JP2015074070A - Robot and robot control device - Google Patents

Abstract

An end effector can be safely exchanged using both hands. When an end effector attach / detach instruction is acquired, the attach / detach surface of the end effector provided at the tip of the manipulator is directed horizontally upward. As described above, the positions and orientations of the plurality of manipulator members are adjusted.
[Selection] Figure 5

Description

  The present invention relates to a robot and a robot control apparatus.

  Patent Document 1 discloses a horizontal T-shaped horizontal blind groove having a T-shaped cross section formed in each finger mounting base in a direction perpendicular to each finger mounting base and having an opening on the lower surface, and each T-shaped upper portion. A horizontal T-shaped head that fits into the horizontal horizontal blind groove, a replaceable finger consisting of a finger portion depending from the T-shaped head, and a horizontal T-shaped head of the finger in the T-shaped horizontal blind groove An industrial robot hand device having a retaining member when parts are fitted together is disclosed.

JP 2009-125867 A

  In the invention described in Patent Document 1, since the finger is exchanged with the finger (end effector) facing downward, the operator needs to support the finger with one hand depending on the posture of the arm during the exchange. Therefore, in the invention described in Patent Document 1, there is a risk that the fingers may fall during replacement.

  Accordingly, an object of the present invention is to provide a robot and a robot control device that allow an operator to exchange an end effector using both hands.

  A first aspect for solving the above-described problem is a robot, which includes a robot body, a plurality of manipulator members provided on the robot body, and a plurality of shafts rotatably connecting the two manipulator members. A manipulator having a manipulator, an end effector provided detachably with respect to a detachable surface provided at a tip of the manipulator, a manipulator control unit for adjusting positions and orientations of the plurality of manipulator members, and an instruction to attach / detach the end effector. An end effector attaching / detaching instruction acquiring unit for acquiring, and when the manipulator control unit acquires the attaching / detaching instruction of the end effector, the positions and orientations of the plurality of manipulator members are adjusted so that the attaching / detaching surface is horizontally upward. It is characterized by doing.

  According to the first aspect, when the end effector attachment / detachment instruction is acquired, the positions and orientations of the plurality of manipulator members are adjusted so that the attachment / detachment surface of the end effector provided at the tip of the manipulator is horizontally upward. As a result, the manipulator can be prevented from falling, and the operator can exchange the end effector using both hands.

  Here, a position acquisition unit that acquires a position of a work table is provided, and when the manipulator control unit acquires an attachment / detachment instruction of the end effector, the plurality of manipulators such that the attachment / detachment surface is positioned on the work table. The position and orientation of the member may be adjusted. This makes it easier for the operator to perform end effector replacement work.

  Here, an attachment / detachment member having the attachment / detachment surface and an operation lever provided on a back side of the attachment / detachment surface and operable along the attachment / detachment surface is provided, and the operation lever includes the attachment / detachment surface and the end effector. Operable in a first direction for locking so that the attachment / detachment surface and the end effector are not separated in an engaged state, and a second direction opposite to the first direction for releasing the lock. May be provided. Thereby, it is necessary to work the operation lever when exchanging the manipulator, and the manipulator can be prevented from unintentionally coming off the attachment / detachment surface.

  Here, an end effector attachment / detachment information acquisition unit that detects whether or not the attachment / detachment surface and the end effector are locked by the attachment / detachment member, and the attachment / detachment member between the attachment / detachment surface and the end effector. An end effector control unit that turns on control power to the end effector when the detachable surface and the end effector are locked so as not to separate from the unlocked state. Thereby, control power can be supplied in a state where the end effector is securely mounted.

  Here, the end effector control unit obtains information specific to the end effector after turning on the control power, and turns on drive power to the end effector based on the obtained information unique to the end effector. May be. Thereby, drive power can be reliably supplied to the end effector.

  Here, when the detachable surface is not horizontally upward, an operation lever locking portion that prevents the operation lever from being operated may be provided. Thereby, it can prevent that an operation lever is operated unintentionally.

  Here, the manipulator control unit may adjust the positions and orientations of the plurality of manipulator members so that the operation lever is not positioned between the robot body and the manipulator when the attachment / detachment surface is horizontally upward. Good. As a result, the operator can easily replace the manipulator.

  Here, when the attachment / detachment surface is horizontally upward, the manipulator control unit may rotate an axis that rotates the attachment / detachment surface in the direction perpendicular to the attachment / detachment surface. Thereby, the operator can rotate the manipulator freely at the time of replacement | exchange.

  Here, a position acquisition unit for acquiring the position of the work table is provided, and when the manipulator control unit acquires an attachment / detachment instruction for the end effector, the attachment / detachment surface is located on the work table and at the end of the work table. The positions and orientations of the plurality of manipulator members may be adjusted so that the end effector is positioned. As a result, the operator can easily replace the manipulator.

