JP2018144148A - Robot direct teaching system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a direct teaching system capable of easily performing direct teaching of a robot even when the robot itself does not have a force sensor. SOLUTION: This is a direct teaching system 10 used for direct teaching in which a user directly moves a robot 20 to teach an operation position, and a sensor device 40 that can be attached to the user's hand and a robot 20 in contact with the sensor device 40. It is provided with a site detection unit for detecting the site, an operation unit for causing the robot 20 to perform different operations according to the site detected by the site detection unit, and a setting unit for setting the operation position of the robot 20. [Selection diagram] Fig. 1

Description

  The present invention relates to a system used for direct teaching in which a user directly moves a robot to teach an operation position.

  Conventionally, in this type of system, when the robot itself does not include a force sensor for detecting the force applied by the user to the robot, direct teaching is performed as follows. In the device described in Patent Document 1, a 6-axis force sensor is attached to the wrist of the robot, the user directly grips the end effector attached to the tip of the force sensor, and the robot is guided to the teaching point to move the operation position. Teaches. In the device described in Patent Document 1, a force applied by the user to the end effector is measured by a force sensor, and control is performed to guide the robot in the direction of the force.

JP-A-11-231925

  By the way, in the thing of patent document 1, it is necessary to attach a force sensor to the wrist of a robot at the time of teaching, and it is necessary to remove a force sensor at the time of actual operation | movement of a robot. Furthermore, since a force sensor is mounted between the wrist of the robot and the end effector, the position of the end effector differs between teaching and actual operation. For this reason, it is necessary to finely adjust the position of the end effector during the actual operation of the robot.

  The present invention has been made to solve these problems, and its main purpose is direct teaching that can easily perform direct teaching of a robot even when the robot itself does not include a force sensor. To provide a system.

The first means for solving the above problems is as follows.
A direct teaching system used for direct teaching in which a user directly moves a robot to teach an operation position,
A sensor device attachable to the user's hand;
A part detecting unit for detecting a part of the robot that is in contact with the sensor device;
An operation unit that causes the robot to perform different operations according to the site detected by the site detection unit;
A setting unit for setting an operation position of the robot;
Is provided.

  According to the said structure, a sensor apparatus can be attached to a user's hand. And if a user moves a hand and makes a sensor apparatus contact the site | part of a robot, the site | part will be detected by the site | part detection part. The operation unit causes the robot to perform a different operation according to the part detected by the part detection unit. For this reason, the user can control the operation of the robot by selecting a part of the robot and bringing the sensor device into contact therewith. Then, the operation position of the robot is set (that is, taught) by the setting unit. Therefore, it is not necessary to attach or remove the force sensor to / from the robot, and direct teaching can be easily performed even when the robot itself does not include the force sensor.

  In the second means, the part detection unit includes a robot detection unit that detects the position and posture of the robot, and a sensor detection unit that detects the position, posture, and contact of the sensor device, and the robot Based on the position and posture of the robot detected by the detection unit and the position, posture, and contact of the sensor device detected by the sensor detection unit, the part of the robot touched by the sensor device is detected.

  According to the above configuration, the robot detection unit detects the position and orientation of the robot. The position, posture, and contact of the sensor device are detected by the sensor detection unit. For this reason, it is possible to grasp the relationship between the position and orientation of the robot and the position and orientation of the sensor device, and that there has been contact with the sensor device. Therefore, based on the position and posture of the robot detected by the robot detection unit and the position, posture, and contact of the sensor device detected by the sensor detection unit, it is possible to detect the part of the robot that the sensor device has contacted. .

  In a third means, the direct teaching system includes a holding unit that holds the sensor device in a predetermined position and a predetermined posture with respect to the robot, and the sensor device includes a main body that can be attached to the user's hand, An acceleration sensor for detecting an acceleration of the main body, an angular velocity sensor for detecting an angular velocity of the main body, and a pressure sensor for detecting a pressure acting on the main body; Based on the acceleration detected by the acceleration sensor and the angular velocity detected by the angular velocity sensor from the state held at the predetermined position and the predetermined posture, the position and posture of the sensor device are detected, and the pressure Based on the pressure detected by the sensor, the sensor device has contacted the robot To detect.

