Robot system

Abstract

To provide a robot system capable of improving workability of a worker.SOLUTION: A welding robot system includes a welding torch unit 12 attached to a distal end of a robot arm of a collaborative robot, a switch unit configured such that when the switch unit is turned on, the robot becomes operable in response to an external force, a button to which a specific function is assigned, a mode setting unit configured to set an operation mode for operating the robot, and an operation disabling unit configured to disable an operation on the button while the operation mode is set to a direct operation mode in which an operator directly applies an external force to the robot by hand to move and operate the robot in response to the external force, and the switch unit is maintained in an on state. The switch part and the button are provided on either the robot arm or a member attached to the robot arm and attached to a position different from the tool part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot system. [Background technology]

[0002] Patent Document 1 listed below discloses a technology called direct teaching, in which a collaborative robot designed for collaborative work with humans is taught by a lead-through operation (direct manipulation) in which an operator manually applies an external force to a manipulator, which then detects the external force and operates the manipulator. This direct teaching makes it easier to teach a movement than using a teach pendant. In Patent Document 1, teaching is performed directly by operating a handle attached to the robot's wrist via an adapter. It is also common to provide a switch on this handle to turn direct manipulation on / off, record positions for teaching, or perform preset movements. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-199174 Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of arc welding robots, precise adjustment of the welding position and angle of the workpiece, such as the tip position of the torch attached to the tip of the robot, must be performed to within a few millimeters and the torch angle to within a few degrees. When directly teaching a robot for applications requiring such precise movements, the operator must hold and directly operate the manipulator or a handle attached to the manipulator while focusing on the tip of the robot's tool. In other words, when directly operating the robot, the operator must operate the robot without looking at the object being held. In this case, if the gripper has a button for turning on / off the direct operation or recording the position, the operator may accidentally press that button. This could result in an operation different from the operator's intended operation, which could degrade workability.

[0005] Therefore, an object of the present invention is to provide a robot system that can improve the workability of a worker. [Means for solving the problem]

[0006] A robot system according to one aspect of the present invention comprises a tool unit attached to the tip of a robot arm of a collaborative robot; a switch unit that, when turned on, enables the robot to operate in response to an external force; a button assigned a specific function; a mode setting unit that sets an operation mode for operating the robot; and an operation disabling unit that disables operation of the button while the operation mode is set to a direct operation mode in which an operator applies an external force directly to the robot with his or her hand and moves and operates the robot in response to the external force, and while the switch unit is maintained in the on state, the switch unit and the button are provided on either the robot arm or a member attached to the robot arm that is attached at a position different from the tool unit.

[0007] According to this aspect, the operation mode for operating the robot is set to a direct operation mode in which the worker applies an external force directly to the robot with his or her hands, moving and operating the robot in response to that external force, and while the switch unit, which enables the robot to operate in response to an external force when turned on, is maintained in the on state, it is possible to disable operation of a button located in the same location as the switch unit and to which a specific function is assigned.

[0008] This prevents a specific function from being accidentally activated when the operator is directly operating the device.

[0009] In the above aspect, the switch portion may be maintained in the on state by the operator continuing to press the switch portion.

[0010] According to this aspect, when the worker directly operates the switch portion while continuing to press it, it is possible to disable the operation of the button to which a specific function is assigned.

[0011] In the above aspect, the robot may further include a torch mount disposed between the tip of the robot arm and the tool portion, and the switch portion and the button may be provided on the torch mount.

[0012] According to this aspect, it is possible to disable the operation of the button provided on the torch mount provided with the switch section that is maintained in the on state by the operator who directly operates it.

[0013] In the above aspect, the specific function may be a function related to the movement of the robot.

[0014] According to this aspect, it is possible to prevent a function relating to the movement of the robot from being accidentally activated when the worker is directly operating the robot.

[0015] In the above aspect, the specific function may be a function related to tool operation.

[0016] According to this aspect, it is possible to prevent a function relating to tool operation from being erroneously activated when the operator is directly operating the tool.

[0017] In the above aspect, the specific function may be a function for changing the pattern of functions assigned to buttons.

