JP6621931B2 - Working method and robot system - Google Patents

Description

  The present invention relates to a working method and a robot system for causing a robot to perform a predetermined work on a slider that moves along a conveyance path or a work supported by the slider.

  2. Description of the Related Art Conventionally, a robot system that includes a conveyor device and an industrial robot such as a SCARA robot is known, and the robot performs predetermined processing, component assembly, inspection, and other work on a workpiece conveyed by the conveyor device. It has been.

  In this type of robot system, in a robot system for producing and inspecting precision machines, a linear conveyor device that can stop a workpiece from traveling at high speed with high positional accuracy may be used. A linear scale (position detector) is incorporated in the linear conveyor device, and the slider is stopped when the linear motor stator is energized based on the detection of the position of the slider by the linear scale.

  By the way, each slider has inherent movement errors caused by assembly errors of the linear motor mover (permanent magnet) and the scale part of the linear scale incorporated therein, that is, movements with different values and reproducibility for each slider. In some cases, such a movement error cannot be ignored on the system. Therefore, in order to stop the slider (workpiece) from traveling with higher positional accuracy, the applicant measures the inherent movement error for each slider in advance, and moves the slider for each slider based on the measurement data when the slider travels. It was considered to correct the target position (Patent Document 1).

  According to this method, the influence on the positional accuracy due to the inherent movement error of the slider can be reduced, and the slider can be stopped and stopped with high accuracy.

  However, in this method, the inherent movement error of the slider is taken into account, but the error of the physical quantity such as the height and inclination of each slider is not taken into consideration. In other words, the height and inclination of the work support surface differ from slider to slider due to the dimensional error of the components constituting the slider and the assembly error of the slider. It is expected that such an error in the physical quantity affects the height and inclination of the work supported by the slider, and consequently the work accuracy of the work. For this reason, it is desirable to improve the work accuracy of the workpiece in consideration of this point.

JP 2009-62879 A

  An object of this invention is to provide the technique which can raise the work precision with respect to the slider which moves along a conveyance path | route, or the workpiece | work supported by the slider more.

  The present invention is a work method for causing a robot to perform a predetermined work on the first, second slider, or the work supported by the first, second slider, which moves along the transport path, The geometric physical quantity of the first slider is determined using a measuring jig that supports the first and second sliders and can measure the geometric physical quantity of the first and second sliders in a state equivalent to the transport path. A first data acquisition step for measuring; a second data acquisition step for measuring the geometric physical quantity of the second slider using the measurement jig; and a first slider that moves along the transport path, or a first A first work step for causing the robot to perform work on a work supported by the slider; a second slider that moves along the transport path; or a work supported by the second slider for the robot. A second work step for carrying out the work, and in the first work step, based on the measurement data acquired in the first data acquisition step, the operation of the robot when the robot performs the work is corrected. In the second work process, the operation of the robot when the robot performs work is corrected based on the measurement data acquired in the second data acquisition process.

  The present invention also provides a conveyor device having first and second sliders that move along a conveyance path, and a workpiece supported by the first and second sliders or the first and second sliders. A robot system including a robot that performs the above-described operation, wherein the first measurement data obtained by actually measuring the geometric physical quantity of the first slider and the second measurement data obtained by actually measuring the geometric physical quantity of the second slider are stored. A holding unit; and a control unit that causes the robot to perform an operation on the work supported by the first and second sliders or the first and second sliders, and the control unit includes the first slider. Or correcting the operation of the robot when the robot performs work on the work supported by the first slider based on the first measurement data, and the second slider or It is corrected based on the second measurement data the operation of the robot when said robot with respect to supported workpiece slider to the second is to implement the work.

It is a top view of the robot system concerning the embodiment of the present invention. It is sectional drawing (II-II sectional view taken on the line of FIG. 1) of the said robot system. It is a block diagram which shows the control system of the said robot system. It is a top view of the said slider for demonstrating the shape physical quantity of a slider. It is a side view of the slider for demonstrating the said geometric physical quantity. It is a top view of the measuring jig for measuring the shape physical quantity. It is a side view of the said measuring jig. It is a flowchart explaining control of the robot by a controller. It is a flowchart explaining the working method concerning this invention. It is the side view which looked at the conveyor apparatus concerning a modification from the conveyance direction.

