CN111051014B - Robot system and method for operating conveyed workpiece - Google Patents
Robot system and method for operating conveyed workpiece Download PDFInfo
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- CN111051014B CN111051014B CN201880054877.5A CN201880054877A CN111051014B CN 111051014 B CN111051014 B CN 111051014B CN 201880054877 A CN201880054877 A CN 201880054877A CN 111051014 B CN111051014 B CN 111051014B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
A robot system (10, 10) for operating a conveyed workpiece (W) is characterized by comprising: an imaging unit (40) for capturing at least one of a workpiece (W) being transported and a transport path (C) being operated, and acquiring image information; a conveyance speed detection unit (70) that detects the conveyance speed of the workpiece (W) on the basis of the image information; and a robot (10) that performs work on the transported workpiece (W) based on the transport speed of the workpiece.
Description
Technical Field
The present invention relates to a robot system and a method of performing work on a conveyed workpiece.
Background
Conventionally, a robot system for performing work on a conveyed workpiece is known. Such a robot system is described in patent document 1, for example.
Patent document 1 describes the following: the tracking process and the positioning process of the robot are controlled by using the detection result of the encoder detection provided on the Conveyor (Conveyor). The encoder typically employs a rotary encoder and generates a pulse signal as it rotates. The amount of movement of the conveyor belt is calculated by counting the number of pulses of the generated pulse signal.
Patent document 1: japanese patent application laid-open No. 2012-166308
However, as shown in fig. 6, in general, in the conventional robot system for performing work on a conveyed workpiece, not only the robot 1 and the image processing device 2 connected to the robot control unit 1a but also the encoder 3, the encoder value reading unit 4, and wiring for connecting these components to each other, which are mounted on the conveyor C', are required, and therefore, the device configuration becomes complicated. This causes problems such as an increase in the introduction cost and difficulty in adapting to a predetermined installation space.
Disclosure of Invention
Accordingly, an object of the present invention is to provide a robot system and a method for performing work on a workpiece to be conveyed, which can solve various problems that may occur in a preparation stage of work or the like when performing work on the workpiece to be conveyed.
In order to solve the above-described problems, a robot system according to the present invention is a robot system for performing work on a workpiece to be transported, comprising: a photographing unit for photographing at least one of a workpiece being conveyed and a conveying path being operated and acquiring image information; a conveying speed detecting unit configured to detect a conveying speed of the workpiece based on the image information; and a robot that performs a work on the transported workpiece based on a transport speed of the workpiece.
According to the above configuration, a simple apparatus structure is realized by performing work on the conveyed workpiece based on the conveying speed of the workpiece. Thus, the robot system according to the present invention can solve various problems that may occur in a preparation stage of a work or the like when the work is performed on a conveyed work.
The method can also be as follows: the image information includes 1 st image information and 2 nd image information, the image pickup unit obtains the 1 st image information by a 1 st image pickup, and further obtains the 2 nd image information by a 2 nd image pickup performed after a predetermined time has elapsed from the 1 st image pickup, and the conveyance speed detection unit detects a conveyance speed of the workpiece based on the 1 st image information and the 2 nd image information.
According to the above structure, the conveying speed of the workpiece can be accurately detected.
The 1 st image information and the 2 nd image information may be acquired by 1 imaging unit.
According to the above structure, the effects of the present invention can be made remarkable.
The method can also be as follows: the imaging unit includes a 1 st imaging unit and a 2 nd imaging unit, the 1 st image information is acquired by the 1 st imaging unit, and the 2 nd image information is acquired by the 2 nd imaging unit.
According to the above structure, the conveying speed of the workpiece can be detected more accurately.
The method can also be as follows: the robot system further includes a placement state detection unit configured to detect a placement state of the workpiece based on the image information acquired by the imaging unit, and the robot is configured to perform an operation on the conveyed workpiece based on the placement state of the workpiece detected by the placement state detection unit in addition to the conveyance speed of the workpiece detected by the conveyance speed detection unit.
According to the above structure, the work can be accurately performed on the conveyed work.
The arrangement state detecting unit may detect an arrangement state of the workpiece based on image information obtained for detecting a conveying speed of the workpiece.