  Here, provided with an input unit provided on the back side of the robot body, the end effector attaching / detaching instruction acquiring unit receives the input through the input unit and acquires the input as an attaching / detaching instruction of the end effector. May be. Thereby, the replacement | exchange work of an end effector can be started by a worker's instruction | indication.

  A second aspect for solving the above-described problem is a robot, which is a robot main body, a plurality of arm members provided on the robot main body, and a plurality of shafts rotatably connecting the two arm members, An end effector provided to be attachable / detachable with respect to an attaching / detaching surface provided at the tip of the arm, and an end effector attaching / detaching instruction receiving unit for receiving an attaching / detaching instruction of the end effector. When the attachment / detachment instruction is received, the robot operates such that the attachment / detachment surface is upward in the direction of gravity. As a result, the manipulator can be prevented from falling, and the operator can safely replace the end effector using both hands.

  A third aspect for solving the above-described problem is a robot control device, wherein the plurality of manipulator members includes a plurality of manipulator members and a plurality of shafts that rotatably connect the two manipulator members. A manipulator controller that adjusts the position and orientation of the end effector, and an end effector attaching / detaching instruction obtaining unit that obtains an attaching / detaching instruction of an end effector provided detachably with respect to an attaching / detaching surface provided at a tip of the manipulator, The manipulator control unit adjusts the positions and orientations of the plurality of manipulator members so that the attachment / detachment surface is horizontally upward when acquiring the attachment / detachment instruction of the end effector. As a result, the manipulator can be prevented from falling, and the operator can safely replace the end effector using both hands.

1 is a front perspective view of a robot 1 according to a first embodiment of the present invention. 2 is a rear perspective view of the robot 1. FIG. It is a figure which shows the detail of an arm. It is a figure which shows the detail of a hand. It is a perspective view of a detachable member. It is principal part perspective drawing of a detachable member, (A) shows the mounting state of a hand, (B) shows the detached state of a hand. It is a functional block diagram of a control part. It is a block diagram which shows an example of schematic structure of a control part. It is a flowchart which shows the flow of a process until it removes a hand from an arm. It is a figure which shows the relationship between the robot and a work bench. It is a flowchart which shows the flow of the process which attaches a hand to an arm.

  An embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a front perspective view of a robot 1 according to an embodiment of the present invention. FIG. 2 is a rear perspective view of the robot 1. The robot 1 in the present embodiment mainly includes a trunk portion 10, an arm 11, a touch panel monitor 12, a leg portion 13, a transport handle 14, an electronic camera 15, a signal lamp 16, a power switch 17, an external switch. An I / F unit 18 and a lifting handle 19 are provided. The robot 1 is a humanoid dual-arm robot, and performs processing according to a control signal from the control unit 20 (see FIG. 7). The robot 1 can be used in a manufacturing process for manufacturing precision equipment such as a wristwatch. This manufacturing operation is usually performed on a work table (not shown).

  In the following, for convenience of explanation, the upper side in FIGS. 1, 2, and 3 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. Also, the front side in FIG. 1 is referred to as “front side” or “front side”, and the front side in FIG. 2 is referred to as “rear side” or “rear side”.

  Arms 11 (so-called manipulators) are provided in the vicinity of the upper ends of both side surfaces of the body portion 10.

  At the tip of the arm 11, a hand 111 (so-called end effector) for holding the workpiece W or a tool is provided. The position of the end point of the arm 11 is the position of the hand 111. Note that the end effector is not limited to the hand 111.

  In addition, the arm 11 is provided with a hand eye camera 11G that photographs a workpiece or the like placed on a work table.

  Details of the arm 11 will be described later. The robot 1 is not limited to the arm 11. For example, any form may be used as long as the manipulator includes a plurality of joints and links and moves as a whole by moving the joints.

  The trunk 10 is provided on the frame of the leg 13. The leg portion 13 is a robot base, and the body portion 10 is a robot body. The trunk | drum 10 is corresponded to the robot main body of this invention. In addition, it is good also as a robot main body including not only the trunk | drum 10 but the leg part 13. FIG.

  Inside the leg part 13, a control part 20 and the like for controlling the robot 1 itself are provided. A rotation shaft is provided inside the leg portion 13, and a shoulder region 10 </ b> A of the trunk portion 10 is provided on this rotation shaft.

  On the rear surface of the leg portion 13, a power switch 17 and an external I / F portion 18 that is an external connection terminal for connecting the control portion 20 and an external PC or the like are provided. The power switch 17 includes a power ON switch 17 a that turns on the power of the robot 1 and a power OFF switch 17 b that shuts off the power of the robot 1.

  In addition, a plurality of casters (not shown) are installed at intervals in the horizontal direction at the lowermost portion of the leg portion 13. As a result, the robot 1 can be moved and conveyed by the operator pressing the conveyance handle 14 or the like.

