JP2019202380A - Robot control device, robot and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control device for mounting or installing a first object at a predetermined target position when gripping a first object and mounting or installing the first object on a second object. A robot control device for controlling a robot having a first movable portion, a second movable portion included in the first movable portion, and a first protrusion portion included in the first movable portion. And a first operation of bringing the first protrusion into contact with the first object and moving the first object until the first protrusion is located between the first object and the second object. Then, the second movable part is moved in the first direction to be brought into contact with the first object, and the second motion is performed. After the second motion, the first movable part is moved along the first direction. A robot controller that causes a third motion of moving in a second direction, which is the opposite direction, and moving the second movable portion in the first direction. [Selection diagram] Figure 1

Description

  The present invention relates to a robot control device, a robot, and a robot system.

A robot that holds an object is known (for example, see Patent Document 1).
The robot according to Patent Document 1 includes an arm and a support base that supports the arm. The arm includes an end effector, a manipulator, and a force detection unit. Further, the end effector includes a finger part and can hold an object with the finger part.
However, in the robot according to Patent Document 1, a plate-like object having a width equal to or larger than the opening of the finger portion cannot be gripped in the width direction.

JP 2017-94471 A

  As described above, in the conventional robot, when the first object is gripped and the first object is placed or placed on the second object, the first object can be placed or placed at a predetermined position. There was something I couldn't do.

  In order to solve the above problem, one aspect of the present invention includes a first movable part, a second movable part provided in the first movable part, a first protrusion provided in the first movable part, A robot control apparatus for controlling a robot having the first projection portion abuts on a first object, and the first projection portion is placed between the first object and the second object. A first operation for moving the first movable portion until it is positioned, a second operation for moving the second movable portion in a first direction to contact the first object, and a second operation after the second operation. It is a robot control apparatus which moves a movable part to the 2nd direction which is an opposite direction along the 1st direction, and performs the 3rd operation which moves the 2nd movable part to the 1st direction.

  Another aspect of the present invention is a robot including a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part. Performing the first operation of bringing the first protrusion into contact with the first object and moving the first object until the first protrusion is positioned between the first object and the second object; A second operation of moving the second movable portion in the first direction to contact the first object is performed, and after the second operation, the first movable portion is oriented in the opposite direction along the first direction. The robot moves in the second direction, and performs a third action of moving the second movable part in the first direction.

  One aspect of the present invention is a robot having a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part, A robot control device that controls the robot, wherein the robot control device causes the first protrusion to contact the first object, and the first object is A first operation is performed to move the first object until it is positioned between the first object and the second object, and a second operation is performed to move the second movable portion in the first direction to contact the first object. After the second operation, a third moving the first movable part in the second direction opposite to the first direction and moving the second movable part in the first direction. It is a robot system that makes it move.

  One embodiment of the present invention controls a robot having a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part. The robot control apparatus includes a processor, and the processor causes the first protrusion to abut on the first object based on an operation program, and the first object is moved to the first object. Performing a first operation of moving the object until it is positioned between the object and the second object, performing a second operation of moving the second movable part in a first direction to contact the first object, and After the second operation, a third operation is performed in which the first movable part is moved in the second direction, which is the opposite direction along the first direction, and the second movable part is moved in the first direction. It is a robot control device to be performed.

It is a figure which shows an example of a structure of the 1st robot system which concerns on this embodiment. It is a figure which shows an example of the hardware constitutions of a 1st robot control apparatus. It is a figure which shows an example of the hardware constitutions of a 1st information processing apparatus. It is a figure which shows an example of a function structure of a 1st robot control apparatus. It is a figure which shows an example of the 1st operation | movement which a 1st robot control part performs by controlling a 1st robot. It is a figure which shows an example of the positional relationship of a 1st cover and the 1st end effector of a 1st robot. It is a figure showing an example of the state where the 1st projection part of the 1st lid was inserted in the 1st hole of the 1st box. It is a figure which shows an example of the 2nd operation | movement which a 1st robot control part performs by controlling a 1st robot. It is a figure which shows an example of the 3rd operation | movement which a 1st robot control part performs by controlling a 1st robot. It is a figure which shows an example of the 4th operation | movement which a 1st robot control part performs by controlling a 1st robot. It is a figure which shows an example of the procedure of the process in which a 1st robot control part controls a 1st robot. It is a figure which shows the 2nd cover and 2nd box which comprise the 2nd cartridge which concerns on a modification. It is a figure which shows the 1st member and 2nd member which concern on a modification. It is a figure which shows the 1st jig, 3rd member, and 4th member which concern on a modification. It is a figure which shows the 5th member and 6th member which concern on a modification. It is a figure which shows the 7th member and 8th member which concern on a modification. It is a figure which shows the other example of the 2nd operation | movement which a 1st robot control part controls and performs a 1st robot. It is a figure which shows stacking of the 9th member by the cooperative control of the double arms which concerns on a modification. It is a figure which shows the 3rd end effector which concerns on a modification. It is a figure which shows the 4th end effector which concerns on a modification. It is a figure which shows an example of a structure of the 2nd robot system which concerns on a modification.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Overview of the robot system>
FIG. 1 is a diagram illustrating an example of the configuration of the first robot system 1 according to the present embodiment. The first robot system 1 includes a first robot 20 and a first information processing device 40. Further, the first robot 20 includes a first robot control device 30. The first robot system 1 may be configured without the first information processing apparatus 40.
The first robot 20 may be configured to be controlled by the first robot control device 30 installed outside, instead of the configuration incorporating the first robot control device 30. In this case, the first robot system 1 includes a first robot 20 and a first robot control device 30.
Further, the first robot system 1 may be configured to include other devices such as an imaging unit separate from the first robot 20 in addition to both the first robot 20 and the first information processing device 40. Good.

  Hereinafter, for convenience of explanation, the positive direction of the Z axis in the first robot coordinate system RC1 shown in FIG. 1 will be referred to as upward or upward, and the negative direction of the Z axis will be referred to as downward or downward. The first robot coordinate system RC1 is a robot coordinate system of the first robot 20. Hereinafter, as an example, a case where the negative direction of the Z axis and the gravity direction in the first robot coordinate system RC1 coincide with each other will be described. The negative direction and the gravitational direction may not be the same.

  The first robot 20 includes a first arm A1, a second arm A2, a first support base B1 that supports the first arm A1 and the second arm A2, and a first support base B1 provided inside the first support base B1. A double-arm robot including the robot control device 30. The first robot 20 may be a double-arm robot having three or more arms instead of a double-arm robot, or a single-arm robot having one arm. The first robot 20 may be another robot such as a SCARA (horizontal articulated) robot, a rectangular coordinate robot, or a cylindrical robot. The orthogonal coordinate robot is, for example, a gantry robot.

  The first support base B1 is divided into two parts along a direction orthogonal to the surface when the first robot 20 is installed on a surface. Hereinafter, for convenience of explanation, the surface on which the first robot 20 is installed will be referred to as an installation surface. In the following, as an example, the installation surface is parallel to the XY plane, which is a surface stretched by the X axis and the Y axis in the first robot coordinate system RC1 shown in FIG. 1, that is, the Z axis in the first robot coordinate system RC1. The case where they are orthogonal to each other is described. The installation surface does not have to be parallel to the XY plane, that is, not orthogonal to the Z axis. Moreover, the structure which is not divided | segmented may be sufficient as 1st support stand B1, and the structure divided | segmented into three or more parts may be sufficient. Of the two parts, the part far from the installation surface is rotatable with respect to the part of the two parts closer to the installation surface. For example, the rotation surface in the case where the distant portion rotates is parallel to the installation surface. Note that the rotation surface may be non-parallel to the installation surface.

  The first arm A1 includes a first end effector E1, a first manipulator M1, and a first force detector J1.

  The first end effector E1 is an end effector that holds an object. In this example, the first end effector E1 includes a first finger part F1, and holds the object by holding the object by the first finger part F1.

  The first manipulator M1 includes seven joints and a first imaging unit C1. Each of the seven joints includes an actuator (not shown). That is, the first arm A1 including the first manipulator M1 is a 7-axis vertical articulated arm. The first arm A1 performs an operation with seven degrees of freedom by a coordinated operation by the first support base B1, the first end effector E1, the first manipulator M1, and the actuators of the seven joints. The first arm A1 may be configured to operate with a degree of freedom of 6 axes or less, or may be configured to operate with a degree of freedom of 8 axes or more.

