JPS63260781A - Industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention "Field of Industrial Application" This invention relates to industrial robots, and in particular, to a method for detecting relative positional deviations between a workpiece being conveyed on a conveyor line and a robot body during teaching and during work. This invention relates to an industrial robot that accurately detects and corrects the detection.

“Prior Art” Generally, when an industrial robot is used to work on a workpiece such as a car body that is continuously conveyed on a conveyor line, it is necessary to It is necessary to fix the relative position to the whip. This is especially true when the robot is trying to follow the workpiece without stopping to speed up the work, or when the robot is performing work such as sealing a car. When the robot follows a target work line while contacting the workpiece with the robot, it is necessary to position the workpiece and the robot with high precision.

However, during robot work, there may be an error between the position of the robot work part during teaching and the position of the robot work part during playback, that is, during work, or an error in positioning the workpiece, or an error in the shape of the workpiece itself. Due to errors or the like, there is a risk that a relative positional shift will occur between the robot and the workpiece. Therefore, it becomes necessary for the above-mentioned industrial robot to be equipped with means for detecting and correcting the deviation.

17 to 19 are diagrams showing a conventional industrial robot for rolling work, which is equipped with means for detecting and correcting relative positional deviation between the robot and the workpiece (special (Refer to 1983-89583). In these figures, the symbol l indicates the car body (workpiece) that is the object to be worked on.
The vehicle body 1 is continuously conveyed by a conveyor line 2 in the direction of arrow A in the figure. Further, reference numeral 3 denotes an X conveyance device disposed along the conveyance direction of the conveyor line 2, and sign 4 denotes an X conveyance device installed on the X conveyance device 3 so as to be orthogonal to the conveyance direction of the conveyor line 2. A robot body 5 is installed on this X-transport device 4 via a base 6. The X-transporting device 4 moves the robot body 5 back and forth in a direction perpendicular to the transporting direction of the conveyor line 2 (direction of arrow E in the figure), and the X-transporting device 3 It has a function of moving back and forth in the direction along the conveyance direction of the conveyor line 2 (in the direction of arrows B and C in the figure).

The robot main body 5 includes a disk portion 8 that is rotatable in the horizontal direction (direction of arrow F in the figure) with respect to the base 6, and a first disk portion that is rotatable in the direction of arrow G in the figure with respect to the disk portion 8. An arm portion 9, a second arm portion 10 that is rotatable in the direction of arrow 11 in the figure with respect to the first arm portion 9, and the second arm portion 1.
The wrist part 11 is of a so-called elephant nose type and is rotatable in three directions with respect to zero. That is, the robot main body 5 is configured to have six degrees of freedom.

A nozzle 1 for supplying sealant is provided at the tip of the wrist portion 11.
2 is provided, and a detection means 13 for detecting a relative positional deviation between the vehicle body 1 and the robot main body 5 is also provided. This detection means 13 has an optical axis that is connected to the nozzle 12.
A slit light source I4 directed toward the tip, a television camera 15 for photographing an image reflected from the vehicle body l by this slit light source 14, and these slit light sources 14 and television camera 15.
and a motor 17 that integrally rotates the nozzle 12 around a rotating shaft 16.

In the industrial robot having the above configuration, the slit light source 14,
With the television camera 15 and nozzle 12 set at their initial positions, the positions of each part of the robot body 5 are taught and stored in a storage device (not shown) as teaching data. At this time, a reflected image from the vehicle body I by the slit light source 14 is photographed by the television camera 15, and this reflected image is stored in the storage device. Also, when reproducing teaching data, that is, when working on a robot,
Similarly, a reflected image from the vehicle body 1 by the slit light source 14 is photographed by the television camera 15, and this reflected image is compared with the reflected image at the time of teaching. Target position deviation is detected. By driving the motor 17 to reduce the deviation between these reflected images, the nozzle I2 is moved to an appropriate position, and the relative positional deviation between the vehicle body 1 and the robot main body 5 is corrected.

