Machining device

Abstract

[Problem] To configure so that a pressing state of a machining unit against a workpiece will be one that is deemed appropriate by a worker. [Solution] This machining device comprises: a machining unit for machining a workpiece; a moving unit that moves the machining unit, and is also configured so that application of force from the exterior makes it possible to press the machining unit against the workpiece; a detection unit for detecting the state of the action of the force from the exterior which acts on the moving unit; an acquisition unit for acquiring a pressing state in which the machining unit presses against the workpiece on the basis of the detected state of action of the force; and a control unit for controlling the moving unit so as to reproduce the pressing state that was acquired when a predetermined condition held true.

Description

processing equipment

[0001] The technology of the present disclosure relates to a processing device.

[0002] Patent Document 1 discloses a robot control device. In the robot control device, an operator directly moves a robot arm having a processing unit attached to the tip thereof for processing a workpiece, thereby teaching each position of the processing unit during the movement. In this way, each position of the processing unit is taught by the operator directly moving the robot arm. In contrast, the magnitude of the pressing force applied by the processing unit to the workpiece is set by the operator determining an appropriate value and inputting it via an input unit.

[0003] Japanese Patent Application Laid-Open No. 2020-203364

[0004] However, it is difficult for an operator to determine the appropriate value for the magnitude of the pressing force, and therefore, even if the processing unit is controlled so that the pressing force becomes the input value, the magnitude of the pressing force will not be the magnitude that the operator determines is appropriate.

[0005] The technology disclosed herein aims to provide a processing device that can set the pressing state of a processing part against a processed part to a pressing state that an operator determines to be appropriate.

[0006] In order to achieve the above-mentioned object, the processing device of the technology disclosed herein comprises a processing unit that applies processing to a processed portion, a moving unit that moves the processing unit and is configured to be able to press the processing unit against the processed portion when an external force is applied, a detection unit that detects the state of action of the external force on the moving unit, an acquisition unit that acquires the pressing state in which the processing unit presses the processed portion based on the detected state of action of the force, and a control unit that controls the moving unit so that the pressing state acquired when a predetermined condition is met is reproduced.

[0007] The technique of the present disclosure allows the pressing state of the processing part against the processed part to be set in a pressing state that the operator determines to be appropriate.

[0008] FIG. 1 is a schematic diagram showing an example of a processing apparatus according to an embodiment. FIG. 2 is a block diagram showing an example of a control system of the processing apparatus. FIG. 3 is a flowchart showing an example of a teaching processing program executed by a processor of the processing apparatus. FIG. 4 is a diagram showing an example of normal direct teaching when the operating unit is not pressed. FIG. 5 is a diagram showing an example of a state in which an operator who has determined that the end effector has appropriately pressed the workpiece presses the operating unit. FIG. 6 is a diagram showing an example of a processing apparatus applied to a window cleaning apparatus. FIG. 7 is a diagram showing an example of a processing apparatus applied to a polishing apparatus. FIG. 8 is a diagram showing an example of a state in which the end effector is moved along the surface of the workpiece in a state in which an operator who has determined that the end effector has appropriately pressed the workpiece presses the operating unit when the ... is a flowchart showing an example of a reproduction program that reproduces a state in which the end effector presses the workpiece when the operator presses the operating unit.

[0009] Hereinafter, embodiments of the technology of the present disclosure will be described with reference to the drawings.

[0010] (Configuration) FIG. 1 is a schematic diagram showing an example of a machining apparatus 1 according to an embodiment. As shown in FIG. 1, the machining apparatus 1 includes an arm 11 having a plurality of joints J1, J2, etc. The machining apparatus 1 includes an end effector 12 attached to the tip of the arm 11 and adapted to perform machining by contacting a workpiece (not shown), and a grip unit 3 attached to the tip of the arm 11, grasped by an operator, and used to move the end effector 12 via the arm 11. The grip unit 3 includes a cylindrical portion, and an operated unit 2 operated by the operator is attached to the upper surface of the cylindrical portion. The operated unit 2 is, for example, a switch. The manner in which the operator operates the operated unit 2 is such that the operation does not affect the arm 11. Specifically, even if the operator operates the operated unit 2, vibrations from the operation are not transmitted to the arm 11.

