JP7213010B2 - ROBOT SYSTEM AND METHOD OF WORKING ON A WORK TRANSFERRED - Google Patents

Description

The present invention relates to a robot system and a method of performing work on a workpiece being transported.

2. Description of the Related Art Conventionally, there has been known a robot system that performs work on a work that is being transported. Such a robot system is described in Patent Literature 1, for example.

Patent Literature 1 describes controlling tracking processing and positioning processing of a robot using detection results from an encoder provided on a conveyor. This encoder typically employs a rotary encoder and generates a pulse signal as it rotates. By counting the number of pulses of the generated pulse signal, the amount of movement of the conveyor is calculated.

JP 2012-166308 A

However, the conventional robot systems that work on the workpiece being conveyed, such as in Patent Document 1, generally have only a robot 1 and an image processing device 2 connected to a robot controller 1a, as shown in FIG. However, since the encoder 3 attached to the conveyor C', the encoder value reading unit 4, and wiring for connecting these to each other are required, the device configuration becomes complicated. As a result, for example, there are problems such as an increase in introduction cost and difficulty in adapting to a predetermined installation space.

Therefore, the present invention provides a robot system and a robot system capable of solving various problems that may occur when performing work on a work being transported or in the preparation stage. It aims to provide a way to do so.

In order to solve the above-described problems, a robot system according to the present invention is a robot system that performs an operation on a workpiece being transported, and includes at least one of the workpiece being transported and a transport path in operation. An image capturing unit for capturing image information on one side, a conveying speed detecting unit for detecting the conveying speed of the work based on the image information, and the work being conveyed based on the conveying speed of the work and a robot that performs work on the

According to the above configuration, a simple device configuration is realized by performing work on the work being transported based on the work transport speed. As a result, the robot system according to the present invention can solve various problems that may arise when performing work on the workpiece being transported or during the preparation stage.

The image information includes first image information and second image information, the imaging unit acquires the first image information by first imaging, and a predetermined time has elapsed since the first imaging. The second image information is further acquired by performing a second imaging later, and the conveying speed detection unit detects the conveying speed of the work based on the first image information and the second image information. good too.

According to the above configuration, it is possible to accurately detect the conveying speed of the workpiece.

The first image information and the second image information may be acquired by one imaging unit.

According to the above configuration, the effects of the present invention can be made remarkable.

The imaging section may include a first imaging section and a second imaging section, the first imaging section may acquire the first image information, and the second imaging section may acquire the second image information. .

According to the above configuration, it is possible to detect the conveying speed of the workpiece with higher accuracy.

The robot further includes an arrangement state detection unit that detects the arrangement state of the workpiece based on the image information acquired by the imaging unit, and the robot detects the arrangement state in addition to the workpiece conveyance speed detected by the conveyance speed detection unit. An operation may be performed on the conveyed work based on the placement state of the work detected by the state detection unit.

According to the above configuration, it is possible to work accurately on the work being conveyed.

The arrangement state detection unit may detect the arrangement state of the work based on image information acquired for detecting the conveying speed of the work.

According to the above configuration, by reducing the amount of data to be handled, it is possible to quickly detect the transport speed of the work and to accurately perform the work on the work being transported.

The image information includes image information for an arrangement state, the imaging section acquires the image information for an arrangement state by imaging the workpiece being conveyed, and the arrangement state detection section obtains the image information for an arrangement state. The placement state of the workpiece may be detected based on the information.

According to the above configuration, it is possible to work on the work being conveyed with higher accuracy.

The image information acquired for detecting the conveying speed and the image information for arrangement state may be acquired by one imaging unit.

According to the above configuration, the effects of the present invention can be enhanced while accurately performing the work on the conveyed work.

The robot may include a robot arm, and the imaging unit may be provided on the robot arm.

According to the above configuration, the effects of the present invention can be made remarkable.

The robot may further include an end effector attached to the robot arm, and the imaging section may be provided on the robot arm to which the end effector is attached.

According to the above configuration, the effects of the present invention can be enhanced while accurately performing the work on the conveyed work.

The robot arm may include a first robot arm and a second robot arm, the end effector may be attached to the first robot arm, and the imaging unit may be provided to the second robot arm.

According to the above configuration, the effect of the present invention can be made remarkable while performing the work on the conveyed work with higher accuracy.

The first robot arm and the second robot arm may be included in one robot.

According to the above configuration, the effects of the present invention can be made even more remarkable.

