Control system, control method, and program

Abstract

The user operates the control system optimally. [Solution] The control system controls an apparatus main body having a base and an attachment mounting part, which moves in a first direction to approach an object, and an attachment attached to the attachment mounting part and moves in the first direction to approach an object, and is equipped with a first notification means I1 that notifies the user of information indicating the position of the tip of the attachment and information indicating the reaction force that the attachment receives from the object.

Description

[Technical field]

[0001] The present invention relates to a control system, a control method, and a program. [Background technology]

[0002] In waste melting furnaces, solidified slag may adhere to the molten slag outlet and its surroundings. If this slag grows, it may clog the slag outlet. For this reason, it is necessary to insert a work rod into the furnace opening to remove the slag. Regarding the above-mentioned work, a configuration has been disclosed in which the work conventionally performed by a worker (human) is replaced by a vertical articulated robot (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 09-273872 Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention relates to It is possible to improve the operability of the control system for users; The purpose is to: [Means for solving the problem]

[0005] In order to solve the above problems, the present invention proposes the following means. The control system of the present invention is a control system that controls an apparatus main body having a base and an attachment mounting portion and approaching an object by moving in a first direction, and an attachment that is attached to the attachment mounting portion and approaches the object by moving in the first direction, and is characterized in that it is equipped with a first notification means that notifies a user of information indicating the position of the tip of the attachment and information indicating the reaction force that the attachment receives from the object. Effect of the Invention

[0006] According to the present invention, Improving the user experience of control systems It is possible. [Brief description of the drawings]

[0007] [Figure 1] 2 is a configuration example of a control target of the control system according to the present embodiment. [Diagram 2] FIG. 2 is an enlarged view of the periphery of the attachment shown in FIG. [Diagram 3] FIG. 2 is a schematic diagram of a device body and an attachment according to the present embodiment. [Figure 4] 4 is a diagram showing a state in which the attachment shown in FIG. 3 has been moved in a first direction. [Diagram 5] 5 is a diagram showing a state in which the device body in FIG. 4 has been moved in a first direction. [Figure 6] 6 is a diagram showing a state in which the working rod provided at the tip of the attachment comes into contact with the target object due to the movement of the device body in FIG. 5. FIG. [Figure 7] 7 is a diagram showing a state in which the attachment in FIG. 6 starts to move in a second direction. FIG. [Figure 8] 8 is a diagram showing a state in which the attachment in FIG. 7 is in an intermediate position. FIG. [Figure 9] 4 is an operation flow of the attachment of the present embodiment. [Figure 10] 4 is a flow chart showing an operation flow of the main body of the apparatus according to the present embodiment. [Figure 11] FIG. 2 is a system configuration diagram of a control system according to the present embodiment. [Figure 12] FIG. 12 is a schematic diagram of an operation screen of the control panel shown in FIG. [Figure 13] 13 is an operational flow of the device main body and the attachment according to the first modified example of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A control system 200 according to an embodiment of the present invention will be described below with reference to the drawings. In describing the control system 200, first, a controlled object 100 will be described.

[0009] (Control object 100) As shown in Fig. 1, the control system 200 controls the controlled object 100. The controlled object 100 is used, for example, to remove an object (slag S) accumulated inside a melting furnace M. Specifically, the controlled object 100 operates a working rod R and removes the slag S by bringing the working rod R into physical contact with the slag S. Hereinafter, the present embodiment will be described taking the above-mentioned application as an example.

[0010] The controlled object 100 includes a device main body 10 and an attachment 20 . The device body 10 moves an attachment 20 (described later) to the vicinity of a melting furnace M. The device body 10 includes a base 11, an arm 12, a joint 13, and a hand 14.

[0011] The base 11 is a portion of the device body 10 that is installed at a work site. One end of an arm 12 is connected to the base 11. One end of the arm 12 is connected to the base 11, and the other end is connected to a joint 13. The joint 13 connects the arm 12 and the hand 14. The hand 14 is connected to the arm 12 via a joint 13. In addition, an attachment 20 is connected to the hand 14. This gives the attachment 20 six degrees of freedom.

[0012] For example, a known six-axis vertical articulated robot is preferably used for the device body 10. In this embodiment, the device body 10 moves the attachment 20 by the hand 14 in a first direction D1 and a second direction D2 shown in Fig. 1. The first direction D1 refers to a linear direction from the hand 14 of the device body 10 to the slag S accumulated inside the melting furnace M. The second direction D2 refers to a direction opposite to the first direction D1.

[0013] The attachment 20 is attached to the hand 14 of the device body 10. As shown in FIG. In the attachment 20, the movable part 22 moves in a first direction D1 and a second direction D2 by a servo motor 25m (described later) provided on the base part 21. Hereinafter, the movement direction of the movable part 22 described above may be particularly referred to as the axial direction.

[0014] The base portion 21 is a portion of the attachment 20 that is attached to the hand 14 of the device body 10. As shown in Fig. 2, the base portion 21 includes a first plate 21p1, a first shaft 21s1, a second plate 21p2, a second shaft 21s2, a third plate 21p3, and a fourth plate 21p4.