According to the above configuration, it is possible to quickly detect the conveying speed of the workpiece by reducing the amount of data to be processed, and to accurately perform work on the conveyed workpiece.
The method can also be as follows: the image information includes arrangement state image information, the image capturing unit captures an image of the transported workpiece to obtain the arrangement state image information, and the arrangement state detecting unit detects an arrangement state of the workpiece based on the arrangement state image information.
According to the above structure, the work can be performed more accurately on the conveyed work.
The image information obtained for detecting the conveying speed may be obtained by 1 imaging unit.
According to the structure, the conveyed workpiece can be accurately operated, and the effect of the invention is obvious.
The method can also be as follows: the robot includes a robot arm, and the imaging unit is provided on the robot arm.
According to the above structure, the effects of the present invention can be made remarkable.
The method can also be as follows: the robot further includes an end effector attached to the arm, and the imaging unit is provided to the arm to which the end effector is attached.
According to the structure, the conveyed workpiece can be accurately operated, and the effect of the invention is obvious.
The method can also be as follows: the robot arm includes a 1 st robot arm and a 2 nd robot arm, the end effector is mounted on the 1 st robot arm, and the imaging unit is provided on the 2 nd robot arm.
According to the structure, the conveyed workpiece can be more accurately operated, and the effect of the invention is obvious.
The 1 st arm and the 2 nd arm may be included in 1 robot.
According to the structure, the effect of the invention can be more remarkable.
In order to solve the above-described problem, a method of performing a work on a conveyed workpiece according to the present invention includes: a step of capturing at least one of a transported workpiece and a transport path in operation and acquiring image information; detecting a conveying speed of the workpiece based on the image information; and a step of performing work on the transported workpiece based on the transport speed of the workpiece.
According to the above configuration, by performing work on the conveyed workpiece based on the conveying speed of the workpiece, the work can be performed with a simple apparatus configuration. Thus, the method according to the present invention can solve various problems that may occur in a preparation stage of a work or the like when the work is performed on a conveyed work.
The present invention can provide a robot system and a method for performing work on a conveyed workpiece, which can solve various problems that may occur in the process of performing work on the conveyed workpiece, in a preparation stage of the work, and the like.
Drawings
Fig. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied.
Fig. 2 is a block diagram showing a configuration of a work site to which the robot system according to the embodiment of the present invention is applied, where (a) of fig. 2 shows a case where the conveyance speed detecting unit and the arrangement state detecting unit are provided separately from the robot, and (B) of fig. 2 shows a case where the conveyance speed detecting unit and the arrangement state detecting unit are provided in the robot.
Fig. 3 is a front view of a robot provided in the robot system according to the embodiment of the present invention.
Fig. 4 is a schematic diagram showing a case where a workpiece is imaged by an imaging unit provided in a robot system according to an embodiment of the present invention, fig. 4 (a) is a diagram showing a case where the 1 st imaging is performed, and fig. 4 (B) is a diagram showing a case where the 2 nd imaging is performed.
Fig. 5 is a schematic view showing a case where a conveyed workpiece is worked by using the 1 st end effector provided in the robot system according to the embodiment of the present invention, fig. 5 (a) is a view showing a case before the workpiece is held, and fig. 5 (B) is a view showing a case where the workpiece is held.
Fig. 6 is a block diagram of a work site to which a robot system that has been conventionally used is applied.
Fig. 7 is a schematic diagram showing an attempt to work on a workpiece with a changed conveying speed using an end effector provided in a robot system that has been conventionally known.
Detailed Description
(integral structure)
A robot system according to an embodiment of the present invention will be described below with reference to the drawings. The present invention is not limited to the present embodiment. In the following, the same or corresponding elements are denoted by the same reference numerals throughout the drawings, and repetitive description thereof will be omitted.
