JP2014188644A - Risk evaluation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a risk evaluation device by which a user of a robot can perform easily and quickly risk evaluation of the robot which an instruction is given to.SOLUTION: A risk evaluation device of the invention comprises a storage part in which a virtual risk source, a virtual risk event and a risk measure are stored in correspondence with an instruction content to a robot. a selection part which selects corresponding one from each of the virtual risk source, the virtual risk event and the risk measure corresponding to the instruction content of the instruction through instruction giving to the robot. a risk measure information input part which inputs information on the risk measure that is planned to perform in advance, a determination part which determines whether or not the instruction content can avoid the virtual risk on the basis of the information on the risk measure, and a control part. The control part restricts operation of the robot when it is not determined that the instruction content can avoid the virtual risk.

Description

  The present invention relates to a risk evaluation apparatus.

  Conventionally, a robot provided with a robot arm is known. For example, a hand is attached as an end effector to the arm portion on the distal end side of the robot arm. Then, for example, the robot holds a work object with this hand, moves the work object to a target position, and performs a predetermined work such as assembling. Moreover, it is necessary for the user to teach such a robot in order to teach work before using the robot.

By the way, the taught robot contains a predetermined risk, and it is necessary to perform risk assessment (risk assessment).
Risks for ensuring safety in ISO 12100: 2010, robot safety standards ISO 10218-1: 2011, and ISO 10218-2: 2011 in the harmonized standards defined in the European New Machine Directive 2006/42 / EC Implementation of the evaluation is an essential requirement.

Robot manufacturers can conduct risk assessments on the robot itself, such as the robot body and accessories, but it is considered impossible to conduct risk assessments on robots that are taught and perform prescribed tasks. . This is because the scene where the robot is used varies depending on the user, the work content, and the time zone, and the configuration of the robot, the surrounding environment, peripheral devices, and the like change each time.
Therefore, conventionally, an engine called “system integrator” performs risk assessment on the robot after teaching.
Patent Document 1 discloses an apparatus for performing risk evaluation on a robot.

JP 2009-66685 A

However, in the past, there has been a separate organization that conducts risk assessment of robots that have been taught, and the organization conducts risk assessment, and the user performs risk countermeasures based on the results. There is a problem that it takes.
Further, in Patent Document 1, there is a problem that risk assessment is not performed on the teaching content that has been actually taught, only risk assessment is performed on a generally considered risk.
An object of the present invention is to provide a risk evaluation apparatus that allows a robot user to easily and quickly perform risk evaluation of a robot that has been taught.

The object of providing a risk evaluation apparatus in which a robot user can easily and quickly perform risk evaluation of a robot that has been taught is achieved by the following according to the present invention.
(Application example 1)
A risk evaluation apparatus according to the present invention is a risk evaluation apparatus that performs risk evaluation of a robot equipped with a robot arm,
A storage unit that stores virtual danger sources, virtual danger events, and danger countermeasures in association with teaching contents for the robot;
Selection that selects corresponding ones from the virtual danger source, the virtual danger event, and the danger countermeasure stored in the storage unit according to the teaching contents of the teaching by teaching to the robot And
A risk countermeasure information input section for inputting information on risk countermeasures scheduled to be implemented in advance;
A determination unit that determines whether or not the teaching content can avoid a virtual danger based on information on the risk countermeasure input by the danger countermeasure information input unit;
A control unit for controlling the operation of the robot,
The controller limits the operation of the robot when the determination unit does not determine that the teaching content can avoid a virtual danger.
Thereby, the user of the robot can easily and quickly perform risk evaluation of the taught robot in the virtual examination because the risk source, the dangerous event, and the risk countermeasure can be simulated in advance. Further, since the operation of the robot is limited by virtual risk evaluation, danger avoidance can be performed accurately.

(Application example 2)
In the risk evaluation apparatus according to the present invention, it is preferable that the restriction of the operation of the robot is prohibition of the operation of the robot.
Since the robot operation is prohibited by the virtual risk assessment, the robot can be used accurately and safely.

(Application example 3)
In the risk evaluation apparatus according to the present invention, the information related to the risk countermeasure input by the risk countermeasure information input unit may be a degree of virtual danger after the risk countermeasure is performed and a frequency at which the virtual danger occurs. preferable.
In virtual risk countermeasures, risk assessment can be performed more efficiently.

(Application example 4)
In the risk evaluation apparatus according to the present invention, a release signal input unit for inputting a release signal for releasing the restriction of the operation of the robot,
An authentication unit that authenticates an approver who performs the input operation of the release signal by the release signal input unit,
It is preferable that the control unit can release the restriction on the operation of the robot when at least the approver is authenticated by the authentication unit and the release signal is input by the release signal input unit.
As a result, the robot can be used in conjunction with the authority of the user, and virtual risk countermeasures can be accurately taken.

(Application example 5)
In the risk evaluation apparatus according to the present invention, the control unit can release the restriction on the operation of the robot when at least the determination unit determines that the teaching content can avoid a virtual danger. Preferably there is.
As a result, the robot can be reliably and safely operated.

(Application example 6)
In the risk evaluation apparatus according to the present invention, a release signal input unit for inputting a release signal for releasing the restriction of the operation of the robot,
An authentication unit that authenticates an approver who performs the input operation of the release signal by the release signal input unit,
The control unit determines that the approver is authenticated by the authentication unit, the release signal is input by the release signal input unit, and the teaching content can avoid danger by the determination unit. In such a case, it is preferable to release the restriction on the operation of the robot.
As a result, the robot can be reliably and safely operated.

(Application example 7)
In the risk evaluation apparatus according to the present invention, it is preferable that the authentication unit performs the authentication with a password.
Thereby, security can be ensured easily and reliably.
(Application example 8)
In the risk evaluation apparatus according to the present invention, it is preferable that the risk evaluation apparatus includes a notification unit that notifies the virtual danger source, the virtual danger event, and the risk countermeasure selected by the selection unit.
As a result, the user can grasp the virtual danger source, the virtual danger event, and the danger countermeasure, and can easily perform the predetermined danger countermeasure.