[0015] The surface of the first plate 21p1 facing the second direction D2 is attached to the hand 14. In this way, the base portion 21 is attached to the hand 14. The first plate 21p1 is, for example, disk-shaped. A plurality of first shafts 21s1 are connected to a surface of the first plate 21p1 on the first direction D1 side at equal radial distances from the center of the disk at intervals.

[0016] The first shaft 21s1 has an end on the second direction D2 side connected to a surface on the first direction D1 side of the first plate 21p1, and an end on the first direction D1 side connected to a surface on the second direction D2 side of the second plate 21p2. In the axial direction of the base portion 21, at a portion where the first shaft 21s1 is provided, a servo motor 25m and a servo motor control portion (not shown) are located (described later).

[0017] The second plate 21p2 has a surface on the second direction D2 side connected to the first shaft 21s1, thereby supporting the first shaft 21s1 together with the first plate 21p1. The second plate 21p2 is, for example, disk-shaped. A plurality of second shafts 21s2 are connected to a surface of the second plate 21p2 on the first direction D1 side at equal radial distances from the center of the disk at intervals.

[0018] The second shaft 21s2 has an end on the second direction D2 side connected to the surface of the first plate 21p1 on the first direction D1 side, and an end on the first direction D1 side connected to the surface of the third plate 21p3 on the second direction D2 side. In the axial direction of the base portion 21, a motor shaft 25ms of the servo motor 25m is located at a position where the second shaft 21s2 is provided (described later).

[0019] The third plate 21p3 has a surface on the second direction D2 side connected to the second shaft 21s2, thereby supporting the second shaft 21s2 together with the second plate 21p2. The third plate 21p3 is, for example, disk-shaped. Ends of the plurality of support rails 25l on the second direction side are connected to a surface of the third plate 21p3 on the first direction side (described later).

[0020] The fourth plate 21p4 has a surface on the second direction D2 side connected to the ends of the multiple support rails 25l on the first direction side, thereby supporting the support rails 25l together with the third plate 21p3. The fourth plate 21p4 is, for example, disk-shaped. The fourth plate 21p4 also serves to prevent the bottom plate 22b from coming off the support rail 25l when the bottom plate 22b moves to the end of the support rail 25l in the first direction D1. The components of the base portion 21 are preferably connected and attached to each other by bolt fastening, for example.

[0021] The movable part 22 is attached to the base part 21 and moves in the axial direction. The movable part 22 includes a top plate 22t, a support part 22l, an axis support part 22s, and a bottom plate 22b. The top plate 22t is provided on the first direction D1 side in the axial direction of the movable part 22. A force sensor 23 and a gripper 24 for attaching the above-mentioned working rod R are attached to the surface of the top plate 22t on the first direction D1 side. In addition, the support part 22l and the shaft support part 22s are connected to the surface of the top plate 22t on the second direction D2 side.

[0022] The support portions 22l are rod-shaped members provided in plurality between the top plate 22t and the bottom plate 22b. The end of the support portion 22l on the first direction D1 side is connected to the surface of the top plate 22t on the second direction D2 side. The surface of the top plate 22t on the second direction D2 side is connected to the bottom plate 22b.

[0023] The shaft support portion 22s is provided at the center of the top plate 22t. An end portion of the shaft support portion 22s on the first direction D1 side is connected to a surface of the top plate 22t on the second direction D2 side. An end portion of the shaft support portion 22s on the second direction D2 side is connected to an end portion of a ball screw 25s (described later) on the first direction D1 side. The bottom plate 22b is, for example, a disk-shaped member. The bottom plate 22b has a female screw portion (not shown) at the center of the disk, and engages with the ball screw 25s. As a result, the bottom plate 22b slides in the axial direction of the ball screw 25s as the ball screw 25s rotates. This causes the movable part 22 to move in the axial direction. The bottom plate 22b is also provided with a through hole (not shown) through which the support rail 25l passes.

[0024] The force sensor 23 is a sensor provided on the movable part 22, and the force sensor 23 senses, for example, an axial pressure applied to the movable part 22. With the above-mentioned configuration, the force sensor 23 senses, for example, the magnitude of a reaction force or the magnitude of a change in the reaction force generated when the working rod R comes into contact with the slag S. By setting a threshold value for the magnitude of this reaction force or the magnitude of the change in the reaction force, control is performed to prevent an excessive reaction force from being applied from the working rod R to the attachment 20 (details will be described later).

[0025] The gripper 24 is provided so as to come into contact with the force sensor 23 provided on the movable part 22. The gripper 24 is a part that grasps, for example, a working rod R operated by the control system 200 in order to attach it to the attachment 20. The reaction force generated in the working rod R is transmitted to the force sensor 23 via the gripper 24.

[0026] The driving unit 25 changes the distance between the movable unit 22 and the base unit 21 in the axial direction. The driving unit 25 includes a servo motor 25m, a ball screw 25s, and a support rail 25l. The servo motor 25m is located at a position where the first shaft 21s1 is provided in the axial direction of the attachment 20. The servo motor 25m is driven by a servo motor control unit (not shown). The servo motor 25m includes a motor shaft 25ms. An end of the motor shaft 25ms on the first direction D1 side is connected to an end of the ball screw 25s on the second direction D2 side.

