Collaborative robot

Abstract

To provide a cooperative robot which enables a worker who operates a teaching terminal to appropriately work near a manipulator.SOLUTION: The collaborative robot 100 includes the manipulator 110 provided with the port 112 connectable to at least one of the power line through which power is supplied and the communication line through which the operation instruction signal is communicated, the robot control device 120 connected to the manipulator 110 and configured to control the operation of the manipulator 110, and the teaching terminal 130 connected to the port 112, capable of operating the manipulator 110 via the robot control device 120, and capable of teaching the operation of the manipulator 110, and the manipulator 110 includes the holding unit 111 capable of holding the teaching terminal 130.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent years, many robots have become widespread in the industrial world. These robots are used, for example, for assembling, welding, and transporting electronic and mechanical parts, thereby improving the efficiency and automation of factory production lines.

[0003] Such a robot is connected to a robot control device and operates based on the control from the robot control device.

[0004] Furthermore, the worker may operate the robot using a teaching device to teach the robot its movements in advance, and the robot may operate based on control from the robot control device by executing the pre-taught movements as a work program.

[0005] For example, Patent Document 1 discloses a technology in which a controller (robot control device) includes a teaching device mounting section having a shape capable of mounting a teaching device, a controller wireless communication section that performs wireless communication with the teaching device, and a controller wired communication section that performs wired communication with the teaching device, and drives a mechanical section (manipulator) based on a command signal from the teaching device. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-321014 Summary of the Invention [Problem to be solved by the invention]

[0007] Incidentally, industrial robots must be operated in areas enclosed by safety fences where no workers are present, but development is also underway on collaborative robots that can operate manipulators alongside workers.

[0008] For example, an operator can teach a manipulator using a teach pendant near the manipulator, or can teach the manipulator (direct teach) by directly operating the arm of the manipulator, etc. Then, the operator can check the operation (reproduction) of the manipulator near the manipulator.

[0009] However, in the technology disclosed in Patent Document 1, the controller (robot control device) and the teaching device are connected, so in a wired connection, the worker operating the teaching device must work near the controller (robot control device) rather than the manipulator. Even if the cable connecting the controller (robot control device) and the teaching device were made longer so that the worker operating the teaching device could work near the manipulator, there is a possibility that the cable would become difficult to manage.

[0010] Therefore, an object of the present invention is to provide a collaborative robot that allows an operator operating a teaching terminal to work appropriately in the vicinity of the manipulator. [Means for solving the problem]

[0011] A collaborative robot according to one aspect of the present invention comprises a manipulator provided with a port that can be connected to at least one of a power line through which power is supplied and a communication line through which operation instruction signals are transmitted, a robot control device connected to the manipulator and that controls the operation of the manipulator, and a teaching terminal connected to the port and that can operate the manipulator via the robot control device and can teach the manipulator how to operate, and the manipulator has a holding portion that can hold the teaching terminal.

[0012] According to this aspect, the teaching terminal is connected to the manipulator, can operate the manipulator via the robot control device, can teach the manipulator how to operate, and can be held by a holding unit provided on the manipulator, thereby allowing an operator operating the teaching terminal to work appropriately near the manipulator.

[0013] In the above aspect, the holding portion may be provided on a base that supports the manipulator.

[0014] According to this aspect, the holding portion is provided on the base, so that even if the movable portion of the manipulator operates while the teaching terminal is held by the holding portion, the possibility of the cable becoming tangled or caught somewhere can be reduced.

[0015] In the above aspect, the port and the holding portion may be provided in the same link between the axes of the manipulator.

[0016] According to this aspect, the port and the holding portion are provided on the same link, so even if the manipulator operates with the teaching terminal held by the holding portion, the possibility of the cable of the teaching terminal connected to the port becoming tangled or caught somewhere is reduced.

[0017] In the above aspect, the holding portion is provided on a shoulder that constitutes the base end of the upper arm on the lower arm side of the manipulator.

