Robot, damage prevention method, and robotic system

Abstract

To prevent damage to the workpiece or tool. [Solution] A robot that operates to perform work on a workpiece using a tool, and restricts such operation only when taught an operation that could damage the workpiece or the tool. The robot polishes or grinds the workpiece by rotating the tool and bringing the workpiece into contact with the tool. The direction of rotation of the tool is opposite to the direction from the center of the workpiece toward the edge. The angle of the workpiece relative to the tool is restricted to a limited angle range in which there is no possibility of damage to the workpiece or the tool due to contact between the workpiece and the tool. Since the operation is restricted only when taught an operation that could damage the workpiece or the tool, damage to the workpiece or the tool can be prevented.

Description

Technical Field

[0001] The technology of the present disclosure relates to a robot, a damage prevention method, and a robot system.

Background Art

[0002] Conventionally, a robot system has been proposed that automates the operation of a slave robot according to command values from a master robot to polish a workpiece with a tool. This slave robot holds the workpiece to be polished, and an operator operates the master robot so that the tool approaches the workpiece in a tilted state in the slave robot. When polishing the edge of the workpiece, if the angle of the edge of the workpiece with respect to the tool is large, the edge of the workpiece will be caught by the tool, leading to damage to the workpiece or the tool.

[0003] Patent Document 1 discloses a robot system including a force detection unit that detects the force applied to a robot in order to avoid applying an excessive force to the robot. This robot system restricts the operation direction of the master robot so that the slave robot does not advance in the direction in which the force is applied when the force applied to the robot detected by the force detection unit exceeds an allowable value.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, if the master robot's direction of movement is restricted only after detecting excessive force, as in the technology described in Patent Document 1, the edge of the workpiece may get caught in the tool in the slave robot, potentially damaging the workpiece or tool. In other words, the method described in Patent Document 1 may be too late in imposing the restriction, and may not be able to prevent damage to the workpiece or tool.

[0006] The technology disclosed herein aims to provide a robot, a method for preventing damage, and a robot system that can prevent damage to a workpiece or tool. [Means for solving the problem]

[0007] To achieve the above objective, a first aspect of the technology of the present disclosure is a robot that operates to perform work on a workpiece using a tool, and restricts such operation only when taught an operation that could damage the workpiece or the tool.

[0008] The robot is a robot that polishes or grinds a workpiece by rotating the tool and bringing the workpiece into contact with the tool.

[0009] The rotation direction of the tool is opposite to the direction from the center of the workpiece toward the edge.

[0010] The angle of the workpiece relative to the tool is restricted to a limited angle range that prevents damage to the workpiece or the tool due to contact between the workpiece and the tool.

[0011] A second aspect is a method for preventing damage to a robot that operates to perform work on a workpiece using a tool, wherein the robot restricts an operation that may damage the workpiece or the tool only when the robot is taught such an operation.

[0012] A third embodiment is a robot system comprising a master robot that operates by being manipulated, and a slave robot that operates in response to the operation of the master robot and performs work on a workpiece using a tool. The robot system restricts the operation only when it is taught an operation that could damage the workpiece or the tool. [Effects of the Invention]