[0027] The ball screw 25s is provided in the center of the bottom plate 22b and passes through a female screw portion. In this state, the ball screw 25s is rotated by the servo motor 25m. As a result, the bottom plate 22b moves in the axial direction, and the movable part 22 moves in the axial direction. The end of the support rail 25l on the second direction D2 side is connected to the surface of the third plate 21p3 on the first direction D1 side. The support rail 25l passes through a through hole provided in the bottom plate 22b. The support rail 25l can slide through this through hole. This prevents the bottom plate 22b and the movable part 22 from rotating in the axial direction due to the rotation of the servo motor 25m, and ensures that the movable part 22 moves in the axial direction by the mechanism of the ball screw 25s.

[0028] Furthermore, the movement speed of the movement mechanism of the attachment 20 is faster than the movement speed of the device body 10. Alternatively, as long as a movement speed equivalent to that of this configuration can be ensured, the drive unit 25 may use, for example, a hydraulic cylinder.

[0029] As described above, the attachment 20 is moved in the first direction D1 and the second direction D2 by the hand 14. In addition, the movable part 22 is moved back and forth in the first direction D1 and the second direction D2 by the drive part 25 of the attachment 20. A working rod R is attached to the attachment 20 via a gripper 24. The working rod R is moved back and forth in the first direction D1 and the second direction D2 by the drive part 25. The slag S inside the melting furnace M is removed by bringing the tip of the working rod R, which moves back and forth in this manner, into contact with the slag S. As shown in FIG. 1 and FIG. 2, a holding part may be provided between the end of the working rod R on the attachment 20 side and the end on the melting furnace M side. This may ensure that the working rod R moves back and forth smoothly by holding the middle part of the working rod R.

[0030] (Control system 200) Next, specific operations of the device body 10 and the attachment 20 in the control system 200 will be described with reference to the schematic diagrams of FIGS. 3 to 8, the flow charts of FIGS. 9 and 10, and the system configuration diagram shown in FIG. The control system 200 includes a furnace front cab 210 and a control panel 220. First, as shown in Fig. 11, in a control system 200 installed at a work site, the device main body 10 is connected to a robot control panel 211 provided in a furnace front operation room 210. The robot control panel 211 is connected to a programming pendant 212 and a coordinate calculator 213. In addition, the attachment 20 and the robot control panel 211 are connected to a control panel 220 operated by a user.

[0031] The robot control panel 211 and the control panel 220 provided in the front operation room 210 each include a system control device including a processor such as a CPU (Central Processing Unit) and a memory connected by a bus, and execute a program. The robot control panel 211 and the control panel 220 each function as a device including a receiving means, a determining means, a control means, and a distinguishing means by executing the program. The receiving means receives a first command FW and a second command BW (described later) via operation of the operation lever 221 by the user. The determination means determines whether or not a parameter related to the reaction force that the attachment 20 receives from an object (for example, the magnitude of the reaction force or the magnitude of the change in the reaction force) has exceeded a predetermined threshold value.

[0032] The above-mentioned parameters and thresholds are appropriately determined depending on the application of the control system 200. For example, when the control system 200 is used to remove slag S accumulated inside the melting furnace M by a work rod R attached to the tip of the attachment 20, the parameter is the magnitude of the reaction force generated by contact between the slag S and the work rod R. The parameter can be acquired by the control panel 220 from the force sensor 23. The threshold is preferably stored in advance in the determination means.

[0033] Depending on the result of the determination by the determination means, the control means changes the moving direction of the device body 10 and the attachment 20. The specific control will be described later. The discrimination means is a means for discriminating the position of the attachment 20. Specifically, among a plurality of positions to which the attachment 20 can move along the first direction D1, a position relatively far from the target object is set as a remote position BN (retracted position), an area closer to the target object than the remote position BN is set as an intermediate position N, and a position closer to the target object than the intermediate position N is set as a close position NF (advanced position). In this embodiment, it is preferable that the size of the area related to the intermediate position N is arbitrarily determined by the user. The discrimination means discriminates whether the current position of the attachment 20 is the remote position BN, the close position NF, or the intermediate position N. The discrimination means may, for example, discriminate the distance between the first plate 21p1 of the base part 21 and the top plate 22t of the movable part 22 by a sensor, or may discriminate the position by analyzing the amount of rotation of the servo motor 25m.

[0034] The control panel 220 includes an operating lever 221 and a display 222. The control system 200 according to this embodiment is activated when a user operates the operating lever 221 and the receiving means receives the command. The commands given by the user using the operating lever 221 are as follows: a first command FW (forward command) for moving (forward) the device body 10 and the attachment 20 in a first direction D1, and a second command BW (reverse command) for moving (reverse) the device body 10 and the attachment 20 in a second direction D2.