[0018] According to this aspect, since the holding portion is provided on the shoulder, even if the manipulator operates with the teaching terminal held by the holding portion, the possibility of the cable becoming tangled or caught somewhere can be reduced.

[0019] In the above aspect, the port may be provided on a shoulder that constitutes the base end of the upper arm of the manipulator on the lower arm side, the holding part may be provided on the upper arm of the manipulator, and the upper arm may be rotatable in one direction by 180 degrees or less around an axis along the direction in which the upper arm extends.

[0020] According to this aspect, the port is provided on the shoulder, the holding part is provided on the upper arm, and the upper arm can rotate no more than 180 degrees in one direction. Therefore, even if the manipulator operates with the teaching terminal held by the holding part, the possibility of the cable becoming tangled or caught somewhere can be reduced. [Effects of the Invention]

[0021] According to the present invention, it is possible to provide a collaborative robot that allows an operator operating a teaching terminal to work appropriately in the vicinity of a manipulator. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a diagram showing a collaborative robot 100 according to a first embodiment of the present invention. FIG. [Figure 2] FIG. 2 is a diagram showing a state in which a teach pendant 130 is held by a holder 111 in the collaborative robot 100 according to the first embodiment of the present invention. [Figure 3] FIG. 2 is a diagram showing a collaborative robot 200 according to a second embodiment of the present invention. [Figure 4] FIG. 10 is a diagram showing a state in which a teach pendant 130 is held by a holder 211 in a collaborative robot 200 according to a second embodiment of the present invention. [Figure 5] FIG. 10 is a diagram showing a state in which a teach pendant 130 is held by a holder 311 in a collaborative robot 300 according to a third embodiment of the present invention. [Figure 6]FIG. 10 is a diagram showing a collaborative robot 400 according to a fourth embodiment of the present invention, in which the teach pendant 130 connected to a port 412 via a cable is held by a holder 211. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Note that the embodiment described below is merely a specific example for carrying out the present invention and is not intended to limit the present invention. Furthermore, to facilitate understanding of the description, the same components in each drawing will be assigned the same reference numerals as much as possible, and duplicate descriptions may be omitted.

[0024] First Embodiment Fig. 1 is a diagram showing a collaborative robot 100 according to a first embodiment of the present invention. As shown in Fig. 1, the collaborative robot 100 includes a manipulator 110, a robot control device 120, and a teach pendant (teaching terminal) 130. The manipulator 110 has a holder 111 capable of holding the teach pendant 130, and a port 112 to which the teach pendant 130 can be connected.

[0025] The collaborative robot 100 works in collaboration with a worker, and the manipulator 110 does not need to be enclosed in a safety fence. The collaborative robot 100 may be a robot used for processing, assembly, welding, transportation, inspection, etc.

[0026] The manipulator 110 is, for example, a six-axis vertical articulated manipulator, and based on operation instructions from the robot control device 120, it rotates each axis using a motor to move and rotate the arm, wrist, etc., and moves the end effector to an appropriate position and angle to perform work.

[0027] The robot controller 120 is connected to the manipulator 110 and controls the operation of the manipulator 110 .

[0028] The manipulator 110 and the robot control device 120 are connected by a communication line, and the manipulator 110 operates based on instructions from the robot control device 120. In addition, the manipulator 110 is connected to a power line (not shown) through which power is supplied.

[0029] The teach pendant 130 can operate the manipulator 110 via the robot control device 120 and can teach the manipulator 110 how to operate.

[0030] The teach pendant 130 is wired via a cable to a port 112 provided on the rear panel of the manipulator 110. A communication line with the robot control device 120 and a power line for supplying power are drawn into the manipulator 110, and the teach pendant 130 can be connected to the communication line and the power line by connecting to the port 112. Note that the communication line and the power line are not limited to being drawn into the manipulator 110, and all or part of the communication line and the power line may be arranged, for example, along the outer surface of the manipulator 110.

[0031] The operator operates the manipulator 110 via the robot control device 120 by operating the teach pendant 130 .

