JP2001113480A - Robot control method and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control method and a control device capable of remarkably improving processing capacity by simplifying a system when performing relatively simple work such as transfer of a work by a robot. SOLUTION: In this robot control method and the control device used for an arranging device A being constituted so as return an uncarried-out work W to a carry starting point and arranging/carrying-out the work W carried at random, plural arms 12, 13 are provided in a single robot controlled by a single robot controller 40, and the arm 12 is made independent of the other arm 13 to transfer the work W to a carrying-out position of a carrying-out conveyor 22 from a carrying position of a carrying-in conveyor 21.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control method and a control device for a robot. More specifically, the present invention relates to a robot control method and a control device in which one robot is provided with a plurality of arms and one robot controller controls the operation of each arm.

[0002]

2. Description of the Related Art Conventionally, products such as tubes, bottles and caps (hereinafter referred to as "workpieces") used as containers for medicines and cosmetics, for example, are easy to work when performing processing such as boxing or labeling. Is usually arranged in a predetermined posture as described above.

[0003] That is, since such a work is formed in a large amount and supplied in a random state, that is, in a random state, it is arranged by a device called a parts feeder and then sent to the next process. The parts feeder is a device having a relatively simple mechanism, which is designed and manufactured each time, basically for the purpose of handling only one type of work and corresponding to the required processing capacity. For this reason, it is usually impossible to achieve such a high processing capacity,
There is also a problem that the adaptability to the change of the type of work is low, and when it is necessary to handle a plurality of types of works, the time required for the setup becomes longer, which causes a decrease in productivity.

[0004] Conventionally, a method of aligning workpieces by a robot equipped with an image processing device (vision) has been used, especially when a plurality of types of workpieces need to be handled or when a high processing capability is required. I have. That is,
In this method, information on the position and orientation of each work is acquired by a visual sensor such as a CCD camera, and each arm of the robot is controlled based on this information to perform work alignment. In this method, since various kinds of works can be handled only by switching the operation program in response to the change of the kind of work, there is an advantage that the time required for setup can be reduced.

However, in a relatively simple operation such as an alignment operation, the processing capability of a conventional general-purpose robot is not so different from the processing capability of a parts feeder. Are increasing the number of vehicles. That is, a method in which a plurality of robots each having a robot controller, an arm, and an image processing device are collectively controlled by a general control panel that also controls peripheral devices such as a conveyor that conveys a work, and a work is performed. (See, for example, JP-A-7-28172).
No. 1 and Japanese Patent No. 2717771. These documents show systems in which an image processing device is not essential).

[0006] However, the method of increasing the number of robots to perform work to improve the processing capacity increases the complexity of the system and causes the cost performance to deteriorate. However, there is a problem that it is rather difficult to improve the processing capacity because a simple task is processed by a system that is more complicated than necessary.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in the prior art, and simplifies a system when a robot performs relatively simple work such as transfer of a work. It is an object of the present invention to provide a control method and a control device for a robot capable of dramatically improving the processing capability.

[0008]

A first aspect of a robot control method according to the present invention is a robot control method used for an alignment apparatus for aligning and carrying out randomly conveyed works. A single robot controlled by a robot controller is provided with a plurality of arms, and each of the arms is controlled independently by the robot controller so as to transfer the work from the transfer position to the unloading position independently of the other arms. And

A second embodiment of the robot control method according to the present invention is used for an alignment apparatus configured to return a work that has not been unloaded to a transfer start point and to align and transport a randomly transferred work. A plurality of arms provided to one robot controlled by one robot controller, wherein each of the arms is independent of the other arms, and the work is transferred from the transfer position to the unloading position. In such a way that the robot controller performs control.

In the method for controlling a robot according to the present invention,
The robot controller controls each arm based on information on a position of a transfer mechanism that transfers the work transferred by the respective arms and information on a position, posture, and / or shape of the work transferred by the transfer mechanism. Have been.

In the method of controlling a robot according to the present invention, it is preferable that the posture of the work is set to a desired posture during the transfer.

