Patent Grant
11123861
This application is based on Japanese Patent Application No. 2018-199858 and No. 2019-192078, the contents of which are incorporated herein by reference.
The present invention relates to a robot system.
In the related art, there is a known industrial robot in which part of a wire body wired through the inside of the robot is taken out to the outside of a wrist and is connected to a tool mounted at the distal end of the wrist, thereby giving a sufficient extra length of the wire body in an external space of the wrist, and the sufficient extra length of the wire body absorbs bending and twisting of the wire body caused by the operation of the wrist, thus reducing damage to the wire body (for example, Japanese Unexamined Patent Application, Publication No. 2003-305683).
According to one aspect, the present invention provides a robot system including: a robot body; and a control device that controls the robot body, wherein the robot body is provided with a first wrist element that is supported at a distal end of an arm so as to be rotatable about a first axis extending along the longitudinal axis of the arm, a second wrist element that is supported on the first wrist element so as to be rotatable about a second axis intersecting the first axis, and a third wrist element that is supported on the second wrist element so as to be rotatable about a third axis intersecting the second axis; a wire body that is wired through the inside of the arm is connected to an end effector fixed to the third wrist element, by passing through an aerial path outside the robot body, from a wire-body outlet provided in the first wrist element; and the control device is provided with: an angle calculation unit that calculates, in a Cartesian coordinate system of which the origin is the wire-body outlet and which has one coordinate axis extending in a direction along the first axis, an angle of a straight line that connects the wire-body outlet and a specific point of the wire body, with the straight line projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where a load acting on the wire body is the least; and a determination unit that determines whether the absolute value of the angle calculated by the angle calculation unit has exceeded a predetermined angle threshold.
A robot system 1 according to one embodiment of the present invention will be described below with reference to the drawings.
As shown in
The robot body 2 is, for example, a 6-axis articulated-type robot and is provided with: a base 21 that is installed on a floor surface F; a turning torso 22 that is supported so as to be rotatable about a vertical first axis L1 with respect to the base 21; a first arm 23 that is supported so as to be rotatable about a horizontal second axis L2 with respect to the turning torso 22; a second arm (arm) 24 that is supported so as to be rotatable about a horizontal third axis L3 with respect to the first arm 23; and a 3-axis wrist unit 25 that is mounted at a distal end of the second arm 24.
The 3-axis wrist unit 25 is provided with: a first wrist element 26 supported so as to be rotatable, about a fourth axis (first axis) L4 that extends in a direction along the longitudinal axis of the second arm 24, with respect to the second arm 24; a second wrist element 27 supported so as to be rotatable, about a fifth axis (second axis) L5 that is perpendicular to the fourth axis L4, with respect to the first wrist element 26; and a third wrist element 28 supported so as to be rotatable, about a sixth axis (third axis) L6 that is perpendicular to the fifth axis L5 and that passes through the intersection point of the fourth axis L4 and the fifth axis L5, with respect to the second wrist element 27.
The second arm 24 and the first wrist element 26 have hollow structures that have a hollow hole 26a around the fourth axis L4 and extending along the fourth axis L4. The second wrist element 27 and the third wrist element 28 have also hollow structures that have hollow holes 27a and 28a, respectively, around the sixth axis L6 and extending along the sixth axis L6.
A laser processing tool (end effector) 4, for example, is fixed to the third wrist element 28. A high-rigidity cable (not shown) or the like for driving the laser processing tool 4 passes through the hollow hole 26a in the second arm 24 and the first wrist element 26 from the rear side of the second arm 24, passes through the hollow holes 27a and 28a in the second wrist element 27 and the third wrist element 28 via an aerial path from the outlet (wire-body outlet) of the hollow hole 26a in the first wrist element 26, and is connected to the laser processing tool 4. By wiring the high-rigidity cable along the fourth axis L4 and the sixth axis L6, excessive twisting and bending caused by rotation of the first wrist element 26, the second wrist element 27, and the third wrist element 28 are prevented from being applied to the cable.
On the other hand, a low-rigidity optical fiber cable (wire body) 5 that is guided inside the hollow hole 26a in the first wrist element 26 to the outlet of the hollow hole 26a, together with the cable or the like, is connected to the laser processing tool 4 via an aerial path different from that for the high-rigidity cable. Because the optical fiber cable 5 is not wired along the fourth axis L4 and the sixth axis L6, the optical fiber cable 5 is wired in a state in which a sufficient extra length for absorbing twisting and bending caused by rotation of the first wrist element 26, the second wrist element 27, and the third wrist element 28 is given.
