Control system

Abstract

To facilitate teaching of the operation of a manipulator.SOLUTION: A control system comprises a manipulator having an end effector, a control part that controls the operation of the manipulator, and an output part provided in the end effector and outputs a light beam, where the control part controls the operation of the manipulator in a state where the light beam outputted from the output part is pointed to an object having a mark in teaching the operation of the manipulator.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control system.

Background Art

[0002] Conventionally, in order to grip a workpiece with a manipulator and perform work, the content of the operation to be performed by the manipulator has been previously instructed to the manipulator. The instruction for the operation of the manipulator is called teaching. As a teaching method, there is a method of controlling the position, posture, etc. of the manipulator by controlling the operation of the manipulator using a controller (teaching pendant).

[0003] Patent Document 1 discloses that in order to shorten the teaching work, laser light is irradiated from two laser projectors provided at the tip of a robot arm or manipulator to an object at different angles, and a mark is formed on the object by the irradiated light and the formed mark is used as a target.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to teach the manipulator accurate operations, it is necessary to adjust the spatial positional relationship between the tip (end effector) of the manipulator and the target workpiece. However, when checking the position visually, since adjustment is performed sensuously by eye, when the proficiency of the instructor is low, the man-hours of the teaching work increase.

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to provide a technique capable of easily teaching the operation of a manipulator.

Means for Solving the Problem

[0007] A control system according to an aspect of the present invention includes a manipulator having an end effector, a control unit that controls the operation of the manipulator, and an output unit that is provided on the end effector and outputs a light beam. In teaching the operation of the manipulator, the control unit controls the operation of the manipulator in a state where the light beam output from the output unit is directed toward an object having a mark.

[0008] An operator can easily teach the operation of the manipulator by moving the manipulator with reference to the position of the light beam output from the output unit and the position of the mark on the object. In addition, it is possible to suppress the sensory adjustment in teaching the operation of the manipulator. Therefore, even when the proficiency of the operator in teaching the operation of the manipulator is low, the operator can accurately teach the operation of the manipulator.

[0009] The light beam may be irradiated onto the surface of the object where the mark is provided. The output unit may be provided at the center of the end effector. The mark may be provided at the center of the surface of the object irradiated with the light beam.

[0010] The output unit may be provided movably with respect to the end effector. A plurality of the above-mentioned output units are provided on the end effector, and at least one of the plurality of output units may be movable with respect to the end effector.

[0011] The colors of the light beams output from the plurality of output units may be different. The mark may be provided at an outer peripheral portion of the surface of the object irradiated with the light beam. The end effector may have a gripper for gripping the object.

[0012] It is provided with an imaging device that images the object, the output unit intermittently outputs the light beam, the imaging device generates first image data of the object in a state where the object is irradiated with the light beam and second image data of the object in a state where the object is not irradiated with the light beam, and the control unit may generate difference data between the first image data and the second image data and detect the irradiation position of the light beam based on the difference data.

[0013] It may include an acquisition unit that acquires the posture information of the end effector from a first sensor provided on the end effector and acquires the posture information of the object from a second sensor provided on the object, and a first display unit that displays the posture information of the end effector and the posture information of the object.

[0014] It includes an acquisition unit that acquires the posture information of the end effector from a first sensor provided on the end effector and acquires the posture information of the object from a second sensor provided on the object, and the control unit may control the operation of the manipulator based on the posture information of the end effector and the posture information of the object.

[0015] It may include a second display unit that displays the distance value from the output unit to the object measured by the output unit. The height of the object may be different from the height of the workpiece on which a predetermined operation is performed by the manipulator.

[0016] It includes an input unit to which an operation input regarding the operation of the manipulator is input from an operator, and the control unit may control the operation of the manipulator based on the operation input.

[0017] The light beam may be a laser beam with a visible wavelength. The light beam is a laser beam with an infrared wavelength, and the object may be provided with a photosensitive member that is sensitive to the laser beam with the infrared wavelength.

[0018] It is provided with an output control unit that controls the start and stop of the output of the light beam of the output unit, and the output control unit may start the output of the light beam of the output unit before the instruction of the operation of the manipulator is started, and stop the output of the light beam of the output unit after the instruction of the operation of the manipulator is completed.

Effect of the Invention

[0019] According to the present invention, it is possible to provide a technique capable of easily performing an instruction for the operation of a manipulator.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

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Figure 15

Mode for Carrying Out the Invention

[0021] Hereinafter, embodiments will be described with reference to the drawings. The embodiments shown below are one aspect of the present application and do not limit the technical scope of the present application.

[0022] <Application Example> Hereinafter, an example of a scene to which the present invention is applied will be described.

[0023] <First Embodiment> FIG. 1 is a configuration diagram of a control system 1 according to the first embodiment. The control system 1 includes a manipulator 2, a manipulator control unit 3, an input unit 4, a light beam output unit 5, and a light emission control unit 6.

[0024] The manipulator 2 is an articulated robot having a base portion 21, an arm (link) 22 provided on the base portion 21, and an end effector 23 provided at the tip of the arm 22. The base portion 21 is a base for fixing the manipulator 2. Each joint 24 of the arm 22 is provided with a driving device such as a servo motor for driving the joint 24, a detection device such as an encoder for detecting the angular displacement of the axis of the joint 24, and a measuring device for measuring the rotational speed and torque of the axis of the joint 24. A processing device provided in the base portion 21 sends information such as the angle, rotational speed, torque, and other information of the axis of the joint 24 to the manipulator control unit 3.

[0025] The end effector 23 has grippers (holding claws) 25A and 25B for gripping the workpiece. The end effector 23 is configured to be able to grip the workpiece by opening and closing the grippers 25A and 25B. A shaft is provided at the location where the grippers 25A and 25B are connected to the end effector 23. Starting from the shaft connecting the grippers 25A and 25B to the end effector 23, by moving the gripper 25A in the arrow direction R1 shown in FIG. 1 and moving the gripper 25B in the arrow direction R2 shown in FIG. 1, the grippers 25A and 25B grip the workpiece or the grippers 25A and 25B release the workpiece. The workpiece is, for example, a final product, an intermediate product, a semi-finished product, a component, a material, etc.

[0026] The manipulator control unit 3 performs calculations for operating each joint 24 and controls the operation of the manipulator 2 by issuing a control instruction for the operation of the manipulator 2 based on the calculation result. The manipulator control unit 3 is composed of a processor such as a CPU (Central Processing Unit) , a ROM (Read Only Memory) that stores programs and control data for the operation of the processor, a RAM (Random Access Memory) that functions as a work area of the processor, etc. The manipulator control unit 3 receives the angle of the axis of the joint 24, the rotational speed, the torque, and other information from the manipulator 2. The input unit 4 receives an operation input related to the operation of the manipulator 2 from an operator (user). The input unit 4 may be an operation pendant (teaching pendant) for operating the manipulator 2. The manip ulator control unit 3 controls the operation of the manipulator 2 based on the operation input entered into the input unit 4 when an operation input related to the operation of the manipulator 2 is entered into the input unit 4.

[0027] The light output unit 5 is provided in the end effector 23 and is a device that outputs light rays from the tip portion of the light output unit 5. The light output unit 5 is arranged so as to be embedded inside the end effector 23, and the tip portion of the light output unit 5 is exposed from the end effector 23. The light output unit 5 may be provided at the center of the end effector 23. The light rays output from the light output unit 5 may be laser light rays with visible wavelengths or laser light rays with infrared wavelengths. In FIG. 1, the light rays output from the light output unit 5 are indicated by the reference symbol L1. The light output unit 5 may be a light ray emitting device such as a laser pointer for indicating a position by laser light rays.

[0028] The light emission control unit 6 is a device that controls the light emission of the light output unit 5. The light emission control unit 6 is composed of a processor such as a CPU, a ROM that stores programs and control data for the operation of the processor, a RAM that functions as a work area of the processor, and the like.