[0011] The arm 11 is an example of a "moving unit" in the technology of the present disclosure. The end effector 12 is an example of a "processing unit" in the technology of the present disclosure. The workpiece is an example of a "processed part" in the technology of the present disclosure.

[0012] The arm 11 is configured so that an external force can be applied to move the end effector 12. Specifically, as will be described later, motors 22 (see also FIG. 2) provided at each of the multiple joints J1, J2, ... of the arm 11 are freely rotatable when not controlled by the processor 32.

[0013] Fig. 2 is a block diagram showing an example of a control system of the processing apparatus 1 according to the embodiment. As shown in Fig. 2, the control system of the processing apparatus 1 includes a computer 30, an operated unit 2, and a motor 22, an encoder 24, and a torque sensor 26 provided at each of the joints J1, J2, ... of the arm 11.

[0014] The computer 30 includes a processor 32, a non-volatile memory (NVM) 34, a random access memory (RAM) 36, and an input / output (I / O) port 38. The processor 32, the NVM 34, the RAM 36, and the input / output (I / O) port 38 are interconnected by a bus 40. The input / output (I / O) port 38 is connected to the operated unit 2 and the motors 22, encoders 24, and torque sensors 26 provided at each of the multiple joints J1, J2, ... of the arm 11.

[0015] The processor 32 is an example of a "controller" of the technology disclosed herein. The NVM 34 is an example of a "storage unit" of the technology disclosed herein. Each encoder 24 and each torque sensor 26 is an example of a "detector" of the technology disclosed herein.

[0016] The torque sensor 26 may be disposed between a part of the arm 11 on which an external force acts and the workpiece. Specifically, the torque sensor 26 may be disposed around a part of the tip of the arm 11 to which the end effector 12 is attached, rather than at each joint J1, J2, ...

[0017] The processor 32 is a processing device including a DSP (Digital Signal Processor), a CPU (Central Processing Unit), and a GPU (Graphics Processing Unit), and the DSP and GPU operate under the control of the CPU and are responsible for executing the processes described below. Here, a processing device including a DSP, a CPU, and a GPU is given as an example of the processor 32, but this is merely an example, and the processor 32 may be one or more CPUs and DSPs with integrated GPU functionality, one or more CPUs and DSPs without integrated GPU functionality, or may be equipped with a TPU (Tensor Processing Unit).

[0018] The NVM 34 is a non-volatile storage device that stores programs, various parameters, etc. The NVM 34 may be, for example, a flash memory (such as an EEPROM (Electrically Erasable and Programmable Read Only Memory)). The NVM 34 stores a teaching processing program 34P1 and a reproduction program 34P2.

[0019] The RAM 36 is a memory that temporarily stores information and is used as a work memory by the processor 32. The RAM 36 may be, for example, a dynamic random access memory (DRAM) or a static random access memory (SRAM).

[0020] When the teaching processing program 34P1 and the reproduction program 34P2 are read into the RAM 36 and executed by the processor 32, the processor 32 functions as an import unit 32A, a calculation unit 32B, a storage processing unit 32C, a judgment unit 32D, a reading unit 32E, and a reproduction unit 32F.

[0021] 3 is a flowchart showing an example of the teaching processing program 34P1 executed by the processor 32 of the machining apparatus 1. The teaching processing method and teaching processing are performed by the processor 32 executing the teaching processing program 34P1. In the present embodiment, the magnitude and direction of the pressing force that presses the end effector 12 against the workpiece in the teaching processing program 34P1 are an example of the "pressing state" of the technology of the present disclosure.