"Problems to be solved by invention" However, in the conventional industrial robots,
Since a detection means 13 for detecting the relative positional deviation between the workpiece (vehicle body 1) and the robot body 5 is provided at the tip of the robot body 5, this detection means I3 acts as an inertial load on the robot body 5. , there was a great fear that this would cause deterioration of the servo accuracy of the robot body 5 and shorten the life of the entire robot. Furthermore, since the tip of the robot body 5, that is, the wrist 11, is a working part of the robot, there is a high possibility that the detection means 13 will be contaminated with sealant, paint, etc., and if the detection means 13 is contaminated, There is also the problem that detection performance deteriorates when

This invention was made in view of the above problems, and by configuring the robot body and the detection means separately, it suppresses the deterioration of the robot's servo accuracy and shortens its life, and prevents contamination due to the working atmosphere. The purpose of this research is to provide an industrial robot that can prevent deterioration of detection performance. ``Means for Solving the Problems'' In order to solve the above-mentioned problems, the present invention provides an industrial robot comprising a conveyor line and a robot body that performs work on workpieces conveyed on the conveyor line. The robot is characterized in that a detection means for detecting the position of a specific part of the workpiece is provided separately from the robot main body.

In this case, it is preferable that the detection means is provided with a moving device that moves it along the conveyance direction of the conveyor line in synchronization with the workpiece.

"Example" Hereinafter, an example in which the industrial robot of the present invention is applied to a sealing and ring robot will be described with reference to the drawings.

1 to 3 are diagrams showing an industrial robot according to a first embodiment of the present invention. In FIGS. 1 to 3, the industrial robot according to this embodiment has a working part such as a robot body that has a general structure that is approximately the same as that of the conventional industrial robot. Components that are the same as those of the robot are given the same reference numerals, and their explanations will be omitted.

The difference between the industrial robot of this embodiment and the conventional industrial robot described above is the configuration of the detection means 13 for detecting the relative positional deviation between the robot body and the workpiece. A detection means 13 for detecting the position of a specific part of the vehicle body 1 is attached on the top.

This detection means 13 is connected to a column 2 fixed on the base 6.
0, a box 21 fixed on this support 20, and a box 21 inserted into this box 21 so as to be movable forward and backward in a direction perpendicular to the conveying direction of the conveyor line 2 (direction of arrow 1.J in the figure). A pair of rods 22.22, a bracket 23 attached to the ends of these rods 22.22, a visual sensor 24 consisting of a television camera fixed on the bracket 23, and a visual sensor 24 that is connected to the bracket 23 in the direction of the arrow ■ and J in the figure. It is composed of a drive device 25 for moving the seedling after sprouting.

Additionally, this industrial robot is equipped with a robot control unit (not shown) that controls the work by memorizing and reproducing the positions of the X transport device 3, Y transport device 4, and robot body 5. This robot control section also has a control function for the detection means 13.

Next, the operation of the industrial robot according to this embodiment will be explained with reference to FIGS. 4 to 7.

First, at the time of teaching, the car body (workpiece) 1 is placed at a position on the conveyor line 2 that is easy to teach, and in this state, the X transport device 3, Y transport device 4, and robot main body 5 are moved appropriately, and the 5. Trace the seal on the robot body 5.
The sealant supply nozzle 12 provided at the tip is moved. The positions of each part of the X transport device 3, Y transport device 4, and robot main body 5 at this time are stored as teaching data in the transport device position storage unit 27 and robot main body position storage unit 28 of the robot control unit 26 ( (See Figures 4 and 5). At the same time, the drive device 25 of the detection means 13
By driving the bracket 23 and the visual sensor 24
23 in the direction of the arrow ■ in the figure.
, the visual sensor 24 is extended toward the vehicle body l. Then, when the visual sensor 24 detects a characteristic shape (in this embodiment, a round hole 29 in the bottom plate of the vehicle body 1 is used) that can identify the position of the vehicle body 1, the drive of the drive device 25 is stopped. . At this time, the image around the round hole 29 obtained by the visual sensor 24 is manually input to the image processing section 30 in the robot control section 26, and this image processing section 30 uses The deviations dxo and dyo are calculated (see FIG. 6), and these numerical values are stored in the round hole position storage section 31 (see FIGS. 4 and 5).