  When the first arm A1 operates with a degree of freedom of 7 axes, the posture that the first arm A1 can take is increased as compared with a case where the first arm A1 operates with a degree of freedom of 6 axes or less. Thereby, for example, the first arm A1 can be smoothly operated, and interference with an object existing around the first arm A1 can be easily avoided. In addition, when the first arm A1 operates with a degree of freedom of 7 axes, the control of the first arm A1 is easier and requires less calculation than when the first arm A1 operates with a degree of freedom of 8 axes or more. is there.

  The first imaging unit C1 is, for example, a camera including a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like as an imaging element that converts the collected light into an electrical signal. In this example, the first imaging unit C1 is provided in a part of the first manipulator M1. Therefore, the first imaging unit C1 moves according to the movement of the first manipulator M1. That is, the range that can be imaged by the first imaging unit C1 changes according to the movement of the first arm A1.

  The first force detection unit J1 is provided between the first end effector E1 and the first manipulator M1. The first force detection unit J1 is, for example, a force sensor. The first force detection unit J1 detects an external force applied to the first end effector E1 or an external force applied to an object held by the first end effector E1. The first force detection unit J1 may be a torque sensor that detects an external force applied to the first end effector E1 or an external force applied to an object held by the first end effector E1.

The first end effector E1 includes a first base D1, a first finger part F1, and a first palm part H1. In the present embodiment, the first finger part F1 includes four fingers, a first finger G1, a second finger G2, a third finger G3, and a fourth finger G4.
Here, the first base D1 is attached to the first manipulator M1 via the first force detector J1.
The first end effector E1 and the second end effector E2 are simplified in illustration, but have a structure capable of the operations described in the present embodiment.

  The first base D1 has a flat surface on the side opposite to the side of the first force detection unit J1. The first finger G1, the second finger G2, the third finger G3, and the fourth finger G4, which are four fingers, are arranged on the surface. In the present embodiment, the surface has a square shape, and the first finger G1, the second finger G2, the third finger G3, and the fourth finger G4 are arranged near each of the four vertices of the square. Each is arranged. Each of the first finger G1, the second finger G2, the third finger G3, and the fourth finger G4 can be moved relative to the first base D1. In the present embodiment, the first finger G1, the second finger G2, the third finger G3, and the fourth finger G4, which are four fingers, maintain the relative positional relationship between the two adjacent fingers and the other two fingers. While maintaining the relative positional relationship between the fingers, the object can be gripped by bringing the two finger pairs closer together, and the object can be released by moving the two finger pairs away from each other. Here, releasing the object means releasing the object that has been gripped.

As another configuration, for example, the first finger G1, the second finger G2, the third finger G3, and the fourth finger G4, which are four fingers, are directed toward the center of the square. The objects can be gripped by bringing them close to each other, and the objects can be released by moving these four fingers away from the center of the square.
In addition, as a structure and operation | movement of 1st finger part F1, arbitrary structures and operation | movement may be used. For example, the number of fingers included in the first finger unit F1 or the movement of the fingers may be arbitrary.
Each finger may also include one or more joints that can be bent, for example.

  In addition, on the surface, the first palm portion H1 is disposed in a central portion surrounded by the first finger G1, the second finger G2, the third finger G3, and the fourth finger G4 which are four fingers. In the present embodiment, the first palm H1 has a surface parallel to the surface of the first base D1 as the surface. The first palm H1 can be moved relative to the first base D1. In the present embodiment, the first palm H1 moves from the first base D1 toward the first force detector J1 by increasing the distance between the surface of the first base D1 and the surface of the first palm H1. The operation can be performed in a direction opposite to the direction, and conversely, the distance between the surface of the first base D1 and the surface of the first palm portion H1 is reduced to reduce the first base D1 to the first. An operation of pulling in the direction toward the force detection unit J1 can be performed.

  The second arm A2 has a configuration similar to that of the first arm A1. That is, the second end effector E2 has a configuration similar to that of the first end effector E1. The second manipulator M2 has the same configuration as that of the first manipulator M1. The second manipulator M2 includes a second imaging unit C2. The second imaging unit C2 has a configuration similar to that of the first imaging unit C1. The second force detection unit J2 has a configuration similar to that of the first force detection unit J1.

Here, the second end effector E2 includes a second base D2, a second finger part F2, and a second palm part H2. In the present embodiment, the second finger part F2 includes four fingers, a fifth finger G5, a sixth finger G6, a seventh finger G7, and an eighth finger G8.
In the present embodiment, the first end effector E1 includes the first finger portion F1, but a nail may be used instead of the finger. The same applies to the second end effector E2.

  Further, the second arm A2 may have a configuration different from the configuration of the first arm A1. That is, the second end effector E2 may have a configuration different from the configuration of the first end effector E1. The second manipulator M2 may have a configuration different from that of the first manipulator M1. Further, the second imaging unit C2 may have a configuration different from the configuration of the first imaging unit C1. Further, the second force detection unit J2 may have a configuration different from the configuration of the first force detection unit J1.

The first robot 20 includes a third imaging unit C3 and a fourth imaging unit C4.
The third imaging unit C3 is, for example, a camera that includes a CCD, a CMOS, or the like as an imaging device that converts collected light into an electrical signal. The third image capturing unit C3 is provided in a region where the fourth image capturing unit C4 can capture an image together with the fourth image capturing unit C4.
The fourth imaging unit C4 is, for example, a camera that includes a CCD, a CMOS, or the like as an imaging element that converts collected light into an electrical signal. The fourth imaging unit C4 is provided in a region where the third imaging unit C3 can capture an image, together with the third imaging unit C3, in a portion where stereo imaging is possible.

  Functional units included in the first robot 20 (that is, the first end effector E1, the second end effector E2, the first manipulator M1, the second manipulator M2, the first imaging unit C1 to the fourth imaging unit C4, the first force detection) Each of the part J1 and the second force detection part J2) is communicably connected to the first robot controller 30 by a cable. Thereby, each of the functional units performs an operation based on the control signal acquired from the first robot control device 30. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB (Universal Serial Bus). Moreover, the structure connected to the 1st robot control apparatus 30 by the radio | wireless communication performed by communication standards, such as Wi-Fi (trademark), may be sufficient as some or all of each said function part. The first robot 20 may have a configuration that does not include some or all of the first imaging unit C1, the second imaging unit C2, the third imaging unit C3, and the fourth imaging unit C4.

  The first robot control device 30 controls the first robot 20. Here, as an example, a case where the control method of the first arm A1 by the first robot control device 30 and the control method of the second arm A2 by the first robot control device 30 are the same method will be described. To do. Therefore, in the following, the control of the first robot 20 by the first robot control device 30 will be described by taking the control method of the first arm by the first robot control device 30 as an example. Note that the control method of the first arm A1 by the first robot control device 30 and the control method of the second arm A2 by the first robot control device 30 may be partially or entirely different from each other.

In addition, the first robot control device 30 acquires information indicating the result detected by the first force detection unit J1 from the first force detection unit J1, and operates the first arm A1 by force control based on the acquired information. . The force control is compliant motion control such as impedance control.
Also, the first robot control device 30 acquires information indicating the result detected by the second force detection unit J2 from the second force detection unit J2, and operates the second arm A2 by force control based on the acquired information. . The force control is compliant motion control such as impedance control.

  The first robot control device 30 operates the first arm A1 by the process described above. Further, the first robot control device 30 operates the second arm A2 by a process similar to the process. Then, the first robot control device 30 operates at least one of the first arm A1 and the second arm A2 to cause the first robot 20 to perform a predetermined operation. The predetermined work may be any work. The first robot control device 30 may be configured to operate at least one of the first arm A1 and the second arm A2 by another process in addition to the process.

  The first information processing apparatus 40 is, for example, an information processing apparatus such as a notebook PC (Personal Computer), a tablet PC, a desktop PC, a workstation, a multi-function mobile phone terminal (smartphone), a mobile phone terminal, or a PDA (Personal Digital Assistant). It is. Note that the first information processing apparatus 40 may be a teaching pendant.

  The first information processing apparatus 40 generates various types of information such as an operation program and teaching point information in accordance with an operation received from the user. Then, the first information processing device 40 outputs the generated information to the first robot control device 30 for storage, thereby teaching the first robot control device 30, for example. Here, the first information processing apparatus 40 can output and store the generated information to the first robot control apparatus 30 even when the first robot control apparatus 30 is in an offline state.