[0032] For example, an operator can operate the manipulator 110 while checking the position and operation of the manipulator 110 in the vicinity of the manipulator 110. Specifically, in order to teach the manipulator 110, the operator may operate the manipulator 110 or register teaching points using the teach pendant 130 in the vicinity of the manipulator 110. Furthermore, the operator may register teaching points using the teach pendant 130 while directly operating the manipulator 110 by direct teaching.

[0033] 2 is a diagram showing the collaborative robot 100 according to the first embodiment of the present invention, in which the teach pendant 130 is held by the holder 111. As shown in FIG. 2, the teach pendant 130 is held by the holder 111 of the manipulator 110.

[0034] The holding unit 111 is provided at a non-movable portion of the manipulator 110. For example, the holding unit 111 is not provided at a movable portion of the manipulator 110 on the tip side of the first axis, but at a base portion of the manipulator 110 on the base end side (lower side) of the first axis, which does not move.

[0035] In this way, since the holding portion 111 is provided at a non-movable portion of the manipulator 110, even if the movable portion of the manipulator 110 operates while the teach pendant 130 connected to the port 112 by a cable is held by the holding portion 111, the possibility of the cable becoming tangled or caught somewhere can be reduced.

[0036] The position where the holding part 111 is provided is not limited to the base of the manipulator 110, and may be, for example, a base that supports the manipulator 110, as long as it is a non-movable part.

[0037] For example, an operator can use the teach pendant 130 near the manipulator 110 to teach the manipulator 110, and then hold the teach pendant 130 on the holder 111 of the manipulator 110. Then, the operator can check the manipulator 110 operating in accordance with the teaching near the manipulator 110, or can check the teaching content on the screen of the teach pendant 130. Furthermore, the operator can take out the teach pendant 130 held on the holder 111 and operate and teach the manipulator 110 again.

[0038] In this way, the holding portion 111 and the port 112 are positioned at a close distance on the manipulator 110, so that, for example, even when the teach pendant 130 connected to the port 112 using a cable is held by the holding portion 111, the possibility of the cable becoming tangled or caught on something can be reduced.

[0039] When the teach pendant 130 is held by the holder 111, the cable may be removed from the port 112. In this case, the teach pendant 130 may be configured to be charged by being held by the holder 111.

[0040] As described above, according to the collaborative robot 100 according to the first embodiment of the present invention, the teach pendant 130 is connected to the manipulator 110, and is capable of operating the manipulator 110 via the robot control device 120, thereby being able to teach the manipulator 110 how to operate. The teach pendant 130 can be held by a holder 111 provided on a non-movable portion of the manipulator 110. This allows the worker operating the teach pendant 130 to work appropriately near the manipulator 110, and further allows the teach pendant 130 to be easily held by the holder 111.

[0041] The teach pendant 130 is connected to the port 112 of the manipulator 110 using a cable, so when an operator uses the teach pendant 130 to work near the manipulator 110, there is no need to use a long cable, making it easier to route the cable.

[0042] Since the manipulator 110 is provided with a holding section 111, there is no need to provide a separate stand or the like to hold the teach pendant 130, and an operator working near the manipulator 110 can easily hold the teach pendant 130 in the holding section 111 or remove it.

[0043] If a separate table or the like for holding the teach pendant 130 is provided near the manipulator 110, there is a risk that the operator and the manipulator 110 may collide with the table, but this risk can be avoided. Also, if a separate table or the like for holding the teach pendant 130 is provided at a position away from the manipulator 110, the operator would have to move, but this is no longer necessary, and work efficiency can be improved.

[0044] In this embodiment, the teach pendant 130 and the manipulator 110 are connected by wire using a cable, but they may be connected wirelessly. In this case, it is more effective to charge the teach pendant 130 when it is held by the holding part 111 of the manipulator 110.

[0045] Second Embodiment Next, a second embodiment of the present invention will be described. In this embodiment, the same components as those in the first embodiment will be given the same reference symbols, and their description will be omitted or simplified, and only components that differ from those in the first embodiment will be described in detail.

