Robot arm, end effector, robot arm drive method, robot arm drive program

Abstract

To provide a robot arm capable of effectively positioning a processing part with respect to an object to be processed, and the like.SOLUTION: A cutting tool 20 serving as an end effector that is fitted to an end of a robot arm includes: a processing part 21 which performs cutting work on a workpiece W being an object to be processed; and a regulation member 22 regulating movement relative to the workpiece W by being abutted to the workpiece W together with the processing part 21. The regulation member 22 regulates the movement relative to the workpiece W on a regulation surface including a direction of being pressed against the workpiece W. The processing part 21 performs cutting work on the workpiece W by relatively moving in a processing direction crossing the regulation surface with respect to the workpiece W. The regulation member 22 is provided by surrounding at least a part of an outer periphery that is not used for cutting work of the workpiece W out of the processing part 21.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a robot arm and an end effector for processing a workpiece. [Background technology]

[0002] Industrial robots are being introduced to perform various tasks in place of humans in industrial sites such as factories, logistics warehouses, construction sites, and hospitals. Conventional industrial robots are often large and powerful, and for safety reasons, they must be operated in isolated spaces that humans cannot enter. On the other hand, in recent years, collaborative robots that work alongside humans in the same space have also been increasingly introduced. Compared to conventional industrial robots, collaborative robots are small and can be installed in narrow spaces, and because they have low power output, they do not require large-scale systems to ensure safety. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-26150 A [Patent Document 2] International Publication No. 2011 / 001569 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses a technology that uses a series elastic actuator including a curved elastic element to impart flexibility to the joints of a robot arm used as a collaborative robot. Even if this robot arm collides with a human working in the same space, the elastic element inside the joint elastically deforms to absorb the impact, improving safety.

[0005] On the other hand, the flexibility imparted to the joint by the series elastic actuator is in a trade-off relationship with the positioning accuracy of the end effector and robot hand that perform various tasks at the tip of the robot arm. To improve the positioning accuracy of the end effector, Patent Document 2 stabilizes the position and orientation of the end effector by bringing a hand support member (42: the same symbol in Patent Document 2; the same applies hereinafter) attached to the forearm of the robot arm into contact with a support surface (90). However, since the hand support member must be in contact with the support surface, the degree of freedom in the position and orientation of the end effector is lost. Furthermore, because the hand support member is attached to the forearm, the positioning accuracy of the end effector at the hand may be insufficient.

[0006] The present invention has been made in view of the above circumstances, and aims to provide a robot arm or the like that can effectively position a processing section relative to a workpiece. Note that the present invention is not limited to collaborative robots, and can be applied to robot arms or the like as general industrial robots. [Means for solving the problem]

[0007] In order to solve the above problems, a robot arm according to one embodiment of the present invention comprises a processing section provided at the tip of the robot arm for processing a workpiece, and a regulating member that is pressed against the workpiece together with the processing section to regulate relative movement between the workpiece and the processing section.

[0008] According to this aspect, the restricting member, which is pressed against the workpiece together with the processing section, restricts relative movement between the processing section and the workpiece, so that the processing section can be effectively positioned relative to the workpiece.

[0009] Another aspect of the present invention is an end effector that includes a processing section attached to a tip of a robot arm for processing a workpiece, and a restricting member that is pressed against the workpiece together with the processing section to restrict relative movement between the end effector and the workpiece.

[0010] Yet another aspect of the present invention is a method for driving a robot arm, comprising the steps of: pressing a regulating member against an object to be processed together with a processing unit provided at the tip of the robot arm and configured to process the object, thereby regulating relative movement of the processing unit with respect to the object along a regulating plane including the pressing direction; and processing the object by moving the processing unit relative to the object in a processing direction intersecting the regulating plane.

