JPH09183087A - Working robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform welding operation at low cost and high accuracy without teaching by inputting work data into an online teach program so as to prepare a robot welding line search job and a welding job. SOLUTION: First work data is acquired (S110). Next a sensor controller prepares an operational job based on the positional data on a diaphragm (S120), and performs a search operation (S130). Then it specifies the original position of the diaphragm in Y-direction (S140). In addition, it prepares a search job to search and measure the position and shape of welding lines by a sensor unit (S150). A robot controller executes the search job so as to detect the position and shape of the welding lines (S160). The sensor controller prepares a welding job based on the welding information (S170). The robot controller performs welding operation (S180).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work robot apparatus in which a sensor for detecting the position of each point on the surface of a work is mounted on a work robot such as a welding robot, and the sensor is used to sense the work. The present invention relates to a work robot apparatus capable of completely omitting teaching work by automatically creating a search job for sensing work and a work job for actual work based on work data obtained from sensing by a sensor.

[0002]

2. Description of the Related Art In a welding robot, welding work is performed by moving a welding torch attached to the arm tip of the robot along a welding line.

As a teaching method for this welding, there are a teaching playback method and an off-line teaching method, but recently, an off-line teaching method which is advantageous in terms of work efficiency and cost has become mainstream.

In the above-mentioned off-line teaching method, since the standard values of the work position and shape data are input by the operator, in order to cope with the setting error of each work and the dimensional variation of the work itself, Prior to welding, the welding line position and groove shape are sensed using a sensor such as a laser displacement sensor attached to the welding robot, and the welding torch position and trajectory data obtained by offline teaching based on this sensing data. A method is adopted in which the welding is corrected to perform actual welding.

Japanese Patent Laid-Open No. 6-285636 discloses a conventional technique relating to a welding robot that performs this type of teaching.
There is an official gazette.

This prior art relates to automatic welding of a steel frame joint, and the robot operation regarding the basic shape and size of the steel frame joint before shipment by the manufacturer and the position and position of the steel frame joint performed before actual welding The operation of the robot regarding the sensing of the groove shape is taught in advance. On the user side, before the welding work, manually input the numerical data on the shape of the steel frame joint to be welded and the shape of the groove,
Using the input numerical data, the previously stored teaching data for sensing is corrected to automatically create an operation job for sensing on the computer. Then, the welding robot is driven according to this operation job to sense the position and groove shape of the steel frame joint. Then, a welding job of the welding robot is automatically created on a computer based on this sensing data.

As described above, according to this conventional technique, if the numerical data regarding the steel frame joint is manually input, a job for actual welding work is automatically created by a computer.

However, in this conventional technique, since the numerical data regarding the work shape is still manually input, it has the following drawbacks.

(1) Welding work cannot be completed without a complete teach.

(2) Data cannot be input to an inexperienced operator who does not know computer operation.

(3) Work for measuring the actual size of the work is required.

(4) A work error of the robot occurs due to a data input error.

Therefore, in Japanese Patent Laid-Open No. 7-230310, a welding robot for welding a work such as a steel structure acquires necessary work data from drawing data created by CAD by an off-line programmer, and the acquired work is acquired. A robot program for welding is automatically created based on the data.

However, in this conventional technique, the user needs to have an expensive CAD capable of outputting work data, which imposes a heavy burden on the user in terms of cost, and does not perform sensing work for an actual work. Therefore, there is a problem that interference between the robot and the work or welding error occurs due to a work installation error or a work size error.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a welding robot apparatus which can perform a highly accurate welding operation at a low cost without a complete teach.

[0016]

According to the present invention, a work robot is provided with a sensor for detecting the position of each point on the surface of a work, and the work robot uses this sensor to sense the work. Based on the result of sensing the work, a work search job creating unit that sequentially automatically creates a search robot operation job for instructing the movement of the work robot for determining the shape data of the work, and the work search job creating unit sequentially. First control means for executing the sensing operation of the work by the sensor to obtain the shape data of the work by driving the work robot according to the created search robot operation job, and the acquired work shape data The position and shape of the work line of the work is Work line search job creating means for automatically generating a search robot operation job for performing the operation, and driving the work robot according to the search robot operation job created by the search job creating means The second control means for performing a search operation, the work job creating means for automatically creating a robot operation job for the work on the basis of the work line search result and the work shape data, and the work job creating means Third control means for executing a predetermined work by driving the work robot according to the created robot operation job.