[0035] The display 222 is used to grasp information for determining each requirement when the user operates the control panel 220. As shown in Fig. 12, the display 222 functions as a first notification means I1, a second notification means I2, a third notification means I3, and a fourth notification means I4.

[0036] The first notification means I1 notifies the user of information indicating the position of the tip of the attachment 20 (in this embodiment, the tip of the work rod R) and information indicating the position of the slug S. The first notification means I1 notifies the user of the position of the slug S by displaying, on the display 222, a number indicating the distance (in mm) and color-coding each component. Chubu By displaying the distance in this way, it is easier to visually recognize the distance.

[0037] The second notification means I2 notifies the user of information indicating the distance from the tip of the attachment 20 to the refractory material placed in the melting furnace M. This information is displayed as a numerical value in mm in a table located below the display 222. In addition, the second notification means I2 displays the distance in a different color according to the distance, making it easy to visually recognize the distance. The position of the slag S located in the melting furnace M is recognized as follows. That is, when a reaction force is detected from the attachment 20 before the tip of the attachment 20 comes into contact with the refractory material placed in the melting furnace M (before the above-mentioned mm display becomes 0 mm), it is determined that the tip of the attachment 20 and the slag S have come into contact, and the position of the slag S is recognized.

[0038] The third notification means I3 notifies the user of information indicating whether the current position of the attachment 20 is the remote position BN, the intermediate position N, or the close position NF. This information is displayed in the upper part of the display 222. The fourth notification means I4 notifies the user of information indicating whether or not the tip of the attachment 20 and the slug S are in contact with each other. The fourth notification means I4 displays the reaction force generated in the work rod R based on the numerical value of the force sensor 23 in a table located below the display 222. In addition, the fourth notification means I4 displays the magnitude of the reaction force in a color-coded manner according to the magnitude of the reaction force, making it easy to visually recognize the magnitude of the reaction force. In addition, the above-mentioned information may be referred to in the image located in the center of the screen. This image visually displays the positions of the working rod R and the slag S in the melting furnace M on a cross-sectional view based on the above-mentioned information.

[0039] (Control Method) Next, specific movements of the device body 10 and the attachment 20 by the above-mentioned means and operations will be described. First, the positions of the device body 10 and the attachment 20 will be described as follows. That is, as shown in Fig. 3, the position before the device body 10 moves is defined as the origin O. The position where the device body 10 has advanced in the first direction D1 (the most advanced position) is defined as the main body advanced position Fr. The position of the device main body 10 can be determined, for example, based on the control value of the robot control panel 211. Information indicating the origin O and the main body forward position Fr is stored in the robot control panel 211 in advance.

[0040] The position of the attachment 20 will be described as follows based on the positional relationship between the bottom plate 22b of the movable part 22 and the ball screw 25s of the drive part 25. That is, as shown in FIG. 3, the end of the ball screw 25s on the second direction D2 side, i.e., the end on the second direction D2 side in the movable range of the bottom plate 22b, is defined as the rear end B. The center of the movable range of the ball screw 25s is defined as the intermediate position N. The end of the ball screw 25s on the first direction D1 side, i.e., the end on the first direction D1 side in the operating range of the bottom plate 22b, is defined as the forward end F. The remote position BN of the attachment 20 described above is the region between the intermediate position N and the rear end B. The close position NF of the attachment 20 is the region between the intermediate position N and the forward end F. The position of the attachment 20 can be determined, for example, based on the control value of the servo motor 25m by the control panel 220. Information indicating the rear end B, the intermediate position N, and the forward end F is stored in the control panel 220 in advance.

[0041] In this embodiment, first, a control flow will be described with reference to Fig. 9 and Fig. 10. After that, specific control examples will be described with reference to Figs.

[0042] (Control Flow) In this embodiment, the control system 200 controls in parallel the attachment 20 and the device main body 10. The control flows for the attachment 20 and the device main body 10 will be described below.

[0043] (First mode) First, an explanation will be given of the operation in the first mode. The first mode is a mode in which the attachment 20 and the device main body 10 are operated according to the operation flowchart shown in FIGS. The operation flow chart of the attachment 20 shown in FIG. 9 will now be described. The user inputs a first command FW by the operation lever 221 (step SA1). When the receiving means receives this command, the determining means determines whether or not a parameter related to the reaction force that the attachment 20 receives from the object exceeds a predetermined threshold (step SA2). For example, the determining means reads out a pre-stored threshold and makes a determination by comparing this threshold with the parameter acquired from the force sensor 23. When the determination means determines that the reaction force does not exceed the threshold value (step SA2: NO), the discrimination means determines whether or not the attachment 20 is at the forward end F (step SA3). For example, the discrimination means makes the determination by comparing the control value of the control panel 220 with information indicating the forward end F stored in the control panel 220. When the discrimination means determines that the attachment 20 is not at the forward end F (step SA3: NO), the attachment 20 is moved in the first direction D1 (step SA4). Thereafter, the flow ends. When the discrimination means determines that the attachment 20 is at the forward end F (step SA3: YES), the flow ends as is.