[0013] The technology of this disclosure restricts such actions only when teaching actions that could damage the workpiece or the tool. This prevents damage to the workpiece or the tool. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1 is a block diagram of an example of a robot system 100. [Figure 2] Figure 2 shows an example of the configuration of the slave robot 10S. [Figure 3] Figure 3 shows an example of how the workpiece 14 is tilted around its center 14A, and one of its edges P comes into contact with the rotating tool 22, thereby polishing or grinding the edge P of the workpiece 14. [Figure 4] Figure 4 is a perspective view from the handle 82L side, showing an example of handles 82R and 82L operated by operator 5 to teach movements in the master robot 10M, and a restricting mechanism 90 (in an inactive state) that restricts the movement of the handles 82R and 82L. [Figure 5] Figure 5 is a cross-sectional view showing an example of handles 82R and 82L, and a restricting mechanism 90 (in an inactive state) that restricts the operation of the handles 82R and 82L. [Figure 6] Figure 6 is a perspective view showing an example of handles 82R and 82L, and a regulating mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L. [Figure 7]FIG. 7 is a cross-sectional view showing an example of the steering wheels 82R and 82L and a regulating mechanism 90 (in an operating state) that regulates the operation of the steering wheels 82R and 82L. [Figure 8] FIG. 8 is a perspective view seen from the side of the steering wheel 82R showing an example of the steering wheels 82R and 82L and a regulating mechanism 90 (in an operating state) that regulates the operation of the steering wheels 82R and 82L. [Figure 9] FIG. 9 is a perspective view seen from the side of the steering wheel 82R showing an example of the steering wheels 82R and 82L and a regulating mechanism 90 (in an operating state) that regulates the operation of the steering wheels 82R and 82L. [Figure 10] FIG. 10 is a view showing a case where the angle θ formed by the workpiece 14 of the slave robot 10S (see also FIG. 3) is the limit angle θL. [Figure 11] FIG. 11 is a view showing a state where the insertion portion 94 is located at one end 88P of the slit 88. [Figure 12] FIG. 12 is a view showing an example of a state where the edge Q of the workpiece 14 of the slave robot 10S is polished or ground by the tool 22. [Figure 13] FIG. 13 is a view showing an example of a state where the insertion portion 94 has rotated in the clockwise direction q from one end 88P of the slit 88. [Figure 14] FIG. 14 is a perspective view seen from the side of the steering wheel 82R showing an example of the steering wheels 82R and 82L and a regulating mechanism 90 (in an operating state) that regulates the operation of the steering wheels 82R and 82L in the first modification. [Figure 15] FIG. 15 is a perspective view seen from the side of the steering wheel 82R showing an example of the steering wheels 82R and 82L and a regulating mechanism 90 (in an operating state) that regulates the operation of the steering wheels 82R and 82L in the first modification. [Figure 16] FIG. 16 is a cross-sectional view showing an example of the steering wheels 82R and 82L and a regulating mechanism 90 (in a non-operating state) that regulates the operation of the steering wheels 82R and 82L in the second modification. [Figure 17]FIG. 17 is a cross-sectional view showing an example of the handles 82R and 82L and a regulating mechanism 90 (in an operating state) for regulating the operations of the handles 82R and 82L. [Figure 18] FIG. 18 is a block diagram of an example of the electrical system of the robot system 100. [Figure 19] FIG. 19 is a flowchart of an example of the teaching process program 54P. [MODE FOR CARRYING OUT THE INVENTION]

[0015] [Embodiment] Hereinafter, embodiments of the technology of the present disclosure will be described with reference to the drawings.

[0016] [First Embodiment] [Configuration] The configuration of the robot system 100 of the present embodiment will be described. FIG. 1 is a block diagram of an example of the robot system 100. As shown in FIG. 1, the robot system 100 includes a master robot 10M operated by an operator 5 and a slave robot 10S that operates according to a command value of the master robot 10M.

[0017] The master robot 10M is provided with a display device 7.

[0018] The slave robot 10S holds a workpiece 14 to be processed such as polished or ground by a tool 22. The slave robot 10S is provided with a camera 11C for photographing the tool 22 and the workpiece 14.

[0019] [Slave Robot 10S] Figure 2 shows an example of the configuration of the slave robot 10S. As shown in Figure 2, the structure of the slave robot 10S is a stack structure. Specifically, the slave robot 10S comprises an X-axis movable body 12X mounted on a base body 12B so as to be movable in the X-axis direction, and a Y-axis movable body 12Y stacked on top of the X-axis movable body 12X and mounted so as to be movable in the Y-axis direction. The slave robot 10S also comprises a support column 12Z1 stacked on top of the Y-axis movable body 12Y, and a Z-axis movable body 12Z2 mounted on the support column 12Z1 so as to be movable in the Z-axis direction.

[0020] The X-axis represents the left-right direction relative to the slave robot 10S. The +X direction is left, and the -X direction is right. The Y-axis represents the front-back direction relative to the slave robot 10S. The +Y direction is front, and the -Y direction is depth. The Z-axis represents the height direction relative to the slave robot 10S. The +Z direction is upward, and the -Z direction is downward.

[0021] The X-axis moving body 12X moves in the X-axis direction by the X-direction moving motor 64 (see Figure 18). 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.

[0022] An encoder (not shown) is attached to each of the X-direction moving motor 64, the Y-direction moving motor 66, and the Z-direction moving motor 68. The signals from each encoder are used to calculate the positions of the X-axis moving body 12X, the Y-axis moving body 12Y, and the Z-axis moving body 12Z2.