  According to the above configuration, the user can attach the main body of the sensor device to the hand and hold the sensor device in a predetermined position and a predetermined posture with respect to the robot by the holding unit. The acceleration of the main body is detected by the acceleration sensor, the angular velocity of the main body is detected by the angular velocity sensor, and the pressure acting on the main body is detected by the pressure sensor. For this reason, the relationship between the sensor device held at a predetermined position and a predetermined posture with respect to the robot, the acceleration of the main body detected by the acceleration sensor at that time, and the angular velocity of the main body detected by the angular velocity sensor is grasped. Therefore, the sensor detection unit is based on the acceleration of the main body detected by the acceleration sensor and the angular velocity of the main body detected by the angular velocity sensor from the state where the sensor device is held at a predetermined position and predetermined posture with respect to the robot. The position and orientation of the sensor device can be detected. Furthermore, the sensor detection unit can detect that the main body (that is, the sensor device) has contacted the robot based on the pressure detected by the pressure sensor.

  In a fourth means, the robot is a vertical articulated robot having an elbow part and a wrist part, and the part detection unit includes the position of the wrist part detected by the robot detection part and the sensor detection part. The robot touched by the sensor device when the amount of deviation from the position of the sensor device detected by is less than a first predetermined value and the sensor detection unit detects that the sensor device is touched The wrist part is detected as a part of the wrist part, and the operation part causes the robot to translate the wrist part when the wrist part part is detected by the part detection part.

  Specifically, according to the above configuration, the part detection unit is configured such that the deviation amount between the position of the wrist detected by the robot detection unit and the position of the sensor device detected by the sensor detection unit is less than the first predetermined value. When the sensor detection unit detects that the sensor device is in contact, the wrist portion is detected as a part of the robot that has contacted the sensor device. For this reason, in order to detect the site | part of the robot which the sensor apparatus contacted, it is not necessary to request | require high precision for an acceleration sensor, an angular velocity sensor, and a pressure sensor. The operation unit causes the robot to move the wrist unit in parallel when the wrist unit is detected by the part detection unit. That is, when the user contacts the wrist of the robot, the wrist moves in parallel, and thus the user can control the operation of the robot through an intuitive operation.

  In the fifth means, the part detection unit detects the part of the robot that has contacted the sensor device and the orientation of the sensor device with respect to the part of the robot, and the operation part is detected by the part detection unit. When the wrist is detected, the robot is caused to perform an operation of translating the wrist along the direction of the sensor device with respect to the wrist.

  According to the above configuration, the part detecting unit detects the part of the robot that has contacted the sensor device and the direction of the sensor device with respect to the part of the robot. Then, when the wrist part is detected by the part detection unit, the operation unit causes the robot to perform an operation of translating the wrist unit along the direction of the sensor device with respect to the wrist unit. Therefore, the user can translate the wrist along the direction of the sensor device with respect to the wrist, that is, the direction of the hand, and can control the operation of the robot by a more intuitive operation.

  In a sixth means, the robot is a vertical articulated robot having an elbow part and a wrist part, and the part detection unit includes the position of the elbow part detected by the robot detection unit, and the sensor detection unit. The robot touched by the sensor device when the amount of deviation from the position of the sensor device detected by the step is less than a second predetermined value and the sensor detection unit detects that the sensor device is touched. The elbow part is detected as a part of the robot, and the operation part causes the robot to rotate the wrist part when the elbow part is detected by the part detection part.

  Specifically, according to the above configuration, the part detection unit is configured such that the amount of deviation between the position of the elbow detected by the robot detection unit and the position of the sensor device detected by the sensor detection unit is less than the second predetermined value. When the sensor detection unit detects that the sensor device is in contact with the sensor device, the elbow portion is detected as a part of the robot contacted by the sensor device. For this reason, in order to detect the site | part of the robot which the sensor apparatus contacted, it is not necessary to request | require high precision for an acceleration sensor, an angular velocity sensor, and a pressure sensor. Further, the operation unit causes the robot to perform an operation of rotating the wrist when the elbow is detected by the part detection unit. Here, the elbow part is a part that does not move relatively even if the wrist part rotates. For this reason, when making a robot perform the operation | movement which rotates a wrist part, it can suppress that a user reaches danger.

  In the seventh means, the part detection unit detects the part of the robot that has contacted the sensor device and the orientation of the sensor device, and the operation unit detects the elbow part by the part detection unit. The robot is caused to rotate the wrist in different directions according to the orientation of the sensor device.