[0011] Any combination of the above components and any conversion of these expressions into methods, devices, systems, recording media, computer programs, etc. are also encompassed by the present invention. [Effects of the Invention]

[0012] According to the present invention, the processing section of the robot arm or end effector can be effectively positioned relative to the workpiece. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 2 is a perspective view showing the appearance of the robot arm. [Figure 2] 1 is a schematic diagram showing the configuration of a connecting device that constitutes each joint of a robot arm. [Figure 3] 1 is a schematic diagram showing the configuration of a connecting device that constitutes each joint of a robot arm. [Figure 4] Schematic diagram showing the operation of pressing the cutting tool against the workpiece at the start of cutting. [Figure 5] FIG. 2 is a schematic enlarged view of a cutting tool pressed against a workpiece. [Figure 6] A modification of FIG. 5 is shown. [Figure 7] 1 shows a modified example of a cutting tool. [Figure 8] 1 shows a modified example of a cutting tool. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, a mode for carrying out the present invention (hereinafter also referred to as an embodiment) will be described in detail with reference to the drawings. In the description and / or drawings, identical or equivalent components, members, processes, etc. will be assigned the same reference numerals, and redundant explanations will be omitted. The scale and shape of each part shown in the drawings are set for convenience to simplify the explanation, and should not be interpreted as limiting unless otherwise specified. The embodiment is an example and does not limit the scope of the present invention in any way. All features and combinations thereof described in the embodiment are not necessarily essential to the present invention.

[0015] FIG. 1 is a perspective view showing the appearance of a robot arm 100 as an example of an industrial robot or a collaborative robot. This robot arm 100 is a vertically articulated robot arm with a serial link mechanism. Robots to which the present invention can be applied are not limited to robot arms in the narrow sense, but may be robot arms in the broad sense having joints (corresponding to joints in the human body) that connect multiple links (corresponding to bones in the human body) so that they can move relative to one another, or any other robot. Furthermore, a parallel link mechanism may be used instead of the serial link mechanism, and a horizontally articulated type may be used instead of the vertically articulated type.

[0016] The robot arm 100 has seven joints or axes, which are, in order from the side closest to the base 10, a first joint 11, a second joint 12, a third joint 13, a fourth joint 14, a fifth joint 15, a sixth joint 16, and a seventh joint 17. Each joint corresponds to a joint in the human body, with the first joint 11 corresponding to the waist, the second joint 12 corresponding to the shoulder, the third joint 13 corresponding to the upper arm (twist), the fourth joint 14 corresponding to the elbow, the fifth joint 15 corresponding to the forearm (twist), the sixth joint 16 corresponding to the wrist, and the seventh joint 17 corresponding to the fingertips (twist). The direction of each axis can be designed as appropriate depending on the purpose and use of the robot arm 100, but in this embodiment, the base 10 is placed on a horizontal plane, so the first joint 11 is oriented vertically (perpendicular to the base 10, which is a horizontal plane), the second joint 12 is oriented horizontally (parallel to the base 10, which is a horizontal plane), the third joint 13 is oriented vertically to the second joint 12, the fourth joint 14 is oriented horizontally, the fifth joint 15 is oriented vertically to the fourth joint 14, the sixth joint 16 is oriented horizontally, and the seventh joint 17 is oriented vertically to the sixth joint 16.

[0017] An end effector or robot hand having a shape and function appropriate for the task is attached to the seventh joint 17 at the tip of the robot arm 100. Various types of end effectors are available, such as a grapple for grasping an object, a shovel for scooping an object, a fork for supporting an object from below and transporting it, a hook for hanging and transporting it, and a crane for lifting and transporting it. In this embodiment, an example is described in which a cutting tool is used as the end effector to perform cutting processes such as chamfering and deburring on a workpiece W as a processing object or a workpiece to be processed. Note that this embodiment, which will be described in detail below, is not limited to cutting processes, but can also be applied to processes such as applying a liquid by pressing a roller as a processing section against the processing object, and assembly processes such as fitting by pressing an assembly tool as a processing section against the processing object.