However, depending on the orientations of the wrist elements 26, 27, and 28, in some cases, excessive bending, pulling, or compression acts at a specific point A that is located at a connection part 41 of the optical fiber cable 5 for connecting to the laser processing tool 4 or at a specific point B that is located at an intermediate position of the optical fiber cable 5 in the longitudinal direction. The specific points A and B can be arbitrarily set.
The control device 3 is provided with a processor and a memory and, as shown in
Then, the control device 3 calculates the coordinates of each of the specific points A and B on the basis of angle information on the respective wrist elements 26, 27, and 28 of the robot body 2. The coordinates of the connection part 41 on the laser processing tool 4 can be uniquely calculated on the basis of the angle information on the respective wrist elements 26, 27, and 28 and the dimensions of the laser processing tool 4, and the coordinates of the intermediate position of the optical fiber cable 5 can be estimated on the basis of the angle information on the respective wrist elements 26, 27, and 28.
As shown in
The control device 3 is provided with: a determination unit 33 that stores angle thresholds associated with the angles Aθ and Bθ and distance thresholds associated with the lengths AR and BR and that determines whether the calculated angles Aθ and Bθ and the calculated lengths AR and BR have exceeded the respective thresholds; and a life calculation unit 34 that calculates the life of the optical fiber cable 5. As shown in
A determination result from the determination unit 33 is displayed on a display unit (not shown), such as a monitor.
The control device 3 calculates, by using the following expressions, the amounts of damage dealt to the optical fiber cable 5 at the specific points A and B on the basis of the calculated lengths AR and BR and the calculated angles Aθ and Bθ of the straight lines LA and LB;
D1=Fra(AR)+Fθa(Aθ), and
D2=Frb(BR)+Fθb(Bθ),
where,
D1 indicates the amount of damage at the connection part 41 on the optical fiber cable 5,
D2 indicates the amount of damage at the intermediate position of the optical fiber cable 5,
AR indicates the distance from the origin O to the connection part 41 on the optical fiber cable 5,
Aθ indicates the angle of the straight line LA, which is drawn between the connection part 41 on the optical fiber cable 5 and the origin O, with respect to the Z-axis in the YZ-plane,
BR indicates the distance from the origin O to the intermediate position of the optical fiber cable 5,
Bθ indicates the angle of the straight line LB, which is drawn between the intermediate position of the optical fiber cable 5 and the origin O, with respect to the Z-axis in the YZ-plane,
Fra and Frb indicate functions for calculating the amounts of damage on the basis of the distances AR and BR, and
Fθa and Fθb indicate functions for calculating the amounts of damage on the basis of the angles Aθ and Bθ.
The control device 3 calculates, by means of the life calculation unit 34, the remaining life L of the optical fiber cable 5 by using Formula (1) and (2) on the basis of the calculated amounts of damage D1 and D2 and displays the remaining life L on the display unit.
{Formula 1}
D=Σi=0nD′i (1)
{Formula 2}
L=H−D (2)
where,
L indicates the remaining life,
H indicates the total life,
D indicates the amount of damage dealt to the optical fiber cable during one cycle,
D′i=D1+D2, and
n indicates the number of times of sampling during one cycle.
The operation of the thus-configured robot system 1 of this embodiment will be described below.
According to the robot system 1 of this embodiment, as shown in
Next, the distances AR and BR from the specific points A and B to the origin O of the outlet coordinate system are respectively calculated on the basis of the calculated coordinates (Step S3). The angles Aθ and Bθ from the Z-axis in the YZ-plane in the outlet coordinate system are respectively calculated (Step S4).
Next, the life calculation unit 34 performs a life calculation routine (Step S5). In the life calculation routine, the amount of damage D′i is calculated by using the calculated distances AR and BR and the calculated angles Aθ and Bθ (Step S51), and the calculated amount of damage D′i is accumulated (Step S52). Then, it is determined whether one cycle has been completed (Step S53). If one cycle has not been completed, the flowchart returns to the main routine. If one cycle has been completed, the remaining life L is calculated (Step S54) and is displayed on the monitor (Step S55), and the flowchart returns to the main routine.
