Tools, robotic systems, and methods for suppressing dust dispersion

Abstract

This prevents dust generated from the workpiece from scattering towards the robot without affecting the robot's operation. [Solution] A tool for processing a workpiece held by a robot, comprising a suppression unit that suppresses dust generated by the tool processing the workpiece from scattering toward the robot. Since the tool is equipped with a suppression unit that suppresses dust generated from the workpiece from scattering toward the robot, it is possible to prevent dust generated from the workpiece from scattering toward the robot without affecting the robot's operation.

Description

Technical Field

[0001] The technology of the present disclosure relates to tools, robot systems, and methods for suppressing dust scattering.

Background Art

[0002] Patent Document 1 discloses a robot that performs processing such as polishing or grinding of a workpiece. When performing such processing on a workpiece, dust is generated from the workpiece, and the generated dust may enter the gaps such as joints of the robot. In such a case, the sliding resistance increases at the joints, or dust adheres to the sensor unit, deteriorating the detection accuracy. Therefore, a dust cover is provided on the robot to prevent the dust generated from the processed workpiece from entering the gaps such as joints of the robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when a dust cover is provided on the robot, when teaching and operating the robot, the dust cover applies a resistance force to the robot during the operation of the robot, and the operator feels the weight or resistance accordingly, making it difficult to perform appropriate force feedback teaching.

[0005] The technology of the present disclosure aims to provide a tool, a robot system, and a method for suppressing dust scattering that can prevent dust generated from a workpiece from scattering to the robot side without affecting the operation of the robot.

Means for Solving the Problems

[0006] To achieve the above objective, a first aspect of the technology of this disclosure is a tool for processing a workpiece held by a robot, comprising a suppression unit that suppresses dust generated by the tool processing the workpiece from scattering toward the robot.

[0007] In the second embodiment of the tool, the position of the suppression part is adjusted so that the scattering of dust toward the robot is suppressed, according to the direction in which the dust is scattered, which is determined by the changing posture of the workpiece, as in the first embodiment.

[0008] A robot system of the third embodiment comprises a tool of the first or second embodiment and the robot.

[0009] A fourth aspect is a dust scattering suppression method that suppresses dust generated by the tool of the second aspect processing the workpiece from scattering toward the robot. The position of the suppression unit is adjusted so as to suppress the scattering of dust toward the robot, according to the direction in which the dust is scattered, which is determined by the changing posture of the workpiece. [Effects of the Invention]

[0010] The technology disclosed herein includes a tool equipped with a suppression unit that prevents dust generated from the workpiece from scattering towards the robot, thereby preventing dust generated from the workpiece from scattering towards the robot without affecting the robot's operation. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic diagram showing an example of a robot system 100, illustrating an example of one end of a workpiece 14 being machined. [Figure 2] Figure 2 is a schematic diagram showing an example of the robot system 100, illustrating an example of the other end of the workpiece 14 being machined. [Figure 3] This is a block diagram of an example of the electrical system of controller 50. [Figure 4] FIG. 4 is a diagram showing an example of the processing of the receiving unit 52A, the adjusting unit 52B, and the determination unit 52C. [Figure 5] FIG. 5 is a flowchart showing an example of the dust scattering suppression program 54P. [Figure 6] It is a schematic configuration diagram showing an example of the tool 20H of the second embodiment. [Figure 7] It is a diagram showing an example of the tool 20H when the tool body 20T processes the work 14 for a predetermined time. [Figure 8] FIG. 8 is a schematic configuration diagram of an example of the robot system 100H of the third embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a state where the camera 110 photographs the robot 10 and the tool 20. [Figure 10] FIG. 10 is a diagram showing an example of the content displayed on the monitor 104. [Figure 11] FIG. 11 is a diagram showing an example of a state where one end side of the work 14 is being processed. [Figure 12] FIG. 12 is a diagram showing an example of a state where the other end side of the work 14 is being processed.

MODE FOR CARRYING OUT THE INVENTION

[0012] [Embodiment] Hereinafter, embodiments of the technology of the present disclosure will be described with reference to the drawings.