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[Entire configuration of robot system]
FIG. 1 is a plan view of a robot system 1 according to an embodiment of the present invention (a robot system to which the working method of the present invention is applied), and FIG. 2 is a cross-sectional view of the robot system 1 (II-II in FIG. 1). FIG.

  The robot system 1 supervises the operations of the conveyor device 2, the robot 3 that performs a predetermined operation on a workpiece (not shown) conveyed by the conveyor device 2, the barcode reader 5, the conveyor device 2, and the robot 3. And a controller 4 that automatically controls.

  The conveyor device 2 includes a traveling unit 12 that is a conveyance path and a plurality of sliders 14 that travel along the traveling unit 12. In this example, the conveyor device 2 is a linear conveyor device that travels the slider 14 using a linear motor as a drive source.

  The traveling unit 12 of the conveyor device 2 includes a base frame 16 made of a plate-shaped metal structure extending linearly, and a plurality of metal pier members 17 that support the base frame 16 at a plurality of positions in the longitudinal direction. And a pair of rails 18 fixed on the base frame 16 and extending in parallel with each other, and a plurality of electromagnets 19 and a plurality of scale detectors 20 arranged on the sides along the rails 18. The electromagnet 19 constitutes a linear motor stator, and the scale detector 20 constitutes a linear scale (also referred to as a linear encoder) together with a magnetic scale 26 described later.

  The slider 14 includes a rectangular or square metal frame 21 in plan view, a pair of guide blocks 24 fixed to the lower surface of the frame 21 and movably mounted on the pair of rails 18, a magnet unit 25, and the like. And a magnetic scale 26.

  In this example, the guide block 24 and the rail 18 are constituted by a linear motion guide device called a linear guide or the like.

  The magnet unit 25 constitutes a linear motor movable element. The magnet unit 25 is fixed to the lower surface of the frame 21 so as to surround the electromagnet 19 from above, and a plurality of permanent magnets (not shown) arranged along the arrangement direction of the electromagnets 19 (longitudinal direction of the rails 18). Holding. On the other hand, the magnetic scale 26 is provided at a position facing the scale detector 20 on the lower surface of the frame 21 so that the scale detector 20 can read the magnetic scale.

  With this configuration, in the conveyor device 2, a propulsive force is generated in the slider 14 due to the interaction between the magnetic flux generated in the electromagnet 19 by energization and the permanent magnet, and the slider 14 travels along the rail 18 by this propulsive force. That is, the vehicle travels along the traveling unit 1. Then, based on the position information of the slider 14 detected by the linear scale, the electromagnet 19 is energized to stop the slider 14 from traveling to a desired position.

  The upper surface of the frame 21 of the slider 14 is a flat support surface 22 for supporting the workpiece. The support surface 22 is provided with a plurality of reference holes 23 (see FIG. 4A). Although not shown, for example, a workpiece fixing jig or the like is fixed to the frame 21 using the reference holes 23. . Thereby, the workpiece | work outside a figure is fixed to the slider 14 with a workpiece | work fixing jig.

  The robot 3 is disposed on the side of a predetermined work position of the traveling unit 12. In this example, two work positions (referred to as a first work position P1 and a second work position P2) are set at a predetermined interval along the traveling unit 12, and the robot 3 is located on the side of the first work position P1. The first robot 3 </ b> A disposed on the side and the second robot 3 </ b> B disposed on the side of the second work position P <b> 2 are included.

  The first robot 3A is a horizontal articulated SCARA robot. The first robot 3A includes a base portion 30 fixed to a base Ba, a first arm portion 31 connected to the base portion 30 through a vertical axis so as to be rotatable, and a tip of the first arm portion 31. A second arm portion 32 that is pivotably connected to the second arm portion 32 via a vertical axis, a vertically extending shaft-like work head 34 that is supported at the tip of the second arm portion 32 so as to be vertically movable and rotatable, And an end effector 36 attached to the tip (lower end) of the work head 34. Each of the first and second arm portions 31, 32 and the work head 34 is driven by an electric rotary motor. ing.