In order to solve the above-described problems, a method of performing work on a workpiece being transported according to the present invention is to capture an image of at least one of the workpiece being transported and a transport path in operation and obtain image information. a step of detecting the conveying speed of the work based on the image information; and a step of performing an operation on the conveyed work based on the conveying speed of the work. Characterized by

According to the above configuration, the work can be performed with a simple device configuration by performing the work on the work being transported based on the work transport speed. As a result, the method according to the present invention can solve various problems that may arise when performing work on the work being transported or during the preparation stage.

The present invention provides a robot system and a method of performing work on a transported work that can solve various problems that may arise when performing work on a work that is being transported or in the preparation stage. can be provided.

1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied; FIG. 1 is a block diagram showing the configuration of a work site to which a robot system according to an embodiment of the present invention is applied, where (A) shows a case in which a conveying speed detector and an arrangement state detector are provided separately from the robot; B) shows the case where the conveying speed detector and the arrangement state detector are built in the robot. 1 is a front view of a robot included in a robot system according to an embodiment of the present invention; FIG. 1 is a schematic diagram showing how a workpiece is imaged using an imaging unit provided in a robot system according to an embodiment of the present invention, where (A) is a diagram showing how the first imaging is performed, and (B) is a diagram showing the first imaging. It is a figure which shows a mode that imaging of the 2nd time is performed. FIG. 4A is a schematic diagram showing how a first end effector included in the robot system according to the embodiment of the present invention is used to work on a conveyed work, and (A) shows the state before holding the work; It is a figure and (B) is a figure which shows a mode that the workpiece|work was hold|maintained. 1 is a block diagram of a work site to which a conventional robot system is applied; FIG. FIG. 10 is a schematic diagram showing a state in which an end effector provided in a conventional robot system is used to try to work on a work whose conveying speed is changed.

(overall structure)
A robot system according to an embodiment of the present invention will be described below with reference to the drawings. It should be noted that the present invention is not limited by this embodiment. Also, hereinafter, the same or corresponding elements are denoted by the same reference numerals throughout all the drawings, and redundant descriptions thereof are omitted.

FIG. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied. FIG. 2 is a block diagram showing the configuration of a work site to which the robot system according to the embodiment of the present invention is applied. , and (B) shows the case where the conveying speed detector and the arrangement state detector are built in the robot. The robot system 10 according to this embodiment performs work on the work W being transported on the transport path C. As shown in FIG. The robot system 10 includes an imaging unit 40 for capturing an image of the work W being transported and acquiring image information, a transport speed detection unit 70 for detecting the transport speed of the work W based on the image information, and the image. An arrangement state detection unit 80 that detects the arrangement state of the work W based on information, and a robot 11 that performs work on the work W are provided.

(Robot 11)
The robot 11 included in the robot system 10 according to this embodiment will be described with reference to FIG. 3 and the like. FIG. 3 is a front view of the robot. The robot 11 according to the present embodiment is arranged along the transport path C for transporting the work W, with the substantially upper right side as the upstream side and the substantially lower left side as the downstream side in FIG. The robot 11 includes a base 12 fixed to a cart, a pair of robot arms 13a and 13b (a first robot arm 13a and a second robot arm 13b) supported by the base 12, and a robot controller housed in the base 12. a portion 14; The robot 11 can be installed in a limited space (for example, 610 mm×620 mm) corresponding to one person.

Hereinafter, the direction in which the pair of robot arms 13a and 13b are extended is called the left-right direction, the direction parallel to the axis of the base shaft is called the up-down direction, and the direction perpendicular to the left-right direction and the up-down direction is called the front-back direction.

(Pair of robot arms 13a, 13b)
The first robot arm 13a (the robot arm on the left side in the drawing) and the second robot arm 13b (the robot arm on the right side in the drawing) are each a horizontal articulated type configured to be movable with respect to the base 12. is a robot arm. The first robot arm 13 a includes an arm portion 15 , a wrist portion 17 and an end effector 18 . The second robot arm 13 b has an arm portion 15 and a wrist portion 17 .

The arm portion 15 of each of the first robot arm 13a and the second robot arm 13b is composed of a first link 15a and a second link 15b in this example. The first link 15a is connected to a base shaft 16 fixed to the upper surface of the base 12 by a rotary joint J1, and is rotatable around a rotation axis L1 passing through the axis of the base shaft 16. As shown in FIG. The second link 15b is connected to the tip of the first link 15a by a rotary joint J2, and is rotatable around the rotation axis L2 defined at the tip of the first link 15a.