  An electronic camera 15 having a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), and the like, and a signal lamp 16 are provided at a portion that protrudes upward from the body 10 and corresponds to the head. For example, the electronic camera 15 can capture an image of a work table or the like. The signal lamp 16 includes, for example, LEDs that respectively emit red light, yellow light, and blue light. These LEDs are appropriately selected according to the current state of the robot 1 to emit light.

  An elevating handle 19 is provided on the back surface of the body portion 10. The raising / lowering handle 19 moves the shoulder region 10A at the top of the trunk 10 in the vertical direction with respect to the trunk main body 10B. Thereby, it can respond to the work table of various heights.

  A touch panel monitor 12 having a monitor visible from the back side of the robot 1 is disposed on the back side of the body 10. The liquid crystal monitor can display the current state of the robot 1, for example. Further, the liquid crystal monitor has a touch panel function, and is also used as an operation unit for setting operations for the robot 1. The touch panel monitor 12 corresponds to the input unit of the present invention.

  FIG. 3 is a diagram showing details of the arm 11. FIG. 3 shows a state in which the arm 11 is in a hand replacement posture (detailed later).

  The arm 11 is configured by sequentially connecting arm members (corresponding to manipulator members of the present invention) 11A, 11B, 11C, 11D, and 11E by joints (not shown) from the body 10 side. The joint is provided with an actuator (not shown) for operating them.

  The arm 11 is a seven-axis robot having seven rotation axes. Seven rotation axes J1, J2, J3, J4, J5, J6, and J7 are rotation axes of actuators provided in the joints. The arm members 11A, 11B, 11C, 11D, and 11E and the hand 111 can independently rotate about the rotation axes J1, J2, J3, J4, J5, J6, and J7.

  The actuator includes, for example, a servo motor and an encoder. The encoder value output by the encoder is used for feedback control of the robot 1 by the control unit 20. The actuator is provided with an electromagnetic brake that fixes the rotation shaft.

  A force sensor (not shown) is provided at the tip of the arm member 11E (corresponding to the wrist portion of the arm 11). The force sensor is a sensor that detects a force and a moment received as a reaction force to the force generated by the robot 1. As the force sensor, for example, a six-axis force sensor that can simultaneously detect six components, ie, a force component in the translational three-axis direction and a moment component around the three rotation axes, can be used. The force sensor is not limited to six axes, and may be, for example, three axes.

  Further, the hand 111 is provided at the tip of the arm member 11E via an attachment / detachment member 112 for detachably providing the hand 111.

  The hand 111 includes a main body portion 111A and a plurality of (for example, any number of two to four) fingers 111B disposed on the distal end side of the main body portion 111A. The main body 111A has a substantially rectangular parallelepiped shape, and a drive mechanism (not shown) for driving each finger 111B is provided therein. By bringing the fingers 111B closer to each other by the drive mechanism, an object such as a component can be sandwiched between them. Further, the object can be released by separating the fingers 111B from each other from the sandwiched state by the driving mechanism.

  FIG. 4 is a view of the hand 111 as seen from the back (side provided on the detachable member 112).

  Two protruding portions 111D, a plurality of terminals 111E, and two guide pins 111F are provided so as to protrude from the base end surface 111C of the main body portion 111A.

The protruding portion 111D has a tapered portion whose outer diameter gradually increases from the top toward the base. Further, immediately below the tapered portion, the engaging surface 111D ₀ is provided which is inclined with respect to the proximal end face 111C. The engagement surface 111D ₀ is a portion for engagement with the detachable member 112.

  The plurality of terminals 111E are connected to terminals 112M (described later in detail) provided on the detachable member 112, thereby electrically connecting the battery built in the leg portion 13 and the driving mechanism inside the main body portion 111A. Connected. Thereby, electric power can be supplied to the motor in the drive mechanism.

  The guide pins 111F are arranged as far as possible on a substantially diagonal line of the base end surface 111C. The diagonal line where the guide pin 111F is arranged is different from the diagonal line where the protruding portion 111D is arranged.

  Further, the protruding length of the guide pin 111F is longer than the protruding length of the terminal 111E. Thereby, after the positioning of the hand 111 and the detachable member 112 is performed, the electrical contact of the terminal 111E is performed. Thereby, when the hand 111 is mounted on the detachable member 112, the terminal 111E can be reliably prevented from being unintentionally pressed and deformed by the detachable member 112.

  FIG. 5 is a perspective view of the detachable member 112. FIGS. 6A and 6B are perspective views of the main part of the detachable member 112, where FIG. 6A shows the attached state of the hand 111 and FIG. 6B shows the detached state of the hand 111. FIG. The detachable member 112 may be formed integrally with the arm member 11E at the tip of the arm member 11E, or may be fixed to the arm member 11E.