  The end effector 36 performs predetermined operations such as processing, component assembly, and inspection on the workpiece conveyed by the conveyor device 2. Note that the end effector 36 of this example performs processing such as machining on the work, but performs work on the slider 14, that is, loads and unloads the work on the slider 14. May be.

  The second robot 3B is also a horizontal articulated SCARA robot, and has a configuration substantially equivalent to that of the first robot 3A. In this example, the work of the second robot 3B is different from the work of the first robot 3A. Therefore, the work head 34 of the second robot 3B is equipped with an end effector 36 of a type different from that of the first robot 3A. Yes.

  The bar code reader 5 reads the bar code M provided on the slider 14. That is, the bar code M (corresponding to the recording unit of the present invention) in which the ID information given for each slider is coded on the side surface 21a of the slider 14 of the conveyor device 2, specifically, the side surface 21a on the opposite side of the frame 21 from the robot. The bar code reader 5 reads the bar code M. In this example, the first barcode reader 5A for reading the bar code M of the slider 14 stopped at the first work position P1 and the bar code M of the slider 14 stopped at the second work position P2 are read. A second barcode reader 5B is provided.

  In addition, although illustration is abbreviate | omitted in FIG. 1, the conveyor apparatus 2 is comprised so that the slider 14 may be circulated while passing through each said work position P1, P2. A large number of sliders 14 are supported by the traveling unit 12 and travel along the traveling unit 12 integrally or individually.

[Robot system control system]
FIG. 3 is a block diagram showing a configuration of the controller 4 of the robot system 10. As described above, the controller 4 controls the operations of the conveyor device 2 and the robot 3, and includes an arithmetic processing unit 40, a storage unit 42, a conveyor drive control unit 44, a robot drive control unit 46, an input unit 47, and a display unit. 48 and the like.

  The arithmetic processing unit 40 (an example of the control unit of the present invention) is configured by a CPU, a ROM, a RAM, and the like. The operation of the conveyor device 2 and the robot 3 is performed so that the slider 14 (work) is stopped and the work is performed according to a program. In addition to overall control of the drive, various arithmetic processes necessary for the work are performed.

  The storage unit 42 (an example of the data holding unit of the present invention) stores various data necessary for the control of the conveyor device 2 and the robot 3 by the arithmetic processing unit 40. For example, the work unit is conveyed to the conveyor device 2. In other words, data for conveying the workpiece, including the stop position of the slider 14 and the speed and acceleration / deceleration during the travel of the slider are stored. Further, the storage unit 42 stores data for causing the robot 3 to perform work on the workpiece, that is, the three-dimensional target position of the end effector 36 (target position of the work with respect to the workpiece), and the end of the workpiece with respect to the workpiece. Work data including the speed and acceleration / deceleration when the effector 36 approaches is stored, and correction data for correcting the work data according to the slider 14 is stored. In this example, the correction data is a measurement result (measurement data) of the shape and physical quantity of each slider of the conveyor device 2, and the arithmetic processing unit 40 corresponds to the slider 14 on which the workpiece is supported. The work data is corrected based on the measured data, and a control signal is output to the robot drive control unit 46 to control the robot 3 based on the corrected work data. This point will be described in detail later.

  The conveyor drive control unit 44 controls the operation of the conveyor device 2 based on the workpiece transfer data, and includes a function as a driver of the conveyor device 2.

  The robot drive control unit 46 controls the operation of the robot 3 based on the work data, and includes a function as a driver of the robot 3.

  The input unit 47 is an input device such as a keyboard, a mouse, or a teaching pendant, and the display unit 48 is a display device such as an LCD or CRT.

[Correction data]
Strictly speaking, the sliders 14 of the traveling unit 12 have different physical physical quantities, such as the height and inclination of the support surface 22 on which the workpiece is supported, due to dimensional errors and assembly errors of the components constituting the sliders 14. ing. In this robot system 1, the geometric physical quantity is measured in advance for each slider in order to ensure high work accuracy for the workpiece, and the measurement data of each slider 14 is stored in the storage unit 42 as the correction data. .