[0029] The light emission control unit 6 controls the start and stop of the output of the light ray L1 of the light output unit 5. The light emission control unit 6 is an example of an output control unit. The light emission control unit 6 includes a light emission instruction reception unit 61 and a light emission instruction unit 62. When the light emission instruction reception unit 61 receives an instruction to start light emission, the light emission instruction unit 62 sends an instruction signal to start light emission to the light output unit 5. The light output unit 5 starts light emission in response to the instruction signal to start light emission from the light emission instruction unit 62 and outputs the light ray L1. When the light emission instruction reception unit 61 receives an instruction to stop light emission, the light emission instruction unit 62 sends an instruction signal to stop light emission to the light output unit 5. The light output unit 5 stops light emission in response to the instruction signal to stop light emission from the light emission instruction unit 62 and stops the output of the light ray L1.

[0030] The light emission control unit 6 may be provided in the end effector 23. The light emission control unit 6 may be provided at a position that does not contact the grippers 25A and 25B on the side surface of the end effector 23 or the like. By arranging the light emission control unit 6 inside the end effector 23, the light emission control unit 6 and the end effector 23 may be integrated.

[0031] The light emission control unit 6 may be arranged at a position spaced apart from the end effector 23. The light emission control unit 6 may be connected to the manipulator 2 by a cable laid on the manipulator 2, and the light beam output unit 5 and the light emission control unit 6 may be connected by wire. Also, the light beam output unit 5 and the light emission control unit 6 may be connected wirelessly.

[0032] Instructions for starting and ending light emission to the light emission instruction reception unit 61 may be, for example, a switch operation by an operator, an input of a control signal from the manipulator control unit 3 or other devices. The operator may operate a switch connected to the manipulator 2 to give instructions for starting and ending light emission to the light emission instruction reception unit 61. The switch may be a push button or a foot pedal. Instructions for starting and ending light emission may be given to the light emission instruction reception unit 61 by voice input of the operator.

[0033] The light beam L1 output from the light beam output unit 5 is directed toward a teaching work 8 having at least one mark (target). The teaching work 8 is a work used to teach the operation of the manipulator 2. The teaching work 8 is an example of an object. When one type of work is the work target, the teaching work 8 has the same shape and size as the work. When a plurality of types of works are the work targets and a plurality of types of teaching works 8 are used, the shape and size of the teaching work 8 differ for each work. In an example of the teaching work 8 shown in FIG. 1, the teaching work 8 has a cubic shape. The mark 7 is a sheet member that can be attached to the teaching work 8, a convex member formed on the teaching work 8, a concave groove formed on the teaching work 8, paint or the like formed on the teaching work 8. The mark 7 is provided on the surface of the teaching work 8 irradiated with the light beam L1. The mark 7 may be provided at the center of the surface of the teaching work 8 irradiated with the light beam L1. The surface of the teaching work 8 irradiated with the light beam L1 may be the upper surface of the teaching work 8. The teaching work 8 may have a plurality of marks 7.

[0034] In FIG. 1, an example of placing the teaching work 8 on the floor or workbench is shown, but the teaching work 8 may be detachably attached to the wall. A plurality of teaching works 8 may be placed on the floor or workbench, or a plurality of teaching works 8 may be detachably attached to the wall. In teaching the operation of the manipulator 2, the light beam L1 output from the light beam output unit 5 is directed toward the teaching work 8. In FIG. 1, the light beam L1 output from the light beam output unit 5 is irradiated on the surface of the teaching work 8 where the mark 7 is provided. With the light beam L1 output from the light beam output unit 5 directed toward the teaching work 8, the manipulator control unit 3 controls the operation of the manipulator 2. In teaching the operation of the manipulator 2, when an operation input related to the operation of the manipulator 2 is input to the input unit 4, the manipulator control unit 3 controls the operation of the manipulator 2 based on the operation input input to the input unit 4.

[0035] The operator can easily teach the operation of the manipulator 2 by referring to (checking) the position of the light beam L1 output from the light beam output unit 5 and the position of the mark 7 on the teaching work 8 and moving the manipulator 2. The operator can check whether the grippers 25A and 25B interfere with the teaching work 8 in teaching the operation of the manipulator 2. The operator may move the manipulator 2 so that the central axis CL of the end effector 23 and the center of the upper surface of the teaching work 8 overlap in a predetermined direction by referring to the position of the light beam L1 output from the light beam output unit 5 and the position of the mark 7 on the teaching work 8. The predetermined direction is, for example, the vertical direction, but may be a direction other than the vertical direction.

[0036] Since the operator moves the manipulator 2 by referring to the position of the light beam L1 output from the light beam output unit 5 and the position of the mark 7 on the teaching work 8, it is possible to suppress the sensory adjustment in teaching the operation of the manipulator 2. Therefore, even when the proficiency of the operator in teaching the operation of the manipulator 2 is low, the operator can accurately teach the operation of the manipulator 2.

[0037] When the light beam L1 output from the light beam output unit 5 irradiates the teaching workpiece 8, the operator can refer to the position of the light beam L1 irradiated on the teaching workpiece 8. The operator can use the position of the light beam L1 irradiated on the teaching workpiece 8 as a guide for the gripping position of the teaching workpiece 8. When the grippers 25A and 25B grip the teaching workpiece 8, the gripping position of the teaching workpiece 8 is the contact position between the grippers 25A and 25B and the teaching workpiece 8.

[0038] The light beam output unit 5 may be arranged with respect to the end effector 23 such that the optical axis of the light beam L1 output from the light beam output unit 5 coincides with the central axis CL1 of the end effector 23. By moving the manipulator 2 and irradiating the mark 7 on the teaching workpiece 8 with the light beam L1 output from the light beam output unit 5, the central axis CL1 of the end effector 23 and the mark 7 on the teaching workpiece 8 overlap in a predetermined direction.

[0039] The light beam output unit 5 may be arranged with respect to the end effector 23 such that the optical axis of the light beam L1 output from the light beam output unit 5 coincides with the central axis CL1 of the end effector 23, and a mark 7 may be provided at the center position of the upper surface of the teaching workpiece 8. By moving the manipulator 2 and irradiating the mark 7 on the teaching workpiece 8 with the light beam L1 output from the light beam output unit 5, the central axis CL1 of the end effector 23 and the center of the teaching workpiece 8 overlap in a predetermined direction.

[0040] When the light beam output unit 5 outputs a laser beam with an infrared wavelength, a coating portion having a photosensitive substance corresponding to the infrared wavelength is provided on the teaching workpiece 8. That is, a photosensitive member that is sensitized by the laser beam with an infrared wavelength output from the light beam output unit 5 is provided on the teaching workpiece 8. When the photosensitive member provided on the teaching workpiece 8 is irradiated with a laser beam with an infrared wavelength, only the portion of the photosensitive member irradiated with the laser beam with an infrared wavelength is visualized. Since the laser beam with an infrared wavelength is invisible, even if the state where the laser beam is output from the light beam output unit 5 continues, it does not cause stress to the operator or other surrounding people.

[0041] Instead of providing the grippers 25A and 25B to the end effector 23, a spray painting device, a coating device, a drill, a screwing device, a device for pouring a liquid, a welding device, etc. may be provided to the end effector 23.

[0042] FIG. 2 is a sequence diagram showing the flow of the process in the first embodiment. Referring to FIG. 2, the flow of the process in the first embodiment will be described. For example, when the positioning of the manipulator 2 is required, the process shown in FIG. 2 is performed. The operator performs a light emission start operation (S11), and the light emission instruction receiving unit 61 receives an instruction to start light emission (S12). For example, the operator operates a switch connected to the manipulator 2 or the operator performs voice input to give an instruction to start light emission to the light emission instruction receiving unit 61. Also, when the operator starts the operation of the manipulator 2, the manipulator control unit 3 or another device may give an instruction to start light emission to the light emission instruction receiving unit 61.

