WO2016186061A1 - Robot system and robot device - Google Patents

Robot system and robot device Download PDF

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Publication number
WO2016186061A1
WO2016186061A1 PCT/JP2016/064402 JP2016064402W WO2016186061A1 WO 2016186061 A1 WO2016186061 A1 WO 2016186061A1 JP 2016064402 W JP2016064402 W JP 2016064402W WO 2016186061 A1 WO2016186061 A1 WO 2016186061A1
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WO
WIPO (PCT)
Prior art keywords
work
robot
arm mechanism
articulated arm
robot apparatus
Prior art date
Application number
PCT/JP2016/064402
Other languages
French (fr)
Japanese (ja)
Inventor
尹　祐根
宗祐 ▲高▼▲瀬▼
順央 川口
眞二 栗原
光 佐野
Original Assignee
ライフロボティクス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by ライフロボティクス株式会社 filed Critical ライフロボティクス株式会社
Publication of WO2016186061A1 publication Critical patent/WO2016186061A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Definitions

  • Embodiments described herein relate generally to a robot system and a robot apparatus.
  • the robot device equipped with this linear motion telescopic arm mechanism has a special advantage of operating next to the worker without the need for an isolation fence for isolating the robot device from the worker.
  • the purpose is to respond flexibly in a short time to changes in the installation position of the robot apparatus.
  • the robot system has a robot apparatus.
  • the robot apparatus can be installed at a plurality of installation positions in the work place and includes an articulated arm mechanism.
  • a hand effector is attached to the arm tip of the articulated arm mechanism.
  • a position detector is provided to detect an installation position where the robot apparatus is installed.
  • a plurality of work programs describing operations of the articulated arm mechanism and the hand effector are stored in the storage unit in association with a plurality of installation positions.
  • a work program associated with the installation position detected by the position detection unit is selectively read from the storage unit.
  • the control unit controls operations of the articulated arm mechanism and the hand effector according to the read work program.
  • FIG. 1 is an external perspective view of the robot system according to the present embodiment.
  • FIG. 2 is a plan view of the robot system of FIG.
  • FIG. 3 is a side view of the robot system of FIG. 4 is an external perspective view of the robot apparatus of FIG.
  • FIG. 5 is a block diagram showing a configuration of the robot system of FIG.
  • FIG. 6 is a diagram showing a description example of a work program stored in the work program storage unit of FIG.
  • FIG. 7 is a plan view showing the hand trajectory and work contents according to the work program of FIG.
  • FIG. 8 is a block diagram illustrating a configuration of the robot system according to the first modification of the present embodiment.
  • FIG. 9 is a block diagram illustrating a configuration of a robot system according to the second modification of the present embodiment.
  • FIG. 10 is a diagram showing an example of a work program selection screen displayed on the display unit of the pendant device of FIG.
  • FIG. 11 is a block diagram illustrating a configuration of a robot system according to the third modification of the present embodiment.
  • FIG. 12 is a diagram illustrating an example of a work program selection screen displayed on the display unit of the pendant device of FIG.
  • FIG. 1 is an external perspective view of the robot system according to the present embodiment.
  • FIG. 2 is a plan view of the robot system of FIG.
  • FIG. 3 is a side view of the robot system of FIG.
  • the robot system according to the present embodiment includes a robot apparatus 1 that can be installed at a plurality of installation positions.
  • the robot apparatus 1 has portability.
  • a plurality of installation positions are set in advance in work areas such as warehouses and factories. It may be necessary to increase production, workers may be absent from work unexpectedly, or manpower may be insufficient due to various circumstances.
  • the robot apparatus 1 may be transported and installed at an installation position according to the process. it can.
  • the robot apparatus 1 is preset with a plurality of work programs describing the hand trajectory scheduled at each of the plurality of installation positions and the hand work at each waypoint.
  • the control unit of the robot apparatus 1 can selectively load a work program corresponding to the installation position and cause the robot apparatus 1 to work at the installation position.
  • the robot apparatus 1 is installed at an installation position near the appearance inspection line of the printed wiring board, and the robot apparatus 1 is placed on the transport carriage 71 beside the appearance inspection line according to the installation position.
