Robot system and method of operating the same

A robot system which includes a manipulator, slave arm, an output device, a storage device and a control device. Control device is configured, after a given first process, to output to the output device an inquiry of asking which operating mode among three operating modes of an automatic operation mode, manual operation mode, and hybrid operation mode the slave arm is to be operated in a second process, and execute first operation processing in which, when selected information for instructing the operating mode selected from the three operating modes is inputted, the selected information is stored in the storage device, and second operation processing in which, when the number of times that first selected information is stored in the storage device becomes equal to or more than a first threshold number of times, the selected operating mode is outputted to the output device after the first process is ended.

TECHNICAL FIELD

The present disclosure relates to a robot system and a method of operating the same.

BACKGROUND ART

Hand guiding systems for attaching a workpiece to a work target moving on an assembly line are known (e.g., see Patent Document 1).

In the hand guiding system disclosed in Patent Document 1, a robot control device has an automatic mode for automatically controlling a robot and a manual mode for manually controlling the robot with an on-hand operation panel, and it switches to the collaborative mode only for works which require human determination or experience, and other works are carried out in the automatic mode.

REFERENCE DOCUMENT OF CONVENTIONAL ART

Patent Document

DESCRIPTION OF THE DISCLOSURE

Problems to be Solved by the Disclosure

However, in the hand guiding system disclosed in Patent Document 1, the switch from the automatic mode to the collaborative mode is performed by a state display device displaying a switchable state in which the switch to the collaborative mode is possible when the automatic mode is ended, and an operator manipulating an external operation panel based on the display. When the collaborative mode is then ended, it is switched to the automatic mode by the operator manipulating the external operation panel.

As described above, in the hand guiding system disclosed in Patent Document 1, it is required that the operator manipulates the operation panel every time the mode is switched, and a troublesome work is caused. Therefore, there is still a room for improvement in view of reducing the work load on the operator and improving work efficiency.

The present disclosure is for solving the conventional issue and aims to provide a robot system and a method of operating the same, with which a work load on an operator is able to be reduced and work efficiency is able to be improved.

Summary of the Disclosure

In order to solve the conventional issue, a robot system according to the present disclosure includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, an output device, a storage device, and a control device. The control device is configured, after a given first process, to output to the output device an inquiry of asking which operating mode among three operating modes of an automatic operation mode, a manual operation mode, and a hybrid operation mode the slave arm is to be operated in a second process that is the subsequent process to the first process, and execute first operation processing in which, when selected information for instructing the operating mode selected from the three operating modes is inputted from the manipulator, the selected information is stored in the storage device, and second operation processing in which, when the number of times that first selected information indicating the same selected operating mode is stored in the storage device becomes equal to or more than a first threshold number of times, the selected operating mode is outputted to the output device after the first process is ended.

Thus, if the second process is performed in the same operating mode, it becomes unnecessary to manipulate the manipulator to output the selected information after the first process is ended, which allows a work load on the operator to be reduced. Therefore, it is possible to improve work efficiency of the operator.

Further, a method of operating a robot system according to the present disclosure is a method of operating a robot system including a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, and an output device. The method includes (A) outputting, from the output device after a given first process, an inquiry of asking which operating mode among three operating modes of an automatic operation mode, a manual operation mode, and a hybrid operation mode the slave arm is to be operated in a second process that is the subsequent process to the first process, (B) outputting from the manipulator selected information for instructing the operating mode selected from the three operating modes for the second process, (C) storing in the storage device the selected information outputted by the outputting (B), and (D) outputting, when the number of times that first selected information in which the selected operating mode is the same becomes equal to or more than a first threshold number of times, the selected operating mode from the output device after the first process is ended.

Thus, if the second process is performed in the same operating mode, it becomes unnecessary to manipulate the manipulator to output the selected information after the first process is ended, which allows the work load on the operator to be reduced. Therefore, it is possible to improve the work efficiency of the operator.

Effect of the Disclosure

According to the robot system and the method of operating the same, a work load on an operator is able to be reduced and work efficiency is able to be improved.