[0013] [First Embodiment] (Configuration) The configuration of the robot system 100 of the present embodiment will be described. FIGS. 1 and 2 are schematic configuration diagrams showing an example of the robot system 100. FIG. 1 is a diagram showing an example of a state where one end side of the work 14 is being processed, and FIG. 2 is a diagram showing an example of a state where the other end side of the work 14 is being processed.

[0014] As shown in FIG. 1, the robot system 100 includes a robot 10 that holds a workpiece 14, a tool 20 for processing the workpiece 14 held by the robot 10 such as polishing or grinding, and a controller 50.

[0015] (Tool 20) The tool 20 includes a tool body 20T and a cover 22 that houses the tool body 20T and suppresses the dust generated when the tool body 20T processes the workpiece 14 from scattering toward the robot 10 side. An opening 22K is formed in the cover 22.

[0016] The cover 22 is an example of the "suppression part" of the technology of the present disclosure.

[0017] The tool 20 is supported by a support column (not shown). The tool body 20T is a rotary tool that rotates about an axis (not shown). The position of the tool body 20T is fixed. The tool body 20T and the workpiece 14 are in contact with each other through the opening 22K. A plurality of different surfaces of the workpiece 14 are processed by the tool body 20T. For example, as shown in FIG. 1, one end side of the workpiece 14 is processed, or as shown in FIG. 2, the other end side of the workpiece 14 is processed. The position of the opening 22K of the cover 22 is adjusted according to the changing posture of the workpiece 14 by a cover rotation motor 62 (see also FIG. 3).

[0018] (Robot 10) The structure of the robot 10 is a stack structure. Specifically, the robot 10 includes an X-axis direction moving body 12X that is movably attached in the X-axis direction on a base body (not shown), and a Y-axis direction moving body 12Y that is stacked on the X-axis direction moving body 12X and is movably attached in the Y-axis direction. The robot 10 includes a support column 12Z stacked on the Y-axis direction moving body 12Y, and a Z-axis direction moving body 12Z2 that is movably attached to the support column 12Z in the Z-axis direction.

[0019] The X-axis moving body 12X moves in the X-axis direction by the X-direction moving motor 64 (see also Figure 3). The Y-axis moving body 12Y moves in the Y-axis direction by the Y-direction moving motor 66. The Z-axis moving body 12Z2 moves in the Z-axis direction by the Z-direction moving motor 68.

[0020] The Z-axis moving body 12Z2 comprises multiple moving body sections 12Z21 and 12Z22 connected by multiple joints J12 and J14. The tip of the Z-axis moving body 12Z2 (the end opposite to the support column 12Z) is equipped with a handle 12Z23 rotatably mounted via an axis 11. The handle 12Z23 holds the workpiece 14. The handle 12Z23 is rotated by a handle rotation motor 70 (see also Figure 3).

[0021] Furthermore, the robot 10 is not limited to a stack structure, and may also have a robot arm structure that includes multiple arm sections connected by multiple joints.

[0022] (Controller 50) Figure 3 is a block diagram of an example of the electrical system of the controller 50. As shown in Figure 3, the controller 50 is composed of a computer and includes a processor 52, NVM (Non-volatile memory) 54, RAM (Random Access Memory) 56, and input / output (I / O) ports 58. The processor 52, NVM 54, RAM 56, and input / output (I / O) ports 58 are interconnected by a bus 60. The cover rotation motor 62, X-direction movement motor 64, Y-direction movement motor 66, Z-direction movement motor 68, handle rotation motor 70, and input device 72 are connected to the input / output (I / O) ports 58.

[0023] The processor 52 is a processing unit that includes a DSP (Digital Signal Processor), a CPU (Central Processing Unit), and a GPU (Graphics Processing Unit). In the processor 52, the DSP and GPU operate under the control of the CPU and are responsible for executing the processes described later. Here, a processing unit including a DSP, CPU, and GPU is given as an example of the processor 52, but this is only an example. The processor 52 may consist of one or more CPUs and DSPs with integrated GPU functionality, or one or more CPUs and DSPs without integrated GPU functionality. The processor 52 may also be equipped with a TPU (Tensor Processing Unit).