(Application example 9)
In the risk evaluation apparatus according to the present invention, it is preferable that the notification unit further notifies a determination result of the determination unit.
Thereby, the user can further grasp the determination result of the determination unit, and can easily determine whether or not it is necessary to take a risk countermeasure.

(Application Example 10)
In the risk evaluation device according to the present invention, it is preferable that the risk evaluation device also serves as a teaching device for teaching the robot.
Thereby, it is possible to teach the robot without preparing a separate teaching device, which is highly convenient.

It is a block perspective view showing an embodiment of a robot system including a risk evaluation device of the present invention. It is the perspective view which looked at the robot main body of the robot system shown in FIG. 1 from the front side. It is the perspective view which looked at the robot main body of the robot system shown in FIG. 1 from the back side. It is the schematic of the robot main body of the robot system shown in FIG. It is a block diagram of the principal part of the robot main body and robot control apparatus of the robot system shown in FIG. It is a block diagram of the principal part of the risk evaluation apparatus shown in FIG. It is a figure for demonstrating operation | movement of the risk evaluation apparatus shown in FIG. It is a figure which shows the display of the display part of the risk evaluation apparatus shown in FIG. It is a figure which shows the display of the display part of the risk evaluation apparatus shown in FIG. It is a figure which shows the display of the display part of the risk evaluation apparatus shown in FIG. It is a figure which shows the display of the display part of the risk evaluation apparatus shown in FIG.

Hereinafter, the risk evaluation apparatus of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
<First Embodiment>
FIG. 1 is a block perspective view showing an embodiment of a robot system including a risk evaluation apparatus of the present invention. FIG. 2 is a perspective view of the robot body of the robot system shown in FIG. 1 as seen from the front side. FIG. 3 is a perspective view of the robot body of the robot system shown in FIG. 1 as seen from the back side. FIG. 4 is a schematic view of the robot body of the robot system shown in FIG. FIG. 5 is a block diagram of the main part of the robot main body and the robot control device of the robot system shown in FIG. FIG. 6 is a block diagram of a main part of the risk evaluation apparatus shown in FIG. FIG. 7 is a diagram for explaining the operation of the risk evaluation apparatus shown in FIG. 8 to 11 are diagrams each showing a display on the display unit of the risk evaluation apparatus shown in FIG. 1.

In the following, for convenience of explanation, the upper side in FIGS. 2 to 4 and 8 to 11 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. Moreover, the base side in FIGS. 2-4 is called "base end", and the opposite side is called "tip".
As shown in FIG. 1, a robot system (industrial robot system) 100 can be used in a manufacturing process for manufacturing precision equipment such as a wristwatch, and controls the robot body 10 and the operation of the robot body 10. The robot control device 20 and the risk evaluation device 1 are included. The robot body 10 and the robot control device 20 are electrically connected, and the risk evaluation device 1 and the robot control device 20 are electrically connected. The robot control device 20 can be configured by, for example, a personal computer (PC) with a built-in CPU (Central Processing Unit), a storage device, or the like. The robot body 10 and the robot control device 20 constitute a robot. However, the robot body 10 and the robot control device 20 may be integrated or separate.

First, the robot body 10 will be described.
As shown in FIGS. 2 to 4, the robot body 10 includes a base 11, four arm portions (links) 12, 13, 14, 15, a list (link) 16, six drive sources 401, A robot arm 31 having 402, 403, 404, 405, and 406 is provided. This robot body 10 is a vertical articulated (6-axis) robot body in which a base 11, arms 12, 13, 14, 15 and a wrist 16 are connected in this order from the base end side to the tip end side. It is. In the vertical articulated robot, the base 11, the arms 12 to 15, and the list 16 can be collectively referred to as an “arm”. “Second Arm”, Arm 14 can be divided into “Third Arm”, Arm 15 can be divided into “Fourth Arm”, and List 16 can be divided into “Fifth Arm and Sixth Arm”. . An end effector or the like can be attached to the wrist 16.

  The arm portions 12 to 15 and the wrist 16 are supported so as to be independently displaceable with respect to the base 11. The lengths of the arm portions 12 to 15 and the list 16 are not particularly limited, but in the illustrated configuration, the length of the arm portions 12 to 14 is set longer than the other arm portions 15 and the list 16. Yes. For example, the length of the third arm portion 14 may be shorter than the lengths of the first arm portion 12 and the second arm portion 13.

  The base 11 and the first arm 12 are connected via a joint 171. The first arm portion 12 is rotatable about the first rotation axis O1 with respect to the base 11 with the first rotation axis O1 parallel to the vertical direction as the center of rotation. The first rotation axis O <b> 1 coincides with the normal line of the upper surface of the floor 101 that is the installation surface of the base 11. The rotation about the first rotation axis O <b> 1 is performed by driving the first drive source 401. The first drive source 401 is driven by a motor 401M and a cable (not shown), and the motor 401M is controlled by the robot control device 20 via an electrically connected motor driver 301. The first drive source 401 may receive drive from the motor 401M by a speed reducer (not shown) provided together with the motor 401M, and the speed reducer may be omitted.

  The first arm portion 12 and the second arm portion 13 are connected via a joint (joint) 172. The second arm portion 13 is rotatable with respect to the first arm portion 12 about a second rotation axis O2 parallel to the horizontal direction. The second rotation axis O2 is orthogonal to the first rotation axis O1. The rotation around the second rotation axis O <b> 2 is performed by driving the second drive source 402. The second drive source 402 is driven by a motor 402M and a cable (not shown), and the motor 402M is controlled by the robot control device 20 via an electrically connected motor driver 302. The second drive source 402 may receive drive from the motor 402M by a speed reducer (not shown) provided in addition to the motor 402M, and the speed reducer may be omitted. The second rotation axis O2 may be parallel to an axis orthogonal to the first rotation axis O1.