  A surface on the front side of the main body 112 </ b> A of the detachable member 112 is an detachable surface 112 </ b> B to which the hand 111 is attached and detached.

  The main body 112A is formed with a through hole 112C that engages with the protrusion 111D and a guide hole 112D into which the guide pin 111F is inserted. Thereby, positioning of the attachment / detachment member 112 and the hand 111 is performed.

  Two guide grooves 112E are formed in the main body 112A. An engagement member 112F and a compression coil spring 112G as a biasing member that biases the engagement member 112F are inserted into the guide groove 112E.

  The engaging member 112F is inserted into each guide groove 112E of the main body 112A, and is supported so as to be movable along the guide groove 112E, that is, along the attachment / detachment surface 112B. Thereby, the engaging member 112F is engaged with the protruding portion 111D of the hand 111 in the mounted state (see FIG. 6A), and the disengaged position where the engagement is released (see FIG. B))).

  Each guide groove 112E communicates with the through hole 112C. Since the engaging member 112F moves along the guide groove 112E, the engaging member 112F can be stably engaged with the protruding portion 111D of the hand 111, and thus the engaged state is easily maintained.

  In addition, inside the main body 112A, there are provided an operation lever 112H for performing an operation for releasing the mounted state and making it a detachable state, and a link mechanism 112I for connecting the two engaging members 112F.

  The operation lever 112H is an elongated plate-like member. The operation lever 112H is provided so that the tip protrudes from the side surface of the main body 112A along the attachment / detachment surface 112B.

  By operating the operating lever 112H to move, the operating force is transmitted to each engaging member 112F via the link mechanism 112I.

  When the operation lever 112H is in the engagement position shown in FIG. 6A, when the operation lever 112H is viewed from above the attaching / detaching surface 112B, a portion protruding from the main body 112A of the operation lever 112H is a defective portion (FIG. 6 (A) (indicated by a dotted line) and is drawn inward from the contour of the hand 111. Thereby, it is possible to prevent the operation lever 112H from colliding with members or devices around the robot 1 when the arm 11 is operated. Further, when the operation lever 112H is in the disengagement position shown in FIG. 6B, the operation lever 112H protrudes from the outline of the hand 111, and it is easily grasped that the hand 111 can be detached. be able to.

  Further, a circuit board 112J is provided inside the main body 112A. The circuit board 112J is provided with a plurality of terminals 112M that are electrically connected to the terminals 111E of the hand 111 through holes 112L provided in the attachment / detachment surface 112B.

  The circuit board 112J is provided with a photosensor 112K. For the photosensor 112K, for example, a reflective photodiode can be used. In the state where the operation lever 112H is in the engaged position, the photosensor 112K reflects light output from the photosensor 112K by the operation lever 112H, and the reflected light is input to the photosensor 112K. On the other hand, in a state where the operation lever 112H is in the disengagement position, the light output from the photosensor 112K is not reflected by the operation lever 112H, and thus no reflected light is input to the photosensor 112K. Note that the photosensor is not limited to a reflective photodiode, and a transmissive photodiode may be used. In this case, a hole (transmission window) is provided in the operation lever 112H, and it is only necessary to detect whether or not light from the light emitting unit passes through the transmission window and enters the light receiving unit.

  The configuration of the robot 1 is not limited to the above-described configuration because the main configuration has been described in describing the features of the present embodiment. This does not exclude the configuration of a general gripping robot. For example, although 7-axis arms are shown in FIGS. 1 to 3, the number of axes (number of joints) may be further increased or decreased. The number of arm members may be increased or decreased. In addition, the shape, size, arrangement, structure, and the like of various members such as arm members and joints may be changed as appropriate.

  Next, a functional configuration example of the robot 1 will be described. FIG. 7 shows a functional block diagram of the control unit 20.

  The control unit 20 mainly includes a hand attachment / detachment instruction acquisition unit 200, a hand attachment / detachment information acquisition unit 201, a hand control unit 202, an arm control unit 203, and an overall control unit 204.

  The hand attachment / detachment instruction acquiring unit 200 acquires the input hand attachment / detachment instruction when the hand attachment / detachment instruction is input via the touch panel monitor 102. The hand attachment / detachment instruction acquisition unit 200 corresponds to the end effector attachment / detachment instruction acquisition unit and the end effector attachment / detachment instruction reception unit of the present invention.

The hand attachment / detachment information acquisition unit 201 acquires information indicating whether the operation lever 112H is in the engaged position or the disengaged position. For example, when reflected light is input to the photosensor 112K, the hand attachment / detachment information acquisition unit 201 indicates that a signal is input from the photosensor 112K, that is, the operation lever 112H is in the engaged position. To get.
The hand control unit 202 turns on or off control power and drive power to the hand 111.