[0018] 2 and 3 schematically show the configuration of a connecting device 30 that constitutes each of the joints 11 to 17 of the robot arm 100. The connecting device 30 in Fig. 2 is applicable to joints that perform a "bending" motion, such as the second joint 12, the fourth joint 14, and the sixth joint 16 in Fig. 1, and the connecting device 30 in Fig. 3 is applicable to joints that perform a "twisting" motion, such as the first joint 11, the third joint 13, the fifth joint 15, and the seventh joint 17 in Fig. 1.

[0019] 2, the connecting device 30 connects a first link 41 as a first member and a second link 42 as a second member so as to allow relative movement. The connecting device 30 corresponds to a joint in the human body, and the first link 41 and the second link 42 connected to each other by the connecting device 30 correspond to bones in the human body.

[0020] The first link 41 and the second link 42 move relative to each other in various ways depending on the manner of connection by the connecting device 30. In this embodiment, an example will be described in which the first link 41 and the second link 42 rotate relative to each other around a rotation axis A that is perpendicular to the extension direction of the first link 41 and the second link 42.

[0021] The relative movement between the first link 41 and the second link 42 is not limited to rotational movement but may be translational movement. For example, the first link 41 and the second link 42 may be configured to translate relatively in a direction perpendicular to the extension direction of the first link 41 and the second link (direction perpendicular to the plane of the paper in FIG. 2), or the first link 41 and the second link 42 may be configured to translate relatively in a direction parallel to the extension direction of the first link 41 and the second link (up and down direction in FIG. 2).

[0022] The coupling device 30 includes a housing 31, a control board 32, a motor 33, a reducer 34, an elastic member 35, and an output flange 36. The housing 31 has a rotationally symmetric shape about the rotation axis A, and accommodates the components 32 to 36 of the coupling device 30 therein. On the outer periphery of the housing 31, a first mounting portion 311 to which the first link 41 is attached and a second mounting portion 312 to which the second link 42 is attached are provided.

[0023] The first link 41, which is fixed to the housing 31 at the first attachment portion 311, is rotatable integrally with the housing 31 relative to the second link 42 around the rotation axis A. The second attachment portion 312 is an opening on the bottom side (left side in FIG. 2) that connects to the internal space of the housing 31 that houses the components 32 to 36. The second link 42 is attached to the coupling device 30 via the output flange 36 provided in this opening.

[0024] The control board 32 controls the coupling device 30 under the control of a central control device (not shown) that controls the entire robot arm 100. For example, the control board 32 generates drive commands for the motor 33, performs adaptive control based on measurement data from an output shaft encoder (not shown), detects torque based on elastic deformation of the elastic member 35, and performs adaptive control based on the detected torque. The motor 33 is an actuator that generates power to rotate the second link 42 around the rotation axis A in response to a drive command from the control board 32. The reducer 34 reduces the rotational speed of the motor 33 using gears or the like, and generates torque proportional to the reduction ratio.

[0025] The elastic member 35 is provided in series between the motor 33 and reducer 34 as a power source and the second link 42 as a load rotationally driven by the power, and constitutes a series elastic actuator (SEA) in the coupling device 30. Even if a human working together with the robot arm 100 as a collaborative robot collides with the robot arm 100, the elastic deformation of the elastic member 35 absorbs the impact, improving safety. Furthermore, the elastic member 35 can store and release the power generated by the motor 33 and reducer 34 and the external force applied to the second link 42 as elastic energy, thereby achieving efficient movement similar to that of human muscles. In particular, when a cutting tool (and a restricting member, described later) for chamfering, deburring, or the like is pressed against the workpiece W, the elastic deformation of the elastic member 35 absorbs the impact of contact between the cutting tool (and the restricting member) and the workpiece W, while the elastic force of the elastic member 35 allows the cutting tool (and the restricting member) to be efficiently pressed against the workpiece W.