The wrist section 17 has a mechanical interface 19 to which the end effector 18 or an imaging section 40 (to be described later) is attached, and is connected to the tip of the second link 15b via a linear joint J3 and a rotary joint J4. The wrist portion 17 can move up and down with respect to the second link 15b by means of a prismatic joint J3. The wrist portion 17 is rotatable about a rotation axis L3 perpendicular to the second link 15b by a rotary joint J4.

The end effector 18 is connected to the mechanical interface 19 of the right wrist portion 17 . That is, the end effector 18 is provided at the tip of the first robot arm 13a.

The pair of robot arms 13a and 13b configured as described above have joints J1 to J4, respectively. The pair of robot arms 13a and 13b are provided with driving servomotors (not shown) and encoders (not shown) for detecting the rotation angles of the servomotors so as to be associated with the joints J1 to J4, respectively. ) etc. are provided. Further, the rotation axis L1 of the first link 15a of the first robot arm 13a and the rotation axis L1 of the first link 15a of the second robot arm 13b are on the same straight line, and the first link 15a of the first robot arm 13a is aligned. and the first link 15a of the second robot arm 13b are arranged with a vertical difference in height.

(End effector 18)
The end effector 18 according to the present embodiment holds the work W by sucking it into the plurality of suction ports 21 using negative pressure. The structure of the end effector 18 and the mode of holding the work W are not limited to this case. For example, the work W may be held by chucking or the work W may be held by piercing a needle-like member Alternatively, the workpiece W may be held in another manner.

(Robot control unit 14)
The robot control unit 14 according to the present embodiment controls the robot based on the placement state of the workpiece W detected by the placement state detection unit 80 to be described later in addition to the transfer speed of the work W detected by the transfer speed detection unit 70 to be described later. 11 is controlled to work on the work W being conveyed. A specific configuration of the robot control unit 14 is not particularly limited, and for example, it may be a configuration realized by operating a known processor (CPU or the like) according to a program stored in a storage unit (memory).

(Structure for Detecting Conveyance Speed of Work W)
The imaging unit 40, the transport speed detection unit 70, and the arrangement state detection unit 80 included in the robot system 10 according to the present embodiment will be described again with reference to FIG. 2 and the like.

(Imaging unit 40)
The imaging unit 40 according to the present embodiment is provided in the second robot arm 13b arranged on the upstream side of the transport path C from the first robot arm 13a. The robot system 10 according to this embodiment includes only one imaging unit 40 . Further, in this embodiment, the image information captured by the imaging unit 40 includes first image information and second image information. Then, the imaging unit 40 obtains the first image information by the first imaging, and further obtains the second image information by performing the second imaging after a predetermined time has passed since the first imaging. do. FIG. 4 is a schematic diagram showing how the workpiece is imaged using the imaging unit provided in the robot system according to the embodiment of the present invention, (A) is a diagram showing how the first imaging is performed, (B) is a diagram showing how the second imaging is performed.

(Conveyance speed detector 70)
The conveying speed detection unit 70 according to this embodiment detects the conveying speed of the workpiece W based on the first image information and the second image information described above. Specifically, the conveying speed detection unit 70 according to this embodiment detects the moving distance of the work W based on the first image information and the second image information, and detects the moving distance of the work W based on the first image information. The conveying speed of the work W is detected by obtaining the quotient obtained by dividing by a predetermined time that elapses from when the image is captured until when the second image information is captured. The movement distance of the work W may be detected, for example, based on the distance traveled by a portion of the work W positioned most downstream in the transport path C, or a mark preliminarily attached to the surface of the work W may be detected. may be detected based on the distance. The conveying speed detection unit 70 is connected to the imaging unit 40 and the robot control unit 14 so as to be able to communicate electrical signals. A specific configuration of the conveying speed detection unit 70 is not particularly limited, and for example, it may be a configuration realized by a known processor (CPU, etc.) operating according to a program stored in a storage unit (memory). .

(Arrangement state detector 80)
Based on at least one of the first image information and the second image information (that is, the image information acquired for detecting the conveying speed of the work W), the arrangement state detection unit 80 according to the present embodiment to detect the placement state of the workpiece W. The arrangement state of the work W may be only the position information of the work W, or may include the posture information of the work W in addition to the position information. The arrangement state detection unit 80 is connected to the imaging unit 40 and the robot control unit 14 in a state in which electrical signals can be communicated. A specific configuration of the arrangement state detection unit 80 is not particularly limited, and for example, it may be a configuration realized by a known processor (CPU, etc.) operating according to a program stored in a storage unit (memory). .

