JP2019072798A - Robot system, robot control method and robot teaching method - Google Patents

Abstract

To provide a robot system that allows a robot to perform work corresponding to a shape of a work-piece on the work-piece even if the work-piece is warped.SOLUTION: A robot system 1 comprises a robot 10, a teaching data memorizing unit 22 and a motion control unit 21. The robot 10 performs work corresponding to a shape of the work-piece 100 on the work-piece 100. The teaching data memorizing unit 22 memorizes a corrected teaching point, a teaching point set based on corrected shape data created by reflecting warpage caused by calculated own weight of the work-piece 100 by subjecting three-dimensional data on the work-piece 100 to structure analysis. The motion control unit 21 makes the robot 10 to perform work on the basis of the corrected teaching point.SELECTED DRAWING: Figure 1

Description

  The present invention mainly relates to a robot system in which a robot is taught using three-dimensional data.

  Generally, when work is performed on a flat work object having a low rigidity (hereinafter referred to as a work), the work is placed on the mounting surface to prevent the work from being bent by its own weight, Work can be done. However, for example, when working on a curved plate-like workpiece, the workpiece may be bent by its own weight depending on the rigidity of the workpiece even when the workpiece is placed on the mounting surface.

  In Patent Document 1, based on design data of a glass plate, virtual design data indicating the shape when the glass plate is placed on the inspection table is calculated, and the shape of the glass plate is inspected by this virtual design data. Is described.

Patent No. 5403375

  2. Description of the Related Art Conventionally, a method of inspecting a workpiece using a robot is known. In this method, it is necessary to create a program based on three-dimensional CAD data describing the operation procedure of the robot. As described above, when the workpiece bends at the time of inspection, the shape of the workpiece at the time of inspection and the shape of the workpiece on the three-dimensional CAD data are different, which makes it difficult to create this program. Due to the above circumstances, it is necessary to teach the robot directly in order to make the robot perform processing (surface inspection, painting, cleaning, etc.) according to the shape of the workpiece in which the deflection occurs, It has become. Therefore, in the related art, when working on a work that causes deflection, it has been common for a person to visually inspect and manually perform coating or the like. Moreover, in patent document 1, only the method of test | inspecting the shape of a glass plate in consideration of bending is disclosed, and the work according to a shape is performed with respect to the workpiece | work (glass plate) which bending produced. Is not disclosed.

  The present invention has been made in view of the above circumstances, and its main object is to make a robot perform a work according to the shape of a workpiece, even for a workpiece with a deflection, without directly teaching it. To provide a robot system capable of

  The problem to be solved by the present invention is as described above, and next, means for solving the problem and its effect will be described.

  According to a first aspect of the present invention, a robot system having the following configuration is provided. That is, this robot system includes a robot, a teaching data storage unit, and an operation control unit. The robot performs an operation on the workpiece according to the shape of the workpiece. The teaching data storage unit is a correction teaching point which is a teaching point set based on correction shape data reflecting deflection of the work due to its own weight calculated by performing structural analysis on the three-dimensional data of the work. Remember. The operation control unit causes the robot to perform an operation based on the corrected teaching point.

  According to a second aspect of the present invention, the following robot control method is provided. That is, in this robot control method, the robot that controls the work according to the shape of the work is controlled. Further, in this robot control method, a correction teaching point which is a teaching point set based on the correction shape data reflecting the deflection of the work due to its own weight, which is calculated by conducting structural analysis on the three-dimensional data of the work. Are stored, and the robot is made to work based on the corrected teaching point.

  According to a third aspect of the present invention, the following robot teaching method is provided. That is, this robot teaching method teaches the robot which performs the work according to the shape of the work on the work. The robot teaching method includes a correction shape data calculation process and a correction teaching point calculation process. In the correction shape data calculation processing, structural analysis is performed on the three-dimensional data of the work to calculate correction shape data in which the deflection of the work due to its own weight is reflected. In the correction teaching point calculation process, a correction teaching point which is a teaching point set based on the correction shape data is calculated.