Fig. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied. Fig. 2 is a block diagram showing a configuration of a work site to which the robot system according to the embodiment of the present invention is applied, where (a) of fig. 2 shows a case where the conveyance speed detecting unit and the arrangement state detecting unit are provided separately from the robot, and (B) of fig. 2 shows a case where the conveyance speed detecting unit and the arrangement state detecting unit are provided in the robot. The robot system 10 according to the present embodiment works on the workpiece W conveyed on the conveying path C. The robot system 10 includes: a photographing unit 40 for photographing the conveyed workpiece W and acquiring image information; a conveying speed detecting unit 70 that detects the conveying speed of the workpiece W based on the image information; a placement state detection unit 80 that detects the placement state of the workpiece W based on the image information; and a robot 11 that performs work on the workpiece W.
(robot 11)
The robot 11 included in the robot system 10 according to the present embodiment will be described with reference to fig. 3 and the like. Fig. 3 is a front view of the robot. The robot 11 according to the present embodiment is disposed along a conveying path C for conveying the workpiece W with a substantially upper right side being an upstream side and a substantially lower left side being a downstream side in fig. 1. The robot 11 includes: a base 12 fixed to the carriage; a pair of arms 13a and 13b (1 st arm 13a and 2 nd arm 13 b) supported by the base 12; and a robot control unit 14 housed in the base 12. The robot 11 can be installed in a limited space (e.g., 610mm×620 mm) corresponding to a single person.
Hereinafter, the direction in which the pair of robot arms 13a, 13b are extended is referred to as a left-right direction, the direction parallel to the axis of the base shaft is referred to as an up-down direction, and the direction orthogonal to the left-right direction and the up-down direction is referred to as a front-back direction.
(a pair of mechanical arms 13a, 13 b)
The 1 st arm 13a (the arm facing the left in the drawing) and the 2 nd arm 13b (the arm facing the right in the drawing) are each a horizontal articulated arm configured to be movable with respect to the base 12. The 1 st arm 13a includes an arm portion 15, a toggle lever portion 17, and an end effector 18. The 2 nd arm 13b includes an arm portion 15 and a toggle lever portion 17.
In this example, the arm 15 of each of the 1 st arm 13a and the 2 nd arm 13b is constituted by a 1 st link 15a and a 2 nd link 15 b. The 1 st link 15a is coupled to a base shaft 16 fixed to the upper surface of the base 12 by a rotary joint J1, and is rotatable about a rotation axis L1 passing through the axial center of the base shaft 16. The 2 nd link 15b is coupled to the end of the 1 st link 15a by a rotary joint J2, and is rotatable about a rotation axis L2 defined at the end of the 1 st link 15 a.
The toggle lever 17 has a mechanical interface 19, and the mechanical interface 19 is attached with an end effector 18 or an imaging unit 40 described later, and the toggle lever 17 is connected to the distal end of the 2 nd link 15b via a straight movement joint J3 and a rotation joint J4. The toggle link 17 can be moved up and down with respect to the 2 nd link 15b by the straight movement joint J3. The toggle link 17 is rotatable about a rotation axis L3 perpendicular to the 2 nd link 15b by the rotation joint J4.
The end effector 18 is coupled to the mechanical interface 19 of the right toggle portion 17. That is, the end effector 18 is provided at the end of the 1 st arm 13a.
The pair of robot arms 13a and 13b having the above-described structure have joints J1 to J4, respectively. Further, a servo motor (not shown) for driving and an encoder (not shown) for detecting the rotation angle of the servo motor are provided to the pair of robot arms 13a and 13b so as to be associated with the joints J1 to J4, respectively. The rotation axis L1 of the 1 st link 15a of the 1 st arm 13a and the rotation axis L1 of the 1 st link 15a of the 2 nd arm 13b are positioned on the same straight line, and the 1 st link 15a of the 1 st arm 13a and the 1 st link 15a of the 2 nd arm 13b are arranged so as to have a height difference in the vertical direction.
(end effector 18)
The end effector 18 according to the present embodiment holds the workpiece W to the plurality of suction ports 21 by suction by negative pressure. The structure of the end effector 18 and the manner of holding the workpiece W are not limited to this, and for example, the workpiece W may be held by loading and clamping, the workpiece W may be held by piercing a needle-like member, or the workpiece W may be held by other means.