[0043] The light beam output unit 5 starts light emission and outputs a light beam L1 by receiving an instruction signal to start light emission from the light emission instruction unit 62 (S13). The operator gives an instruction for the operation of the manipulator 2 using the position of the light beam L1 output from the light beam output unit 5 and the position of the mark 7 on the teaching work 8 (S14). Positioning of the manipulator 2 is performed in the instruction for the operation of the manipulator 2. The manipulator control unit 3 generates the position coordinates of the manipulator 2 when the positioning of the manipulator 2 is performed and stores them in the manipulator 2. The manipulator control unit 3 may store the position coordinates of the manipulator 2 in an external storage device. When the instruction for positioning the manipulator 2 that is necessary is completed, the operator ends the instruction for the operation of the manipulator 2 (S15).

[0044] The operator performs a light emission stop operation (S16), and the light emission instruction reception unit 61 receives an instruction to end light emission (S17). For example, the operator operates a switch connected to the manipulator 2 or performs voice input to give an instruction to stop light emission to the light emission instruction reception unit 61. Also, when the operator finishes operating the manipulator 2, the manipulator control unit 3 or other devices may give an instruction to stop light emission to the light emission instruction reception unit 61. The light beam output unit 5 receives an instruction signal to stop light emission from the light emission instruction unit 62, thereby ending light emission and stopping the output of the light beam L1 (S18).

[0045] The light emission control unit 6 starts the output of the light beam L1 of the light beam output unit 5 before the teaching of the operation of the manipulator 2 is started, and stops the output of the light beam L1 of the light beam output unit 5 after the teaching of the operation of the manipulator 2 is ended. The light beam L1 may be constantly output from the light beam output unit 5. The light emission control unit 6 may control the output of the light beam L1 of the light beam output unit 5 so that the light beam L1 is constantly output from the light beam output unit 5.

[0046] The manipulator control unit 3 may generate teaching data having one or more position coordinates of the manipulator 2 and store it in the manipulator 2. The manipulator control unit 3 may store the teaching data in an external storage device. The manipulator control unit 3 may control the operation of the manipulator 2 based on the position coordinates and teaching data of the manipulator 2 stored in the manipulator 2 or the external storage device. By the manipulator control unit 3 controlling the operation of the manipulator 2 the manipulator 2 performs work on the workpiece.

[0047] <Modification example> A modification of the first embodiment will be described. FIG. 3 is an enlarged view of the end effector 23. In the end effector 23 shown in FIG. 3, a screw tightening portion 200 is provided instead of the light beam output portion 5. By detachably providing the light beam output portion 5 with respect to the end effector 23, the light beam output portion 5 can be replaced with the screw tightening portion 200. A rotatable driver 201 is attached to the tip of the screw tightening portion 200. By rotating the driver 201, operations such as screwing and unscrewing the work can be performed. After the instruction of the operation of the manipulator 2 is completed, the light beam output portion 5 may be removed from the end effector 23 and the screw tightening portion 200 may be attached to the end effector 23. After the screw tightening portion 200 is attached to the end effector 23, the manipulator control unit 3 may control the operation of the manipulator 2 based on the position coordinates and instruction data of the manipulator 2 stored in the manipulator 2 or an external storage device.

[0048] <Second Embodiment> The second embodiment will be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and the description thereof will be omitted. The control systems 1 according to the first and second embodiments may be appropriately combined. FIG. 4 is a configuration diagram of the control system 1 according to the second embodiment. The control system 1 includes a manipulator 2, a manipulator control unit 3, an input unit 4, a light emission control unit 6, and light beam output units 15A and 15B.

[0049] The end effector 23 has gripping tools (gripping claws) 26A and 26B for gripping the work. The end effector 23 is provided with a slider that can slide at least one of the gripping tools 26A and 26B with respect to the end effector 23. When the end effector 23 slides at least one of the gripping tools 26A and 26B, the gripping tools 26A and 26B grip the work or release the work. The white arrows in FIG. 4 indicate the moving directions of the gripping tools 26A and 26B.

[0050] At least one of the light output units 15A and 15B is provided movably with respect to the end effector 23. The light output unit 15A is provided on the gripper 26A, and the light output unit 15B is provided on the gripper 26B. The light output units 15A and 15B move in conjunction with the grippers 26A and 26B. When the gripper 26A slides, the light output unit 15A slides, and when the gripper 26B slides, the light output unit 15B slides. The light output unit 15A may be provided on the side surface of the gripper 26A, or the light output unit 15A and the gripper 26A may be integrated. The light output unit 15B may be provided on the side surface of the gripper 26B, or the light output unit 15B and the gripper 26B may be integrated.

[0051] The light output unit 15A and the gripper 26A may be fixed to the end effector 23, and the light output unit 15B and the gripper 26B may be slidably movable. The light output unit 15B and the gripper 26B may be fixed to the end effector 23, and the light output unit 15A and the gripper 26A may be slidably movable.

[0052] The light rays output from the light output units 15A and 15B may be laser light rays with visible wavelengths or laser light rays with infrared wavelengths. In FIG. 4, the light ray output from the light output unit 15A is indicated by reference numeral L2, and the light ray output from the light output unit 15A is indicated by reference numeral L3. The light output units 15A and 15B may be light emission devices such as laser pointers. When the light output units 15A and 15B output laser light rays with infrared wavelengths, a coating portion having a photosensitive substance corresponding to the infrared wavelength is provided on the teaching work 8. That is, a photosensitive member that is sensitized by the laser light rays with infrared wavelengths output from the light output units 15A and 15B is provided on the teaching work 8.

[0053] FIG. 5 is an enlarged view of the end effector 23. A light ray output unit 15A is provided on the side surface of the gripper 26A, and a light ray output unit 15B is provided on the side surface of the gripper 26B. In FIG. 5, the light ray output unit 15A is provided on the outer side surface of the gripper 26A, but the light ray output unit 15A may be provided on the inner side surface of the gripper 26A. In FIG. 5, the light ray output unit 15A is provided on the outer side surface of the gripper 26B, but the light ray output unit 15A may be provided on the inner side surface of the gripper 26B. The inner side surface of the gripper 26A faces the inner side surface of the gripper 26B. The outer side surface of the gripper 26A is the surface on the opposite side of the inner side surface of the gripper 26A. The outer side surface of the gripper 26B is the surface on the opposite side of the inner side surface of the gripper 26B.

[0054] In the teaching of the operation of the manipulator 2, the light ray L2 output from the light ray output unit 15A and the light ray L3 output from the light ray output unit 15B are directed toward the teaching work 8 having a plurality of marks 7 (7A, 7B). In an example of the teaching work 8 shown in FIG. 5, the teaching work 8 has a cubic shape, and marks 7A and 7B are provided on the teaching work 8. The marks 7A and 7B are provided on the surface of the teaching work 8 irradiated with the light rays L2 and L3.

[0055] The marks 7A and 7B may be provided on the outer peripheral portion of the surface of the teaching work 8 irradiated with the light rays L2 and L3. In an example of the teaching work 8 shown in FIG. 5, the marks 7A and 7B are provided on two sides of the cubic teaching work 8 so that the mark 7A faces the mark 7B. In a state where the light rays L2 and L3 output from the light ray output units 15A and 15B are directed toward the teaching work 8, the manipulator control unit 3 controls the operation of the manipulator 2. In the teaching of the operation of the manipulator 2, when an operation input related to the operation of the manipulator 2 is input to the input unit 4, the manipulator control unit 3 controls the operation of the manipulator 2 based on the operation input input to the input unit 4.