[0022] As described above, the arm 11 is configured to be able to move the end effector 12 when an external force is applied. Figure 4 is a diagram showing an example of normal direct teaching when the operated unit 2 is not being pressed. For direct teaching, the operator grasps the grip unit 3 attached to the tip of the arm 11 and moves the grip unit 3 without pressing the operated unit 2, thereby moving the end effector 12 via the arm 11. In addition, by moving the grip unit 3, the operator presses the end effector 12 in the direction F toward the workpiece via the arm 11. Note that a reaction force in the opposite direction (-F) acts on the end effector 12 from the workpiece.

[0023] In step 52, the acquisition unit 32A acquires the outputs of the encoders 24 and torque sensors 26 provided at the joints J1, J2, . . . of the arm 11.

[0024] In step 54, the calculation unit 32B calculates the magnitude and direction of the pressing force that the end effector 12 exerts on the workpiece based on the outputs of each encoder 24 and each torque sensor 26 provided at the multiple joints J1, J2, ... of the arm 11.

[0025] The calculation unit 32 is an example of an "acquisition unit" of the technology disclosed herein. Note that the magnitude and direction of the pressing force that the end effector 12 applies to the workpiece may be determined from a map or the like without calculation. Specifically, the NVM 34 may be provided with a map or data table that stores the outputs of each encoder 24 and each torque sensor 26 in correspondence with the magnitude and direction of the pressing force, and in step 54, the magnitude and direction of the pressing force corresponding to the outputs of each encoder 24 and each torque sensor 26 acquired in step 52 may be acquired from the map or data table.

[0026] In step 56, the determining section 32D determines whether or not the operated section (switch) 2 has been pressed, thereby determining whether or not a trigger has been generated.

[0027] The operated unit 2 is not limited to a switch, and may include a microphone or a pedal. To determine whether a trigger has occurred, it may be determined whether a specific frame has been uttered by the operator from voice data input via a microphone, or whether a pedal has been depressed.

[0028] The switch, microphone, and pedal are examples of the "operated unit" of the technology disclosed herein. When the operated unit 2 is pressed, when a specific frame is uttered by the operator from the voice data input via the microphone, and when the pedal is stepped on, are each examples of the "case where a predetermined condition is satisfied" of the technology disclosed herein.

[0029] If the operator does not press the operated unit 2, the teaching process returns to step 52.

[0030] As described above, the operator moves the grip portion 3 to move the end effector 12 to the workpiece via the arm 11 .

[0031] 5 is a diagram showing an example of a state in which an operator who has determined that the end effector 12 has pressed the workpiece appropriately presses the operated unit 2. When the operator determines that the end effector 12 has pressed the workpiece appropriately, the operator presses the operated unit 2. When the operator presses the operated unit 2, it is determined in step 56 that a trigger has been generated. In this case, the teaching process proceeds to step 58.

[0032] In step 58, the storage processing unit 32C stores in the NVM 34 the magnitude and direction of the pressing force that the end effector 12 exerts on the workpiece.

[0033] In step 60, the reading unit 32E reads from the NVM 34 the magnitude and direction of the pressing force when the trigger was generated, and in step 62, the reproduction unit 32F reproduces the pressing force of the end effector 12 when the trigger was generated based on the magnitude and direction of the pressing force read from the NVM 34.

[0034] As described above, when the operator determines that the end effector 12 has been pressed against the workpiece in an appropriate pressing state, the operator presses the operated unit 2. When the operated unit 2 is pressed (a trigger is generated), the magnitude and direction of the pressing force that the end effector 12 exerts on the workpiece at that time are stored in the NVM 34. When the magnitude and direction of the pressing force when it is determined that the trigger has been generated are read out, the read magnitude and direction of the pressing force correspond to the magnitude and direction of the pressing force exerted by the end effector 12 on the workpiece when the operator determines that the end effector 12 has been pressed against the workpiece in an appropriate pressing state.