[0018] According to this aspect, it is possible to prevent the function assigned to the button from being changed by mistake while the worker is directly operating the button. [Effects of the Invention]

[0019] According to the present invention, it is possible to provide a welding robot system that can improve the workability of a worker. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a welding robot system according to an embodiment. [Figure 2] FIG. 2 is an enlarged view of a torch mount that constitutes the welding robot of FIG. 1. [Figure 3] FIG. 2 is an enlarged view of a torch mount that constitutes the welding robot of FIG. 1. [Figure 4] FIG. 2 is a block diagram illustrating functions included in a control unit. DETAILED DESCRIPTION OF THE INVENTION

[0021] A preferred embodiment of the present invention will be described with reference to the accompanying drawings. In each drawing, components with the same reference numerals have the same or similar configurations. Furthermore, since the drawings are schematic, the dimensions and proportions of each component may differ from those of the actual components.

[0022] FIG. 1 is a diagram illustrating the configuration of a welding robot system according to an embodiment. The welding robot system includes, for example, a welding robot 1 and a robot control device 2. The welding robot 1 and the robot control device 2 can be connected via a network, for example, including a wired or wireless network such as a communication cable. The welding robot system may also include a teaching pendant. The teaching pendant is an operation terminal that can be connected to the robot control device 2 and that allows an operator to teach the welding robot 1 how to operate.

[0023] The robot control device 2 is a control unit that controls the operation of the welding robot 1, and includes, for example, a control unit 21, a storage unit 22, a communication unit 23, and a welding power supply unit 24.

[0024] Control unit 21 is a processor that controls welding robot 1 and welding power supply unit 24 by executing programs such as a welding program stored in memory unit 22. Communication unit 23 controls communication with each device connected via a network.

[0025] Welding power supply 24 supplies welding current, welding voltage, and the like to welding robot 1 in accordance with predetermined welding conditions, for example, to generate an arc between the tip of the welding wire and the workpiece. The welding conditions include data items such as welding conditions, welding start position, welding end position, welding distance, welding torch posture, and the like. Welding conditions include data items such as welding current, welding voltage, welding speed, wire feed speed, and workpiece thickness. Welding power supply 24 may be provided separately from robot control device 2.

[0026] Welding robot 1 is a manipulator (robot) that performs arc welding on a workpiece to be welded in accordance with welding conditions set in robot control device 2. Welding robot 1 has an articulated arm (robot arm) 11 mounted on a base member fixed to, for example, a factory floor, a welding torch unit (tool unit) 12 that is one of the tools attached to the tip of articulated arm 11, and a torch mount (member) 13 that is positioned between the tip of articulated arm 11 and welding torch unit 12.

[0027] Welding robot 1 is also a collaborative robot designed to work in collaboration with humans, and is capable of operating in response to external forces. Therefore, a worker can directly apply external forces to welding robot 1 with their hands and move and operate welding robot 1 in response to those external forces. In addition, by switching modes, it is possible to teach the robot's movements (direct teaching) during direct operation, and to perform arc welding during direct operation.

[0028] As shown in FIGS. 2 and 3, the torch mount 13 has, for example, three buttons 13a, 13b, and 13c and one switch portion 13d.

[0029] Switch 13d is a so-called enable switch. When switch 13d is continuously pressed to maintain the ON state, the servo power supply is turned ON, and welding robot 1 is in a state where it can operate in response to an external force. On the other hand, when switch 13d is released to set it to the OFF state, the servo power supply is turned OFF, and operation of welding robot 1 is stopped. After operation is stopped, welding robot 1 is in a state where it cannot operate in response to an external force.

[0030] Of the three buttons 13a, 13b, and 13c, the operator can assign a desired function to two of the buttons 13a and 13c. In this embodiment, for example, the function of button 13b, which is arranged in a column (the left column in FIG. 2) different from the column in which the two buttons 13a and 13c are arranged (the right column in FIG. 2), is fixed and cannot be changed by the operator. However, the present invention is not limited to this, and the user may be allowed to change all of the functions assigned to the three buttons 13a, 13b, and 13c.

[0031] The functions that can be assigned to the three buttons 13a, 13b, and 13c include, for example, the following functions (1) to (4), which will be explained in order below.

[0032] (1) Functions related to robot movement: This function includes, for example, (1-1) a function to switch the way the robot moves, (1-2) a function to switch the speed of the robot, and (1-3) a function to operate the robot. Each function will be explained in turn below.