[0024] The functional section of the processor 52 includes a receiving section 52A, an adjustment section 52B, and a determination section 52C.

[0025] NVM54 is a non-volatile memory device that stores programs and various parameters. Examples of NVM54 include flash memory (e.g., EEPROM (Electrically Erasable and Programmable Read Only Memory)). The dust dispersion suppression program 54P is stored in NVM54.

[0026] RAM56 is memory that temporarily stores information and is used as work memory by the processor 52. Examples of RAM56 include DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory).

[0027] When the dust dispersion suppression program 54P is read from NVM 54 to RAM 56 and executed by processor 52 in RAM 56, processor 52 functions as a reception unit 52A, an adjustment unit 52B, and a determination unit 52C.

[0028] Figure 4 shows an example of the processing performed by the receiving unit 52A, the adjustment unit 52B, and the judgment unit 52C.

[0029] The receiving unit 52A receives instruction values ​​for the position and tilt of the workpiece 14, which are input via the input device 72, for machining the workpiece 14 with the tool body 20T. The adjustment unit 52B controls the X-direction moving motor 64, Y-direction moving motor 66, Z-direction moving motor 68, and handle rotation motor 70 to adjust the position and tilt of the workpiece 14 according to the instruction values. The adjustment unit 52B adjusts the cover rotation motor 62 so that the opening 22K of the cover 22 is positioned to contain the scattered dust. The determination unit 52C determines whether the dust scattering suppression process has been instructed to end by determining whether the end button (not shown) of the input device 72 has been turned on.

[0030] (action) Next, the operation of this embodiment will be explained.

[0031] Figure 5 is a flowchart showing an example of the dust dispersion suppression program 54P. The dust dispersion suppression program 54P starts when the start button (not shown) of the input device 72 is turned on. The processor 52 executes the dust dispersion suppression program 54P, thereby executing the dust dispersion suppression process and the dust dispersion suppression method.

[0032] The operator inputs the position and tilt position of the workpiece 14 via the input device 72 in order to process the workpiece 14 with the tool body 20T.

[0033] In step 82, the receiving unit 52A receives the above instruction value.

[0034] In step 84, the adjustment unit 52B controls the X-direction movement motor 64, Y-direction movement motor 66, Z-direction movement motor 68, and handle rotation motor 70 to adjust the position and tilt of the workpiece 14 according to the indicated value. As a result, for example, one end of the workpiece 14 is machined, as shown in Figure 1, or the other end of the workpiece 14 is machined, as shown in Figure 2.

[0035] Incidentally, the direction in which dust is scattered from the workpiece 14 changes depending on the position and inclination of the workpiece 14. The direction of dust scattering is determined by the changing position and orientation of the workpiece 14. As described above, the tool body 20T and the workpiece 14 are in contact through the opening 22K.

[0036] Therefore, in step 86, the adjustment unit 52B adjusts the cover rotation motor 62 so that the opening 22K of the cover 22 is positioned to contain the scattered dust.

[0037] In step 88, the determination unit 52C determines whether or not the termination button (not shown) of the input device 72 has been turned on, thereby determining whether or not the termination of the dust dispersion suppression process has been instructed to end.

[0038] If it is not determined that the dust dispersion suppression process has been instructed to end, the dust dispersion suppression process returns to step 82 and performs the above processes (steps 82 to 88).

[0039] If it is determined that the dust dispersion suppression treatment should be terminated, the dust dispersion suppression treatment will be terminated.

[0040] (effect) As described above, in this embodiment, the tool 20, rather than the robot 10, is equipped with a cover 22 to suppress the scattering of dust generated from the workpiece 14 towards the robot 10. Therefore, it is possible to prevent dust generated from the workpiece 14 from scattering towards the robot 10 without affecting the operation of the robot 10, specifically, from entering the interior of the robot 10 through the multiple joints J12 and J14.

[0041] Incidentally, the direction in which dust is scattered from the workpiece 14 changes depending on the position and inclination of the workpiece 14, but the direction in which the dust is scattered is determined by the changing position and orientation of the workpiece 14. Therefore, in this embodiment, the opening 22K of the cover 22 is adjusted to be located in a position that contains the scattered dust. Thus, it is possible to further prevent dust generated from the workpiece 14 from scattering towards the robot 10.

