Control device for controlling a robot including a plurality of components, robot device equipped with the control device, and operating device for setting parameters

Abstract

This control device for a robot controls a robot that includes a plurality of component members. The control device comprises sensors for detecting action states of the component members, and a processing unit that controls actions of the robot on the basis of the outputs of the sensors. The processing unit includes a specific member setting unit that sets one or more component members among the plurality of component members as a specific member. The processing unit includes a determining unit that determines an action state of the specific member on the basis of the outputs of the sensors, and an action changing unit that changes the action of the robot on the basis of the determination result of the determining unit.

Description

[Technical Field]

[0001] The present invention relates to a control device for controlling a robot including a plurality of components, a robot device including the control device, and an operating device for setting parameters. [Background technology]

[0002] In the prior art, there is known a robotic device in which a worker works in collaboration with the robot. For example, there is known a robotic device in which the robotic device and the worker work in collaboration to transport a workpiece. In a robotic device that works in collaboration with a worker, the robot and the worker can work without installing a safety fence in the operating area around the robot (for example, JP 2019-25604 A).

[0003] While a robot is operating, it may come into contact with an object or a worker. For example, when a worker is working in collaboration with the robot, the robot may come into contact with surrounding equipment or the worker. The contact force that the robot exerts on the worker corresponds to the external force acting on the robot. To ensure that workers can work safely, an upper limit for such contact force is set by standards, etc. A robot device is known to have controls that detect external forces acting on the robot and stop the robot or perform a retreat operation to avoid the object or worker that it has come into contact with (for example, JP 2020-192652 A). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-25604 [Patent Document 2] Japanese Patent Publication No. 2020-192652 Summary of the Invention [Problem to be solved by the invention]

[0005] When a robot device works in collaboration with a worker, the control device can calculate the external force acting on the robot device and control the robot based on the magnitude of the external force. The part of the robot device that the worker comes into contact with changes depending on the type of work the robot device is performing or the relative positions of the robot device and the worker. However, the control device may calculate the external force with a margin to take into account the worker's safety, resulting in an overestimated external force. This results in limitations on the robot device's operation and reduces work efficiency. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a control device for controlling a robot including a plurality of components. The control device includes a sensor for detecting the operation state of the components, and a processing unit for controlling the operation of the robot based on the output of the sensor. The processing unit: It is formed to designate a work area where a worker will perform work, In the operating program Therefore, during the period when the robot is operating, among the multiple components of the robot, those of the robot positioned inside the working area One or more components are selected as specific components, the operating state of the specific components is determined based on the output of the sensor, and the robot's operation is changed based on the determination result. A second aspect of the present disclosure is a control device for controlling a robot including a plurality of components. The control device includes a sensor for detecting the operational state of the components, a processing unit for controlling the robot's operation based on the output of the sensor, and a display unit for displaying information related to the robot's components. The processing unit is configured to designate a designated area for the robot's components based on an operation performed on an image displayed on the display unit. The processing unit sets the robot's components, at least a portion of which is located within the designated area, as specific components, determines the operational state of the specific components based on the output of the sensor, and changes the robot's operation based on the determination result.

[0007] of the present disclosure Third Aspect is a robot device comprising the above-mentioned control device and a robot including a plurality of components.

[0008] of the present disclosure Fourth Aspectis an operation device that sets parameters for controlling a robot. The operation device includes a display unit that displays an image of the robot. The operation device includes an acquisition unit that acquires information for setting specific members that may come into contact with the robot's components based on an operation of the image displayed on the display unit, and an output unit that outputs the information for setting the specific members. The display unit displays a work area where a worker will work. The acquisition unit acquires the position of the work area based on an operation, and acquires components of the robot that will be at least partially located within the work area when the robot is driven based on an operation program. [Effects of the Invention]

[0009] According to aspects of the present disclosure, it is possible to provide a control device that controls the operation of a robot based on the operating state of a specific member selected from multiple constituent members of the robot, a robot device equipped with the control device, and an operating device that sets parameters. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a first robot device according to an embodiment. [Figure 2] FIG. 2 is a block diagram of a first robotic device. [Figure 3] FIG. 4 is a schematic diagram illustrating control of a comparative example of the first robot device. [Figure 4] 4 is a first image displayed on a display unit in the embodiment. [Figure 5] FIG. 1 is a schematic diagram of a capsule model used for control of an embodiment. [Figure 6] FIG. 1 is a schematic diagram of a first robot on which a capsule model is placed. [Figure 7] FIG. 2 is a schematic diagram illustrating a first state of a first robotic device. [Figure 8] FIG. 10 is a schematic diagram illustrating a second state of the first robotic device. [Figure 9] FIG. 10 is a schematic diagram illustrating a third state of the first robotic device. [Figure 10] 10 is a second image displayed on the display unit. [Figure 11] 10 is a third image displayed on the display unit. [Figure 12]FIG. 10 is a schematic diagram illustrating a state in which a first robot device is entering a work area of ​​a worker. [Figure 13] FIG. 4 is a block diagram of a second robot device according to an embodiment. [Figure 14] FIG. 1 is a schematic diagram of a second robotic device. [Figure 15] FIG. 10 is a schematic diagram of a third robot device according to an embodiment. [Figure 16] FIG. 10 is a block diagram of a third robotic device. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 to 16, a robot control device, a robot device equipped with the control device, and an operating device for setting parameters according to an embodiment will be described. The robot device of this embodiment comprises a robot including multiple components, a work tool attached to the robot, and a control device that controls the robot and the work tool. The robot device of this embodiment includes a collaborative robot that works in collaboration with a worker.

[0012] FIG. 1 is a schematic diagram of a first robot device according to this embodiment. FIG. 2 is a block diagram of the first robot device according to this embodiment. With reference to FIGS. 1 and 2, the first robot device 3 comprises a work tool 5 that performs a predetermined task, and a robot 1 that moves the work tool 5. The first robot device 3 also comprises a control device 2 that controls the first robot device 3. Any device can be used as the work tool 5 depending on the task to be performed by the robot device 3. For example, the work tool can be a hand that grips and releases a workpiece.

[0013] The robot 1 of this embodiment is an articulated robot including multiple joints 18. The robot 1 includes multiple components connected to each other via the joints. The robot 1 includes a base 14 fixed to an installation surface and a swivel base 13 supported by the base 14. The swivel base 13 rotates around a drive axis J1 relative to the base 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is supported by the swivel base 13. The lower arm 12 rotates around a drive axis J2 relative to the swivel base 13. The upper arm 11 is supported by the lower arm 12. The upper arm 11 rotates around a drive axis J3 relative to the lower arm 12. Furthermore, the upper arm 11 rotates around a drive axis J4 parallel to the direction in which the upper arm 11 extends.