  The first information processing device 40 is connected to the first robot control device 30 through a cable so as to be communicable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Here, the cable that connects the first information processing device 40 and the first robot control device 30 is a wired line of the lines that connect the first information processing device 40 and the first robot control device 30 so that they can communicate with each other. It is an example. The first information processing apparatus 40 may be configured to be connected to the first robot control apparatus 30 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). In this case, for example, Wi-Fi (registered trademark) is an example of a wireless line among the lines that connect the first information processing apparatus 40 and the first robot control apparatus 30 so as to communicate with each other.

<Hardware configuration of robot controller>
Hereinafter, the hardware configuration of the first robot controller 30 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a hardware configuration of the first robot control device 30.
The first robot control device 30 includes, for example, a first processor 31, a first memory 32, and a first communication unit 33. In addition, the first robot control device 30 communicates with the first information processing device 40 via the first communication unit 33. These components are communicably connected to each other via a bus.

  The first processor 31 is, for example, a CPU (Central Processing Unit). The first processor 31 may be another processor such as an FPGA (Field Programmable Gate Array) instead of the CPU. The first processor 31 executes various programs stored in the first memory 32.

  The first memory 32 includes, for example, HDD (Hard Disk Drive) or SSD (Solid State Drive), EEPROM (Electrically Erasable Programmable Read-Only Memory (ROM), ROM (Read-Only Memory, etc.). . The first memory 32 may be an external storage device connected via a digital input / output port such as a USB instead of the one built in the first robot control device 30. The first memory 32 stores various information processed by the first robot control device 30, various images, operation programs, and the like. The first memory 32 may be constituted by one storage device or a plurality of storage devices.

The first communication unit 33 includes, for example, a digital input / output port such as a USB or an Ethernet (registered trademark) port.
The first robot control device 30 may be configured to include any one or both of an input device such as a keyboard, a mouse, and a touch pad and a display device having a display.

<Hardware configuration of first information processing apparatus>
Hereinafter, the hardware configuration of the first information processing apparatus 40 will be described with reference to FIG. 3. FIG. 3 is a diagram illustrating an example of a hardware configuration of the first information processing apparatus 40.

  The first information processing apparatus 40 includes, for example, a second processor 41, a second memory 42, a second communication unit 43, a first input receiving unit 44, and a first display unit 45. In addition, the first information processing device 40 communicates with the first robot control device 30 via the second communication unit 43. These components are communicably connected to each other via a bus.

Since the configuration of the second processor 41 is the same as the configuration of the first processor 31, the description thereof is omitted.
The second processor 41 may be configured by a CPU included in one information processing device (in this example, the first information processing device 40), or may be configured by CPUs included in a plurality of information processing devices.

Since the configuration of the second memory 42 is the same as the configuration of the first memory 32, the description thereof is omitted.
When the second memory 42 includes a plurality of storage devices, the plurality of storage devices include a storage device included in an information processing device separate from the first information processing device 40. Also good.
Since the configuration of the second communication unit 43 is the same as the configuration of the first communication unit 33, the description thereof is omitted.

The first input receiving unit 44 is an input device such as a keyboard, a mouse, or a touch pad. The first input receiving unit 44 may be a touch panel configured integrally with the first display unit 45.
The first display unit 45 is, for example, a liquid crystal display panel or an organic EL (ElectroLuminescence) display panel.

<Functional configuration of first robot controller>
Hereinafter, the functional configuration of the first robot control device 30 will be described with reference to FIG. 4. FIG. 4 is a diagram illustrating an example of a functional configuration of the first robot control device 30.
The first robot control device 30 includes a first memory 32, a first communication unit 33, and a first control unit 50.
Here, the first memory 32 and the first communication unit 33 are the same as those shown in FIG.

  The first control unit 50 controls the entire first robot control device 30. The first control unit 50 includes a first program processing unit 51, a first communication control unit 52, and a first robot control unit 53. These functional units included in the first control unit 50 are realized, for example, when the first processor 31 executes various commands stored in the first memory 32. The instruction is, for example, a program, each command included in the program, or the like. Further, some or all of the functional units may be hardware functional units such as an LSI and an ASIC.

The first program processing unit 51 reads the operation program stored in the first memory 32 from the first memory 32 in the control of the first arm A1. The first program processing unit 51 controls the first arm A1 based on the read operation program. The first program processing unit 51 performs the same process as the process performed in the control of the first arm A1 in the control of the second arm A2.
The first communication control unit 52 controls communication with the first information processing device 40 via the first communication unit 33.
The first robot control unit 53 is controlled by the first program processing unit 51 to control the operation of the first arm A1 by communicating a predetermined signal with the first arm A1. That is, the first robot control unit 53 controls the operation of the first arm A1 so that the control mode of the first arm A1 determined by the first program processing unit 51 is realized. Further, the first robot control unit 53 performs the same process as the process performed in the control of the first arm A1 in the control of the second arm A2.

<Example of cartridge assembly work>
With reference to FIGS. 5 to 10, the first operation to the fourth operation will be described as an example of the operation of assembling the cartridge by the first robot 20. The first robot control device 30 controls the first robot 20 to cause the first robot 20 to perform the first operation to the fourth operation.

5 to 10 show a part of the first end effector E1, the first force detection unit J1, and the first arm A1 of the first robot 20 for the sake of simplification. Illustration of other parts of the robot 20 is omitted.
In this example, the first to fourth operations are performed using the first arm A1, but the first to fourth operations may be performed using the second arm A2. Both the operation using the first arm A1 and the operation using the second arm A2 may be performed.
Moreover, although the case where a cartridge is assembled is shown in this example, the present invention may be applied to an operation of assembling an object other than a cartridge.
Moreover, in this example, although an assembly operation is shown as an example, it may be applied to other arbitrary operations.

(Description of first operation)
The first operation will be described with reference to FIGS.
FIG. 5 is a diagram (perspective view) illustrating an example of a first operation that is performed by the first robot control device 30 by controlling the first robot 20.
FIG. 5 shows the first box K1 and the first lid L1, which are parts of the first cartridge R1, the end effector E1, a part of the first arm A1, and the first force detector J1.
Further, FIG. 5 shows the same first robot coordinate system RC1 as shown in FIG.

In this example, the first robot control device 30 controls the first robot 20 and installs the first lid L1 at a predetermined position of the first box K1.
In the present example, the first lid L1 is an example of a first object, and the first box K1 is an example of a second object.
In this example, the first arm A1 is an example of a first movable part, the first palm part H1 is an example of a second movable part, and the first finger part F1 is an example of a first protrusion.

The first box K1 has a box shape, and has a shape in which one surface is excluded from the shape of a rectangular parallelepiped having six surfaces. In this example, a portion from which one surface is excluded is also referred to as an opening. The first box K1 is placed such that the opening is disposed above, and one surface facing the opening is in contact with a plane such as a floor or a work table. In the example of FIG. 5, the upper side of the first box K1 is open. In this example, the upper side is the side with the larger Z-axis value. In the example of FIG. 5, the first box K1 is placed so that each surface is parallel to any of the XY plane, the YZ plane, and the ZX plane.
The first box K1 is provided with a first hole N1 on one side surface leading to the opening. That is, the surface is a surface having the first hole portion N1.

The first lid L1 has a plate shape that fits into the opening of the first box K1, and further has a first protrusion on one side surface corresponding to the first hole N1 of the first box K1. P1. Here, in this example, regarding the first lid L1, a plate-like wide surface is called a plate surface, and the other surfaces are called side surfaces.
In this example, when the first lid L1 is fitted into the opening of the first box K1, the first protrusion P1 of the first lid L1 is inserted into the first hole N1 of the first box K1. These are caught so that the relative positional relationship between the first lid L1 and the first box K1 is not greatly shifted.

The first robot control device 30 controls the first robot 20 to bring the first finger portion F1 into contact with the first lid L1, and the first finger portion F1 is between the first lid L1 and the first box K1. The first movement is performed until it is positioned at.
In the example of FIG. 5, the first robot 20 causes the first finger G1 and the second finger G2 to abut one surface of the two plate surfaces of the first lid L1, and the third finger to the other surface. The first lid L1 is held with the G3 and the fourth finger G4 in contact with each other. In this example, the first finger portion F1 holds the side of the first lid L1 where the first protrusion P1 is not provided.
In this example, in the first operation, the first palm H1 is not in contact with the first lid L1. However, the first palm H1 may be in contact with the first lid L1 from the stage of the first operation, and in this case, it is not necessary to cause the first robot 20 to perform the second operation described later.