[0042] [Second Embodiment] Next, a second embodiment will be described.

[0043] (composition) The configuration of the robot system 100 in the second embodiment is substantially the same as that of the first embodiment, so mainly the differences will be described. Figure 6 is a schematic configuration diagram showing an example of the tool 20H in the second embodiment. Figure 7 is a diagram showing an example of the tool 20H when the tool body 20T processes the workpiece 14 for a predetermined time.

[0044] In the first embodiment, the distance between the outer surface of the tool body 20T, which rotates around the axis 20A, and the inner surface of the cover 22 is substantially constant over the entire circumference. Specifically, the inner surface of the cover 22 is concentric with the outer surface of the tool body 20T, and the diameter of the inner surface of the cover 22 is longer than the diameter of the outer surface of the tool body 20T.

[0045] In contrast, in the second embodiment, the distance between the outer surface of the tool body 20T and the inner surface of the cover 22H is not constant. On the inner surface of the cover 22H, there is a position 22P which is narrower than the distances in other parts and is the smallest distance G. Dust scattered from the workpiece 14 adheres to the surface of the tool body 20T, and the attached dust may move as the tool body 20T rotates. In this embodiment, the distance between the tool body 20T and the inner surface of the cover 22H is narrowed at position 22P to increase the air pressure, preventing the dust attached to the surface of the tool body 20T from moving further and scattering to the outside through the opening 22K.

[0046] In addition, in the present embodiment, a moving device 25 for moving the cover 22H toward the robot 10 side is provided.

[0047] The moving device 25 is an example of the "adjusting part" of the technology of the present disclosure.

[0048] The diameter of the tool body 20T was initially r0, but when machining the workpiece 14, the tool body 20T also wears down and the diameter becomes smaller. For example, as shown in FIG. 7, it becomes r1 (<r0). The diameter can be estimated based on the time when the tool body 20T machined the workpiece 14. If the amount by which the diameter decreases per unit time is Δr and the machining time when the tool body 20T machined the workpiece 14 is T, the diameter r = r0 - Δr * T is calculated. Accordingly, the interval at the position 22P also decreases by Δr * T.

[0049] (Function) The controller 50 calculates the amount of decrease in diameter Δr * T from the machining time T and the amount of decrease Δr in diameter per unit time, and based on the amount of decrease Δr * T, controls the moving device 25 so that the cover 22H moves from the position x1 shown in FIG. 6 to the position x2 shown in FIG. 7 and the interval at the position 22P is maintained at the interval G.

[0050] (Effect) As described above, in the present embodiment, the inner surface of the cover 22H is formed so as to have a position 22P with a minimum interval G, which is narrower than the intervals of other parts. Thereby, it is possible to prevent the dust adhering to the surface of the tool body 20T from further moving from the position 22P and scattering to the outside through the opening 22K.

[0051] In addition, in the present embodiment, the controller 50 controls the moving device 25 based on the machining time T so that the cover 22H moves and the interval at the position 22P is maintained at the interval G. Therefore, even if the tool body 20T machines the workpiece 14 and the diameter becomes smaller, it is possible to prevent the dust adhering to the surface of the tool body 20T from further moving from the position 22P and scattering to the outside through the opening 22K.

[0052] [Third Embodiment] Next, a third embodiment will be described.

[0053] (composition) In the first embodiment, the operator controls the robot system 100 via the controller 50.

[0054] In contrast, the third embodiment differs in that an operator, located at a distance from the robot 10, operates the master robot to control the robot 10 and the tool 20 via the controller 50.

[0055] Figure 8 is a schematic diagram of an example of a robot system 100H according to the third embodiment. Figure 9 is a diagram showing an example of how the camera 110 photographs the robot 10 and the tool 20. Figure 10 is a diagram showing an example of what is displayed on the monitor 104.

[0056] As shown in Figure 8, in the robot system 100H, operator 102 operates the master robot 10M, and the controller 50 controls the robot 10 and the tool 20 according to the command values ​​from the operated master robot 10M.