[0014] The robot 1 includes a wrist 15 supported by an upper arm 11. The wrist 15 rotates about a drive axis J5. The wrist 15 also includes a flange 16 that rotates about a drive axis J6. A work tool 5 is fixed to the flange 16. In this embodiment, the base 14, swivel base 13, lower arm 12, upper arm 11, wrist 15, and work tool 5 correspond to the components of the robot device 3. The robot 1 is not limited to this configuration, and any robot that can change the position and posture of the work tool can be used.

[0015] The robot 1 of this embodiment includes a robot drive unit 21 having a drive motor that drives components such as the upper arm 11. The work tool 5 includes a work tool drive unit 22 having a drive motor, cylinder, or the like for driving the work tool 5.

[0016] The control device 2 includes a control device main body 40 and a teaching pendant 26 for an operator to operate the control device main body 40. In this embodiment, the teaching pendant 26 functions as an operating device for setting parameters for controlling the robot. The control device main body 40 includes an arithmetic processing device (computer) having a CPU (Central Processing Unit) as a processor. The arithmetic processing device has RAM (Random Access Memory) and ROM (Read Only Memory), etc., connected to the CPU via a bus. The robot 1 is driven based on operation commands from the control device 2. The robot device 3 automatically performs tasks based on an operation program 65.

[0017] The control device main body 40 includes a storage unit 42 that stores any information related to the robot device 3. The storage unit 42 can be configured with a non-transitory storage medium capable of storing information. For example, the storage unit 42 can be configured with a storage medium such as a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium. An operation program 65 created in advance for performing an operation of the robot 1 is stored in the storage unit 42.

[0018] The operation control unit 43 sends operation commands to the robot driving unit 44 to drive the robot 1 based on the operation program 65. The robot driving unit 44 includes an electrical circuit that drives the drive motor, and supplies electricity to the robot driving device 21 based on the operation commands. The operation control unit 43 also sends operation commands to the work tool driving unit 45 to drive the work tool driving device 22. The work tool driving unit 45 includes an electrical circuit that drives the motor, etc., and supplies electricity to the motor, etc. based on the operation commands.

[0019] The operation control unit 43 corresponds to a processor that operates in accordance with the operation program 65. The processor is configured to be able to read information stored in the storage unit 42. The processor reads the operation program 65 and performs the control defined in the operation program 65, thereby functioning as the operation control unit 43.

[0020] The robot 1 includes a state detector for detecting the position and posture of the robot 1. In this embodiment, the state detector includes a position detector 23 attached to the drive motor of each drive shaft of the robot drive device 21. The position detector 23 can be configured, for example, by an encoder that detects the rotational position of the output shaft of the drive motor. The position and posture of the robot 1 are detected based on the output of each position detector 23.

[0021] A reference coordinate system 71 that remains stationary when the position and posture of the robot 1 change is set in the robot device 3. In the example shown in FIG. 1, the origin of the reference coordinate system 71 is located on the base unit 14 of the robot 1. The reference coordinate system 71 is also referred to as a world coordinate system. In the reference coordinate system 71, the position of the origin is fixed, and the orientation of the coordinate axes is also fixed. The reference coordinate system 71 has X-axis, Y-axis, and Z-axis that are orthogonal to each other as the coordinate axes. Furthermore, the W-axis is set as the coordinate axis around the X-axis. The P-axis is set as the coordinate axis around the Y-axis. The R-axis is set as the coordinate axis around the Z-axis.

[0022] A tool coordinate system is set in the robot device 3, with its origin set at an arbitrary position on the work tool. The position and orientation of the tool coordinate system change along with the work tool. In this embodiment, the origin of the tool coordinate system is set at the tool tip point. The position of the robot 1 corresponds to the position of the tool tip point in the reference coordinate system 71. The orientation of the robot 1 corresponds to the orientation of the tool coordinate system relative to the reference coordinate system 71.

[0023] The teaching pendant 26 is connected to the control device main body 40 via a communication device. The teaching pendant 26 includes an input unit 27 for inputting information about the robot device 3. The input unit 27 is made up of input members such as a keyboard and a dial. The teaching pendant 26 includes a display unit 28 for displaying information about the robot device 3. The display unit 28 can be made up of a display panel capable of displaying information, such as a liquid crystal display panel or an organic EL (Electro Luminescence) display panel. When the teaching pendant is equipped with a touch panel type display panel, the display panel functions as both the input unit and the display unit.

[0024] The teaching operation panel 26 includes an arithmetic processing unit (computer) having a CPU as a processor. The teaching operation panel 26 includes a display control unit 29 that sends commands for images to be displayed on the display unit 28. The display control unit 29 controls the images to be displayed on the display unit 28. The display control unit 29 controls the images to be displayed on the display unit 28 in response to the operation of the input unit 27 by the operator. The display unit 28 displays information about the components of the robot 1. The display unit 28 in this embodiment is configured to display an image of the robot 1.

[0025] The teaching pendant 26 includes an acquisition unit 24 that acquires information for setting a specific component of the robot 1 that may be touched by a human. The acquisition unit 24 acquires information for setting the specific component based on the operator's operation of an image displayed on the display unit 28. The teaching pendant 26 includes an output unit 25 that outputs information for setting the specific component. The output unit 25 outputs information for setting the specific component to the specific component setting unit 51. Each of the display control unit 29, acquisition unit 24, and output unit 25 corresponds to a processor that operates according to a predetermined program. The processor performs control as defined in the program, thereby functioning as each unit. The teaching pendant 26 also has a storage unit that is configured as a non-transitory storage medium capable of storing information.

[0026] The robot 1 of the first robot device 3 includes torque sensors 31, 32, and 33 arranged at the joints 18. Each of the torque sensors 31, 32, and 33 detects torque around the drive axes J1, J2, and J3 along which components of the robot 1 are driven. In the example shown in FIG. 1 , the first torque sensor 31 detects torque around the drive axis J1. The second torque sensor 32 detects torque around the drive axis J2. The third torque sensor 33 detects torque around the drive axis J3. The outputs of the torque sensors 31, 32, and 33 and the output of the position detector 23 are sent to the processing unit 50 of the control device main body 40.