[0023] A workpiece 14 to be processed, such as polishing or grinding, by a tool 22 is fixed to the Z-axis moving body 12Z2. The tool 22 is positioned in a predetermined location.

[0024] The slave robot 10S moves the X-axis moving body 12X, the Y-axis moving body 12Y, and the Z-axis moving body 12Z2 according to the command value so that the workpiece 14 comes into contact with the tool 22 and is machined by the tool 22.

[0025] Figure 3 shows an example of polishing or grinding the edge P of the workpiece 14 by having the workpiece 14 tilted around its center 14A and contacting a rotating tool 22. In the example shown in Figure 3, the rotation direction R of the tool 22 is opposite to the direction 14F from the center 14A of the workpiece 14 toward the edge P. In other words, the rotation direction R of the tool 22 is the same as the direction in which the polished or ground edge P recedes toward the center 14A.

[0026] If the angle θ between the tangent 23 at the contact point of the tool 22, which contacts the edge P of the workpiece 14, and the direction 14F exceeds the limit angle θL, the edge P of the workpiece 14 will be caught in the tool 22, causing damage to either the workpiece 14 or the tool 22. The inventors have determined the limit angle θL in advance through experiments, etc.

[0027] To prevent damage to the workpiece 14 or tool 22, operator 5 must operate the master robot 10M so that the angle θ is maintained within the limit angle θL.

[0028] However, it is difficult for operator 5 to operate the master robot 10M in such a way that the angle θ is kept within the limit angle θL.

[0029] Therefore, the robot system 100 of this embodiment restricts an action only when it is taught an action that could potentially damage the workpiece 14 or the tool 22. Specifically, the master robot 10M is equipped with a restricting mechanism 90 (see Figures 4 to 7) that restricts the action of the manipulated mechanism operated for the above action only when it is taught an action that could potentially damage it.

[0030] (Master Robot 10M) The configuration of the master robot 10M is almost the same as that of the slave robot 10S, but differs in that it has the following configuration (handles 82R, 82L and a regulating mechanism 90 (see Figures 4 to 7)).

[0031] (Regulatory body 90) Figure 4 is a perspective view from the side of handle 82L, showing an example of handles 82R and 82L operated by operator 5 to teach the above operation to the master robot 10M, and a restricting mechanism 90 (in an inactive state) that restricts the operation of handles 82R and 82L. Figure 5 is a cross-sectional view showing an example of handles 82R and 82L and a restricting mechanism 90 (in an inactive state) that restricts the operation of handles 82R and 82L.

[0032] Figure 6 is a perspective view showing an example of handles 82R and 82L and a regulating mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L. Figure 7 is a cross-sectional view showing an example of handles 82R and 82L and a regulating mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L.

[0033] Figure 8 is a perspective view from the handle 82R side, showing an example of handles 82R and 82L and a restricting mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L. Figure 9 is a perspective view from the handle 82R side, showing an example of handles 82R and 82L and a restricting mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L.

[0034] As shown in Figures 4 and 5, handles 82R and 82L are positioned at one end and the other end of shaft 80.

[0035] The regulating mechanism 90 includes a handle rotation motor 84 attached to the shaft 80 and fixed to one side of the base 86, and an encoder (not shown) attached to the handle rotation motor 84. The regulating mechanism 90 includes a slit 88 formed in the base 86 in an arc shape around the shaft 80, and a gear 89 located on the handle 82L side of the other side of the base 86, with external teeth formed on its outer circumference and its center coinciding with the shaft 80. The regulating mechanism 90 includes a rotating body 92 having a circular through hole 96 formed therein, with its center coinciding with the shaft 80 and internal teeth formed on its inner surface, and an insertion part 94 provided on the rotating body 92 and inserted into the slit 88.

[0036] The controller 50 of the master robot 10M (see Figure 18) and the controller 50 of the slave robot 10S communicate via their respective communication devices 75. The handle rotation motor 84 is provided to return the reaction force received by the slave robot 10S to the handles 82L and 82R of the master robot 10M.

[0037] The operator moves the rotating body 92 from the handle 82L side to the other side of the base 86 such that the shaft 80 passes through the through hole 96, the insertion part 94 enters the slit 88, and the internal teeth of the through hole 96 engage with the external teeth of the gear 89. As a result, as shown in Figures 6 and 7, the handles 82R and 82L rotate integrally with the rotating body 92 via the shaft 80 and the gear 89.

