WO2024009382A1 - Dispositif de robot - Google Patents

Dispositif de robot Download PDF

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Publication number
WO2024009382A1
WO2024009382A1 PCT/JP2022/026675 JP2022026675W WO2024009382A1 WO 2024009382 A1 WO2024009382 A1 WO 2024009382A1 JP 2022026675 W JP2022026675 W JP 2022026675W WO 2024009382 A1 WO2024009382 A1 WO 2024009382A1
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WO
WIPO (PCT)
Prior art keywords
button
robot arm
arm
teaching
robot
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PCT/JP2022/026675
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English (en)
Japanese (ja)
Inventor
智紀 原田
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ヤマハ発動機株式会社
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Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2022/026675 priority Critical patent/WO2024009382A1/fr
Publication of WO2024009382A1 publication Critical patent/WO2024009382A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a robot device equipped with a robot arm having a plurality of arm elements and an operating axis for rotating these arm elements.
  • a teaching operation is required to teach the movement trajectory when the robot arm performs the required work.
  • a robot apparatus is known that has a direct teaching function for receiving manual teaching of the motion path of a robot arm (for example, Patent Document 1).
  • Patent Document 1 a direct teaching function for receiving manual teaching of the motion path of a robot arm
  • a handle is attached to the robot arm, which is held by a user during a teach operation and has an operation button that accepts selection of a teach mode. For example, if two operation buttons are equipped on the handle, pressing one operation button will allow you to teach with free movement only in the vertical plane, and pressing the other operation button will allow you to teach free movement on all axes. It is possible to provide a teaching function such as
  • An object of the present invention is to provide a robot device that allows selection of various teaching modes for a robot arm using a small number of operation buttons.
  • a robot device includes a robot arm having a plurality of arm elements and a plurality of operation axes for rotating the plurality of arm elements, and at least a first button and a second button, A group of operation buttons that are operated to select one of a plurality of teach modes in which the plurality of motion axes are fixed in different states during a teaching operation for teaching the target operation position of the robot arm; a control unit that causes the teaching operation to be executed in accordance with an operation, the control unit configured to operate the first button or the second button individually, or simultaneously operate the first button and the second button. Accordingly, the selection of the teaching mode is accepted.
  • FIG. 1 is a schematic diagram of a robot device according to a first embodiment of the present invention.
  • FIG. 2 is a diagram showing an operation button according to the first embodiment, which is mounted on an operation handle attached to a robot arm.
  • FIG. 3 is a block diagram showing the electrical configuration of the robot device.
  • FIG. 4 is a tabular diagram showing the relationship between the pressed state of the operation button and the teach mode in the first embodiment.
  • FIG. 5 is a flowchart showing the direct teach operation in the first embodiment.
  • FIGS. 6A and 6B are a front view and a side view showing an operation button according to the second embodiment, which is attached to a robot arm.
  • FIG. 7 is a tabular diagram showing the relationship between the pressed state of the operation button and the teach mode in the second embodiment.
  • a robot device is a robot device including an articulated robot arm having a plurality of arm elements and a plurality of operation axes for rotating the plurality of arm elements.
  • a preferred use of the robot device according to the present invention is as a collaborative robot placed in an area where a worker performs a predetermined task.
  • direct teaching is often used to manually teach the target position of the robot arm.
  • a robot device designed for direct teaching will be exemplified.
  • a seven-axis robot arm is exemplified as a robot arm, which has one redundant axis in addition to six general operating axes.
  • the present invention is applicable to methods other than the direct teaching method, and is also applicable to remote teaching, for example. Further, the present invention can also be applied to a robot arm having a plurality of operating axes other than seven axes.
  • FIG. 1 is a schematic diagram of a robot device 1 according to the first embodiment.
  • the robot device 1 is a vertically articulated seven-axis robot, and includes a robot arm 10, an operation handle 20, and a control device 30.
  • the robot arm 10 has seven rotation axes: a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, a sixth axis J6, and a seventh axis J7.
