in step S114 (NO), the processor 21a repeats step S114. For example, step S114 may be repeated at predetermined intervals.

[0068] If a return operation is detected in step S114 (YES), the processor 21a returns to manual operation (step S116). The processor 21a returns to step S100 in FIG. 3 and repeats steps S100 to S116. For example, the processor 21a continues steps S100 to S116 until welding is completed. For example, when returning to manual operation, the predicted path A is switched to path P so that weaving is smoothly connected between the predicted path A and path P. For example, the processor 21a may combine the predicted path A and path P for a predetermined period, and may gradually increase the proportion of path P based on input N from the operator H from 0% to 100%.

[0069] The machining apparatus 100 described above includes a multi-axis robot 11, an input device 30 through which an operator H moves the multi-axis robot 11, and a control device 20 that moves the multi-axis robot 11 based on inputs to the input device 30. The control device 20 is configured to: move the multi-axis robot 11 based on inputs N to the input device 30; store a movement path TP of the multi-axis robot 11 while moving the multi-axis robot 11 based on the inputs N to the input device 30; calculate a predicted path A based on the stored movement path; and automatically move the multi-axis robot 11 along the predicted path A when a predetermined trigger operation is detected by the input device 30. With this configuration, welding continues while the input device 30 is returned to the initial position P0 to weld the long workpiece W. This allows the long workpiece W to be machined efficiently.

[0070] In one example, the input N to the input device 30 for moving the multi-axis robot 11 includes a component of movement in the positive direction of the X-axis x2, and the trigger action includes a component of movement in the opposite direction, the negative direction of the X-axis x2. In another example, the input N to the input device 30 for moving the multi-axis robot 11 includes movement within a predetermined range from a predetermined x2-y2 plane, and the trigger action includes moving the input device 30 out of the predetermined range. In yet another example, the input N to the input device 30 for moving the multi-axis robot 11 is slower than a predetermined speed, and the trigger action is faster than the predetermined speed. These configurations make it easy to detect the trigger action.

[0071] Furthermore, in this embodiment, the input device 30 controls the multi-axis robot 11 by position control and has a physical range of movement R. When the input device 30 uses position control, the returning operation as described above is essential when machining a long workpiece W. Therefore, this embodiment can further demonstrate the above-described effects.

[0072] The control device 20 is further configured to automatically move the multi-axis robot 11 along the predicted path A when the input device 30 reaches a predetermined limit LM associated with the physical range of movement R. With this configuration, switching from the manual remote welding mode to the automatic remote welding mode can be automatically performed.

[0073] Furthermore, a method according to this embodiment is executed by at least one PC 21, and includes: moving the multi-axis robot 11 based on an input N input to the input device 30 by an operator H for moving the multi-axis robot 11; storing a movement path TP of the multi-axis robot 11 while the multi-axis robot 11 is being moved based on the input N to the input device 30; calculating a predicted path A based on the stored movement path TP; and automatically moving the multi-axis robot 11 along the predicted path A when a predetermined trigger operation is detected in the input device 30. Furthermore, a program according to this embodiment causes at least one PC 21 to execute the following steps: moving the multi-axis robot 11 based on an input input to the input device 30 by an operator H for moving the multi-axis robot 11; storing a movement path TP of the multi-axis robot 11 while the multi-axis robot 11 is being moved based on the input to the input device 30; calculating a predicted path A based on the stored movement path TP; and automatically moving the multi-axis robot 11 along the predicted path A when a predetermined trigger operation is detected in the input device 30. According to these configurations, as described above, in order to weld the long workpiece W, welding continues while the input device 30 is being returned to the initial position P0. Therefore, the long workpiece W can be processed efficiently.

[0074] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to the above-described embodiments. It is clear to those skilled in the art that various modifications and alterations can be made within the scope of the claims, and it is understood that these modifications and alterations naturally fall within the technical scope of the present disclosure. Furthermore, the steps performed by the control device 20 do not have to be performed in the order described above, and may be performed in a different order as long as no technical contradiction occurs.

[0075] For example, referring to FIG. 3, in this embodiment, step S104 is performed. In other embodiments, step S104 may not be performed. For example, the processing apparatus 100 can also be used for welding that does not involve weaving. In this case, step S104 is unnecessary.

[0076] Also, for example, in this embodiment, step S106 is executed before steps S108 and S110. In other embodiments, step S106 may be executed after steps S108 and S110 and before step S112. [Explanation of symbols]

[0077] 11 Multi-axis robot 20 Control device 30 Input Devices 30A Haptic Device (position-controlled input device) 100 Processing equipment A. Predicted route C1 1st coordinate system C2 Second coordinate system H Operator LM Limit N Input to the input device to move the multi-axis robot R Physical range of motion TP tool movement path (multi-axis robot movement path)

Claims

1. Multi-axis robots and an input device for an operator to move the multi-axis robot; A control device that moves the multi-axis robot based on an input to the input device, The control device includes: moving the multi-axis robot based on an input to the input device; storing a movement path of the multi-axis robot while moving the multi-axis robot based on an input to the input device; Calculating a predicted route based on the stored travel route; automatically moving the multi-axis robot along the predicted path when a predetermined trigger action is detected on the input device; a control device configured to execute the A processing device comprising:

2. the input to the input device for moving the multi-axis robot includes a component of movement in a predetermined first direction; the trigger action includes a component of movement in a second direction opposite to the first direction; The processing device according to claim 1 .

3. the input to the input device for moving the multi-axis robot includes movement within a predetermined range from a predetermined surface; the trigger action includes moving the input device out of the predetermined range; The processing device according to claim 1 .

4. the input to the input device for moving the multi-axis robot is slower than a predetermined speed; The trigger action is faster than the predetermined speed. The processing device according to claim 1 .

5. The input device controls the multi-axis robot by position control and has a physical range of motion. The processing device according to claim 1 .

6. The control device automatically moving the multi-axis robot along the predicted path when the input device reaches a predetermined limit associated with the physical range of motion; further configured to perform The processing device according to claim 5.

7. A method implemented by at least one computer, comprising: moving the multi-axis robot based on an input by an operator to an input device for moving the multi-axis robot; storing a movement path of the multi-axis robot while moving the multi-axis robot based on an input to the input device; Calculating a predicted route based on the stored travel route; automatically moving the multi-axis robot along the predicted path when a predetermined trigger action is detected on the input device; A method comprising:

8. At least one computer moving the multi-axis robot based on an input by an operator to an input device for moving the multi-axis robot; storing a movement path of the multi-axis robot while moving the multi-axis robot based on an input to the input device; Calculating a predicted route based on the stored travel route; automatically moving the multi-axis robot along the predicted path when a predetermined trigger action is detected on the input device; A program that executes.

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