(Conveyance speed detector 70 and arrangement state detector 80)
Note that the device provided with the transport speed detection unit 70 and the arrangement state detection unit 80 is not particularly limited. The transport speed detector 70 and the arrangement state detector 80 may be provided separately from the robot 11 as shown in FIG. 2(A). In such a case, the conveying speed detection section 70 and the arrangement state detection section 80 may be incorporated in the camera including the imaging section 40 . Further, the transport speed detection unit 70 and the arrangement state detection unit 80 may be included in the robot control unit 14 as shown in FIG. It may be built-in. Further, the transport speed detection unit 70 and the arrangement state detection unit 80 may be provided in a device provided separately from the camera including the imaging unit 40 and the robot 11 . Further, the transport speed detection unit 70 may be built in the camera including the imaging unit 40, and the placement state detection unit 80 may be built in the robot 11, or vice versa.

(effect)
The robot system 10 according to the present embodiment achieves a simple apparatus configuration by performing work on the workpiece W being transported based on the transport speed of the workpiece W. FIG. Here, as shown in FIG. 6, a conventional robot system such as that disclosed in Patent Document 1 includes not only an image processing device 2 connected to a robot 1 and a robot control unit 1a, but also an encoder 3 attached to a conveyor C'. , the encoder value reading unit 4, and wiring for connecting them to each other, the device configuration becomes complicated. As a result, for example, there are problems such as an increase in introduction cost and difficulty in adapting to a predetermined installation space. However, the robot system 10 according to this embodiment can solve the above problem by realizing a simple device configuration as described above. In addition, some conventional robot systems do not include the encoder 3 and the associated components, etc., on the premise that the transfer speed of the workpiece W is constant. Such a robot system can work on the workpiece W being transported with a simple device configuration. However, as shown in FIG. 7, when the conveying speed of the work W' changes, it cannot be dealt with, so that the suction port 5 fails to hold the work W'. As a result, there is a problem that it becomes impossible to work on the work W' being conveyed. However, the robot system 10 according to the present embodiment controls the robot 11 based on the transport speed of the work W detected by the transport speed detection unit 70 to work on the work W being transported. 5, the above problem can also be resolved. 5A and 5B are schematic diagrams showing how the first end effector provided in the robot system according to the embodiment of the present invention is used to work on a conveyed workpiece, and FIG. and (B) shows a state in which a workpiece is held. As described above, the robot system 10 according to the present invention can solve various problems that may occur when performing work on the workpiece W being transported or in the preparation stage.

Further, in the present embodiment, the conveying speed detection unit 70 performs the first image information acquired by the first imaging, and the second imaging after a predetermined time has elapsed from the first imaging. The conveying speed of the workpiece W is detected based on the acquired second image information. As a result, for example, the movement distance of the work W can be accurately detected, so the transport speed of the work W can be detected with high accuracy.

Furthermore, in the present embodiment, the first image information and the second image information are acquired by one imaging unit 40 . Thereby, the effects of the present invention can be made remarkable.

In this embodiment, the robot 11 detects the work W being transported based on the placement state of the work W detected by the placement state detection unit 80 in addition to the transport speed of the work W detected by the transfer speed detection unit 70 . work on it. As a result, it becomes possible to work on the workpiece W being conveyed with high accuracy.

In addition, in the present embodiment, the placement state detection unit 80 detects based on at least one of the first image information and the second image information (that is, the image information acquired for detecting the conveying speed of the work W). to detect the placement state of the workpiece W. By reducing the amount of data to be handled, it is possible to quickly detect the transport speed of the work W and work on the work W being transported with high accuracy. By detecting the arrangement state of the work W based on only one of the first image information and the second image information, the amount of data to be handled is reduced, and the conveying speed of the work W can be detected more quickly. be able to. On the other hand, by detecting the placement state of the work W based on both the first image information and the second image information, the placement state of the work W can be accurately detected.

Furthermore, in the present embodiment, the robot 11 includes a first robot arm 13a (robot arm), and the imaging section 40 is provided on the first robot arm 13a. Thereby, the effects of the present invention can be made remarkable.

In this embodiment, the robot 11 includes a first robot arm 13a and a second robot arm 13b, an end effector 18 is attached to the first robot arm 13a, and an imaging unit 40 is provided to the second robot arm 13b. be done. As a result, the effect of the present invention can be enhanced while performing the work on the conveyed work W with higher accuracy.