MODES FOR CARRYING OUT THE DISCLOSURE

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that, throughout the drawings, the same reference characters are assigned to the same or corresponding parts and redundant description is omitted. Further, throughout the drawings, elements for describing the present disclosure are selectively illustrated and illustration of the other components may be omitted. Furthermore, the present disclosure is not limited to the following embodiments.

First Embodiment

A robot system according to the first embodiment includes a manipulator which receives a manipulating instruction from an operator, a slave arm which performs a series of works comprised of a plurality of processes, an output device, a storage device, and a control device. The control device is configured, after a given first process, to output to the output device an inquiry of asking which operating mode among three operating modes of an automatic operation mode, a manual operation mode, and a hybrid operation mode the slave arm is to be operated in a second process which is the subsequent process to the first process, and to execute first operation processing in which, when selected information for instructing the operating mode selected from the three operating modes is inputted from the manipulator, the selected information is stored in the storage device, and second operation processing in which, when the number of times that first selected information indicating the same selected operating mode is stored in the storage device becomes equal to or more than a first threshold number of times, the selected operating mode is outputted to the output device after the first process is ended.

Hereinafter, one example of the robot system according to the first embodiment is described with reference toFIGS. 1 to 5.

FIG. 1is a block diagram illustrating a schematic configuration of a robot system according to the first embodiment.

As illustrated inFIG. 1, the robot system100according to the first embodiment includes a slave arm1, a manipulator2, an output device3, a control device4, and a storage device5, and it is configured so that the slave arm1is operated by an operator operating the manipulator2.

The slave arm1is a robot which is installed in a workspace and performs a series of works comprised of a plurality of processes. Note that the series of works comprised of the plurality of processes may include works, such as assembling of component(s) to a product and painting.

The slave arm1according to the first embodiment is an articulated robot, in a line production or a cell production, which is utilized at a production plant where products are produced by assembling electric and/or electronic components etc., is disposed along a workbench provided to the production plant, and is capable of performing at least one of works, such as transferring, assembling or relocating of component(s), and converting the posture, to workpiece(s) on the workbench. Note that the embodiment of the slave arm1is not limited to the configuration described above, but may be widely applied to any articulated robots, regardless of a horizontal articulated type or a vertical articulated type.

The manipulator2is a device which is installed outside the workspace and receives a manipulating instruction from the operator. Further, as described later, the manipulator2is configured, in response to the inquiry of which operating mode the slave arm is to be operated in among the three operating modes of the automatic operation mode, the manual operation mode, and the hybrid operation mode in the second process, to select one of the three operating modes and output the selected operating mode as the selected information. Moreover, the manipulator2may be configured so that when the manual operation mode or the hybrid operation mode is ended, it outputs information indicating the end of the operating mode by the operator's manipulation.

The manipulator2may be, for example, a master arm, a joystick, or a tablet computer. Note that the manipulator2may be separately provided with an input part etc. which inputs a start instruction of a work described later, a notice of completion of the work by a manual operation, etc.

The output device3is for outputting information transmitted from the control device4and is configured to output the inquiry of which operating mode the slave arm1is to be operated in among the three operating modes of the automatic operation mode, the manual operation mode, and the hybrid operation mode (inquiry information).

Further, the output device3may be, for example, a display device, such as a monitor, a speaker, a printer, etc. For example, when the output device3is constituted by the display device, it displays (outputs) the information transmitted from the control device4as an image, for example, letter(s), a painting, a picture, a video, etc. When the output device3is constituted by the speaker, it outputs the information transmitted from the control device4as sound information. Moreover, when the output device3is constituted by the printer, it prints out the information transmitted from the control device4. Note that the output device3is provided at a position where the operator of the manipulator2is able to sense the information outputted.

The storage device5is a readable and writable recording medium, which stores operation sequence information51, selected information52and a number counter53of the robot system100. Note that, although in the robot system100according to the first embodiment, the storage device5is provided separately from the control device4, it may be integrally provided with the control device4.