  As a result, the teaching point set based on the correction shape data reflecting the deflection is used, so that the robot can be performed without directly teaching an appropriate operation according to the shape of the workpiece in which the bending occurs. it can. Therefore, it is possible to perform accurate work in a short time as compared to the case where the person performs the work.

  According to the present invention, it is possible to realize a robot system capable of causing a robot to perform an operation in accordance with the shape of a workpiece even when the workpiece is deflected.

1 is a block diagram showing a configuration of a robot system according to a first embodiment. The perspective view which shows a robot holding a workpiece | work and working. The schematic diagram which shows that the shape of the workpiece | work on three-dimensional data and the shape of an actual workpiece | work in, when a robot hold | maintains a workpiece | work differ. The flowchart which shows the process which teaches using a three-dimensional data with respect to the workpiece | work which bending produces. The figure which compares the teaching point created using three-dimensional data with the teaching point created using correction | amendment shape data. The figure which shows that the positional relationship of a holding position is the same about several workpiece | work. The perspective view which shows the mode of the operation | work performed in 2nd Embodiment. The figure which shows that the shape of the workpiece | work on three-dimensional data and the shape of an actual workpiece | work in the case of putting a workpiece | work on a work bench differ.

  Next, embodiments of the present invention will be described with reference to the drawings. First, the robot system 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of a robot system 1 according to a first embodiment of the present invention.

  The robot system 1 includes a robot 10, a control device 20, and a teaching device 30. The robot system 1 teaches the robot 10 by the teaching device 30 to create teaching data, and the control device 20 controls the robot 10 using the teaching data to perform the work 100 as a work object. A predetermined work is performed.

  The work performed by the robot 10 in the present invention is a work that needs to operate the robot 10 according to the shape of the workpiece 100. This work includes, for example, inspection of the work 100 (inspection to check surface defects of the work 100, inspection to check the thickness of the work 100, etc.), painting, cleaning, and the like.

  The robot system 1 of the present embodiment is particularly effective when the influence of the deflection of the workpiece 100 can not be ignored during work. Therefore, the workpiece 100 has a shape that is easily bent (a plate shape including bending or bending, a shape having a portion in which all three axis values change when the surface shape is represented in a three-axis three-dimensional coordinate system, etc.) Is preferred. Further, as a material of the work 100, it is preferable that the elastic modulus such as the Young's modulus is small (that is, the material is low in rigidity). Below, the operation | work which test | inspects the surface defect of a glass plate is demonstrated as an example.

  In addition, although the robot system 1 of this embodiment can test | inspect with respect to the glass plate for various uses, the window glass for vehicles, such as a motor vehicle etc. (The head which displays especially the image which the projector irradiated. The glass used for the up display) and the glass used for the curved surface organic EL panel and liquid crystal panel have a curved surface shape and high required quality, so that the function of the present embodiment can be used particularly effectively.

  The robot 10 includes a support 11, an articulated arm 12, and an end effector 13. The support 11 is fixed at a predetermined position in the facility. The articulated arm 12 has a plurality of joints, and each joint is provided with an actuator. These actuators are controlled by the controller 20 to adjust the attitude (position) and speed of the articulated arm 12. The end effector 13 is attached to the tip of the articulated arm 12. For example, a tool for gripping the work 100 is attached to the end effector 13.

  The control device 20 is configured by a known computer, and includes an arithmetic device (CPU and the like) and a storage device (ROM, RAM, HDD and the like). In addition, various programs are stored in this storage device. The control device 20 performs various controls related to the robot 10 by the arithmetic unit reading out this program to a RAM or the like and executing the program. Thus, the control device 20 can function as the operation control unit 21. The motion control unit 21 controls the articulated arm 12 and the end effector 13 described above. The control device 20 also includes a teaching data storage unit 22 that stores the teaching data generated by the teaching device 30.

  The teaching device 30 has a configuration in which software for teaching the robot 10 is installed in a known computer. Therefore, the teaching device 30 also includes an arithmetic device and a storage device as the control device 20 does. The teaching device 30 includes a three-dimensional data reading unit 31 and a teaching data creation unit 33. In addition, the process which these perform is mentioned later.