  • the robot arm 10 includes a base portion 10B, a first arm 11, a second arm 12, a third arm 13, a fourth arm 14, a fifth arm 15, a sixth arm 16, and a head portion 17 as arm elements.
  • An end effector 18 and an operating handle 20 are attached to the head portion 17.
  • the base portion 10B is a casing that is fixedly installed on a mounting plane such as a floor or a pedestal.
  • the first arm 11 is connected to the upper surface of the base portion 10B via a first shaft J1.
  • the first axis J1 is a rotation axis extending in a direction perpendicular to the mounting plane.
  • the first arm 11 is rotatable in both forward and reverse directions around the first axis J1.
  • the upper base end of the second arm 12 is connected to the first arm 11 via the second shaft J2.
  • the second axis J2 is a rotation axis extending in a horizontal direction parallel to the mounting plane.
  • the second arm 12 is swingable around the second axis J2.
  • the second arm 12 includes an upper arm 121 closer to the first arm 11 and a lower arm 122 closer to the third arm 13.
  • the upper arm 121 and the lower arm 122 are connected by a third shaft J3 extending in the arm axis direction.
  • the lower arm 122 is rotatable around the third axis J3.
  • the third axis J3 provided in the second arm 12 can be said to be an operation axis added to the robot arm 10 of this embodiment as a so-called redundant axis.
  • the third arm 13 is an arm connected to the lower part of the second arm 12, and its base end is connected to the distal end of the second arm 12 via the fourth shaft J4.
  • the third arm 13 is swingable around a fourth axis J4 that extends in the horizontal direction.
  • the fourth arm 14 is an arm connected to the lower part of the third arm 13, and its base end is connected to the distal end of the third arm 13 via the fifth shaft J5.
  • the fourth arm 14 is rotatable around a fifth axis J5 extending in the arm axis direction.
  • the fifth arm 15 is an arm connected to the lower part of the fourth arm 14, and its base end is connected to the distal end of the fourth arm 14 via the sixth shaft J6.
  • the fifth arm 15 is swingable around a sixth axis J6 that extends in the horizontal direction.
  • the sixth arm 16 is an arm connected to the lower part of the fifth arm 15, and its base end is connected to the distal end of the fifth arm 15 via the seventh shaft J7.
  • the sixth arm 16 is rotatable around a seventh axis J7 extending in the arm axis direction.
  • the head portion 17 is attached to the distal end side of the sixth arm 16 via a force sensor FS, which will be described later.
  • the head portion 17 is a support base for the end effector 18, and is also an attachment base for the operation handle 20 that is gripped by the operator during direct teaching work.
  • the end effector 18 is a member that performs a required operation on a workpiece. In FIG. 1, a two-jaw type gripper that grips a workpiece is illustrated as the end effector 18.
  • the end effector 18 may perform operations other than gripping, such as suction, welding, and polishing of the workpiece.
  • TCP 19 of the end effector 18 is shown.
  • TCP 19 is a position that serves as a control reference point for robot arm 10.
  • the TCP 19 can be set at the center of gravity of the workpiece gripped by the end effector 18.
  • the TCP 19 may be set at the center of gravity of the end effector 18 or at some position associated with the end effector 18.
  • the force sensor FS is a six-axis force detector interposed between the sixth arm 16, which is the tip of the robot arm 10, and the end effector 18. Specifically, the force sensor FS detects force components in the translational directions of the x-axis, y-axis, and z-axis, which are three axes orthogonal to each other, and moment components around these x-axis, y-axis, and z-axis. This is a sensor that can detect both at the same time. Note that the robot arm 10 may be equipped with a torque sensor instead of the force sensor FS.
  • the operating handle 20 includes a handle body 21 and a button unit 22.
  • the handle body 21 is a rod-shaped member extending laterally from the head portion 17, and has a size that allows the operator to hold it with one hand.
  • the button unit 22 is attached to the tip of the handle body 21 and includes a group of operation buttons. During the direct teaching operation, the operator grasps the operating handle 20, manually moves the TCP 19 of the robot arm 10 from one teaching point to another, and teaches the operation target position.
  • FIG. 2 is a diagram showing an example of an operation button group 200 mounted on the button unit 22.