According to this invention, first, part of the shape data of the work is acquired by sensing the work based on the initial work search job. Then, a work search job for the next work search operation is automatically created based on the acquired work shape data. Next, the shape data of the work is further acquired by sensing the work according to the created work search job. Next, a work search job for the next work search operation is further automatically created based on these acquired work shape data. By repeating such processing, all necessary work shape data is acquired.

Next, a robot operation job for searching the position and shape of the work line of the work is automatically generated based on the work shape data thus obtained.
Then, by driving the robot in accordance with the generated search job, the work line is searched by the sensor, and the robot motion during work on the work is performed based on the search result of the work line and the acquired work shape data. Create a job automatically. Then, a predetermined work is performed by driving the work robot according to the created robot operation job.

[0019]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 2 shows an example of a schematic configuration of a welding robot system to which the present invention is applied, and FIG. 3 is an enlarged view showing the vicinity of the robot.

2 and 3, a welding torch 10 is attached to the tip of the welding robot 1 (in this case, a 6-axis articulated robot), and a work (in this case, a workpiece) is provided near the welding torch 10. The work data (shape, size) of the steel frame joint 20 and the sensor unit 30 for detecting the position and shape of the welding line are mounted.

The positioner 70 supports and fixes the work 20 at a predetermined position, and has a function of rotating the work 20 as needed. The sensor unit 30
Is attachable to and detachable from the welding torch 10 and is attached to the welding robot 1 only during sensing.

The sensor unit 30 comprises a sensor 31 for detecting the position of each point on the surface of the work, and a gripping mechanism 32 connected to the sensor 31 for gripping the welding torch 10.

In this case, the sensor 31 is a non-contact type distance sensor for measuring the distance to the surface of the work, or a switch of the distance sensor and the ultrasonic sensor, or a contact type distance sensor (touch sensor). Thought,
The distance data detected by the sensor 31 is output to the sensor controller 50.

In the sensor controller 50, the sensor 31
Based on the output of, the work search job (a program that controls the robot operation when sensing the shape and position of the work), the welding line search job (the robot operation when sensing the position and shape of the welding line) Program) and a welding job (a program for controlling the operation of the robot during actual welding) are created, and these jobs are transferred to the robot controller 60.

The robot controller 60 drives and controls the welding robot 1 according to the job transferred from the sensor controller 50.

In this embodiment, a steel frame joint is used as the work 20, and this steel frame joint is provided with a beam 22 (4) for a column (center box portion) 21 as shown in FIG.
It is created by welding and joining the H steel portion extending in one direction. Depending on the number of beams, the shape of this steel connection is 4
(Fig. 4 (a)), 3 (Fig. 4 (b)), 2 (Fig. 4 (c)), and the beam 22 and column 21 have a step (Fig. 4 (d)). )) And so on. In the case where the shape of the joint is four, as shown in FIG. 4 (a), the welding lines are a total of eight flange welding lines 23 extending in the horizontal direction and eight web welding lines 24 extending in the vertical direction. Composed of and.

In this steel frame joint work, the size and dimensions of the column (diaphragm) 21 and the beam 22 are variously different, but the following dimension parameters shown in FIG. By measuring as, it is possible to define the shape and dimensions of the work necessary for executing the welding line search operation and the welding operation. The diaphragm is the name of the plate material above and below the column.

(A) Column height (Ch) (b) Diaphragm width (Dw) (c) Step amount (Dh) (d) Flange width (Fw) (e) Beam height (Fh) (f) Beam offset (Of) Therefore, if these work data are known, it is possible to create a search job that defines the operation of the robot when searching for a welding line using the sensor unit 30 based on these work data. Further, by using the position and shape data of the welding line obtained by the search operation and the above work data, it is possible to create a welding job for actually performing the welding work.

The operation procedure for welding by the above system will be described below with reference to the flow chart shown in FIG.

First, the work 2 to be welded by the worker
0 is set at a predetermined position of the positioner 70 (step 100).

The procedure thereafter is an automatic work by the robot 1.

[First Embodiment] <Small-Sensing Sensing Method> In this first embodiment, an example using a laser sensor as a distance sensor mounted near the welding torch of the robot 1 will be described.