  Further, as shown in FIG. 1, the teaching device 30 receives three-dimensional data of the work 100 from the analysis device 70, and performs analysis based on the three-dimensional data. The analysis device 70 has a configuration in which software for analyzing three-dimensional data and the like is installed in a known computer. In addition, the process which the correction | amendment shape data calculation part 71 with which the analysis apparatus 70 is provided performs is mentioned later.

  Here, in the robot system 1 of the present embodiment, the control device 20 and the teaching device 30 are configured from different hardware, but the hardware configuration is arbitrary as long as the function of the present invention can be exhibited. . For example, the control device 20 and the teaching device 30 may be the same hardware, or may be configured to further include other hardware in addition to the control device 20 and the teaching device 30. In addition, at least a part of the functions of the teaching device 30 of the present embodiment may be provided to the control device 20, or at least a part of the functions of the control device 20 may be provided to the teaching device 30. Further, at least a part of the functions of the analysis device 70 may be provided to the control device 20 or the teaching device 30.

  Next, the contents of the inspection performed using the robot system 1 and the equipment for performing the inspection will be further described with reference to FIG. FIG. 2 is a perspective view showing the robot 10 holding the work 100 and performing work.

  The workpiece 100 according to the present embodiment has a plate shape, and two surfaces having a large area (surfaces substantially perpendicular to the thickness direction) are referred to as main surfaces 101. Further, a surface connecting the two main surfaces (surface substantially parallel to the thickness direction) is referred to as an end surface 102. Also, a portion including the end face 102 and the vicinity thereof (that is, the edge of the main surface 101) is referred to as an end. In the present embodiment, a method for performing an inspection to check the presence or absence and extent of surface defects (scratch, chip, abnormal shape, etc.) of the end portion of the workpiece 100 will be described.

  This inspection is performed using the end inspection device (working device) 40 shown in FIG. The end inspection apparatus 40 has an inspection area in which three sides are surrounded by wall surfaces as an example, and imaging holes 41 are respectively formed in these three wall surfaces. Inside the imaging hole 41, an imaging device such as a CCD is disposed. According to this configuration, images of the edge and the end face 102 of the two main surfaces 101 are taken respectively. By analyzing this image, surface defects at the end of the workpiece 100 can be inspected.

  The robot 10 inspects the end of the workpiece 100 by moving the end of the workpiece 100 to the inspection area of the end inspection device 40 while holding the workpiece 100 by the end effector 13. In addition, the robot 10 rotates the end effector 13 while changing the posture of the articulated arm 12 so that the workpiece 100 does not hit the end inspection device 40 or the like, so that all the ends of the workpiece 100 (the inspection object is In the case of the end of the part, the inspection by the end inspection device 40 is performed on the part of the end). Further, the inspection result by the end inspection device 40 is transmitted to an inspection system management device 60 that manages inspection of the workpiece 100 and the like.

  Next, a method of teaching the robot 10 and the influence of the deflection generated on the work 100 will be described with reference to FIG. Also, in the following, the deflection of the work 100 due to its own weight may be simply referred to as deflection.

  The teaching of the robot 10 is performed by setting points (coordinates) in space as teaching points according to the order of operations to be performed by the robot 10 (end effector 13). In addition, it is necessary to set not only the position in space but also the direction (rotation angle α around the x axis, rotation angle β around the y axis) for the teaching point.

  Here, the teaching device 30 according to the present embodiment arranges the three-dimensional model of the robot 10, the peripheral device, and the workpiece 100 in a virtual space constructed on a computer, instead of actually moving the robot 10, thereby teaching. Do. In particular, the teaching device 30 according to the present embodiment can read three-dimensional data of the workpiece 100 and can perform processing for automatically creating a teaching point. Specifically, the teaching device 30 reads the three-dimensional data of the workpiece 100 to display the shape of the workpiece 100 on the display of the teaching device 30 (not shown). Then, the operator sets the work part of the work 100, the work order, the work content, the work condition, and the like, and the teaching device 30 creates the teaching point. Therefore, the operation of creating the teaching point while moving the robot 10 in the virtual space is not necessary for the worker, so that the labor and time required for teaching can be significantly reduced. Further, data created by teaching the robot 10 and data used to control the robot 10 (data including teaching points and operation conditions) are referred to as teaching data.