Next, when reproducing the teaching data, that is, during robot work, the robot control unit 26 moves the X transport device 3 in the direction of arrow C in the figure, and moves the Y transport device 4 in the direction of arrow E in the figure. Then, move the robot body 5 to the frontmost position in the conveyor line 2 transport direction (lowest position in the figure).
and at the farthest position from the conveyor line 2 (farthest right in the figure). In other words, the robot main body 5 is placed in a standby state.

In this state, the robot controller 2 sends a signal indicating that the vehicle body l being conveyed by the conveyor line 2 has reached a predetermined position.
When the robot 6 picks up the receiver, the robot control unit 26 sends a signal to the X transport device 3, and moves the robot main body 5 in synchronization with the vehicle body 1 along the transport direction of the conveyor line 2 (arrow 1 direction in the figure). At the same time, send a signal to the Y conveyance device 4,
The robot main body 5 is approached toward the side of the vehicle body l (in the direction of the arrow in the figure). At the same time, the robot control unit 26 sends a signal to the drive device 25 of the detection means I3 to move the bracket 23 and the visual sensor 24 in the direction of arrow J in the figure, so that the detection means 13 can move the vehicle body l and the robot body 5. Avoid interference.

When the relative position of the robot body 5 and the vehicle body l reaches the tu position at the time of teaching, the robot control unit 26 sends a signal to the drive device 25 to move the bracket 23 and the visual sensor 24. Avoid moving a predetermined amount in the direction of arrow 1 in the figure until the visual sensor 24 captures the round hole 29.
The bracket 23 and the visual sensor 24 are extended toward the vehicle body l. This visual sensor 24 captures f
This image is processed by the image processing section 30 in the robot control section 26, and is
The directional deviations dx and dy are found. Then, by comparing these dx and dy with d The control unit 26 corrects the movement paths of the X transport device 3, Y transport device 4, and robot body 5 that have been taught in advance.

This correction method will be explained with reference to FIGS. 4 and 5. Figure 4 shows the positional deviation of the vehicle body l by the
FIG. 3 is a diagram illustrating a method of correction using the conveyance device 4, in which an image of the vicinity of the round hole 29 from the visual sensor 24 is processed by an image processing section 30 in the robot control section 26; The deviations dx and dy of the center of the round hole 29 from the center of the image in the X and Y directions are determined. These deviations dx, (IY, and teaching deviations dXo, dYo stored in the round hole position storage section 31 are input to the first deviation detection point 32, and the deviation of these deviations is detected. Furthermore, this deviation is detected at the second deviation detection point 33 by the X transport device 3 stored in the transport device position storage section 27.
, Y position data X of the transport device 4. It is added to sYo and output as a command signal for the X transport device 3 and Y transport device 4. Further, the position detection data x, y from the X conveyance device 3 and the Y conveyance device 4 are subtracted and inputted to the second deviation detection point 33 via a feedback loop 34, thereby performing feedback control. .

FIG. 5 is a diagram showing a method of correcting the positional deviation of the vehicle body l using the robot body 5. In this case, the deviations of dx, dy and dxoSdyo are determined at the second deviation detection point 33. Wrist part 11 position data X in robot body position storage section 28. ', yo'. Then, the output signal from the second deviation detection point 33 is processed by the calculation section 35 in the robot control section 26 to obtain an angle of 0.0. . ~θ8o and output to the robot body 5 as a command signal. Further, the angle detection data 01 to θ8 from the robot body 5 are subtracted and inputted to the second deviation detection point 33 via the feedback loop 36, thereby performing feedback control.

When the sealing work by the robot body 5 is completed, the robot control unit 26 sends a signal to the drive device 25 of the X conveyance device 3, Y conveyance device 4, robot body 5, and detection means 13, thereby causing the robot body 5 to move. The aforementioned car body
Set to standby state. Furthermore, as the vehicle body l is transported, the robot control unit 26 instructs the above-mentioned operations to perform sealing work on the vehicle body l, and this process is repeated to perform the sealing work on the vehicle body l being transported by the conveyor line 2. It will be done.