  • a loading operation for releasing the plurality of printed wiring boards carried on the appearance inspection line and an unloading operation for releasing the printed wiring boards after the appearance inspection on the carriage 72 beside the appearance inspection line are performed.
  • the appearance inspection line includes a conveyor device 5 and an appearance inspection device 70 that is interposed in the middle of the conveyance line 51 of the conveyor device 5 and performs an appearance inspection of a printed wiring board that is continuously conveyed by the conveyance line 51.
  • the robot system includes a robot apparatus 1, a conveyor apparatus 5, an overhead camera 60, an appearance inspection apparatus 70, and a plurality of, here, four docking stations 8-1, 8-2, 8-3, 8-4 and a plurality of bar code tags 9-1, 9-2, 9-3, 9-4 in which different codes are recorded.
  • the four barcode tags 9-1, 9-2, 9-3, 9-4 are attached to the four docking stations 8-1, 8-2, 8-3, 8-4, respectively.
  • a barcode tag is used.
  • a two-dimensional code tag, an RFID tag, or the like may be used instead of the barcode.
  • the conveyor device 5 has a function of continuously conveying a plurality of workpieces 300.
  • the work 300 is a printed wiring board.
  • the conveyor device 5 includes a conveyance line 51 arranged in a straight line for conveying the workpiece 300 along a straight line.
  • the conveyance line 51 conveys the workpiece 300 placed on the conveyance line 51 at a conveyance speed set in advance by a user or the like.
  • the appearance inspection device 70 is interposed in the middle of the transport line 51.
  • Docking stations 8-1, 8-2, 8-3 and 8-4 are arranged in advance in the vicinity of the conveyor device 5 in the work place. Docking stations 8-1, 8-2, 8-3, and 8-4 are jigs for fixing the position of the robot apparatus 1.
  • the docking stations 8-1, 8-2 and 8-3 are installed at a plurality of installation positions A-1, A-2 and A-3 on the floor of the work place, respectively.
  • the installation position of the robot apparatus 1 docked at the docking station 8-1 is the same as the installation position A-1 at which the docking station 8-1 is installed.
  • the docking station 8-4 is installed on the side of the frame of the conveyor device 5, and fixes the robot device 1 to the installation position A-4 of the workplace.
  • Barcode tags (also referred to as barcode labels) 9-1, 9-2, 9-3, 9-4 are attached to these docking stations 8-1, 8-2, 8-3, 8-4. Yes.
  • the bar codes of these bar code tags 9-1, 9-2, 9-3, 9-4 are described later together with the position codes corresponding to the installation positions A-1, A-2, A-3, A-4, respectively.
  • the robot apparatus 1 has a barcode reader 104 for reading these barcode tags 9-1, 9-2, 9-3, 9-4.
  • the barcode reader 104 reads the barcode tags 9-1, 9-2, and 9-3 attached to the bottom surfaces of the docking stations 8-1, 8-2, and 8-3.
  • the reader is also provided on the side of the base of the robot apparatus 1 for reading the barcode tag 9-4 attached to the docking station 8-4.
  • the docking stations 8-1, 8-2, 8-3, and 8-4 have a function of supplying commercial power to the robot apparatus 1.
  • the docking stations 8-1, 8-2, 8-3, 8-4 are provided with power supply outlets (receptacles).
  • the receptacle is connected to an external commercial power source.
  • a connector (jack) for power supply is provided at a position corresponding to the receptacle of the robot apparatus 1.
  • the robot apparatus 1 and the docking station 8-1 are energized, and commercial power is supplied from the external power source via the receptacle.
  • the docking station 8-1 for fixing the robot apparatus 1 is used to fix the robot apparatus 1 to fixed installation positions A-1, A-2, A-3, and A-4 in the work place.
  • 8-2, 8-3, 8-4 are provided in the work place or the conveyor device 5.
  • Markers that define the position and orientation of the robot apparatus 1 may be provided on the surface, and barcode tags 9-1, 9-2, and 9-3 may be attached to the positions.
  • the overhead camera 60 is installed at a position where the entire conveyor device 5 is overhead.
  • the overhead camera 60 captures the entire conveyor device 5 in, for example, a moving image mode.
  • An image taken by the overhead camera 60 is output to the operation control device 100 described later.