(robot control unit 14)
The robot control unit 14 according to the present embodiment controls the robot 11 to perform work on the workpiece W to be conveyed based on the arrangement state of the workpiece W detected by the arrangement state detection unit 80, which will be described later, in addition to the conveyance speed of the workpiece W detected by the conveyance speed detection unit 70, which will be described later. The specific configuration of the robot control unit 14 is not particularly limited, and may be realized by operating a known processor (CPU or the like) according to a program stored in a storage unit (memory), for example.
(Structure for detecting the conveying speed of the workpiece W)
The imaging unit 40, the conveyance speed detection unit 70, and the arrangement state detection unit 80 included in the robot system 10 according to the present embodiment will be described again with reference to fig. 2 and the like.
(imaging section 40)
The imaging unit 40 according to the present embodiment is provided in the 2 nd arm 13b disposed upstream of the 1 st arm 13a in the conveyance path C. The robot system 10 according to the present embodiment includes only 1 imaging unit 40. In the present embodiment, the image information captured by the capturing unit 40 includes the 1 st image information and the 2 nd image information. The imaging unit 40 acquires the 1 st image information by the 1 st imaging, and further acquires the 2 nd image information by the 2 nd imaging performed after a predetermined time has elapsed from the 1 st imaging. Fig. 4 is a schematic diagram showing a case where a workpiece is imaged by an imaging unit provided in a robot system according to an embodiment of the present invention, fig. 4 (a) is a diagram showing a case where the 1 st imaging is performed, and fig. 4 (B) is a diagram showing a case where the 2 nd imaging is performed.
(conveying speed detecting section 70)
The conveying speed detecting unit 70 according to the present embodiment detects the conveying speed of the workpiece W based on the 1 st image information and the 2 nd image information. Specifically, the conveying speed detecting unit 70 according to the present embodiment detects the moving distance of the workpiece W based on the 1 st image information and the 2 nd image information, and obtains a quotient obtained by dividing the moving distance of the workpiece W by a predetermined time elapsed from the capturing of the 1 st image information to the capturing of the 2 nd image information, thereby detecting the conveying speed of the workpiece W. The moving distance of the workpiece W may be detected based on, for example, a distance traveled by a part of the workpiece W located at the most downstream side in the conveying path C, or may be detected based on a distance traveled by a mark previously marked on the surface of the workpiece W. The conveyance speed detecting unit 70 is connected to the imaging unit 40 and the robot control unit 14 in a state where it can communicate electrical signals. The specific configuration of the conveyance speed detecting unit 70 is not particularly limited, and may be realized by operating a known processor (CPU or the like) according to a program stored in a storage unit (memory), for example.
(arrangement State detection section 80)
The arrangement state detecting unit 80 according to the present embodiment detects the arrangement state of the workpiece W based on at least one of the 1 st image information and the 2 nd image information (i.e., the image information acquired for detecting the conveying speed of the workpiece W). The arrangement state of the workpiece W may be only positional information of the workpiece W, or may include posture information of the workpiece W in addition to the positional information. The arrangement state detecting unit 80 is connected to the imaging unit 40 and the robot control unit 14 in a state where it can communicate electrical signals. The specific configuration of the arrangement state detecting unit 80 is not particularly limited, and may be realized by operating a known processor (CPU or the like) according to a program stored in a storage unit (memory), for example.
(conveying speed detecting section 70 and arrangement state detecting section 80)
The apparatus provided with the conveyance speed detecting unit 70 and the arrangement state detecting unit 80 is not particularly limited. As shown in fig. 2 (a), the conveyance speed detection unit 70 and the arrangement state detection unit 80 may be provided separately from the robot 11. In this case, the conveyance speed detecting unit 70 and the arrangement state detecting unit 80 may be incorporated in a camera including the imaging unit 40. As shown in fig. 2 (B), the conveyance speed detection unit 70 and the arrangement state detection unit 80 may be provided to be included in the robot control unit 14, or may be incorporated in the robot 11 separately from the robot control unit 14. The conveyance speed detecting unit 70 and the arrangement state detecting unit 80 may be provided separately from the camera including the imaging unit 40 and the robot 11. The conveyance speed detection unit 70 may be incorporated in a camera including the imaging unit 40, and the arrangement state detection unit 80 may be incorporated in the robot 11, or vice versa.