[0038] When handles 82R and 82L are operated and shaft 80 rotates, a command value is generated based on the signal from the encoder of the handle rotation motor 84. This command value is transmitted to the slave robot 10S. As a result, the workpiece 14 of the slave robot 10S rotates in accordance with the rotation of shaft 80.

[0039] As shown in Figures 8 and 9, the insertion portion 94 provided on the rotating body 92 is inserted into the slit 88, so the rotating body 92 can only rotate within the range in which the insertion portion 94 can move between one end and the other end of the slit 88. Figure 8 shows the state in which the insertion portion 94 is located at one end 88P, and Figure 9 shows the state in which the rotating body 92 has rotated by a certain angle from the position shown in Figure 8.

[0040] The insertion portion 94 comprises a support rod 94A and an expansion portion 94P located at the tip of the support rod 94A and being thicker than the support rod 94A. A hole is formed at one end 88P of the slit 88, sized to allow the expansion portion 94P to be inserted. The size (width) of the portion of the slit 88 other than the hole is smaller than the thickness of the expansion portion 94P. Therefore, when the expansion portion 94P is inserted into the hole at one end 88P (see Figure 8) and the rotating body 92 rotates counterclockwise as shown in Figure 9, the support rod 94A is positioned in the portion of the slit 88 other than the one end 88P. As described above, the size (width) of the portion of the slit 88 other than the one end 88P is smaller than the thickness of the expansion portion 94P, so even if the shaft 80 tries to move toward the handle 82L, the expansion portion 94P is structurally restrained by the slit 88 and cannot be detached.

[0041] Figure 10 shows the case where the workpiece 14 of the slave robot 10S has an angle θ (see also Figure 3) that is limited to angle θL. Figure 11 shows the state where the insertion part 94 is located at one end 88P of the slit 88.

[0042] In this embodiment, as shown in Figure 11, when the insertion portion 94 is located at one end 88P of the slit 88, the positional relationship between the base 86 and the slit 88 is determined such that the angle θ (see also Figure 3) made by the workpiece 14 of the slave robot 10S becomes a limiting angle θL.

[0043] If the insertion part 94 is not inserted into the slit 88, and the shaft 80 rotates further to the left in the direction g from the position shown in Figure 11, the angle θ (see also Figure 3) will become larger than the limiting angle θL, causing damage to the workpiece 14 or the tool 22. However, if the insertion part 94 is inserted into the slit 88, the insertion part 94 will not rotate beyond one end 88P of the slit 88. In other words, the angle θ (see also Figure 3) of the workpiece 14 of the slave robot 10S will not exceed the limiting angle θL.

[0044] Figure 12 shows an example of how the edge Q of the workpiece 14 of the slave robot 10S is polished or ground by the tool 22. Figure 13 shows an example of how the insertion portion 94 is rotated to the right in the rotational direction q relative to one end 88P of the slit 88.

[0045] In order to polish or grind the edge Q of the workpiece 14 of the slave robot 10S with the tool 22, the rotating body 92 is rotated as shown in Figure 13.

[0046] In the example shown in Figure 13, the rotation direction R of the tool 22 is the same as the direction 23F from the center 14A of the workpiece 14 toward edge Q. Therefore, even if the angle φ between the tangent 21 at the contact point of the tool 22 where edge Q of the workpiece 14 contacts and the direction 23F exceeds the limit angle θL, the edge P of the workpiece 14 will not be caught in the tool 22, and neither the workpiece 14 nor the tool 22 will be damaged.

[0047] (action) When the robot system 100 is in operation, the camera 11C photographs the workpiece 14 and tool 22 of the slave robot 10S, and the display device 7 of the master robot 10M displays the photographed workpiece 14 and tool 22.

[0048] The rotating body 92 is moved from the handle 82L side to the other side of the base 86 such that the shaft 80 passes through the through hole 96, the insertion part 94 enters the slit 88, and the internal teeth of the through hole 96 engage with the external teeth of the gear 89. As a result, the handles 82R and 82L rotate together with the rotating body 92 via the shaft 80 and the gear 89. As shown in Figure 11, when the shaft 80 rotates in the counterclockwise direction g via the handles 82R and 82L, the angle θ shown in Figure 3 increases. The insertion part 94 is located at one end 88P of the slit 88. When the insertion part 94 is located at one end 88P, the angle θ becomes the limiting angle θL. In this case, the insertion part 94 stops at the position of one end 88P of the slit 88, so the angle θ does not exceed the limiting angle θL.