  • a region of the robot apparatus 1 is extracted from an image captured by the overhead camera 60 by an image processing unit 103 described later by, for example, pattern recognition, and coordinates expressed in an image coordinate system relating to, for example, a bottom position of the extracted robot region are preliminarily stored.
  • the position is converted into a position on the work space coordinate system by a conversion matrix obtained based on the mounting position and direction of the overhead camera 60 and the field of view for photographing. Thereby, the position of the robot apparatus 1 on the work space coordinate system is specified.
  • a marker having a specific color such as yellow, an ellipse or the like having a specific color such as yellow is formed around the base bottom of the robot apparatus 1.
  • Multiple stickers may be attached.
  • the overhead camera 60 is for providing an image for specifying the position in the work place where the robot apparatus 1 is arranged. Therefore, the overhead camera 60 may be installed on the frame of the conveyor device 5 as a camera for photographing the robot apparatus 1 from the side, or a plurality of overhead cameras 60 may be installed in the work place.
  • FIG. 4 is an external perspective view of the robot apparatus 1 of FIG.
  • the robot apparatus 1 has an articulated arm mechanism 200.
  • one of the plurality of joints is configured with a linear motion extendable joint.
  • the robot apparatus 1 has a substantially cylindrical base portion 10 and an arm portion 2 connected to the base portion 10.
  • a wrist part 4 is attached to the tip of the arm part 2.
  • the wrist part 4 is provided with an adapter (not shown).
  • the adapter is provided in a rotating part of a sixth rotating shaft RA6 described later.
  • the suction part 3 is attached via the adapter of the wrist part 4.
  • the robot apparatus 1 has a plurality of joints, here six joints J1, J2, J3, J4, J5 and J6.
  • the plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially arranged from the base portion 10.
  • the first, second, and third joint portions J1, J2, and J3 are referred to as the root three axes, and the fourth, fifth, and sixth joint portions J4, J5, and J6 change the posture of the suction portion 3.
  • the wrist 4 has fourth, fifth, and sixth joints J4, J5, and J6.
  • At least one of the joint portions J1, J2, and J3 constituting the base three axes is a linear motion expansion / contraction joint.
  • the third joint portion J3 is configured as a linear motion expansion / contraction joint, particularly a joint portion having a relatively long expansion / contraction distance.
  • the arm part 2 is a main component constituting the third joint part J3.
  • the first joint portion J1 is a torsion joint centered on the first rotation axis RA1 supported, for example, perpendicularly to the base surface.
  • the second joint portion J2 is a bending joint centered on the second rotation axis RA2 arranged perpendicular to the first rotation axis RA1.
  • the third joint portion J3 is a joint in which the arm portion 2 expands and contracts linearly around a third axis (moving axis) RA3 arranged perpendicular to the second rotation axis RA2.
  • the fourth joint portion J4 is a torsion joint centered on the fourth rotation axis RA4 that coincides with the third movement axis RA3, and the fifth joint portion J5 is a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4. It is a bending joint centered around.
  • the sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is perpendicular to the fourth rotation axis RA4 and perpendicular to the fifth rotation axis RA5.
  • the arm support (first support) 11a forming the base 10 has a cylindrical hollow structure formed around the first rotation axis RA1 of the first joint J1.
  • the first joint portion J1 is attached to a fixed base (not shown).
  • the first support 11 a rotates along with the turning of the arm portion 2.
  • the first support 11a may be fixed to the ground plane.
  • the arm part 2 is provided in a structure that turns independently of the first support 11a.
  • a second support part 11b is connected to the upper part of the first support 11a.
  • the second support portion 11b has a hollow structure that is continuous with the first support portion 11a.
  • One end of the second support portion 11b is attached to the rotating portion of the first joint portion J1.
  • the other end of the second support portion 11b is opened, and the third support portion 11c is fitted so as to be rotatable on the second rotation axis RA2 of the second joint portion J2.
  • the 3rd support part 11c has a hollow structure which consists of a scale-like exterior which is connected to the 1st support part 11a and the 2nd support part.
  • the third support portion 11c is accommodated in the second support portion 11b and sent out as the second joint portion J2 is bent and rotated.
  • the rear part of the arm part 2 constituting the linear joint part J3 (third joint part J3) of the robot apparatus 1 is housed in a hollow structure in which the first support part 11a and the second support part 11b are continuous by contraction thereof. .