(Effect)
The robot system 10 according to the present embodiment is configured to operate the transported workpiece W based on the transport speed of the workpiece W, thereby realizing a simple device configuration. Here, for example, as shown in fig. 6, the conventional robot system as in patent document 1 requires not only the robot 1 and the image processing device 2 connected to the robot control unit 1a, but also the encoder 3, the encoder value reading unit 4, and wiring for connecting these components to each other, which complicates the device configuration. This causes problems such as an increase in the introduction cost and difficulty in adapting to a predetermined installation space. However, the robot system 10 according to the present embodiment can solve the above-described problems by realizing a simple device configuration as described above. In addition, there is a conventional robot system, for example, that does not include the encoder 3 and the attached structure thereof, on the premise that the conveying speed of the workpiece W is constant. In such a robot system, the work on the transported workpiece W can be performed with a simple device configuration. However, as shown in fig. 7, when the conveying speed of the workpiece W 'is changed, it is impossible to cope with the change, and the workpiece W' is held at the suction port 5 and damaged. This causes a problem that the work on the conveyed workpiece W' is no longer possible. However, the robot system 10 according to the present embodiment controls the robot 11 to work the transported workpiece W based on the transport speed of the workpiece W detected by the transport speed detecting unit 70, and as shown in fig. 5, the above-described problem can be eliminated. Fig. 5 is a schematic view showing a case where a conveyed workpiece is worked by using the 1 st end effector provided in the robot system according to the embodiment of the present invention, fig. 5 (a) is a view showing a case before the workpiece is held, and fig. 5 (B) is a view showing a case where the workpiece is held. As described above, the robot system 10 according to the present invention can solve various problems that may occur in the preparation stage of the work or the like when the work is performed on the transported work W.
In the present embodiment, the conveyance speed detecting unit 70 detects the conveyance speed of the workpiece W based on the 1 st image information acquired by the 1 st image capturing and the 2 nd image information acquired by the 2 nd image capturing performed after a predetermined time has elapsed from the 1 st image capturing. Thus, for example, the moving distance of the workpiece W can be accurately detected, and the conveying speed of the workpiece W can be accurately detected.
In the present embodiment, the 1 st image information and the 2 nd image information are acquired by the 1 st imaging unit 40. This can make the effects of the present invention remarkable.
In the present embodiment, the robot 11 performs work on the transported workpiece W based on the arrangement state of the workpiece W detected by the arrangement state detecting unit 80, in addition to the transport speed of the workpiece W detected by the transport speed detecting unit 70. This enables the conveyed workpiece W to be accurately worked.
In the present embodiment, the arrangement state detector 80 detects the arrangement state of the workpiece W based on at least one of the 1 st image information and the 2 nd image information (i.e., the image information acquired for detecting the conveying speed of the workpiece W). The conveying speed of the workpiece W can be detected promptly by reducing the amount of data processed, and the conveyed workpiece W can be worked accurately. Further, by detecting the arrangement state of the workpiece W based on only either the 1 st image information or the 2 nd image information, the amount of data to be processed can be reduced and the conveying speed of the workpiece W can be detected more quickly. On the other hand, by detecting the arrangement state of the workpiece W based on both the 1 st image information and the 2 nd image information, the arrangement state of the workpiece W can be accurately detected.
In the present embodiment, the robot 11 includes a 1 st arm 13a (arm), and the imaging unit 40 is provided in the 1 st arm 13a. This can make the effect of the present invention remarkable.
In the present embodiment, the robot 11 includes a 1 st arm 13a and a 2 nd arm 13b, the end effector 18 is mounted on the 1 st arm 13a, and the imaging unit 40 is provided on the 2 nd arm 13b. This makes it possible to more accurately work the conveyed workpiece W, and to achieve a remarkable effect.
In the present embodiment, the 1 st arm 13a and the 2 nd arm 13b are included in the 1 st robot 11. This makes it possible to achieve more remarkable effects of the present invention.