  Generally, the three-dimensional data of the workpiece 100 read by the teaching device 30 is three-dimensional CAD data created at the time of design or the like. Therefore, the teaching is performed based on the shape of the workpiece 100 in a state where no bending occurs. However, at the time of actual work, the workpiece 100 with low rigidity such as a glass plate is held in the vicinity of the center by the end effector 13 and, as shown in FIG. Deflection occurs. Therefore, when controlling the robot 10 using the teaching data created by the teaching device 30 using three-dimensional data of the workpiece 100, there is a possibility that the workpiece 100 may contact peripheral equipment such as the end inspection device 40. .

  In consideration of the above, in the present embodiment, the robot 10 is taught in consideration of the influence of deflection. Hereinafter, the teaching method of the robot 10 of the present embodiment will be described with reference to the flowchart of FIG. 4.

  First, the analysis device 70 (corrected shape data calculation unit 71) performs structural analysis (specifically, analysis by the finite element method, that is, FEM analysis) on the three-dimensional data of the workpiece 100, and causes deformation due to the occurrence of bending. Data such as amount is calculated (S101). The analysis device 70 according to the present embodiment performs this structural analysis based on not only the shape and orientation of the workpiece 100 but also the material of the workpiece 100, the holding position of the workpiece 100 by the robot 10, and the like. The analysis device 70 may be configured to read the material of the workpiece 100 from the information contained in the three-dimensional data, or the operator may input the physical property value (elastic modulus such as Young's modulus) indicating the stiffness of the workpiece 100 The configuration may be such that the elastic modulus such as Young's modulus is read out based on the database possessed by the analysis device 70 by causing the worker to specify the material of the work 100. Further, the holding position may be determined based on the designation of the worker, or the analyzing device 70 may be configured to calculate an appropriate holding position. Further, in the case of holding the work 100 at a plurality of points, a plurality of holding positions are set. In addition, in order to hold | maintain the workpiece | work 100 stably, it is preferable that three or more holding positions are included.

  Next, the analysis device 70 (corrected shape data calculation unit 71) creates three-dimensional data with deflection from the three-dimensional data without deflection based on the result of structural analysis (S102). In the following description, data indicating the shape of the work 100 after reflecting the deflection due to its own weight under the conditions of the work 100 at the time of work may be referred to as corrected shape data. Also, three-dimensional data without deflection created at the time of design or the like may be referred to simply as three-dimensional data. The analysis device 70 may use the created correction shape data to correct (overwrite) the three-dimensional data read in first, or create the correction shape data separately from the three-dimensional data read in first. Good. Thus, data indicating the shape of the teaching work 100 is updated.

  Next, the teaching device 30 (three-dimensional data reading unit 31) reads the corrected shape data of the workpiece 100 (S103). Next, the teaching device 30 sets the work location of the work 100, the work order, the work content, the work conditions, and the like based on the input of the worker and the like, and creates correction teaching data (S104). Here, a teaching point created based on the correction shape data is referred to as a correction teaching point, and teaching data including the correction teaching point and the like is referred to as correction teaching data. As described above, in the present embodiment, the teaching device 30 performs the teaching operation using the workpiece 100 in a state in which the bending occurs.

  An example of a teaching point is shown in FIG. As described above, a three-dimensional position and two rotation angles are set at the teaching point. As shown in FIG. 5, by creating a correction teaching point using the correction shape data, it is possible to set the three-dimensional position and rotation angle of the teaching point based on the deflection of the workpiece 100. In addition, when deflection occurs, the orientation of the workpiece 100 also changes as shown in FIG. Here, if the end of the workpiece 100 enters the inspection area of the end inspection apparatus 40 in a state where the end is inclined, it may be difficult to obtain an image of an appropriate position, and therefore an appropriate inspection should be performed. There are times when you can not. Therefore, by correcting not only the three-dimensional position but also the direction, it is possible to cope with the change in the direction due to the bending of the workpiece 100.