[0044] When the second command BW is input by the operating lever 221 (step SA5), or when it is determined that a reaction force is occurring in the attachment 20 when the first command FW is input (step SA1) (step SA2: YES), the determination means determines whether or not the attachment 20 is at the rear end B (step SA6). When it is determined that the attachment 20 is not at the rear end B (step SA6: NO), the attachment 20 is moved in the second direction D2 (step SA7), and the flow ends. When it is determined that the attachment 20 is at the rear end B (step SA6: YES), the flow ends as is.

[0045] Next, the operation flow chart of the device main body 10 shown in FIG. 10 will be described. First, when the receiving means receives an input of either the first command FW or the second command BW by the operation lever 221 (step SR1), the position of the attachment 20 is determined by the determining means (step SR2). If it is determined that the attachment 20 is in the proximity position NF (i.e., closer to the first direction D1 than the intermediate position N) (step SR2: YES), the device body 10 is moved in the first direction D1 (step SR3) and the flow ends. For example, the determining means makes the determination by comparing the control value of the control panel 220 with information indicating the intermediate position N stored in the control panel 220. If it is determined that the attachment 20 is not in the close position NF (step SR2: NO), it is determined whether the attachment 20 is in the remote position BN (step SR4). If it is determined that the attachment 20 is in the remote position BN (i.e., closer to the second direction D2 than the intermediate position N) (step SR4: YES), the device body 10 is moved in the second direction D2 (step SR5) and the flow ends. If it is determined that the attachment 20 is not in the close position NF or the remote position BN, i.e., in the intermediate position N (step SR4: NO), the flow ends as is.

[0046] (Second mode) Next, the operation of the second mode will be described. The second mode is a mode in which the attachment 20 and the device body 10 are operated according to the operation flowchart shown in Fig. 13. In the second mode, the attachment 20 and the device body 10 are controlled simultaneously in parallel. First, the user inputs a first command FW using the operation lever 221 (step SS1). When the receiving means receives this command, the determining means determines whether or not a parameter related to a reaction force that the attachment 20 receives from an object exceeds a predetermined threshold value (step SS2). When the determination means determines that the reaction force does not exceed the threshold value (step SS2: NO), the discrimination means determines whether or not the attachment 20 is at the forward end F (step SS3). In parallel with this, the discrimination means determines the position of the attachment 20 (step SS5). If the determination means determines that the attachment 20 is not at the forward end F (step SS3: NO), the attachment 20 is moved in the first direction D1 (step SS4). Then, the flow ends. If the determination means determines that the attachment 20 is at the forward end F (step SS3: YES), the flow ends. If it is determined that the attachment 20 is in the proximity position NF (i.e., closer to the first direction D1 than the intermediate position N) (step SS5: YES), the device body 10 is moved in the first direction D1 (step SS6) and the flow ends. If it is determined that the attachment 20 is not in the proximity position NF (i.e., closer to the second direction D2 than the intermediate position N) (step SS5: NO), the flow ends. In other words, if the reaction force does not exceed the threshold value (step SS2: NO), and further, the attachment 20 is not at the forward end F (step SS3: NO), and the attachment 20 is in the proximity position NF (step SS5: YES), the attachment 20 is moved in the first direction D1 together with the device main body 10.

[0047] When the second command BW is input by the operating lever 221 (step SS7), or when it is determined that a reaction force is occurring in the attachment 20 when the first command FW is input (step SS1) (step SS2: YES), the determination means determines whether or not the attachment 20 is at the rear end B (step SS8). In parallel with this, it is determined whether or not the position of the attachment 20 is at the remote position BN (step SS10). If it is determined that the attachment 20 is not at the rear end B (step SS8: NO), the attachment 20 is moved in the second direction D2 (step SS9), and the flow ends. If it is determined that the attachment 20 is at the rear end B (step SS8: YES), the flow ends. If it is determined that the attachment 20 is located at the remote position BN (i.e., closer to the second direction D2 than the intermediate position N) (step SS10: YES), the device body 10 is moved in the second direction D2 (step SS11) and the flow ends. If it is determined that the attachment 20 is not located at the remote position BN (i.e., closer to the first direction D1 than the intermediate position N) (step SS10: NO), the flow ends as it is. That is, the determination means determines whether or not a parameter relating to the reaction force that the attachment 20 receives from the object exceeds a threshold value, and the direction of movement of the device body 10 and the attachment 20 by the control means is changed depending on the result of the determination. In the above-described control, when the discrimination means discriminates that the attachment 20 is in the intermediate position N, a control for suppressing the movement of the device body 10 may be provided.

[0048] (Control example) The above-mentioned operation flowchart of the attachment 20 and the flowchart of the device main body 10 are started simultaneously by inputting the first command FW or the second command BW to the operation lever 221. Specific movements when the above-mentioned operation flows are performed simultaneously are as shown in Figs. 3 to 8. From the initial position shown in Fig. 3, either the first command FW or the second command BW is inputted by the operation lever 221. The following will be described taking as an example the case where the first command FW is inputted by the operation lever 221. Note that in the initial state shown in Fig. 3, the device body 10 is located at the origin O, and the attachment 20 is located at the intermediate position N.