  Further, when the hand control unit 202 moves the end point to the target position, the hand control unit 202 outputs a signal for causing the hand 111 to perform an operation. This signal is amplified by the hand drive amplifier 111b and input to the hand drive actuator 111a. Thereby, the work can be performed by the hand 111. The hand control unit 202 corresponds to the end effector control unit of the present invention. Since a general method can be used for the processing, description thereof is omitted.

  The arm control unit 203 outputs a signal for driving the arm 11 based on the encoder value of the actuator, the sensor value of the force sensor, and the like. This signal is amplified by the arm drive amplifier 11b and input to the arm drive actuator 11a. Thereby, the arm 11 is controlled.

  Specifically, the arm control unit 203 moves the position of the end point so that the hand 111 performs a predetermined operation based on the image captured by the electronic camera 15. Since a general method can be used for the processing, description thereof is omitted.

  Further, when the hand attachment / detachment instruction acquisition unit 200 acquires the hand attachment / detachment instruction, the arm control unit 203 causes the arm 11 to take the hand replacement posture shown in FIG. 3 based on the image captured by the electronic camera 15. The position and orientation of each arm drive actuator 11a of the arm 11 are adjusted. Moreover, the arm control part 203 will cancel | release the brake 11c of the arm drive actuator 11a of the axis | shaft J7, if the arm 11 takes a hand exchange attitude | position. The arm control unit 203 corresponds to a manipulator control unit and a position acquisition unit of the present invention. This process will be described in detail later.

  The overall control unit 204 performs processing for controlling the entire control unit 20.

  In the present embodiment, the control unit 20 is provided inside the leg 13, but the control unit 20 may be provided outside the robot 1. When the control unit 20 is provided outside the robot 1, the control unit 20 is connected to the robot 1 by wire or wirelessly.

  FIG. 8 is a block diagram illustrating an example of a schematic configuration of the control unit 20. As shown in the figure, the control unit 20 configured by, for example, a computer includes a CPU (Central Processing Unit) 21 that is an arithmetic device, a RAM (Random Access Memory) that is a volatile storage device, and a nonvolatile storage device. An input device interface (I / I) for connecting a memory 22 composed of a certain ROM (Read only Memory), an external storage device 23, a communication device 24 for communicating with an external device such as the robot 1, and an input device such as a touch panel monitor. F) 25, an output device I / F 26 for connecting an output device such as a touch panel monitor, and an I / F 27 for connecting the control unit 20 and other units.

  Each functional unit described above is realized, for example, by the CPU 21 reading a predetermined program stored in the memory 22 into the memory 22 and executing it. The predetermined program may be installed in the memory 22 in advance, or may be downloaded from the network via the communication device 24 and installed or updated.

  The configuration of the robot 1 described above is not limited to the above-described configuration because the main configuration has been described in describing the features of the present embodiment. Further, the configuration of a general robot system is not excluded.

  Next, a characteristic process of the robot 1 having the above configuration in the present embodiment will be described. FIG. 9 is a flowchart showing the flow of processing until the hand 111 is removed from the arm 11. The process shown in FIG. 9 is started when any input is made to the control unit 20 via the touch panel monitor 12.

  First, the overall control unit 204 determines whether or not a hand attachment / detachment instruction input from the touch panel monitor 12 is acquired by the hand attachment / detachment instruction acquisition unit 200 (step S100).

  If the hand attachment / detachment instruction is not acquired by the hand attachment / detachment instruction acquisition unit 200 (NO in step S100), the overall control unit 204 performs step S100 again.

  When the hand attachment / detachment instruction is acquired by the hand attachment / detachment instruction acquisition unit 200 (YES in step S100), the overall control unit 204 outputs an instruction to the arm control unit 203 so that the arm 11 takes the hand replacement posture. The arm control unit 203 adjusts the position and orientation of each arm drive actuator 11a of the arm 11 so as to take the hand replacement posture (step S102).

  As shown in FIG. 3, the hand replacement posture is a posture in which the hand 111 faces upward, that is, the detachable surface 112B of the detachable member 112 is horizontally upward. Thereby, even if an operator tries to remove the hand 111 from the arm 11, the hand 111 does not fall.

  In FIG. 3, as a hand replacement posture, a portion corresponding to the person's upper arm (arm member 11 </ b> B) protrudes vertically downward from a portion corresponding to the person's shoulder (arm member 11 </ b> A), and corresponds to the forearm of the person. The portion corresponding to the human elbow (axis J4) is bent so that the portions (arm members 11C and 11D) are horizontal, and the portion corresponding to the human wrist (arm member 11E) corresponds to the human forearm ( Although the state (axis J6) corresponding to the tech part joint is bent so as to protrude vertically upward from the arm members 11C and 11D), the hand is replaced if the detachable surface 112B is horizontally upward. The posture is not limited to this. For example, the hand replacement posture may be a posture in which the arm members 11A and 11B are horizontal and the arm members 11C, 11D, and 11E are vertically upward with respect to the arm member 11B. The hand replacement posture may be a posture in which the arm members 11A, 11B, 11C, and 11D are horizontal and the arm member 11E is vertically upward with respect to the arm member 11D.