  According to the above configuration, the part detection unit detects the part of the robot that has contacted the sensor device and the direction of the sensor device. Then, when the elbow is detected by the part detection unit, the operation unit causes the robot to perform an operation of rotating the wrist in a different direction depending on the direction of the sensor device. As described above, the elbow is a portion that does not move relatively even when the wrist rotates. For this reason, even if a wrist part rotates, it can suppress that direction of a sensor apparatus changes, and it can suppress that a wrist part rotates to the direction which a user does not intend.

The eighth means is
A direct teaching system used for direct teaching in which a user directly moves a robot to teach an operation position,
A sensor device attachable to the user's hand;
A part detection unit for detecting a part of the robot that the sensor device is close to;
An operation unit that causes the robot to perform different operations according to the site detected by the site detection unit;
A setting unit for setting an operation position of the robot;
Is provided.

  According to the said structure, a sensor apparatus can be attached to a user's hand. And if a user moves a hand and makes a sensor apparatus adjoin to the site | part of a robot, the site | part will be detected by the site | part detection part. The operation unit causes the robot to perform a different operation according to the part detected by the part detection unit. For this reason, the user can control the operation of the robot by selecting a part of the robot and bringing the sensor device close thereto. Then, the operation position of the robot is set (that is, taught) by the setting unit. Therefore, it is not necessary to attach or remove the force sensor to / from the robot, and direct teaching can be easily performed even when the robot itself does not include the force sensor. Furthermore, the operation position can be taught only by bringing the sensor device close to each other without contacting the robot.

The perspective view which shows the outline | summary of a robot system. The perspective view which shows a glove. The schematic diagram which shows arrangement | positioning of an acceleration sensor and an angular velocity sensor. The schematic diagram which shows arrangement | positioning of a pressure sensor. The perspective view which shows the relationship between the contact part and direction of a glove | globe, and operation | movement of a robot. The perspective view which shows the relationship between the contact part and direction of a glove | globe, and operation | movement of a robot. The perspective view which shows the relationship between the contact part and direction of a glove | globe, and operation | movement of a robot. The perspective view which shows the relationship between the contact part and direction of a glove | globe, and operation | movement of a robot. The perspective view which shows the relationship between the contact part and direction of a glove | globe, and operation | movement of a robot. The perspective view which shows the relationship between the contact part and direction of a glove | globe, and operation | movement of a robot.

  Hereinafter, an embodiment will be described with reference to the drawings. This embodiment is embodied as a robot system that assembles machines and the like in a machine assembly factory or the like.

  FIG. 1 is a perspective view showing an outline of the robot system 10. As shown in the figure, the robot system 10 (corresponding to a direct teaching system) includes a robot 20, a controller 30, a globe 40, and a reference table 50.

  The robot 20 is a vertical articulated 6-axis robot and includes a plurality of links and a base 22. The plurality of links (driven parts) include links 21A to 21D and a wrist part (link) 21E in this order from the base 22 side. The base 22 and the link 21A are connected by a joint 23A, the link 21A and the link 21B are connected by a joint 23B, the link 21B and the link 21C are connected by a joint 23C (elbow), and the link 21C and the link 21D Are connected by a joint 23D, and the link 21D and the wrist 21E are connected by a joint 23E. A tool (hand part) is attached to the tip of the wrist part 21E.

  Servomotors (not shown) are respectively provided in the joints 23A to 23E and the wrist portion 21E, and the links 21A to 21E and the hand portion are driven by the rotation of these servomotors. Each servo motor is provided with an electromagnetic brake that brakes its output shaft and an encoder that outputs a pulse signal corresponding to the rotation angle of the output shaft. The robot 20 operates the links 21 </ b> A to 21 </ b> E and the hand unit to perform work such as assembly of parts to the workpiece and conveyance of the workpiece.

  The controller 30 (corresponding to an operation unit and a setting unit) includes a CPU, a ROM, a RAM, a drive circuit, a position detection circuit, an input / output interface, and the like. The ROM stores system programs and operation programs for the robot 20. The RAM stores parameter values and the like when executing these programs. Detection signals from the encoders are input to the position detection circuit. The position detection circuit detects the rotation angle of the servo motor provided at each joint based on the detection signal of each encoder. The CPU (corresponding to the robot detection unit) detects the position and orientation of the robot 20 based on the detected rotation angle of each servo motor. The CPU executes the operation program (program) to control the rotation angle of each joint of the links 21A to 21E to the target rotation angle based on the position information input from the position detection circuit. The controller 30 sets the operation position of the robot 20 taught by the user.