[0026] The elastic member 35 is a member that imparts elasticity to the connecting device 30, and is formed of any elastic body such as a spring or rubber. Furthermore, in addition to or instead of the elastic member 35, a resistance imparting member that imparts resistance to the relative rotation of the first link 41 and the second link 42 of the connecting device 30 may be provided. Examples of resistance imparting members include those that impart resistance through mechanical friction and those that impart resistance through the viscosity of a viscous fluid such as oil or grease. The elasticity of the elastic member 35 and the resistance imparted by the resistance imparting member may be variable by the control board 32.

[0027] The elastic member 35 also functions as a torque sensor that detects torque due to an external force. That is, torque due to an external force causes elastic deformation of the elastic member 35, and torque can be detected based on the amount of elastic deformation. In order to measure the amount of elastic deformation of the elastic member 35, various displacement sensors such as magnetostrictive sensors, strain gauges, piezoelectric elements, polarizing elements, and capacitance sensors can be attached to the surface of the elastic member 35. The amount of elastic deformation measured by the displacement sensor is converted into torque by a computing device or the like mounted on the control board 32.

[0028] In the above configuration, the reducer 34, elastic member 35, and resistance member each constitute a flexibility imparting unit that imparts flexibility to the connecting device 30 as a joint. Here, flexibility refers to the ease with which a joint bends, and a joint is said to be flexible when it bends in response to an external force. For example, the reducer 34 generates torque proportional to the reduction ratio, so lowering the reduction ratio can achieve a highly flexible state in which the joint bends easily in response to an external force. Furthermore, the elastic member 35 and resistance member impart flexibility to the joint by generating elastic force or resistance against an external force while allowing the joint to bend. The flexibility imparting unit or resistance imparting member may be a pneumatic actuator that imparts resistance to the rotation of the connecting device 30 using air pressure. It is sufficient to provide a flexibility imparting unit in at least one joint; it is not necessary to provide a flexibility imparting unit in all seven joints 11 to 17 in FIG. 1.

[0029] The output shaft encoder (not shown) is a rotary encoder that measures the rotational position of the second link 42 about the rotation axis A relative to the first link 41. The output flange 36 transmits the torque generated by the reducer 34 to the second link 42 via the elastic member 35, causing the second link 42 to rotate about the rotation axis A. A bearing 361 that smooths the rotation of the second link 42 relative to the housing 31 is provided around the output flange 36.

[0030] 3, the first link 41 and the second link 42 rotate relative to each other about a rotation axis B that is parallel to the extension direction of each link. A notch 37 provided on the housing 31 on the side of the second link 42 prevents the housing 31 from interfering with the rotation of the second link 42 around the rotation axis B caused by the motor 33.

[0031] Next, we will explain the cutting tool 20 as an end effector or robot hand that is attached to the seventh joint 17 (FIG. 1) at the tip of the robot arm 100 and performs cutting processes such as chamfering and deburring of the workpiece W. FIG. 4 schematically shows the operation of pressing the cutting tool 20 against the workpiece W at the start of cutting. The robot arm 100 in this figure has the same configuration as in FIG. 1, but is illustrated in a greatly simplified manner. For example, of the seven axes or joints 11 to 17, only the second joint 12, the fourth joint 14, and the seventh joint 17 are illustrated schematically in this figure, and the other four joints 11, 13, 15, and 16 are not shown.