  • the third support portion 11c is fitted to the lower end portion of the second support portion 11b so as to be rotatable about the second rotation axis RA2 at the lower end portion of the second support portion 11b.
  • a second joint portion J2 as a bending joint portion around the second rotation axis RA2 is configured.
  • the arm portion 2 rotates in a vertical direction around the second rotation axis RA2 of the second joint portion J2 together with the wrist portion 4 and the suction portion 3, that is, performs a undulation operation.
  • the fourth joint portion J4 is a torsional joint having a fourth rotation axis RA4 that typically coincides with the arm central axis along the expansion / contraction direction of the arm portion 2, that is, the third movement axis RA3 of the third joint portion J3. .
  • the fifth joint J5 is a bending joint having a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4 of the fourth joint J4.
  • the fifth joint portion J5 rotates, it rotates up and down together with the suction portion 3 from the fifth joint portion J5 to the tip.
  • the sixth joint J6 is a bending joint having a sixth rotation axis RA6 perpendicular to the fourth rotation axis RA4 of the fourth joint J4 and perpendicular to the fifth rotation axis RA5 of the fifth joint J5.
  • the suction portion 3 turns left and right.
  • the suction portion 3 attached to the adapter of the wrist portion 4 is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and the fourth, fifth, and sixth joint portions J4. , J5 and J6 are arranged in an arbitrary posture.
  • the length of the linear motion expansion / contraction distance of the third joint portion J3 enables the suction portion 3 to reach a wide range of objects from the proximity position of the base portion 10 to the remote position.
  • the third joint portion J3 is characterized by the length of the linear motion expansion / contraction distance realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3.
  • the linear motion expansion / contraction mechanism has an arm part 2.
  • the arm unit 2 includes a first connection frame row 21 and a second connection frame row 22.
  • the first connected frame row 21 includes a plurality of first connected frames 23.
  • the 1st connection piece 23 is comprised by the substantially flat plate.
  • the front and rear first connecting pieces 23 are connected in a row so as to be freely bent by pins at the end portions of each other. Thereby, the 1st connection top row
  • the second linked frame row 22 includes a plurality of second linked frames 24.
  • the second connecting piece 24 is configured as a short groove having a U-shaped cross section.
  • the front and rear second connecting pieces 24 are connected in a row so as to be freely bent by pins at the bottom end portions of each other.
  • the second connecting piece row 22 can be bent inward, but cannot be bent outward.
  • the first first connected frame 23 in the first connected frame sequence 21 and the first second connected frame 24 in the second connected frame sequence 22 are connected by a connecting frame 27.
  • the connecting piece 27 has a shape obtained by combining the first connecting piece 23 and the second connecting piece 24.
  • the connecting piece 27 becomes the starting end, and the first and second connecting piece rows 21 and 22 are sent out from the opening of the third support portion 11c.
  • the first and second connection frame rows 21 and 22 are joined to each other near the opening of the third support 11c.
  • the joined state of the first and second connection frame rows 21 and 22 is maintained.
  • a columnar body having a certain rigidity is constituted by the first and second connecting piece rows 21 and 22 joined to each other and restrained from bending.
  • the columnar body refers to a columnar rod body in which the first connection frame row 21 is joined to the second connection frame row 22.
  • first and second connecting piece rows 21 and 22 are pulled back to the opening of the third support 11c.
  • the first and second connecting frame rows 21 and 22 constituting the columnar body are separated from each other inside the third support 11c.
  • the separated first and second connecting frame rows 21 and 22 are returned to a bendable state, bent inward in the same direction, and stored substantially in parallel inside the first support 11a.
  • the suction unit 3 includes a suction plate 31 and a sensor unit 32.
  • the suction plate 31 may be any of a vacuum suction method, a Coulomb force method, a polarization method, and an electric adhesion method.
  • the suction plate 31 typically has a relatively thin rectangular flat plate shape and is formed so as to surround the sensor unit 32.
  • the back surface and side surface of the suction plate 31 are covered with the housing 38.
  • the suction surface of the suction plate 31 and the surface of the sensor unit 32 constitute the same plane.
  • CP is the center position of the suction surface.
  • the suction unit driver 39 applies a voltage to the electrode layer.