[0046] Fig. 3 is a diagram showing a collaborative robot 200 according to a second embodiment of the present invention. As shown in Fig. 3, the collaborative robot 200 includes a manipulator 210, a robot control device 120, and a teach pendant (teaching terminal) 130. The manipulator 210 has a holder 211 capable of holding the teach pendant 130, and a port 212 to which the teach pendant 130 can be connected.

[0047] The collaborative robot 200 works in collaboration with a worker, without the need for the manipulator 210 to be enclosed in a safety fence. The collaborative robot 200 may be a robot used for processing, assembly, welding, transport, inspection, etc., and here, a robot that generates spatter during work such as welding is particularly envisioned.

[0048] The manipulator 210 is, for example, a manipulator in a six-axis vertical articulated welding robot, and based on operation instructions from the robot control device 120, it rotates each axis using a motor to move and rotate the arm, wrist, etc., and moves the welding torch, which is the end effector, to an appropriate position and angle to perform work.

[0049] The teach pendant 130 is connected by cable to a port 212 provided in the manipulator 210 near the third axis between the upper arm and the lower arm (for example, on a shoulder constituting the base end of the upper arm on the lower arm side). Here, the lower arm is a portion formed between the second and third axes of the manipulator 210, and its operation is controlled mainly by the second axis. The upper arm is a portion formed between the third and fifth axes of the manipulator 210, and its operation is controlled mainly by the third and fourth axes. Communication lines with the robot control device 120 and power lines for supplying power are drawn into the manipulator 210, and the teach pendant 130 can be connected to the communication lines and power lines by connecting to the port 212.

[0050] The operator operates the manipulator 210 via the robot control device 120 by operating the teach pendant 130 .

[0051] 4 is a diagram showing a collaborative robot 200 according to a second embodiment of the present invention, in which the teach pendant 130 is held by a holder 211. As shown in FIG. 4, the teach pendant 130 is held by the holder 211 of the manipulator 210.

[0052] The holding unit 211 is provided on an upper arm of the manipulator 210. The upper arm of the manipulator 210 is preferably rotatable in one direction by 180 degrees or less around an axis (fourth axis) that corresponds to the direction in which the upper arm extends. That is, the upper arm realizes one rotation by rotating 180 degrees clockwise and 180 degrees counterclockwise.

[0053] In this way, since the holding unit 211 is provided on the upper arm of the manipulator 210, even if the movable part of the manipulator 210 operates while the teach pendant 130, which is connected by a cable to the port 212 provided at a relatively close distance, is held by the holding unit 211, the possibility of the cable becoming tangled or caught somewhere can be reduced.

[0054] Furthermore, it is preferable that holding unit 211 is provided, for example, on the side opposite to the side on which the workpiece to be welded is placed (here, on the top surface of the upper arm). Even if spatter scatters during welding work, because holding unit 211 is provided on the top surface of the upper arm, which is opposite to the surface facing the welding torch, adhesion of spatter to teach pendant 130 can be reduced.

[0055] The position where the holding portion 211 is provided is not limited to the upper surface of the upper arm of the manipulator 210, but may be any other part of the manipulator 210 as long as it is on the opposite side of the surface facing the tip of the manipulator 210 where the welding torch (end effector) is placed.

[0056] As described above, according to the collaborative robot 200 according to the second embodiment of the present invention, the teach pendant 130 can be held by the holder 211 provided on the top surface of the upper arm of the manipulator 210. This allows the worker operating the teach pendant 130 to work appropriately near the manipulator 210, and further allows the teach pendant 130 to be easily held by the holder 211.

[0057] According to the collaborative robot 200 of the second embodiment of the present invention, in addition to the effects achieved by the collaborative robot 100 of the first embodiment of the present invention, for example, if the collaborative robot 200 is a welding robot, even if spatter flies during welding work, the holding portion 211 is provided on the top surface of the upper arm, which is opposite the surface facing the welding torch, thereby reducing the possibility of spatter adhering to the teach pendant 130.