Further, in the robot control method of the present invention, a specific work may be transferred to each of the arms.

Further, in the robot control method of the present invention, when there is a work that cannot be transferred by each of the arms, a work located upstream of the work is transferred to each of the arms. May be.

Further, in the robot control method according to the present invention, each of the arms may have three axes, and two of the arms may be controlled by the robot controller as axes of the robot. Each arm may have two axes, one of which may be controlled by the robot controller as the axis of the robot. In that case, the remaining one of the axes is controlled as a peripheral device by the robot controller. Each of the arms may have three axes, and all three axes may be controlled by the robot controller as axes of the robot.
The robot controller may be configured to control all of these two axes as axes of the robot.

According to a first aspect of the present invention, there is provided a robot controller having a plurality of arms used in an aligning apparatus for aligning and carrying out randomly conveyed workpieces. Means, a signal from a position sensor that detects a transfer position of the transfer mechanism that transfers the work, and a position of the work that is transferred by the transfer mechanism,
Each arm is controlled to work independently of the other arms based on a signal from a visual sensor that detects a posture and / or shape.

The robot control apparatus according to the second aspect of the present invention is used for an aligning apparatus configured to return a work that has not been unloaded to a transfer starting point and to align and transfer a randomly transferred work. A control device for a robot having a plurality of arms, wherein the control unit detects a transfer position of a transfer mechanism of a transfer mechanism that transfers the work, and a position and a posture of the work transferred by the transfer mechanism. And / or controlling each arm to work independently of the other arms based on a signal from a visual sensor for detecting a shape.

In the robot control device according to the present invention,
It is preferable that the configuration is such that the posture of the work is set to a desired posture during the transfer by the arm.

Further, in the robot controller according to the present invention, each of the arms may be configured to handle a specific work.

Further, in the robot control apparatus of the present invention, when there is a work that cannot be transferred by each of the arms, a work located upstream of the work is transferred to each of the arms. May be.

Further, in the robot control device according to the present invention, each of the arms may have three axes, and two of the arms may be controlled by the robot controller as axes of the robot. Each arm may have two axes, one of which may be controlled by the robot controller as the axis of the robot. In that case, the remaining one of the axes is controlled as a peripheral device by the robot controller. Each of the arms may have three axes, and all three axes may be controlled by the robot controller as axes of the robot.
The robot controller may be configured to control all of these two axes as axes of the robot.

A robot according to the present invention includes any one of the above-described robot control devices.

According to a second aspect of the present invention, there is provided an alignment apparatus including the robot.

[0023]

Since the present invention is configured as described above, it is possible to simplify the structure of an aligning device for aligning and carrying out randomly conveyed works, and to dramatically improve the processing capacity. Become.

For example, if the work content is relatively simple, 3
If the robot controller is configured to control only two axes among the axes of each arm composed of axes as robot axes, the number of arms that can be controlled by one robot controller can be increased. It is possible to improve the processing capability of the robot. Furthermore, by simplifying the structure of each arm, it is possible to speed up the operation of each arm and further improve the processing capability.

Further, depending on the contents of the work, it may be sufficient to control each arm as two axes and control only one of them as the robot axis. In such a case, the number of arms that can be controlled by one robot controller can be further increased by using a configuration in which one robot controller controls only one axis operation as a robot axis. It is possible to further improve the processing capability of one robot.
Further, the structure of the arm can be further simplified, and it is easy to further improve the processing capability.

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

FIGS. 1 and 2 are a front view and a plan view, respectively, of an alignment device to which a robot control method and a control device according to an embodiment of the present invention are applied. This alignment device A has a plurality of picking arms ( Hereinafter, the robot 10 may be simply referred to as an arm.) And a transport mechanism 2 that transports a workpiece W handled by the robot 10.
0, and a camera 30 as a visual sensor for acquiring image data of the work W conveyed by the conveyance mechanism 20.

The robot 10 includes one robot controller 40 and a plurality of picking arms 12 and 13 controlled by the controller 40. The robot controller 40 controls each picking arm 12, 13
, And also controls peripheral devices such as the transport mechanism 20 and the camera 30.