[0027] Each of the torque sensors 31, 32, and 33 functions as a sensor for detecting the operating state of a component. The torque sensors can detect torque that depends on the operating state of a component located closer to the tip of the robot than the joint where the torque sensor is located. For example, the first torque sensor 31 functions as a sensor for detecting the operating states of the lower arm 12, the upper arm 11, the wrist 15, and the work tool 5.

[0028] The control device main body 40 includes a processing unit 50 that controls the operation of the robot 1 based on the outputs of the torque sensors 31, 32, and 33. The processing unit 50 includes a specific member setting unit 51 that sets one or more of the robot's multiple components as specific members. In this embodiment, when determining the robot's operation, a component selected from the robot's multiple components is referred to as a specific member. In this embodiment, a component that a worker may come into contact with can be selected as a specific member.

[0029] The processing unit 50 includes a torque detection unit 52 that detects torque around each drive shaft based on the outputs of the torque sensors 31, 32, and 33. The processing unit 50 also includes a contact torque calculation unit 53 that calculates contact torque when a worker comes into contact with the robot 1. The contact torque corresponds to torque due to an external force acting on the robot 1. The contact torque calculation unit 53 calculates the contact torque by subtracting torque related to the internal force of the robot from the torque detected by the torque detection unit 52. The torque related to the internal force of the robot can be calculated from the operating state of the robot 1. For example, the torque related to the internal force is calculated based on the position and posture of the robot 1 and the speed and acceleration when components are driven around each drive shaft.

[0030] The processing unit 50 includes a maximum external force estimation unit 54 that estimates the maximum value of the external force acting on the robot when a person comes into contact with the robot. The processing unit 50 includes a determination unit 55 that determines the state of motion of a specific member. The processing unit 50 includes a movement modification unit 56 that changes the movement of the robot 1 based on the determination result of the determination unit 55. Each of the above-mentioned processing unit 50, the specific member setting unit 51, torque detection unit 52, contact torque calculation unit 53, maximum external force estimation unit 54, determination unit 55, and movement modification unit 56 included in the processing unit 50 corresponds to a processor that operates in accordance with an operation program 65. The processor performs control defined in the operation program 65, thereby functioning as each unit.

[0031] In the present embodiment, units included in the processing unit 50, such as the specific member setting unit 51, are arranged in the control device main body 40, but this is not limiting. Units included in the processing unit 50 may be arranged in the teaching pendant 26. That is, the processor of the teaching pendant may function as a unit included in the processing unit 50. For example, the teaching pendant 26 may have a specific member setting unit. Furthermore, units included in the teaching pendant 26, such as the display control unit 29, may be arranged in the control device main body 40. For example, the processing unit may include a display control unit, an acquisition unit, and an output unit. Alternatively, the processing unit 50 and at least one unit included in the teaching pendant 26 may be arranged in an arithmetic processing device different from the control device main body and the teaching pendant.

[0032] The robot device 3 in this embodiment performs work near a work area where a worker is present. There are cases where the worker comes into contact with the robot 1. If the force (contact force) that the worker receives from the robot is small, there is no problem, and the robot device and the worker can continue working. On the other hand, if the force that the worker receives from the robot is large, the control device limits the robot's operation. The contact force that a robot can apply to a person is specified, for example, in the international standard ISO / TS15066. The contact force that the worker receives from the robot corresponds to the external force that the robot receives from the worker.

[0033] FIG. 3 shows a schematic diagram of the robot and work tool of the first robot device. First, we will explain the control of a reference example of the robot device. The control device controls the robot's movement based on the external force the robot receives from the worker. Here, we will explain control based on the output of a second torque sensor 32 located at the joint 18 around which the lower arm 12 rotates. The torque sensor 32 detects torque around the drive shaft J2. When the lower arm 12 rotates around the drive shaft J2, the positions and orientations of the lower arm 12, the upper arm 11 connected to the tip side of the lower arm 12, the wrist 15, and the work tool 5 change.

[0034] There is a possibility that a worker may come into contact with these components. In Figure 3, when a worker comes into contact with contact point 81 of the work tool 5, an external force F is applied to the work tool 5. The distance between contact point 81 and the drive axis J2 is the radius of rotation R. The torque detection unit 52 detects the torque obtained by adding together the external force and the internal force of the robot from the torque sensor 32. The contact torque calculation unit 53 calculates the contact torque by subtracting the torque related to the internal force from the torque detected by the torque sensor 32. The contact torque calculation unit 53 calculates the contact torque (F x R).

[0035] In the example shown in Fig. 3, there is a possibility that the operator may come into contact with all of the components arranged closer to the tip of the robot 1 than the drive axis J2. For this reason, when estimating the external force acting on the robot 1 from the contact torque, a small radius of rotation is used so that the calculated external force is large for safety reasons. In the example shown in Fig. 3, of the surfaces of the moving components, the surface of the component closest to the drive axis J2 is the surface of the lower arm 12. Therefore, the minimum radius Rmin of the point on the surface of the lower arm 12 that is closest to the drive axis J2 can be used.

[0036] The maximum external force estimation unit 54 calculates the maximum external force Fmax using the minimum radius Rmin. The maximum external force Fmax is the contact torque divided by the minimum radius (F×R / Rmin). Next, the control device can restrict the movement of the robot if the maximum external force exceeds a judgment value. In this way, by using the minimum radius as the radius of rotation when calculating the external force from the contact torque, it is possible to calculate the maximum external force when contacting a moving component, and safety evaluation can be performed.

[0037] On the other hand, in many cases, the minimum radius Rmin is smaller than the actual radius of rotation R. In this case, the calculated maximum external force Fmax is larger than the actually applied external force F. In particular, when there is a large difference between the minimum radius Rmin and the actual radius of rotation R, the maximum external force Fmax is calculated to be extremely large. As a result, the robot's operating range becomes smaller, the robot's speed decreases, and work efficiency decreases.

[0038] In contrast, in the control of this embodiment, one or more of the multiple components are set as specific components. The control device 2 calculates the maximum external force based on the state of motion of the specific component and controls the robot 1. In other words, the control device 2 can make a determination without using the motion of components other than the specific component. Here, we will explain the control based on the output of the second torque sensor 32 arranged in the joint 18 around which the lower arm 12 rotates.

[0039] 4 shows a first image displayed on the display unit of the teaching pendant in this embodiment. In the first control of the first robot device 3, the worker first selects a specific member from among the multiple constituent members of the robot device 3.