  • the button unit 22 includes a first button 2A, a second button 2B, and a third button 2C as an operation button group 200.
  • These buttons 2A, 2B, and 2C are operated during direct teaching work to select one of a plurality of teaching modes in which the fixed states of the first axis J1 to the seventh axis J7, which are the operation axes, are different. It's a button.
  • the three buttons 2A, 2B, and 2C are arranged so that the operator can press any one, any two, or all three at the same time with the finger of one hand of the operator.
  • FIG. 1 is a diagram showing an example of an operation button group 200 mounted on the button unit 22.
  • the button unit 22 includes a first button 2A, a second button 2B, and a third button 2C as an operation button group 200.
  • These buttons 2A, 2B, and 2C are operated during direct teaching work to
  • buttons 2A, 2B, and 2C are arranged in a row. Specifically, the three buttons are arranged such that the second button 2B is placed on one side of the first button 2A, and the third button 2C is placed on the other side.
  • the control device 30 controls the operation of the robot arm 10 according to teaching data given in advance. Further, the control device 30 executes a teaching operation for teaching the target movement position of the robot arm 10 while changing the fixing state of the movement axis depending on the operation of the operation button group 200.
  • the control device 30 will be described in detail with reference to FIG. 3.
  • FIG. 3 is a block diagram showing the electrical configuration of the robot device 1.
  • the robot arm 10 applies rotational driving force around a first axis J1, a second axis J2, a third axis J3, a fourth axis J4, a fifth axis J5, a sixth axis J6, and a seventh axis J7.
  • a first drive section 41, a second drive section 42, a third drive section 43, a fourth drive section 44, a fifth drive section 45, a sixth drive section 46, and a seventh drive section 47 are built in.
  • the first drive unit 41 generates a rotational driving force that rotates the first arm 11 around the first axis J1. Since the second to seventh drive units 42 to 47 are also similar, individual explanations will be omitted.
  • the first drive section 41 includes a motor 51, a brake 52, and an encoder 53.
  • the motor 51 is a drive source that generates the rotational driving force.
  • the brake 52 regulates the rotational driving force of the motor 51.
  • the encoder 53 detects the amount of rotation of the motor 51, that is, the rotation angle of the first arm 11.
  • the first drive section 41 includes an unillustrated speed reducer.
  • the speed reducer reduces the rotational speed of the output shaft of the motor 51 at a predetermined speed reduction ratio and transmits it to the rotation mechanism of the first shaft J1.
  • the second to seventh drive units 42 to 47 include a motor 51, a brake 52, an encoder 53, and a reduction gear, and these operate in the same manner as described above.
  • the robot arm 10 can be Behavior can be restricted.
  • the second axis J2, the fourth axis J4, and the sixth axis J6, which are operating axes extending in the horizontal direction are controlled by the brakes 52 provided in the second drive unit 42, the fourth drive unit 44, and the sixth drive unit 46, respectively.
  • the end effector 18 TCP 19
  • TCP 19 the end effector 18
  • the posture of the arm may have a degree of freedom.
  • the operating handle 20 includes the first button 2A, the second button 2B, and the third button 2C. Operation information for these buttons 2A, 2B, and 2C is input to the control device 30. Data on the force components of the six axes described above detected by the force sensor FS is also input to the control device 30, and is used to control the motion of the robot arm 10 during direct teaching work and the motion control of the robot arm 10 during actual operation. Utilized.
  • the control device 30 is a processor that executes various processes according to a given program, and is functionally equipped with a robot control section 31, a storage section 32, and a teach control section 33 by executing the program.
  • the robot control unit 31 operates the robot arm 10 based on teaching data indicating a target operation position given in advance, and causes the end effector 18 to perform a predetermined work on the workpiece.
  • the storage unit 32 stores the program and the teaching data.
  • the teach control unit 33 executes a direct teach operation in response to the operation of the operation button group 200.
  • the teach control unit 33 individually operates any one of the three buttons 2A, 2B, and 2C provided on the operation handle 20, and simultaneously operates two of the three buttons.