The transport mechanism 20 is in a messy state, that is, a carry-in conveyor 21 for transporting a workpiece W supplied at random to a position where the robot 10 can handle the robot W,
Conveyor 22 for transporting the workpieces W arranged in the next step to the next process, and the workpiece W transported to the terminal end 21a of the import conveyor 21 without being transported by the robot 10.
Feeding mechanism 2 for returning the paper to the start end 21b of the carry-in conveyor 21
3 is provided. In the illustrated example, the unloading conveyors 22 are arranged in one line, but may be arranged in a plurality of lines.

The carry-in conveyor 21 is provided with an encoder 24 as a position sensor. The encoder 24 inputs information on the position of the conveyor belt to the robot controller 11 as a conveyor encoder value. The transport belt of the carry-in conveyor 21 is translucent, and an illumination device 25 that illuminates the work W through the transport belt is provided below the transport belt.

The reverse feed mechanism 23 includes an overflow shooter 23a provided rearward of the carry-in conveyor 21 in the conveying direction and receiving the work W falling from the terminal end 21a;
Work W sent from overflow shooter 23a
Conveyor 23b which transports the workpiece W to the upstream side of the carry-in conveyor 21 and the work W transported to the upstream side of the carry-in conveyor 21 by the return conveyor 23b.
And a shooter 23c to be transferred to the first end 21b. Note that one or both of the overflow shooter 23a and the shooter 23c may be a belt conveyor.

The camera 30 is composed of, for example, a CCD (Charge Coupled Device) sensor. The camera 30 captures a work W conveyed by the carry-in conveyor 21 under illumination of the illumination device 25, converts the image into an electric signal, Controller 4
Enter 0.

FIG. 3 shows the configuration of the robot controller 40 in detail.

The robot controller 40 has a board storage rack 41, and in the board storage rack 41, an image processing unit 43 for performing predetermined processing on signals from the CPU board 42 and the camera 30 to generate image data. Is provided, and the CPU board 42 and the image processing unit 43 are connected by a VME bus.

The CPU board 42 includes a peripheral device control unit 44 for controlling peripheral devices such as the transport mechanism 20 and the camera 30.
A conveyor position detector 45 for detecting the position of the conveyor belt from the conveyor encoder value input from the encoder 24; and the position, orientation and / or position of each workpiece W based on image data generated by the image processing unit 43. A plurality of picking arms 12, a work position detector 46 for detecting the shape, and a position to pick each work W on the carry-in conveyor 21 based on the information detected by the conveyor position detector 45 and the work position detector 46;
A picking position calculator 47 for calculating each arm 13; and an allocation calculator 48 for designating the arms 12, 13 to pick each work W based on the information calculated by the picking position calculator 47 and according to a predetermined allocation algorithm. An arm control unit 49 for controlling the arms 12 and 13 to align the work W on the carry-in conveyor 21 based on the calculation result of the allocation calculation unit 48 and the information calculated by the picking position calculation unit 47. It becomes.

Here, the allocation algorithm when the allocation calculation unit 48 specifies the arm 12 (13) to pick each work W will be described.

(1) For example, when the picking of the work W is equally assigned to each of the arms 12 and 13, the work W coming into the field of view of the camera 30 is sequentially numbered, and the arms 12 and 13 are sequentially assigned. Allocate to 13. Here, each arm 12,
If there is a work W that cannot be physically picked by the work 13, the allocation calculation unit 48 removes the work W from the picking target, and allocates the work W to the next arm W in order from the work W of the next number. Go. As a result, it is possible to execute the alignment work without setting the arms 12 and 13 unnecessarily in a standby state.

(2) When a specific arm, for example, the arm 12 is mainly operated and the other arm 13 is operated auxiliary, the work W coming into the field of view of the camera 30 is sequentially numbered. The arm 12 to be operated mainly in order
Picking. Here, the picking position calculation unit 4
7, the arm 12 to be operated mainly
If there is a work W that cannot be physically picked, the work W
Allocate.