  The second arm portion 13 and the third arm portion 14 are connected via a joint (joint) 173. The third arm portion 14 is rotatable about a third rotation axis O3 with a rotation axis O3 parallel to the horizontal direction as a center of rotation with respect to the second arm portion 13. The third rotation axis O3 is parallel to the second rotation axis O2. The rotation about the third rotation axis O <b> 3 is performed by driving the third drive source 403. The third drive source 403 is driven by a motor 403M and a cable (not shown), and the motor 403M is controlled by the robot control device 20 via an electrically connected motor driver 303. The third drive source 403 may be provided with a speed reducer (not shown) in addition to the motor 403M to transmit the drive from the motor 403M, or the speed reducer may be omitted.

  The third arm portion 14 and the fourth arm portion 15 are connected via a joint (joint) 174. And the 4th arm part 15 makes the rotation center the 4th rotating shaft O4 with the 4th rotating shaft O4 parallel to the center axis direction of the 3rd arm part 14 with respect to the 3rd arm part 14 (base 11). It can turn freely. The fourth rotation axis O4 is orthogonal to the third rotation axis O3. The rotation about the fourth rotation axis O4 is performed by driving the fourth drive source 404. The fourth drive source 404 is driven by a motor 404M and a cable (not shown), and the motor 404M is controlled by the robot control device 20 via an electrically connected motor driver 304. The fourth drive source 404 may receive drive from the motor 404M by a speed reducer (not shown) provided together with the motor 404M, and the speed reducer may be omitted. The fourth rotation axis O4 may be parallel to an axis orthogonal to the third rotation axis O3.

  The fourth arm portion 15 and the wrist 16 are connected via a joint (joint) 175. The wrist 16 has a fifth rotation axis O5 parallel to the horizontal direction (y-axis direction) with respect to the fourth arm portion 15 as a center of rotation, and is rotatable about the fifth rotation axis O5. The fifth rotation axis O5 is orthogonal to the fourth rotation axis O4. The rotation about the fifth rotation axis O5 is performed by driving the fifth drive source 405. The fifth drive source 405 is driven by a motor 405M and a cable (not shown), and the motor 405M is controlled by the robot control device 20 via an electrically connected motor driver 305. The fifth drive source 405 may receive drive from the motor 405M by a speed reducer (not shown) provided together with the motor 405M, and the speed reducer may be omitted. Further, the wrist 16 is rotatable about a sixth rotation axis O6 with a sixth rotation axis O6 perpendicular to the fifth rotation axis O5 as a rotation center via a joint (joint) 176. The rotation axis O6 is orthogonal to the rotation axis O5. The rotation about the sixth rotation axis O6 is performed by driving the sixth drive source 406. The driving of the sixth drive source 406 is driven by a motor 406M and a cable (not shown), and the motor 406M is controlled by the robot controller 20 via an electrically connected motor driver 306. The sixth drive source 406 may be provided with a speed reducer (not shown) in addition to the motor 406M to transmit the drive from the motor 406M, or the speed reducer may be omitted. The fifth rotation axis O5 may be parallel to the axis orthogonal to the fourth rotation axis O4, and the sixth rotation axis O6 may be parallel to the axis orthogonal to the fifth rotation axis O5. Good.

The driving sources 401 to 406 include a first angle sensor 411, a second angle sensor 412, a third angle sensor 413, a fourth angle sensor 414, a fifth angle sensor 415, and a sixth angle sensor. 416 is provided. An encoder, a rotary encoder, etc. can be used as these angle sensors. These angle sensors 411 to 416 detect the rotation angles of the rotation shafts of the motors of the drive sources 401 to 406 or the reduction gears, respectively. The motors of the drive sources 401 to 406 are not particularly limited, and for example, a servo motor such as an AC servo motor or a DC servo motor is preferably used. Each cable may be inserted through the robot body 10.
The robot body 10 is electrically connected to the robot control device 20. That is, the drive sources 401 to 406 and the angle sensors 411 to 416 are electrically connected to the robot control device 20, respectively.

  And the robot control apparatus 20 can operate the arm parts 12-15 and the list | wrist 16 each independently, ie, controls the drive sources 401-406 independently via the motor drivers 301-306, respectively. be able to. In this case, the robot control device 20 performs detection using the angle sensors 411 to 416, and controls driving of the drive sources 401 to 406, for example, angular acceleration, angular velocity, rotation angle, and the like based on the detection results. This control program is stored in advance in a recording medium built in the robot controller 20.

  As shown in FIGS. 2 and 3, when the robot body 10 is a vertical articulated robot body, the base 11 is located at the lowest position of the vertical articulated robot and fixed to the floor 101 of the installation space. It is. The fixing method is not particularly limited. For example, in the present embodiment shown in FIGS. 1 and 2, a fixing method using a plurality of bolts 111 is used. In addition, as a fixed location in the installation space of the base 11, it can also be set as the wall and ceiling of an installation space other than a floor.

The base 11 has a hollow base body (housing) 112. The base body 112 can be divided into a cylindrical portion 113 having a cylindrical shape and a box-shaped portion 114 having a box shape formed integrally with the outer peripheral portion of the cylindrical portion 113. In such a base body 112, for example, a motor 401M and motor drivers 301 to 306 are accommodated.
Each of the arm portions 12 to 15 has a hollow arm portion main body 2, a drive mechanism 3, and a sealing means 4. In the following, for convenience of explanation, the arm body 2, the drive mechanism 3, and the sealing unit 4 included in the first arm unit 12 are referred to as “arm body 2 a”, “drive mechanism 3 a”, and “sealing unit 4 a, respectively. The arm body 2, the drive mechanism 3, and the sealing means 4 included in the second arm 13 are referred to as “arm body 2 b”, “drive mechanism 3 b”, and “sealing means 4 b”, respectively. The arm part body 2, the drive mechanism 3, and the sealing means 4 that the arm part 14 has are referred to as “arm part body 2 c”, “drive mechanism 3 c”, and “sealing means 4 c”, respectively, and the arm that the fourth arm part 15 has. The part body 2, the drive mechanism 3, and the sealing means 4 may be referred to as “arm part body 2d”, “drive mechanism 3d”, and “sealing means 4d”, respectively.