Therefore, in this embodiment, the detection means 13 for detecting the position of a specific part of the robot body 5 and detecting the relative positional deviation between the robot body 5 and the vehicle body (workpiece) Since it is provided separately from the main body 5, the inertial load on the robot main body 5 is reduced, thereby suppressing deterioration of servo accuracy and shortening of the life of the robot main body 5. Furthermore, since the detection means 13 can be provided at an arbitrary distance from the wrist part 11 which is the working part of the robot body 5, it is possible to prevent the detection means 13, especially the visual sensor 24, from being contaminated by the working atmosphere. Deterioration of detection performance can be prevented. Therefore, according to this embodiment, it is possible to realize an industrial robot that can suppress deterioration of the robot's servo accuracy and shorten its life, and can also prevent contamination from the working atmosphere and prevent deterioration of detection performance. .

In particular, in this embodiment, the visual sensor 24 of the detection means 13 is detected in a direction (
Arrow 1 in Figure 1. Since it is configured to move forward and backward in the J direction), by cooperating with the X conveyance device 3 and the Y conveyance device 4, it can easily respond to changes in the shape of many types of vehicle bodies (workpieces) 11 and vehicle body 1. . Moreover, since this detection means 13 is installed on the base 6 on which the robot body 5 is placed, when the robot body 5 performs work following the movement of the vehicle body l, it detects the movement of the vehicle body l. The means 13 also move. Therefore, the robot body 5 and the car body l can be connected without stopping the car body 1.
It is possible to detect and correct the relative positional deviation between the robot body 5 and the robot body 5, thereby speeding up the work.
It becomes possible to perform highly accurate positioning between the vehicle body 1 and the vehicle body 1.

Next, FIG. 8 is a diagram showing an industrial robot which is a second embodiment of the present invention. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

The difference between the industrial robot of this second embodiment and the industrial robot of the first embodiment is the configuration of the detection means 13;
In other words, the detection means of this embodiment! 3 is a support 40 installed on the base 6, a detection arm 41 supported horizontally rotatably (in the direction of the arrow in the figure) at the upper end of the support 40, and a tip of the detection arm 41. a visual sensor 42 which is a television camera attached to the detection arm 4;
1 and a motor 43 that performs one rotational drive.

In other words, in this detection means 13, the positioning mechanism of the visual sensor 24 is replaced by the reciprocating mechanism using the rod 22, 22 and the drive device 25 in the detection means 13 of the first embodiment, and the detection arm 4K and the motor 43. The configuration is exactly the same except for the rotational movement mechanism. Therefore, since its operation, effect, and effect are completely the same as those of the industrial robot of the first embodiment, the explanation thereof will be omitted.

Furthermore, FIGS. 9 to 11 are diagrams showing an industrial robot according to a third embodiment of the present invention.

In the industrial robot of the third embodiment, the detection means 13 is attached to a support 50 fixed on the base 6, and to the upper end of the support 50 so as to be rotatable in the horizontal direction (in the direction of the arrow in the figure). A supported first arm 51, a second arm 52 supported rotatably in the horizontal direction (in the direction of arrow M in the figure) at the tip of the first arm, and a second arm 52 attached to the tip of the second arm 52. a visual sensor 53 serving as a television camera;
, a motor 54 that rotationally drives the second arms 51 and 52.
It consists of 55. That is, this detection means 1
3 is configured to have two degrees of freedom.

Therefore, in this embodiment, the visual sensor 53 is
The vehicle body can move freely within the area S shown in the figure! Also, the visual sensor 53 can be moved over a wide range without changing the relative position of the robot body 5. Therefore, by sequentially detecting the vicinity of the nozzle 12, which is the working part of the robot body 5, it is possible to maintain the distance between the working position and the detection position within a certain range. In addition to the above effects, the present invention has the excellent effect that detection errors caused by the distance between the work position and the detection position can be extremely reduced.