If there is a work W that cannot be physically picked by the auxiliary arm 13 to be physically operated, the work W is excluded from the picking target, and a lower number upstream from the work W is assigned a lower number. A work W that is attached and cannot be picked by an arm that is mainly operated is picked.

(3) When a plurality of types of workpieces W are simultaneously transported by one transport belt, it is possible to specify an arm to be handled for each type of workpiece W in order to improve the processing capacity. In this case, the work position detector 4
6, it is determined which type of work each work W is.
Assign to 13. The processing when there is a workpiece W that cannot be picked up by each arm is in accordance with each of the above examples.

(4) When handling a work W having a front and a back, an arm to be handled can be designated according to the front and the back of each work W in order to improve the processing ability.
In this case, the work position detection unit 46 determines the front and back of each work W, and transfers each work W to each of the arms 12 and 1.
Assign to 3. The processing when there is a workpiece W that cannot be picked up by the arms 12 and 13 is in accordance with each of the above examples.

Further, the work W removed from the picking target in each of the above examples is all returned to the upstream side of the carry-in conveyor 21 by the reverse feeding mechanism 23.

Next, the structure of the picking arms 12 and 13 will be described. In addition, in order to simplify the drawing and facilitate understanding, the drawing is mainly performed with respect to the picking arm 12, and the picking arm 13 is indicated by reference numerals with parentheses.

FIGS. 4 to 7 show picking arms 12 and 13.
Each picking arm 12 (13) is a hand 12a (13a) for picking a workpiece W.
A first linear motion mechanism 12b (13b) (first axis) serving as a left-right axis for moving the hand 12a (13a) in the left-right direction of FIG. Linear motion mechanism 12c (13c) (second
Axis), and a rotation mechanism 12d (13) as a rotation axis for rotating the hand 12a (13a) about its own axis.
d) 3 with 3 degree of freedom motion mechanism consisting of (3rd axis)
It has a shaft configuration. Then, the first linear motion mechanism 12b (1
3b) and the rotation mechanism 12d (13d) are controlled by the robot controller 40 as axes of the robot, and the second linear motion mechanism 12c (13c) is controlled by the robot controller 40 as peripheral equipment.

That is, the carry-in conveyor 21 and the carry-out conveyor 22 have parallel portions that are parallel to each other, and extend over the parallel portions of the respective conveyors 21 and 22.
A beam 12 having a U-shaped cross section for supporting the arms 12 and 13
e (13e) is disposed with the U-shaped opening facing upward.

One side wall 12f of the beam 12e (13e)
In (13f), the carry-in conveyor 21 and the carry-out conveyor 22 are protruded into the internal space of the beam 12e (13e).
A rail 12g (13g) is formed over a range L required for moving the hand 12a (13a) in the upper space.

The bottom plate 12h of the beam 12e (13e)
(13h) A first drive motor 12i (13i) as a drive source of the first linear motion mechanism 12b (13b) is provided at a terminal position on the side of the carry-in conveyor 21 in the range L,
A transfer belt 12j (13j) for transmitting the rotational driving force of the first drive motor 12i (13i) is stretched over the range L by a pair of pulley mechanisms 12k (13k).

The transfer belt 12j (13
j), a support member 12m (13m) supporting the second linear motion mechanism 12c (13c) and the rotation mechanism 12d (13d).
Is fixed so as to be driven, and the support member 12
m (13m) is slidably supported by the rail 12g (13g) to form the first linear motion mechanism 12b (13b).

The second linear motion mechanism 12c (13c) includes a second drive motor 12t (13t) as a drive source.
The drive motor 12t (13t) is supported by the support member 12m (13m) with the rotation axis oriented in the horizontal direction, and converts the rotational motion of the rotary shaft of the second drive motor 12t (13t) into vertical motion. Moving direction conversion mechanism 1
2n (13n). More specifically, the second drive motor 12t (13t) is composed of a pulse motor, and in response to a command from the arm control unit 20,
At a predetermined time, the hand 12a (13a) is rotated by a predetermined angle to raise and lower the pipe-shaped hand support member 12o (13o) supporting the hand 12a (13a) by a predetermined height. It is configured to move up and down.