  Each of the joints 171 to 176 has a rotation support mechanism (not shown). This rotation support mechanism is a mechanism that supports one of two arms connected to each other so as to be rotatable with respect to the other, and one of the base 11 and the first arm 12 connected to each other. It is a mechanism that supports the other in a rotatable manner, and a mechanism that supports one of the fourth arm portion 15 and the fifth list 16 that are connected to each other so as to be rotatable with respect to the other. When the fourth arm 15 and the wrist 16 connected to each other are taken as an example, the rotation support mechanism can rotate the wrist 16 with respect to the fourth arm 15. Each rotation support mechanism decelerates the rotation speed of the corresponding motor by a predetermined reduction ratio, and transmits the driving force to the corresponding arm portion, the wrist body 161 of the wrist 16, and the support ring 162. (Not shown).

The first arm portion 12 is connected to the upper end portion (tip portion) of the base 11 in a posture inclined with respect to the horizontal direction. In the first arm portion 12, the drive mechanism 3a has a motor 402M and is housed in the arm portion main body 2a. Moreover, the inside of the arm part main body 2a is hermetically sealed by the sealing means 4a.
The second arm portion 13 is connected to the distal end portion of the first arm portion 12. In the second arm portion 13, the drive mechanism 3b has a motor 403M and is housed in the arm portion main body 2b. The inside of the arm part main body 2a is hermetically sealed by the sealing means 4b.
The third arm portion 14 is connected to the distal end portion of the second arm portion 13. In the third arm portion 14, the drive mechanism 3c has a motor 404M and is housed in the arm portion main body 2c. The inside of the arm part main body 2c is hermetically sealed by the sealing means 4c.

The fourth arm portion 15 is connected to the distal end portion of the third arm portion 14 in parallel with the central axis direction. In this arm portion 15, the drive mechanism 3d has motors 405M and 406M and is housed in the arm portion main body 2d. Further, the inside of the arm main body 2d is hermetically sealed by the sealing means 4d.
A wrist 16 is connected to the tip of the fourth arm 15 (the end opposite to the base 11). The wrist 16 of the robot arm 31 has a hand (manipulator) (not shown) that holds a precision device such as a wristwatch as an end effector at its tip (the end opposite to the fourth arm 15). ) Is detachably mounted. In addition, it does not specifically limit as a manipulator, For example, the thing of the structure which has a several finger part (finger) is mentioned. For example, when the manipulator is mounted, the robot body 10 conveys the precision device by controlling the operations of the arms 12 to 15 and the wrist 16 while holding the precision device with the manipulator. Can do.

The wrist 16 is constituted by a wrist body (sixth arm) 161 having a cylindrical shape and a wrist body 161 separately from the wrist body 161. The wrist 16 is provided at the base end of the wrist body 161 and has a ring-shaped support ring (fifth ring). Arm portion) 162.
The front end surface 163 of the wrist body 161 is a flat surface and is a mounting surface on which a manipulator or the like is mounted. The wrist main body 161 is connected to the drive mechanism 3d of the fourth arm portion 15 via the joint 176, and rotates around the rotation axis O6 by driving the motor 406M of the drive mechanism 3d.
The support ring 162 is connected to the drive mechanism 3d of the fourth arm portion 15 via the joint 175, and rotates around the rotation axis O5 together with the wrist body 161 by the drive of the motor 405M of the drive mechanism 3d.

Next, the robot controller 20 will be described with reference to FIGS.
The robot controller 20 includes the entire robot body 10, that is, a first drive source 401, a second drive source 402, a third drive source 403, a fourth drive source 404, a fifth drive source 405, a sixth drive source 406, a list. 16 is a device that controls the operation of a drive source (not shown) and the like of the manipulator, which are mounted on 16.

  As shown in FIGS. 2, 3, and 5, the robot controller 20 includes a first drive source control unit 201 that controls the operation of the first drive source 401 and a second drive unit that controls the operation of the second drive source 402. The drive source control unit 202, the third drive source control unit 203 that controls the operation of the third drive source 403, the fourth drive source control unit 204 that controls the operation of the fourth drive source 404, and the fifth drive source 405. A fifth drive source control unit 205 that controls the operation of the sixth drive source 406 and a sixth drive source control unit 206 that controls the operation of the sixth drive source 406.

  Here, the robot control device 20 obtains the target position of the list 16 and the target position of the manipulator attached to the list 16 based on the contents of the processing performed by the robot body 10, and moves the list 16 to the target position. Generate a trajectory. Then, the robot controller 20 measures the rotation angle of each of the drive sources 401 to 406 for each predetermined control period so that the list 16 moves along the generated trajectory, and calculates based on the measurement result. The values are output to the drive source control units 201 to 206 as the position commands Pc of the drive sources 401 to 406, respectively. In the above and the following, “value is input and output” and the like are described, which means “a signal corresponding to the value is input and output”.

  In addition to the position command Pc of the first drive source 401, a detection signal is input from the first angle sensor 411 to the first drive source control unit 201. In the first drive source control unit 201, the rotation angle (position feedback value Pfb) of the first drive source 401 calculated from the detection signal of the first angle sensor 411 becomes a position command Pc, and an angular velocity feedback value ωfb described later. The first drive source 401 is driven by feedback control using each detection signal so that becomes an angular velocity command ωc described later.