[0058] In this embodiment, a welding robot has been used as an example of the collaborative robot 200, but the collaborative robot is not limited to this. For example, it may be a cutting robot, a painting robot, or a thermal spraying robot that performs work that causes spatter or paint to fly, and the present invention is particularly effective for these robots.

[0059] <Third embodiment> Next, a third embodiment of the present invention will be described. Fig. 5 is a diagram showing how the teach pendant 130 is held by a holder 311 in a collaborative robot 300 according to a third embodiment of the present invention. As shown in Fig. 5, the collaborative robot 300 differs from the collaborative robot 200 according to the second embodiment shown in Fig. 4 in that the position of the holder 311 provided on the manipulator is different. In this embodiment, the same components as those in the second embodiment are given the same reference numerals, and their description will be omitted or simplified, and only the components (position of the holder) that differ from those in the second embodiment will be described.

[0060] The holding portion 311 is provided in the vicinity of the third axis between the upper arm and the lower arm of the manipulator 210 (for example, on the shoulder that constitutes the base end of the lower arm of the upper arm).

[0061] In this way, since the holding portion 311 is provided on the shoulder, even if the manipulator 210 operates with the teach pendant 130 held by the holding portion 311, the possibility of the cable becoming tangled or caught somewhere is further reduced.

[0062] <Fourth embodiment> Next, a fourth embodiment of the present invention will be described. Fig. 6 is a diagram showing how the teach pendant 130 connected to the port 412 via a cable is held by the holder 211 in a collaborative robot 400 according to a fourth embodiment of the present invention. As shown in Fig. 6, the collaborative robot 400 differs from the collaborative robot 200 according to the second embodiment shown in Fig. 4 in that the position of the port 412 provided in the manipulator is different. In this embodiment, the same components as those in the second embodiment are given the same reference numerals, and their description will be omitted or simplified, and only components different from the second embodiment (the position of the pouch) will be described.

[0063] The holding portion 211 and the port 412 are provided on the upper arm of the manipulator 210.

[0064] In this way, since the holding portion 211 and the port 412 are provided on the upper arm of the manipulator 210, even if the manipulator 210 (upper arm) operates with the teach pendant 130 held by the holding portion 211, the possibility of the cable becoming tangled or caught somewhere can be further reduced.

[0065] Here, the holding portion 211 and the port 412 are provided on the upper arm, but this is not limited to this. For example, both may be provided on the lower arm of the manipulator, or by providing them on the same link between each axis of the manipulator, the possibility of the cable becoming tangled or caught on something can be further reduced.

[0066] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangement, materials, conditions, shapes, sizes, etc., are not limited to those illustrated and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined with each other. [Explanation of symbols]

[0067] 100, 200, 300, 400... Collaborative robot, 110, 210... Manipulator, 111, 211, 311... Holding unit, 112, 212, 412... Port, 120... Robot control device, 130... Teach pendant (teaching terminal)

Claims

1. a manipulator provided with a port connectable to at least one of a power line through which power is supplied and a communication line through which an operation instruction signal is communicated; a robot control device connected to the manipulator and controlling the operation of the manipulator; a teaching terminal connected to the port, capable of operating the manipulator via the robot control device, and capable of teaching the manipulator how to operate; The manipulator has a holding portion capable of holding the teaching terminal. Collaborative robot.

2. The holding unit is provided on a base that supports the manipulator. The collaborative robot according to claim 1 .

3. The port and the holding portion are provided on the same link between the axes of the manipulator. The collaborative robot according to claim 1 .

4. The holding portion is provided on a shoulder that constitutes a base end of the upper arm on the lower arm side of the manipulator. The collaborative robot according to claim 1 .

5. the port is provided on a shoulder of the manipulator that constitutes a base end of the upper arm on the lower arm side, the holding portion is provided on the upper arm of the manipulator, the upper arm is rotatable in one direction by 180 degrees or less around an axis along which the upper arm extends; The collaborative robot according to claim 1 .

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