  • the teaching modes in which the fixed states of the first axis J1 to the seventh axis J7, which are the operating axes, are changed are changed to execute the direct teaching operation.
  • the teach control unit 33 stores the operation target position of the robot arm 10 set in the direct teaching operation in the storage unit 32 as teaching data.
  • FIG. 4 is a tabular diagram showing the relationship between the pressed states of the operation button group 200 and the teach mode in the first embodiment.
  • FIG. 4 shows seven teach modes [1] to [7] in which the first button 2A, second button 2B, and third button 2C are pressed in different states.
  • the teaching modes [1] to [7] each have a different fixed state of the operating axis. Note that in the table, a circle indicates that the first button 2A, second button 2B, or third button 2C is pressed, and a blank space indicates that these buttons are not pressed.
  • Teach mode [1] is a mode selected by single operation of the first button 2A.
  • the teach mode [1] all of the first axis J1 to seventh axis J7, which are the operating axes of the robot arm 10, are free to operate. That is, in the direct teaching operation, the operator can freely move the robot arm 10 and teach the target operation position.
  • This teaching mode [1] is used in normal direct teaching, but in actual teaching work, it may be desirable to perform teaching with a specific motion axis fixed. Teach modes [2] to [7] respond to such requests.
  • Teach mode [2] is a mode selected by simultaneous operation of the first button 2A and the second button 2B.
  • the operating axis is fixed so that the robot arm 10 can move freely only in a plane parallel to the xy plane and including the positions where the buttons 2A and 2B are operated.
  • Teach mode [3] is a mode selected by simultaneous operation of the first button 2A and the third button 2C.
  • the operating axis is fixed so that the robot arm 10 is free to move only in the direction parallel to the z-axis.
  • Teach mode [4] is a mode selected when all of the first button 2A, second button 2B, and third button 2C are operated at the same time.
  • the robot arm 10 becomes free to move while maintaining the posture of the end effector 18 (TCP 19).
  • the teach mode [4] is a mode in which only the attitude of the TCP 19 is regulated.
  • Teach mode [5] is a mode selected by single operation of the second button 2B.
  • the motion axis is fixed so that the robot arm 10 can move freely only in the xy plane while maintaining the posture of the end effector 18 (TCP 19) of the robot arm 10.
  • Teach mode [6] is a mode selected by single operation of the third button 3B.
  • the motion axis is fixed so that the robot arm 10 can move freely only in the z-axis direction while maintaining the posture of the end effector 18.
  • Teach mode [7] is a mode selected by simultaneous operation of the second button 2B and third button 2C.
  • each arm 11 to 16 of the robot arm 10 is allowed to move while the position of the end effector 18 is maintained, that is, the position of the robot coordinate system of the TCP 19 is fixed.
  • the motion axis is fixed.
  • the teach control section 33 functionally includes a mode determination section 34 and an axis fixing control section 35.
  • the mode determination unit 34 determines which of the above teaching modes [1] to [7] is selected in the direct teaching operation based on the combination of pressing of the first button 2A, the second button 2B, and the third button 2C. Determine if there are any.
  • the axis fixing control unit 35 controls one or more brakes of the first drive unit 41 to the seventh drive unit 47 to fix the operating axis in accordance with the settings of the selected teaching modes [1] to [7]. 52 is activated.
  • the teach control unit 33 controls the first to third arms 11 of the robot arm 10 according to the movement force applied to the robot arm 10 by the operator while gripping the operating handle 20 under the regulation of the movement axis by the axis fixing control unit 35. 6.
  • the teach control unit 33 acquires the detection results and estimates the magnitude and direction of the moving force. Based on this estimation result, the teach control unit 33 appropriately drives the motors 51 of the first to seventh drive units 41 to 47 to move the robot arm 10 in the direction in which the operator intends to move the robot arm 10. . However, the robot arm 10 is not moved in the restricted direction. For example, if teach mode [2] is selected, the teach control unit 33 drives the motor 51 so that the robot arm 10 moves only in the xy plane.
  • FIG. 5 is a flowchart showing the direct teach operation in the first embodiment.