In addition, in the first to third embodiments, the visual sensor 2
4.42.53, a television camera was used, but it goes without saying that other known visual sensors may be used. - For example, if a visual sensor is constructed by arranging a pair of line sensors perpendicular to the X and Y directions, the rising and falling positions of brightness and darkness of each line sensor are detected as shown in Figure 7. By doing so, it is sufficient to detect the positional deviation dx, dy of the center of the round hole 29 from the center of the image.

Further, instead of the visual sensor 24, 42, 53, a distance sensor such as an ultrasonic sensor may be used.
If the sensor can detect a specific location on the workpiece),
An appropriate selection may be made from well-known configurations.

In addition, in the first to third embodiments, the detection means 13 was configured with one degree of freedom or two degrees of freedom, but by having a configuration with three or more degrees of freedom, it is possible to ) It goes without saying that it can be flexibly and easily adapted to the shape of l. Furthermore, the vehicle body l to be detected such as round hole 29, etc.
When there is no variation in the position of a specific part, that is, when working only on a single-shaped vehicle body, the position control of the visual sensor 24, 42, 53 is performed at 0N- between the two positions of the retracted position and the detection position. By performing OFF control, it is also possible to simplify the control of the detection means 13 in the robot control section 26. Then, the robot body 5
The number of detection means 13 installed in is not limited to one,
A plurality of detection means 13 or a plurality of visual sensors 2
By providing 4.42.53, it is possible to detect positional deviations with higher precision, including rotational positional deviations of the vehicle body (workpiece) (2).

Furthermore, FIGS. 12 to 13 are diagrams showing an industrial robot according to a fourth embodiment of the present invention. In these figures, the detection means I3 is provided in parallel with a visual sensor 60 consisting of a television camera and the X conveyance device 3, and synchronizes the visual sensor 60 with the vehicle body l to detect the conveyor line 2.
A sensor transport device 61 that transports the sensor back and forth in the direction along the transport direction (direction of arrows N and O in the figure), and this sensor transport device 6
1, and a position detector 63 that detects the amount of drive of this actuator 62.

The detection means 13 is attached with a sensor control section 64 that controls it and exchanges signals with the robot control section 26 (see FIG. 14).

This sensor control unit 64 includes an image processing unit 6 that processes an image signal from the visual sensor 60 and detects hole positions in the image.
5, a storage section 66 that stores data obtained by the image processing section 65, a signal generation section 67 that sends a command signal to the sensor transport device 61, and a servo driver that generates a current that drives the actuator 62. 68. Further, this sensor control unit 64 is provided with switches 69, 69, . . . that change the flow of signals during teaching and reproduction (during robot work).

Next, the operation of the industrial robot of this embodiment will be explained with reference to FIGS. 14 to 16.

First, in the same way as in the above-mentioned embodiment, during teaching, the vehicle body (workpiece) ■ is placed at a position on the conveyor line 2 that is easy to teach, and in this state, the X conveyance device 3, the Y conveyance device 4, the robot main body 5 The nozzle 12 for supplying sealant provided at the tip of the robot body 5 is moved so as to trace the seal portion of the vehicle body 1. X transport device 3 at this time
, the Y conveyance device 4, and the position of each part of the robot body 5 are stored as teaching data in the position storage section 70 of the robot control section 26 (see FIG. 14).