In this example, measurement data of five geometric physical quantities as shown in FIGS. 4A and 4B are stored in the storage unit 42. Specifically, it is as follows.
(1) Height L1 from the horizontal reference plane D1 to the support surface 22
(2) Vertical tilt angle θ1 of the support surface 22 with respect to the horizontal reference plane D1
(3) Horizontal inclination angle θ2 of the frame 21 (support surface 22) with respect to the vertical reference plane D2.
(4) Distance L2 from the front end of the frame in the direction along the vertical reference plane D2 to the center position of the nearest reference hole 23
(5) Distance L3 from the vertical reference plane D2 to the center of the reference hole 23 in 4) above
The horizontal reference plane D1 is the bottom surface of the rail 18, and the vertical reference plane D2 is the side surface of the rail 18.

  Ideally, the shape and physical quantity of each slider 14 is measured directly on the actual conveyor device 2 after the robot system 10 is installed as factory equipment. In many cases, accurate measurement is not possible due to equipment or environmental reasons. Therefore, in this example, the shape physical quantity of the slider 14 is measured using a measurement jig 50 as shown in FIGS. 5A and 5B.

  The measuring jig 50 is a device for measuring the shape physical quantity of the slider 14 removed from the conveyor device 2 in a state substantially equivalent to that of the conveyor device 2. That is, the measuring jig 50 is supported by the jig running part 12x having the base frame 16x and the pair of rails 18x equivalent to the base frame 16 and the pair of rails 18 of the conveyor device 2, and the jig running part 12x. The horizontal distance sensor 51 comprising an optical distance sensor for measuring the horizontal distance from the side surface 21a of the slider 14 (frame 21), and the vertical distance from the support surface 22 of the slider 14 comprising the same optical distance sensor. First and second vertical distance sensors 52a and 52b to be measured, and first and second cameras 53a and 53b including a CCD image sensor for imaging the position of the tip of the slider 14 and the position of the reference hole 23 are provided. ing. The first vertical distance sensor 52a and the first camera 53a are arranged in a line along the rail 18x above the rail 18x on one side, and the second vertical distance sensor 52b and the second camera 53b are on the rail on the other side. It is arranged in a line along the rail 18x above the 18x.

  As shown in FIGS. 5A and 5B, the slider 14 is mounted on the jig traveling unit 12x, and the slider 51 is moved by the sensors 51, 52a, and 52b while moving the slider 14 along the jig traveling unit 12x. 14 and each sensor 51, 52a, 52b is detected intermittently or continuously, and an image of the support surface 22 including the reference hole 23 is captured by each camera 53a, 53b, and each sensor 51, 52a, This is performed by obtaining the geometric physical quantities θ1, θ2, L1 to L3 from the detection data of 52b and the captured images of the cameras 53a and 53b.

  By performing such an operation for each slider, the geometric physical quantities θ1, θ2, and L1 to L3 of all the sliders 14 are obtained. That is, in the storage unit 42 of the controller 4, the geometric physical quantities θ 1, θ 2, L 1 to L 3 of the sliders 14 measured in this way are associated with the ID information of the sliders 14 as the correction data. It is remembered.

  The movement of the slider 14 at the time of measurement by the measurement jig 50 may be linear motor drive, but the slider 14 mounted on the jig travel unit 12x is screw-feeded using, for example, a rotary motor as a drive source. It may be connected to a mechanism or the like and moved by driving the rotary motor. The measurement jig 50 is an example, and other measurement jigs and measurement methods may be used as long as the geometric physical quantities θ1, θ2, and L1 to L3 of the slider 14 can be measured.

[Robot system control]
FIG. 6 is a flowchart showing control of the robot system 1 by the controller 4 (arithmetic processing unit 40).