  • the teach control unit 33 of the control device 30 determines whether the direct teach execution mode is enabled (step S1).
  • the operation button group 200 of the operation handle 20 shown in FIG. 2 may be provided with an activation button for starting the direct teach mode, and the determination in step S1 may be made depending on whether or not the activation button is pressed.
  • step S1 the controller waits for the operator's operations on the first button 2A, second button 2B, and third button 2C.
  • the mode determination unit 34 determines the teach mode selected by the operator from the pattern of presses of the buttons 2A, 2B, and 2C (step S2). For example, a table as shown in FIG. 4 that defines the relationship between teach modes and button press patterns is stored in advance in the storage unit 32.
  • the mode determination unit 34 refers to the table in the storage unit 32 and identifies the selected teach mode.
  • the axis fixing control unit 35 sets the fixed state of the operating axis according to the teaching mode (step S3). That is, the axis fixing control unit 35 controls which of the drive units 41 to 47 of the first axis J1 to the seventh axis J7 of the robot arm 10 is selected as the operating axis to be fixed.
  • the brake 52 of the drive section is activated. In this state, the robot waits for the operator to apply a moving force to the robot arm 10 using the operating handle 20.
  • the robot arm 10 is in a movable state around an unrestricted motion axis.
  • the force sensor FS detects the magnitude and direction of the moving force in six axes.
  • the teach control unit 33 acquires the detected value of the force sensor FS (step S4). That is, information about the direction in which the operator attempts to move the robot arm 10 is acquired.
  • the teach control unit 33 appropriately drives the motors 51 of the first to seventh drive units 41 to 47 so that the robot arm 10 moves according to the operator's intention (step S5).
  • step S6 it is determined whether the TCP 19 has reached one target position in one turn of direct teaching.
  • the teach control unit 33 stores the position and orientation of the robot arm 10 at that time in the storage unit 32 as teaching data (step S7).
  • the target position has not been reached (NO in step S6), the driving of the motor 51 in step S5 is continued.
  • step S8 After registering the teaching data for one target position for direct teaching, it is determined whether there is a next target position to which direct teaching should be performed in this turn (step S8). If there is a next target position to perform direct teaching (NO in step S8), the process returns to step S4 and the process is repeated targeting the next target position of direct teaching. On the other hand, if there is no next target position in the current direct teach turn (NO in step S8), it is determined whether or not to execute the next direct teach turn, that is, whether or not to continue the direct teach work. (Step S9). When the direct teaching operation is to be ended (NO in step S9), for example, when a button for canceling the activation of the direct teaching mode is pressed, the process is ended.
  • step S10 determines whether there is a change in the teaching mode. Specifically, the teach control unit 33 determines whether there is a change in the combination of pressing of the first button 2A, second button 2B, and third button 2C. If there is a change in the button press state (YES in step S10), the process returns to step S2 to determine the mode, and the processes from step S3 onwards are repeated. On the other hand, if there is no change in the button press state (YES in step S10), the process returns to step S4 and is repeated without changing the teach mode.
  • the operation button group for selecting the teach mode is composed of two buttons, a first button and a second button.
  • the teach control unit 33 accepts the selection of the teach mode in response to individual operations of the first button or the second button, or simultaneous operations of the first button and the second button.
  • FIGS. 6(A) and 6(B) are a front view and a side view showing the operation button according to the second embodiment, which is attached to the robot arm 100.
  • the robot arm 100 is, for example, a six-axis articulated robot arm.
  • the robot arm 100 has a cylindrical shape, and includes a first button 20A and a second button 20B arranged to face each other on the side thereof.
  • FIG. 6(B) shows a side view in which the first button 20A appears.
  • the operating handle 20 as shown in the first embodiment is not attached to the robot arm 100.
  • the operator directly grasps the arm tip 101 of the robot arm 100.
  • the first button 20A and the second button 20B are arranged at positions where they can be operated simultaneously with one finger of the operator.
  • the first button 20A is operated with the thumb of the right hand
  • the second button 20B is operated with the middle finger of the right hand.