At the same time, switches 69 and 69 in the sensor control unit 64
, . . . are connected as shown by the broken lines in FIG. In this state, the robot control unit 26 instructs the sensor control unit 64 to move the sensor transport device 61,
The sensor control section 64 causes the signal generation section 67 to send out a command signal for the movement of the sensor transport device 61f). This command signal is
is input to the first deviation detection point 71 in the sensor control unit 64,
Further, the signal is input to the servo driver 68. The servo driver 68 controls the actuator 6 according to this command signal.
By driving 2, the sensor transport device 61 is moved. Then, the drive amount of the actuator 62 is determined by the position detector 6.
3, the position data XS of the visual sensor 60 is detected, and this position data xs is subtracted and input to the first deviation detection point 71, thereby performing feedback control. A characteristic shape (in this embodiment, a round hole 29 on the bottom plate of the vehicle body 1) that allows the position of the vehicle body 1 to be specified is
This visual sensor 60 is moved by the robot control unit 26 and the sensor control unit 64 until the image (using the robot) is located near the center of the image captured by the visual sensor 60. The image around the round hole 29 obtained by the visual sensor 60 at this time is input to the image processing section 65 in the sensor control section 64, and this image processing section 65 calculates the distance Mxt in the X direction and the Y direction from the center of the round hole 29, yt (see FIG. 15), and these numerical values are stored in the storage unit 66 (see FIG. 14). In addition,
In this embodiment, the horizontal direction (the
direction) is the moving direction of the X transport device 4 (arrow in FIG. 12,
E direction).

Next, when reproducing the teaching data, that is, when working on the robot, the robot control unit 2'6 controls the X transport device 3.
By moving the robot body 5 in the direction of arrow C in the figure, and moving the and located at the farthest position from the conveyor line 2 (farthest right in the figure). In other words, the robot main body 5 is placed in a standby state. At the same time, the robot controller 26 sends a signal to the sensor controller 64, and the sensor controller 64 drives the sensor transport device 61 in the direction of arrow 0 in the figure via the signal generator 67, servo driver 68, and actuator 62. Then, the visual sensor 60 is positioned at the frontmost position (lowest in the figure) with respect to the conveyance direction of the conveyor line 2, so that the detection means 13 is also located near the vehicle body.
Set to standby state.

In this state, there is a round hole 2 in the image taken by the visual sensor 60.
9 is captured, the image processing unit 65 outputs the distance XPN Yp from the center of the round hole 29 in the X direction and the Y direction.

The distances xt and yt in the X and Y directions from the center of the round hole 29 at the time of output from the image processing unit 65 and teaching from the storage unit 66 are manually input to the second deviation detection point 72, and the respective deviations ΔX and Δy are input manually to the second deviation detection point 72. is calculated by this second deviation detection point 72.

Among these deviations, the deviation ΔX in the X direction is added to the first deviation detection point 71 and manually inputted to the servo driver 6.
9, the distances xps and Xs of the center of the round hole 29 in the image in the X direction are controlled to match. Furthermore, the deviation Δy in the Y direction and the visual sensor 6
The position data XS of 0 is the position data X of the X transport device 3 and the X transport device 4 respectively stored in the position storage unit 70 in the robot control unit 26. Together with z'In, it is input to the first deviation detection point 73 and the second deviation detection point 74, and these deviations are output as command signals to the X transport device 3 and the X transport device 4. As a result, the visual sensor 60 detects -4 of the vehicle body 1,
+-1+00 Suichi Junzan 1pu + Wandering and returning home + 1ψshin-)h
The X transport device 3 and the X transport device 4 are moved following the vehicle body 1, and therefore the robot main body 5 is also moved following the vehicle body 1.

Therefore, in this embodiment, as in the first to third embodiments, the position of a specific part of the robot body 5 is detected, and the relative position between the robot body 5 and the vehicle body (workpiece) i is determined. Since the detection means (3) for detecting the deviation of the robot body 5 is provided separately from the robot body 5, the inertial load on the robot body 5 is reduced, and the servo accuracy of the robot body 5 is reduced.
It is possible to suppress a decrease in the lifespan, and also to prevent the detection means 13, especially the visual sensor 60, from being contaminated by the working atmosphere, and therefore to prevent the detection performance of the detection means 13 from deteriorating.

Particularly, in this embodiment, the visual sensor 60 of the detection means 13 is transferred to the round hole 29 of the vehicle body by the sensor conveyance device 61. Since it is configured to move by itself in synchronization with the movement of a specific location on the conveyor line 2, the detection accuracy is high, and the conveyor line 2
It has the excellent effect of being able to respond flexibly and reliably to disturbances such as speed unevenness.