[0040] 2 and 4, in the first control, the specific member setting unit 51 sets a specific member based on the operator's operation on the image displayed on the display unit 28. In the first image 66, the display unit 28 displays an image of the robot device including an image 66a of the robot and an image 66b of the work tool. The image 66a of the robot is generated in advance and stored in the memory unit 42. The image 66b of the work tool can be created by the operator operating the input unit 27. The image of the work tool can be changed depending on the work tool being used. In this example, a two-dimensional image of the robot device is displayed, but this is not limited to this. A three-dimensional image of the robot device may also be displayed.

[0041] The display unit 28 also displays a list of the components of the robot 1. The worker operates the input unit 27 to operate the image displayed on the display unit 28. The worker selects at least one specific component from the list of components of the robot 1. The worker can select components that the worker may come into contact with. In this example, the worker selects a work tool, a wrist, and an upper arm. The acquisition unit 24 acquires the components of the robot 1 selected by operating the image displayed on the display unit 28 as information for setting the specific components. The output unit 25 outputs the components selected by the worker to the specific component setting unit 51. The specific component setting unit 51 sets the wrist, upper arm, and work tool, which are the components selected on the display unit 28, as the specific components.

[0042] During the execution of the work, while the robot device is being driven based on the operation program, the contact torque calculation unit 53 of the processing unit 50 calculates the contact torque based on the torque detected by the torque detection unit 52. Next, the maximum external force estimation unit 54 estimates the maximum external force. The maximum external force is the largest external force expected when the worker comes into contact with any of the components. In this embodiment, the maximum external force when the worker comes into contact with a specific component is estimated. In the calculation to estimate the maximum external force in this embodiment, a capsule model formed to correspond to each component is used.

[0043] FIG. 5 shows a schematic diagram of a capsule model in this embodiment. As indicated by arrow 91, capsule model 74 has a shape in which hemispherical portions 74b and 74c are joined to both sides of a cylindrical portion 74a. Capsule model 74 has a surface formed using a certain distance MR from line segment ML. Capsule model 74 can be expressed by the symbol (ML, MR). Distance MR is the radius from any point on line segment ML.

[0044] FIG. 6 shows a schematic diagram when a capsule model is applied to the robot of this embodiment. A capsule model can be created for each moving component. In this example, a capsule model 75a is set for the lower arm 12. A capsule model 75b is set for the upper arm 11. A capsule model 75c is set for the wrist 15. And a capsule model 75d is set for the work tool 5. Each of the capsule models 75a to 75d has a size that allows the respective component to be placed inside.

[0045] A line segment ML and a distance MR are set for the component parts. The capsule model 75a, which operates on the drive axis J2, is represented by the symbol (ML2, MR2). Similarly, the capsule model 75b is represented by the symbol (ML3, MR3), and the capsule model 75c is represented by the symbol (ML5, MR5). The capsule model 75d of the work tool is represented by the symbol (MLT, MRT). The outer surface of the capsule model is generated once the position and orientation of the line segment ML are determined. The position and orientation of the line segment ML can be set in a coordinate system defined for each drive axis. The coordinate values ​​in the reference coordinate system 71 are calculated using the coordinate values ​​in the coordinate system of the drive axis.

[0046] A capsule model for each component can be created in advance by the operator. Each capsule model can be of any size and placed in any position so as to enclose the component. Alternatively, two or more capsule models can be set for one component. This configuration allows the capsule model to be set to correspond to the complex shape of the component, enabling precise control.

[0047] Next, a method for calculating the minimum radius used by the maximum external force estimation unit 54 to calculate the maximum external force from the contact torque will be described. The surface of the capsule model corresponds to the surface of a component. When the specific component setting unit 51 sets a specific component, the lower arm 12 may be included. In this case, the surface of the component closest to the drive axis J2 is the surface of the lower arm 12. The minimum radius R2min from the drive axis J2 is equal to the distance MR2 from a point on the line segment ML2 to the surface of the capsule model 75a. Next, a method for calculating the minimum radius to a component farthest from the drive axis will be described.

[0048] Fig. 7 is a schematic diagram showing a first state when the first robot device of this embodiment is driven. Fig. 7 is an explanatory diagram for calculating the minimum radius R3min of the upper arm 11. A capsule model 75b represented by symbols (ML3, MR3) is disposed on the upper arm 11. The minimum distance from the drive axis J2 to the surface of the capsule model 75b corresponds to the minimum radius R3min.

[0049] The line segment ML3 of the capsule model 75b is expressed in the reference coordinate system 71 based on the position and posture of the robot 1. The endpoints of the line segment ML3 are expressed by coordinate values ​​in the reference coordinate system 71. First, a rotation plane perpendicular to the drive axis J2 is set. The position of the rotation plane can be selected at any position on the drive axis J2. Here, the same plane as the paper surface is set as the rotation plane perpendicular to the drive axis J2.

[0050] Next, a line segment ML3' is calculated by projecting the line segment ML3 of the capsule model 75b onto the rotation plane. Then, a straight line 84 including the line segment ML3' is calculated. A perpendicular line 85 is calculated on the rotation plane, perpendicular to the line 84 from the drive axis J2. At this time, the intersection of the line 84 and the perpendicular line 85 is located outside the line segment ML3'. In this case, one end point of the line segment ML3' is point X on the line segment ML3', where the distance from the drive axis J2 to the line segment ML3' is the smallest. Next, a distance D3 between the drive axis J2 and point X on the rotation plane is calculated. An approach point IP is the point on the surface of the capsule model 75b closest to the drive axis J2. The distance between the approach point IP and the drive axis J2 is the minimum radius R3min. Therefore, the minimum radius R3min can be calculated by subtracting the distance MR3 of the capsule model 75b from the distance D3.

[0051] FIG. 8 is a schematic diagram showing a second state when the first robot device of this embodiment is driven. Even with the position and posture of the robot 1 shown in FIG. 8, a straight line 84 is generated, including a line segment ML3' obtained by projecting the line segment ML3 of the capsule model 75b onto the rotation plane. A perpendicular line 85 is generated on the rotation plane, perpendicular to the line 84. At this time, the perpendicular line 85 intersects with the line segment ML3'. In this case, the point of intersection with the perpendicular line 85 is point X, where the distance from the drive axis J2 to the line segment ML3' is the shortest. Then, a distance D3 between point X and the drive axis J2 is calculated. The minimum radius R3min can be calculated by subtracting the distance MR3 of the capsule model 75b from this distance D3. In this way, the minimum radius R3min for the capsule model 75b can be calculated according to the position and posture of the robot 1.