(modification)
In the above embodiment, the case where the image capturing unit 40 captures the transported workpiece W to acquire the 1 st image information and the 2 nd image information, and the transport speed detecting unit 70 detects the transport speed of the workpiece W based on the 2 nd image information has been described, but the present invention is not limited to this. For example, it is also possible to: the imaging unit 40 acquires only 1 image information, and the conveyance speed detection unit 70 detects the conveyance speed of the workpiece W based on the 1 image information. In this case, it may be: the 1 pieces of image information are, for example, image information that can be imaged while keeping the shutter open for a predetermined time, so that the trajectory of the movement of the workpiece W can be detected, and the conveyance speed detection unit 70 detects the conveyance speed of the workpiece W based on such image information. Alternatively, it may be: the imaging unit 40 captures at least one of the transported workpiece W and the transport path C in operation, acquires image information, and the transport speed detecting unit 70 detects the transport speed of the workpiece W based on the image information.
Here, when the image capturing unit 40 captures an image of the conveying path C in operation to obtain image information, it may be, for example: a mark is marked on the conveying path C in advance, and the mark is photographed instead of the workpiece W conveyed in the above embodiment, and the conveying speed of the workpiece W is detected based on the image information. In the case where the image information is acquired by the image pickup unit 40 picking up the image of the conveying path C in operation, the image information may be: the image information is acquired by photographing a separate conveyance path C before conveying the workpiece W, and the conveyance speed of the workpiece W is detected based on the image information.
The image capturing unit 40 may continuously capture and acquire image information on at least one of the transported workpiece W and the transport path C in operation, and may always correspond to a change in the transport speed of the workpiece W, acquire image information each time the transported workpiece W is worked, or may be: when image information is acquired by photographing, it is considered that the conveyance speed of the workpiece W is constant from the start until a predetermined time elapses, and photographing is repeated with a predetermined time interval. Alternatively, it may be: when image information is acquired by photographing, it is considered that the conveyance speed of the workpiece W is constant thereafter, and image information is not acquired.
In addition, it may be: the imaging unit 40 images 3 or more pieces of image information, and the conveyance speed detection unit 70 detects the conveyance speed of the workpiece W based on the 3 or more pieces of image information. At this time, the conveying speed detecting unit 70 may detect the conveying speed of the workpiece W based on, for example, a value obtained by averaging a plurality of moving distances of the workpiece W detected from 3 or more pieces of image information. Thereby, the conveying speed of the workpiece W can be accurately detected. The conveying speed of the workpiece W may be detected based on a value obtained by averaging a plurality of conveying speeds of the workpiece W detected from 3 or more pieces of image information. In this way, the conveying speed of the workpiece W can also be accurately detected. In the case of detecting the conveyance speed of the workpiece W based on 3 or more pieces of image information as described above, the timing of capturing the remaining pieces of image information is not particularly limited, and may be different from each other or the same timing as each other, as long as there are at least 2 pieces of image information (for example, the 1 st image information and the 2 nd image information) captured at predetermined time intervals. For example, the image information may be captured at an arbitrary timing by controlling the imaging unit 40 by the conveyance speed detecting unit 70.
In the above embodiment, the case where the robot system 10 includes only 1 imaging unit 40 has been described, but the present invention is not limited thereto. For example, it may be: the imaging unit 40 includes a 1 st imaging unit and a 2 nd imaging unit, and the 1 st imaging unit acquires 1 st image information and the 2 nd imaging unit acquires 2 nd image information. Thus, the 1 st image information and the 2 nd image information can be captured from the positions separated from each other, and the conveying speed of the workpiece W can be detected more accurately than in the case of capturing by the 1 st imaging section 40. In the above embodiment, after the 1 st image information is captured, the 2 nd image information is captured after the imaging unit 40 is moved by the 2 nd arm 13b, and thus the same effect can be obtained without changing the device configuration.
In the above embodiment, the description has been made of the case where the arm includes the 1 st arm 13a and the 2 nd arm 13b, the end effector 18 is mounted on the 1 st arm 13a, and the imaging unit 40 is provided on the 2 nd arm 13b, but the present invention is not limited thereto. That is, the position where the imaging unit 40 is provided is not particularly limited as long as it is a position where at least one of the transported workpiece W and the transport path C in operation can be imaged. For example, the imaging unit 40 may be provided on the 1 st arm 13a (on which the end effector 18 is mounted), or may be provided while being suspended above the conveyance path C. In this case, for example, the robot 11 may be a single-arm robot including only the 1 st arm 13a, instead of the 2 nd arm 13b. The imaging unit 40 may be provided to the 2 nd arm 13b by attaching an end effector to the 2 nd arm 13b and holding the imaging unit 40 in the end effector.