  • the teach control unit 33 switches the movement free state of the operating axis of the robot arm 100, that is, the teach mode, by operating the first button 20A or the second button 20B alone or by simultaneously operating the first button 20A and the second button 20B.
  • FIG. 7 is a tabular diagram showing the relationship between the pressed states of the operation button group and the teach mode in the second embodiment.
  • FIG. 7 shows three teach modes [1] to [3] in which the first button 20A and the second button 20B are pressed in different states. Teach modes [1] to [3] differ in the fixed state of the plurality of motion axes included in the robot arm 100. Note that in the table, a circle mark indicates that the first button 20A or the second button 20B is pressed.
  • Teach mode [1] is a mode selected by simultaneous operation of the first button 20A and the second button 20B. In the teach mode [1], all the motion axes of the robot arm 100 are set to free motion. Teach mode [2] is a mode selected by single operation of the first button 20A. In the teach mode [2], the operating axis of the robot arm 100 is fixed so that it can move freely only in a plane parallel to the xy plane and including the position where the first button 20A is operated. Teach mode [3] is a mode selected by single operation of the second button 20B. In the teach mode [3], the operating axis is fixed so that the robot arm 100 can move freely only in a direction parallel to the z-axis.
  • direct teach function selection is performed using two buttons 20A and 20B that can be operated with one hand of the operator.
  • the teaching mode can be selected not only by operating the first button 20A or the second button 20B alone, but also by simultaneously operating the first button 20A and the second button 20B. That is, not only one teach mode selection function is assigned to each of the buttons 20A and 20B, but also the teach mode selection function is assigned to the simultaneous operation of the two buttons 20A and 20B. Therefore, the number of teaching mode options for direct teaching can be increased with a small number of operation buttons.
  • the arrangement of the operation button group for selecting the teach mode can be arbitrarily set.
  • the three buttons 2A, 2B, and 2C are arranged in a straight line in the button unit 22.
  • the three buttons 2A, 2B, and 2C may be arranged on an arc line or arranged at each vertex of a triangle.
  • two buttons 20A and 20B are arranged on the peripheral wall of the cylindrical robot arm 100 so as to face each other.
  • the two buttons 20A and 20B may be arranged adjacent to each other.
  • buttons 2A, 2B, and 2C buttons 20A and 20B.
  • the operation button group may be composed of four or more buttons.
  • the combination of buttons to be operated simultaneously tends to become complicated, so it is desirable not to increase the number unnecessarily.
  • FIG. 4 illustrates the relationship between the teach modes [1] to [7] and the pressed states of the three buttons 2A, 2B, and 2C. This is just an example, and the association between the teach mode and the pressed state of the button can be set arbitrarily. It is desirable to be able to freely change this setting through a user interface for the robot device 1.
  • a camera may be mounted on the operation handle 20, and the camera may be caused to take an image by additionally operating a button other than the one for selecting the teach mode included in the operation button group 200.
  • a robot device includes a robot arm having a plurality of arm elements and a plurality of operation axes for rotating the plurality of arm elements, and at least a first button and a second button, A group of operation buttons that are operated to select one of a plurality of teach modes in which the plurality of motion axes are fixed in different states during a teaching operation for teaching the target operation position of the robot arm; a control unit that causes the teaching operation to be executed in accordance with an operation, the control unit configured to operate the first button or the second button individually, or simultaneously operate the first button and the second button. Accordingly, the selection of the teaching mode is accepted.
  • the teach mode can be selected not only by individual operation of the first button or the second button but also by simultaneous operation of the first button and the second button.
  • the teach mode selection function is assigned to simultaneous operation of a plurality of buttons. Therefore, it is possible to select various teaching modes for the robot arm with a small number of operation button groups.
  • the teaching operation is a direct teaching operation in which the target operation position of the robot arm is manually taught, and the handle gripped during the direct teaching operation and equipped with the operation button group is It may be better to have more.
  • the direct teach function selection can be diversified with simple button operations.
  • the operation button group includes three buttons including the first button, the second button, and a third button, and the control unit selects one of the three buttons.