The operation sequence information51is information relating to an operation sequence which defines the series of works to be performed by the slave arm1in the workspace, and includes a program for causing the slave arm1to perform an automatic operation. More specifically, the operation sequence information51is information where an operation order (process order) and an operating mode of the slave arm1(operating mode) are associated with each other. Note that the operation sequence information51also includes an operation flow (not illustrated) of each operating mode.

Here, the operation sequence information51will be described in detail with reference toFIG. 2.

FIG. 2is a schematic diagram illustrating one example of the operation sequence information stored in the storage device of the robot system illustrated inFIG. 1.

As illustrated inFIG. 2, in the first embodiment, according to the operation sequence information51, the operations of Processes1to4are executed. In Process1, the automatic operation mode is executed, and once Process1is ended, the inquiry of which operating mode the slave arm1is to be operated in among the three operating modes of the automatic operation mode, the manual operation mode, and the hybrid operation mode in Process2is performed. Then in Process2, the operating mode selected by the operator manipulating the manipulator2is executed, in Process3, the hybrid operation mode is executed, and in Process4, the manual operation mode is executed.

Thus, in the first embodiment, Process1constitutes a first process, and Process2constitutes a second process. Note that the inquiry of which operating mode the operation is to be performed in among the three operating modes is not limited to the form in which it is performed after Process1is ended, but it may be performed after at least one of Processes1to3is ended, and a form in which it is performed when the respective processes of Processes1to3are ended may be adopted.

Note that the automatic operation mode means that the slave arm1automatically performs the operation according to a preset program. Moreover, the manual operation mode means that the slave arm1operates in accordance with the manipulating instruction received from the manipulator2. The slave arm1may be operated to completely follow the manipulating instruction received from the manipulator2or the slave arm1may be operated while correcting the manipulating instruction received from the manipulator2with the preset program (e.g., hand shake correction). Further, the hybrid operation mode means that the operation of the slave arm during the automatic operation is corrected by a manual operation.

The selected information52is information on the operating mode selected by the operator from the three operating modes. Further the number counter53is for storing the number of times that the operator selects each operating mode for the second process. A first number counter53A is configured to store the number of times that the automatic operation mode is selected, a second number counter53B is configured to store the number of times that the manual operation mode is selected, and a third number counter53C is configured to store the number of times that the hybrid operation mode is selected.

The control device4controls the operation of the slave arm1, and includes a receiver40, a motion controller41, an output controller42, and a corrector43as functional blocks. The control device4may be comprised of, for example, an arithmetic part (not illustrated), such as a microcontroller, an MPU and a PLC (Programmable Logic Controller), a logic circuit, etc., and a memory part (not illustrated), such as a ROM or a RAM. Moreover, each functional block provided to the control device4is implementable by the arithmetic part of the control device4reading and executing the program stored in a memory part or the storage device5.

Note that the control device4may not only be in a form comprised of a single control device, but also in a form comprised of a group of control devices in which a plurality of control devices collaborate with each other to execute the control of the slave arm1(robot system100).

The receiver40receives an input signal transmitted from the outside of the control device4. The input signal received by the receiver40may be, for example, a signal transmitted from the manipulator2, a signal transmitted from a manipulating instruction part (not illustrated) other than the manipulator2, etc.

When the receiver40receives the manipulating instruction from the manipulator2as the input signal, the motion controller41determines the operating mode of the process which the slave arm1carries out in the series of works by using the manipulating instruction as a trigger. The motion controller41is capable of performing the determination of the operating mode of the process which the slave arm1carries out next, with reference to the operation sequence information51stored in the storage device5. Once the motion controller41determines the operating mode, it controls the slave arm1so that the slave arm1is operated in the determined operating mode.

For example, if the motion controller41determines that the slave arm1is to be automatically operated, it reads the operation sequence information51, and controls the slave arm1to perform the operation defined by the program contained in the operation sequence information51.