  In this example, the first robot 20 is described from a state where the first lid L1 is gripped by the first finger part F1, but, for example, in the initial state, the first lid L1 is placed at an arbitrary feeding place. The first robot control device 30 controls the first robot 20 to move the first arm A1, and the first finger portion F1 moves the first lid L1 placed at the supply place. The first lid L1 is lifted by gripping.

FIG. 6 is a diagram (side view) showing an example of the positional relationship between the first lid L1 and the first end effector E1 of the first robot 20. As shown in FIG. FIG. 6 shows the same first robot coordinate system RC1 as shown in FIG.
In the example of FIG. 6, the first lid L1 and the first end effector E1 are viewed in a direction in which one side surface of the first lid L1 perpendicular to the side surface on which the first protrusion P1 is provided is viewed in plan view. An example of the appearance is shown.

FIG. 7 is a diagram (perspective view) illustrating an example of a state in which the first protrusion P1 of the first lid L1 is inserted into the first hole N1 of the first box K1. FIG. 7 shows the same first robot coordinate system RC1 as shown in FIG.
In this example, in the first operation, the first robot control device 30 controls the first robot 20 to move the first lid L1 until the state immediately before the installation work.
In this example, the state shown in FIG. 7 is the state immediately before the installation work.
In the example of FIG. 7, the plate-like surface of the first lid L1 is disposed so as to be inclined with respect to the opening surface of the first box K1, and the first lid K1 is placed in the first hole N1 of the first box K1. The first protrusion P1 of the one lid L1 is inserted and hooked. In the first lid L1, the side where the first protrusion P1 is provided is positioned below the side opposite to the side on which the first protrusion P1 is provided, and is inclined with respect to the horizontal plane. Here, the opposite side is the side that is gripped by the first finger portion F1. The horizontal plane is a plane parallel to the XY plane.
In this example, the 1st robot control apparatus 30 controls the 1st robot 20, and presses the 1st protrusion part P1 of the 1st cover L1 to the 1st hole N1 which is a hook part of the 2nd box K1.

(Description of second operation)
FIG. 8 is a diagram (side view) showing an example of the second operation that the first robot control device 30 controls the first robot 20 to perform. FIG. 8 shows the same first robot coordinate system RC1 as shown in FIG.
The first robot control device 30 controls the first robot 20 to perform the second operation of moving the first palm portion H1 in the first direction Q1 to contact the first lid L1.
In the example of FIG. 8, from the state shown in FIG. 7, the first robot control device 30 controls the first robot 20 to move the first arm A1 other than the first palm portion H1 without moving the first arm A1. The first palm H1 is moved in a direction away from the first base D1 (first direction Q1), that is, in a direction in which one side of the first lid L1 is pushed by the first palm H1. Let In this example, it is assumed that the surface of the first palm portion H1 and one side surface of the first lid L1 are substantially parallel in the state shown in FIG. However, even if the surface of the first palm portion H1 and one side surface of the first lid L1 are not parallel, it suffices if one side surface of the first lid L1 can be pushed by the first palm portion.

FIG. 8 shows a first space U1 that is a space between the first lid L1 and the first box K1. In the example of FIG. 8, the third finger G3 and the fourth finger G4 that are part of the first finger portion F1 exist in the first space U1.
Here, in response to determining that the first finger part F1 is located between the first lid L1 and the first box K1, the first robot control device 30 moves the first palm part H1 to the first. The first robot 20 is caused to perform the second operation of contacting the lid L1. The second operation may be performed by the first robot 20 in parallel with the first operation, or may be performed by the first robot 20 after the first operation.

The first space U1 is the first lid L1 and the first box K1 when the first robot controller 30 determines that the first finger portion F1 is located between the first lid L1 and the first box K1. This corresponds to a three-dimensional region formed by a trajectory through which the first lid L1 passes from when the first lid L1 is placed in the first box K1. In this example, it is assumed that the first box K1 does not move when the first lid L1 is installed in the first box K1.
In this example, when one end of the first lid L1, which is a plate-like object, is fixed to the first box K1, and the first lid L1 is held obliquely by the first finger portion F1, the first lid L1 and the first lid L1 The first space U1 between one box K1 is a space including a locus in which the other end of the first lid F1 draws an arc. In the example of FIG. 8, the one end of the first lid L1 is the end on which the first projecting portion P1 is provided, and the other end is the opposite end on which the first palm portion H1 is in contact. Is the end of

Here, as an operation performed by the first robot control device 30 by controlling the first robot 20, for example, the first finger portion F1 is necessarily located between the first lid L1 and the first box K1. An operation that occurs (for convenience of explanation, referred to as “first operation”) may be used, or the first finger portion F1 may be positioned between the first lid L1 and the first box K1. An operation that may or may not occur (for convenience of explanation, referred to as “second operation”) may be used.
When the first work is performed, the first robot control device 30 is configured such that, for example, when a predetermined work process is performed, the first finger portion F1 is located between the first lid L1 and the first box K1 (first It is determined that it is located in one space U1).
When the second work is performed, the first robot control device 30 determines that the first finger portion F1 is connected to the first lid L1 and the first box K1 based on, for example, the work situation detected by an arbitrary sensor. It is determined whether it is located between. For example, a camera may be used as the sensor. In this case, the first robot control device 30 uses the first finger F1 as the first lid L1 and the first lid based on the image captured by the camera. It is determined whether or not it is located between the box K1.

(Explanation of third operation)
FIG. 9 is a diagram (side view) illustrating an example of a third operation that the first robot control device 30 performs by controlling the first robot 20. FIG. 9 shows the same first robot coordinate system RC1 as shown in FIG.
The first robot control device 30 controls the first robot 20 to move the first arm A1 in the opposite second direction Q2 along the first direction Q1 after the second operation, and The first palm H1 is moved in the first direction Q1.
Here, the second direction Q2 is an outer direction between the first lid L1 and the first box K1 with respect to the first lid L1. The outside between the first lid L1 and the first box K1 is a space outside the first space U1 (a space that is not the first space U1).
In the example of FIG. 9, the direction from the side surface of the first lid L1 where the first protrusion P1 is provided toward the side surface where the surface of the first palm portion H1 which is the opposite side surface is in contact is the second direction. It is parallel to the direction Q2.

When the first robot control device 30 controls the first robot 20 to perform the third operation, the first robot H 30 moves the first palm H1 with respect to the first arm A1 in a direction opposite to the second direction Q2 ( Move in the first direction Q1).
In the example of FIG. 9, the direction opposite to the first direction Q1 is the second direction Q2. The direction in which the first palm H1 pushes the first lid L1 is the first direction Q1.

In the third operation, the first robot control device 30 controls the first robot 20 and uses the output value of the first force detection unit J1 provided between the first arm A1 and the first palm H1. Then, the third operation is performed.
That is, the first robot control device 30 performs impedance control in which a predetermined force is continuously applied in the third operation.
In the third operation, the first finger F1 is moved so as to be pulled out from the first space U1. In the example of FIG. 9, the third finger G3 and the fourth finger G4 are moved so as to be pulled out from the first space U1.

(Explanation of fourth operation)
FIG. 10 is a diagram (perspective view) illustrating an example of a fourth operation that the first robot control device 30 performs by controlling the first robot 20. FIG. 10 shows the same first robot coordinate system RC1 as shown in FIG.
The first robot controller 30 controls the first robot 20 to move the first finger portion F1 in the second direction Q2 to the outside between the first lid L1 and the first box K1 after the third operation. Then, the fourth operation of moving the first lid L1 to a predetermined position is performed.
In the example of FIG. 10, the third finger G3 and the fourth finger G4 are moved out of the first space U1.
Further, from the state shown in FIG. 9, the first lid L1 is moved in the third direction Q3, which is the direction of reducing the volume of the first space U1, so that the first lid L1 is moved to the first box K1. It is moved to a predetermined position installed in combination.
In this example, when performing the fourth operation, the first robot control device 30 performs the third operation to a position where the first finger portion F1 does not contact the trajectory of the movement of the first lid L1.