[0057] As described above, operator 102 operates the master robot 10M from a position away from the robot 10 to remotely control the robot 10 and the tool 20. Operator 102 cannot visually see the robot 10 and the tool 20.

[0058] Therefore, the robot system 100H of this embodiment includes a camera 110 that photographs the robot 10 and the tool 20 from above. The camera 110 photographs the robot 10 and the tool 20 and transmits the image data obtained to the master robot 10M via the controller 50. The master robot 10M includes a monitor 104 that displays images of the robot 10 and the tool 20 based on the image data.

[0059] (action) By the way, depending on the position of the cover 22, the positions of the tool body 20T and the workpiece 14 may not be visible to the camera 110. Therefore, in this embodiment, the computer of the master robot 10M displays an image 22G of the cover 22 and an image 14G of the workpiece 14 on the monitor 104 in order to improve work efficiency. In addition, in this embodiment, the outline 20TM of the tool body 20T and the outline 14M of the workpiece 14 are superimposed and displayed within the image 22G of the cover 22.

[0060] The contour 20TM of the tool body 20T and the contour 14M of the workpiece 14 are examples of "alternative images" of the technology of this disclosure.

[0061] (effect) As described above, in this embodiment, the operator 102 operates the master robot 10M from a position away from the robot 10 to remotely control the robot 10 and the tool 20, while the camera 110 photographs the robot 10 and the tool 20. The monitor 104 displays an image 22G of the cover 22 and an image 14G of the workpiece 14, and within the image 22G of the cover 22, it displays the outline 20TM of the tool body 20T and the outline 14M of the workpiece 14. Therefore, even if the operator 102 cannot directly see the robot 10 and the tool 20, and the camera 110 cannot see the positions of the tool body 20T and the workpiece 14, the outline 20TM of the tool body 20T and the outline 14M of the workpiece 14 are displayed within the image 22G of the cover 22. Thus, the operator 102 can grasp the positions of the tool body 20T and the workpiece 14, thereby improving work efficiency.

[0062] [Fourth Embodiment] Next, a fourth embodiment will be described.

[0063] Since the configuration of the robot system 100 in the fourth embodiment is substantially the same as that of the first embodiment, we will mainly describe the differences.

[0064] Figure 11 shows an example of one end of the workpiece 14 being machined, and Figure 12 shows an example of the other end of the workpiece 14 being machined.

[0065] As shown in Figures 11 and 12, the tool 20 is fitted with a suction nozzle 22N that rotates in the same direction as the tool 20 rotates and sucks up dust scattered from the workpiece 14 through the suction port 22I.

[0066] As described above, in this embodiment, the suction nozzle 22N attached to the tool 20 actively sucks up dust scattered from the workpiece 14. Therefore, it is possible to prevent dust generated from the workpiece 14 from scattering towards the robot 10 without affecting the operation of the robot 10, specifically, from entering the interior of the robot 10 by the multiple joints J12 and J14.

[0067] The suction nozzle 22N is an example of the "suppression unit" of the technology disclosed herein.

[0068] A suction tape may be provided instead of the suction nozzle 22N. Alternatively, the suction tape may be attached to the inner surface of the cover 22 in the first embodiment.

[0069] In addition, even if the suction nozzle 22N or suction tape is not provided on the tool 20, it may be provided on the robot 10 outside the robot 10's range of motion, or supported by an intermediate support member between the robot 10 and the tool 20.

[0070] [Note] Based on the above disclosures, the following addendum is proposed.

[0071] (Note 1) A tool for machining a workpiece held by a robot, The tool includes a suppression unit to prevent dust generated by the processing of the workpiece from scattering towards the robot. tool.

[0072] (Note 2) The position of the suppression unit is adjusted so as to suppress the scattering of dust toward the robot, according to the direction in which the dust is scattered, which is determined by the changing posture of the workpiece. The tools listed in Appendix 1.

[0073] (Note 3) The restraining portion is a cover having an opening and housing the tool, The tool and the workpiece are in contact through the opening. The position of the opening is adjusted according to the changing orientation of the workpiece. The tools listed in Appendix 2.