The rotation mechanism 12d (13d) has a third drive motor 12p (13p) as a drive source, and the third drive motor 12q (13q) has a support member 12m (13q) with the rotation shaft directed vertically downward. 13m), and the rotation of the rotating shaft is transmitted by the gear mechanism 12r (13
r) to the hand supporting member 12o (13o) to rotate the hand 12a (13a) around its own axis as a center of rotation.

Further, the hand 12a (13a)
A vacuum unit AU including a known suction detector, a vacuum pump, a vacuum filter, and the like is provided with a pipe PV and a pipe-shaped hand support member 12o (13o). Connected through.

Next, the aligning device A having such a configuration is described.
Will be described when the work W is aligned.

(1) When each work W conveyed by the carry-in conveyor 21 enters the field of view of the camera 30, the work position detection unit 17 determines the position and posture of each work W from the image data processed by the image processing unit 43. And / or detecting the shape.

(2) On the other hand, the position of the conveyor belt is detected by the conveyor position detector 45 based on the conveyor encoder value input from the conveyor encoder 24.
From the information on the position, posture and / or shape of each work W detected by the work position detection unit 46 and the information on the position of the conveyor belt detected by the conveyor position detection unit 45 in this manner, each picking position calculation unit 47 calculates each arm. The position where each work W is to be picked is calculated for each of 12 and 13.

(3) On the basis of the calculated position information, the allocating operation section 48 specifies the arm to pick each work W, that is, the arm 12 and / or the arm 13 in accordance with the above-described allocation algorithm.

(4) Based on the position information calculated by the picking position calculator 47, the arm controller 20 first moves the hands 12a and 13a to that position.
First drive motors 12i, 13 of the linear motion mechanisms 12b, 13b
Rotate i.

(5) When the hands 12a and 13a move to the position (4), the arm control unit 49 issues a command to rotate the second drive motors 12t and 13t composed of pulse motors.

(6) In response to this command, the second drive motor 1
2m and 13m rotate by a predetermined angle, and the hands 12a and 13
a descends from the standby position A (see FIG. 6) to the gripping position B.

(7) Hands 12a and 13a are at gripping position B
When the suction pad P of the hands 12a and 13a comes into contact with the work W, the vacuum pump of the vacuum unit AU is operated, and the work W is sucked.

(8) When the suction detector detects that the work W has been sucked by the suction pad P, a command to rotate the second drive motors 12t and 13t by a predetermined angle is issued from the arm control unit 49. In response to this command, the second drive motors 12t and 13t rotate by a predetermined angle,
2a and 13a are raised to the holding position C.

(9) At the holding position C, based on the information on the posture of each work W detected by the work position detection unit 46, the arm control unit 49 determines whether the work W held by the hands 12a and 13a has a predetermined correctness. The third drive motors 12p, 13p of the rotation mechanisms 12d, 13d to be in the posture.
To rotate.

(10) In parallel with the control of rotating the third drive motors 12p and 13p in the above (9), the arm control unit 49 holds the hands 12a and 13
The first linear motion mechanisms 12b and 13b are controlled so as to move a to a predetermined position above the carry-out conveyor 22.

(11) Hand 12 Holding Work W
When the first and second linear motion mechanisms 12a and 13b are moved to a predetermined position above the unloading conveyor 22 by the first linear motion mechanisms 12b and 13b, the arm control unit 20 controls the second linear motion mechanisms 12c and 13c to operate the workpieces by the hands 12a and 13a. The hands 12a and 13a are moved to the grip release position D where the grip state of W is released.

(12) When the hands 12a, 13a are moved to the grip release position D, the gripping state of the work W is released, and each work W is aligned on the carry-out conveyor 22 in a predetermined posture.

In this operation example, the standby position A and the holding position C, and the holding position B and the holding release position D may have the same height.