[0032] The cutting tool 20 is driven to approach the workpiece W, which is an object to be processed or machined, within the plane of FIG. 4 (corresponding to a control plane described later). In the example of FIG. 4, the second joint 12 is mainly driven to rotate clockwise, and the cutting tool 20 attached to the seventh joint 17 at the tip of the robot arm 100 comes into contact with the workpiece W. At this time, the elastic members 35 attached to the second joint 12 and / or the other joints 11, 13 to 17 elastically deform, thereby effectively absorbing the impact of contact between the cutting tool 20 and the workpiece W. Then, each elastic member 35 elastically deforms to improve the adhesion between the cutting tool 20 and the workpiece W that comes into contact, so that the position and orientation of the cutting tool 20 relative to the workpiece W is naturally fine-tuned. In this way, even when the positioning accuracy of the cutting tool 20 relative to the workpiece W by a central control device (not shown) that controls the entire robot arm 100 is low (for example, during direct teaching of the robot arm 100), the series elastic actuators provided in each of the joints 11 to 17 can ultimately accurately position the cutting tool 20 relative to the workpiece W. Furthermore, because the cutting tool 20 is pressed against the workpiece W by the elastic force of the elastic member 35, cutting processes such as chamfering and deburring can be effectively performed on the portion of the workpiece W to be machined or processed.

[0033] In general, a robot arm 100 can realize translational and rotational movement of an end effector about each axis (X-axis, Y-axis, Z-axis, etc.) in a three-dimensional space (e.g., XYZ space) using six axes or joints. In contrast, the robot arm 100 of this embodiment (FIG. 1) has seven axes or joints 11-17. That is, the robot arm 100 of this embodiment includes multiple redundant joints that impart redundant movement to a cutting tool 20 serving as an end effector or a processing unit 21 (described later). These redundant joints increase the degrees of freedom of the robot arm 100's possible orientations, allowing the flexibility or compliance imparted to the cutting tool 20 by each joint 11-17 to be adjusted based on variations in the position and orientation of each joint 11-17 relative to the cutting tool 20. Providing redundant axes in this manner realizes a highly versatile robot arm 100 that can be adapted to various workpieces W with different shapes and materials. The degrees of freedom required for the robot or robot arm 100 to perform tasks are not limited to the six described above. For example, a robot or robot arm 100 that translates a workpiece W in the XY plane and rotates the workpiece W around the Z axis has three degrees of freedom, and the desired redundancy can be achieved by providing axes or joints with at least one more degree of freedom (i.e., four or more).

[0034] FIG. 5 is a schematic enlarged view of a cutting tool 20 as an end effector pressed against a workpiece W. The cutting tool 20 is primarily composed of a processing unit or processing section 21 and a guide member or regulating member 22. The processing section 21 is provided at the tip of the robot arm 100 and processes or processes the workpiece W as a workpiece or a processed object. Specifically, the processing section 21 is provided at the tip of a link that has the seventh joint 17 of the robot arm 100 at its tip end and the sixth joint 16 at its base end or rear end. The processing section 21 includes one or more sharp blades or cutting edges, a grinding section such as a file, etc., to perform cutting processes such as chamfering and deburring on the workpiece W. The surface of each blade is approximately parallel to the plane of FIG. 5 . As described below, by moving the processing section 21 relative to the workpiece W in a direction intersecting the plane of the plane (e.g., a direction perpendicular to the plane of the plane), cutting processes such as chamfering and deburring are performed on the portion of the workpiece W to be processed (the upper left corner in the example of FIG. 5 ).

[0035] The regulating member 22, together with the processing section 21, is pressed against the workpiece W to regulate relative movement with the workpiece W. The regulating member 22 is provided to surround at least a portion of the outer periphery of the processing section 21 that is not used for machining or processing the workpiece W. In the example of FIG. 5, the lower right outer periphery of the processing section 21, which has a rectangular cross section, is used for cutting the workpiece W, and the other three outer peripheries are surrounded by the regulating member 22. The regulating member 22 has a shape that fits the shape of the periphery of the portion to be machined (upper left corner) of the workpiece W to regulate relative movement with the workpiece W on the page of FIG. 5 (hereinafter also referred to as the regulating surface). In the example of FIG. 5, the workpiece W comes into close contact with the regulating member 22, which has a shape that follows a portion of the left side (upper portion) and a portion of the top side (left side portion) of the rectangular cross section of the workpiece W. This stabilizes the position and posture of the workpiece W on the regulating surface, and in particular, regulates rotation of the workpiece W on the regulating surface. At this time, as mentioned above, the processing section 21 and the regulating member 22 are pressed against the workpiece W by the elastic force of the elastic member 35 constituting the series elastic actuator at each of the joints 11 to 17, and therefore the regulating member 22 maintains the position and posture of the workpiece W on the regulating surface approximately constant, while the processing section 21 can effectively perform cutting processes such as chamfering and deburring on the processed portion of the workpiece W.