[0033] (1-1) The function of switching the robot's movement mode is a function of switching the robot's movement mode when the robot is directly operated manually. In this embodiment, this function is fixedly assigned to button 13b. Each time button 13b to which this function is assigned is briefly pressed, the movement mode is switched sequentially between, for example, translation mode, rotation mode, and free mode.

[0034] The translation mode is a mode in which only the position of the welding torch is moved without changing the orientation of the welding torch. The rotation mode is a mode in which only the orientation of the welding torch is changed without changing the position of the tip of the welding torch. The free mode is a mode in which all axes of the robot can be moved freely.

[0035] The time for which the button is pressed to distinguish between a short press and a long press (to be described later) may be changed by the operator as appropriate.

[0036] (1-2) The function of switching the robot speed is a function of switching the robot speed when the robot is directly operated manually. If this function is assigned to a button, each time the assigned button is pressed briefly, the robot switches between two set speeds, for example, "Speed ​​1" and "Speed ​​2." Note that the number of speeds to switch is not limited to two, and there may be three or more. Furthermore, the speed set to "Speed ​​1" and the speed set to "Speed ​​2" may be changed by the worker, for example, by selection.

[0037] (1-3) The function of operating the robot is a function of operating the robot by a predetermined distance (for example, 1 mm, 2 mm, etc.) in a predetermined direction (for example, the tool direction in the tool coordinate system, etc.).

[0038] (2) Function to record teaching positions: This function includes, for example, (2-1) Function A for recording a teaching position, (2-2) Function B for recording a teaching position, and (2-3) Function C for recording a teaching position. Function A for recording a teaching position, Function B for recording a teaching position, and Function C for recording a teaching position are functions that record the current position of the robot as a teaching position when the robot is being directly operated manually. The difference between each function is the command that is automatically inserted after recording the teaching position. Each function will be explained in turn below.

[0039] (2-1) By assigning function A to a button and briefly pressing the button, the robot's position at that time is recorded as the teaching position. With this function, no command is inserted after recording the position.

[0040] (2-2) If Function B for recording the teaching position is assigned to a button and the button is pressed briefly, the robot position at that time is recorded as the teaching position, followed by a welding start command. On the other hand, if the assigned button is pressed for a long time, the robot position at that time is recorded as the teaching position, followed by a welding end command.

[0041] (2-3) If function C for recording the teaching position is assigned to a button and the button is pressed briefly, the robot position at that time is recorded as the teaching position, followed by the welding start command and the weaving start command. On the other hand, if the assigned button is pressed and held, the robot position at that time is recorded as the teaching position, followed by the weaving end command and the welding end command.

[0042] (3) Functions related to welding operation (tool operation): These functions include, for example, (3-1) an inching function, (3-2) a retract function, and (3-3) an arc-on function, each of which will be described in turn below.

[0043] (3-1) The inching function is a function that performs inching to feed the welding wire a small amount. If this function is assigned to a button, inching will be performed while the assigned button is pressed.

[0044] (3-2) The retract function is a function that reverses the feeding direction of the welding wire and returns it. If this function is assigned to a button, the retract will be performed while the assigned button is pressed.

[0045] (3-3) The arc-on function is a function for performing arc welding for tacking, etc. When switch unit 13d is released and button 13c is pressed and held down, the arc-on function is assigned to button 13c that is pressed and held down. If this function is assigned to button 13c, pressing the assigned button 13c and turning switch unit 13d on generates an arc.

[0046] (4) Ability to change the pattern of functions assigned to each button: This function allows a plurality of patterns of functions to be assigned to the three buttons 13a, 13b, and 13c to be registered in advance, and the functions of the buttons can be changed collectively by selecting one of the patterns.

[0047] In this embodiment, this function is fixedly assigned to the button 13b. When the button 13b to which this function is assigned is pressed and held down, one of the patterns can be selected.

[0048] For example, as "Pattern 1," it is possible to register a pattern in which "Function A of recording a teaching position" is assigned to button 13a, "Function of switching the robot's movement mode" is assigned as a fixed function to button 13b, and "Function B of recording a teaching position" is assigned to button 13c. Also, as "Pattern 2," it is possible to register a pattern in which "Retract function" is assigned to button 13a, "Function of switching the robot's movement mode" is assigned as a fixed function to button 13b, and "Inching function" is assigned to button 13c.