In the above embodiment, the case where the arrangement state detecting unit 80 detects the arrangement state of the workpiece W based on at least either one of the 1 st image information and the 2 nd image information (i.e., the image information acquired for detecting the conveying speed) has been described, but the present invention is not limited thereto. That is, it may be: the image information includes arrangement state image information, which is acquired by the imaging unit 40 by imaging the conveyed workpiece W, and the arrangement state detection unit 80 detects the arrangement state of the workpiece based on the arrangement state image information. This makes it possible to more accurately work the workpiece W. The image information for the arrangement state may be captured by using the capturing unit 40, and the capturing unit 40 may be the same as the capturing unit that captures the image information acquired for detecting the conveying speed (that is, the image information acquired for detecting the conveying speed and the image information for the arrangement state may be acquired by 1 capturing unit), or in the case where the robot system 10 includes a plurality of capturing units 40, the capturing unit 40 may be used to capture the image, and the capturing unit 40 may be different from the capturing unit that captures the image information acquired for detecting the conveying speed. The arrangement state detecting unit 80 may detect the arrangement state of the workpiece W based on 1 image information captured by the capturing unit 40, or may detect the arrangement state of the workpiece W based on a plurality of image information.
In the above embodiment, the case where the robot system 10 includes the arrangement state detection unit 80 has been described, but the present invention is not limited to this. That is, the robot system 10 may not include the arrangement state detector 80, for example, in a case where a plurality of workpieces W are conveyed at a constant interval from each other and the postures of the workpieces W on the conveying path C are the same. This can simplify the device configuration of the robot system 10.
In the above embodiment, the case where the 1 st arm 13a and the 2 nd arm 13b are included in the 1 st robot 11 has been described, but the present invention is not limited thereto. That is, the robot system 10 may include a plurality of robots 11. In this case, for example, it may be: the 1 st robot 11 provided on the upstream side of the conveyance path C includes a 2 nd robot arm 13b provided with a photographing section 40, and the other 1 st robot 11 provided on the downstream side of the conveyance path C includes a 1 st robot arm 13a to which an end effector 18 for performing work on the conveyed workpiece W is attached.
Further modifications and other embodiments of the invention will be apparent to those skilled in the art in view of the foregoing description. Accordingly, the foregoing description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the most preferred form of carrying out the invention. The details of the structure and/or function thereof may be substantially changed without departing from the spirit of the present invention.
Reference numerals illustrate:
10 … robotic system; 11 … robot; 12 … base; 13a … 1 st mechanical arm; 13b …, 2 nd arm; 14 … robot control unit; 15 … arm; 15a … 1 st connecting rod; 15b …, 2 nd link; 16 … base shaft; 17 … toggle lever portion; 18 … end effector; 19 … mechanical interface; 21 … adsorption port; 40 … shooting part; 70 … conveying speed detecting part; 80 … to configure a status detecting section; a C … delivery path; l1 to L3 … rotation axes; J1-J4 … joints; w … workpiece.
Claims (4)
1. A robot system for performing work on a workpiece to be conveyed,
the robot system is characterized by comprising:
a photographing unit for photographing at least one of a workpiece being conveyed and a conveying path being operated and acquiring image information;
a conveying speed detecting unit that detects a conveying speed of the workpiece based on the image information;
a robot that performs a work on the transported workpiece based on a transport speed of the workpiece; and
a placement state detection unit configured to detect a placement state of the workpiece based on the image information acquired by the imaging unit,
the robot may comprise a robotic arm that is configured to move,
the mechanical arm comprises a 1 st mechanical arm and a 2 nd mechanical arm, wherein an end effector is arranged on the 1 st mechanical arm, the 2 nd mechanical arm is arranged on the upstream side of the conveying path compared with the 1 st mechanical arm, the 2 nd mechanical arm is provided with the shooting part, 1 robot comprises the 1 st mechanical arm and the 2 nd mechanical arm,
the image information includes 1 st image information and 2 nd image information, the image pickup section obtains the 1 st image information by a 1 st image pickup, and further obtains the 2 nd image information by performing a 2 nd image pickup after a prescribed time has elapsed from the 1 st image pickup,
the conveying speed detecting section detects a conveying speed of the workpiece based on the 1 st image information and the 2 nd image information,
the arrangement state detecting section detects an arrangement state of the workpiece based on the image information acquired for detecting a conveying speed of the workpiece,
the robot performs work on the conveyed workpiece based on the arrangement state of the workpiece detected by the arrangement state detection unit, in addition to the conveyance speed of the workpiece detected by the conveyance speed detection unit.