  As shown in FIG. 2, the globe 40 (corresponding to a sensor device) includes a main body 41. The main body 41 is formed in a hand-shaped bag shape by rubber or the like. The main body 41 can be fitted (attached) by the user.

  As shown in FIG. 3, an acceleration sensor 42 and an angular velocity sensor 43 are provided on the back side of the hand H in the main body 41 (not shown). The acceleration sensor 42 detects the acceleration of the main body 41, that is, the acceleration of the user's hand wearing the globe 40. The angular velocity sensor 43 detects the angular velocity of the main body 41, that is, the angular velocity of the user's hand wearing the globe 40. Based on the detection values of the acceleration sensor 42 and the angular velocity sensor 43, the controller 30 calculates the movement amount and direction (posture) of the globe 40 (that is, the user's hand). Detection values of the acceleration sensor 42 and the angular velocity sensor 43 are input to the controller 30 by communication or the like.

  As shown in FIG. 4, pressure sensors 44 </ b> A to 44 </ b> F are provided on the flat side of the hand H in the main body 41 (not shown). The pressure sensors 44A to 44E (force sensors) are provided in portions corresponding to the tips of the thumb to the little finger, respectively. The pressure sensor 44F is provided at a portion corresponding to the palm (palm). The pressure sensors 44A to 44F detect pressure acting on the main body 41 at each position. The detection values of the pressure sensors 44A to 44F are input to the controller 30 by communication or the like.

  Returning to FIG. 1, the reference table 50 (corresponding to the holding portion) is formed in a quadrangular prism shape (columnar shape). On the upper surface (predetermined surface) of the reference table 50, a recess 50A corresponding to the shape of the globe 40 is provided. The globe 40 can be fitted (matched) in the recess 50A. By fitting the globe 40 into the recess 50 </ b> A, the globe 40 is held at a predetermined position and a predetermined posture with respect to the robot 20. The predetermined position and the predetermined posture are measured in advance and stored in the controller 30.

  The controller 30 determines the position and posture of the globe 40 based on the acceleration detected by the acceleration sensor 42 and the angular velocity detected by the angular velocity sensor 43 from the state where the globe 40 is held at the predetermined position and posture by the reference table 50. Is detected. The controller 30, the globe 40, and the reference base 50 constitute a sensor detection unit.

  Specifically, the user holds the globe 40 and fits the globe 40 into the recess 50 </ b> A of the reference table 50. In this state, the controller 30 grasps that the position of the globe 40 is a predetermined position and the posture of the globe 40 is a predetermined posture (calibration). The controller 30 calculates the amount of movement of the globe 40 from the predetermined position based on the acceleration detected by the acceleration sensor 42 and the angular velocity detected by the angular velocity sensor 43, and adds the movement amount to the predetermined position. Is detected. Further, the controller 30 calculates the amount of change in the posture of the globe 40 from the predetermined posture based on the acceleration detected by the acceleration sensor 42 and the angular velocity detected by the angular velocity sensor 43, and adds the amount of change to the predetermined posture. Detect the current posture of Furthermore, the controller 30 detects that the globe 40 has contacted the object based on the pressure detected by the pressure sensors 44A to 44F.

  The robot system 10 has the above-described configuration, detects the part of the robot 20 with which the user contacts the globe 40, and causes the robot 20 to perform different operations according to the detected part. Then, the controller 30 sets (teaches) the operation position of the robot 20 operated by the user using the globe 40. The controller 30, the globe 40, and the reference table 50 constitute a part detection unit.

  The part detection unit detects the part of the robot 20 with which the user contacts the globe 40 as follows. The part detecting unit detects the glove when it is detected that the amount of deviation between the detected position of the wrist 21E and the detected position of the globe 40 is less than the first predetermined value and the globe 40 is in contact. The wrist part 21E is detected as the part of the robot 20 that has contacted 40. The first predetermined value is a value by which it can be detected that the globe 40 is in the vicinity of the wrist 21E, and is preferably set to 10 to 30 cm, for example, 20 cm. The contact of the globe 40 is detected when, for example, at least one of the pressures detected by the pressure sensors 44A to 44F exceeds a threshold value. This threshold value is set to a value capable of detecting that the globe 40 is in contact with the object.