  • the selection of the teach mode may be accepted in response to individual operation of two buttons, simultaneous operation of two of the three buttons, or simultaneous operation of all three buttons.
  • the control unit sets all of the plurality of motion axes to free operation when the first button is operated alone, and when the first button and the second button are operated simultaneously,
  • the plurality of operating axes are fixed so that the robot arm can move freely only in a horizontal plane, and when the first button and the third button are operated simultaneously, the robot arm can move freely only in a vertical plane.
  • the plurality of motion axes may be fixed so that when all three buttons are operated simultaneously, the plurality of motion axes may be fixed so as to maintain the posture of the robot arm.
  • the robot arm's operating axes can be moved entirely freely, freely only in the horizontal plane, freely only in the vertical plane, and while maintaining the posture of the robot arm. You can select the functions of the four main teach modes for free.
  • control unit fixes the plurality of operating axes so that the robot arm can move freely only in a horizontal plane while maintaining the posture of the robot arm by operating the second button alone;
  • the operation fixes the plurality of operating axes so that the robot arm can move freely only in the vertical plane while maintaining its posture, and when the second button and the third button are operated simultaneously, the robot arm
  • An aspect may be further added in which the plurality of operating axes are fixed so as to maintain the positions of the movement axes.
  • the robot arm can move freely in the horizontal plane while maintaining its posture or freely move in the vertical plane, and can move while maintaining the robot arm's position. You can add three free function selections.
  • the first button and the second button are arranged at positions where they can be operated simultaneously with one finger of the operator, and the control unit is configured to control the operation of the first button or the second button individually.
  • a mode may be adopted in which the free movement state of the robot arm is switched by simultaneous operation of the first button and the second button.
  • the direct teach function selection is performed using two operation buttons that can be operated with one hand of the operator. Function selection is possible not only by operating the first button or the second button alone, but also by simultaneously operating the first button and the second button. Therefore, the number of teaching mode options for direct teaching can be increased with a small number of operation buttons.
  • the control unit fixes the plurality of operating axes so that the robot arm can move freely only in a horizontal plane
  • the plurality of motion axes are fixed so that the robot arm can move freely only in a vertical plane
  • all of the plurality of motion axes are set to free motion. It may be possible to do so.
  • the operating axes of the robot arm can move freely only in the horizontal plane, freely move only in the vertical plane, or completely freely. It is possible to select the function of two teach modes.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif de robot comprenant : un bras robotisé ayant une pluralité d'éléments bras et une pluralité d'arbres de fonctionnement qui mettent en rotation la pluralité d'éléments bras ; un groupe de boutons de fonctionnement qui comprend au moins un premier bouton et un deuxième bouton et qui, pendant une opération d'apprentissage pour entraîner une position de fonctionnement cible du bras robotisé, est actionné afin de sélectionner l'un quelconque d'une pluralité de modes d'apprentissage dans lesquels des états fixes de la pluralité d'arbres de fonctionnement diffèrent ; et une unité de commande qui exécute une opération d'apprentissage en fonction du fonctionnement du groupe de boutons de fonctionnement. L'unité de commande accepte la sélection du mode d'apprentissage en fonction d'une opération individuelle du premier bouton ou du deuxième bouton, ou du fonctionnement simultané du premier bouton et du deuxième bouton.
PCT/JP2022/026675 2022-07-05 2022-07-05 Dispositif de robot WO2024009382A1 (fr)

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PCT/JP2022/026675 WO2024009382A1 (fr) 2022-07-05 2022-07-05 Dispositif de robot

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6389278A (ja) * 1986-10-02 1988-04-20 株式会社東芝 産業用ロボツト教示装置
JP2012139754A (ja) * 2010-12-28 2012-07-26 Kawasaki Heavy Ind Ltd ７軸多関節ロボットの制御装置および教示方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6389278A (ja) * 1986-10-02 1988-04-20 株式会社東芝 産業用ロボツト教示装置
JP2012139754A (ja) * 2010-12-28 2012-07-26 Kawasaki Heavy Ind Ltd ７軸多関節ロボットの制御装置および教示方法

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