The laser sensor is composed of a projector for projecting a laser spot light and a PSD (optical position detector) for receiving the light diffusely reflected by the work through a lens.
Based on the displacement output of SD, the distance to the work is calculated by the triangulation method, and this is output to.

The advantage of the laser sensor is that it is suitable for local shape detection on the surface because of its high detection accuracy and good directivity, but on the other hand, it has a drawback that the detection distance and detection range are generally short. .

First, the workpiece 20 is scanned and sensed by the sensor unit to obtain the dimension and shape data of the workpiece 20, that is, the workpiece data (step 110).

The operation at this time will be described with reference to FIGS.

First, as shown in FIG. 5 (a), the robot 1
By driving the sensor unit 30
Are scanned as indicated by arrow X. That is, the work 20
The scanning is performed in parallel along the beam 22 from the vicinity of the positioner 70 holding the to the direction of the column 21.

At the time of this scanning, the following small step sensing is executed in consideration of the interference between the work and the robot. In particular, when there is a step between the beam held by the positioner 70 and the diaphragm, or in the case of the oblique beam 25 as shown in FIG. 8A, the robot is likely to interfere with the work.

That is, as shown in FIGS. 8 (b) to 8 (d), sensing is first performed at a height position (Z1) where the robot does not interfere with the work during scanning, and then the sequential scanning path is performed. When the work can be detected by approaching the work (Z2, Z3), the scanning ends.

The sensor controller 50 processes the sensing data obtained by this scanning to detect the length D1 of the beam held by the positioner 70 and the width Dw of the diaphragm, and at the same time, to detect the beam in the coordinate system of the robot. And the X position of the diaphragm is detected. That is, FIG. 5B is an example of the sensing data obtained by this scanning, and the step 51 between the diaphragm 21 and the beam 22 shown in this sensing data,
The beam length D1, the diaphragm width Dw, and the X position of the diaphragm in the robot coordinate system are obtained by using the information such as the scanning speed, the position where the robot starts scanning, and the position where the robot ends. Furthermore, since the vertical axis of the sensing data in FIG. 5 (b) indicates the distance in the Z direction from the sensor unit to the work, the diaphragm 21 is calculated from this sensing data.
The position in the Z direction can be calculated and specified.

Next, the sensor controller 50 creates an operation job for the search operation as shown by the arrow Y in FIG. 6A based on the position data of the diaphragm 21 obtained by the above scanning (see FIG. 1). In step 120), the created operation job is transferred to the robot controller 60 to cause the robot 1 to execute the search operation as shown in FIG. 6A (step 130 in FIG. 1). That is, FIG.
In the search operation of (a), the sensor unit 30 is scanned along the sensing path Y passing over the diaphragm 21 and orthogonal to the sensing path X shown in FIG. When scanning in the Y direction, the Z of the diaphragm has already been
Since the directional position has been obtained by the previous scan and data processing, the wiggle sensing as in the previous scan is not executed.

Next, the sensor controller 50 specifies the Y direction original position of the diaphragm 21 in the robot coordinate system by data processing the sensing data obtained by the search operation (step 14 in FIG. 1).
0).

That is, FIG. 6 (b) shows Y shown in FIG. 6 (a).
It shows the sensing data obtained by the scanning in the direction, and the Y-direction coordinate is obtained by performing the same processing as the data processing performed on the scanning data in the X-direction on the sensing data. be able to.
With this, it is possible to specify the three-dimensional position of the diaphragm in the robot coordinate system together with the X-direction position and the Z-direction position that have been obtained previously.

In this way, since the position of the diaphragm 21 and the diaphragm width Dw can be specified,
The sensor controller 50 uses these data to create an operation job for sensing the four sides of the diaphragm 21 as shown in FIG.
0), the robot controller 6 executes the created operation job.
By transferring to 0, the robot 1 is caused to execute the search operation as shown in FIG. 6 (a) (step 130 in FIG. 1).

When scanning around the diaphragm, as shown in FIG. 4, whether the work is a two-way, three-way, or four-way joint, the step Dh, the beam flange width Fw, and the beam It is necessary to measure and obtain the offset Of, and there is a possibility of interference between the work and the robot during this scanning. Therefore, even during this scanning, the above-described small step sensing operation is executed.

When the sensing data is obtained by such a search operation, the sensor controller 50 performs data processing on the sensing data obtained by the search operation so that the joint is a two-way joint, a three-way joint,
Which one of the four-way joints, the step Dh, the beam flange width Fw, and the beam offset Of are determined (step 140 in FIG. 1).