  Here, horizontal, horizontal upward, vertical downward, and vertical upward are not limited to strictly horizontal, horizontal upward, vertical downward, and vertical upward, and are concepts that include an error of about several degrees.

  FIG. 10 is a diagram illustrating a positional relationship between the hand 111 and the work table B when the arm 11 assumes the hand replacement posture. The arm control unit 203 adjusts the position and orientation of each arm drive actuator 11a based on the image captured by the electronic camera 15 so that the hand 111 is positioned on the workbench when the arm replacement posture is taken. To do. By positioning the hand 111 on the work table, it is possible to prevent the hand 111 from falling onto the robot 1 in the event of an emergency. Note that various methods commonly used are methods in which the arm control unit 203 detects the position of the work table B based on the image captured by the electronic camera 15 and moves the position of the hand 111 based on the position. Can be used.

  In FIG. 10, both the two arms 11 are in the hand replacement posture, but only one arbitrary hand may be taken in the hand replacement posture. The instruction of the arm 11 taking the hand exchange posture is input by an operator from the touch panel monitor 12 or the like, the hand attachment / detachment instruction acquisition unit 200 acquires the input instruction, and the overall control unit 204 performs the arm based on this instruction. The control unit 203 and the hand control unit 202 may be controlled. For the arm 11 that does not take the hand replacement posture, the hand 111 is positioned in front of the body part 10, the hand 111 is separated from the body part 10 by a predetermined distance in the lateral direction, etc. The position and orientation of the arm drive actuator 11a may be adjusted so that the hand 111 is positioned at a position not between the hand 111 and the operator.

  As shown in FIG. 10, the arm control unit 203 is configured so that the operation lever 112 </ b> H comes to the opposite side of the body 10 of the robot 1, that is, the operation lever 112 </ b> H is connected to the body 10. The arm drive actuator 11a corresponding to the axis J7 is rotated so as not to be positioned between the arm 11 and the hand 111 (step S104). As a result, the operator can easily operate the operation lever 112H from the opposite side of the robot 1.

  Next, the arm control unit 203 releases the brake 11c of the arm drive actuator 11a of the axis J7 which is a rotation axis for rotating the attachment / detachment surface 112B in the vertical direction (step S106). Normally, when the power of the arm drive actuator 11a is turned off, the brake 11c fixes the shaft so that the shaft of the arm drive actuator 11a does not rotate. However, by releasing the brake 11c, the operator can remove the attachment / detachment surface 112B, that is, the hand. 111 can be manually rotated to face the desired orientation.

  Finally, the hand control unit 202 cuts off the control power and drive power to the hand 111 (step S108). Thereby, air discharge and destruction at the time of hand exchange can be prevented.

  Thereby, the process shown in FIG. 9 is completed. The operator moves the operation lever 112H from the engagement position to the engagement release position, and removes the hand 111 from the attachment / detachment member 112 (attachment / detachment surface 112B). Thereby, it is necessary to work the operation lever when exchanging the hand 111, and the safety can be further secured.

  FIG. 11 is a flowchart showing a flow of processing for attaching the hand 111 to the arm 11.

  First, the operator attaches the hand 111 to the detachable member 112 and moves the operation lever from the engagement release position to the engagement position. When the operator inputs that the hand replacement work has been completed via the touch panel monitor 12 or the like, the hand attachment / detachment instruction acquisition unit 200 acquires a hand attachment / detachment instruction. When the hand attaching / detaching instruction is acquired by the hand attaching / detaching instruction acquiring unit 200, the overall control unit 204 starts the processing illustrated in FIG.

  The overall control unit 204 determines whether or not the hand attachment / detachment information acquisition unit 201 has received a signal from the photosensor 112K, that is, has acquired information indicating that the operation lever 112H is in the engaged position (Step S204). S110).

  If the hand attachment / detachment information acquisition unit 201 does not acquire information indicating that the operation lever 112H is in the engaged position (NO in step S110), the overall control unit 204 performs step S110 again.

  When the hand attachment / detachment information acquisition unit 201 acquires information indicating that the operation lever 112H is in the engaged position (YES in Step S110), the hand control unit 202 turns on the control power to the hand 111 (Step S110). S112). Thereby, control power can be safely supplied to the hand 111.

  The hand control unit 202 reads information unique to the hand 111 such as the model ID and version information of the hand 111 from the hand 111 (step S114). Then, the hand control unit 202 determines whether information unique to the hand 111 is an expected value (step S116). Here, the case where the information unique to the hand 111 is an expected value is, for example, the case where the model ID and version information of the hand 111 match the information stored in advance in the memory 22 or the like.