Also, in the present embodiment, the first robot arm 13a and the second robot arm 13b are included in one robot 11 . Thereby, the effects of the present invention can be made even more remarkable.

(Modification)
In the above-described embodiment, the imaging unit 40 acquires the first image information and the second image information by imaging the workpiece W being conveyed, and the conveying speed detection unit 70 detects the workpiece W based on these two pieces of image information. Although the case of detecting the conveying speed has been described, the present invention is not limited to this. For example, the imaging unit 40 may acquire only one piece of image information, and the conveying speed detecting unit 70 may detect the conveying speed of the workpiece W based on the one piece of image information. In such a case, the one piece of image information is, for example, image information that can detect the trajectory of the work W by taking an image with the shutter open for a predetermined time, and based on such image information, The conveying speed detection unit 70 may detect the conveying speed of the work W. Alternatively, the image capturing unit 40 captures an image of at least one of the work W being transported and the transport path C in operation to acquire image information, and the transport speed detection unit 70 detects the work W based on the image information. may be detected.

Here, when the imaging unit 40 acquires image information by capturing an image of the transport path C during operation, for example, a mark is attached in advance on the transport path C, and the mark is placed on the transport path C in the above embodiment. Alternatively, an image may be captured instead of the work W that is present, and the conveying speed of the work W may be detected based on this image information. Similarly, when the imaging unit 40 acquires image information by capturing an image of the transport path C during operation, the image information is acquired by capturing an image of the single transport path C before the workpiece W is transported, and the The conveying speed of the workpiece W may be detected based on the image information.

Note that the imaging unit 40 continuously captures images of at least one of the workpiece W being transported and the transport path C in operation to obtain image information. , image information may be acquired each time a work is performed on the workpiece W being conveyed, or once an image is captured and image information is acquired, a predetermined period of time thereafter may be obtained. It is also possible to assume that the conveying speed of the work W is constant until the time elapses, and to repeatedly perform imaging at predetermined time intervals. Alternatively, once an image is captured and image information is acquired, the conveying speed of the work W may be assumed to be constant and image information may not be acquired thereafter.

Alternatively, the imaging unit 40 may capture three or more pieces of image information, and the conveying speed detecting unit 70 may detect the conveying speed of the workpiece W based on the three or more pieces of image information. At this time, the conveying speed detection unit 70 may detect the conveying speed of the work W based on, for example, a value obtained by averaging a plurality of movement distances of the work W detected by three or more pieces of image information. . This makes it possible to detect the transport speed of the work W with high accuracy. Further, the conveying speed of the work W may be detected based on a value obtained by averaging a plurality of conveying speeds of the work W detected by three or more pieces of image information. This also makes it possible to detect the conveying speed of the work W with high accuracy. When detecting the conveying speed of the workpiece W based on three or more pieces of image information as described above, at least two pieces of image information (for example, the above-described first image information and As long as there is the second image information), the timing of capturing the remaining image information is not particularly limited, and the images may be captured at different timings or at the same timing. Further, for example, the conveying speed detection unit 70 may control the image pickup unit 40 to pick up image information at an arbitrary timing.

In the above embodiment, the case where the robot system 10 includes only one imaging unit 40 has been described, but the present invention is not limited to this. For example, the imaging section 40 may include a first imaging section and a second imaging section, the first imaging section may acquire the first image information, and the second imaging section may acquire the second image information. As a result, the first image information and the second image information can be imaged from positions separated from each other, so the conveying speed of the work W can be detected with higher accuracy than in the case of imaging with one imaging unit 40. It becomes possible to In the above-described embodiment, after capturing the first image information, moving the imaging unit 40 by the second robot arm 13b, and then capturing the second image information, the same effect can be obtained without changing the device configuration. can be obtained.

In the above embodiment, the robot arm includes the first robot arm 13a and the second robot arm 13b, the end effector 18 is attached to the first robot arm 13a, and the imaging unit 40 is provided to the second robot arm 13b. has been described, but is not limited to this. In other words, the position where the imaging unit 40 is provided is not particularly limited as long as it is a position where at least one of the work W being transported and the transport path C in operation can be imaged. For example, the imaging unit 40 may be provided on the first robot arm 13a (to which the end effector 18 is attached), or may be provided in a suspended state above the transport path C. In such a case, for example, the robot 11 may be a one-armed robot that includes only the first robot arm 13a without the second robot arm 13b. Alternatively, the imaging unit 40 may be provided on the second robot arm 13b by attaching an end effector to the second robot arm 13b and holding the end effector.