[0035] This reproduces the state in which the end effector 12 is pressed against the workpiece when the operator determines that the end effector 12 is pressed against the workpiece in an appropriate pressing state.

[0036] Next, for direct teaching, the operator moves the grip portion 3 while the end effector 12 is pressing appropriately against the workpiece, thereby moving the end effector 12 across the surface of the workpiece via the arm 11.

[0037] In step 64, the calculation unit 32B calculates the trajectory of the end effector 12, and in step 66, the storage processing unit 32C stores the trajectory in the NVM .

[0038] In step 68, the determination unit 32D determines, based on the output from each encoder 24, whether or not the end effector 12 has released contact with the workpiece.

[0039] If the operator determines that the end effector 12 has not yet finished moving across the surface of the workpiece for the direct teaching, the operator continues to move the end effector 12 across the surface of the workpiece for the direct teaching. As a result, the end effector 12 is moved in a direction H1, H2, H3, or the like perpendicular to the direction F of the pressing force, as shown in Figure 5. Once the end effector 12 has moved across the surface of the workpiece, step 68 is negatively determined, and the trajectory of the end effector 12 is calculated and stored.

[0040] When the operator determines that the direct teaching has been completed, he or she removes the end effector 12 from the surface of the workpiece, which results in a positive determination in step 68 and ends the teaching process.

[0041] (Effect) In this embodiment, the pressing state of the end effector 12 against the workpiece by the arm 11 can be set to a pressing state that the operator determines to be appropriate.

[0042] (Application Examples) The processing device 1 can be applied to various devices.

[0043] 6 is a diagram showing an example in which the processing device 1 is applied to a window cleaning device. The processing device 1 can be applied to window cleaning.

[0044] The operator moves the grip portion 3, and when it is determined that the end effector 12 has been pressed against the window glass 52 of the window 50 with an appropriate pressing force via the arm 11, the operator presses the operated portion 2. In this case, too, the state in which the end effector 12 is pressed against the window glass 52 when the operator determines that the end effector 12 has been pressed against the window glass 52 with an appropriate pressing force is reproduced.

[0045] [Polishing Apparatus] Fig. 7 is a diagram showing an example in which the processing apparatus 1 is applied to a polishing apparatus. Fig. 8 is a diagram showing an example in which, when the processing apparatus 1 is applied to a polishing apparatus, an operator who has determined that the end effector 12 has appropriately pressed against the workpiece presses the operated portion 2, and the end effector 12 is fed along the surface of the polished portion 55.

[0046] When the operator moves the grip portion 3 and determines that the end effector 12 has been pressed against the polishing portion 55 with an appropriate pressing force via the arm 11, the operator presses the operated portion 2 as shown in Fig. 7. In this case, the state in which the end effector 12 is pressing against the polishing portion 55 when the operator determines that the end effector 12 has been pressed against the polishing portion 55 with an appropriate pressing force is also reproduced.

[0047] 8 , the operator presses the end effector 12 against the polished portion 55 with an appropriate pressing force, and then feeds the end effector 12 along the surface of the polished portion 55 in a feed direction G1, a direction G2, or the like that intersects with the direction F of the pressing force. In this case, the pressing state may be the relative angle between the direction of the pressing force with which the end effector 12 presses the polished portion 55 and the surface of the polished portion 55 (the surface along the feed directions G1, G2) to which the pressing force of the end effector 12 applies. The pressing state may also be the direction (absolute direction) F of the pressing force with which the end effector 12 presses the polished portion 55.

[0048] (Reproduction Process) Next, a process for reproducing the state of the end effector 12 pressing against the workpiece, which is taught by the teaching process (see FIG. 4) of this embodiment, will be described.

[0049] FIG. 9 is a flowchart showing an example of a reproduction program 34P2 that reproduces the state in which the end effector 12 presses the workpiece when the operator, having determined that the end effector 12 has properly pressed the workpiece, presses the operated unit 2.