  Similarly, the part detection unit is configured such that the amount of deviation between the detected position of the joint 23C (hereinafter referred to as “elbow part 23C”) and the detected position of the globe 40 is less than the second predetermined value, and the globe 40. When the contact is detected, the elbow 23C is detected as the part of the robot 20 that the globe 40 has contacted. The second predetermined value is a value by which it can be detected that the globe 40 is in the vicinity of the elbow 23C, and is preferably set to 10 to 30 cm, for example, 20 cm, as with the first predetermined value. Is set. Note that the first predetermined value and the second predetermined value may be set to different values.

  Further, the part detection unit detects the orientation of the globe 40 (that is, the user's hand) with respect to the part of the robot 20. The direction of the globe 40 is the direction in which the palm side of the globe 40 faces (the direction in which the pressure sensors 44A to 44F face).

  Below, the relationship between the part of the robot 20 in contact with the globe 40 (that is, the user's hand) and the orientation of the globe 40 and the operation of the robot 20 is shown. The robot 20 is operated by the controller 30.

  As shown in FIG. 5, when the contact portion is the wrist portion 21E and the orientation of the globe 40 is the X-axis direction, the robot 20 is operated so as to translate the wrist portion 21E along the X-axis. . Specifically, the wrist portion 21E is translated from the back side of the glove 40 to the palm side. When the wrist 21E is translated in the direction opposite to the direction indicated by the arrow in FIG. 5, the globe 40 may be brought into contact with the wrist 21E from the side opposite to the arrow in the X-axis direction.

  As shown in FIG. 6, when the contact part is the wrist 21E and the direction of the globe 40 is the Y-axis, the robot 20 is operated to translate the wrist 21E along the Y-axis. . Specifically, the wrist portion 21E is translated from the back side of the glove 40 to the palm side. In addition, if it is detected that the amount of deviation between the detected position of the wrist 21E and the detected position of the globe 40 is less than the first predetermined value and the globe 40 is touched, the globe 40 is moved to the wrist. The wrist part 21E is detected as a contact part without directly contacting the part 21E. When the wrist part 21E is translated in the direction opposite to the direction indicated by the arrow in FIG. 6, the globe 40 may be brought into contact with the wrist part 21E from the side opposite to the arrow in the Y-axis direction.

  As shown in FIG. 7, when the contact portion is the wrist portion 21E and the orientation of the globe 40 is the Z-axis direction, the robot 20 is operated so as to translate the wrist portion 21E along the Z-axis. . Specifically, the wrist portion 21E is translated from the back side of the glove 40 to the palm side. When the wrist portion 21E is translated in the direction opposite to the direction indicated by the arrow in FIG. 7, the globe 40 may be brought into contact with the wrist portion 21E from the side opposite to the arrow in the Z-axis direction.

  Thus, the controller 30 translates the wrist portion 21E along the direction of the globe 40 with respect to the wrist portion 21E. Therefore, when the orientation of the globe 40 with respect to the wrist portion 21E is, for example, an oblique direction with respect to the X axis and the Y axis, the wrist portion 21E is translated in the oblique direction. That is, the wrist portion 21E is translated in the direction in which the user presses the wrist portion 21E with the globe 40.

  As shown in FIG. 8, when the contact part is the elbow 23C and the orientation of the globe 40 is the Y-axis, the robot 20 rotates the wrist 21E according to the RX axis (around the X axis). To work. When the wrist 21E is rotated in the direction opposite to the direction indicated by the arrow RX in FIG. 8, the globe 40 may be brought into contact with the elbow 23C from the opposite side (from the + side to the − side) in the Y-axis direction. Here, the elbow part 23C is a part that does not move relatively even if the wrist part 21E rotates.

  As shown in FIG. 9, when the contact part is the elbow 23C and the orientation of the globe 40 is the X-axis, the robot 20 rotates the wrist 21E according to the RY axis (around the Y axis). To work. When the wrist portion 21E is translated in the direction opposite to the direction indicated by the arrow RY in FIG. 9, the globe 40 may be brought into contact with the elbow portion 23C from the opposite side (from the negative side to the positive side) in the X-axis direction.