As an example, in the fourth operation, the first robot control device 30 controls the first robot 20 to move the first arm A1 or the first palm H1 to move the first palm H1 to the first. The first lid L1 is dropped away from the lid L1. That is, before the first lid L1 is moved to a predetermined position of the first box K1 between the state shown in FIG. 9 and the state shown in FIG. The part H1 is released, whereby the first lid L1 falls due to gravity, and the first lid L1 is installed at a predetermined position of the first box K1.
As an example of installation, the direction in which gravity acts and the direction from the first lid L1 to the first box K1 after assembly coincide with each other, and among the first lid L1 and the first box K1, the first box K1 The first lid L1 is placed on the working direction side and is assembled in a desired state (predetermined position) to be taken with respect to the first box K1.
In addition, after the first lid L1 falls due to gravity in this way, the first robot control device 30 controls the first robot 20 so that the first lid L1 is gravity-induced by a part of the first end effector E1. By pushing toward the working direction, the first lid L1 and the first box K1 may be reliably incorporated.

  As another example, in the fourth operation, the first robot control device 30 controls the first robot 20 to move the first arm A1 or the first palm H1 and apply the first lid L1 to the first lid L1. The first lid L1 is moved to a predetermined position while keeping the first palm H1 in contact. That is, from the state shown in FIG. 9 to the state shown in FIG. 10, the first lid L1 is moved in a state where the first palm portion H1 is in contact with the first lid L1, whereby the first lid L1 is moved. L1 is installed at a predetermined position of the first box K1.

FIG. 11 is a diagram illustrating an example of a processing procedure in which the first robot control device 30 controls the first robot 20.
(Step S1)
The first robot control device 30 controls the first robot 20 to bring the first finger portion F1 into contact with the first lid L1, grips the first lid L1 with the first finger portion F1, and the first lid L1. Is moved closer to a predetermined position. And it transfers to the process of (step S2).

(Step S2)
The first robot control device 30 determines whether or not the first finger part F1 is located between the first lid L1 and the first box K1.
As a result of the determination, if the first robot control device 30 determines that the first finger F1 is located between the first lid L1 and the first box K1 (step S2: YES), (step S3) )
On the other hand, as a result of this determination, if the first robot control device 30 determines that the first finger portion F1 is not located between the first lid L1 and the first box K1 (step S2: NO), The process proceeds to step S6).

(Step S3)
The first robot control device 30 controls the first robot 20 to move the first palm portion H1 in the first direction Q1 so as to contact the first lid L1. Then, the process proceeds to (Step S4).

(Step S4)
The first robot control device 30 controls the first robot 20 to move the first arm A1 in the second direction Q2 with respect to the first lid L1.
At this time, the first robot control device 30 controls the first robot 20 so that the first palm portion H1 is in the direction opposite to the second direction Q2 with respect to the first arm A1. Move to. Then, the process proceeds to (Step S5).

  At this time, the first force detection unit J1 provided on the wrist of the first arm A1 of the first robot 20 detects the pressing force applied to the wrist. The first robot controller 30 controls the first robot 20 to control the operation of the first arm A1 so that the force detected by the first force detector J1 is constant.

(Step S5)
The first robot control device 30 controls the first robot 20 to move the first finger part F1 in the second direction Q2 so that the first finger part F1 comes out of the first space U1, and then One lid L1 is moved to a predetermined position. Then, this process ends.

(Step S6)
The first robot control device 30 controls the first robot 20 to move the first lid L1 to a predetermined position. Then, this process ends.

Here, in the example of this flow, in the process of (Step S5), the first robot control device 30 controls the first robot 20 to perform the entire portion other than the first palm part H1 of the first end effector E1. The first finger A1 is moved outside the first space U1 between the first lid L1 and the first box K1 by moving the first arm A1 without moving or at least without moving the first finger F1. May be put out.
As another example, the first robot control device 30 controls the first robot 20 to move the first arm A1 without moving the first arm A1, and the entire portion other than the first palm H1 of the first end effector E1 or at least the first The finger part F1 may be moved to bring the first finger part F1 out of the first space U1 between the first lid L1 and the first box K1.
As another example, the first robot control device 30 controls the first robot 20 to move the entire portion other than the first palm H1 of the first end effector E1 or at least the first finger F1, and By moving one arm A1, the first finger portion F1 may be moved outside the first space U1 between the first lid L1 and the first box K1.

<Description of force control>
The force control will be described by taking the first arm A1 as an example. The same applies to the second arm A2.
The first force detector J1 is provided between the first end effector E1 and the first manipulator M1. The first force detection unit J1 includes, for example, four force detection elements including crystal. And the 1st force detection part J1 detects the external force which acted on the hand of the 1st robot 20 based on the shear force added to each of four quartz.

Here, the hand of the first robot 20 is the first end effector E1. The first force detector J1 detects an external force that has acted on the first end effector E1 or an object gripped by the first end effector E1. At this time, as another way of grasping, the object held by the first end effector E1 may be regarded as the hand of the first robot 20.
The external force includes a translational force that translates the hand. The translational force includes three translational forces that act in the directions of three mutually orthogonal axes in the force detection coordinate system. Here, the force detection coordinate system is a three-dimensional orthogonal coordinate system associated with the first force detection unit J1. The external force includes a rotational moment (torque) that rotates the hand. The rotational moment includes three rotational moments acting around each of the three axes in the force detection coordinate system. That is, the first force detection unit J1 detects each of the three translational forces and the three rotational moments as the external force. The first force detection unit J1 includes information indicating each of six output values including an output value corresponding to each of the detected three translational forces and an output value corresponding to each of the detected three rotational moments. The information is output to the first robot controller 30 as external force detection information. That is, some or all of the six output values are examples of output values output from the first force detection unit J1.

  The external force detection information is used for force control of the first robot 20 by the first robot control device 30. Force control is control based on the output value output from the first force detection unit J1, that is, control based on external force detection information output from the first force detection unit J1 to the first robot control device 30. For example, compliant motion control such as impedance control.

The first force detection unit J1 may have a configuration including three or less force detection elements including a crystal, or may be configured to include five or more force detection elements including a crystal. Further, the first force detection unit J1 may be configured to include a force detection element that does not include a crystal, instead of a part or all of the four force detection elements including the crystal. Moreover, the 1st force detection part J1 may be the structure provided with the force detection element which does not contain a crystal | crystallization in addition to a part or all of the four force detection elements containing a crystal | crystallization.
As described above, the first force detection unit J1 uses a quartz crystal with good accuracy, but other configurations may be used.

  Further, the first robot control device 30 acquires external force detection information from the first force detection unit J1, and operates the first arm A1 by force control based on the acquired external force detection information and an operation program. In the force control, the first robot control device 30 operates the first arm A1, and one or more output values specified by the operation program among the six output values indicated by the external force detection information are determined by the operation program. The position and orientation of a predetermined control point are changed so that the specified target value is obtained. At this time, the first robot control device 30 changes the position and orientation of the control point when the position and orientation of the control point are changed so that the one or more output values match the target value. The minute is calculated by solving the equation of motion according to the force control. For example, when impedance control is used as force control, the equation of motion is an equation of motion according to impedance control. In addition, since the equation of motion according to the force control is publicly known, detailed description is omitted.

In the present embodiment, in the example of FIG. 9, the first robot control device 30 uses a force detection coordinate system among the six output values indicated by the external force detection information output from the first force detection unit J1 based on the operation program. The force control is performed with reference to an output value corresponding to the translational force acting in a predetermined direction. The predetermined direction is a direction in which the first palm L1 pushes the side surface of the first lid L1.
By such force control, the first robot control device 30 moves the entire first arm A1 including the first end effector E1 in the second direction Q2.
In the present embodiment, generally, force control for continuously applying a predetermined force is performed.

<Modification>
FIG. 12 is a diagram illustrating the second lid L2 and the second box K1 that constitute the second cartridge R2 according to the modification. For convenience of explanation, in the example of FIG. 12, the second box K1 is shown excluding both side surfaces on the side shown in the figure. Further, the illustration of the first robot 20 and the first robot control device 30 is omitted.
The second lid L2 is an example of a first object, and the second box K2 is an example of a second object.
The second lid L2 has a second hole N2, and the second box K2 has a second protrusion P2. The second hole portion N2 and the second projecting portion P2 can be hooked with each other.
The first robot control device 30 may control the first robot 20 to move the second lid L2 and perform an operation of installing the second lid L2 in the second box K2.
In addition, as a structure of the part of a hook, arbitrary structures may be used, for example, two members should just be hooked together.
In this example, the first robot control device 30 controls the first robot 20 so that the second protrusion P2 of the second box K2 is inserted into the second hole N2 of the second lid L2. Two lids L2 are pressed.