  That is, a position command Pc is input to a first subtracter (not shown) of the first drive source control unit 201, and a position feedback value Pfb described later is input. In the first drive source control unit 201, the number of pulses input from the first angle sensor 411 is counted, and the rotation angle of the first drive source 401 corresponding to the count value is used as the position feedback value Pfb. Is output. The first subtracter outputs a deviation between the position command Pc and the position feedback value Pfb (a value obtained by subtracting the position feedback value Pfb from the target value of the rotation angle of the first drive source 401).

  In addition, the first drive source control unit 201 performs a predetermined calculation process using the deviation input from the first subtracter and a proportional gain that is a predetermined coefficient, etc. The target value of the angular velocity of one drive source 401 is calculated. And the signal which shows the target value (command value) of the angular velocity of the 1st drive source 401 is output to a 2nd subtracter (not shown) as angular velocity command (1st angular velocity command) (omega) c. Here, in this embodiment, proportional control (P control) is performed as feedback control, but the present invention is not limited to this.

The first drive source control unit 201 calculates the angular velocity of the first drive source 401 based on the frequency of the pulse signal input from the first angle sensor 411, and the angular velocity is subjected to the second subtraction as the angular velocity feedback value ωfb. Is output to the instrument.
The second subtracter receives an angular velocity command ωc and an angular velocity feedback value ωfb. The second subtracter outputs a deviation between the angular velocity command ωc and the angular velocity feedback value ωfb (a value obtained by subtracting the angular velocity feedback value ωfb from the target value of the angular velocity of the first drive source 401).

  Further, the first drive source control unit 201 uses a deviation input from the second subtractor and a predetermined coefficient, such as a proportional gain and an integral gain, to perform predetermined calculation processing including integration, A target value of angular acceleration (torque) of the first drive source 401 corresponding to the deviation is calculated. Then, the first drive source control unit 201 generates a signal indicating the target value (command value) of the angular acceleration of the first drive source 401 as an angular acceleration command (torque command). Here, in this embodiment, PI control is performed as feedback control, but the present invention is not limited to this.

The first drive source control unit 201 generates a drive signal (drive current) for the first drive source 401 based on the angular acceleration command, and supplies it to the motor 401M via the motor driver 301.
In this way, the angular acceleration, that is, the torque of the first drive source 401 becomes as equal as possible to the target value, and the position feedback value Pfb becomes as equal as possible to the position command Pc, and the angular velocity feedback. Feedback control is performed so that the value ωfb is as equal as possible to the angular velocity command ωc, and the drive current of the first drive source 401 is controlled.
Note that the second drive source control unit 202 to the sixth drive source control unit 206 are the same as the first drive source control unit 201, respectively, and thus description thereof is omitted.

Next, the risk evaluation apparatus 1 will be described with reference to FIGS.
The risk evaluation apparatus 1 is an apparatus that performs risk evaluation on the robot body 10, accessories, peripheral devices, environment, and the like, and teaches the robot body 10.
As shown in FIG. 6, the risk evaluation device 1 includes a control unit 41 that controls the operation of the robot body 10 (robot) and the entire risk evaluation device 1, a storage unit 42, a selection unit 43, and a display unit (notification unit). ) 44, an operation unit 45, an authentication unit 46, and a determination unit 47 that determines whether or not the teaching content can avoid the virtual danger based on the input information on the risk countermeasure. Yes. The control unit 41 includes a scenario editor, a scenario player, and the like, and creates a teaching program at the time of teaching or executes the teaching program when the robot body 10 performs work.

The operation unit 45 inputs each information and performs each operation, and can be configured by, for example, a keyboard or a mouse. The operation unit has functions of a virtual danger information input unit and a release signal input unit.
The storage unit 42 includes a storage medium that stores various types of information, data, arithmetic expressions, tables, programs, and the like. This storage medium includes, for example, volatile memory such as RAM, nonvolatile memory such as ROM, rewritable (erasable and rewritable) nonvolatile memory such as EPROM, EEPROM, and flash memory, various semiconductor memories, IC memories, It is composed of a magnetic recording medium, an optical recording medium, a magneto-optical recording medium, or the like. Control such as writing (storage), rewriting, erasing, and reading in the storage unit 42 is performed by the control unit 41.

The storage unit 42 stores virtual danger sources, virtual danger events, and risk countermeasures in association with teaching contents, peripheral devices, and environment information for the robot body 10.
Examples of the teaching contents include work contents, usable manipulators (for example, hands), work target parts (work), assembly parts, unit work instructions, and the like.
As a database of virtual hazard sources and virtual hazard events, for example, ISO 12100: 2010, robot safety standard ISO 10218-1: 2011 in the harmonized standards defined in the European New Machine Directive 2006/42 / EC, Examples thereof include those defined in the robot safety standard ISO 10218-2: 2011.

Note that the storage of the virtual danger source, the virtual danger event, and the danger countermeasure may be performed by, for example, a user (operator) or may be changed by the user. It may be.
In addition, the storage unit 42 stores information shown in Tables 1 to 4 described later used for risk evaluation. Note that these are dangerous information that is avoided in the normal operation of the robot, and is reference information of virtual danger sources and virtual danger events that are used in risk evaluation in the usage situation on the user side.

Table 1 shows ranks corresponding to the degree (degree) of danger such as injury or illness (illness). In the present embodiment, the degree of injury or illness is set in five stages of ranks S1 to S5. The higher the rank number, the greater the degree of injury or illness.
Note that the rank is not limited to five levels as long as it is a plurality of levels, and may be, for example, two levels, three levels, four levels, or six levels or more.

Table 2 shows ranks corresponding to the magnitude (frequency) of the possibility of injury, illness, and the like. In the present embodiment, the possibility of injury or illness is set in four stages of ranks P1 to P4. The higher the rank number, the greater the chance of injury or illness.
The rank is not limited to four levels as long as it is a plurality of levels, and may be, for example, two levels, three levels, or five levels or more.