  As described above, in the present embodiment, the teaching device 30 receives the correction shape data of the workpiece 100, and the operator sets the work location and the work order for the correction shape data. Instead of this, after the operator sets the work location, the work sequence and the like for the three-dimensional data of the workpiece 100 in which no deflection occurs, structural analysis is performed to correct the teaching point and create a correction teaching point It may be a configuration.

  In addition, when the holding position of the work 100 changes during a series of operations (for example, when the first holding position and the second holding position exist), it is necessary to calculate the correction shape data for each holding position . Then, while working at the first holding position in a series of work, teaching shape data of the first holding position is used, and when working at the second holding position, teaching shape data of the second holding position is used. Need to create

  Next, the teaching device 30 performs a simulation of operating the robot 10 in the virtual space based on the created correction teaching data, thereby checking the operation of the robot 10, interference, and the like (S105). Then, no interference occurs and the operator determines that the correction teaching data is appropriate, whereby the teaching operation is completed, and the correction teaching data is stored (S106). The correction teaching data stored in the teaching device 30 is sent to the control device 20 by wired communication or wireless communication, or a worker causes the control device 20 to read it using a storage medium or the like. As described above, the robot 10 can be taught in consideration of the deflection of the workpiece 100.

  When the work is actually performed, the robot 10 is controlled so that the work 100 can be held at the same holding position as that at the time of calculation of the correction shape data. In addition, it is necessary to place the work 100 at an accurate position so that the end effector 13 can hold the work 100 at the same holding position as when the correction shape data is calculated. Alternatively, by providing a sensor such as a camera in the end effector 13, the position of the workpiece 100 can be recognized, and the workpiece 100 can be controlled to be held at the same holding position as that at the time of calculation of the correction shape data.

  Further, the teaching data storage unit 22 of the control device 20 stores the correction teaching data generated as described above. Further, the motion control unit 21 controls the robot 10 by the motion control unit 21 of the control device 20 based on the corrected teaching data stored in the teaching data storage unit 22, thereby taking into consideration the deflection of the workpiece 100. Can be performed by the robot 10. Therefore, even when work is performed on a workpiece 100 that is easily bent, collision of the workpiece 100 with the end inspection device 40 can be prevented, or the edge inspection device 40 associated with the displacement of the position or orientation of the workpiece 100 It is possible to prevent inspection errors.

  In addition, since the robot 10 can be made to perform a task that has conventionally been forced to be performed by a person, it is possible to prevent the variation in the task and to improve the reliability of the task. In addition, since software for automatically creating teaching data can be used for a workpiece 100 in which deflection occurs, the time required for teaching work can be reduced. Also, unlike when a person works, the result of the work can be left as data. Therefore, when the inspection is performed as in the present embodiment, the quality of the workpiece 100 can be managed by statistically processing the inspection results. The manager of the inspection system can, for example, if the quality of the work 100 is low compared to the others, identify the cause of the deterioration of the quality of the work 100 and can improve it as necessary.

  In addition, the teaching data storage unit 22 can store correction teaching data for a plurality of types of work (in particular, for works having different works 100). In this case, in order to reduce time loss due to adjustment or replacement of the position of the end effector 13, the position of the holding position is also shown for the workpiece 100 having a different shape, as shown in FIG. 6A to FIG. It is preferable that the relation (layout of the holding position) be the same. Further, as shown in FIG. 6D, a holding position may be set which is different from the other in the number of holding points. In the example shown in FIG. 6D, since the work 100 is small, the holding position of the work 100 by the robot 10 is one.

  Next, a second embodiment will be described with reference to FIGS. 7 and 8. In the following description, the same or similar members as or to those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and the description thereof may be omitted.

  In the first embodiment, the robot 10 holds and moves the work 100, but in the second embodiment, as shown in FIG. 7, the work 100 is placed on the work bench 110 to perform work. Also in this case, as shown in FIGS. 8A and 8B, when the workpiece 100 receives the vertical force of its own weight from the work table 110, the workpiece 100 is bent. In the second embodiment, the robot 10 is provided with a main surface inspection device (working device) 50. The main surface inspection device 50 is an imaging device such as a camera, and can analyze the presence of the surface defect generated on the main surface 101 of the workpiece 100 by analyzing the image captured by the main surface inspection device 50.