[0050] In step 102, the reproduction unit 32F reads out the magnitude and direction of the pressing force applied by the end effector 12 to the workpiece when the trigger was generated (i.e., the pressing state that the operator considers appropriate).

[0051] In step 104, the reproduction unit 32F calculates the magnitude and direction of the pressing force that the real end effector 12 exerts on the workpiece (i.e., the real pressing state).

[0052] In step 106, the reproduction unit 32F calculates the difference between the magnitude and direction of the read force and the magnitude and direction of the calculated force.

[0053] In step 108, the reproduction unit 32F controls (feedback control) the arm 11 so that the difference between the magnitude and direction of the read force and the magnitude and direction of the calculated force becomes zero.

[0054] In step 110, the reproduction unit 32F determines whether the difference is 0. If it is determined that the difference is not 0, the reproduction process returns to step 104. If it is determined that the difference is 0, the magnitude and direction of the pressing force applied by the end effector 12 to the workpiece when the trigger was generated have been reproduced, and the reproduction process ends. Thereafter, the end effector 12 is moved based on the trajectory data.

[0055] As described above, in this embodiment, the arm 11 is feedback-controlled so that the difference between the magnitude and direction of the read force (i.e., the pressing state that the operator determines to be appropriate) and the magnitude and direction of the calculated force (i.e., the actual pressing state) becomes 0. Therefore, in this embodiment, the actual pressing state, or the pressing state that the operator determines to be appropriate, can be achieved, and the pressing state that the operator determines to be appropriate can be reproduced.

[0056] In the above-described embodiment and application example, the operator grasps the grip unit 3 attached to the tip of the arm 11 and moves the grip unit 3 to press the end effector 12 in the direction F toward the workpiece via the arm 11. The technology of the present disclosure is not limited to this. For example, the technology may also be applied to a master-slave system including a master device and a slave device. For example, when the operator moves the master-side moving unit provided on the master side, the master device transmits the movement details to the slave device via a communication line. The slave device may also be applied to a case where the moving unit (including an arm and an end effector) provided on the slave side moves according to the received movement details, and the end effector processes the workpiece on the slave side.

[0057] REFERENCE SIGNS LIST 11 Arm 12 End effector 3 Grip unit 2 Operated unit 32 Processor 34 NVM

Claims

1. A processing device comprising: a processing unit that applies processing to a workpiece; a moving unit that moves the processing unit and is configured to press the processing unit against the workpiece when an external force is applied to the processing unit; a detection unit that detects the state of application of the external force to the moving unit; an acquisition unit that acquires the pressing state in which the processing unit presses against the workpiece based on the detected state of application of the force; and a control unit that controls the moving unit so that the pressing state acquired when a specified condition is met is reproduced.

2. The processing device according to claim 1, further comprising a memory unit which acquires a trajectory along which the moving unit moves the processing unit in response to the application of an external force after the pressing state is reproduced, and stores the acquired trajectory.

3. The processing device according to claim 1, wherein the predetermined condition is satisfied when an operated portion is operated.

4. The processing device according to claim 3, wherein the manner of operation of the operated part is such that the effect of the operation does not extend to the moving part.

5. The processing device according to claim 1, wherein the pressing state is the direction of a pressing force with which the processing part presses the processed part, or the relative angle between the direction of the pressing force and the surface of the processed part to which the pressing force of the processing part applies.

6. The processing device of claim 1, wherein when the control unit reproduces the pressing state acquired when a specified condition is met, the control unit controls the moving unit so that the pressing state is reproduced again based on the pressing state acquired when the specified condition is met and the pressing state acquired when the pressing state is reproduced again.

7. The processing device according to claim 1, wherein the detection unit is disposed between the portion of the moving unit on which the external force acts and the processed part.

8. The processing device according to claim 1, wherein the control unit controls the moving unit directly or indirectly via a communication line.

Images