In this example, as shown in FIG. 16, two characteristic shapes (round holes 29) that can identify the position of the vehicle body (workpiece) l are captured in the image, and By determining not only the distances xt and yt in the directions but also the inclination OL of the line connecting the centers of the two round holes 29 and 29 and storing them, the relative positional deviation due to the rotation of the vehicle body (workpiece) 1 can be calculated. It is also possible to detect Furthermore, by mounting a plurality of visual sensors 60, 60 on the sensor transport device 61, it is possible to detect positional deviations with higher precision, and it is also possible to detect three-dimensional positional deviations. becomes.

Note that in this embodiment, it goes without saying that other well-known visual sensors may be used as the visual sensor 60.

Further, instead of the visual sensor 60, a distance sensor such as an ultrasonic sensor may be used, and the point is that the vehicle body (workpiece)
Any sensor capable of detecting a specific location may be appropriately selected from well-known configurations. Furthermore, in all the embodiments described above, the visual sensor 24.42.53.60
The shape of the specific part of the vehicle body l detected by is a round hole 29
Needless to say, the shape is not limited to , and may be located anywhere in the vehicle body l as long as it has a shape that can be determined by the image processing section 30.65.

"Effects of the Invention" As explained in detail above, according to the present invention, the detection means detects the position of a specific part of the robot body and detects the relative positional deviation between the robot body and the workpiece. Since it is provided separately from the robot main body, the inertial load on the robot main body is reduced, thereby suppressing deterioration of servo accuracy and shortening of the life of the robot main body. In addition, since the detection means can be provided at a distance of any six colors from the working part of the robot body, the time may vary depending on the working atmosphere of the detection means.
It is possible to prevent F staining and therefore to prevent deterioration of the detection performance of the detection means. Therefore, according to the present invention, it is possible to realize an industrial robot that can suppress deterioration of the robot's servo precision and shorten its life, and can also prevent contamination from the working atmosphere and prevent deterioration of detection performance. .

[Brief explanation of the drawing]

Figures 1 to 3 are diagrams showing an industrial robot according to a first embodiment of the present invention, in which Figure 1 is a plan view, Figure 2 is a side view, and Figure 3 shows only the detection means taken out. FIG. 4 is a diagram for explaining an example of a method for correcting the relative positional deviation between the robot body and the workpiece in the industrial robot according to the first embodiment, and FIG. 5 is the same diagram. 6 is a diagram showing an example of an image of the workpiece detected by the detection means, FIG. 7 is a diagram showing an example of the same location, and FIG. 8 is a diagram showing an example of the image of the workpiece detected by the detection means. FIG. 9 is a perspective view showing an industrial robot according to a second embodiment of the present invention, in which only the detection means thereof is taken out; FIGS. 9 to 11 show an industrial robot according to a third embodiment of the present invention; FIG. FIG.
The figure is a plan view, Figure 1O is a side view, Figure 11 is a perspective view showing only the detection means taken out, and Figures 12 and 13 do not show the industrial robot which is the fourth embodiment of this invention. FIG. 12 is a plan view, FIG. 13 is a front view, and FIG.
Figure 4 is a diagram for explaining the method of correcting the relative positional deviation between the robot body and the workpiece in the industrial robot according to the fourth embodiment of 11η, and Figure 15 is the workpiece detected by the detection means. FIG. 16 is a diagram showing an example of the same area, FIGS. 17 to 19 are diagrams showing conventional industrial robots, and FIG. 17 is a plan view, and FIG.
FIG. 8 is a side view, and FIG. 19 is a perspective view showing only the wrist portion. l...Vehicle body (worked object), 2...Conveyor line, 3...X conveyance device (transfer device),
4... Y transport device (moving device), 5...
・Robot body, 13...Detection means, 61...
...Sensor transport device (transfer device).

Claims (2)

[Claims] (1) In an industrial robot that includes a conveyor line and a robot body that performs work on a workpiece transported on the conveyor line, the detection means for detecting the position of a specific part of the workpiece is connected to the robot body. An industrial robot characterized by being installed separately from the robot. (2) The detection means is provided with a moving device that moves it along the conveyance direction of the conveyor line in synchronization with the workpiece. industrial robot.