  • An insulating layer is interposed between the electrode layer and the work, here, the printed wiring board.
  • the sensor unit 32 includes, for example, a CCD-type hand camera 33 and contact sensors 34, 35, and 36.
  • the sensor unit 32 is accommodated in a resin housing 37, for example.
  • a lens hole is formed in the center of the bottom surface of the housing 37, and the lens of the hand camera 33 is fitted therein.
  • the hand camera 33 is typically attached to the housing 37 in a direction in which the imaging visual field center line is substantially perpendicular to the suction surface of the suction plate 31. Thereby, the suction target at a predetermined distance from the suction plate 31 is included in the imaging field of view of the hand camera 33.
  • the hand camera 33 may be attached to the housing 37 in such a direction that the imaging visual field center line is inclined with respect to the suction surface of the suction plate 31.
  • the position of the hand camera 33 is fixed to the suction unit 3. Therefore, the positional relationship between the center of the suction unit 3 and the center of the image captured by the hand camera 33 is fixed.
  • a sensor hole is formed around the lens hole of the housing 37.
  • the sensitivity surfaces of the contact sensors 34, 35, and 36 are fitted into these sensor holes.
  • the contact sensors 34, 35, and 36 are attached in the housing 37 such that the direction of sensitivity thereof is substantially perpendicular to the suction surface of the suction plate 31. That is, the sensitivity direction of the contact sensors 34, 35, and 36 is substantially parallel to the imaging visual field center line of the hand camera 33 and has sensitivity with respect to the imaging direction of the hand camera 33.
  • suction part 3 is not limited to an electrostatic system, A suction system may be used.
  • the hand camera 33 may be attached to the side surface of the suction plate 31.
  • FIG. 5 is a block diagram showing a configuration of the robot apparatus 1 of FIG.
  • the robot apparatus 1 according to the present embodiment includes an operation control apparatus 100, an articulated arm mechanism 200, and a suction unit 3.
  • arm joint actuators 201 each including a stepping motor and a motor driver are provided.
  • a rotary encoder 202 that outputs a pulse at every predetermined rotation angle is connected to the drive shaft of these stepping motors. The joint angle is measured by adding / subtracting the output pulses from the rotary encoder 202 with a counter.
  • the suction unit 3 includes a hand camera 33, contact sensors 34, 35, 36 and a suction unit driver 39.
  • the hand camera 33 images the lower part of the suction unit 3.
  • the hand camera 33 is provided to provide an image for specifying the position and orientation of the printed wiring board to be attracted.
  • the contact sensors 34, 35, and 36 are provided to specify whether or not the printed wiring board to be sucked contacts the suction plate 31. These contact sensors 34, 35, 36 output a contact detection signal to the operation control device 100 when the sensitivity surface comes into contact with a printed wiring board or the like.
  • the suction unit driver 39 applies a voltage to the electrode layer according to the control of the robot control unit 107 described later.
  • the motion control apparatus 100 includes a system control unit 101, a camera interface 102, an image processing unit 103, a barcode reader 104, an installation position specifying unit 105, a work program storage unit 106, and a robot control unit 107. .
  • Each unit is connected to the system control unit 101 via a control / data bus 109.
  • the system control unit 101 includes a CPU (Central Processing Unit), a semiconductor memory, and the like, and controls the operation control apparatus 100 in an integrated manner.
  • An overhead camera 60 is connected to the operation control apparatus 100 via a camera interface 102. The overhead camera 60 is provided at a position overlooking the conveyor device 5, and outputs captured image data to the operation control device 100.
  • the image processing unit 103 converts the robot position expressed in the image coordinate system of the image captured by the overhead camera 60 into the expression in the work space coordinate system, and the position of the robot expressed in the work space coordinate system. Use the correspondence table for conversion to code.
  • the image processing unit 103 extracts a region corresponding to the robot device 1 or a feature point of the robot device 1 from a captured image of the overhead camera 60, and specifies the position of the extracted region on the image.
  • a feature point is a marker or the like attached to the robot apparatus 1.
  • the image processing unit 103 converts the robot position on the image coordinate system into a position on the work field coordinate system.