[0056] The operator can easily teach the operation of the manipulator 2 by referring to the positions of the light beams L2 and L3 output from the light beam output units 15A and 15B and the positions of the marks 7A and 7B on the teaching work 8. The operator can check whether the grippers 26A and 26B interfere with the teaching work 8 during the teaching of the operation of the manipulator 2.

[0057] When the light beams L2 and L3 output from the light beam output units 15A and 15B irradiate the teaching work 8, the operator can refer to the positions of the light beams L2 and L3 irradiated on the teaching work 8. In this way, the operator can use the positions of the light beams L2 and L3 irradiated on the teaching work 8 as a guide for the gripping positions of the teaching work 8. When the grippers 26A and 26B grip the teaching work 8, the gripping positions of the teaching work 8 are the contact positions between the grippers 26A and 26B and the teaching work 8. For example, by referring to the positions of the light beams L2 and L3 irradiated on the teaching work 8, at least one of the grippers 26A and 26B can be slid to make the distance between the gripper 26A and the gripper 26B substantially the same as the size of the width of the teaching work 8.

[0058] When the light beam output unit 15A is provided on the side surface of the gripper 26A and the light beam output unit 15B is provided on the side surface of the gripper 26B, the divergence angles of the light beam L2 output from the light beam output unit 15A and the light beam L3 output from the light beam output unit 15B can be adjusted to increase the divergence angles of the light beams L2 and L3. Thereby, the operator can more easily grasp the gripping position of the teaching work 8.

[0059] FIG. 6 is an enlarged view of the end effector 23. By providing the light beam output unit 15A inside the gripper 26A, the light beam output unit 15A and the gripper 26A are integrated. Also, by providing the light beam output unit 15B inside the gripper 26B, the light beam output unit 15B and the gripper 26B are integrated thereby.

[0060] The optical axis of the light beam L2 output from the light beam output unit 15A coincides with the central axis CL2 of the gripper 26A, and the light beam output unit 15A is provided on the gripper 26A so that the light beam L2 is emitted from the tip of the gripper 26A. By moving the manipulator 2 so that the light beam L2 output from the light beam output unit 15A irradiates the mark 7A of the teaching workpiece 8, the central axis CL2 of the gripper 26A and the mark 7A of the teaching workpiece 8 overlap in a predetermined direction.

[0061] The optical axis of the light beam L3 output from the light beam output unit 15B coincides with the central axis CL3 of the gripper 26B, and the light beam output unit 15B is provided on the gripper 26B so that the light beam L3 is emitted from the tip of the gripper 26B. By moving the manipulator 2 so that the light beam L3 output from the light beam output unit 15B irradiates the mark 7B of the teaching workpiece 8, the central axis CL3 of the gripper 26B and the mark 7B of the teaching workpiece 8 overlap in a predetermined direction.

[0062] FIG. 7 is an enlarged view of the end effector 23. The light beam output unit 15A is provided on the side surface of the gripper 26A, and the light beam output unit 15B is provided on the side surface of the gripper 26B. In the teaching of the operation of the manipulator 2, the light beam L2 output from the light beam output unit 15A and the light beam L3 output from the light beam output unit 15B are directed toward the teaching workpiece 8 having a plurality of marks 7 (7A, 7B). In an example of the teaching workpiece 8 shown in FIG. 7, the teaching workpiece 8 has a ring shape, and the marks 7A and 7B are provided on the teaching workpiece 8. The marks 7A and 7B are provided on the surface of the teaching workpiece 8 where the light beams L2 and L3 are irradiated.

[0063] Marks 7A and 7B may be provided on the outer peripheral portion of the surface of the teaching workpiece 8 irradiated with the light beams L2 and L3. In an example of the teaching workpiece 8 shown in FIG. 7, the marks 7A and 7B are provided on the outer peripheral portion of the ring-shaped teaching workpiece 8 such that the mark 7A and the mark 7B face each other. In a state where the light beams L2 and L3 output from the light beam output units 15A and 15B are directed toward the teaching workpiece 8, the manipulator control unit 3 controls the operation of the manipulator 2. In teaching the operation of the manipulator 2, when an operation input related to the operation of the manipulator 2 is input to the input unit 4, the manipulator control unit 3 controls the operation of the manipulator 2 based on the operation input input to the input unit 4.

[0064] With reference to FIG. 7, a method for confirming the positions of the grippers 26A and 26B will be described. Here, the grippers 26A and 26B are inserted inside the ring-shaped teaching workpiece 8, and at least one of the grippers 26A and 26B is slid to grip the teaching workpiece 8. The end effector 23 is moved above the teaching workpiece 8 to output the light beams L2 and L3 from the light beam output units 15A and 15B. The operator can confirm whether the grippers 26A and 26B are positioned inside the teaching workpiece 8 when the grippers 26A and 26B grip the teaching workpiece 8 by referring to the positions of the light beams L2 and L3 output from the light beam output units 15A and 15B. That is, the operator can visually recognize the positions of the grippers 26A and 26B inserted inside the teaching workpiece 8. The method for confirming the positions of the grippers 26A and 26B shown in FIG. 7 can also be applied when the end effector 23 shown in FIG. 6 is used.

[0065] The color of the light beam L2 output from the light beam output unit 15A and the color of the light beam L3 output from the light beam output unit 15B may be different. That is, the output settings of the light beams of the light beam output units 15A and 15B may be changed so that the emission color of the light beam output unit 15A is different from the emission color of the light beam output unit 15A. For example, when the light beam output unit 15A and the gripper 26A are fixed to the end effector 23 and the light beam output unit 15B and the gripper 26B are slidable, a red light beam L2 may be output from the light beam output unit 15A and a green light beam L3 may be output from the light beam output unit 15B.

[0066] FIG. 8(A) and FIG. 8(B) are enlarged views of the end effector 23. The light beam output units 15A and 15C are provided on the side surface of the gripper 26A, and the light beam output units 15B and 15D are provided on the side surface of the gripper 26B. The light beam output units 15A and 15C are provided on the same side surface of the gripper 26A. The light beam output units 15B and 15D are provided on the same side surface of the gripper 26B. The side surface of the gripper 26A provided with the light beam output units 15A and 15C extends along the longitudinal direction of the gripper 26A. The side surface of the gripper 26B provided with the light beam output units 15B and 15D extends along the longitudinal direction of the gripper 26B. The light beam output units 15A and 15C may be provided on the outer surface of the gripper 26A, or the light beam output units 15A and 15C may be provided on the inner surface of the gripper 26A. The light beam output units 15B and 15D may be provided on the outer surface of the gripper 26B, or the light beam output units 15B and 15D may be provided on the inner surface of the gripper 26B.

[0067] In the teaching of the operation of the manipulator 2, the light beams L2 output from the light beam output unit 15A, the light beam L3 output from the light beam output unit 15B, the light beam L4 output from the light beam output unit 15C, and the light beam L5 output from the light beam output unit 15D are directed toward the teaching work 8. When the depth of the gripper 26A is long, two light beam output units 15 (15A, 15C) may be provided on the same side surface of the gripper 26A. When the depth of the gripper 26B is long, two light beam output units 15 (15B, 15D) may be provided on the same side surface of the gripper 26B. The operator can grasp the gripping position of the teaching work 8 by referring to the positions of the light beams L2 to L5 output from the light beam output units 15A to 15D.

[0068] The colors of the light beams L2 and L4 and the colors of the light beams L3 and L5 may be different. That is, the output settings of the light beams of the light beam output units 15A and 15B may be changed so that the emission colors of the light beam output unit 15A and the light beam output unit 15B are different. For example, when the light beam output units 15A, 15C and the gripper 26A are fixed to the end effector 23 and the light beam output units 15B, 15D and the gripper 26B are slidably movable, red light beams L2, L4 may be output from the light beam output units 15A, 15C, and green light beams L3, L5 may be output from the light beam output units 15B, 15D. Also, the colors of the light beams L2 to L5 may all be different.