On the other hand, if the motion controller41determines that the slave arm1is to be manually operated, it controls the slave arm1to perform the operation based on the manipulating instruction received from the manipulator2by the receiver40.

Further, if the motion controller41determines that the slave arm1is to be operated in hybrid, it reads the operation sequence information51and performs the operation defined by the program contained in the operation sequence information51, and when the receiver40receives a correctable instructing signal as an input signal from the manipulator2during the operation of the slave arm1by the automatic operation, the operation of the slave arm1by the automatic operation is corrected to operation following the correctable instructing signal from the manipulator2. Then, when the output of the correcting instruction signal from the manipulator2is stopped and the receiver40stops receiving the correcting instruction signal, or when the receiver40receives an instruction for resuming the automatic operation of the slave arm1from the manipulator2, the motion controller41resumes the automatic operation of the slave arm1.

Note that, when the slave arm1is operated in the automatic operation mode, once the automatic operation mode of the slave arm1is ended, the motion controller41may transmit information indicating that the end of the automatic operation mode to the output controller42. Therefore, by the output controller42outputting the information indicating the end of the automatic operation mode to the output device3for the operator, the operator is able to understand that the automatic operation mode is ended.

Further, after the first process is ended, the motion controller41outputs the inquiry of which operating mode the slave arm1is to be operated in among the three operating modes of the automatic operation mode, the manual operation mode, and the hybrid operation mode (inquiry information) to the output controller42.

Additionally, the motion controller41acquires the selected information outputted from the manipulator2via the receiver40. Moreover, the motion controller41stores the acquired selected information in the selected information52of the storage device5and updates the number counter53for the selected operating mode. The update of the number counter53is performed, for example, when the operator selects the automatic operation mode, by adding 1 to the first number counter53A of the number counter53. Similarly, when the operator selects the manual operation mode, 1 is added to the second number counter53B, and when the hybrid operation mode is selected, 1 is added to the third number counter53C.

Then, the motion controller41sets the selected information relating to the most selected operating mode among the respective operating modes from the number counter53as the first selected information for the second process, and stores it in the selected information52of the storage device5. Further, when the first selected information is selected equal to or more than the preset first threshold number of times, the motion controller41outputs to the output controller42the operating mode stored as the first selected information after the first process is ended.

The output controller42controls the output device3to output information to be notified to the operator etc. For example, when the output controller42receives the information indicating the start of the automatic operation from the motion controller41, or when it receives one of the information indicating the start of the manual operation from the manipulator2via the motion controller41and the receiver40and, if it is during the hybrid operation of the slave arm1, the input signal indicating the correcting instruction from the manipulator2via the motion controller41and the receiver40, it may control the output device3to output this information.

Furthermore, when the output controller42receives the information indicating the end of the automatic operation from the motion controller41, or when it receives one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation from the manipulator2via the motion controller41and the receiver40, it may control the output device3to output this information.

Further, when the output controller42receives the inquiry information from the motion controller41, it controls the output device3to output the information. Thus, the operator is able to select which operating mode the slave arm1is to be operated in among the three operating modes, and manipulate the manipulator2to output the selected information to the receiver40of the control device4.

When the receiver40receives the input signal indicating the correcting instruction during the hybrid operation of the slave arm1, the corrector43instructs the motion controller41to correct the operation of the slave arm1. Specifically, when the receiver40receives the correcting instruction signal as the input signal from the manipulator2during the hybrid operation of the slave arm1, the corrector43instructs the motion controller41to correct the operation of the slave arm1in the automatic operation to the operation according to the correcting instruction signal from the manipulator2. Note that, in response to the instruction from the corrector43, the motion controller41controls the slave arm1to reflect the correcting instruction from the manipulator2on the operation.

[Operation and Effect of Robot System]

Next, operation and effect of the robot system100according to the first embodiment are described with reference toFIGS. 1 to 5. Note that since the operation of performing the series of works by the operator manipulating the manipulator2to operate the slave arm1is executed similar to a known robot system, detailed description thereof is omitted. Moreover, the following operation is executed by the arithmetic part of the control device4reading the program stored in the memory part or the storage device5.