2. The robotic system as set forth in claim 1 wherein,
the 1 st image information and the 2 nd image information are acquired by 1 imaging unit.
3. The robotic system as set forth in claim 1 wherein,
the photographing part comprises a 1 st photographing part and a 2 nd photographing part,
the 1 st image information is acquired by the 1 st imaging unit, and the 2 nd image information is acquired by the 2 nd imaging unit.
4. A method of performing work on a conveyed workpiece using the robot system according to any one of claims 1 to 3, comprising the steps of:
a step of capturing at least one of a transported workpiece and a transport path in operation and acquiring image information;
detecting the conveying speed of the workpiece based on the image information; and
and performing operation on the conveyed workpiece based on the conveying speed of the workpiece.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017162531A JP7213010B2 (en) | 2017-08-25 | 2017-08-25 | ROBOT SYSTEM AND METHOD OF WORKING ON A WORK TRANSFERRED |
| JP2017-162531 | 2017-08-25 | ||
| PCT/JP2018/030789 WO2019039460A1 (en) | 2017-08-25 | 2018-08-21 | Robot system and method for performing operation on workpiece being transferred |
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| CN111051014A CN111051014A (en) | 2020-04-21 |
| CN111051014B true CN111051014B (en) | 2023-05-02 |
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Citations (6)
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| JPS6029486U (en) * | 1983-08-03 | 1985-02-27 | 株式会社日立製作所 | Automatic machine with image feature extraction device |
| JPH10105217A (en) * | 1996-09-27 | 1998-04-24 | Mitsubishi Electric Corp | Tracking controlling method of robot and robot control system |
| JP2006048395A (en) * | 2004-08-05 | 2006-02-16 | Toshiba Corp | Apparatus and method for measuring speed |
| JP2009028818A (en) * | 2007-07-25 | 2009-02-12 | Panasonic Electric Works Co Ltd | Robot system |
| JP2013180366A (en) * | 2012-03-01 | 2013-09-12 | Seiko Epson Corp | Robot and robot hand |
| JP2016107349A (en) * | 2014-12-02 | 2016-06-20 | ファナック株式会社 | Article transfer device for transferring article by using robot and article transfer method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017085932A1 (en) | 2015-11-16 | 2017-05-26 | 川崎重工業株式会社 | Robot system and robot system control method |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6029486U (en) * | 1983-08-03 | 1985-02-27 | 株式会社日立製作所 | Automatic machine with image feature extraction device |
| JPH10105217A (en) * | 1996-09-27 | 1998-04-24 | Mitsubishi Electric Corp | Tracking controlling method of robot and robot control system |
| JP2006048395A (en) * | 2004-08-05 | 2006-02-16 | Toshiba Corp | Apparatus and method for measuring speed |
| JP2009028818A (en) * | 2007-07-25 | 2009-02-12 | Panasonic Electric Works Co Ltd | Robot system |
| JP2013180366A (en) * | 2012-03-01 | 2013-09-12 | Seiko Epson Corp | Robot and robot hand |
| JP2016107349A (en) * | 2014-12-02 | 2016-06-20 | ファナック株式会社 | Article transfer device for transferring article by using robot and article transfer method |
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| Publication number | Publication date |
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| JP7213010B2 (en) | 2023-01-26 |
| CN111051014A (en) | 2020-04-21 |
| WO2019039460A1 (en) | 2019-02-28 |
| JP2019038073A (en) | 2019-03-14 |
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