[0069] Instead of providing the grippers 26A and 26B on the end effector 23, a spray painting device, a coating device, a drill, a screw tightening device, a device for pouring a liquid, a welding device, etc. may be provided on the end effector 23.

[0070] <Third Embodiment> The third embodiment will be described. In the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals as those in the first and second embodiments, and the description thereof is omitted. FIG. 9 is a configuration diagram of the control system 1 according to the third embodiment. The control systems 1 according to the first to third embodiments may be appropriately combined. The control system 1 includes a manipulator 2, a manipulator control unit 3, an input unit 4, a light beam output unit 5, a light emission control unit 6, and an imaging device 9.

[0071] The imaging device 9 is a camera that images the teaching work 8 to generate an imaging image. The imaging device 9 images the teaching work 8 at a predetermined frame rate and sequentially generates image data. The image data generated by the imaging device 9 is sent to the manipulator control unit 3. The imaging device 9 has, for example, an optical system such as a lens and an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor ) or a CCD (Charge Coupled Device). In FIG. 9, the imaging device 9 is provided on the manipulator 2. The imaging device 9 may be provided on the arm 22 or on the end effector 23. Also, the imaging device 9 may be arranged separately from the manipulator 2.

[0072] The light emission control unit 6 controls the start and stop of the output of the light beam L1 from the light beam output unit 5. The light emission control unit 6 has a light emission instruction reception unit 61, a light emission instruction unit 62, and a light emission selection unit 63. The light emission selection unit 63 controls the timing of the light emission instruction to the light beam output unit 5 from the light emission instruction unit 62. An imaging trigger signal (imaging control signal) is sent from the manipulator control unit 3 to the light emission control unit 6 and the imaging device 9. The imaging device 9 generates image data in response to the imaging trigger signal transmitted from the manipulator control unit 3. The light emission selection unit 63 controls the light emission instruction unit 62 so that the timing of the light emission instruction to the light beam output unit 5 from the light emission instruction unit 62 is synchronized with the cycle of the imaging trigger signal. The light beam output unit 5 intermittently outputs the light beam L1 in response to the timing of the light emission instruction from the light emission instruction unit 62. In this way, the light beam output unit 5 intermittently outputs the light beam L1 in synchronization with the cycle of the imaging trigger signal. Therefore, the teaching work 8 is intermittently irradiated with the light beam L1.

[0073] The imaging device 9 generates image data (first image data) of the teaching work 8 in a state where the teaching work 8 is irradiated with the light beam L1, and image data (second image data) of the teaching work 8 in a state where the teaching work 8 is not irradiated with the light beam L1. The manipulator control unit 3 acquires the first image data and the second image data from the imaging device 9. The manipulator control unit 3 compares the first image data and the second image data. The manipulator control unit 3 generates difference data between the first image data and the second image data based on the first image data and the second image data. The manipulator control unit 3 detects the irradiation position of the light beam L1 based on the difference data between the first image data and the second image data.

[0074] FIGS. 10(A) to 10(C) are diagrams showing an example of image data. FIG. 10(A) shows image data (first image data) of the teaching work 8 in a state where the teaching work 8 is irradiated with the light beam L1. FIG. 10(B) shows image data (second image data) of the teaching work 8 in a state where the teaching work 8 is not irradiated with the light beam L1. FIG. 10(C) shows difference data between the first image data and the second image data. In FIGS. 10(A) and 10(C), the irradiation position of the light beam L1 is indicated by reference sign P1.

[0075] The manipulator control unit 3 may determine whether or not the replacement of the end effector 23 is successful using the difference data between the first image data and the second image data (hereinafter simply referred to as "difference data"). The manipulator control unit 3 determines whether or not a deviation in the irradiation position of the light beam L1 has occurred based on the difference data generated before the replacement of the end effector 23 and the difference data generated after the replacement of the end effector 23. When no deviation in the irradiation position of the light beam L1 has occurred, the manipulator control unit 3 determines that the replacement of the end effector 23 has been successful. When a deviation in the irradiation position of the light beam L1 has occurred, the manipulator control unit 3 determines that the replacement of the end effector 23 has failed. Further, the manipulator control unit 3 may determine whether or not the replacement of the light output unit 5 is successful using the difference data.

[0076] The manipulator control unit 3 may detect a failure (output defect) of the light beam output unit 5 using differential data. The manipulator control unit 3 generates differential data at regular intervals. When the irradiation position of the light beam L1 cannot be detected from the differential data, the manipulator control unit 3 determines that a failure has occurred in the light beam output unit 5 or an output defect of the light beam L1 of the light beam output unit 5 has occurred. The manipulator control unit 3 may generate differential data at a predetermined timing during the teaching of the operation of the manipulator 2, or may generate differential data at a predetermined timing before or after the teaching of the operation of the manipulator 2.

[0077] The manipulator control unit 3 may detect a positional deviation of the end effector 23 using differential data. Based on the differential data generated at the first timing and the differential data generated at the second timing, it is determined whether or not a deviation in the irradiation position of the light beam L1 has occurred. The first timing and the second timing are different timings. When a deviation in the irradiation position of the light beam L1 has occurred, the manipulator control unit 3 determines that a positional deviation of the end effector 23 has occurred. The manipulator control unit 3 may detect a positional deviation of the light beam output unit 5 using differential data.

[0078] <Fourth Embodiment> The fourth embodiment will be described. In the fourth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals as those in the first to third embodiments, and the description thereof will be omitted. The control systems 1 according to the first to fourth embodiments may be appropriately combined. FIG. 11 is a configuration diagram of the control system 1 according to the fourth embodiment. The control system 1 includes a manipulator 2, a manipulator control unit 3, an input unit 4, a light beam output unit 5, a light emission control unit 6, and a measuring device 10.

[0079] ​The sensor 31 is provided on the end effector 23, and the sensor 32 is provided on the teaching work 8. The sensor 31 may be arranged on the outer surface of the end effector 23, or the sensor 31 may be arranged inside the end effector 23. The sensor 32 may be arranged on the outer surface of the teaching work 8, or the sensor 32 may be arranged inside the teaching work 8. The sensors 31 and 32 are, for example, acceleration sensors, inclination sensors, or geomagnetic sensors. The sensors 31 and 32 may be a sensor unit having any two or more of an acceleration sensor, an inclination sensor, and a geomagnetic sensor.

[0080] The measurement device 10 acquires the measurement data measured by the sensors 31 and 32. The measurement device 10 and the sensor 31 may be connected by wire or wirelessly. The measurement device 10 and the sensor 32 may be connected by wire or wirelessly.

[0081] The measurement device 10 includes a processing unit 101 and a display unit 102. The processing unit 101 is composed of a processor such as a CPU, a ROM that stores programs and control data for the operation of the processor, a RAM that functions as a work area of the processor, and the like. The display unit 102 displays data and information such as the result of arithmetic processing by the processing unit 101. Further, the display unit 102 may have a device for an operator to operate. The device for an operator to operate is, for example, a keyboard, a button, a touch panel, or the like.

[0082] Based on the measurement data measured by the sensor 31, the processing unit 101 acquires the attitude information of the end effector 23, and based on the measurement data measured by the sensor 32, the processing unit 101 acquires the attitude information of the teaching work 8. The processing unit 101 is an example of an acquisition unit.

[0083] When sensors 31 and 32 are acceleration sensors or tilt sensors, the processing unit 101 calculates the tilt of the end effector 23 and the tilt of the teaching work 8 based on the measurement data measured by the sensors 31 and 32. In this case, the posture information of the end effector 23 includes information regarding the tilt of the end effector 23, and the posture information of the teaching work 8 includes information regarding the tilt of the teaching work 8. The tilt of the end effector 23 may be the tilt with respect to the vertical direction of the end effector 23. The tilt of the teaching work 8 may be the tilt with respect to the vertical direction of the teaching work 8.