  When it is determined that the information unique to the hand 111 is an expected value (YES in step S116), the hand control unit 202 turns on the drive power to the hand 111 (step S118). Accordingly, it is possible to safely supply drive power to the hand 111, that is, to enable the hand 111 to be driven.

  If it is not determined that the information unique to the hand 111 is an expected value (NO in step S116), the hand control unit 202 shuts off the control power to the hand 111 (step S120). Then, the overall control unit 204 displays an error display on the touch panel monitor 12 or the like (step S122). An error display can be displayed on the touch panel monitor 12 or the like by a display control unit (not shown). Since a general method can be used for processing of the display control unit, description thereof is omitted.

  According to the present embodiment, since the attaching / detaching surface 112B is horizontally upward, when the operator wants to replace the end effector such as the hand 111, the operator does not need to support the weight of the hand 111 with one hand, and both hands are free. It can be used for safe work.

  In the present embodiment, since the position and orientation of the arm drive actuator 11a are adjusted so that the hand 111 is positioned on the workbench in the hand replacement posture, it is possible to reduce the risk of the hand 111 falling. it can.

  In the present embodiment, the operation lever 112H can be operated at all times. However, the operation lever 112H cannot be operated unless the arm 11 takes the hand attachment / detachment posture, that is, the attachment / detachment surface 112B is horizontally upward. A lock mechanism for the lever 112H may be provided. The lock mechanism of the operation lever 112H can employ, for example, an electromagnetic lock that uses an electromagnet and locks when energized. Since the electromagnetic lock is a general technique, description thereof is omitted. The lock mechanism corresponds to the operation lever locking portion of the present invention. Thereby, safety can be secured more.

  Further, in the present embodiment, the information indicating that the operation lever 112H is in the engagement position until the hand attachment / detachment information acquisition unit 201 acquires information indicating that the operation lever 112H is in the engagement position. When the acquisition unit 201 continues the processing (step S110), but the hand attachment / detachment information acquisition unit 201 does not acquire information indicating that the operation lever 112H is in the engaged position (NO in step S110), the arm 11 The overall control unit 204 may control the entire control unit 20 so that the user cannot move.

  In the present embodiment, when the information unique to the hand 111 is not determined to be an expected value (NO in step S116), the control power supply to the hand 111 is immediately shut off (step S120). The process of turning on the power again, acquiring information specific to the hand 111, and determining whether the information specific to the hand 111 is an expected value (steps S112 to S116) is performed a plurality of times. If it is not determined that there is any (NO in step S116), the control power supply to the hand 111 may be shut off (step S120).

  In the present embodiment, as shown in FIG. 10, the arm control unit 203 adjusts the position and orientation of the arm drive actuator 11a so that the hand 111 is positioned on the work table B when the hand is replaced. However, the arm control unit 203 may adjust the position and orientation of the arm drive actuator 11a so that the hand 111 is positioned on the work table B and at the end of the work table B, as indicated by the dotted line in FIG. . When the hand 111 is positioned on the work table B and at the end of the work table B, the position of the hand 111 may be changed depending on where the worker is. For example, when the operator replaces the hand 111 beside the robot 1 (the information is stored in, for example, a storage unit), the arm control unit 203 is positioned closer to the operator and away from the robot. The position of the arm drive actuator 11a and the position of the arm drive actuator 11a so that the hand 111 is positioned at a position (for example, a position indicated by a dotted line on the lower side of FIG. Adjust the direction.

  At this time, the arm control unit 203 may adjust the position and orientation of the arm drive actuator 11a so that the operation lever 112H faces the outside of the work table B. Thereby, the operator can perform the exchange work of the hand 111 more easily.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiment. In addition, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention. In particular, the present invention may be provided as a robot system in which a robot, a control unit, and an imaging unit are separately provided, or may be provided as a robot in which a control unit is included in the robot. Or a robot control device including a control unit and an imaging unit. The present invention can also be provided as a program for controlling a robot or the like or a storage medium storing the program.