  Table 3 shows ranks (risk ranks) when the degree of injury and illness (danger) and the possibility of injury and illness (danger) are comprehensively determined. In the present embodiment, the rank of risk (overall rank) is determined based on the rank indicating the degree of injury, the degree of illness, and the rank indicating the likelihood of injury or illness, and the rank of the risk is rank 1 It is set to 5 stages of ~ 5. The higher the rank number, the greater the risk.

In the present embodiment, the determination unit 47 determines that the teaching content, the peripheral device, and the environment can avoid the danger when the risk ranks shown in Table 3 are all “2” or less.
The threshold value that can avoid the danger is not limited to the rank “2”, but may be a rank “1”, or may be a rank “3” or higher.
In addition, final ranking may be performed based on only one of the degree of injury, the degree of illness, and the possibility of illness. Other elements may be added.

Table 4 shows how countermeasures (danger countermeasures) correspond to the risk ranks (overall ranks) shown in Table 3.
Each of the preset items may be performed by, for example, a user (operator), and may be changed by the user although it is performed in advance. May be.

Next, a description will be given of a procedure for performing risk evaluation when the robot body 10 performs work (operation) by the risk evaluation device 1 and an operation of the risk evaluation device 1. Here, the predetermined work is taken as an example, and a part of each of the entire virtual danger source, the entire virtual danger event, and the entire risk countermeasure will be described as an example.
First, the user instructs the robot body 10 to perform work using the risk evaluation device 1 and then operates the operation unit 45 to input information related to peripheral devices, environmental information, and the like. Note that information related to peripheral devices, environment information, and the like may be input first, and then teaching may be performed. Then, the operation unit 45 is operated to start risk evaluation when the robot body 10 performs work.

  Thereby, the screen (image) shown in FIG. 8 is displayed on the display unit 44 of the risk evaluation apparatus 1. That is, the control unit 41 reads information from the storage unit 42, and the selection unit 43 selects the teaching content of the teaching, the virtual danger source corresponding to the peripheral device and the environment, the virtual danger event, and the risk countermeasure. Each selected virtual danger source, each virtual danger event, and each danger countermeasure are displayed on the display unit 44, respectively. The contents displayed in a part thereof, that is, the uppermost line and the second line from the top will be described below. In FIG. 8, only those with a risk rank of 3 or higher are shown, but those with a risk rank of 2 or lower are also displayed on the display unit 44.

  First, in the uppermost row, “operation, cleaning, maintenance” is displayed in the “stage of machine life cycle” column of the risk content. In addition, “use of tweezers A” is displayed in the “hand, tool, jig, work content” column. Further, “01) Mechanical hazard” is displayed in the “Danger type” column. In the “provided information / risk content” column, “tweezers A has a sharp tip, so there is a risk of sticking.”, “If tweezers A is used, use it together with protective equipment B.” Is displayed.

In addition, “5” is displayed in the “degree S” column of the risk when no countermeasure is taken. Also, “3” is displayed in the “possibility P” column. In the “Remarks” column, “It hurts when I poke” is displayed. In addition, “5” is displayed in the “risk determination” column. Also, “(Recommended) Use protective equipment B together” is displayed in the “Countermeasure” column.
In addition, nothing is displayed in the “actual countermeasure” column, “degree S” column, “possibility P” column, and “risk judgment” column of the risk after the countermeasure.

  In the second line from the top, “operation, cleaning, maintenance” is displayed in the “stage of machine life cycle” column of the risk content. In addition, “use of hand C” is displayed in the “hand, tool, jig, work content” column. Further, “01) Mechanical hazard” is displayed in the “Danger type” column. In the “provided information / risk content” column, “the maximum transportable weight of the hand C is 1.0 kg” and “a workpiece heavier than the maximum transportable weight is likely to fall” are displayed.

In addition, “2” is displayed in the “degree S” column of the risk when no countermeasure is taken. In addition, “2” is displayed in the “possibility P” column. In the “remarks” column, “work damage due to falling” and “bruise caused by dropping onto a part of a human body” are displayed. In addition, “3” is displayed in the “risk determination” column. In the “Countermeasure” column, “Make the weight of the workpiece lighter than the maximum transportable weight” and “Use a hand E having a large maximum transportable weight” are displayed.
In addition, nothing is displayed in the “actual countermeasure” column, “degree S” column, “possibility P” column, and “risk judgment” column of the risk after the countermeasure.

  In addition, “risk is not reduced” is displayed as the determination result and warning of the determination unit 47 in the upper part of the screen. This display is made when there is a risk rank of “3” or higher, that is, when it is not determined by the determination unit 47 that the teaching content, the peripheral device, and the environment can avoid the danger. When this display is made, the operation of the robot body 10 (robot) is prohibited (restricted) by the control unit 41. Further, the user can grasp that the operation of the robot body 10 is prohibited.

In addition, “Unapproved. Task program cannot be executed” is displayed at the top of the screen. This display is made when the approver does not approve, that is, when the release signal is not input. When this display is made, the operation of the robot body 10 is prohibited (restricted).
In this way, the risk evaluation apparatus 1 provides each information to the user and prompts the user to implement risk countermeasures.

In the present embodiment, when all the risk ranks are “2” or less and the approver approves, that is, when a cancel signal is input, the prohibition of the operation of the robot body 10 is canceled. It has become. However, the present invention is not limited to this. For example, when the risk ranks are all equal to or lower than “2”, the prohibition of the operation of the robot body 10 may be canceled even if no cancellation signal is input. Even when the risk rank is “3” or higher, the prohibition of the operation of the robot body 10 may be canceled when a cancel signal is input.
Further, instead of prohibiting the operation of the robot body 10 as in the present embodiment, a predetermined restriction may be imposed. The restriction is not particularly limited, and examples thereof include slowing the moving speed of the robot body.