[0049] As shown in Fig. 4, when a first command FW is input by the operating lever 221, the attachment 20 moves in the first direction D1 through steps SA1, SA2 (NO), SA3 (NO), and SA4 shown in Fig. 9. As shown in Fig. 5, the device body 10 also moves in the first direction D1 through steps SR1, SR2 (YES), and SR3 shown in Fig. 10. However, in this control example, it takes longer for the device body 10 to start than the attachment 20 at this time. Therefore, even if the control signals themselves are sent in parallel from the robot control panel 211 and the control panel 220, it appears that the attachment 20 moves first to the forward end F, and then the device body 10 moves.

[0050] As shown in FIG. 6, when the work rod R attached to the tip of the attachment 20 comes into contact with the slug S, a reaction force is generated in the attachment 20. In this case, if the first command FW continues to be input, the attachment 20 does not move in particular through steps SA1, SA2 (NO), and SA3 (YES) shown in FIG. 9 until it is determined that the reaction force exceeds the threshold. On the other hand, as shown in FIG. 7, the device body 10 continues to move in the first direction D1 through steps SR1, SR2 (YES), and SR3 shown in FIG. 10. When it is determined that the reaction force exceeds the threshold, the attachment 20 moves in the second direction D2 through steps SA1, SA2 (YES), SA6 (NO), and SA7 shown in FIG. 8.

[0051] Such a movement prevents an excessive reaction force from being generated in the attachment 20, which would otherwise cause the attachment 20 to be damaged. After this state is reached, the user moves the operating lever 221 back and forth, and removes the slag S by causing the attachment 20 to reciprocate at high speed in the first direction D1 and the second direction D2 while the device main body 10 is stationary. Furthermore, the device body 10 and the attachment 20 may be moved as follows, based on the position of the attachment 20 detected by the discrimination means and the information on the reaction force detected by the determination means.

[0052] That is, when the determining means determines that the parameter exceeds the threshold value, the attachment 20 may be moved in the second direction D2 until the parameter becomes equal to or less than a predetermined value. In addition, when the determination means determines that the parameter exceeds a threshold value, the attachment 20 may be moved in the second direction D2 and the device main body 10 may be moved in the first direction D1 so that the parameter becomes equal to or lower than a predetermined value and the attachment 20 maintains contact with the object.

[0053] In addition, when it is determined that the parameter does not exceed the threshold value, after moving the attachment 20 in the first direction D1, if the discrimination means determines that the attachment 20 is in the proximity position NF, the device main body 10 may be moved in the first direction D1. In addition, when the receiving means receives the second command BW, if the discrimination means determines that the attachment 20 is in the remote position BN, the device main body 10 may be moved in the second direction D2, and if the discrimination means determines that the attachment 20 is in the intermediate position N, the attachment 20 may be moved in the second direction D2.

[0054] Next, as a modified example of using the control system 200 according to this embodiment for purposes other than those described above, an example of using the control system 200 for finishing a large forging will be described. That is, a grinding wheel may be attached to the tip of the attachment 20, and the grinding wheel may be pressed against a large forged part by the control system 200 for finishing the large forged part. In this case, the above-mentioned parameter may be the magnitude of change in the reaction force, instead of the reaction force.

[0055] Furthermore, the control system 200 may be used for a plurality of purposes by including a setting means for setting the first reaction force mode and a second reaction force mode different from the first reaction force mode and making the above-mentioned parameters switchable. The first reaction force mode is a mode in which the determination means determines whether or not the magnitude of the reaction force exceeds a predetermined threshold value as a parameter related to the reaction force received by the attachment 20 from the object in step SA2 of FIG. 9 and step SS2 of FIG. The second reaction force mode is a mode in which the determination means determines whether or not the magnitude of change in reaction force exceeds a predetermined threshold value as a parameter related to the reaction force that the attachment 20 receives from the object in step SA2 of Figure 9 and step SS2 of Figure 13. In other words, regarding the judgment criteria by the above-mentioned judging means, when the setting means sets the first reaction force mode, the magnitude of the reaction force may be used as a parameter, and when the setting means sets the second reaction force mode, the magnitude of the change in the reaction force may be used as a parameter.

[0056] The control system 200 may also include a control means (second mode) that, when the receiving means receives the first command FW, moves the device main body 10 and the attachment 20 in a first direction D1 if the judgment means determines that the parameter does not exceed the threshold, and moves the device main body 10 and the attachment 20 in a second direction D2 if the judgment means determines that the parameter exceeds the threshold, and a setting means that sets the first mode and the second mode.

[0057] In addition, in the second mode, when the receiving means receives a second command BW, the device body 10 and the attachment 20 may be moved in a second direction D2.

[0058] Specifically, when the reception means receives the first command FW, if the determination means determines that the parameter does not exceed the threshold, the attachment 20 is moved in the first direction D1. When the discrimination means determines that the attachment 20 is in the close position NF, the device body 10 is moved in the first direction D1. When the discrimination means determines that the parameter exceeds the threshold, the attachment 20 is moved in the second direction D2. When the discrimination means determines that the attachment 20 is in the remote position BN, the device body 10 is moved in the second direction D2. As a result, when the reception means receives the first command FW, if the determination means determines that the parameter exceeds the threshold, the attachment 20 moves in the second direction D2 and the device body 10 does not move in the first direction D1, and it is possible to quickly avoid unexpected forces during work.