[0052] In the example shown in FIGS. 7 and 8, the specific member setting unit 51 sets the upper arm 11, the wrist 15, and the work tool 5 as specific members. The maximum external force estimating unit 54 can perform the same calculation for the capsule models 75c and 75d as for the capsule model 75b. The maximum external force estimating unit 54 can then calculate the minimum radius of the surface of each of the capsule models 75b, 75c, and 75d that minimizes the distance from the drive axis J2. The maximum external force estimating unit 54 can select the smallest minimum radius among the minimum radii of the capsule models 75b, 75c, and 75d. In this example, the maximum external force estimating unit 54 can select the minimum radius R3min for the capsule model 75b of the upper arm 11. The maximum external force estimating unit 54 can then calculate the maximum external force by dividing the contact torque calculated by the contact torque calculating unit 53 by the minimum radius R3min.

[0053] Figure 9 is a schematic diagram of the third state when the first robot device of this embodiment is driven. In the example shown in Figure 9, the specific member setting unit 51 also sets the upper arm 11, wrist 15, and work tool 5 as specific members. The minimum radii are calculated for capsule models 75b, 75c, and 75d corresponding to each of the component members.

[0054] Here, the line segment MLT' is shown as the line segment MLT of the capsule model 75d of the work tool 5 projected onto the plane of rotation. With the position and posture of the robot 1 shown in Figure 9, the capsule model with the surface closest to the drive axis J2 is the capsule model 75d of the work tool. The minimum radius RTmin is the value obtained by subtracting the distance MRT from the distance DT between the endpoint of the line segment MLT' and the drive axis J2. The maximum external force estimator 54 can calculate the maximum external force by dividing the contact torque by the minimum radius RTmin.

[0055] In this way, as the position and posture of the robot change, the capsule model that is the shortest distance from the predetermined drive axis changes. When multiple component members are selected as specific members, the maximum external force estimation unit 54 can calculate the maximum external force by using the smallest minimum radius among the minimum radii of the respective capsule models.

[0056] In the example of the first robot device described above, the swivel base 13 corresponds to the first component member. The lower arm 12 corresponds to the second component member. The specific component setting unit 51 then sets at least one component member out of the second component member and a component member disposed closer to the tip of the robot 1 than the second component member as the specific component. Here, the component member specified by the operator in FIG. 4 is set as the specific component. The maximum external force estimation unit 54 can estimate the maximum external force based on the shortest distance between the drive shaft and the specific component member.

[0057] The determination unit 55 of the processing unit 50 determines whether the maximum external force deviates from a predetermined determination range. For example, the determination unit 55 determines whether the maximum external force is greater than a predetermined upper limit. When the maximum external force is greater than the upper limit, the operation modification unit 56 can perform at least one of control to avoid an increase in the external force and control to reduce the operation speed of the robot.

[0058] For example, the operation modification unit 56 can perform control to stop the robot 1. Alternatively, the operation modification unit 56 can perform control to suppress an increase in external force by changing the moving direction of the tool tip point of the robot 1. Alternatively, the operation modification unit 56 can perform control to reduce the moving speed of the tool tip of the robot 1. In this way, the operation modification unit 56 can perform control to limit the operation of the robot.

[0059] The same control as for the torque detected by the torque sensor 32 can also be performed on the torque detected by the torque sensors 31 and 33 arranged on the drive axes J1 and J3 other than the drive axis J2. That is, the processing unit can create a capsule model of a specific member, calculate the minimum radius of the capsule model, and calculate the maximum external force based on the minimum radius. When controlling the robot based on the outputs of multiple torque sensors 31, 32, and 33, if the maximum external force calculated from the output of at least one torque sensor deviates from the judgment range, the processing unit can perform control to limit the operation of the robot.

[0060] Here, the control device may be configured to select a drive axis to be used in evaluating the robot's state from among the robot's multiple drive axes. The acquisition unit acquires the drive axis selected from among the robot's multiple drive axes by operating an image displayed on the display unit as information for setting a specific member. The output unit can send information about the selected drive axis to the processing unit. In the above-mentioned evaluation of the maximum external force, the control device may be configured to allow the operator to select a drive axis to be used when calculating the maximum external force. For example, the control may be configured to perform control using the output of the torque sensor located on drive axis J2, but not to perform control using the outputs of the torque sensors located on drive axes J1 and J3. Here, the display unit can display a list of drive axes. The operator can select a drive axis to be used in controlling the maximum external force by operating the input unit. The acquisition unit can acquire information about the drive axis to be used when calculating the maximum external force. The output unit can send information about the drive axis to be used when calculating the external force to the processing unit.

[0061] The processing unit of the control device of this embodiment sets one or more of the robot's multiple constituent members as specific members. The processing unit detects the operating state of the specific members based on the output of the sensor, and controls the robot's operation based on the operating state of the specific members. This makes it possible to control the robot regardless of the operating state of constituent members other than the specific members of the robot.

[0062] In the first robot device, external forces can be determined for components that a worker may come into contact with. On the other hand, components that a worker is unlikely to come into contact with can be excluded from the specified components. In calculating the minimum radius for calculating the maximum external force, components other than the specified components can be excluded. This makes it possible to avoid calculating the maximum external force based on components that a worker is unlikely to come into contact with. This prevents the maximum external force from becoming excessively large and restricting the robot's operation. As a result, it is possible to prevent a decrease in the robot's work efficiency.

[0063] In this embodiment, the specific member setting unit sets the specific member based on the operator's operation on the image displayed on the display unit. By adopting this configuration, the operator can easily select the specific member from multiple component members. Furthermore, the display unit displays a list of the robot's component members, and the specific member setting unit sets the component member selected from the list of component members in response to the operator's operation as the specific member. This allows the operator to easily understand the selectable component members. Alternatively, it is possible to prevent the operator from forgetting to set the specific member.

[0064] In the above embodiment, the minimum radius for calculating the maximum external force is calculated using a capsule model, but this is not limited to this. The minimum radius can be calculated for each component by any method. For example, it is possible to set only the line segment ML of the capsule model for the component, without setting the outer surface of the capsule model. The minimum radius can also be calculated based on the distance from the line segment ML to the drive shaft. This method does not take into account the thickness of the component, so an error occurs due to the distance from the line segment to the surface of the component. However, it is possible to reduce the amount of calculation for the minimum radius.