  As shown in FIG. 10, when the contact portion is the elbow 23C and the orientation of the glove 40 is the Z-axis, the robot 20 rotates the wrist 21E according to the RY axis (around the Y axis). To work. When rotating the wrist portion 21E in the direction opposite to the direction indicated by the arrow RY in FIG. 10, as shown in FIG. 9, the globe 40 is attached to the elbow portion 23C from the opposite side (from the negative side to the positive side) in the X-axis direction. Can be contacted. That is, since there is a possibility that the globe 40 (user's hand) may be pinched inside the elbow portion 23C, the robot is not operated in the operation of bringing the globe 40 into contact with the elbow portion 23C from the opposite side (from the negative side to the positive side) in the Z-axis direction. 20 is not operated.

  As described above, the controller 30 rotates the wrist portion 21 </ b> E in different directions according to the orientation of the globe 40. Specifically, the controller 30 rotates the wrist portion 21E in different directions depending on the orientation of the globe 40 with respect to the coordinate system of the robot 20.

  The embodiment described in detail above has the following advantages.

  -The glove 40 can be attached to the user's hand. And if a user moves a hand and makes the globe 40 contact the site | part of the robot 20, the site | part detection part will detect. The controller 30 causes the robot 20 to perform different operations depending on the part detected by the part detection unit. For this reason, the user can control the operation of the robot 20 by selecting a part of the robot 20 and bringing the globe 40 into contact therewith. Then, the operation position of the robot 20 is set (that is, taught) by the controller 30. Therefore, it is not necessary to attach or remove the force sensor to / from the robot 20, and direct teaching can be easily performed even when the robot 20 itself does not include the force sensor.

  The position and orientation of the robot 20 are detected by the robot detection unit. The position, posture, and contact of the globe 40 are detected by the sensor detection unit. For this reason, it is possible to grasp the relationship between the position and posture of the robot 20 and the position and posture of the globe 40 and the contact of the globe 40. Therefore, based on the position and posture of the robot 20 detected by the robot detection unit, and the position, posture, and contact of the globe 40 detected by the sensor detection unit, the part of the robot 20 that is in contact with the globe 40 is detected. Can do.

  The user can attach the main body 41 of the globe 40 to the hand and hold the globe 40 in a predetermined position and a predetermined posture with respect to the robot 20 by the reference stand 50. The acceleration of the main body 41 is detected by the acceleration sensor 42, the angular velocity of the main body 41 is detected by the angular velocity sensor 43, and the pressure acting on the main body 41 is detected by the pressure sensors 44A to 44F. Therefore, the relationship between the globe 40 held at a predetermined position and a predetermined posture with respect to the robot 20, the acceleration of the main body 41 detected by the acceleration sensor 42 at that time, and the angular velocity of the main body 41 detected by the angular velocity sensor 43. Is grasped. Therefore, the sensor detection unit detects the acceleration of the main body 41 detected by the acceleration sensor 42 and the detection of the main body 41 detected by the angular velocity sensor 43 from the state where the globe 40 is held at a predetermined position and predetermined posture with respect to the robot 20. Based on the angular velocity, the position and posture of the globe 40 can be detected. Furthermore, the sensor detection unit can detect that the main body 41 (that is, the globe 40) has contacted the robot 20 based on the pressure detected by the pressure sensors 44A to 44F.

  The part detection unit is configured such that a deviation amount between the position of the wrist 21E detected by the robot detection unit and the position of the globe 40 detected by the sensor detection unit is less than a first predetermined value, and the glove is detected by the sensor detection unit. When it is detected that there is 40 contact, the wrist portion 21E is detected as a part of the robot 20 that the globe 40 has contacted. For this reason, in order to detect the site | part of the robot 20 which the globe 40 contacted, it is not necessary to request | require high precision for the acceleration sensor 42, the angular velocity sensor 43, and the pressure sensors 44A-44F. Further, the controller 30 causes the robot 20 to move the wrist 21E in parallel when the wrist 21E is detected by the part detection unit. That is, since the wrist 21E moves in parallel when the user contacts the wrist 21E of the robot 20, the user can control the operation of the robot 20 by an intuitive operation.

  -The site | part detection part detects the site | part of the robot 20 which the globe 40 contacted, and the direction of the globe 40 with respect to the site | part of the robot 20. FIG. And the controller 30 makes the robot 20 perform the operation | movement which translates the wrist part 21E along the direction of the globe 40 with respect to the wrist part 21E, when the wrist part 21E is detected by the site | part detection part. For this reason, the user can translate the wrist portion 21E along the direction of the globe 40 with respect to the wrist portion 21E, that is, the direction of the hand, and can control the operation of the robot 20 by a more intuitive operation. .