That is, FIG. 7B shows sensing data obtained by scanning in one direction among the scanning shown in FIG. 7A. The beam width Fw of the beam is obtained by this sensing data. Ask for. Further, since the position of the beam in the height direction can be detected by this sensing data, the step Dh can be calculated based on this and the position of the diaphragm in the height direction previously obtained. Further, the beam offset Of is calculated based on the information such as the scanning start point, the scanning end point, and the scanning speed.
Can be requested.

Next, the work is turned upside down by 180 ° by the positioner 70, and the same search job creation, search execution, and search data processing as described above are executed to determine the position of the surface of the column and each beam and the column and each beam. The position of the back side of
Column height C based on the position of the center of rotation of positioner 70
Find h and beam height Fh.

Work data relating to the shape and size of the work 20 is acquired as described above.

Next, the sensor controller 50 inputs the work data obtained by the sensing by the sensor unit 30 into the off-line teaching program, thereby the number of welding lines, the type of welding, the approximate position of the welding line, and the search. The robot posture at that time is determined, and a search job for searching and measuring the position and shape of the welding line with the sensor unit 30 is created based on the determination result (step 150 in FIG. 1). The offline teaching program is
A program for creating a robot motion program, which creates a robot motion job based on work data and search data.

The sensor controller 50 transfers the created search job to the robot controller 60. The robot controller 60 executes the transferred search job to drive the robot, thereby executing a welding line search operation as shown in FIG. 9 (step 1).
60). That is, in FIG. 9, the sensor unit 30 is first scanned in parallel to the welding line to detect the sensing start end (scanning line (a)). Next, the sensor unit 30 is scanned in a direction perpendicular to the welding line (scan line
(I)). In the same manner, scanning is repeated at right angles to the welding line (scanning line (c)). FIG. 10 (a) shows the scanning line
(A) and (c) show the vicinity of the sensor unit 30 and the welding line when scanning.

The sensor controller 50 processes the data (see FIG. 10 (b)) obtained by the search operation of the welding line, the accurate position of the welding line and the shape of the welding line,
That is, the welding line information is detected (step 160).

The sensor controller 50 sets the welding conditions in the offline teaching program based on the obtained welding line information, and creates a welding job using the work data obtained earlier (step 170).

The welding job generated in this way is
It is transferred to the robot controller 60. The robot controller 60 executes the transferred welding job and drives the robot to execute the welding operation (step 180).

The above is the work procedure during welding in the first embodiment of the system of the present embodiment.

[Second Embodiment] <Two-step Sensing Method> In the first embodiment, the case where the laser sensor is used as the sensor 31 has been described. However, the characteristics of the laser sensor are that the directivity is good, the detection distance, The fact that the detection range is short means that there is a risk of interference when sensing the work, and in order to avoid this, there are disadvantages such as having to perform small-step sensing as in the first embodiment. is there.

Therefore, in the second embodiment, a laser sensor and an ultrasonic sensor are provided near the robot welding torch, and these two types of sensors are switched and used. That is, an ultrasonic sensor is used for sensing the approximate shape of the work, and a laser sensor is used for sensing the detailed shape of the work.

The ultrasonic sensor has a long detection distance and a long detection range, but has a characteristic that the directivity is not so good. Therefore, the ultrasonic sensor cannot accurately grasp the local shape of the work,
It is suitable for sensing from a remote position where the robot does not interfere with the work in order to grasp the presence or absence of the work and its approximate position.

The operation of the second embodiment will be described below.

First, as shown in FIG. 11 (a), the ultrasonic sensor 80 drives the work 20 by driving the robot 1.
Are scanned as indicated by arrow X. That is, the work 20
The scanning is performed in parallel along the beam 22 from the vicinity of the positioner 70 holding the to the direction of the column 21.

At the time of this scanning, in consideration of the case where there is a step between the beam held by the positioner 70 and the diaphragm, the case of the oblique beam 25 as shown in FIG. 8 and the like, the robot should not interfere with the work. Need to scan to
Since the ultrasonic sensor has a long detection distance and detection range as described above, it detects the approximate position of the beam or diaphragm being gripped by scanning at a position away from the work that has no possibility of interference with the work. can do.