FIG. 3is a flowchart illustrating one example of operation of the robot system according to the first embodiment.

As illustrated inFIG. 3, the control device4determines whether the first process (Process1in the first embodiment) is ended (Step S11). Specifically, the motion controller41of the control device4determines whether the automatic operation is ended or whether one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation is received from the manipulator2via the receiver40. Note that in the first embodiment, since Process1is the operation in the automatic operation mode, the motion controller41determines whether the automatic operation is ended.

If the motion controller41of the control device4determines that the automatic operation is not ended or one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation is not received from the manipulator2via the receiver40(No at Step S11), it ends this program. Note that, when the control device4ends this program, it again executes this program, for example, after 50 msec.

On the other hand, if the motion controller41of the control device4determines that the automatic operation is ended or one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation is received from the manipulator2via the receiver40(Yes at Step S11), the processing at S12is executed.

At Step S12, the control device4determines whether the number of times that the first selected information for the second process (here, Process2) is stored is less than the first threshold number of times. Specifically, the motion controller41of the control device4acquires the number of times that the first selected information is stored, from the number counter53of the storage device5.

For example, when the most selected operating mode for the second process is the automatic operation, the motion controller41acquires the number of times stored, from the first number counter53A. Similarly, when the most selected operating mode is the manual operation mode, the motion controller41acquires the number from the second number counter53B, and when the most selected operating mode is the hybrid operation mode, the motion controller41acquires the number from the third number counter53C.

If the motion controller41determines that the number acquired from the number counter53is less than the first threshold number of times (Yes at Step S12), the first operation processing is executed (Step S13) and it ends this program. On the other hand, if the motion controller41determines that the number acquired from the number counter53is not less than the first threshold number of times (No at Step S12), the second operation processing is executed (Step S14) and it ends this program.

Here, the first threshold number of times may be arbitrarily set, and is suitably set based on the skill, the proficiency level on the slave arm1, etc., of the operator of the manipulator2, for example, it may be five times, ten times, or fifteen times. Further, the first threshold number of times may be the number of times that it is selected consecutively, or a total number of times selected.

Next, the first operation processing will be described in detail with reference toFIG. 4.

FIG. 4is a flowchart illustrating one example of specific processing of the first operation processing illustrated inFIG. 3.

As illustrated inFIG. 4, the control device4displays (outputs) the inquiry of which operating mode the slave arm1is to be operated in among the three operating modes of the automatic operation mode, the manual operation mode, and the hybrid operation mode (inquiry information) (Step S101). Specifically, the motion controller41of the control device4outputs the inquiry information to the output device3via the output controller42. Then, by acquiring the inquiry information, the output device3displays for the operator the inquiry of which operating mode to operate in among the three operating modes. In response to this, the operator selects which operating mode to operate in among the three operating modes, and manipulates the manipulator2to output the selected operating mode as the selected information.

Next, the motion controller41of the control device4determines whether the selected information is inputted to the receiver40from the manipulator2(Step S102). If the motion controller41determines that the selected information is not inputted from the manipulator2to the receiver40(No at Step S102), the motion controller41returns to Step S101to repeat S101and S102until the selected information is inputted from the manipulator2to the receiver40. On the other hand, if the motion controller41determines that the selected information is inputted from the manipulator2to the receiver40(Yes at Step S102), the motion controller41proceeds to Step S103.

At Step S103, the motion controller41of the control device4determines which operating mode the selected information inputted from the manipulator2via the receiver40is among the automatic operation mode, the manual operation mode, and the hybrid operation mode.