Next, the user looks at the screen shown in FIG. 8 displayed on the display unit 44, grasps the situation, and takes a risk countermeasure for those having a risk rank of 3 or more. This risk measure may be a measure displayed in the column of the measure plan or another measure.
The user operates the operation unit 45 to actually perform or plan to take each risk measure, the injury after each risk measure, the rank corresponding to the degree of the disease, and the injury after each risk measure. Enter the rank corresponding to the magnitude of the possibility of occurrence. In the present embodiment, the input risk countermeasure and rank are information regarding the risk countermeasure. Note that the information related to the risk countermeasure is not limited to this, and may be information indicating whether or not the risk countermeasure has been taken, for example.

  Further, in the present embodiment, the user inputs “wearing the protective equipment B” and “developing an algorithm for controlling the tip so that it is not directed toward the work table” for the use of the tweezers. Shall. Injury after risk countermeasures is entered as “2” as the rank corresponding to the degree of illness, and “3” is entered as the rank corresponding to the magnitude of the possibility of injury after the risk countermeasures. And

In addition, it is assumed that the user inputs “use the work C as a work target at a maximum of 500 g, so that there is a sufficient margin for the maximum loadable weight of the hand C” for the use of the hand C. In addition, “1” is entered as the rank corresponding to the degree of illness after the countermeasure is taken, and “1” is entered as the rank corresponding to the magnitude of the possibility of the illness being injured after the danger countermeasure. To do.
Thereby, the screen shown in FIG. 9 is displayed on the display unit 44 of the risk evaluation apparatus 1.

In the following, description of the screen will be omitted for portions that are not changed on the screen.
First, in the uppermost row, in the “actual countermeasure” column of the risk after the countermeasure, “protector B is installed.”, “Algorithm that controls the tip not to point in the direction other than the direction of the work table is developed. Is displayed.

  In addition, “2” is displayed in the “degree S” column of the risk after the countermeasure. Also, “3” is displayed in the “possibility P” column. In addition, “3” is displayed in the “risk determination” column. The control unit 41 is based on the rank “2” corresponding to the degree of illness after the risk countermeasure and the rank “3” corresponding to the magnitude of the possibility that the injury after the risk countermeasure will occur. Then, “3” is obtained from Table 3 shown in FIG. 7, and “3” is displayed in the “possibility P” column.

In the second line from the top, in the “actual countermeasure” column of the risk after countermeasure, “the work target workpiece is 500 g at the maximum, so there is a sufficient margin for the maximum payload of the hand C. Is displayed.
In addition, “1” is displayed in the “degree S” column of the risk after the countermeasure. Also, “1” is displayed in the “possibility P” column. In addition, “1” is displayed in the “risk determination” column. The control unit 41 is based on a rank “1” corresponding to the degree of illness after the risk countermeasure and a rank “1” corresponding to the magnitude of the possibility of the illness after the risk countermeasure. Then, “1” is obtained from Table 3 shown in FIG. 7 and “1” is displayed in the “possibility P” column.

Next, the user sees the screen shown in FIG. 9 displayed on the display unit 44, grasps the situation, and again takes a risk countermeasure for those having a risk rank of 3 or more. This risk measure may be a measure displayed in the column of the measure plan or another measure.
Then, the user operates the operation unit 45 to actually take each risk measure, the injury after each risk measure, the rank corresponding to the degree of the disease, and the injury after each risk measure may cause the disease. Enter the rank corresponding to the size of the sex.

In the present embodiment, it is assumed that the user inputs “improve the algorithm for controlling the tip so that the tip is not directed in a direction other than the direction of the work table” for the use of the tweezers. Injury after risk countermeasures maintains “2” as the rank corresponding to the degree of illness, and “1” is entered as a rank corresponding to the magnitude of the possibility of injury after the risk countermeasures. And
Thereby, the screen shown in FIG. 10 is displayed on the display unit 44 of the risk evaluation apparatus 1.

First, in the uppermost line, in the “actual countermeasure” column of the risk after countermeasure, “install protective equipment B”, “improve the algorithm to control the tip so that it is not directed toward the work table. Is displayed.
In addition, “2” is displayed in the “degree S” column of the risk after the countermeasure. Also, “1” is displayed in the “possibility P” column. In addition, “1” is displayed in the “risk determination” column. The control unit 41 is based on a rank “2” corresponding to the degree of illness after the risk countermeasure and a rank “1” corresponding to the magnitude of the possibility of the illness after the risk countermeasure. Then, “1” is obtained from Table 3 shown in FIG. 7 and “1” is displayed in the “possibility P” column.
Also, “Risk has been reduced” is displayed at the top of the screen. This display is made when the risk ranks are all “2” or less. When this display is made, as described above, the prohibition of the operation of the robot body 10 is canceled by inputting the cancel signal.

Next, the user sees the screen shown in FIG. 10 displayed on the display unit 44 and grasps the situation. Then, the approver performs approval.
First, the approver operates the operation unit 45 to perform its own authentication process. That is, a preset password (authentication information) is input. As a result, the input password is sent to the authentication unit 46, and the authentication unit 46 collates the password with the password stored in advance in the storage unit 42. The risk evaluation device 1 determines that the robot body 10 is authenticated (authenticated), and if it does not match, the risk evaluation apparatus 1 determines that the person is not a valid approver (not authenticated). When there is a signal input, if the approver is authenticated, the release signal is accepted, and if the approver is not authenticated, acceptance of the release signal is rejected.

After the authentication is performed, the approver operates the operation unit 45 and inputs a release signal. Thereby, the control unit 41 receives the release signal and releases the prohibition of the operation of the robot body 10. As a result, the robot can operate according to the program created by the teaching.
A screen shown in FIG. 11 is displayed on the display unit 44 of the risk evaluation apparatus 1.
In this case, “Approved. Task program can be executed” is displayed at the top of the screen.