  First, the arithmetic processing unit 40 controls the driving of the conveyor device 2 via the conveyor drive control unit 44 so as to place the workpiece at the first work position P1 (step S1). Thus, when the slider 14 moves along the traveling unit 12 and stops at the first work position P1 (Yes in step S3), the arithmetic processing unit 40 controls the first bar code reader 5A to control the first work position. P1 is caused to read the barcode M of the stopped slider 14 (frame 21), thereby obtaining ID information of the slider 14 (step S5). That is, the ID of the slider 14 is recognized.

  Next, the arithmetic processing unit 40 reads the measurement data of the geometric physical quantities θ1, θ2, and L1 to L3 corresponding to the ID information acquired in step S5 from the storage unit 42, and the work data for the work by the first robot 3A. Is read from the storage unit 42, and the work data is corrected based on the measurement data (steps S7 and S9). That is, the work data such as the three-dimensional target position of the end effector 36 in the work of the first robot 3A and the approach speed and acceleration / deceleration of the end effector 36 with respect to the work are all set based on design data such as CAD data. Or set based on the actual position of one specific slider 14 or the work on it, and the errors of the geometric physical quantities θ1, θ2, L1 to L3 for each slider are taken into account. Absent. In the process of step S9, the arithmetic processing unit 40 actually stores work data such as the three-dimensional target position of the end effector 36 based on such design data and the approach speed and acceleration / deceleration of the end effector 36 with respect to the workpiece. Are corrected based on the geometric physical quantities θ1, θ2, L1 to L3 of the slider 14 supporting the workpiece.

  Next, the arithmetic processing unit 40 controls the first robot 3A via the robot drive control unit 46 based on the work data corrected by the process of step S9, and thereby the first robot 3A with respect to the workpiece. Then, a predetermined work is performed (step S11).

  Then, it is determined whether or not the work of the first robot 3A has been completed. If it is determined that the operation has been completed (Yes in step S13), the arithmetic processing unit 40 drives the conveyor device 2 via the conveyor drive control unit 44. The slider 14 is moved by this, and the work is unloaded from the first work position P1 (step S15).

  Thereby, this flowchart is complete | finished. Here, the case has been described where the first robot 3A performs work on the work placed at the first work position P1, but the second robot 3B with respect to the work placed at the second work position P2. The control of the arithmetic processing unit 40 when the work is performed by the above is basically the same.

[How to work]
A method of performing work on a work in the robot system 1, that is, a work method according to the present invention is summarized as shown in a flowchart of FIG. That is, this work method includes a data acquisition process, a data storage process, and a work execution process.

  The data acquisition step is a step of measuring the geometric physical quantities θ1, θ2, L1 to L3 of each slider 14 using the measurement jig 50. In this example, the step of measuring the geometric physical quantities θ1, θ2, L1 to L3 of one slider 14 using the measuring jig 50 corresponds to the “first data acquisition step” of the present invention, and the other one The process of measuring the geometric physical quantities θ1, θ2, L1 to L3 of the slider 14 corresponds to the “second data acquisition process” of the present invention.

  The data storage step is a step of storing the geometric physical quantities θ1, θ2, L1 to L3 of each slider 14 acquired in the data acquisition step in the storage unit 42 in association with ID information for each slider.

  The work process is a process in which the slider 14 supporting the work is stopped at the work position P1 (or work position P2) and the work is performed on the work by the first robot 3A (or the second robot 3B). In this example, the step of performing work on the work supported by one slider 14 by the first robot 3A (or the second robot 3B) (that is, the processing steps of steps S5 to S11) is the first of the present invention. A process corresponding to a work process, and a process of performing work by the first robot 3A (or the second robot 3B) on the work supported by the other slider 14, corresponds to the second work process of the present invention.

[Function and effect]
According to the robot system 10 described above, when the work is performed on the work by the robot 3, work data such as the target position of the end effector 36 is the shape of the slider 14 that actually supports the work. Correction is performed based on the physical quantities θ1, θ2, L1 to L3, and the robot 3 is controlled based on the corrected work data. Therefore, it is possible to reduce the influence of the errors of the geometric physical quantities θ1, θ2, and L1 to L3 of the slider 14 due to the dimensional error of the components constituting the slider 14 and the assembly error of the slider 14 on the work accuracy, and thus the work accuracy for the workpiece is improved. Can be increased.