  • the image processing unit 103 refers to the correspondence table and converts the converted position on the work space coordinate system into a position code. Further, the image processing unit 103 extracts an area corresponding to the printed wiring board from the image photographed by the hand camera 33, and identifies the position and orientation of the printed wiring board to be attracted on the robot coordinate system.
  • Bar code reader 104 optically reads a bar code tag.
  • the installation position specifying unit 105 holds correspondence table data in which a barcode and a position code are associated with each other.
  • the position code is a code representing the installation position of the robot apparatus 1 set in advance in the work place.
  • This correspondence table manages bar codes together with position codes, and can be updated as appropriate. For example, when the barcode tag is replaced, the user changes the barcode before replacement in the correspondence table to the barcode after replacement. When a new barcode tag is installed in the work place, the user adds the barcode to the correspondence table together with the position code corresponding to the installation position.
  • the installation position specifying unit 105 refers to the correspondence table and specifies a position code associated with the barcode read by the barcode reader 104.
  • the work program storage unit 106 stores a plurality of work programs in which hand trajectories, waypoints (work positions), and hand work contents at each work position are already described. For example, a plurality of work programs are respectively associated with a plurality of position codes.
  • the system control unit 101 refers to the work program storage unit 106 and reads a work program associated with the position code specified by the installation position specifying unit 105 or the image processing unit 103 from a plurality of work programs.
  • the barcode system and the camera system were described together, either one may be provided.
  • the method of specifying the position by the camera method is preferable.
  • the robot control unit 107 follows the work program read by the system control unit 101, the position and orientation of the printed wiring board specified by the image processing unit 103, and the contact detection signals of the contact sensors 34, 35, and 36. The operations of the articulated arm mechanism 200 and the suction unit 3 are controlled.
  • FIG. 6 is a diagram showing a description example of the work program stored in the work program storage unit 106 of FIG.
  • the work program in FIG. 6 corresponds to a load work by the robot apparatus 1 that releases the printed wiring board from the transport carriage 71 to the transport line 51.
  • the work program for the load work corresponds to the barcode tag 9-1. That is, the work program for the load work is automatically selected when the robot apparatus 1 is fixed to the docking station 8-1.
  • MOV is a command for moving the hand reference point of the robot apparatus 1.
  • the hand reference point is set, for example, at the suction center position CP of the suction part 3.
  • the route points Pwait, Pt, Pdown, Pp, Pv, and Pr are described on the right side of “MOV” in each procedure.
  • Pwait indicates the standby position of the suction unit 3.
  • Pt indicates a position for photographing the printed wiring board.
  • Pdown indicates the descent start position of the suction unit 3.
  • Pp indicates a suction position where the suction portion 3 performs a suction operation.
  • Pr indicates a release position where the release operation of the suction unit 3 is performed.
  • Pv indicates a movement position that is passed when moving from the suction position Pp to the release position Pr.
  • V is a parameter for designating the moving speed between via points.
  • the work content “suction operation” in step 003 is a command for causing the suction unit 3 to perform a suction operation.
  • the work content “release operation” in step 005 is a command for causing the suction unit 3 to perform a release operation.
  • the basic operation program corresponding to these work contents is stored in the work program storage unit 106.
  • FIG. 7 is a plan view showing a hand trajectory according to the work program of FIG. 7 .
  • a plurality of waypoints are shown together with the transfer line 51 and the robot apparatus 1.
  • the standby position Pwait is set above the transfer line 51. Thereby, the adsorption
  • the photographing position Pt is set in advance to a position where the printed wiring board that is placed on the carriage and carried to a predetermined position is within the photographing field of view.
  • the system control unit 101 sets the lowered position Pdown.
  • the lowered position Pdown is set above the center position of the printed wiring board.
  • the hand posture is set by the system control unit 101 according to the orientation of the printed wiring board.
  • the adsorbing unit 3 is lowered from the lowered position Pdown directly below until a contact detection signal is detected from the contact sensors 34, 35, 36.
  • the position where the contact detection signal is detected from the contact sensors 34, 35, 36 corresponds to the suction position Pp.
  • the suction unit 3 performs a suction operation at the suction position Pp.
  • the movement position Pv is set to a position higher than the transport line 51 in order to lift the suction part 3 upward from the transport line 51 once from the suction position Pp.
  • the release position Pr is set above the line center line of the transport line 51.
