Industrial robot and method of operating the same

Patent metadata

Field	Value
Publication number	US-10856945-B2
Application number	US-201615755107-A
Country	US
Kind code	B2
Filing date	Jun 24, 2016
Priority date	Aug 25, 2015
Publication date	Dec 8, 2020
Grant date	Dec 8, 2020

Abstract

To provide an industrial robot and a method of operating the same which are capable of appropriately handling, when an abnormal state occurs during an automatic operation of the robot, the abnormal state without significantly degrading the work efficiency. The industrial robot includes a robot main body (1) having a robot arm, a robot control device (7) configured to control operation of the robot main body (1) and an abnormal state detecting device (8) configured to detect abnormality in a work state of the robot main body (1). The robot control device (7) includes an automatic operation performing means (9) for controlling the operation of the robot main body (1) to perform an automatic operation based on a given operation program, and an automatic operation correcting means (10) for correcting the operation of the robot main body (1) in the automatic operation based on a manual control performed by an operator according to a detection result of the abnormal state detecting device (8).

First claim

The invention claimed is:

1. An industrial robot, comprising:
a robot main body having a robot arm;
a robot control device configured to control operation of the robot main body; and
an abnormal state detecting device configured to detect abnormality in a work state of the robot main body,
wherein the robot control device is configured to execute:
an automatic operation mode in which the robot main body performs an automatic operation in accordance with a preset task program,
a manual operation mode in which the robot main body operates based on a manual operation of the operator received by a manual control input device, without executing the preset task program, and
an operation correcting mode in which the robot main body performs the automatic operation in accordance with the preset task program, with a predetermined feature of the automatic operation being corrected by the manual operation of the operator received by the manual control input device, and

wherein the robot control device includes:
an automatic operation performing means for performing the automatic operation of the robot main body in accordance with the preset task program in the automatic operation mode; and
an automatic operation correcting means for correcting the automatic operation of the robot main body based on the manual operation of the operator in the operation correcting mode, according to a detection result of the abnormal state detecting device, with the proviso that
when the abnormal state is resolved, the operation correcting mode is switched to the automatic operation mode.

2. The industrial robot of claim 1 ,
wherein an end effector configured to hold a workpiece is provided to the robot arm, and
wherein the preset task program causes the robot main body to perform
a conveying operation in which the workpiece held by the end effector is conveyed from a conveying source to a conveying destination, and
an assembling operation in which the workpiece is attached to a target object at the conveying destination.

3. The industrial robot of claim 2 ,
wherein the abnormal state detecting device detects abnormality in the work state of the robot main body in the assembling operation.

4. The industrial robot of claim 3 ,
wherein the abnormality in the work state of the robot main body includes occurrence of an unexpected assembling error in the assembling operation.

5. The industrial robot of claim 1 ,
wherein the abnormal state detecting device has a reaction force detecting means for detecting a reaction force externally acting on the robot main body, and
wherein haptics information corresponding to a detection result of the reaction force detecting means is provided to the operator manually operating the manual control input device in the operation correcting mode.

6. The industrial robot of claim 1 ,
wherein the abnormal state detecting device provides visual information regarding a workspace of the robot main body to the operator.

7. The industrial robot of claim 1 ,
wherein a plurality of robot main bodies are provided, and
wherein the industrial robot further comprises a correction target selecting means for selecting the robot main body of which operation is to be corrected in the operation correcting mode, from the plurality of robot main bodies.

8. The industrial robot of claim 1 ,
wherein, in the operation correcting mode, when an operational instruction for the robot main body according to the preset task program is ΔP 1 , an operational instruction for the robot main body according to the manual operation of the operator is ΔP 2 , and a correction coefficient is α (0≤α≤1), the automatic operation correcting means is configured to generate an operational instruction ΔP 0 to be given to the robot main body based on the following equation:
Δ P 0=(1−α)×Δ P 1+α×Δ P 2.

9. The industrial robot of claim 8 ,
wherein the automatic operation correcting means has a correction coefficient adjusting means for adjusting the correction coefficient.

10. The industrial robot of claim 1 ,
wherein the robot control device has a learning function achieving means for correcting, in the operation correcting mode, the automatic operation of the robot main body based on the manual operation of the operator and based on a history of corrections made by the automatic operation correcting means.

11. An industrial robot, comprising:
a robot main body having a robot arm;
a manipulator configured to receive a manipulating instruction from an operator;
a storage device storing a preset task program for causing the robot main body to perform a given operation; and
a robot control device configured to control the operation of the robot main body,
wherein the robot control device is configured to execute:
an automatic operation mode in which the robot main body performs an automatic operation in accordance with the preset task program,
a manual operation mode in which the robot main body operates based on a manual operation of the operator received by the manipulator, without executing the preset task program, and
an operation correcting mode in which the robot main body performs the automatic operation in accordance with the preset task program, with a predetermined feature of the automatic operation being corrected by the manual operation of the operator received by the manipulator, and

wherein the robot control device includes:
an automatic operation performing means for performing the automatic operation of the robot main body in accordance with the preset task program in the automatic operation mode; and
an automatic operation correcting means for, in the operation correcting mode, when an operational instruction for the robot main body according to the preset task program is ΔP 1 , and an operational instruction for the robot main body according to the manual operation of the operator is ΔP 2 ,
correcting the automatic operation of the robot main body by giving instructions corresponding to a sum of a value obtained by multiplying ΔP 1 by a first coefficient A and a value obtained by multiplying ΔP 2 by a second coefficient B, to the robot main body, with the proviso that

when an abnormal state of the robot main body is resolved, the operation correcting mode is switched to the automatic operation mode.

12. The industrial robot of claim 11 ,
wherein the first coefficient A and the second coefficient B are associated with each other so that when one of the coefficients increases, the other coefficient decreases.

13. The industrial robot of claim 11 ,
wherein the first coefficient A and the second coefficient B are such coefficients that a value obtained by multiplying the first coefficient A and the second coefficient B becomes a first given preset value.

14. The industrial robot of claim 11 ,
wherein the first coefficient A and the second coefficient B are such coefficients that a value obtained by adding the first coefficient A to the second coefficient B becomes a second given preset value.

15. The industrial robot of claim 11 ,
wherein the second coefficient B is a variable that becomes a preset value over a given period of time since the operational instruction for the robot main body according to the manual operation of the operator is inputted from the manipulator.

16. The industrial robot of claim 11 , further comprising
an adjusting means for adjusting the second coefficient B.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko
• Maehara Tsuyoshi
• Kamon Masayuki
• Tanaka Shigetsugu

Classifications

• H04N23/611

  where the recognised objects include parts of the human body · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/37 Primary

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/35

  for telesurgery · CPC title

• B25J9/1689

  Teleoperation · CPC title