[0084] When sensors 31 and 32 are geomagnetic sensors, the processing unit 101 calculates the azimuth angle of the end effector 23 and the azimuth angle of the teaching work 8 based on the measurement data measured by the sensors 31 and 32. In this case, the posture information of the end effector 23 includes information regarding the azimuth angle of the end effector 23, and the posture information of the teaching work 8 includes information regarding the azimuth angle of the teaching work 8.

[0085] The processing unit 101 displays the posture information of the end effector 23 and the posture information of the teaching work 8 on the display unit 102. The operator may give instructions for the operation of the manipulator 2 with reference to the posture information of the end effector 23 and the posture information of the teaching work 8. The operator can more accurately give instructions for the operation of the manipulator 2 by moving the manipulator 2 with reference to the position of the light beam L1 output from the light beam output unit 5, the position of the mark 7 on the teaching work 8, the posture information of the end effector 23, and the posture information of the teaching work 8. The manipulator control unit 3 may acquire the posture information of the end effector 23 and the posture information of the teaching work 8 from the measuring device 10. The manipulator control unit 3 may adjust the tilt, posture, etc. of the manipulator 2 or adjust the tilt, posture, etc. of the end effector 23 by controlling the operation of the manipulator 2 based on the posture information of the end effector 23 and the posture information of the teaching work 8.

[0086] The manipulator control unit 3 may acquire the posture information of the end effector 23 and the posture information of the teaching work 8 from the measuring device 10. The manipulator control unit 3 may adjust the tilt, posture, etc. of the manipulator 2 or adjust the tilt, posture, etc. of the end effector 23 by controlling the operation of the manipulator 2 based on the posture information of the end effector 23 and the posture information of the teaching work 8.

[0087] After adjusting the inclination, posture, etc. of the manipulator 2 or after adjusting the inclination, posture, etc. of the end effector 23, the operator can more accurately teach the operation of the manipulator 2 by referring to the position of the light beam L1 output from the light beam output unit 5 and the position of the mark 7 on the teaching workpiece 8. Note that if the inclination, posture, etc. of the manipulator 2 or the inclination, posture, etc. of the end effector 23 are automatically adjusted, the manipulator 2 or the end effector 23 may interfere with surrounding objects. Therefore, the operator may give an instruction to the manipulator control unit 3 to stop the movement of the manipulator 2 or the end effector 23, so that the movement of the manipulator 2 or the end effector 23 can be stopped.

[0088] <Fifth Embodiment> The fifth embodiment will be described. In the fifth embodiment, the same components as those in the first to fourth embodiments are denoted by the same reference numerals as those in the first to fourth embodiments, and the description thereof will be omitted. The control systems 1 according to the first to fifth embodiments may be appropriately combined. FIG. 12 is a configuration diagram of the control system 1 according to the fifth embodiment. The control system 1 includes a manipulator 2, a manipulator control unit 3, an input unit 4, a distance measurement device 11, a measurement control unit 12, and a display unit 13.

[0089] The distance measurement device 11 is provided on the end effector 23, outputs a light beam from the tip portion of the distance measurement device 11, and measures the distance from the distance measurement device 11 to the object. The distance measurement device 11 is an example of an output unit. The distance measurement device 11 is arranged so as to be embedded inside the end effector 23, and the tip portion of the distance measurement device 11 is exposed from the end effector 23. The light beam output from the distance measurement device 11 may be a laser beam with a visible wavelength or a laser beam with an infrared wavelength. In FIG. 12, the light beam output from the distance measurement device 11 is denoted by reference numeral L6. The distance measurement device 11 may be a laser distance meter.

[0090] The measurement control unit 12 is a device that controls the light emission of the distance measurement device 11 and controls the distance measurement of the distance measurement device 11. The measurement control unit 12 is composed of a processor such as a CPU, a ROM that stores programs and control data for the operation of the processor, a RAM that functions as a work area of the processor, and the like. The display unit 13 displays data and information such as the result of arithmetic processing by the measurement control unit 12. The display unit 13 displays the distance value from the distance measurement device 11 to the object measured by the distance measurement device 11. Further, the display unit 13 may have a device for the operator to operate. The device for the operator to operate is, for example, a keyboard, a button, a touch panel, or the like.

[0091] The measurement control unit 12 includes a measurement instruction reception unit 121, a measurement instruction unit 122, and a distance value acquisition unit 123. When the measurement instruction reception unit 121 receives an instruction to start measurement, the measurement instruction unit 122 sends an instruction signal to start distance measurement to the distance measurement device 11. The distance measurement device 11 starts light emission in response to the instruction signal to start distance measurement from the measurement instruction unit 122, outputs the light beam L6, and measures the distance from the distance measurement device 11 to the teaching workpiece 8. When the measurement instruction reception unit 121 receives an instruction to stop distance measurement, the measurement instruction unit 122 sends an instruction signal to stop distance measurement to the distance measurement device 11. The distance measurement device 11 stops light emission in response to the instruction signal to stop distance measurement from the measurement instruction unit 122, stops the output of the light beam L6, and stops distance measurement.

[0092] The measurement control unit 12 and the display unit 13 may be provided on the end effector 23. The measurement control unit 12 and the display unit 13 may be provided at a position that does not contact the gripping tools 25A and 25B on the side surface or the like of the end effector 23. By arranging the measurement control unit 12 inside the end effector 23, the measurement control unit 12 and the end effector 23 may be integrated. The measurement control unit 12 may be arranged on the outer surface of the end effector 23.

[0093] ​The measurement control unit 12 may be arranged at a position separated from the end effector 23. The measurement control unit 12 may be connected to the manipulator 2 by a cable laid on the manipulator 2, and the distance measurement device 11 and the measurement control unit 12 may be connected by wire. Further, the distance measurement device 11 and the measurement control unit 12 may be connected wirelessly. The display unit 13 may be arranged at a position separated from the end effector 23. The measurement control unit 12 and the display unit 13 may be connected by wire or wirelessly.

[0094] Instructions for starting and ending measurement to the measurement instruction reception unit 121 may be, for example, a switch operation by an operator, an input of a control signal from the manipulator control unit 3 or other devices. The operator may operate a switch connected to the manipulator 2 to give instructions for starting and ending measurement to the measurement instruction reception unit 121. The switch may be a push button or a foot pedal. Instructions for starting and ending measurement may be given to the measurement instruction reception unit 121 by voice input of the operator.

[0095] The distance measurement device 11 measures the distance from the distance measurement device 11 to the teaching workpiece 8 and outputs a distance value (distance data) from the distance measurement device 11 to the teaching workpiece 8. The distance value acquisition unit 123 acquires the distance value from the distance measurement device 11 to the teaching workpiece 8 from the distance measurement device 11. The display unit 13 displays the distance value from the distance measurement device 11 to the teaching workpiece 8.

[0096] In the teaching of the operation of the manipulator 2, the light beam L6 output from the distance measurement device 11 is directed toward the teaching workpiece 8. With the light beam L6 output from the distance measurement device 11 directed toward the teaching workpiece 8, the manipulator control unit 3 controls the operation of the manipulator 2. In the teaching of the operation of the manipulator 2, when an operation input related to the operation of the manipulator 2 is input to the input unit 4, the manipulator control unit 3 controls the operation of the manipulator 2 based on the operation input input to the input unit 4.

[0097] The operator can easily teach the operation of the manipulator 2 by referring to the position of the light beam L6 output from the distance measuring device 11, the position of the mark 7 of the teaching workpiece 8, and the distance value from the distance measuring device 11 to the teaching workpiece 8. For example, in teaching the operation of the manipulator 2 when the manipulator 2 performs a predetermined operation at a position XX cm above the workpiece, the operator can refer to the distance value from the distance measuring device 11 to the teaching workpiece 8, so that the operation of the manipulator 2 can be easily taught.