  In particular, the height L1 and the inclination angles θ1 and θ2 of the support surface 22 of the slider 14 are likely to vary from slider to slider due to dimensional errors of components constituting the slider 14, assembly errors of the slider 14, and the like. However, according to the robot system 1, the work data is corrected based on the measurement data including the height L1 and the inclination angles θ1 and θ2 of the support surface 22. There is an advantage that the work accuracy for the workpiece can be effectively improved.

  According to the robot system 10, as described above, the influence of the errors of the geometric physical quantities θ1, θ2, and L1 to L3 of the slider 14 on the work accuracy of the workpiece can be reduced. In other words, the slider 14 This means that even if the assembly accuracy is somewhat low, the work can be performed with high accuracy on the workpiece. Therefore, according to the robot system 10, the allowable range such as the assembly accuracy required for the slider 14 can be expanded, and accordingly, the production cost of the conveyor device 2 can be reduced, and the production cost of the robot system 1 can be reduced accordingly. There is also an advantage that can be achieved.

[Modification]
The robot system 1 of the present invention (the robot system to which the working method of the present invention is applied) has been described above. However, the robot system 1 is an exemplification of a preferred embodiment of the present invention and is more specific to the robot system 1. Various configurations and working methods can be appropriately changed without departing from the gist of the present invention.

  (1) In the robot system 1 of the above embodiment, a horizontal articulated SCARA robot is applied as the robot 3, but the type of robot is not limited to this, and a vertical articulated robot, Various other robots such as an XY robot and a parallel link type robot can be applied.

  (2) The shape physical quantity acquired in advance as measurement data is not limited to the dimensions of the above-described embodiments (θ1, θ2, L1 to L3), and can improve the work accuracy of the robot 3 with respect to the workpiece. Should be selected.

  (3) The slider 14 of the conveyor device 2 of the above embodiment is of a type in which the workpiece is directly fixed to the upper surface (support surface 22) of the frame 21 via a workpiece fixing jig or the like. As shown in FIG. 8, the slider body 14a includes a frame 21, a guide block 24, a magnet unit 25, and a magnetic scale 26, and a pallet 14b that is removably assembled to the frame 21 of the slider body 14a. The upper surface of the pallet 14b may be the support surface 22 of the workpiece. In this case, the shape physical quantities θ1, θ2, and L1 to L3 are measured with the measuring jig 50 in a state where the pallet 14b is assembled to the slider body 14a, and the robot 3 is used for work based on the measurement data. What is necessary is just to correct | amend data.

  (4) In the above embodiment, the barcode M (ID information) provided on the slider 14 is read by the barcode reader 5, and the work data is corrected based on the measurement data (correction data) corresponding to the ID information. However, for example, the measurement data of the slider 14 is converted into a two-dimensional code, the two-dimensional code is provided on the slider 14, and the two-dimensional code is read by a CCD image sensor or the like. The work data may be corrected based on the code information, that is, the measurement data. According to this configuration, measurement data can be acquired directly from each slider 14 without storing measurement data (working data) in the storage unit 42. As a configuration for acquiring measurement data directly from the slider 14 as described above, an electronic tag such as an RF tag storing the measurement data is further provided on the slider 14, and the measurement data is transmitted from the electronic tag using a wireless communication device or the like. You may make it read.

  In this modified example, the two-dimensional code or electronic tag provided on one slider 14 corresponds to the first data holding unit of the present invention, and the two-dimensional code or electronic tag provided on another slider 14 is the main data. The CCD image sensor and the wireless communication device correspond to the second data holding unit of the invention, and the reading device of the invention.

  The present invention described above is summarized as follows.