[0065] Alternatively, instead of a capsule model, a model that covers the components with a collection of polyhedrons or cubes may be set. Then, the distance from the surface of the model to the drive shaft may be calculated. For example, by using a 3D model of a robot, it is possible to calculate the shortest distance from the surface of a model of any shape to the drive shaft.

[0066] FIG. 10 shows a second image displayed on the display unit in this embodiment. In the second control of the first robot device, the worker specifies an area where the worker may come into contact with the robot device. In the second image 67, an image 67a of the robot and an image 67b of the work tool are displayed. The processing unit 50 is configured to specify a designated area 67c for a component of the robot 1 in response to the worker's operation on the image of the robot displayed on the display unit 28. For example, if the display unit 28 is configured as a touch panel, the worker can specify the designated area 67c that covers the component by tracing the screen with his / her finger. The worker can define the designated area 67c so that it includes the component that the worker may come into contact with.

[0067] The acquisition unit 24 acquires a designated area 67c defined for the image of the robot 1 by operating the image displayed on the display unit 28. The output unit 25 transmits the image of the robot 1 and the designated area 67c to the designated member setting unit 51 as information for setting a designated member. The designated member setting unit 51 can set a robot component, at least a portion of which is located within the designated member 67c, as a designated member. In this example, a portion of the upper arm, a wrist, and a work tool are located within the designated member 67c. For this purpose, the designated member setting unit 51 sets the upper arm, the wrist, and the work tool as designated members.

[0068] The specific member setting unit may set a component that is entirely contained within the designated area as a specific member. For example, in the example shown in FIG. 10, the upper arm is partially located outside the designated area 67c, so it does not need to be set as a specific member. In this way, the second control for selecting a specific member within the designated area allows the worker to easily set a specific member from multiple component members. In particular, when the robot has a large number of component members, the worker can easily select a specific member.

[0069] In the above embodiment, the operator selects the specific member by manipulating the image displayed on the display unit, but this is not limiting. The specific member may be stored in advance in the storage unit. Alternatively, the specific member may be selected depending on the operating status of the robot.

[0070] 11 shows a third image displayed on the display unit in this embodiment. In the third control of the first robot device, a work area in which the worker will perform work is designated in advance. In the third image 68, a three-dimensional image 68a of the robot and a three-dimensional image 68b of the work tool are displayed. These three-dimensional images 68a and 68b can be generated, for example, by acquiring three-dimensional data output from a CAD (Computer Aided Design) device.

[0071] The processing unit 50 is configured so that, in response to operation by the worker, a work area 68c can be specified around the robot 1 where the worker will perform work. The display unit 28 displays the work area 68c together with an image 68a of the robot and an image 68b of the work tool. The work area 68c can be specified as an area where the worker may move. In this example, the rectangular work area 68c is defined by eight vertices. The position of each vertex is specified by coordinate values ​​in the reference coordinate system 71. The work area 68c can be set by the worker operating the input unit 27.

[0072] The work area is not limited to a rectangular parallelepiped shape, and can be set to any shape and any size. For example, a polygonal area formed by connecting multiple vertices can be set as the work area. Alternatively, a single work area can be created by connecting multiple areas.

[0073] The acquisition unit 24 acquires the position of a working area that is predetermined relative to the position of the robot. Here, the acquisition unit 24 acquires the positions of the vertices of the working area using coordinate values ​​in the reference coordinate system 71. The output unit 25 transmits the position of the working area to the specified member setting unit 51. The specified member setting unit 51 detects the position and posture of the robot 1 based on the output of the position detector 23 while the robot is operating. The specified member setting unit 51 can set a component of the robot 1, at least a portion of which is located inside the working area 68c, as a specified member.

[0074] FIG. 12 shows a schematic diagram of the robot and working area when the robot is actually being driven. In this example, part of the wrist 15 and the work tool 5 are placed inside the working area 89. The specific member setting unit 51 sets the wrist 15 and the work tool 5 as specific members. The maximum external force estimating unit 54 sets a capsule model 75c for the wrist 15 and a capsule model 75d for the work tool 5. The maximum external force estimating unit 54 calculates the minimum radius and is able to calculate the maximum external force based on the minimum radius.

[0075] Alternatively, the specific member setting unit 51 sets capsule models for all of the components of the robot 1. The specific member setting unit 51 may set a component member, at least a part of which is located inside the working area 89, as the specific member.

[0076] In this way, the third control can set a specific member based on the position and posture of the robot when the robot is operating. By performing this control, it is possible to eliminate the possibility of a component placed in an area other than the working area coming into contact with the worker. It is possible to automatically change a component that may come into contact with the worker depending on the position and posture of the robot. As a result, it is possible to reduce restrictions on the robot's operation, improving the work efficiency of the robot device.

[0077] In this embodiment, a component that is at least partially located within the working area while the robot is operating is set as a specific component, but this is not limited to this. A component that is entirely located within the working area may also be set as a specific component. In the example shown in Figure 12, a portion of the wrist 15 is located outside the working area 89, so the wrist 15 does not need to be set as a specific component.

[0078] The control device may also be configured so that an operator sets the working area and selects a component for calculating the maximum external force. For example, the acquisition unit selects a component of the robot that will be at least partially located within the working area when the robot is driven based on the operation program. That is, the acquisition unit selects a component of the robot based on the working area and the range of motion of the robot based on the operation program. Alternatively, the acquisition unit may be configured to acquire a component selected by the operator through operation of an input unit. The acquisition unit acquires this robot component as information for setting a specific component. Then, the specific component setting unit may set a specific component for evaluating an external force based on the selected component of the robot and the working area.

[0079] FIG. 13 shows a block diagram of a second robot device according to this embodiment. In the second robot device, the robot's movement is controlled based on the speed of a moving point set for a specific member. The second robot device includes a robot 7 and a control device 4 that controls the robot device. The robot 7 of the second robot device differs from the robot 1 of the first robot device 3 in that it does not include torque sensors 31, 32, and 33.