1: Robot, 10: Torso, 10A: Shoulder region, 10B: Torso body, 11: Arm, 11A: Arm member, 11B, 11C, 11D, 11E: Arm member, 11G: Hand eye camera, 11a: Arm drive Actuator, 11b: Arm drive amplifier, 11c: Brake, 12: Touch panel monitor, 13: Leg part, 14: Handle for transport, 15: Electronic camera, 16: Signal lamp, 17: Power switch, 17a: Power ON switch, 17b: Power OFF switch, 18: External I / F unit, 19: Lift handle, 20: Control unit, 21: CPU, 22: Memory, 23: External storage device, 24: Communication device, 25: Input device, 26: Output device 111: Hand, 111A: Main body part, 111B: Finger, 111C: Base end surface, 111D: Projection part, 111E: Child, 111F: Guide pin, 111a: Hand drive actuator, 111b: Hand drive amplifier, 112: Detachable member, 112A: Main body, 112B: Detachable surface, 112C: Through hole, 112D: Guide hole, 112E: Guide groove, 112F: 112G: compression lever, 112I: link mechanism, 112J: circuit board, 112K: photo sensor, 112L: hole, 112M: terminal, 200: hand attachment / detachment instruction acquisition unit, 201: hand attachment / detachment information Acquisition unit 202: Hand control unit 203: Arm control unit 204: Overall control unit

Claims (12)

The robot body,
A manipulator provided in the robot body, having a plurality of manipulator members and a plurality of shafts rotatably connecting the two manipulator members;
An end effector provided to be attachable to and detachable from an attaching / detaching surface provided at a tip of the manipulator;
A manipulator controller that adjusts the position and orientation of the plurality of manipulator members;
An end effector attachment / detachment instruction acquisition unit for acquiring an attachment / detachment instruction of the end effector;
With
The said manipulator control part will adjust the position and direction of these manipulator members so that the said attachment / detachment surface may become horizontal upwards, if the attachment / detachment instruction | indication of the said end effector is acquired. The robot characterized by the above-mentioned. The robot according to claim 1, wherein
It has a position acquisition unit that acquires the position of the workbench,
The said manipulator control part will adjust the position and direction of these several manipulator members so that the said attachment / detachment surface may be located on the said work bench | platform, when the attachment / detachment instruction | indication of the said end effector is acquired. The robot according to claim 1 or 2,
An attachment / detachment member having the attachment / detachment surface and an operation lever provided on a back side of the attachment / detachment surface and operable along the attachment / detachment surface;
The operation lever includes a first direction for locking the attachment / detachment surface and the end effector so that the attachment / detachment surface and the end effector are not separated from each other, and a direction opposite to the first direction. There is provided a robot that is operable in a second direction for releasing the lock. The robot according to claim 3, wherein
An end effector attachment / detachment information acquisition unit that detects whether or not the attachment / detachment surface and the end effector are locked by the attachment / detachment member;
When the attachment / detachment surface and the end effector are unlocked by the attachment / detachment member, when the attachment / detachment surface and the end effector are locked so as not to be separated, an end for supplying control power to the end effector An effector controller,
A robot characterized by comprising The robot according to claim 4, wherein
The end effector control unit obtains information specific to the end effector after turning on the control power, and turns on driving power to the end effector based on the obtained information unique to the end effector. Characteristic robot. The robot according to claim 3, wherein
An operation lever locking portion that prevents the operation lever from being operated when the detachable surface is not horizontally upward. The robot according to any one of claims 3 to 6,
The manipulator control unit adjusts the positions and orientations of the plurality of manipulator members so that the operation lever is not positioned between the robot body and the manipulator when the attachment / detachment surface is horizontally upward. robot. The robot according to any one of claims 1 to 7,
When the attachment / detachment surface is horizontally upward, the manipulator control unit enables rotation of an axis that rotates the attachment / detachment surface in a direction perpendicular to the attachment / detachment surface. The robot according to claim 2, wherein
It has a position acquisition unit that acquires the position of the workbench,
When the manipulator control unit obtains the attachment / detachment instruction of the end effector, the positions and orientations of the plurality of manipulator members are such that the attachment / detachment surface is located on the work table and at the end of the work table. A robot characterized by adjusting. The robot according to claim 1, wherein
An input unit provided on the back side of the robot body,
When receiving an input via the input unit, the end effector attachment / detachment instruction acquiring unit acquires the input as an attachment / detachment instruction of the end effector. The robot body,
An arm that is provided in the robot body and has a plurality of arm members and a plurality of shafts that rotatably connect the two arm members;
An end effector provided detachably with respect to a detachable surface provided at the tip of the arm;
An end effector attaching / detaching instruction receiving unit for receiving an attachment / detachment instruction of the end effector;
With
When receiving an attachment / detachment instruction for the end effector, the robot operates such that the attachment / detachment surface faces upward in the direction of gravity. A manipulator control unit that adjusts the position and orientation of the plurality of manipulator members in a manipulator having a plurality of manipulator members and a plurality of shafts that rotatably connect the two manipulator members;
An end effector attaching / detaching instruction acquiring unit for acquiring an attaching / detaching instruction of an end effector provided to be attachable / detachable to an attaching / detaching surface provided at a tip of the manipulator;
With
When the manipulator control unit acquires an attachment / detachment instruction of the end effector, the manipulator control unit adjusts positions and orientations of the plurality of manipulator members so that the attachment / detachment surface is horizontally upward.

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