[0049] Thus, the robot system 100 of this embodiment restricts an action that could potentially damage the workpiece 14 or tool 22 only when it is being taught an action that could damage the workpiece 14 or tool 22 (angle θ = limit angle θL). Specifically, the master robot 10M restricts the rotation of the shaft 80 by operating the handles 82R and 82L only when the angle θ = limit angle θL, so that the angle θ does not exceed the limit angle θL.

[0050] (effect) As described above, this embodiment can prevent damage to the workpiece 14 or the tool 22. Therefore, it can improve the productivity of the workpiece.

[0051] This embodiment includes a restricting mechanism 90 that prevents the angle θ from exceeding the limit angle θL only when teaching an action that could potentially damage the workpiece 14 or tool 22 (angle θ = limit angle θL). Specifically, it includes a mechanism that stops the insertion portion 94 at one end 88P of the slit 88. Therefore, this embodiment can protect the workpiece or tool more reliably than electrical control (disconnection, short circuit, etc.).

[0052] In this embodiment, the master robot 10M restricts the rotation of the axis 80 by operating the handles 82R and 82L only when the angle θ = limit angle θL, so that the angle θ does not exceed the limit angle θL. Therefore, the operator 5 does not need to worry about the position of the workpiece 14, and the time required for teaching can be shortened.

[0053] [Modified version of the first embodiment] Next, various modifications of the above embodiment will be described. Since each modification is substantially the same as the above embodiment, the differences will be described mainly.

[0054] (First variation) Figure 14 is a perspective view from the handle 82R side showing an example of the handles 82R and 82L in the first modified example, and the regulating mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L. Figure 15 is a perspective view from the handle 82R side showing an example of the handles 82R and 82L in the first modified example, and the regulating mechanism 90 (in the activated state) that restricts the operation of the handles 82R and 82L.

[0055] As shown in Figures 14 and 15, a claw 94T is attached to the tip of the expansion portion 94P of the insertion portion 94 of the first modified example in a foldable manner.

[0056] In the above embodiment, a hole is formed at one end 88P of the slit 88, which is large enough to allow the expansion portion 94P to be inserted, and the expansion portion 94P is inserted into this hole. Therefore, the expansion portion 94P inserted into the hole may come out and detach due to impact or the like.

[0057] Therefore, in the first modified example, a detachment prevention mechanism, that is, a claw 94T that is bendable and attached to the tip of the expansion portion 94P of the insertion portion 94, is provided.

[0058] As shown in Figure 14, when inserting the expansion portion 94P into one end 88P of the slit 88, do not bend the claw 94T.

[0059] When the expansion portion 94P is inserted into one end 88P of the slit 88, the operator breaks the claw 94T, as shown in Figure 15. This prevents the angle θ formed by the insertion portion 94P and the slit 88 from exceeding the limit angle θL, even if the expansion portion 94P inserted into the hole is subjected to an impact or the like.

[0060] (Second variation) Figure 16 is a cross-sectional view showing an example of handles 82R and 82L and a restricting mechanism 90 (in an inactive state) that restricts the operation of the handles 82R and 82L in a second modified example. Figure 17 is a cross-sectional view showing an example of handles 82R and 82L and a restricting mechanism 90 (in an activated state) that restricts the operation of the handles 82R and 82L.

[0061] In the second modification, an air cylinder 85 is provided to pull in the insertion portion 94 (moving it to the right in the direction F in Figure 17). The air cylinder 85 is mounted on the base 86 so as to rotate in the same direction along the slit 88 as the rotating body 92 rotates.

[0062] In the above embodiment, the operator manually moves the rotating body 92 toward the base 86.

[0063] In contrast, in the second modified example, the air cylinder 85 shown in Figure 16 is activated. As a result, the expansion part 94P is inserted into one end 88P of the slit 88, as shown in Figure 17.

[0064] Thus, in this second modified example, even if the expansion portion 94P is subjected to impact or the like, the air cylinder 85 ensures that the angle θ formed by the insertion portion 94 separating from the slit 88 does not exceed the limiting angle θL.