Next, it is determined whether the calculated distances AR and BR and the calculated angles Aθ and Bθ have exceeded the respective thresholds (Step S6). If the distances AR and BR and the angles Aθ and Bθ have not exceeded the respective thresholds, the steps from Step S1 are repeated. On the other hand, if it is determined that the distances AR and BR and the angles Aθ and Bθ have exceeded the respective thresholds, in Step S6, that determination result is displayed on the display unit (Step S7), and the operation of the robot body 2 is stopped (Step S8).
In this way, according to the robot system 1 of this embodiment, if the angles Aθ and Bθ calculated by the angle calculation unit 32 and the distances AR and BR have exceeded the respective thresholds, that determination result is displayed on the display unit, thereby issuing a notification; thus, there is an advantage in that, by changing an operation program or changing control on the basis of the determination result, it is possible to allow the 3-axis wrist unit 25 to operate within a region in which no damage is dealt to the optical fiber cable 5, to stabilize the life of the optical fiber cable 5, and to reduce maintenance frequency. Because the angles Aθ and Bθ to be obtained T seconds later are predicted, a notification can be issued before damage is dealt to the optical fiber cable 5.
In particular, it is conceivable that the angles Aθ and Bθ represent the amounts of twisting of the optical fiber cable 5 at the positions of the specific points A and B, and the optical fiber cable 5 is subject to considerable damage due to twisting, at the connection part 41 on the optical fiber cable 5. Therefore, by determining whether the angles Aθ and Bθ have exceeded the angle thresholds and issuing a notification depending on the determination result, it is possible to take measures, e.g., to change the operation to such an operation as not to deal damage to the optical fiber cable 5, thus stabilizing the life of the optical fiber cable 5.
It is conceivable that the distances AR and BR represent pulling and compression of the optical fiber cable 5 at the positions of the specific points A and B, and the optical fiber cable 5 is subject to considerable damage due to pulling and compression, at the intermediate position of the optical fiber cable 5. Therefore, by determining whether the distances AR and BR have exceeded the distance thresholds and issuing a notification depending on the determination result, it is possible to take measures, e.g., to change the operation to such an operation as not to deal damage to the optical fiber cable 5, thus stabilizing the life of the optical fiber cable 5.
According to this embodiment, because the remaining life L of the optical fiber cable 5 is calculated on the basis of the calculated distances AR and BR and angles Aθ and Bθ and is displayed on the display unit, there is an advantage in that it is possible to objectively understand, by the displayed remaining life L, damage being dealt to the optical fiber cable 5 and to prompt correction of the operation program, on the basis of the remaining life L.
In this embodiment, although it is determined whether the amount of damage D′i of the optical fiber cable 5 is large, on the basis of both of the lengths (distances) AR and BR of the straight lines LA and LB, which are drawn from the origin O of the outlet coordinate system to the specific points A and B, and the angles Aθ and Bθ of the straight lines LA and LB from the Z-coordinate axis, the straight lines LA and LB being projected onto the YZ-plane, instead of this, it is also possible to use only the angles Aθ and Bθ in order to determine damage particularly due to twisting or to use only the distances AR and BR in order to determine damage particularly due to pulling and compression.
In this embodiment, as a result of the determination made by the determination unit 33, if the distances AR and BR or the angles Aθ and Bθ have exceeded the thresholds, notification of the determination result is issued; however, instead of this, if the distances AR and BR or the angles Aθ and Bθ reach the thresholds, the control device 3 may control the wrist elements 26, 27, and 28 of the robot body 2 such that the distances AR and BR or the angles Aθ and Bθ do not exceed the thresholds.
In this embodiment, although a means for performing screen display by using the display unit is adopted as a notification unit, instead of this, it is also possible to adopt a means for issuing notification of a determination result by sound.
Although the optical fiber cable 5 is shown as an example of the wire body, the wire body is not limited thereto.
In this embodiment, although the amount of damage D′i is calculated by using the functions Fra and Frb, which calculate the amount of damage D′i on the basis of the distances AR and BR, and the functions Fθa and Fθb, which calculate the amount of damage D′i on the basis of the angles Aθ and Bθ, instead of this, it is also possible to obtain the amount of damage D′i by checking a database. Machine learning may also be applied.
As a result, the following aspect is derived from the above described embodiment.