In the above-described embodiment, the arrangement state detection unit 80 detects the workpiece W based on at least one of the first image information and the second image information (that is, the image information acquired for detecting the conveying speed). Although the case of detecting the arrangement state has been described, the present invention is not limited to this. That is, the image information includes image information for the arrangement state, the imaging unit 40 acquires the image information for the arrangement state by imaging the workpiece W being conveyed, and the arrangement state detection unit 80 detects the arrangement state. The placement state of the work may be detected based on the image information for the work. As a result, the workpiece W can be worked more accurately. Note that the arrangement state image information may be captured using the same imaging unit 40 that captures the image information acquired for detecting the conveying speed (that is, the image information acquired for detecting the conveying speed). The image information and the image information for the arrangement state may be acquired by one imaging unit), and when the robot system 10 includes a plurality of imaging units 40, the image information acquired for detecting the transport speed is captured. The image may be captured using an image capturing unit 40 different from the image capturing unit 40 . The placement state detection unit 80 may detect the placement state of the work W based on one image information imaged by the imaging unit 40, or may detect the placement state of the work W based on a plurality of image information. You may

Although the case where the robot system 10 includes the placement state detection unit 80 has been described in the above embodiment, the present invention is not limited to this. That is, the robot system 10 detects the placement state when, for example, it is assumed that a plurality of works W are transported at regular intervals and the postures of the works W on the transport path C are the same. The portion 80 may not be included. This makes it possible to simplify the device configuration of the robot system 10 .

Although the first robot arm 13a and the second robot arm 13b are included in one robot 11 in the above embodiment, the present invention is not limited to this. That is, the robot system 10 may include multiple robots 11 . In such a case, for example, one robot 11 provided on the upstream side of the transport path C includes a second robot arm 13b provided with an imaging unit 40, and is provided on the downstream side of the transport path C. Another robot 11 may include a first robot arm 13a to which an end effector 18 is attached to work on the workpiece W being transported.

From the above description many modifications and other embodiments of the invention will be apparent to those skilled in the art. Therefore, the above description is to be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Substantial details of construction and/or function may be changed without departing from the spirit of the invention.

REFERENCE SIGNS LIST 10 robot system 11 robot 12 base 13a first robot arm 13b second robot arm 14 robot control unit 15 arm unit 15a first link 15b second link 16 base shaft 17 wrist unit 18 end effector 19 mechanical interface 21 suction port 40 imaging unit 70 Conveyance speed detector 80 Arrangement state detector C Conveyance path L1 to L3 Rotation axis J1 to J4 Joint W Work

Claims (3)

A robot system that performs work on a workpiece being transported,
an imaging unit for capturing an image of the workpiece being conveyed and acquiring image information;
a conveying speed detection unit that detects the conveying speed of the workpiece based on the image information;
a robot that operates on the conveyed work based on the conveying speed of the work;
an arrangement state detection unit that detects the arrangement state of the workpiece based on image information acquired by the imaging unit;
with
the robot includes a robotic arm;
The robot arm includes a horizontal multi-joint type first robot arm to which an end effector is attached, and a horizontal multi-joint type first robot arm to which the imaging unit is attached, which is arranged on the upstream side of the transport path from the first robot arm. 2 robotic arms;
The one robot includes the first robot arm and the second robot arm, and the rotation axis of the proximal end of the second robot arm is provided coaxially with the rotation axis of the proximal end of the first robot arm. be
The image information includes first image information and second image information, and the imaging unit acquires the first image information by first imaging, and after a predetermined time has elapsed from the first imaging, The second image information is further acquired by performing the second imaging, and the second imaging is further performed after being moved by the second robot arm after performing the first imaging,
The conveying speed detection unit detects the conveying speed of the workpiece based on the first image information and the second image information,
The arrangement state detection unit detects the arrangement state of the work based on the image information acquired for detecting the conveying speed of the work,
The robot is configured to work on the work being transported based on the placement state of the work detected by the placement state detection unit in addition to the work transfer speed detected by the transfer speed detection unit. characterized by a robotic system. 2. The robot system according to claim 1, wherein said first image information and said second image information are acquired by a single imaging unit. A method of performing work on a workpiece being transported using the robot system according to claim 1 or 2 ,
a step of capturing an image of the workpiece being conveyed to acquire image information;
a step of detecting the conveying speed of the workpiece based on the image information;
a step of performing an operation on the conveyed work based on the conveying speed of the work;
A method of working on a workpiece being transported, comprising:

Images