FIG. 12 shows the sensing data by the ultrasonic sensor. As can be seen from this figure,
Since the ultrasonic sensor has poor directivity, it is not possible to capture the detailed shape of the work. However, by processing the sensing data of FIG. 12,
It is possible to specify the approximate Z-direction position where the work exists.

Therefore, the sensor controller 50 processes the sensing data of the ultrasonic sensor 80 to specify the approximate Z-direction position where the work is present,
Based on the specified Z-direction position data, a Z coordinate position that does not interfere with the work and allows the laser sensor 30 to perform appropriate measurement is obtained, and a search operation performed by the laser sensor 30 using this Z coordinate position. A search job is created and transferred to the robot controller 60 to cause the robot 1 to execute the search operation with the laser sensor 30 as shown in FIG. 5A. However, in this case, the laser sensor 30 is positioned at the position in the Z direction where the shape of the workpiece can be appropriately measured, and therefore scanning is performed, so that the shape of the desired beam or diaphragm can be sensed by one scanning. . That is, the small step sensing as in the first embodiment is not performed.

The sensor controller 50 detects the beam length D1 and the diaphragm width Dw by processing the sensing data obtained by this scanning in the same manner as in the first embodiment, and at the same time, detects the beam in the robot coordinate system. And the position of the diaphragm is detected, and based on the detected position data of the diaphragm 21, an operation job for the search operation by the laser sensor 30 as shown by the arrow Y in FIG. 6A is created. By transferring the created operation job to the robot controller 60, the robot 1 is caused to execute the search operation as shown in FIG.

During the scanning in the Y direction, the ultrasonic sensor 80 does not perform sensing because the Z direction position of the diaphragm has already been obtained by the previous scanning and data processing.

Next, the sensor controller 50 processes the sensing data obtained by the search operation in the Y direction in the same manner as in the first embodiment to specify the Y direction position of the diaphragm 21 in the robot coordinate system. .

When the position of the diaphragm 21 and the diaphragm width Dw are specified in this way, the sensor controller 50 then uses these data to determine the four directions of the diaphragm 21 by the ultrasonic sensor 80, as shown in FIG. Is created, and the created operation job is transferred to the robot controller 60 to cause the robot 1 to perform a search operation by the ultrasonic sensor 80 as shown in FIG.

That is, also when sensing the four sides of the diaphragm 21, the presence / absence of the beam and the approximate position of the beam in the Z direction (that is, the approximate value of the step) are specified by the search operation by the ultrasonic sensor 80, and this is specified. The Z coordinate position when the laser sensor 30 scans the four sides of the diaphragm is obtained based on the Z direction position data. The sensor controller 50 creates a search job for the search operation of the four sides of the diaphragm performed by the laser sensor 30 by using the Z coordinate position thus obtained, and transfers the search job to the robot controller 60 so that the robot 1 can be forwarded to the robot 1. The search operation by the laser sensor 30 as shown in FIG. 7A is executed.

When the sensing data is obtained by such a search operation by the laser sensor 3O, the sensor controller 50 performs the same operation as the first embodiment, the shape of the joint, the step Dh, the flange width Fw of the beam, and the beam. Offset O
Next, the work is turned upside down 180 degrees by the positioner 70, and the same search job creation, search execution, and search data processing as described above are executed to determine the position of the surface of the column and each beam and the column and each beam. Position on the back of the and positioner 7
The column height Ch and the beam height Fh are calculated based on the zero rotation center position.

Work data concerning the shape and dimensions of the work 20 is acquired as described above.

The above is the operation procedure for the work shape search in the second embodiment.

In each of the above embodiments, a non-contact type laser sensor or ultrasonic sensor is used as the sensor 31, but a contact type distance sensor may be used.

Here, the contact type distance sensor is equipped with a sensor for detecting a contact point at the tip of the robot. As shown in FIG. 14, the robot is operated from the point A and the robot is stopped at the same time as the contact. The distance to the work is calculated by acquiring the position of the robot at the point B. Therefore, as shown in FIG. 14, the contact-type distance sensor discretely reciprocates between the reference height ZC and the work at a plurality of X (or Y) direction positions, thereby changing the reference height Zc from the reference height Zc. The distance to each point on the work surface can be measured.

As the contact type distance sensor, a wire touch sensor for applying a voltage to a welding wire and detecting a contact point by the change of the voltage, or a touch sensor provided with a touch probe 85 as shown in FIG. There is.