If the motion controller41determines that the selected information indicates the automatic operation mode at Step S103, it causes the selected information52of the storage device5to store the automatic operation mode (Step S104), updates the first number counter53A of the number counter53(Step S105), and proceeds to Step S110. Further, if the motion controller41determines that the selected information indicates the manual operation mode at Step S103, the motion controller41causes the selected information52of the storage device5to store the manual operation mode (Step S106), updates the second number counter53B (Step S107), and proceeds to Step S110. Furthermore, at Step S103, if the motion controller41determines that the selected information indicates the hybrid operation mode, it causes the selected information52of the storage device5to store the hybrid operation mode (Step S108), updates the third number counter53C (Step S109), and proceeds to Step S110.

At Step S110, the motion controller41of the control device4acquires the selected numbers of times of the respective operating modes from the number counter53of the storing device5, sets the selected information which is stored the most to be the first selected information, causes the selected information52to store the first selected information, and ends this program. Note that, after the motion controller41of the control device4determines which operating mode it is at Step S104, and then executes the second process in this operating mode.

Next, the second operation processing will be described in detail with reference toFIG. 5. Note that, as described above, the second operation processing is processing executed when the first selected information is selected and the number of times stored in the number counter53is equal to or more than the first threshold number of times.

FIG. 5is a flowchart illustrating one example of specific processing of the second operation processing illustrated inFIG. 3.

As illustrated inFIG. 5, the motion controller41of the control device4acquires the operating mode stored as the first selected information from the selected information52of the storage device5(Step S201). For example, if the automatic operation mode is stored as the first selected information in the selected information52, the motion controller41acquires the automatic operation mode. Similarly, if the manual operation mode is stored as the first selected information in the selected information52, the motion controller41acquires the manual operation mode, and if the hybrid operation mode is stored as the first selected information, the motion controller41acquires the hybrid operation mode.

Next, the motion controller41of the control device4outputs the operating mode acquired at Step S201to the output device3via the output controller42(Step S202). Thus, the operator is able to understand in which operating mode the slave arm1is to be operated in the second process. Additionally, it becomes unnecessary for the operator to select which operating mode to operate in among the three operating modes, and manipulate the manipulator2to output the selected operating mode as the selected information, which allows the work load on the operator to be reduced.

Next, the motion controller41of the control device4determines whether a start signal for starting the second process is inputted from the manipulator2via the receiver40by the operator manipulating the manipulator2(Step S203).

If the motion controller41of the control device4determines that the start signal for starting the second process is not inputted from the manipulator2via the receiver40(No at Step S203), it returns to Step S201to repeat S201to S203until the start signal for starting the second process is inputted.

On the other hand, if the motion controller41of the control device4determines that the start signal for starting the second process is inputted from the manipulator2via the receiver40(Yes at Step S203), it executes the second process in the operating mode acquired at S201(Step S204) and ends this program.

In the robot system100according to the first embodiment configured as described above, when the given first process is ended, the inquiry of which operating mode the slave arm1is to be operated in among the three operating modes of the automatic operation mode, the manual operation mode, and the hybrid operation mode is displayed on the output device3. Therefore, it is possible to prompt the operator for the manipulation of the second process.

Further in the robot system100according to the first embodiment, when the operator selects the same operating mode for the second process, the selected operating mode and the number of times selected are stored, and after the number of times selected reaches equal to or more than the first threshold number of times, when the first process is ended, the selected operating mode is displayed on the output device3.

Thus, the operator is able to understand in which operating mode the slave arm1is to be operated in the second process. Additionally, it becomes unnecessary for the operator to select which operating mode to operate in among the three operating modes, and manipulate the manipulator2to output the selected operating mode as the selected information, which allows the work load on the operator to be reduced. Therefore, it is possible to improve the work efficiency of the operator.

Second Embodiment

A robot system according to a second embodiment is configured so that in the robot system according to the first embodiment, the storage device stores operation sequence information which is information relating to an operation sequence defining a series of works performed by the slave arm, and when the first process is the automatic operation mode and the selected operating mode for the second process is the automatic operation mode, once the number of times that the first selected information is stored in the storage device becomes equal to or more than a second threshold number of times, the control device executes third operation processing in which the operation sequence information is corrected so that the slave arm is operated in the automatic operation mode in the first and second processes.