[0098] When the light beam L6 output from the distance measuring device 11 irradiates the teaching workpiece 8, the operator can refer to the position of the light beam L6 irradiated on the teaching workpiece 8. The operator can use the position of the light beam L6 irradiated on the teaching workpiece 8 as a guide for the gripping position of the teaching workpiece 8.

[0099] The distance measuring device 11 may be arranged with respect to the end effector 23 such that the optical axis of the light beam L6 output from the distance measuring device 11 coincides with the central axis CL1 of the end effector 23. By moving the manipulator 2 so that the light beam L6 output from the distance measuring device 11 irradiates the mark 7 of the teaching workpiece 8, the central axis CL1 of the end effector 23 and the mark 7 of the teaching workpiece 8 overlap in a predetermined direction.

[0100] When the distance measuring device 11 outputs a laser beam with an infrared wavelength, a coating portion having a photosensitive substance corresponding to the infrared wavelength is provided on the teaching workpiece 8. That is, a photosensitive member that is sensitized by the laser beam with an infrared wavelength output from the distance measuring device 11 is provided on the teaching workpiece 8. When the photosensitive member provided on the teaching workpiece 8 is irradiated with the laser beam with an infrared wavelength, only the portion of the photosensitive member irradiated with the laser beam with an infrared wavelength is visualized. Since the laser beam with an infrared wavelength is invisible, it does not cause stress to the operator or other surrounding people even if the state where the laser beam is output from the distance measuring device 11 continues.

[0101] The distance measuring device 11 may measure the distance from the distance measuring device 11 to the teaching workpiece 8 using a diffused light source such as an LED. Further, the distance measuring device 11 may measure the distance from the distance measuring device 11 to the teaching workpiece 8 by irradiating the teaching workpiece 8 with microwaves, millimeter waves, or the like. In these cases, the light ray output unit 5 may be provided in the end effector 23 so that the light ray L1 output from the light ray output unit 5 is directed toward the teaching workpiece 8. The measurement control unit 12 may control the emission of light from the light ray output unit 5. Further, the control system 1 shown in FIG. 12 may include a light emission control unit 6, and the light emission control unit 6 may control the emission of light from the light ray output unit 5.

[0102] FIG. 13 is a sequence diagram showing the flow of processing in the fifth embodiment. Referring to FIG. 13, the flow of processing in the fifth embodiment will be described. For example, when the positioning of the manipulator 2 is required, the processing shown in FIG. 13 is performed. The operator performs a measurement start operation (S21), and the measurement instruction receiving unit 121 receives an instruction to start the measurement (S22). For example, the operator operates a switch connected to the manipulator 2 or performs voice input to give an instruction to start the measurement to the measurement instruction receiving unit 121. Further, when the operator starts the operation of the manipulator 2, the manipulator control unit 3 or other devices may give an instruction to start the measurement to the measurement instruction receiving unit 121.

[0103] The distance measuring device 11 receives an instruction signal to start the measurement from the measurement instruction unit 122, starts emitting light, outputs the light ray L6, and measures the distance from the distance measuring device 11 to the teaching workpiece 8 (S23). The operator gives an instruction for the operation of the manipulator 2 using the position of the light ray L6 output from the distance measuring device 11 and the position of the mark 7 on the teaching workpiece 8 (S24). Positioning of the manipulator 2 is performed in the instruction for the operation of the manipulator 2. The manipulator control unit 3 generates the position coordinates of the manipulator 2 when the positioning of the manipulator 2 is performed and stores them in the manipulator 2. The manipulator control unit 3 may store the position coordinates of the manipulator 2 in an external storage device.

[0104] The distance value from the distance measuring device 11 to the teaching work piece 8 reaches an important teaching operation (S25). Examples of important teaching operations for the distance value from the distance measuring device 11 to the teaching work piece 8 include spray painting, coating, cooking with pouring liquids, welding, etc. The operator teaches the operation of the manipulator 2 using the position of the light beam L6 output from the distance measuring device 11, the position of the mark 7 on the teaching work piece 8, and the distance value from the distance measuring device 11 to the teaching work piece 8 (S26).

[0105] An example of teaching the operation of the manipulator 2 will be described. The operator moves the manipulator 2 with reference to the position of the light beam L6 output from the distance measuring device 11 and the position of the mark 7 on the teaching work piece 8. For example, the operator moves the manipulator 2 so that the light beam L6 output from the distance measuring device 11 irradiates the mark 7 on the teaching work piece 8. Next, while referring to the distance value displayed on the display unit 13, the operator moves the manipulator 2 so that the distance value from the distance measuring device 11 to the teaching work piece 8 becomes a desired value (for example, the distance value D), and positions the manipulator 2. That is, the manipulator 2 is moved to a position where the distance value from the distance measuring device 11 to the teaching work piece 8 becomes a desired value, and the manipulator 2 is positioned. Since the operator can position the manipulator 2 by referring to the distance value displayed on the display unit 13, it is not necessary to actually measure the distance between the teaching work piece 8 and the end effector 23 with a ruler or the like. The manipulator control unit 3 generates the position coordinates of the manipulator 2 when the positioning of the manipulator 2 is performed and stores them in the manipulator 2. The manipulator control unit 3 may store the position coordinates of the manipulator 2 in an external storage device.

[0106] When the teaching that requires the positioning of the manipulator 2 is completed, the operator ends the teaching of the operation of the manipulator 2 (S27). The operator performs a measurement stop operation (S28), and the measurement instruction reception unit 121 receives an instruction to end the measurement (S29). For example, the operator operates a switch connected to the manipulator 2 or performs voice input to give an instruction to stop the measurement to the measurement instruction reception unit 121. Also, when the operator finishes operating the manipulator 2, the manipulator control unit 3 or another device may give an instruction to stop the measurement to the measurement instruction reception unit 121.

[0107] The distance measurement device 11 receives an instruction signal to stop the measurement from the measurement instruction unit 122, thereby stopping the light emission and stopping the output of the light beam L6, and ending the distance measurement (S30). In the above, before the teaching of the operation of the manipulator 2 is performed, the output of the light beam L6 from the distance measurement device 11 and the distance measurement are started, and after the teaching of the operation of the manipulator 2 ends, an example where the output of the light beam L6 from the distance measurement device 11 and the distance measurement end is shown. It is not limited to this example, and the light beam L6 may be constantly output from the distance measurement device 11, or the distance measurement device 11 may constantly perform distance measurement.

[0108] <Modification Example> A modification example of the fifth embodiment will be described. For example, when the center of gravity of the workpiece is in the lower part of the workpiece, the lower part of the workpiece is gripped by the grippers 25A and 25B. Therefore, also in the teaching of the operation of the manipulator 2, the lower part of the teaching workpiece 8 is gripped by the grippers 25A and 25B. In this case, the operator adds the distance value from the upper surface to the lower part of the teaching workpiece 8 to the distance value displayed on the display unit 13 and corrects the distance value displayed on the display unit 13. Then, with reference to the corrected distance value, the positioning of the manipulator 2 is performed. In the modification example of the fifth embodiment, a method of positioning the manipulator 2 without correcting the distance value displayed on the display unit 13 will be described.

[0109] Figure 14 is a configuration diagram of a control system 1 according to a modification of the fifth embodiment. The control system 1 includes a manipulator 2, a manipulator control unit 3, an input unit 4, a distance measurement device 11, a measurement control unit 12, and a display unit 13. In the control system 1 according to the modification of the fifth embodiment, the distance value from the distance measurement device 11 to the teaching work 8 is sent from the distance value acquisition unit 123 to the manipulator control unit 3. In Figure 14, the upper part of the work on which a predetermined operation (process) is performed by the manipulator 2 is shown by a dotted line, and the height of the teaching work 8 is set lower than the height of the work. Thus, the height of the teaching work 8 is different from the height of the work. In the example shown in Figure 14, the height of the teaching work 8 is half the height of the work, but it is not limited to this example, and the height of the teaching work 8 may be set to 1 / 4 of the height of the work or may be set to 3 / 4 of the height of the work.