[0036] As described above, the regulating member 22 regulates relative movement (translational movement and rotational movement) with respect to the workpiece W on a regulating surface that includes the direction in which the regulating member 22 is pressed against the workpiece W (a direction roughly toward the lower right in the example of FIG. 5). In this state, the processing unit 21 (and the regulating member 22) moves relative to the workpiece W in a processing direction or machining direction (for example, a direction perpendicular to the paper surface of FIG. 5) that intersects with the regulating surface, thereby performing cutting processes such as chamfering and deburring on the processed portion of the workpiece W (the upper left corner). According to this embodiment, the regulating member 22, which is pressed against the workpiece W together with the processing unit 21, regulates relative movement with respect to the workpiece W, so that the processing unit 21 can be effectively positioned with respect to the workpiece W.

[0037] FIG. 6 shows a modification of FIG. 5 . In this modification, a smoothing member 23 is provided at any location where the inner circumferential surface of the regulating member 22 faces the outer circumferential surface of the workpiece W. The smoothing member 23 is pressed against the workpiece W to smooth relative movement in the processing direction (e.g., a direction perpendicular to the plane of FIG. 6 ). The smoothing member 23 is, for example, a roller that can rotate around a rotation axis perpendicular to the processing direction. In the example of FIG. 6 , a first roller provided between the right side of the regulating member 22 and the left side of the workpiece W can rotate around a rotation axis extending in the vertical direction in FIG. 6 , and a second roller provided between the bottom side of the regulating member 22 and the top side of the workpiece W can rotate around a rotation axis extending in the horizontal direction in FIG. 6 . Such a smoothing member 23, such as a roller, allows the cutting tool 20 to move smoothly relative to the workpiece W in the processing direction, thereby efficiently cutting the portion of the workpiece W to be machined. Note that the smoothing member 23 is not limited to a roller. It may also be a ball plunger having a ball that can rotate in the processing direction while receiving a load from the workpiece W in the normal direction, or may be made of a lubricant or low-friction material.

[0038] 7 and 8 show a modified example of the cutting tool 20. In this modified example, the regulating member 22 is deformable to fit the shape of the workpiece W. Specifically, the shape of the regulating member 22, which is formed in a partial ring shape on the paper surface (regulating surface) of FIGS. 7 and 8, i.e., the central angle of the partial ring, is variable to fit the shape of the workpiece W. In the example of FIG. 7, the central angle θ1 of the partial ring is approximately 270 degrees so that both end faces of the partial ring of the regulating member 22 can be in close contact with the workpiece W having a rectangular cross section. In the example of FIG. 8, the central angle θ2 of the partial ring is smaller than 270 degrees so that both end faces of the partial ring of the regulating member 22 can be in close contact with the workpiece W having a curved outer periphery. The shape of the processing section 21 is the same in both figures, and only the central angle of the partial ring of the regulating member 22 is adjusted to fit the shape of the workpiece W by an arbitrary mechanical mechanism that adjusts the shape of the regulating member 22.

[0039] The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of the respective components and treatment processes, and that such modifications are also within the scope of the present invention.

[0040] The functional configuration of each device described in the embodiments can be realized by hardware resources, software resources, or a combination of hardware and software resources. Examples of hardware resources include processors, ROMs, RAMs, and other LSIs. Examples of software resources include operating systems, applications, and other programs. [Explanation of symbols]

[0041] 20 cutting tool, 21 processing portion, 22 regulating member, 23 smoothing member, 30 connecting device, 35 elastic member, 41 first link, 42 ​​second link, 100 robot arm.