  The robot 10 operates the articulated arm 12 so that the distance between the workpiece 100 placed thereon and the main surface inspection apparatus 50 is constant, and the workpiece 100 and the main surface inspection apparatus 50 are vertical. The inspection is performed by moving the main surface inspection apparatus 50 along the surface of the work 100. Thereby, the surface defect of the whole of main surface 101 of work 100 can be inspected. In addition, the structure which test | inspects a part of main surface 101 of the workpiece | work 100 may be sufficient.

  Here, when the position or the orientation of the main surface inspection apparatus 50 with respect to the workpiece 100 changes, the focus of the camera of the main surface inspection apparatus 50 is shifted, or the size of the image to be captured changes. Can not do.

  Therefore, in the second embodiment as well as steps S101 and S102 of the first embodiment, the analysis device 70 analyzes the structure of the work 100 based on the orientation of the work 100 at the time of inspection, the shape of the work table 110, etc. To calculate corrected shape data. Then, as in step S104 of the first embodiment, the teaching device 30 sets the work position, the work order, the work content, the work condition, and the like of the work 100 set using the correction shape data of the work 100. Create correction teaching data.

  Thus, not only when the robot 10 holds the workpiece 100 but also when placing the workpiece 100 on the work bench 110, the robot 10 can be taught in consideration of the influence of the deflection.

  In the first and second embodiments, the surface defect of the workpiece 100 is inspected. However, when the thickness of the workpiece 100 is inspected, for example, a laser sensor can be used. The laser sensor irradiates a laser to the work 100, and observes the reflected light reflected by the upper main surface 101 of the work 100 and the reflected light reflected by the lower main surface 101 of the work 100 with a light receiving element. The thickness of the workpiece 100 is measured in

  As described above, the robot system 1 includes the robot 10, the teaching data storage unit 22, and the operation control unit 21. In addition, the control device 20 controls the robot 10 to perform a robot control method. The robot 10 performs an operation on the workpiece 100 in accordance with the shape of the workpiece 100. The teaching data storage unit 22 is a correction teaching point which is a teaching point set based on the correction shape data reflecting the deflection of the work 100 due to its own weight calculated by performing structural analysis on the three-dimensional data of the work 100. Remember. The operation control unit 21 causes the robot 10 to perform an operation based on the corrected teaching point.

  As a result, the teaching point set based on the correction shape data reflecting the deflection is used, so that the robot 10 can perform an appropriate operation according to the shape of the workpiece 100 in which the deflection has occurred. Therefore, it is possible to perform accurate work in a short time as compared to the case where the person performs the work.

  Further, in the robot system 1 of the above-described embodiment, the robot 10 performs work on the work 100 while the work 100 is placed on the work bench 110. The corrected shape data reflects the deflection that occurs when the work 100 is placed on the work bench 110 at the same position and orientation as at the time of work.

  As a result, when the work 100 is placed on the work table 110 and the work is performed, the robot 10 can perform an appropriate work according to the shape of the work 100 in which the bending has occurred.

  Further, in the robot system 1 of the above embodiment, the robot 10 carries out the work by holding the work 100 and moving the work 100 with respect to the work device (end inspection device 40, main surface inspection device 50). . The correction shape data reflects the deflection that occurs when the workpiece 100 is held at the same position as at the time of work.

  As a result, when the robot 10 holds the work 100 and performs work, it is possible to cause the robot 10 to perform an appropriate work according to the shape of the work 100 in which the bending has occurred.

  Further, in the robot system 1 of the above-described embodiment, the correction shape data is data reflecting the deflection of the workpiece 100 when held at three or more holding positions.

  Thereby, the position on the space holding the work 100 can be specified. In addition, the workpiece 100 can be stably held.

  Further, in the robot system 1 according to the above-described embodiment, each correction shape data is stored in the teaching data storage unit 22 corresponding to a plurality of workpieces 100 having different shapes, and for at least two or more workpieces 100, The positional relationship between the holding positions is the same.

  Thus, since the positional relationship between the holding positions of the plurality of works 100 is the same, the work can be performed on another work 100 without replacing or adjusting the holding unit of the robot 10.