[0049] The functions of the control unit 21 will be described with reference to Fig. 4. The control unit 21 includes, for example, a mode setting unit 211 and an operation invalidation unit 212. Each unit will be described below.

[0050] The mode setting unit 211 sets an operation mode for operating the robot. The operation modes include, for example, a direct operation mode and a non-direct operation mode. The direct operation mode is a mode in which an operator directly applies an external force to the robot with their hands and moves the robot in response to that external force to directly operate it. The non-direct operation mode is a mode in which the robot is moved by means other than direct operation, for example, by a program.

[0051] The operation invalidation unit 212 invalidates operations on buttons to which specific functions are assigned while the operation mode is set to the direct operation mode and the switch unit 13d is maintained in the on state.

[0052] The specific functions may include, for example, the above (1-1) function to switch the way the robot moves, the above (1-2) function to switch the speed of the robot, the above (1-3) function to operate the robot, the above (3-1) inching function, the above (3-2) retract function, and the above (4) function to change the pattern of functions assigned to each button. If a worker accidentally presses a button while directly operating the robot, these functions may cause an action different from the action intended by the worker, which may cause an interruption to the direct operation work.

[0053] As described above, according to the welding robot system of the embodiment, while the operation mode for operating the robot is set to the direct operation mode and switch unit 13d is maintained in the on state, it is possible to disable operations on buttons that are provided on the same torch mount 13 as switch unit 13d and to which specific functions are assigned.

[0054] Specific functions may include the ability to change the way the robot moves, the ability to change the speed of the robot, the ability to move the robot, an inching function, a retract function, and the ability to change the pattern of functions assigned to each button.

[0055] This prevents a specific function from being accidentally activated when the operator is directly operating the device.

[0056] Therefore, the welding robot system according to the embodiment can improve the workability of the worker.

[0057] It should be noted that the present invention is not limited to the above-described embodiment, and can be embodied in various other forms without departing from the spirit of the present invention. Therefore, the above-described embodiment is merely illustrative in all respects and should not be interpreted as being limiting.

[0058] Although the above-described embodiment has been described using a welding tool such as a welding torch used for welding, the tools to which the present invention can be applied are not limited to welding tools. For example, the present invention can also be applied to handling tools such as robot hands used for handling, cutting tools and polishing tools used for cutting and polishing, and the like.

[0059] With regard to handling tools, for example, it can prevent the robot hand from accidentally opening and touching the stand on which the object is placed if a button is accidentally pressed while the robot hand is moving to grasp an object, and it can also prevent the robot hand from accidentally closing and damaging the object to be grasped (especially soft objects such as food) if a button is accidentally pressed before the gripping force of the robot hand is set.

[0060] With regard to cutting tools and polishing tools, for example, if a button is assigned to activate the cutting tool, it is possible to prevent unnecessary cutting of the workpiece caused by accidentally pressing that button. [Explanation of symbols]

[0061] 1...welding robot, 2...robot control device, 11...articulated arm, 12...welding torch unit, 13...torch mount, 13a...button, 13b...button, 13c...button, 13d...switch unit, 21...control unit, 22...storage unit, 23...communication unit, 24...welding power supply unit, 211...mode setting unit, 212...operation invalidation unit

Claims

1. a tool unit attached to the tip of the robot arm of the collaborative robot; a switch unit that, when turned on, enables the robot to move in response to an external force; Buttons with specific functions assigned to them, a mode setting unit that sets an operation mode for operating the robot; an operation disabling unit that disables operations on the button while the operation mode is set to a direct operation mode in which an operator applies an external force directly to the robot with his or her hand and moves and operates the robot in response to the external force, and while the switch unit is maintained in the on state; Equipped with the switch unit and the button are provided on either the robot arm or a member attached to the robot arm at a position different from that of the tool unit; Welding robot system.

2. The switch portion is maintained in the on state by the operator continuing to press it. The welding robot system according to claim 1 .

3. a torch mount disposed between the tip of the robot arm and the tool portion; The switch unit and the button are provided on the torch mount. The welding robot system according to claim 1 .

4. the specific function is a function related to the movement of the robot; The welding robot system according to claim 1 .

5. the specific function is a function related to tool operation; The welding robot system according to claim 1 .

6. the specific function is a function for changing a pattern of functions assigned to the button; The welding robot system according to claim 1 .

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