Further, in the robot system according to the second embodiment, in the third operation processing, the control device may correct the operation sequence information so as to process the first process and the second process as a single process.

Moreover, in the robot system according to the second embodiment, the second threshold number of times may be lower than the first threshold number of times.

Hereinafter, one example of the robot system according to the second embodiment is described with reference toFIGS. 6 to 10. Note that, since the robot system according to the second embodiment has a similar configuration to the robot system100according to the first embodiment, detailed description of the configuration thereof is omitted.

[Operation and Effect of Robot System]

Although the operation of the robot system100according to the second embodiment is basically the same as the operation of the robot system100according to the first embodiment, it is different in that the first process and the second process are performed in the automatic operation mode and, when the number of times that the first selected information is stored becomes equal to or more than the second threshold, the third operation processing is executed. Hereinafter, this is described in detail with reference toFIG. 6.

Note that in the following description, the operation sequence information51stored in the storage device5of the robot system100according to the second embodiment is the same as the operation sequence information51illustrated inFIG. 2.

FIG. 6is a flowchart illustrating one example of operation of the robot system according to the second embodiment.

As illustrated inFIG. 6, the control device4determines whether the first process (Process1in the second embodiment) is ended (Step S21). Specifically, the motion controller41of the control device4determines whether the automatic operation is ended or one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation is received from the manipulator2via the receiver40. Note that in the second embodiment, since Process1is the operation in the automatic operation mode, the motion controller41determines whether the automatic operation is ended.

If the motion controller41of the control device4determines that the automatic operation is not ended or one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation is not received from the manipulator2via the receiver40(No at Step S21), it ends this program. Note that, when the control device4ends this program, it again executes this program, for example, after 50 msec.

On the other hand, if the motion controller41of the control device4determines that the automatic operation is ended or one of the information indicating the end of the manual operation and the information indicating the end of the hybrid operation is received from the manipulator2via the receiver40(Yes at Step S21), the processing at S22is executed.

At Step S22, the control device4determines whether the first process is the automatic operation mode. Specifically, the motion controller41of the control device4acquires the operation mode of the first process (here, Process1) from the operation sequence information51of the storage device5and determines whether the acquired operation mode is the automatic operation mode.

If the motion controller41of the control device4determines that the first process is not the automatic operation mode (No at Step S22), the motion controller41proceeds to Step S26. Note that Step S26will be described later. On the other hand, if the motion controller41of the control device4determines that the first process is the automatic operation mode (Yes at Step S22), the motion controller41proceeds to Step S23.

At Step S23, the control device4determines whether the first selected information which is selected for the second process is the automatic operation mode. Specifically, the motion controller41of the control device4acquires the operation mode of the second process (here, Process2) from the selected information52of the storage device5and determines whether the acquired operation mode is the automatic operation mode.

If the motion controller41of the control device4determines that the first selected information is not the automatic operation mode (No at Step S23), the motion controller41proceeds to Step S26. If the motion controller41of the control device4determines that the first selected information is the automatic operation mode (Yes at Step S23), the motion controller41proceeds to Step S24.

At Step S24, the control device4determines whether the number of times that the automatic operation mode which is the first selected information is stored is equal to or more than the second threshold number of times. Specifically, the motion controller41of the control device4acquires from the first number counter53A of the storage device5the number of times that the automatic operation mode is stored, and determines whether the acquired number of times is equal to or more than the second threshold number of times.

Here, the second threshold number of times may be arbitrarily set, and is suitably set based on the skill, the proficiency level on the slave arm1, etc., of the operator of the manipulator2. Further, the second threshold number of times may be lower than the first threshold number of times and it may be, for example, three times, five times, seven times, or ten times.

Further, the second threshold number of times may be the number of times that it is selected consecutively, or a total number of times selected. For example, the motion controller41of the control device4may determine that it is equal to or more than the second threshold number of times when the automatic operation mode is selected twice consecutively for the second process.