[0059] As described above, according to the control system 200 of this embodiment, the movement speed of the attachment 20 is faster than the movement speed of the device body 10. With this configuration, the object can be approached more quickly compared to the case where the object is approached only by the device body 10. Furthermore, by increasing the movement speed of the attachment 20 attached to the device body 10, rather than increasing the movement speed of the device body 10, quick approach to the object can be realized. Therefore, for example, the occurrence of large-scale work such as modification of the device body 10 can be suppressed.

[0060] The above-mentioned configuration is particularly effective when, for example, removing slag S accumulated inside the melting furnace M using a work rod R attached to the tip of the attachment 20. That is, in the above-mentioned slag removal, it is necessary to operate the work rod R at high speed or with acceleration, but this configuration makes it possible to perform the above-mentioned operation.

[0061] In addition, the determination means determines whether or not a parameter relating to a reaction force that the attachment 20 receives from an object exceeds a threshold value, and the direction of movement of the attachment 20 by the control means is changed depending on the result of the determination. Here, while the attachment 20 is receiving a reaction force from the object, the device body 10 may move further in the first direction D1. This may cause the reaction force received by the attachment 20 to become excessive, which may result in damage to the attachment 20.

[0062] On the other hand, when the determination means determines that the parameter exceeds the threshold value, the attachment 20 is moved in a second direction D2 opposite to the first direction D1. Also, as described above, the movement speed of the attachment 20 is faster than the movement speed of the device body 10. This makes it possible to move the parameter away from the object even if the device body 10 moves further in the first direction D1 while the attachment 20 is receiving a reaction force. This prevents the attachment 20 from being damaged, allowing the user to work safely.

[0063] Furthermore, when the parameter does not exceed the threshold, the device body 10 is moved in the first direction D1 together with the attachment 20. By moving the attachment 20 and the device body 10 only when the parameter does not exceed the threshold, the attachment 20 can be moved quickly and safety can be ensured.

[0064] In addition, the parameter is the magnitude of the reaction force. Thus, by appropriately setting the threshold value, it is possible to move the attachment 20 in the second direction D2 before the reaction force that the attachment 20 receives from the object becomes excessive.

[0065] Furthermore, when the determination means determines that the parameter exceeds the threshold value, the attachment 20 is moved in the second direction D2 until the parameter becomes equal to or less than a predetermined value. This prevents the attachment 20 from receiving an excessively large reaction force, and at the same time, allows the attachment 20 to move so as to follow the object.

[0066] Moreover, the attachment 20 is moved in the second direction D2 so as to maintain contact between the attachment 20 and the object, and the device body 10 is moved in the first direction D1. This makes it possible to move the device body 10 to an optimal position while maintaining contact between the attachment 20 and the object.

[0067] Furthermore, when the discrimination means discriminates that the attachment 20 is in the close position NF, the device body 10 is moved in the first direction D1, and when the discrimination means discriminates that the attachment 20 is in the remote position BN, the device body 10 is moved in the second direction D2. In other words, by auxiliary moving the device body 10 in accordance with the position state of the attachment 20, it is possible to prevent the attachment 20 from moving more than necessary. Therefore, it is possible to reduce the time required for the attachment 20 to return to its original position, and improve workability.

[0068] When the attachment 20 approaches the object, it is preferable that the attachment 20 is in the proximity position NF. This is because, when the attachment 20 is in the proximity position NF, there is room for the attachment 20 to move in the second direction D2. Therefore, when the attachment 20 comes into contact with the object and receives a reaction force, for example, when the reaction force is about to increase, if the attachment 20 is in the proximity position NF, the attachment 20 can escape in the second direction D2. When the reception means receives the first command FW, if the determination means determines that the parameter does not exceed the threshold value, the attachment 20 is moved in the first direction D1. If the discrimination means determines that the attachment 20 is in the proximity position NF, the device body 10 is moved in the first direction D1. Therefore, the attachment 20 actively moves forward in the first direction D1 until the attachment 20 moves to the proximity position NF.

[0069] On the other hand, when the attachment 20 is about to move away from the object, it is preferable for the attachment 20 to move to the remote position BN. This is because, if the attachment 20 moves to the remote position BN, the attachment 20 can be quickly moved away from the object, and damage to the attachment 20 or the device main body 10 can be avoided, while an excessive reaction force can be prevented from being input to the attachment 20. When the receiving means receives the second command BW, the attachment 20 is moved in the second direction D2. Therefore, the attachment 20 is quickly moved away from the object, and damage to the attachment 20 or the device body 10 can be avoided. Furthermore, when the determining means determines that the attachment 20 is in the remote position BN, the device body 10 is moved in the second direction D2. Therefore, it is possible to prevent an excessive reaction force from being input to the attachment 20.