[0065] (Other variations) In the above embodiment, the slit 88 is formed in the base 86 and the insertion portion 94 is provided in the rotating body 92. However, the technology of this disclosure is not limited to this, and the slit 88 may be formed in the rotating body 92 and the insertion portion 94 may be provided in the base 86. In the above embodiment, internal teeth are formed on the inner surface of the through hole 96 formed in the rotating body 92. However, the technology of this disclosure is not limited thereto, and at least one projection that engages with the external teeth of the gear 89 may be provided on the inner surface of the through hole 96.

[0066] [Second Embodiment] Next, a second embodiment will be described.

[0067] (composition) The second embodiment is substantially the same as the first embodiment described above.

[0068] Figure 18 is a block diagram of an example of the electrical system of the robot system 100. As shown in Figure 18, the robot system 100 includes a controller 50. The controller 50 is 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.

[0069] The input / output (I / O) port 58 is connected to the electrical components of the master robot 10M, specifically the X-direction movement motor 64, Y-direction movement motor 66, Z-direction movement motor 68, and handle rotation motor 84, as well as the respective encoders mentioned above. The input / output (I / O) port 58 is also connected to the camera 11C, display device 7, input device 73, and communication device 75.

[0070] 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).

[0071] NVM54 is a non-volatile memory device that stores programs and various parameters. An example of NVM54 is flash memory (e.g., EEPROM (Electrically Erasable and Programmable Read Only Memory)). The teaching processing program 54P is stored in NVM54.

[0072] 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).

[0073] The slave robot 10S, like the master robot 10M, is equipped with a controller 50. The input / output (I / O) ports 58 of the controller 50 are connected to the X-direction movement motor 64, the Y-direction movement motor 66, and the Z-direction movement motor 68, as well as their respective encoders, just like the master robot 10M.

[0074] The controller 50 of the master robot 10M and the controller 50 of the slave robot 10S communicate with each other via their respective communication devices 75.

[0075] (action) Next, the operation of this embodiment will be explained.

[0076] When the robot system 100 is in operation, the camera 11C photographs the workpiece 14 and tool 22 of the slave robot 10S, and the display device 7 of the master robot 10M displays the photographed workpiece 14 and tool 22.

[0077] Figure 19 is a flowchart of an example of a teaching program 54P. The teaching program 54P starts when a start button (not shown) on the input device 73 is pressed. The processor 52 executes the teaching program 54P, thereby executing the teaching process and the teaching process method.

[0078] In step 102, the processor 52 determines whether the master robot 10M has been operated based on the signals from each encoder.

[0079] If it is determined that the master robot 10M has been operated, the teaching process proceeds to step 104. If the master robot 10M has not been operated, the process returns to step 102.

[0080] In step 104, based on information from the encoders of the X-direction moving motor 64, the Y-direction moving motor 66, and the Z-direction moving motor 68, the processor 52 determines whether or not the edge P of the workpiece 14 has been polished.

[0081] If it is determined that the edge P of workpiece 14 is not polished, the teaching process proceeds to step 114. If it is determined that the edge P of workpiece 14 is polished, the teaching process proceeds to step 106.

[0082] In step 106, the tilt angle of the workpiece 14 is calculated based on the signal from the encoder attached to the handle rotation motor 84.

[0083] In step 108, the processor 52 determines whether the tilt angle of the workpiece 14 is the limiting angle θL.

[0084] If the tilt angle of the workpiece 14 is not determined to be the limit angle θL, the teaching process proceeds to step 114. In step 114, the processor 52 creates command values ​​to operate the slave robot 10S based on the signals from each encoder, and in step 116, the processor 52 transmits the command values ​​to the slave robot 10S via the communication device 75.

[0085] After the processing in step 116, the teaching process proceeds to step 112.

[0086] If it is determined that the inclination angle of workpiece 14 is the limiting angle θL, the teaching process proceeds to step 110.

[0087] In step 110, the processor 52 controls the handle rotation motor 84 so that it rotates in the opposite direction to the current rotation direction of the handle rotation motor 84, thereby generating a force that pushes back against the operator 5.

[0088] In step 112, the processor 52 determines whether the teaching process has been instructed to end by determining whether a stop button (not shown) on the input device 73 has been pressed.