FIG. 13 is a diagram illustrating a first member V1 and a second member V2 according to a modification. In addition, in the example of FIG. 13, illustration is simplified and illustration of the location where the 1st member V1 and the 2nd member V2 are mutually installed is abbreviate | omitted. Further, the illustration of the first robot 20 and the first robot control device 30 is omitted.
The first member V1 is an example of a first object, and the second member V2 is an example of a second object.
The first robot control device 30 may control the first robot 20 to move the first member V1 and perform the operation of installing the first member V1 on the second member V2.
Here, the first member V1 and the second member V2 have no mechanism for catching, but the first member V1 is in a state where one end of the first member V1 is in contact with one surface of the second member V2. And the second member V2 are large so that the relative positions of the first member V1 and the second member V2 do not shift.
As described above, the first robot control device 30 controls the first robot 20 to press the first member V1 against the second member V2 when the frictional force between the first member V1 and the second member V2 is large. By doing so, it is also possible to assemble two members that do not have a catch portion.

FIG. 14 is a diagram illustrating the first jig W1, the third member V3, and the fourth member V4 according to a modification. In addition, in the example of FIG. 14, illustration is simplified and illustration of the location where the 3rd member V3 and the 4th member V4 are mutually installed is abbreviate | omitted. Note that the first robot 20 and the first robot control device 30 are not shown.
The third member V3 is an example of a first object, and the fourth member V4 is an example of a second object.
The first robot control device 30 may control the first robot 20 to perform the operation of installing the third member V3 on the fourth member V4. In this example, the 1st jig W1 is installed in the 4th member V4 side. Then, one end of the third member V3 is brought into contact with the vicinity of the contact point between the fourth member V4 and the first jig W1. The first palm portion H1 of the first robot 20 is pressed against the other end of the third member V3.
As another example, one end of the third member V3 may be brought into contact with an arbitrary part of the first jig W1.
As described above, one end of the third member V3 is supported by using the first jig W1 other than the assembly part or using both the first jig W1 and the fourth member V4 which is the assembly part. Also good.
The first jig W1 may be an arbitrary one, and for example, a wall or the like may be used instead of the jig.

FIG. 15 is a diagram illustrating a fifth member V5 and a sixth member V6 according to a modification. Note that the first robot 20 and the first robot control device 30 are not shown.
The fifth member V5 is an example of a first object, and the sixth member V6 is an example of a second object. As a specific example, the sixth member V6 has a box shape, the lower surface is open, and the fifth member V5 is a plate-like member that fits into the opening of the box. In this example, the lower side is the side from the ceiling 111 toward the box.
In the example of FIG. 15, the sixth member V <b> 6 is installed on the ceiling 111. And the 5th member V5 is installed in the opposite side to the ceiling 111 of the 6th member V6, ie, the side where gravity goes.
The first robot control device 30 may control the first robot 20 to perform the work of installing the fifth member V5 on the sixth member V6. At this time, the first robot control device 30 controls the first robot 20 to move the finger between the fifth member V5 and the sixth member V6, that is, the upper side on the opposite side to the side on which the gravity is directed. Are moved out of the space between the fifth member V5 and the sixth member V6.
In the example of FIG. 15, the fifth member V5 cannot be installed on the sixth member V6 by moving it by gravity, so the fifth member V5 is supported by the first palm H1 of the first robot 20. In this state, the fifth member V5 is installed on the sixth member V6.
Thus, the sixth member V6, which is an assembly component, may be provided on the ceiling, or assembly other than the direction according to the direction of gravity may be performed. The assembly in this example is an assembly in the direction opposite to the direction of gravity.

FIG. 16 is a diagram illustrating a seventh member V7 and an eighth member V8 according to a modification. Note that the first robot 20 and the first robot control device 30 are not shown.
The seventh member V7 is an example of a first object, and the eighth member V8 is an example of a second object. As a specific example, the eighth member V8 has a box shape, the surface opposite to the wall 121 is open, and the seventh member V7 is a plate-like member that fits in the opening of the box. .
In the example of FIG. 16, the eighth member V <b> 8 is installed on the wall 121. And the 7th member V7 is installed in the opposite side to the wall 121 of the 8th member V8.
The first robot control device 30 may control the first robot 20 to perform the work of installing the seventh member V7 on the eighth member V8. At this time, the first robot control device 30 controls the first robot 20 so that the finger between the seventh member V7 and the eighth member V8 is placed between the seventh member V7 and the eighth member V8. Move outside.
In the example of FIG. 16, since the seventh member V7 cannot be installed on the eighth member V8 by moving it by gravity, the seventh member V7 is supported by the first palm portion H1 of the first robot 20. In this state, the seventh member V7 is installed on the eighth member V8.
As described above, the eighth member V8, which is an assembly component, may be provided on the wall, or an assembly other than the direction of gravity may be performed.

FIG. 17 is a diagram (side view) illustrating another example of the second operation that the first robot control device 30 performs by controlling the first robot 20. FIG. 17 shows the same first robot coordinate system RC1 as shown in FIG.
The example of FIG. 17 is a modification of the example of FIG. 8, and the third finger G3 and the fourth finger G4, which are positioned below the first lid L1, are used to support the first lid L1. 8 is different from the example of FIG. 8 in that the first finger G1 and the second finger G2 located above the first lid L1 are not used to support the first lid L1.

That is, in the example of FIG. 17, the first robot control device 30 controls the first robot 20 to place the third finger G3 and the fourth finger G4 positioned below the first lid L1 with the first lid L1. At this time, the first finger G1 and the second finger G2 positioned above the first lid L1 are not brought into contact with the first lid L1. As described above, in order to support the first lid L1, it is only necessary to support the first lid L1 from the tip in the direction in which the gravity acts so that the first lid L1 does not fall due to gravity. Therefore, any one of the third finger G3 and the fourth finger G4 may be used to support the first lid L1.
In this example, the first robot control device 30 controls the first robot 20 to operate the first robot 20 so as to shift from the state shown in FIG. 17 to the state shown in FIG.

FIG. 18 is a diagram illustrating stacking of the ninth members V9-1 to V9-5 by the dual-arm cooperative control according to the modification.
In the example of FIG. 18, in order to simplify the illustration, a part of the first end effector E 1, the first force detection unit J 1 and the first arm A 1 of the first robot 20, the second end effector E 2, A part of the second force detector J2 and the second arm A2 are shown, and the other parts of the first robot 20 are not shown.

In the example of FIG. 18, five ninth members V9-1 to V9-5 are shown, and four of the ninth members V9-1 to V9-4 are already stacked on the floor 131. It has been placed.
The remaining one ninth member V9-5 is held by the first palm part H1 and the second palm part H2 of the first robot 20. That is, the ninth member V9-5 has a plate shape, and the first palm portion H1 is in contact with the side surface of one end, and the second palm portion H2 is in contact with the side surface of the other end. It has been made. The surface of the first palm part H1 and the surface of the second palm part H2 are substantially parallel to each other, and the plate-like both surfaces of the ninth member V9-5 are substantially perpendicular to this parallel surface. ing.
In this example, the first robot control device 30 controls the first robot 20 to press the first palm H1 toward the second palm H2, and similarly, the second palm H2 is pushed to the first palm H2. By pressing toward the portion H1, the ninth member V9-5 sandwiched between the first palm portion H1 and the second palm portion H2 is held.

  In the example of FIG. 18, the first robot control device 30 controls the first robot 20 so as to be between the first palm H1 of the first end effector E1 and the second palm H2 of the second end effector E2. Move the ninth members V9-1 to V9-5 across the ninth members V9-1 to V9-5, or place the ninth members V9-1 to V9-5. ,I do.