  The part detection unit is configured such that a deviation amount between the position of the elbow part 23C detected by the robot detection unit and the position of the globe 40 detected by the sensor detection unit is less than a second predetermined value, and the glove is detected by the sensor detection unit. When it is detected that there is 40 contact, the elbow part 23C is detected as the part of the robot 20 that the globe 40 has contacted. For this reason, in order to detect the site | part of the robot 20 which the globe 40 contacted, it is not necessary to request | require high precision for the acceleration sensor 42, the angular velocity sensor 43, and the pressure sensors 44A-44F. Further, the controller 30 causes the robot 20 to rotate the wrist portion 21E when the elbow portion 23C is detected by the part detection unit. Here, the elbow part 23C is a part that does not move relatively even if the wrist part 21E rotates. For this reason, when making the robot 20 perform the operation of rotating the wrist portion 21E, it is possible to suppress danger to the user.

  -The site | part detection part detects the site | part of the robot 20 which the globe 40 contacted, and the direction of the globe 40. And the controller 30 makes the robot 20 perform the operation | movement which rotates the wrist part 21E to a different direction according to the direction of the globe 40, when the elbow part 23C is detected by the site | part detection part. As described above, the elbow portion 23C is a portion that does not move relatively even when the wrist portion 21E rotates. For this reason, even if the wrist part 21E rotates, it can suppress that the direction of the glove 40 changes, and it can suppress that the wrist part 21E rotates to the direction which a user does not intend.

  When the glove 40 is brought into contact with the elbow portion 23C from the X-axis direction or the Z-axis direction, the wrist portion 21E is rotated according to the RY axis in an image in a direction in which the elbow portion 23C is bent. For this reason, the user can control the operation of the robot 20 by an intuitive operation.

  When the globe 40 is brought into contact with the wrist 21E, the wrist 21E is moved in a direction away from the globe 40 (user's hand). Therefore, the safety of the user can be ensured.

  Since the glove 40 (user's hand) may be pinched inside the elbow part 23C, the robot 20 is not operated in the operation of bringing the glove 40 into contact with the elbow part 23C from the negative side to the positive side in the Z-axis direction. Therefore, the safety of the user can be ensured. Even in that case, as shown in FIG. 9, by bringing the globe 40 into contact with the elbow 23 </ b> C from the − side to the + side in the X-axis direction, the wrist is moved in the direction opposite to the direction indicated by the arrow RY in FIG. 10. The part 21E can be rotated.

  In addition, the said embodiment can also be changed and implemented as follows.

  In the above embodiment, the position of the globe 40 is determined based on the acceleration detected by the acceleration sensor 42 and the angular velocity detected by the angular velocity sensor 43 from the state where the globe 40 is held at the predetermined position and posture by the reference stand 50. And the posture is detected. In this case, the detected acceleration and angular velocity errors gradually accumulate, so that the detected position and posture of the globe 40 may gradually deviate from the actual position and posture. On the other hand, the calibration of the globe 40 with the reference table 50 every predetermined time can be performed to suppress the position and orientation shift of the globe 40. Note that it is only necessary to detect the presence of the globe 40 in the vicinity of the wrist portion 21E or the elbow portion 23C of the robot 20 and the orientation of the globe 40. Therefore, it is not necessary to detect the position and orientation of the globe 40 strictly.

  In place of the reference table 50, for example, a recess for fitting (matching) the globe 40 may be provided on the base 22 (corresponding to the holding unit) of the robot 20. Also in this case, the globe 40 is held at a predetermined position and a predetermined posture with respect to the robot 20 by fitting the globe 40 into the recess. The predetermined position and the predetermined posture are measured in advance and stored in the controller 30.

  When the position and orientation of the globe 40 can be detected by a high-accuracy GPS device, calibration for holding the globe 40 in a predetermined position and posture with respect to the robot 20 can be omitted.

  In place of the globe 40, for example, an acceleration sensor 42, an angular velocity sensor 43, and a pressure sensor 44B can be provided on a finger sack (corresponding to a sensor device) of an index finger.

  In the above embodiment, the operation of rotating the wrist portion 21E according to the RZ axis (around the Z axis) is not operated by the globe 40. On the other hand, for example, when the globe 40 is brought into contact with the base 22 or the link 21A, the wrist 21E can be rotated along the RZ axis.