As described above, according to the present embodiment, the number of axes to be controlled by each arm 12, 13 is reduced so that the plurality of picking arms 12, 13 can be controlled by one robot controller 40. That is, the first linear motion mechanism 12
b, 13b and the rotating mechanisms 12d, 13d are controlled so as to move in accordance with the position and orientation of the workpiece W supplied in a random state, and the second linear motion mechanism 12
c and 13c are configured to move by a predetermined distance at a predetermined time. As a result, the system can be simplified within a range indispensable for performing a relatively simple operation of aligning the works W, and the cost can be reduced.

Further, the number of the image processing unit 43 and the number of the visual sensors 30 for acquiring the information on the position, posture and / or shape of the work W are set to one according to the number of the robot controllers 40 regardless of the number of the arms. Further, the system can be simplified. Further, since there is one image processing unit 43, it is easy to incorporate the image processing unit 43 into the robot controller 40.

Further, the structure of each arm itself is adapted to the difficulty of the work, and thereby the operating speed of the arm can be increased, so that the processing capacity can be dramatically improved. .

For example, in a conventional general-purpose 6-axis robot, 1
Since the operation of the arm can be performed at a high speed in the aligning apparatus of the above embodiment, a task with a difficulty of about 30 pieces per minute can easily provide a processing capacity of about 60 pieces per minute per arm. As a result, assuming that the number of arms per robot is two, the number of works that can be processed by one robot is 120 per minute, so that the processing capacity can be actually quadrupled. .

In this example, since the number of robot arms can be easily set to three, it is easy to improve the processing capacity six times by using a robot controller having the same specifications as the conventional one.

For a work W such as a circular work W that does not need to be aligned, the robot controller 40 can control only the left and right axis operations. In this case, only one axis for each arm may be controlled by the robot controller 40 as the axis of the robot. Therefore, the number of arms is six or more, for example, eight.
It is also easy. In this case, since the operation speed of the arm can be further improved, it is possible to achieve a processing capacity of 16 times or more as compared with the case where a conventional general-purpose robot is used.

In the present embodiment, the provision of the reverse feeding device 23 eliminates the need to particularly adjust the number of workpieces supplied to the aligning device A, thereby making the work easier.

In the aligning device A of the above embodiment, the second
The linear motion mechanisms 12b and 13b are not controlled by the robot controller 40 as axes of the robot. However, the present invention is not limited to this. For example, if the robot controller 40 has sufficient capacity, the second linear motion mechanism 12b , 13b may be controlled by the robot controller 40 as a robot axis. Also in this configuration, it is easy to set the number of arms per robot to two, so that the processing capability can be dramatically improved. Further, in the example of the circular work W, it is easy to set the number of arms per robot to four, and therefore, it is possible to dramatically improve the processing capacity.

[0074]

As described above, according to the present invention,
One robot controlled by one robot controller is provided with a plurality of arms, and the robot controller controls each arm to work independently of the other arms. When a relatively simple operation such as the above is performed, an excellent effect that the system can be simplified and thereby the processing capacity can be dramatically improved can be achieved.

[Brief description of the drawings]

FIG. 1 is a front view showing a schematic configuration of an alignment apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view illustrating a schematic configuration of an alignment device according to an embodiment of the present invention.

FIG. 3 is a block diagram showing a control system of the alignment apparatus.

FIG. 4 is a front view showing a schematic configuration of a picking arm of the alignment device.

FIG. 5 is a plan view showing a schematic configuration of a picking arm of the alignment device.

FIG. 6 is an enlarged front view of a main part showing a schematic configuration of a picking arm of the alignment device.

FIG. 7 is an enlarged side view of a main part showing a schematic configuration of a picking arm of the alignment device.