Claims

1. a processing unit provided at the tip of the robot arm and pressed against the object to be processed, thereby processing the object; a regulating member that is pressed against the object to be processed together with the processing section to regulate relative movement with respect to the object to be processed; Equipped with the regulating member regulates relative movement with the processing section and the object to be processed on a regulating surface including a direction in which the regulating member is pressed against the object to be processed, the processing section processes the object to be processed by moving together with the regulating member relative to the object to be processed in a processing direction intersecting the regulating surface; The regulating member is a robot arm that is pressed against the object to be processed on both sides of the processing section on the regulating surface.

2. The robot arm according to claim 1 , wherein the regulating member is provided with a smoothing member that is pressed against the object to be processed to smooth relative movement in the processing direction.

3. The robot arm of claim 2 , wherein the smoothing member is a roller rotatable about an axis of rotation perpendicular to the processing direction.

4. The robot arm according to claim 1 , wherein the regulating member is provided to surround at least a part of an outer periphery of the processing section that is not used for processing the workpiece.

5. The robot arm according to claim 1 , wherein the regulating member is deformable to match the shape of the object to be processed.

6. The robot further includes a plurality of links, a joint that connects the plurality of links to allow relative movement, and a flexibility imparting portion that imparts flexibility to the joint, The processing unit is provided at a tip end of at least one of the links.

6. A robot arm according to claim 1.

7. The robot arm according to claim 6 , wherein the flexibility imparting portion is constituted by a series elastic actuator and / or a pneumatic actuator.

8. 8. The robot arm of claim 6, wherein the joint includes a plurality of redundant joints that provide the processing units with motions that are redundant with respect to one another.

9. a processing unit attached to the tip of the robot arm and pressed against the object to be processed, thereby processing the object; a regulating member that is pressed against the object to be processed together with the processing section to regulate relative movement with respect to the object to be processed; Equipped with the regulating member regulates relative movement with the processing section and the object to be processed on a regulating surface including a direction in which the regulating member is pressed against the object to be processed, the processing section processes the object to be processed by moving together with the regulating member relative to the object to be processed in a processing direction intersecting the regulating surface; The regulating member is an end effector that is pressed against the object to be processed on both sides of the processing section on the regulating surface.

10. a step of pressing a regulating member against the object to be processed together with a processing section provided at the tip of the robot arm and configured to be pressed against the object to process the object, thereby regulating relative movement of the regulating member against the object to be processed on a regulating surface including the pressing direction; processing the object to be processed by moving the processing unit relative to the object to be processed in a processing direction intersecting the restriction surface; Equipped with the regulating member regulates relative movement with the processing section and the object to be processed on a regulating surface including a direction in which the regulating member is pressed against the object to be processed, the processing section processes the object to be processed by moving together with the regulating member relative to the object to be processed in a processing direction intersecting the regulating surface; A method for driving a robot arm, wherein the regulating members are pressed against the object to be processed on both sides of the processing section on the regulating surfaces.

11. a step of pressing a regulating member against the object to be processed together with a processing section provided at the tip of the robot arm and configured to be pressed against the object to process the object, thereby regulating relative movement of the regulating member against the object to be processed on a regulating surface including the pressing direction; processing the object to be processed by moving the processing unit relative to the object to be processed in a processing direction intersecting the restriction surface; on the computer, the regulating member regulates relative movement with the processing section and the object to be processed on a regulating surface including a direction in which the regulating member is pressed against the object to be processed, the processing section processes the object to be processed by moving together with the regulating member relative to the object to be processed in a processing direction intersecting the regulating surface; A program for driving a robot arm in which the regulating member is pressed against the workpiece on both sides of the processing section on the regulating surface.

Images