  That is, the present invention is a work method for causing a robot to perform a predetermined work on a first or second slider that moves along a transport path, or a work supported by the first or second slider, The geometric physical quantity of the first slider is determined using a measuring jig that supports the first and second sliders and can measure the geometric physical quantity of the first and second sliders in a state equivalent to the transport path. A first data acquisition step for measuring; a second data acquisition step for measuring the geometric physical quantity of the second slider using the measurement jig; and a first slider that moves along the transport path, or a first A first work step for causing the robot to perform work on a work supported by a slider; a second slider that moves along the transfer path; or the robot for a work supported by a second slider. A second work step for carrying out the work, and in the first work step, based on the measurement data acquired in the first data acquisition step, the operation of the robot when the robot performs the work is corrected. In the second work process, the operation of the robot when the robot performs work is corrected based on the measurement data acquired in the second data acquisition process.

  According to this working method, for the work of the robot on the first slider or the work supported by the first slider, the measured value (measurement data) of the geometrical physical quantity of the first slider is taken into consideration, and the work supported by the second slider or the work is supported. As for the work of the robot, the measured value of the shape physical quantity of the second slider is taken into consideration. Therefore, it is possible to reduce the influence of the error in the geometric physical quantity of the slider due to the dimensional error of the parts constituting the slider, the assembly error of the slider, etc. on the work accuracy, and thus the work accuracy on the workpiece is improved. The robot work on the first and second sliders is, for example, a work loading / unloading work on the first and second sliders.

  In this case, it is preferable that the correction of the operation of the robot is to correct a target position of work performed by the robot.

  According to this working method, it is possible to more easily and reliably reduce the influence of the error in the geometric physical quantity of the slider on the working accuracy.

  On the other hand, the robot system according to the present invention is provided on a conveyor device having first and second sliders that move along a conveyance path, and a work supported by the first and second sliders or the first and second sliders. A robot system including a robot that performs a predetermined work on the first measurement data obtained by actually measuring the geometric physical quantity of the first slider and the second measurement data obtained by actually measuring the geometric physical quantity of the second slider. A held data holding unit; and a control unit that causes the robot to perform an operation on the work supported by the first and second sliders or the first and second sliders. Based on the first measurement data, the operation of the robot when the robot performs work on the first slider or the work supported by the first slider is corrected. Second slider, or is corrected on the basis of the operation of the robot to the second measurement data when said robot to a second relative supported workpiece slider implementing work.

  According to this robot system, when the robot performs a work on the first slider or the work supported by the first slider, the operation is corrected based on the first measurement data held in the data holding unit, When the robot performs a work on the second slider or the work supported by the second slider, the operation is corrected based on the second measurement data held in the data holding unit. Therefore, it is possible to automate the implementation of the above-described working method in the robot system.

  In this case, it is preferable that the correction of the operation of the robot by the control unit is to correct a target position of work performed by the robot.

  According to this configuration, it is possible to more easily and reliably reduce the influence of the error in the geometric physical quantity of the slider on the work accuracy.

  In the robot system, each of the first and second sliders includes a recording unit in which identification information is recorded, and the robot system further includes a reading device that reads the identification information recorded in the recording unit, The control unit identifies the slider based on the identification information read by the reading device, and corrects the operation of the robot using the measurement data corresponding to the identification result among the measurement data held in the data holding unit. To do.

  According to this configuration, the robot can be operated based on the above-described operation method while automatically identifying each slider.

  In the robot system, the data holding unit includes a first data holding unit that is provided in the first slider and holds the first measurement data, and a second data that is provided in the second slider. The robot system further includes a reading device that reads measurement data held in the data holding unit prior to execution of work by the robot, and the control unit includes the reading unit. The movement of the robot may be corrected using measurement data read by the apparatus.

  According to this configuration, since the measurement data is read directly from each slider, there is no need to identify the slider.

  In the above robot system, each of the first and second sliders includes a support surface for supporting a workpiece, and the geometric physical quantity is a height from a predetermined horizontal reference surface to the support surface, and the horizontal reference It is at least one of a tilt angle in the vertical direction of the support surface with respect to the surface and a tilt angle in the horizontal direction of the slider with respect to the transport path.