According to one aspect, the present invention provides a robot system including: a robot body; and a control device that controls the robot body, wherein the robot body is provided with a first wrist element that is supported at a distal end of an arm so as to be rotatable about a first axis extending along the longitudinal axis of the arm, a second wrist element that is supported on the first wrist element so as to be rotatable about a second axis intersecting the first axis, and a third wrist element that is supported on the second wrist element so as to be rotatable about a third axis intersecting the second axis; a wire body that is wired through the inside of the arm is connected to an end effector fixed to the third wrist element, by passing through an aerial path outside the robot body, from a wire-body outlet provided in the first wrist element; and the control device is provided with: an angle calculation unit that calculates, in a Cartesian coordinate system of which the origin is the wire-body outlet and which has one coordinate axis extending in a direction along the first axis, an angle of a straight line that connects the wire-body outlet and a specific point of the wire body, with the straight line projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where a load acting on the wire body is the least; and a determination unit that determines whether the absolute value of the angle calculated by the angle calculation unit has exceeded a predetermined angle threshold.
According to this aspect, the wire body wired through the inside of the arm is connected to the end effector, which is fixed to the third wrist element, by passing through the aerial path outside the robot body, from the wire-body outlet of the first wrist element, which is mounted at the distal end of the arm of the robot body. In this case, when the second wrist element is rotated about the second axis with respect to the first wrist element, or when the third wrist element is rotated about the third axis with respect to the second wrist element, the aerial path changes, thus changing the amount of twisting at the specific point of the wire body according to the size of the rotation angle.
According to this aspect, the angle calculation unit calculates an angle of the straight line, which connects the specific point and the wire-body outlet, with the straight line projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where the load is the least, and the determination unit determines whether the absolute value of the calculated angle has exceeded the angle threshold. It is conceivable that the calculated angle represents the amount of twisting of the wire body at the position of the specific point, and, if this angle is greater than the angle threshold, a large amount of damage due to twisting is dealt to the wire body. By changing an operation program or changing control on the basis of the determination result, it is possible to allow the wrist to operate within a region in which no damage is dealt to the wire body, to stabilize the life of the wire body, and to reduce maintenance frequency.
In the above-described aspect, the control device may be provided with a distance calculation unit that calculates the distance between the wire-body outlet and the specific point of the wire body; and the determination unit may determine whether the distance calculated by the distance calculation unit has exceeded a predetermined distance threshold corresponding to the angle.
With this configuration, when the second wrist element is rotated about the second axis with respect to the first wrist element, or when the third wrist element is rotated about the third axis with respect to the second wrist element, the aerial path changes, thus changing the amount of pulling or the amount of compression at the specific point of the wire body according to the size of the rotation angle.
The distance calculation unit calculates the distance of the straight line connecting the specific point and the wire-body outlet, and the determination unit determines whether the calculated distance has exceeded the distance threshold corresponding to the angle. It is conceivable that the calculated distance represents the amount of pulling or the amount of compression of the wire body at the position of the specific point, and, if this distance is greater than the distance threshold, considerable damage due to pulling or compression is dealt to the wire body. By changing the operation program or changing control on the basis of the determination result, it is possible to allow the wrist to operate within a region in which no damage is dealt to the wire body, to stabilize the life of the wire body, and to reduce maintenance frequency.
In the above-described aspect, the control device may control the robot body within an angle region in which the angle does not exceed the angle threshold.
With this configuration, it is possible to keep the robot body operating at angles of the respective wrist elements at which damage dealt to the wire body is less, to stabilize the life of the wire body, and to reduce maintenance frequency.
In the above-described aspect, the control device may be provided with a notification unit that issues, when it is determined that the angle has exceeded the angle threshold, a notification indicating the determination result.
With this configuration, it is possible to notify an operator that damage being dealt to the wire body is large and to prompt correction of the operation program.
In the above-described aspect, the control device may control the robot body within a distance region in which the distance does not exceed the distance threshold.
With this configuration, it is possible to keep the robot body operating at angles of the respective wrist elements at which damage dealt to the wire body is less, to stabilize the life of the wire body, and to reduce maintenance frequency.
In the above-described aspect, the control device may be provided with a notification unit that issues, when it is determined that the distance has exceeded the distance threshold, a notification indicating the determination result.
With this configuration, it is possible to notify the operator that damage being dealt to the wire body is large and to prompt correction of the operation program.
In the above-described aspect, the control device may store the angles successively calculated by the angle calculation unit and may calculate the life of the wire body on the basis of the stored time-series angles.
With this configuration, with the calculated life, it is possible to make the damage being dealt to the wire body more specific, and to prompt correction of the operation program on the basis of the life.
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