[0074] (Note 4) The tool and the cover are arranged such that there is a portion where the gap between the outer surface of the tool and the inner surface of the cover is narrower than in other portions. The tools listed in Appendix 3.

[0075] (Note 5) The system further includes an adjustment unit for adjusting the position of the tool so that the spacing of the narrow portions remains constant even if the diameter of the tool decreases. The tools listed in Appendix 4.

[0076] (Note 6) The suppression unit suppresses the scattering of dust towards the robot by sucking or adsorbing the dust. The tools described in Appendix 1 or Appendix 2.

[0077] (Note 7) The tools listed in any one of the appendices 1 to 6, The aforementioned robot, A robotic system equipped with the following features.

[0078] (Note 8) A camera unit for photographing the tool and the workpiece, A display unit that displays the captured tool and workpiece based on the image data obtained by the aforementioned shooting, and also displays a substitute image of the part of the workpiece and tool that is hidden by the suppression unit and in contact with the tool, superimposed on the image of the suppression unit, A robotic system as described in Appendix 7, further comprising the features described therein.

[0079] (Note 9) A dust scattering suppression method that suppresses the scattering of dust generated by the tool described in Appendix 2 when the workpiece is processed toward the robot, The position of the suppression unit is adjusted so as to suppress the scattering of dust toward the robot, according to the direction in which the dust is scattered, which is determined by the changing posture of the workpiece. Method for suppressing dust scattering. [Explanation of symbols]

[0080] 10 Robots 10M Master Robot 11 axes 12X X-axis moving body 12Y Y-axis moving object 12Z strut 12Z2 Z-axis moving body 12Z21 Moving body part 12Z22 Moving body part 12Z23 Handle 14 Work 14G image 14M contour 20 Tools 20H Tools 20T tool body 20TM Contour 22 Cover 22GB image 22H Cover 22I Suction port 22K aperture 22N Suction Nozzle 22P position 25 Mobile device 50 controllers 52 processors 52A Reception Department 52B Adjustment part 52C Judgment Department 54P Dust dispersion suppression program 62 Cover Rotating Motor 64 X-direction movement motors 66 Y-direction movement motor 68 Z-direction movement motor 70 Handle Rotation Motor 72 Input devices 100 Robot Systems 100H Robot System 102 Operator 104 Monitors 110 Camera J12 joint J14 Joint

Claims

1. A tool for machining a workpiece held by a robot, The tool includes a suppression unit to prevent dust generated by the processing of the workpiece from scattering towards the robot. tool.

2. The position of the suppression unit is adjusted so as to suppress the scattering of dust toward the robot, according to the direction in which the dust is scattered, which is determined by the changing posture of the workpiece. The tool according to claim 1.

3. The restraining portion is a cover having an opening and housing the tool, The tool and the workpiece are in contact through the opening. The position of the opening is adjusted according to the changing orientation of the workpiece. The tool according to claim 2.

4. The tool and the cover are arranged such that there is a portion where the gap between the outer surface of the tool and the inner surface of the cover is narrower than in other portions. The tool according to claim 3.

5. The system further includes an adjustment unit for adjusting the position of the tool so that the spacing of the narrow portions remains constant even if the diameter of the tool decreases. The tool according to claim 4.

6. The suppression unit suppresses the scattering of dust towards the robot by sucking or adsorbing the dust. The tool according to claim 1.

7. The tool described in claim 1, The aforementioned robot, A robotic system equipped with the following features.

8. A camera unit for photographing the tool and the workpiece, A display unit that displays the captured tool and workpiece based on the image data obtained by the aforementioned shooting, and superimposes on the image of the suppression unit a substitute image of the part where the workpiece and the tool come into contact, which is hidden by the suppression unit, onto the image of the suppression unit. The robot system according to claim 7, further comprising:

9. A dust scattering suppression method that suppresses the scattering of dust generated by the tool described in claim 2 as it processes the workpiece towards the robot, The position of the suppression unit is adjusted so as to suppress the scattering of dust toward the robot, according to the direction in which the dust is scattered, which is determined by the changing posture of the workpiece. Method for suppressing dust scattering.

Images