If the motion controller41of the control device4determines that the number of times that the automatic operation mode is stored is not equal to or more than the second threshold number of times (No at Step S24), the motion controller41proceeds to Step S26. At Step S26, similar to the robot system100according to the first embodiment, the control device4determines whether the number of times that the first selected information is stored for the second process is less than the first threshold number of times.

Specifically, the motion controller41of the control device4acquires from the number counter53of the storage device5the number of times that the first selected information is stored and if it determines that the number acquired from the number counter53is less than the first threshold number of times (Yes at Step S26), the first operation processing is executed (Step S27) and it ends this program. On the other hand, if the motion controller41determines that the number acquired from the number counter53is not less than the first threshold number of times (No at Step S26), the second operation processing is executed (Step S28) and it ends this program.

On the other hand, if the motion controller41of the control device4determines that the number of times that the automatic operation mode is stored is equal to or more than the second threshold number of times (Yes at Step S24), the third operation processing is executed (Step S25) and it ends this program.

Next, the third operation processing will be described in detail with reference toFIGS. 7 to 10.

FIG. 7is a flowchart illustrating one example of specific processing of the third operation processing illustrated inFIG. 6.FIG. 8is a schematic diagram illustrating operation sequence information before corrected and operation sequence information after corrected by the third operation processing illustrated inFIG. 7. Further,FIG. 9is a flowchart illustrating another example of specific processing of the third operation processing illustrated inFIG. 6.FIG. 10is a schematic diagram illustrating operation sequence information before corrected and operation sequence information after corrected by the third operation processing illustrated inFIG. 9.

As illustrated inFIG. 7, the motion controller41of the control device4corrects the operation sequence information51so as to continuously execute the first process and the second process (Step S301), and ends this program. Specifically, as illustrated inFIG. 8, the motion controller41corrects the operating mode of Process2of the operation sequence information51to the automatic operation mode, and when the operation sequence information51is executed, once the automatic operation mode of Process1is ended, the automatic operation mode of Process2is executed subsequently.

Note that when the automatic operation mode of Process1is ended, the motion controller41may cause the output device3to output information on the end of automatic operation via the output controller42, or it may execute the automatic operation mode of Process2without the output. Further, the motion controller41may be configured, when the automatic operation mode of Process1is ended, to execute the second process even without the operator manipulating the manipulator2to output the start signal of the automatic operation mode of the second process.

Moreover, as illustrated inFIG. 9, the motion controller41of the control device4may correct the operation sequence information51so as to cause the first process and the second process to be a single process (Step S301A), and end this program. Specifically, as illustrated inFIG. 10, the motion controller41may integrate Processes1and2into Process1and execute a correction to bring up Process3and Process4to Process2and Process3, respectively. Thus, when executing the operation sequence information51corrected by the motion controller41, Process1before the correction and Process2are executed consecutively.

Even with the robot system100according to the second embodiment configured as above, similar operations and effects to those of the robot system according to the first embodiment are obtained.

Further, in the robot system100according to the second embodiment, the first process and the second process are performed in the automatic operation mode and, when the number of times that the first selected information is stored is equal to or more than the second threshold, the first process and the second process are executed consecutively. Thus, since the second process is executed even without the operator manipulating the manipulator2to output the start signal of the automatic operation mode of the second process, compared with the robot system100according to the first embodiment, it is possible to further reduce the work load on the operator. Therefore, it is possible to further improve the work efficiency of the operator.

It is apparent for a person skilled in the art that many improvements or other embodiments of the present disclosure are possible from the above description. Therefore, the above description is to be interpreted only as illustration, and it is provided in order to teach a person skilled in the art the best mode in which the present disclosure is implemented. Details of the structures and/or functions of the present disclosure may be substantially changed without departing from the spirit of the present disclosure.

INDUSTRIAL APPLICABILITY

Since the robot system of the present disclosure and the method of operating the same are capable of reducing the work load on the operator and improving the work efficiency, they are useful in the field of industrial robots.

DESCRIPTION OF REFERENCE CHARACTERS