In the example of FIG. 18, first, the first robot control device 30 controls the first robot 20 to hold the first ninth member V9-1 and place it on the floor 131. In this case, the ninth member V9-1 is an example of a first object, and the floor 131 is an example of a second object. In this example, the floor 131 is a plate-like object and has a surface parallel to the horizontal direction. Next, the first robot control device 30 controls the first robot 20 to provide a second ninth member. V9-2 was held and placed on the first ninth member V9-1. In this case, the ninth member V9-2 is an example of a first object, and the ninth member V9-1 is an example of a second object.
Similarly, the first robot control device 30 controls the first robot 20 to hold the third and subsequent ninth members V9-3 to 9-5, and the ninth members V9-1 to V9. By stacking −5, a plurality of ninth members V9-1 to 9-5 are placed so as to be stacked.

Thus, the 1st robot control apparatus 30 controls the 1st robot 20, and operates both the arms which are 1st arm A1 and 2nd arm A2 cooperatively, and is common by both arms. You may work on the object.
As in this example, when the object is held horizontally by the double-arm robot, the two ninth members V9 stacked between the floor 131 and the ninth member V9-1 or adjacent to each other. Between -1 to V9-5 corresponds to a space that is a line of sight from the object toward the floor 131 and cannot be viewed as a shadow of the object when viewed in plan.

Here, in this example, the first robot control device 30 controls the first robot 20 so that the first robot H1 of the first arm A1 and the second palm H2 of the second arm A2 While holding the 9 members V9-1 to 9-5, the ninth members V9-1 to 9-5 are moved to a predetermined position and placed.
As another example, the first robot control device 30 controls the first robot 20 to move the ninth member between the first palm H1 of the first arm A1 and the second palm H2 of the second arm A2. The first palm portion H1 and the second palm portion H2 may be simultaneously separated from the ninth member V9-1 to 9-5 from the state where the V9-1 to 9-5 are gripped. In this case, the ninth members V9-1 to 9-5 are not held simultaneously by the first palm part H1 and the second palm part H2, and are dropped and placed, for example, by gravity.
As an example, the direction in which gravity is directed and the direction in which the ninth members V9-1 to 9-5 are gradually stacked are opposite directions, and the ninth member V9- 1-9-5 are placed.

FIG. 19 is a view showing a third end effector E3 according to a modification.
The third end effector E3 includes a third base D3, a third finger part F3, and a third palm part H3. The third finger part F3 includes a ninth finger G9, a tenth finger G10, an eleventh finger G11, and a twelfth finger G12 as four fingers.
Compared with the first end effector E1 and the second end effector E2, the third end effector E3 has four fingers, a ninth finger G9, a tenth finger G10, an eleventh finger G11, and a twelfth finger G12. The difference is that it can be opened and closed like a finger of a hand. In the third end effector E3, for example, the ninth finger G9, the tenth finger G10, the eleventh finger, which are four fingers, with reference to an axis perpendicular to the surface passing through the center position of the surface of the third palm H3. It is possible to rotate the finger G11 and the twelfth finger G12 in the opening direction and reversely rotate in the closing direction.

  When the third end effector E3 shown in FIG. 19 is used, for example, the first robot control device 30 controls the first robot 20, and the ninth finger G9, the tenth finger G10, the eleventh finger G11, By opening the 12 fingers G12, the fingers between the first lid L1 and the first box K1 may be taken out of the first space U1. At this time, the first robot control device 30 may control the first robot 20 to move the entire portion other than the third palm portion H3 of the third end effector E3, and the first arm A1 is moved. You may move it.

FIG. 20 is a view showing a fourth end effector E4 according to a modification.
The fourth end effector E4 includes a fourth base D4, a fourth finger part F4, and a fourth palm part H4. The fourth finger portion F4 includes a thirteenth finger G13, a fourteenth finger G14, a fifteenth finger G15, and a sixteenth finger G16 as four fingers.
The fourth end effector E4 has four fingers, a thirteenth finger G13, a fourteenth finger G14, a fifteenth finger G15, and a sixteenth finger G16, as compared to the first end effector E1 and the second end effector E2. The difference is that it has a bendable joint. In the fourth end effector E4, for example, each of the thirteenth finger G13, the fourteenth finger G14, the fifteenth finger G15, and the sixteenth finger G16 that are four fingers can bend and extend the joint portion. Is possible.

  When the fourth end effector E4 shown in FIG. 20 is used, for example, the first robot control device 30 controls the first robot 20 to control the thirteenth finger G13, the fourteenth finger G14, the fifteenth finger G15, For each of the 16 fingers G16, the finger located between the first lid L1 and the first box K1 may be put out of the first space U1 by bending the joint portion. At this time, the first robot control device 30 may control the first robot 20 to move the entire portion other than the fourth palm portion H4 of the fourth end effector E4, and the first arm A1 is moved. You may move it.

  Further, as a modification, an end effector including one finger may be used. In this case, the end effector can hold an object between one finger and a jig or a wall.

Here, in the above, the first end effector E1 to the fourth end effector E4 including the finger part and the palm part are shown. However, as another example, the end including the finger part without including the palm part is used instead. An effector may be used, and in this case, an operation of pushing an object with a finger of a finger instead of a palm may be performed.
As a specific example, an end effector including three fingers may be used so that an object is gripped by two fingers and the object is pushed by the remaining one finger.

FIG. 21 is a diagram illustrating an example of a configuration of the second robot system 2 according to the modification.
FIG. 21 shows the second robot coordinate system RC2 as in FIG.
The second robot system 2 includes a second robot 220, a second information processing device 240, and a second robot control device 230.
The second robot 220 includes a second support base B2 and a third arm A3.
The third arm A3 includes a third manipulator M3, a fifth end effector E5, and a third force detector J3.

As in the example of FIG. 21, the second robot system 2 includes a second robot 220 that is a single-arm robot instead of the first robot 20 that is a dual-arm robot.
As shown in FIG. 21, the second robot 220 is a single-arm robot in which the third arm A3 is supported by the second support base B2. Unlike the first robot 20, the second robot 220 is controlled by a second robot control device 230 installed outside.
The second robot 220 is a single-arm robot including a third arm A3 and a second support base B2 that supports the third arm A3.

The third arm A3 includes a fifth end effector E5, a third manipulator M3, and a third force detector J3.
The fifth end effector E5 is an end effector that holds an object. In the example of FIG. 21, the fifth end effector E5 includes a finger portion, and holds the object by holding the object with the finger portion interposed therebetween.

  The third manipulator M3 includes six joints. Each of the six joints includes an actuator (not shown). That is, the third arm A3 including the third manipulator M3 is a 6-axis vertical articulated arm. The third arm A3 has a degree of freedom of six axes by a coordinated operation by the second support base B2, the fifth end effector E5, the third manipulator M3, and the actuators of each of the six joints included in the third manipulator M3. Perform the action. The third arm A3 may be configured to operate with a degree of freedom of 5 axes or less, or may be configured to operate with a degree of freedom of 7 axes or more.

The third force detection unit J3 is provided between the fifth end effector E5 and the third manipulator M3.
The third force detection unit J3 is, for example, a force sensor. The third force detector J3 detects an external force that has acted on the fifth end effector E5 or an external force that has acted on the object held by the fifth end effector E5. The third force detection unit J3 may be a torque sensor that detects an external force applied to the fifth end effector E5 or an external force applied to an object held by the fifth end effector E5.

  Each functional unit (that is, the fifth end effector E5, the third manipulator M3, and the third force detection unit J3) included in the second robot 220 is connected to the second robot control device 230 through a cable so as to be communicable. . Thereby, each of the functional units performs an operation based on the control signal acquired from the second robot control device 230. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB. In addition, a part or all of the functional units may be connected to the second robot control device 230 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

As described above, in the first robot system 1 according to the present embodiment, the first robot control device 30 controls the first robot 20 to control the first object (in the example of FIGS. 5 to 10, the first lid). L1) is placed or installed (installed in the examples of FIGS. 5 to 10) at a predetermined position of the second object (first box K1 in the examples of FIGS. 5 to 10).
The first robot 20 includes a first movable part (first arm A1 in the example of FIGS. 5 to 10) and a second movable part provided in the first movable part (in the examples of FIGS. 5 to 10, the first arm A1). 1 palm portion H1) and a first protrusion provided in the first movable portion (first finger portion F1 in the examples of FIGS. 5 to 10).
The first robot control device 30 performs a first operation of bringing the first protrusion into contact with the first object and moving the first object until the first protrusion is positioned between the first object and the second object. The second movable portion is moved in the first direction (first direction Q1 in the example of FIG. 8) to perform the second operation of contacting the first object, and after the second operation, the first movable portion is moved. A third operation is performed in which the part is moved in the second direction (second direction Q2 in the example of FIG. 9) opposite to the first direction, and the second movable part is moved in the first direction. Make it.
Therefore, in the first robot system 1 according to the present embodiment, the first robot control device 30 controls the first robot 20 to hold the first object and place the first object on the second object. Or when installing, the said 1st object can be mounted or installed in a predetermined target position.
In the first robot system 1 according to the present embodiment, the posture for assembling the components for incorporation is not limited. For example, the components can be released not only vertically but also in parallel. There is also.