[Explanation of symbols]

 Reference Signs List 10 robot 12, 13 picking arm 20 transport mechanism 23 reverse feed mechanism 30 camera 40 robot controller 43 image processing unit A alignment device

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3C007 DS01 EV27 FT02 FU08 KS30 3C030 DA04 DA05 DA08 DA11 DA25 DA33 DA37 3F059 AA01 BA01 DA02 DB06 FB12 FC01 3F061 AA01 BE47 CB03 CC15 DD03 5H269 AB21 AB33 BB01 BB05 CC01 CC03 KK08 NN18

Claims (23)

[Claims] 1. A method for controlling a robot used in an alignment apparatus that aligns and carries out a work conveyed at random, wherein a single robot controlled by one robot controller includes a plurality of arms. And controlling the robot controller to transfer the work from the transfer position to the unloading position independently of the other arms. 2. A method for controlling a robot used in an alignment apparatus configured to return a work that has not been unloaded to a transfer starting point and align and unload a work that is randomly transported, the method comprising: A single robot controlled by a robot controller is provided with a plurality of arms, and each of the arms is controlled independently by the robot controller so as to transfer the work from the transfer position to the unloading position independently of the other arms. Robot control method. 3. The robot controller according to claim 2, wherein said robot controller is configured to control the position of a transfer mechanism for transferring the work transferred by each of said arms, and the position, posture and / or shape of the work transferred by said transfer mechanism. 3. The control method for a robot according to claim 1, wherein the arm is controlled. 4. The method according to claim 3, wherein the posture of the workpiece is set to a desired posture during the transfer. 5. The method according to claim 3, wherein a specific work is transferred to each of the arms. 6. The robot control method according to claim 3, wherein when there is a work that cannot be transferred by each of the arms, a work located upstream of the work is transferred to each of the arms. . 7. The method according to claim 1, wherein each of the arms has three axes, and two of the arms are controlled by the robot controller as axes of the robot. 8. The robot control method according to claim 1, wherein each of the arms has three axes, and all three axes are controlled by the robot controller as axes of the robot. 9. The robot control method according to claim 1, wherein each of the arms has two axes, and one of the arms is controlled by the robot controller as the robot axis. 10. Each of the arms is composed of two axes.
3. The method according to claim 1, wherein all axes are controlled by the robot controller as axes of the robot. 11. The robot control method according to claim 7, wherein the remaining one of the axes is controlled by the robot controller as a peripheral device. 12. A control device for a robot having a plurality of arms used in an aligning device for aligning and carrying out a work conveyed at random, wherein the control device is configured to carry a work by a carrying mechanism for carrying the work. Based on signals from a position sensor that detects the position and signals from a visual sensor that detects the position, attitude, and / or shape of the work conveyed by the conveyance mechanism, each arm can be moved independently of the other arms. For controlling the transfer of the robot from the transport position to the unloading position. 13. A control device for a robot having a plurality of arms for use in an alignment device configured to return a work that has not been unloaded to a transfer start point and to align and transport a randomly transferred work. A signal from a position sensor that detects a transfer position of a transfer mechanism that transfers the work, and a position sensor that detects a position, posture, and / or shape of the work that is transferred by the transfer mechanism. A control device for a robot, wherein each arm is controlled to transfer a work from a transfer position to a discharge position independently of other arms based on a signal. 14. The robot control device according to claim 12, wherein the posture of the workpiece is set to a desired posture while being transferred by the arm. 15. The robot control device according to claim 12, wherein a specific work is transferred to each of the arms. 16. The apparatus according to claim 12, wherein when there is a work that cannot be transferred by each of the arms, a work located upstream of the work is transferred to each of the arms. 14. A control device for a robot according to claim 13. 17. The robot according to claim 12, wherein each of the arms has three axes, and two of the arms are controlled by the robot controller as axes of the robot.
The control device of the described robot. 18. Each of the arms has three axes.
14. The robot control device according to claim 12, wherein all the axes are controlled by the robot controller as axes of the robot. 19. The robot according to claim 12, wherein each arm has two axes, one of which is controlled by the robot controller as a robot axis.
The control device of the described robot. 20. Each of the arms is composed of two axes.
14. The robot control device according to claim 12, wherein all the axes are controlled by the robot controller as axes of the robot. 21. The robot control device according to claim 17, wherein the remaining one of the axes is controlled by the robot controller as a peripheral device. 22. A robot comprising the robot control device according to claim 12. 23. An alignment device comprising the robot according to claim 22.