  Not only the vertical articulated robot 20, but also a horizontal articulated robot can be adopted. Even in that case, when the third axis (corresponding to the wrist) is detected by the part detection unit, the controller 30 moves the third axis in parallel along the direction of the globe 40 with respect to the third axis. Can be made to the robot 20.

  -It can also detect that the globe 40 (sensor apparatus) contacted the object with the capacitance sensor instead of the pressure sensors 44A to 44F. In addition, it is possible to detect a part of the robot 20 to which the globe 40 is close by using a capacitance sensor, and to cause the robot 20 to perform different operations according to the detected part. Also in this case, the same effect as that of the above embodiment can be obtained. Furthermore, the operation position can be taught only by bringing the globe 40 close without contacting the robot 20.

  DESCRIPTION OF SYMBOLS 10 ... Robot system (direct teaching system), 20 ... Robot, 30 ... Controller (operation part, setting part, robot detection part), 40 ... Glove (sensor apparatus), 50 ... Reference stand (holding part).

Claims (8)

A direct teaching system used for direct teaching in which a user directly moves a robot to teach an operation position,
A sensor device attachable to the user's hand;
A part detecting unit for detecting a part of the robot that is in contact with the sensor device;
An operation unit that causes the robot to perform different operations according to the site detected by the site detection unit;
A setting unit for setting an operation position of the robot;
Robot direct teaching system with The site detection unit is
A robot detector for detecting the position and orientation of the robot;
A sensor detection unit for detecting the position, posture, and contact of the sensor device;
Based on the position and posture of the robot detected by the robot detection unit and the position, posture and contact of the sensor device detected by the sensor detection unit, the part of the robot touched by the sensor device is detected. The direct teaching system for a robot according to claim 1. The direct teaching system includes a holding unit that holds the sensor device at a predetermined position and a predetermined posture with respect to the robot,
The sensor device includes a main body that can be attached to the user's hand, an acceleration sensor that detects acceleration of the main body, an angular velocity sensor that detects angular velocity of the main body, and a pressure sensor that detects pressure acting on the main body. ,
The sensor detection unit is based on the acceleration detected by the acceleration sensor and the angular velocity detected by the angular velocity sensor from a state where the sensor device is held at the predetermined position and the predetermined posture by the holding unit. The robot direct teaching system according to claim 2, wherein the position and orientation of the sensor device are detected, and the sensor device detects that the sensor device has contacted the robot based on the pressure detected by the pressure sensor. . The robot is a vertical articulated robot having an elbow part and a wrist part,
The part detection unit is configured such that a deviation amount between the position of the wrist detected by the robot detection unit and the position of the sensor device detected by the sensor detection unit is less than a first predetermined value, and the sensor When the detection unit detects that the sensor device has contacted, the wrist unit is detected as a part of the robot that the sensor device has contacted,
The robot direct teaching system according to claim 3, wherein the operation unit causes the robot to move the wrist unit in parallel when the wrist unit is detected by the part detection unit. The part detection unit detects the part of the robot that has contacted the sensor device and the direction of the sensor device with respect to the part of the robot;
The said operation | movement part makes the said robot perform the operation | movement which translates the said wrist part along the direction of the said sensor apparatus with respect to the said wrist part, when the said wrist part is detected by the said site | part detection part. Robot direct teaching system. The robot is a vertical articulated robot having an elbow part and a wrist part,
The part detection unit is configured such that a deviation amount between the position of the elbow detected by the robot detection unit and the position of the sensor device detected by the sensor detection unit is less than a second predetermined value, and the sensor When the detection unit detects that the sensor device is in contact, the elbow is detected as a part of the robot that the sensor device has contacted;
The robot direct teaching system according to any one of claims 3 to 5, wherein when the elbow is detected by the part detection unit, the operation unit causes the robot to rotate the wrist. . The part detection unit detects the part of the robot that has contacted the sensor device and the direction of the sensor device,
The robot according to claim 6, wherein, when the elbow is detected by the part detection unit, the operation unit causes the robot to perform an operation of rotating the wrist unit in a different direction according to a direction of the sensor device. Direct teaching system. A direct teaching system used for direct teaching in which a user directly moves a robot to teach an operation position,
A sensor device attachable to the user's hand;
A part detection unit for detecting a part of the robot that the sensor device is close to;
An operation unit that causes the robot to perform different operations according to the site detected by the site detection unit;
A setting unit for setting an operation position of the robot;
Robot direct teaching system with

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