[0089] If it is not determined that the teaching process should be terminated, the teaching process returns to step 102 and executes the above steps (steps 102 to 110). If it is determined that the teaching process should be terminated, the teaching process terminates.

[0090] (effect) As explained above, when it is determined that the tilt angle of the workpiece 14 is at the limit angle θL, the handle rotation motor 84 is controlled to rotate in the opposite direction to the current rotation direction of the handle rotation motor 84, thereby generating a counterforce that pushes back against the operator 5. Because of this counterforce, the operator can see that the tilt angle of the workpiece 14 is at the limit angle θL. Therefore, the operator can understand that if the handles 82L and 82R are rotated any further in the current direction, the workpiece 14 or the tool 22 will be damaged.

[0091] Furthermore, if the tilt angle of the workpiece 14 is determined to be the limit angle θL, the handle rotation motor 84 is rotated in the opposite direction to the current rotation direction, thereby preventing the tilt angle of the workpiece 14 from becoming greater than the limit angle θL, and preventing damage to the workpiece 14 or the tool 22.

[0092] In the above example, the handle rotation motor 84 is controlled so that a pushing force is generated against the operator 5 when the tilt angle of the workpiece 14 reaches the limit angle θL, but the technology of this disclosure is not limited to this. For example, the pushing force may be increased as the tilt angle of the workpiece 14 approaches the limit angle θL. Specifically, an angle smaller than the limit angle θL is set, and when the tilt angle of the workpiece 14 exceeds the set angle, the pushing force is gradually increased. The operator can more quickly understand that rotating the handles 82L and 82R in the current direction will damage the workpiece 14 or the tool 22.

[0093] [Other variations of the first and second embodiments] The structure of the slave robot 10S in the first and second embodiments is a stack structure, but the technology of this disclosure is not limited thereto, and a robot arm comprising a plurality of arm parts connected by a plurality of joints may also be used.

[0094] In the first embodiment, a regulating mechanism 90 is provided, and in the second embodiment, the handle rotation motor 84 is controlled so that a force is generated that pushes back against the operator 5 by rotating it in the opposite direction to the current rotation direction of the handle rotation motor 84. The technology of this disclosure is not limited thereto. For example, if the processor 52 determines that the tilt angle of the workpiece 14 is the limiting angle θL, it may create a command value so that even if the handles 82L and 82R are rotated further in the current rotation direction, the tilt angle of the workpiece 14 is restricted to the limiting angle θL, and transmit the created command value to the slave robot 10S.

[0095] In the first and second embodiments, the workpiece 14 is processed by polishing or grinding using the tool 22, but the technology of this disclosure is not limited thereto, and the robot system may be applied to remotely operated robots that operate near rotating objects, or to robots that operate near gears, belts, etc. [Explanation of Symbols]

[0096] 10M Master Robot 10S Slave Robot 11C Camera 12B Base 12X X-axis moving body 12Y Y-axis moving object 12Z1 Post 12Z2 Z-axis moving body 14 Work 14A center 14F direction 21 tangent 22 Tools 23 tangent 23F direction 50 Controllers 52 processors 54P Teaching Processing Program 64 X-direction movement motors 66 Y-direction movement motor 68 Z-direction movement motor 73 Input device 75 Communication equipment 80 axis 82L Handle 82R Handle 84 Handle Rotation Motor 85 Air Cylinder 86 base 88 Slits 88P one end 89 gears 90 Regulatory body 92. Solids of revolution 94 Insertion part 94A Support rod 94P Expansion section 94T claws 96 Through hole 100 Robot Systems

Claims

1. A robot that operates to perform tasks on a workpiece using a tool, Restrict the operation only when teaching an operation that could damage the workpiece or the tool. robot.

2. The system includes a restricting mechanism that restricts the operation of the operated mechanism, which is operated for the aforementioned operation, only when teaching the potentially damaging operation. The robot according to claim 1.

3. Control the operated mechanism so that it generates a reaction force only when teaching the operation that may cause damage. The robot according to claim 1.

4. A robot that operates to perform tasks on a workpiece using a tool, Restrict the operation only when teaching an operation that could damage the workpiece or the tool. How to prevent damage.

5. A robot system comprising a master robot that operates when operated, and a slave robot that operates in accordance with the operation of the master robot and performs work on a workpiece using a tool, Restrict the operation only when teaching an operation that could damage the workpiece or the tool. Robot system.

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