Thereby, it is grasped that the robot can operate according to the program created by the teaching.
As described above, according to the risk evaluation apparatus 1, the user can easily and quickly perform risk evaluation on the robot main body 10, the peripheral apparatus, the environment, and the like that has been instructed. Measures can be taken.

As mentioned above, although the risk evaluation apparatus of this invention was demonstrated based on embodiment of illustration, this invention is not limited to this, The structure of each part is substituted by the thing of the arbitrary structures which have the same function. can do. In addition, any other component may be added to the present invention.
In the above embodiment, the robot that is evaluated by the risk evaluation apparatus is a single-arm robot having one robot arm. However, in the present invention, the robot is not limited to this. For example, the dual-arm having two robot arms is used. A robot having three or more robot arms, such as a robot, may be used.

  In the embodiment, the number of rotation axes of the robot arm is six. However, the present invention is not limited to this, and the number of rotation axes of the robot arm is two, three, four, for example. There may be one, five, seven or more. That is, in this embodiment, since the list has two arm portions, the number of arm portions of the robot arm is six. However, the present invention is not limited to this, and the arm of the robot arm is not limited thereto. The number of parts may be, for example, 2, 3, 4, 5, or 7 or more.

In the present invention, the robot is not limited to an arm type robot (robot arm), but may be another type of robot, for example, a legged walking (running) robot having legs, a scalar robot, or the like. .
In the embodiment, the authentication unit performs authentication using a password. However, in the present invention, the authentication unit is not limited to this. For example, the authentication unit performs authentication using an ID (Identification), a fingerprint, or the like. May be.
Moreover, in the said embodiment, although an alerting | reporting part is a display part, in this invention, it is not limited to this, For example, the apparatus which emits an audio | voice etc. may be sufficient.

  DESCRIPTION OF SYMBOLS 1 ... Risk evaluation apparatus 10 ... Robot main body 101 ... Floor 11 ... Base 111 ... Bolt 112 ... Base main body 113 ... Cylindrical part 114 ... Box-shaped part 12, 13, 14, 15 ... ... arm part (link) 16 ... list (link) 161 ... list body 162 ... support ring 163 ... tip face 171, 172, 173, 174, 175, 176 ... joint (joint) 2, 2a, 2b 2c, 2d ... arm body 3, 3a, 3b, 3c, 3d ... drive mechanism 4, 4a, 4b, 4c, 4d ... sealing means 20 ... robot controller 100 ... robot system (industrial use) (Robot system) 201, 202, 203, 204, 205, 206 ... Drive source control unit 301, 302, 303, 304, 305, 306 ... Motor driver 401, 402, 403, 404, 405, 406... Drive source 401M, 402M, 403M, 404M, 405M, 406M... Motor 411, 412, 413, 414, 415, 416 ... Angle sensor 31 ... Robot arm 41 …… Control unit 42 …… Storage unit 43 …… Selection unit 44 …… Display unit 45 …… Operation unit 46 …… Authentication unit 47 …… Determination unit O1, O2, O3, O4, O5, O6 …… Rotation axis

Claims (10)

A risk evaluation device for performing risk evaluation of a robot equipped with a robot arm,
A storage unit that stores virtual danger sources, virtual danger events, and danger countermeasures in association with teaching contents for the robot;
Selection that selects corresponding ones from the virtual danger source, the virtual danger event, and the danger countermeasure stored in the storage unit according to the teaching contents of the teaching by teaching to the robot And
A risk countermeasure information input section for inputting information on risk countermeasures scheduled to be implemented in advance;
A determination unit that determines whether or not the teaching content can avoid danger based on information on the risk countermeasure input by the risk countermeasure information input unit;
A control unit for controlling the operation of the robot,
The controller is configured to limit the operation of the robot when the determination unit does not determine that the teaching content can avoid a virtual danger.   The risk evaluation apparatus according to claim 1, wherein the restriction of the operation of the robot is prohibition of the operation of the robot.   The risk evaluation apparatus according to claim 1 or 2, wherein the information related to the danger countermeasure input by the danger countermeasure information input unit includes a degree of virtual danger after the danger countermeasure is taken and a frequency at which the virtual danger occurs. . A cancel signal input unit for inputting a cancel signal for canceling the restriction of the operation of the robot;
An authentication unit that authenticates an approver who performs the input operation of the release signal by the release signal input unit,
4. The control unit according to claim 1, wherein when the approver is authenticated by at least the authentication unit and the release signal is input by the release signal input unit, the restriction on the operation of the robot can be released. The risk evaluation apparatus according to any one of the above.   5. The control unit according to claim 1, wherein the control unit can release the restriction on the operation of the robot when at least the determination unit determines that the teaching content can avoid a virtual danger. The risk evaluation apparatus according to item 1. A cancel signal input unit for inputting a cancel signal for canceling the restriction of the operation of the robot;
An authentication unit that authenticates an approver who performs the input operation of the release signal by the release signal input unit,
In the control unit, the approver is authenticated by the authentication unit, the release signal is input by the release signal input unit, and the teaching content can avoid a virtual danger by the determination unit. The risk evaluation apparatus according to claim 1, wherein when the determination is made, the restriction on the operation of the robot is released.   The risk evaluation apparatus according to claim 4, wherein the authentication unit performs the authentication with a password.   The risk evaluation apparatus according to claim 1, further comprising a notifying unit that notifies the virtual danger source selected by the selection unit, the virtual danger event, and the danger countermeasure.   The risk evaluation apparatus according to claim 8, wherein the notification unit further notifies a determination result of the determination unit.   The risk evaluation apparatus according to claim 1, wherein the risk evaluation apparatus also serves as a teaching apparatus that teaches the robot.

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