  Further, in the robot system 1 of the above embodiment, the work 100 is a glass plate. The robot 10 performs an operation of inspecting at least one of the thickness and the surface defect of the glass plate.

  Thereby, the inspection operation by the robot 10 can be performed on a glass plate which is easily bent and which is largely affected by the thickness and the flaw depending on the use.

  Further, in the above embodiment, the robot teaching method is performed by the teaching device 30 and the analysis device 70 performing the following processing. In the robot teaching method, the teaching device 30 and the analysis device 70 perform processing including correction shape data calculation processing and correction teaching point calculation processing. In the correction shape data calculation process, the analysis device 70 performs structure analysis on the three-dimensional data of the workpiece 100 to calculate correction shape data in which the deflection of the workpiece 100 due to its own weight is reflected. In the correction teaching point calculation process, the teaching device 30 calculates a correction teaching point which is a teaching point set based on the correction shape data.

  Thereby, even for the workpiece 100 in which the deflection occurs, the teaching can be given to the shape reflecting the deflection.

  The preferred embodiment of the present invention has been described above, but the above-described configuration can be modified, for example, as follows.

  In the above embodiment, the teaching device 30 is configured to read three-dimensional data of the workpiece 100. However, three-dimensional data may be created on an application executed by the teaching device 30.

  The inspection apparatus described above is an example. For example, the end inspection apparatus 40 may be configured to capture an image of the end of the workpiece 100 with two or less or four or more CCDs instead of three.

  In the above embodiment, processing for newly creating correction teaching data is performed based on the correction shape data. Instead, teaching data is first created based on three-dimensional data of the work 100. Then, the corrected teaching data can also be created by correcting the teaching data based on the difference between the three-dimensional data of the workpiece 100 and the correction shape data.

DESCRIPTION OF SYMBOLS 1 robot system 10 robot 20 control apparatus 21 motion control part 22 teaching data storage part 30 teaching apparatus 40 edge part inspection apparatus (work apparatus)
50 Main Surface Inspection Device (Working Device)
60 Inspection system management device

Claims (8)

A robot that performs work on the workpiece according to the shape of the workpiece;
A teaching data storage unit that stores a correction teaching point that is a teaching point set based on correction shape data reflecting deflection of the work due to its own weight calculated by performing structural analysis on the three-dimensional data of the work ,
An operation control unit that causes the robot to perform an operation based on the corrected teaching point;
A robot system comprising: The robot system according to claim 1,
The robot performs work on the work with the work placed on a work bench,
The robot system according to claim 1, wherein the correction shape data reflects a deflection that occurs when the work is placed on the work bench at the same position and orientation as at the time of work. The robot system according to claim 2,
The robot carries out work by holding the work and moving the work relative to the work device.
The robot system according to claim 1, wherein the correction shape data reflects a deflection that occurs when the work is held at the same position as the work. The robot system according to claim 3,
The robot system, wherein the correction shape data is data reflecting the deflection of the workpiece when held at three or more holding positions. The robot system according to claim 4,
The correction data is stored in the teaching data storage unit corresponding to a plurality of workpieces having different shapes, and the positional relationship between holding positions is the same for at least two or more workpieces. A robot system characterized by The robot system according to any one of claims 1 to 5, wherein
The work is a glass plate,
The robot system performs an operation of inspecting at least one of a thickness and a surface defect of the glass plate. In a robot control method for controlling a robot that performs a work corresponding to a shape of a work on a work,
A correction teaching point, which is a teaching point set based on the correction shape data reflecting the deflection of the work due to its own weight calculated by performing structural analysis on the three-dimensional data of the work, is stored, and the correction A robot control method comprising: causing the robot to perform an operation based on a teaching point. In a robot teaching method for teaching a robot that performs a work corresponding to the shape of the work on the work,
Correction shape data calculation processing for calculating correction shape data reflecting deflection of the work due to its own weight by performing structural analysis on the three-dimensional data of the work;
Correction teaching point calculation processing for calculating a correction teaching point which is a teaching point set based on the correction shape data;
A robot teaching method comprising:

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