[0110] Since the height of the teaching work 8 is set lower than the height of the work, the distance value from the distance measurement device 11 to the teaching work 8 is larger than the distance value from the distance measurement device 11 to the work. The distance value from the distance measurement device 11 to the teaching work 8 is a value obtained by adding the distance value from the distance measurement device 11 to the work and the distance value from the upper surface of the work to the lower part. Thus, by setting the height of the teaching work 8 lower than the height of the work, the operator can position the manipulator 2 without correcting the distance value displayed on the display unit 13, and can easily teach the operation of the manipulator 2.

[0111] Also, when gripping the upper part of the teaching work 8 with the grippers 25A and 25B, the height of the teaching work 8 may be set higher than the height of the work. By setting the height of the teaching work 8 higher than the height of the work, the operator can position the manipulator 2 without correcting the distance value displayed on the display unit 13, and can easily teach the operation of the manipulator 2.

[0112] FIG. 15 is a sequence diagram showing the flow of processing in a modification of the fifth embodiment. Referring to FIG. 15, the flow of processing in the modification of the fifth embodiment will be described. For example, when the positioning of the manipulator 2 is required, the processing shown in FIG. 15 is performed. In the processing of S31 to S35 in the sequence diagram shown in FIG. 15, the same processing as the processing of S21 to S25 in the sequence diagram shown in FIG. 13 is performed, and thus the description thereof is omitted.

[0113] The operator positions the manipulator 2 using the position of the light beam L6 output from the distance measuring device 11 and the position of the mark 7 of the teaching workpiece 8 (S36). The operator moves the manipulator 2 with reference to the position of the light beam L6 output from the distance measuring device 11 and the position of the mark 7 of the teaching workpiece 8. For example, the manipulator 2 may be moved to position the manipulator 2 such that the end effector 23 is positioned above the teaching workpiece 8 and the gripping position of the teaching workpiece 8 and the position of the central axis of the grippers 25A and 25B overlap in a predetermined direction. For example, the manipulator 2 may be moved to position the manipulator 2 such that the end effector 23 is positioned above the teaching workpiece 8 and the light beam L6 output from the distance measuring device 11 irradiates the mark 7 of the teaching workpiece 8. The manipulator control unit 3 generates the position coordinates of the manipulator 2 when the positioning of the manipulator 2 is performed and stores them in the manipulator 2. The manipulator control unit 3 may store the position coordinates of the manipulator 2 in an external storage device.

[0114] The operator uses the input unit 4 to send a position acquisition signal to the manipulator control unit 3 and determines the positioning of the manipulator 2 (S37). The manipulator control unit 3 receives the position acquisition signal (S38). The manipulator control unit 3 acquires the distance value from the distance measuring device 11 to the teaching workpiece 8 from the distance value acquisition unit 123.

[0115] The manipulator control unit 3 generates new position coordinates of the manipulator 2 based on the position coordinates of the manipulator 2 generated in S36 and the distance value from the distance measurement device 11 to the teaching workpiece 8 (S39). The newly generated position coordinates of the manipulator 2 are position coordinates in which data related to the distance value from the distance measurement device 11 to the teaching workpiece 8 is added to the position coordinates of the manipulator 2 generated in S36. The manipulator control unit 3 stores the newly generated position coordinates of the manipulator 2 in the manipulator 2. The manipulator control unit 3 may store the newly generated position coordinates of the manipulator 2 in an external storage device.

[0116] Each process described above may be considered as a method executed by a computer. The program for causing a computer to execute each of the processes described above may be provided to the computer via a network, or from a computer-readable recording medium that non-temporarily holds data.

[0117] <Additional Notes> A manipulator (2) having an end effector (23); A control unit (3) for controlling the operation of the manipulator (2); an output section (5, 11, 15A, 15B) provided in the end effector (23) and configured to output light beams (L1 to L6); Equipped with In teaching the operation of the manipulator (2), the control unit (3) controls the operation of the manipulator (2) in a state in which the light beams (L1 to L6) output from the output units (5, 11, 15A, 15B) are directed toward an object (8) having a mark (7). Control system (1). [Explanation of symbols]

[0118] 1: Control system 2: Manipulator 3: Manipulator control section 4: Input section 5, 15, 15A, 15B, 15C: Light output unit 6: Light emission control unit 7, 7A, 7B: Mark 8: Instruction work 9: Imaging device 11: Distance measurement device 12: Measurement control unit 13, 102: Display unit 23: End effector 31, 32: Sensor

Claims

1. A manipulator having an end effector, A control unit for controlling the operation of the manipulator, An output unit provided on the end effector for outputting a light beam, An acquisition unit that acquires the attitude information of the end effector from a first sensor provided on the end effector and acquires the attitude information of the object having a mark from a second sensor provided on the object, A first display unit for displaying the attitude information of the end effector and the attitude information of the object Comprising, In the teaching of the operation of the manipulator, the control unit controls the operation of the manipulator in a state where the light beam output from the output unit is directed toward the object, A control system.

2. The light beam is irradiated onto the surface of the object where the mark is provided, The control system according to claim 1.

3. The output unit is provided at the center of the end effector, The control system according to claim 1 or 2.

4. The mark is provided at the center of the surface of the object irradiated with the light beam, The control system according to claim 3.

5. The output unit is provided movably with respect to the end effector, The control system according to claim 1 or 2.

6. A plurality of the output units are provided on the end effector, At least one of the plurality of output units is movable with respect to the end effector, The control system according to claim 1 or 2.

7. The colors of the light beams output from the plurality of output units are different, The control system according to claim 6.

8. The mark is provided at an outer peripheral portion of the surface of the object irradiated with the light beam, The control system according to any one of claims 5 to 7.

9. The end effector has a gripper for gripping the object, The control system according to any one of claims 1 to 8.

10. Comprising an imaging device for imaging the object, The output unit outputs the light beam intermittently, The imaging device generates first image data of the object in a state where the object is irradiated with the light beam and second image data of the object in a state where the object is not irradiated with the light beam, The control unit generates difference data between the first image data and the second image data and detects the irradiation position of the light beam based on the difference data, The control system according to any one of claims 1 to 9.

11. The control unit performs the control of the operation of the manipulator in a state where the light beam output from the output unit in the teaching of the operation of the manipulator is directed at the object, based on the posture information of the end effector and the posture information of the object. The control system according to any one of claims 1 to 10.

12. It includes a second display unit that displays the distance value from the output unit to the object measured by the output unit. The control system according to any one of claims 1 to 11.

13. The height of the object is different from the height of the workpiece on which a predetermined operation is performed by the manipulator. The control system according to claim 12.

14. It includes an input unit to which an operation input regarding the operation of the manipulator is input from an operator. The control unit controls the operation of the manipulator based on the operation input. The control system according to any one of claims 1 to 13.

15. The light beam is a laser beam with a visible wavelength. The control system according to any one of claims 1 to 14.

16. The light beam is a laser beam with an infrared wavelength. The object is provided with a photosensitive member that is sensitive to the laser beam with the infrared wavelength. The control system according to any one of claims 1 to 14.

17. It includes an output control unit that controls the start and stop of the output of the light beam of the output unit. The output control unit starts the output of the light beam of the output unit before the teaching of the operation of the manipulator is started, and stops the output of the light beam of the output unit after the teaching of the operation of the manipulator is completed. The control system according to any one of claims 1 to 16.

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