As an example, in the first robot system 1 according to the present embodiment, the first robot control device 30 controls the first robot 20 to move the second movable unit away from the first object after the third operation. The first object is dropped (in this embodiment, an example of the fourth operation).
Therefore, in the first robot system 1 according to the present embodiment, the first object and the second object can be assembled in a short time due to the weight of the first object.

As another example, in the first robot system 1 according to the present embodiment, the first robot control device 30 controls the first robot 20, and after the third operation, the first movable unit or the second movable unit. The first object is moved to a predetermined position by the unit (in this embodiment, another example of the fourth operation).
Therefore, in the first robot system 1 according to the present embodiment, the first object and the second object can be assembled by moving the first object without giving a drop impact to the first object.

Further, in the first robot system 1 according to the present embodiment, the first robot control device 30 controls the first robot 20 to detect a force detection unit (in the example of FIG. 1, the first force detection unit J1, the second The third operation is performed based on the output value of the force detector J2).
Here, the first robot 20 includes a force detection unit that is provided in the first movable unit and detects a reaction force that the second movable unit receives from the first object.
Therefore, in the first robot system 1 according to the present embodiment, the first robot control device 30 controls the first robot 20 to install the components for incorporation into the first finger F1 of the first end effector E1 and the first part. It fixes using 1 palm part H1. And in this state, the 1st robot control apparatus 30 controls the 1st robot 20, and opens the 1st finger part F1 in an open position.
In the first robot system 1 according to the present embodiment, when the first robot control device 30 controls the first robot 20 to push out the first palm part H1, the first arm A1 is impedance-controlled by the reaction force. By following the above, the component can be released from the first end effector E1 without causing the component to interfere with the first finger portion F1 of the first end effector E1. At this time, since the component for incorporation is fixed by the first palm portion H1, the component for incorporation and the first finger portion F1 do not interfere with each other.
Here, normally, the built-in component and the finger part interfere with each other due to its own weight, but in this embodiment, the component and the first finger part even at the position where the built-in component falls due to its own weight when opened. The first end effector E1 can be pulled out without interfering with F1.

  It should be noted that a program for realizing the function of an arbitrary component in an arbitrary device such as the first robot control device 30 or the second robot control device 230 described above is stored in a computer-readable recording medium (storage medium). The program may be recorded (stored), and the program may be read into a computer system and executed. The “computer system” here includes an operating system (OS) or hardware such as peripheral devices. The “computer-readable recording medium” means a portable medium such as a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), a CD (Compact Disc) -ROM, or a hard disk built in a computer system. Refers to the device. Further, the “computer-readable recording medium” means a volatile memory (RAM: Random Access) inside a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. Memory that holds a program for a certain period of time, such as Memory).

In addition, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 ... 1st robot system, 2 ... 2nd robot system, 20 ... 1st robot, 30 ... 1st robot control apparatus, 31 ... 1st processor, 32 ... 1st memory, 33 ... 1st communication part, 40 ... 1st DESCRIPTION OF SYMBOLS 1 Information processing apparatus, 41 ... 2nd processor, 42 ... 2nd memory, 43 ... 2nd communication part, 44 ... 1st input reception part, 45 ... 1st display part, 50 ... 1st control part, 51 ... 1st Program processing unit 52 ... first communication control unit 53 ... first robot control unit 111 ... ceiling 121 ... wall 131 ... floor 220 ... second robot 230 ... second robot controller 240 ... second Information processing apparatus, A1 ... first arm, A2 ... second arm, A3 ... third arm, B1 ... first support base, B2 ... second support base, C1 ... first imaging unit, C2 ... second imaging unit, C3 ... third imaging unit, C4 ... fourth imaging unit, D1 ... 1 base, D2 ... 2nd base, D3 ... 3rd base, D4 ... 4th base, E1 ... 1st end effector, E2 ... 2nd end effector, E3 ... 3rd end effector, E4 ... 4th End effector, E5 ... 5th end effector, F1 ... 1st finger, F2 ... 2nd finger, F3 ... 3rd finger, F4 ... 4th finger, G1 ... 1st finger, G2 ... 2nd finger, G3 ... 3rd finger, G4 ... 4th finger, G5 ... 5th finger, G6 ... 6th finger, G7 ... 7th finger, G8 ... 8th finger, G9 ... 9th finger, G10 ... 10th finger, G11 ... 11th finger, G12 ... 12th finger, G13 ... 13th finger, G14 ... 14th finger, G15 ... 15th finger, G16 ... 16th finger, H1 ... 1st palm part, H2 ... 2nd palm part, H3 ... 3rd palm part, H4 ... 4th palm part, J1 ... 1st force detection part, J2 ... 2nd force detection part, J3 ... 3rd force detection part, L1 ... 1st cover, L2 2nd lid, K1 ... 1st box, K2 ... 2nd box, M1 ... 1st manipulator, M2 ... 2nd manipulator, M3 ... 3rd manipulator, N1 ... 1st hole part, N2 ... 2nd hole part, P1 ... 1st protrusion, P2 ... 2nd protrusion, Q1 ... 1st direction, Q2 ... 2nd direction, Q3 ... 3rd direction, R1 ... 1st cartridge, R2 ... 2nd cartridge, U1 ... 1st space, V1 ... 1st member, V2 ... 2nd member, V3 ... 3rd member, V4 ... 4th member, V5 ... 5th member, V6 ... 6th member, V7 ... 7th member, V8 ... 8th member, V9-1- V9-5 ... 9th member, W1 ... 1st jig, RC1 ... 1st robot coordinate system, RC2 ... 2nd robot coordinate system

Claims (7)

A robot control apparatus for controlling a robot having a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part,
Causing the first protrusion to abut on the first object and causing the first object to move until the first protrusion is positioned between the first object and the second object;
Moving the second movable part in a first direction to perform a second operation of contacting the first object;
After the second operation, a third operation of moving the first movable part in the second direction, which is the opposite direction along the first direction, and moving the second movable part in the first direction. To do,
Robot control device. After the third operation, the second movable part is separated from the first object, and the first object is dropped.
The robot control apparatus according to claim 1. After the third operation, the first object is moved to a predetermined position by the first movable part or the second movable part.
The robot control apparatus according to claim 1. A robot control device for controlling the robot having a force detection unit that is provided in the first movable unit and detects a reaction force received by the second movable unit from the first object;
Causing the third operation to be performed based on an output value of the force detection unit;
The robot control apparatus according to claim 1. A robot having a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part;
Performing the first operation of bringing the first protrusion into contact with the first object and moving the first object until the first protrusion is positioned between the first object and the second object;
Performing a second action of moving the second movable part in a first direction to contact the first object;
After the second operation, a third operation of moving the first movable part in the second direction, which is the opposite direction along the first direction, and moving the second movable part in the first direction. I do,
robot. A robot having a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part;
A robot control device for controlling the robot, comprising:
The robot controller is
Causing the first protrusion to abut on the first object and causing the first object to move until the first protrusion is positioned between the first object and the second object;
Moving the second movable part in a first direction to perform a second operation of contacting the first object;
After the second operation, a third operation of moving the first movable part in the second direction, which is the opposite direction along the first direction, and moving the second movable part in the first direction. To do,
Robot system. A robot control apparatus for controlling a robot having a first movable part, a second movable part provided in the first movable part, and a first protrusion provided in the first movable part,
With a processor,
The processor is based on an operation program,
Causing the first protrusion to abut on the first object and causing the first object to move until the first protrusion is positioned between the first object and the second object;
Moving the second movable part in a first direction to perform a second operation of contacting the first object;
After the second operation, a third operation of moving the first movable part in the second direction, which is the opposite direction along the first direction, and moving the second movable part in the first direction. To do,
Robot control device.

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