[0080] The control device main body 40 of the control device 4 includes a processing unit 60. Similar to the processing unit 50 of the first robot device 3, the processing unit 60 includes a specific member setting unit 51, a determination unit 55, and a movement modification unit 56 (see FIG. 2). The processing unit 60 of the second robot device includes a speed detection unit 59 that detects the speed of a component member at a predetermined movement point. The processing unit 60 and the speed detection unit 59 correspond to a processor that operates in accordance with an operation program 65. The processor performs the control defined in the operation program 65, thereby functioning as each unit. The teaching pendant 26 has a configuration similar to that of the teaching pendant 26 of the first robot device 3 (see FIG. 2).

[0081] The speed detection unit 59 detects the speed of the moving point on the specific member based on the output of the position detector 23. The position detector 23 detects the rotation angle as a variable for detecting the speed of the moving point on the component member.

[0082] FIG. 14 shows a schematic diagram of the second robot device. With reference to FIGS. 13 and 14, the specific member setting unit 51 sets at least one of the multiple components of the robot 7 as the specific member. In this example, the work tool 5 is selected as the specific member. The speed detection unit 59 sets a capsule model 75d represented by symbols (MLT, MRT) for the specific member. When setting the capsule model 75d, a line segment MLT having endpoints is set for the work tool 5. In this embodiment, the endpoints of the line segment MLT are set at moving points EP1 and EP2. The speed of the moving points EP1 and EP2 is adopted as the speed of the work tool 5.

[0083] Here, a safe speed Stol for preventing contact with the worker is predetermined as the moving speed of the work tool 5. The safe speed Stol is a speed that ensures the safety of the worker when the worker comes into contact with a component of the robot. The safe speed Stol can be set to any speed by the worker. Alternatively, the safe speed Stol can be set in accordance with standards, etc.

[0084] The speed detection unit 59 detects the speed of the moving points EP1 and EP2 while the robot device is actually operating based on the operation program 65. The speed detection unit 59 can detect the speed of the moving points EP1 and EP2 based on the output of the position detector 23. The line segment MLT can be set in a coordinate system defined for each drive axis. The position and orientation of the origin of each coordinate system are calculated using the rotation angle of the drive motor arranged on each drive axis. The speed detection unit 59 can calculate the speed of the moving points EP1 and EP2 based on the positions and operation times of the moving points EP1 and EP2.

[0085] The determination unit 55 determines whether the speeds of the moving points EP1 and EP2 deviate from a predetermined determination range. When the speeds of the moving points EP1 and EP2 deviate from the determination range, the operation modification unit 56 controls the robot 7 so that the speeds of the moving points EP1 and EP2 decrease. In this embodiment, the determination unit 55 determines whether the speeds of the moving points EP1 and EP2 exceed the safe speed Stol. When at least one of the speeds of the moving points EP1 and EP2 exceeds the safe speed Stol, the operation modification unit 56 performs control to reduce the operation speed of the robot 1 so that the speeds of the moving points decrease.

[0086] For example, it may be possible to adjust the playback speed of the operation program 65 within a range of 1% to 100%. If the speed of the moving point EP1 exceeds the safe speed, the operating speed of the robot 7 can be reduced by multiplying it by a ratio that will bring the speed of the moving point EP1 within the safe speed. Similarly, if the speed of the moving point EP2 exceeds the safe speed, the operating speed of the robot 7 can be reduced by multiplying it by a ratio that will bring the speed of the moving point EP2 within the safe speed.

[0087] Here, if the robot's motion speed exceeds the safe speed at multiple movement points, the ratio that results in the lowest robot motion speed can be adopted. For example, assume that the safe speed is 100 mm / s, and the speed of movement point EP1 is 130 mm / s and the speed of movement point EP2 is 150 mm / s when the playback speed is 100%. In this case, the respective ratios for deceleration are 76% (calculated as 100% x 100 / 130) and 66% (calculated as 100% x 100 / 150). Of these ratios, 66%, which results in the lowest playback speed ratio, is adopted. In this case, the movement modification unit 56 automatically reduces the playback speed of the movement program 65 to 66%. As a result, the speed of movement point EP1 becomes 85.8 mm / s, and the speed of movement point EP2 becomes 99 mm / s, and both movement points EP1 and EP2 are decelerated to or below the safe speed.

[0088] In the control of the comparative example, the speed of all components of the robot is monitored to limit the robot's operating speed. That is, if at least some of the components are outside the safe speed range, the robot's operation can be limited. However, since the speed of components that the worker is unlikely to come into contact with is monitored, the robot's operation is limited more frequently, reducing the operational efficiency of the robot device.

[0089] In contrast, in the second robot device of this embodiment, component members that the worker may come into contact with are set as specific components in advance. Then, the speed of the movement point on the specific components can be determined. Therefore, the robot can be driven without limiting its speed for component members that the worker is unlikely to come into contact with. As a result, the number of times that the robot's movement is restricted is reduced, improving work efficiency.

[0090] For example, when the tool tip of the work tool is close to the drive axis J1, the joint where the drive axis J3 is located may operate faster than the tool tip. In this case, by specifying the work tool as the specific member, the robot device can continue to work regardless of the speed of the joint where the drive axis J3 is located.

[0091] In the above embodiment, the endpoints of the line segment MLT of the capsule model 75d are set as the moving points EP1 and EP2, but this is not a limitation. Any point on the specific member can be set as the moving point. For example, in a coordinate system arranged on each drive shaft, the moving point may be set in advance at the position on the surface of the component member farthest from the origin of the coordinate system. Also, in the above embodiment, an example is shown in which the speed detection unit 59 detects the speed of the moving point on the specific member based on the output of the position detector 23, but this is not a limitation. The speed detection unit may detect the speed of the moving point based on a motion command sent by the motion control unit.

[0092] The other configurations, actions, and effects of the second robotic device are similar to those of the first robotic device, and therefore will not be described repeatedly here.

[0093] FIG. 15 is a schematic diagram of a third robot device according to this embodiment. The third robot device includes a robot 8. The robot 8 includes contact sensors 35 arranged to cover the surfaces of each component. In addition, contact sensors 35 are arranged to cover the surface of the work tool 5. The contact sensors 35 are sensors that detect contact with the component members. The contact sensors 35 can be configured, for example, as sheet-like pressure-sensitive sensors or pressure sensors.

[0094] Fig. 16 shows a block diagram of a third robot device according to this embodiment. The third robot device is equipped with a control device 6 including a processing unit 61. The processing unit 61 has a configuration including a contact detection unit 62 instead of the speed detection unit 59 of the processing unit 60 of the second robot device (see Fig. 13). The processing unit 61 and the contact detection unit 62 correspond to a processor that operates according to an operation program 65. The processor performs the control defined in the operation program 65, thereby functioning as each unit.