[0070] Furthermore, when the discrimination means discriminates that the attachment 20 is at the intermediate position N, the movement of the device body 10 is suppressed. This makes it possible to prevent the device body 10 from moving simultaneously when the user attempts to move only the attachment 20. This further improves the operability of the control system 200.

[0071] Also, the parameter is the magnitude of the change in the reaction force. For example, depending on the application of the control system 200, it may be necessary to maintain a constant reaction force between the attachment 20 and the object. In this case, by setting the magnitude of the change in the reaction force as the parameter, the reaction force can be maintained more efficiently compared to the case where the magnitude of the reaction force is set as the parameter.

[0072] The above-mentioned configuration is particularly effective when performing finish processing of large forged products, for example, by using a grindstone attached to the tip of the attachment 20. That is, in the above-mentioned finish processing, it is necessary to press the grindstone against the surface of the object with a certain force, and this configuration makes it possible to perform the above-mentioned operation.

[0073] Moreover, the parameters can be changed by a setting means, which allows the control system 200 to be used for multiple purposes. For example, when the control system 200 is set to the first reaction force mode, it can be used to remove slag S accumulated inside the melting furnace M using a work rod R attached to the tip of the attachment 20. When the control system 200 is set to the second reaction force mode, it can be used to perform finishing work on large forged products using a rotating grindstone attached to the tip of the attachment 20.

[0074] Moreover, when it is determined that the attachment 20 is in the close position NF, the device body 10 is moved in the first direction D1, and when it is determined that the attachment 20 is in the remote position BN, the device body 10 is moved in the second direction D2. This makes it possible to prevent the attachment 20 from moving more than necessary. This reduces the time required for the attachment 20 to return to its original position, improving workability.

[0075] The control system 200 further includes a first notification means I1 that notifies the user of information indicating the position of the tip of the attachment 20 and information indicating the position of the target object. This allows the user to optimally operate the control system 200 using the notified information.

[0076] The device further includes a second notification means I2 that notifies the user of information indicating the distance from the tip of the attachment 20 to the object. This allows the user to more appropriately grasp the positional relationship between the attachment 20 and the object. Therefore, the user can appropriately determine whether to execute the above-mentioned first command FW or second command BW, for example.

[0077] The device further includes a third notification means I3 for notifying the user of the position of the attachment 20. This allows the user to understand how the control system 200 operates based on the above-mentioned first command FW or second command BW, and to realize optimal operation.

[0078] The attachment 20 further includes a fourth notification means I4 that notifies the user of information indicating whether the tip of the attachment 20 is in contact with the object. This allows the user to properly distinguish, when a reaction force is generated against the attachment 20, whether the reaction force is due to proper contact between the tip of the attachment 20 and the object, or due to contact with an unexpected substance, etc.

[0079] The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, the force sensor 23 may be provided at the end of the attachment 20 on the second direction D2 side, rather than at the end on the first direction D1 side. The control system 200 according to this embodiment may also be used for chipping work of concrete or the like. All or part of the functions of the control system 200 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. The program may be transmitted via a telecommunications line.

[0080] In addition, within the scope of the invention, the components in the above-described embodiments may be replaced with well-known components, and the above-described modified examples may be combined as appropriate. [Explanation of symbols]

[0081] 10. Device body 20 Attachment 200 Control System I1 First means of notification I2 Second notification means I3 Third notification means I4 Fourth notification means D1 First direction D2 Second direction FW First instruction BW Second instruction BN Remote position N Intermediate position NF Proximity position F Forward end B Rear end

Claims

1. An apparatus main body having a base and an attachment mounting portion, and approaching an object by moving in a first direction, An attachment attached to the attachment mounting portion and approaching the object by moving in the first direction, A control system for controlling the above, A control system characterized by notifying the user of both information indicating the position of the tip of the attachment and information indicating the reaction force received by the attachment from the object.

2. Notifying the user of information indicating whether or not the tip of the attachment is in contact with the object, The control system according to claim 1, characterized by the above.

3. Notifying the user of information indicating the distance from the tip of the attachment to the object, The control system according to claim 1 or 2, characterized by the above.

4. Among a plurality of positions where the attachment is movable along the first direction, a position relatively far from the object is defined as a remote position, a position closer to the object than the remote position is defined as an intermediate position, and a position closer to the object than the intermediate position is defined as a proximity position. When this is done, the control system according to any one of claims 1 to 3, characterized by notifying the user of information indicating which of the remote position, the intermediate position, and the proximity position the current position of the attachment is.

5. Notifying the user of information indicating the position of the tip of the attachment and information indicating the position of the object, The control system according to claim 4, characterized by the above.

6. A control method for controlling an apparatus main body having a base and an attachment mounting portion, and approaching an object by moving in a first direction, and an attachment attached to the attachment mounting portion and approaching the object by moving in the first direction, Notifying the user of both information indicating the position of the tip of the attachment and information indicating the reaction force received by the attachment from the object, A control method characterized by the above.

7. A program for causing a computer to function as the control system according to any one of claims 1 to 5.

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