  The height dimension and tilt angle of the support surface are likely to vary from slider to slider due to dimensional errors of parts constituting the slider, slider assembly errors, and the like, and the robot's work accuracy with respect to the workpiece is likely to be affected. For this reason, the target position is corrected based on the actual measurement values (measurement data) of these geometric physical quantities, so that the work accuracy of the robot with respect to the first and second sliders or the work supported by them is improved.

  Each of the first and second sliders may include a slider main body that moves along the transport path, and a pallet that is assembled to the slider main body and has the support surface.

  That is, in the case of a slider in which a pallet for supporting a workpiece is detachably mounted, it is a physical quantity such as the height of the support surface of the pallet that directly affects the position and posture of the workpiece. . Therefore, the operation accuracy of the workpiece is improved by correcting the operation of the robot based on the measurement data of the support surface of the pallet.

Claims (5)

The robot performs a predetermined operation on the first and second sliders or the workpieces supported on the support surfaces of the first and second sliders, each of which has a support surface for supporting the workpiece and moves along the conveyance path. Work method,
The geometric physical quantity of the first slider using a measuring jig capable of supporting the first and second sliders and measuring the geometric physical quantity of the first and second sliders in a state equivalent to the transport path. A first data acquisition step for measuring
A second data acquisition step of measuring the geometric physical quantity of the second slider using the measurement jig;
A first work step for causing the robot to perform work on a first slider that moves along the transport path or a work supported by the first slider;
A second working step for causing the robot to perform work on a second slider that moves along the transport path, or a work supported by the second slider,
The geometric physical quantity is at least one of an inclination angle in a vertical direction of the support surface with respect to a predetermined horizontal reference surface and a horizontal inclination angle of the slider with respect to the transport path,
In the first work process, based on the measurement data acquired in the first data acquisition process, the operation of the robot when the robot performs work is corrected. In the second work process, the second data acquisition is performed. Based on the measurement data acquired in the process, correct the operation of the robot when the robot performs work,
The robot movement is corrected by correcting the target position of the work performed by the robot and for the work supported by the first and second sliders or the first and second sliders in the work. And correcting the speed and acceleration / deceleration when the robot approaches. A conveyor device including first and second sliders each having a support surface for supporting a workpiece and moving along a conveying path; and the support surface of the first, second slider, or first, second slider A robot system including a robot that performs a predetermined operation on a supported workpiece,
A data holding unit holding first measurement data obtained by actually measuring the shape physical quantity of the first slider and second measurement data obtained by actually measuring the shape physical quantity of the second slider;
A control unit that causes the robot to perform an operation on the work supported by the first and second sliders or the first and second sliders;
The geometric physical quantity is at least one of an inclination angle in a vertical direction of the support surface with respect to a predetermined horizontal reference surface and a horizontal inclination angle of the slider with respect to the transport path,
The control unit corrects the operation of the robot when the robot performs work on the first slider or a work supported by the first slider based on the first measurement data, and the second slider, or the operation of the robot corrected based on the second measurement data when said robot with respect to supported workpiece in the second slider to practice the work,
The correction of the operation of the robot by the control unit is performed by correcting the target position of the work performed by the robot and supported by the first and second sliders or the first and second sliders in the work. Correcting the speed and acceleration / deceleration when the robot approaches the workpiece. The robot system according to claim 2, wherein
Each of the first and second sliders includes a recording unit in which identification information is recorded,
The robot system further includes a reading device that reads the identification information recorded in the recording unit,
The control unit identifies the slider based on the identification information read by the reading device, and controls the operation of the robot using the measurement data corresponding to the identification result among the measurement data held in the data holding unit. A robot system characterized by correcting. The robot system according to claim 2, wherein
The data holding unit includes a first data holding unit provided in the first slider for holding the first measurement data, and a second data holding unit provided in the second slider for holding the second measurement data. Including
The robot system further includes a reading device that reads measurement data held in the data holding unit prior to execution of work by the robot,
The said control part correct | amends operation | movement of the said robot using the measurement data which the said reader read, The robot system characterized by the above-mentioned. The robot system according to any one of claims 2 to 4, wherein
Each of the first and second sliders includes a slider main body that moves along the transport path, and a pallet that has the support surface and is assembled to the slider main body.

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