That is, it is possible to use the above contact type distance sensor to search the shape of the steel frame joint to obtain the work data, and also to search the welding line.

Further, a non-contact type such as a laser sensor may be used for the joint shape search and a touch sensor may be used for the welding line search, so that different types of sensors may be used in combination.

Further, in the above embodiment, the laser sensor 30 is used when searching for the welding line, but a voltage is applied to the welding line wire to detect the contact by the change of this voltage, and the contact is detected. It is also possible to stop the robot at the time of detection and to use a touch sensor with a welding line wire for searching the work position according to the stop position in the welding line search.

Further, as shown in FIG. 15, a touch probe 85 is provided on the welding torch, and the touch probe 8 is provided.
5 may be used to perform a work shape search or a welding line search.

Further, although the present invention is applied to the welding robot in the above-mentioned embodiment, the present invention may be applied to other work robots. For example, the present invention may be applied to a work robot in which a grinder is loaded instead of the welding torch and the unevenness of the welded portion is grinded by the grinder.

Further, the work to which the present invention is applied is not limited to the steel frame joint, and the present invention may be applied to other steel column, a work of a large column, and the like. In short, the present invention may be applied to any work as long as the work data can be expressed parametrically using numerical data.

[0082]

As described above, according to the present invention,
Work data is obtained by sensing the entire work with a distance sensor, and the work line search job and welding job of the robot are created by automatically inputting this work data to the offline teaching program, so complete teaching-less Welding work can be realized at low cost, and robot work errors due to work setting errors and data input errors can be eliminated.

[Brief description of the drawings]

FIG. 1 is a flowchart showing an embodiment of the present invention.

FIG. 2 is a diagram showing a system configuration of an embodiment of the present invention.

FIG. 3 is a perspective view showing the vicinity of the welding robot according to the embodiment of the present invention.

FIG. 4 is a diagram showing various types of works used in the present invention.

FIG. 5 is a diagram showing one step of a work shape sensing operation for creating a search job by a laser sensor.

FIG. 6 is a diagram showing one process of a work shape sensing operation for creating a search job by a laser sensor.

FIG. 7 is a diagram showing one step of a work shape sensing operation for creating a search job by a laser sensor.

FIG. 8 is an explanatory diagram of a wiggle sensing operation.

FIG. 9 is a perspective view showing an example of a welding line search operation.

FIG. 10 is a diagram showing a welding line search operation and sensing data obtained by the search operation.

FIG. 11 is a diagram showing one step of a work shape sensing operation for creating a search job using an ultrasonic sensor.

FIG. 12 is a diagram showing sensing data obtained by an ultrasonic sensor.

FIG. 13 is a diagram showing one step of a work shape sensing operation for creating a search job by an ultrasonic sensor.

FIG. 14 is a schematic view showing one process of a work shape sensing operation by a touch sensor.

FIG. 15 illustrates an example of a touch sensor.

[Explanation of symbols]

 1 ... Welding robot 10 ... Welding torch 20 ... Work 21 ... Column (diaphragm) 22 ... Beam 30 ... Sensor unit 31 ... Optical distance (displacement) sensor 50 ... Sensor controller 60 ... Robot controller 80 ... Ultrasonic sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location // B23K 9/00 501 G05B 19/403 C

Claims (2)

[Claims] 1. A work robot apparatus, comprising a work robot equipped with a sensor for detecting the position of each point on the surface of a work, and sensing the work using the sensor, based on a sensing result of the work by the sensor, Work search job creation means for automatically automatically creating a search robot operation job for instructing the movement of the work robot for determining the shape data of the work, and a search robot operation job sequentially created by the work search job creation means First control means for performing the sensing operation of the work by the sensor to obtain the shape data of the work by driving the work robot according to the above, and the work line of the work based on the obtained work shape data. Robot for searching the position and shape of the A work line search job creating means for automatically creating a work job, and a work line searching operation by the distance sensor by driving the work robot according to the search robot operation job created by the search job creating means. Control means, a work job creating means for automatically creating a robot operation job for the work based on the work line search result and the work shape data, and a robot operation job created by the work job creating means A work robot apparatus comprising: a third control means for executing a predetermined work by driving the work robot according to the above. 2. The work robot is a welding robot,
The work robot apparatus according to claim 1, wherein the work line is a welding line.