[0095] The specific member setting unit 51 sets at least one of the multiple components of the robot 8 as a specific member. While the robot device is actually operating based on the operation program 65, the contact detection unit 62 detects that a person is in contact with the robot 8 based on the output of the contact sensor 35 arranged on the specific member. The determination unit 55 determines whether a person is in contact with the specific member based on the output of the contact sensor 35. When it is determined that a person is in contact with the specific member of the robot 8, the operation modification unit 56 can perform at least one of control to avoid an increase in contact force or control to reduce the operation speed of the robot. For example, the operation modification unit 56 can perform control to stop the robot 8.

[0096] Alternatively, the contact detection unit 62 detects whether or not a person has come into contact with all of the components of the robot device. If the components detected by the contact detection unit 62 include a specific component set by the specific component setting unit 51, the determination unit 55 can determine that a person has come into contact with the specific component.

[0097] In the control of the comparative example, when at least one of the contact sensors arranged on the components of the robot detects human contact, the robot's movement can be restricted. However, for example, in a robot in which a cable is arranged outside the components, the cable may come into contact with the contact sensor depending on the robot's position and posture. In this case, the robot's movement is restricted, reducing the work efficiency of the robot device.

[0098] In contrast, in the third robot device of this embodiment, the specific member setting unit sets in advance the specific members as the components that the worker may come into contact with. As a result, even if contact is detected with a component that the worker is not likely to come into contact with, the robot device can continue its operation, improving work efficiency.

[0099] The other configurations, actions, and effects of the third robotic device are similar to those of the first and second robotic devices, and therefore will not be described repeatedly here.

[0100] In each of the above-described controls, the order of steps can be changed as appropriate within the scope that does not change the functions and actions.

[0101] The above-described embodiments can be combined as appropriate. In each of the above-described drawings, the same or equivalent parts are designated by the same reference numerals. Note that the above-described embodiments are merely examples and do not limit the invention. Furthermore, the embodiments include modifications of the embodiments as set forth in the claims. [Explanation of symbols]

[0102] 1,7,8 Robot 2,4,6 Control device 3. Robotic Devices 5. Work tools 11 Upper arm 12 Lower Arm 13 Swivel Base 14 Base 15 List 18 Joints 23 Position detector 24 Acquisition Department 25 Output section 26 Teaching control panel 27 Input section 28 Display section 31, 32, 33 Torque sensor 35 Contact Sensor 50, 60, 61 Processing section 51 Specific component setting section 52 Torque detection unit 53 Contact torque calculation section 54 Maximum external force estimation part 55 Judgment section 56 Operation change section 59 Speed ​​detection unit 66, 66a, 66b Images 67, 67a, 67b Images 67c Specified area 68, 68a, 68b Images 68c work area 89 Work area EP1,EP2 moving point J1, J2, J3, J4, J5, J6 drive shaft

Claims

1. A control device for controlling a robot including a plurality of components, a sensor for detecting the state of operation of the component; a processing unit that controls the operation of the robot based on the output of the sensor, The processing unit is configured to designate a work area where an operator will perform work, and while the robot is operating according to an operation program, selects one or more of the robot's multiple components that are located within the work area as specific components, determines the operating state of the specific components based on the output of the sensor, and changes the operation of the robot based on the determination result.

2. a display unit that displays information about components of the robot; The control device according to claim 1 , wherein the processing unit specifies the work area in response to an operation on the image displayed on the display unit.

3. A control device for controlling a robot including a plurality of components, a sensor for detecting the state of operation of the component; a processing unit that controls the operation of the robot based on the output of the sensor; a display unit that displays information about the components of the robot, the processing unit is configured to designate a designated area for a component of the robot based on an operation on the image displayed on the display unit, The processing unit sets a component member of the robot, at least a portion of which is placed inside the designated area, as a specific member, determines the operating state of the specific member based on the output of the sensor, and changes the operation of the robot based on the determination result.

4. the processing unit is configured to designate the working area around the robot in response to the operation, 3. The control device according to claim 2, wherein the processing unit acquires the position and orientation of the robot while the robot is operating, and selects a component of the robot at least a portion of which is located inside the working area as the specific component.

5. The control device according to claim 1 ; a robot including a plurality of components.

6. the processing unit is configured to estimate a maximum value of an external force acting on the robot when a person comes into contact with the robot, The robot includes a first component and a second component that rotates relative to the first component about a drive axis; the sensor includes a torque sensor that detects torque around the drive shaft; the processing unit sets at least one of the second component and a component disposed closer to the tip end of the robot than the second component as a specific component, estimates a maximum external force based on a distance between the drive shaft and the specific component, and determines whether the maximum external force deviates from a predetermined determination range; The robot device according to claim 5 , wherein the processing unit, when the maximum external force deviates from a determination range, performs at least one of control to avoid an increase in the external force and control to reduce the operating speed of the robot.

7. the processing unit is configured to detect a velocity at a predetermined point of movement of the component; The sensor detects a variable for calculating a velocity of the moving point; the processing unit detects the speed of the moving point on the specific member based on the output of the sensor, and determines whether the speed of the moving point deviates from a predetermined determination range; The robot device according to claim 5 , wherein the processing unit controls the robot so that the speed of the moving point decreases when the speed of the moving point deviates from a determination range.

8. the sensor includes a contact sensor that detects contact with the robot; the processing unit determines whether or not a person is touching a specific member based on an output of a contact sensor; 6. The robot device according to claim 5, wherein the processing unit, when it is determined that a person is in contact with a specific member, performs at least one of control to avoid an increase in contact force and control to reduce the operating speed of the robot.

9. An operation device for setting parameters for controlling a robot, a display unit that displays an image of the robot; an acquisition unit that acquires information for setting a specific member that may come into contact with one of the components of the robot based on an operation of the image displayed on the display unit; an output unit that outputs information for setting the specific member, the display unit displays a work area where a worker will perform work, The acquisition unit acquires the position of the working area based on the operation, and acquires components of the robot that are at least partially positioned within the working area when the robot is driven based on an operating program.

10. The operation device according to claim 9 , wherein the acquisition unit acquires a designated area defined for selecting a specific member in an image of the robot by operating the image displayed on the display unit.

11. The operating device according to claim 9 , wherein the acquisition unit acquires a drive axis selected by operating an image displayed on the display unit from among a plurality of drive axes of the robot.

Images