  • the suction unit 3 performs a release operation at the release position Pr.
  • the suction unit 3 is returned to the standby position Pwait after the release operation.
  • the robot apparatus 1 uses this as a trigger to perform this series of operations as a suction target. Repeat until there is no printed wiring board.
  • the presence or absence of the printed wiring board to be attracted is determined by the system control unit 101 based on the photographed image of the hand camera 33.
  • the work program and the hand trajectory of the suction unit 3 have been described by taking the loading operation of the robot apparatus 1 as an example.
  • the robot apparatus 1 when the robot apparatus 1 is fixed to the docking station 8-2, the robot apparatus 1 operates according to an unloading work program corresponding to the barcode tag 9-2 read by the barcode reader 104.
  • the robot apparatus 1 sucks the printed circuit board on the transport line 51 and releases the sucked printed circuit board to the transport carriage 73 disposed at a predetermined position.
  • the suction position for sucking the printed wiring board on the transport line 51 and the position for releasing the sucked printed wiring board are set by the system control unit 101 based on the captured image of the hand camera 33.
  • the robot apparatus 1 selects a work program corresponding to the arrangement position from a plurality of work programs facilitated in advance, and operates according to the selected work program.
  • a plurality of installation positions of the robot apparatus 1 are prepared in the work place, and the installation position where the robot apparatus 1 is installed can be determined by a captured image of the overhead camera 60 or a barcode pasted on the installation position. It can be specified by reading the tag.
  • the robot system according to the present embodiment can dynamically change the work program of the robot apparatus 1 in accordance with the change of the position of the robot apparatus 1.
  • the robot apparatus 1 of the robot system according to the present embodiment has no elbow joint and no singularity like the conventional vertical articulated arm mechanism, it does not care about the positions of other workers, and the worker Can be placed close to. Therefore, it is possible to cause the robot apparatus 1 to perform an operation corresponding to the installation position instead of the operator only by installing the robot apparatus 1 at the position of the insufficient worker.
  • the work of teaching the work becomes unnecessary, and the occurrence of downtime is substantially eliminated.
  • the work program storage unit 106 of the motion control apparatus 100 stores in advance a plurality of work programs in association with respective installation positions (position codes representing the installation positions). Therefore, in order to select a work program, the position code of the position where the robot apparatus 1 is installed is specified, and the position code is converted into a work program ID by a correspondence table created in advance. By updating the correspondence table, there is an advantage that the correspondence between the installation position and the work program can be easily corrected and updated. However, the work program ID unique to the work program corresponding to the installation position may be directly recorded on the barcode tag.
  • FIG. 8 is a block diagram showing a configuration of the robot system according to the first modification of the present embodiment.
  • the motion control apparatus 100 includes a system control unit 101, a barcode reader 104, a work program storage unit 106, and a robot control unit 107.
  • a plurality of bar code tags each storing a plurality of types of work program ID codes are respectively arranged at a plurality of installation positions. Each installation position has a work program specific to that position.
  • a bar code tag in which a work program ID unique to the work program is recorded is placed at the installation position corresponding to each work program.
  • the system control unit 101 controls the work program storage unit 106 to read out the work program based on the work program ID of the bar code tag read by the bar code reader 104 at the installation position where the robot apparatus 1 is installed.
  • the work program is loaded from the work program storage unit 106 to the robot control unit 107 under the control of the system control unit 101.
  • the robot control unit 107 outputs control signals to the articulated arm mechanism 200 and the suction unit 3 in accordance with the loaded work program.
  • Modification 2 In the robot system according to the present embodiment described above, a work program corresponding to the installation position where the robot apparatus 1 is installed is automatically selected.
  • the work program may be manually selected.
  • FIG. 9 is a block diagram illustrating a configuration of a robot system according to the second modification of the present embodiment.
  • the motion control apparatus 100 includes a system control unit 101, a work program storage unit 106, a robot control unit 107, an installation sensor 110, and a pendant device 111.
  • the work program storage unit 106 a plurality of work programs are stored in association with the position codes. Furthermore, each of the plurality of work programs is simply characterized by the work as information for the user to clearly identify the work by the work program from the work of other work programs and easily select the required work program. A work summary that is directly expressed is associated. The work summary of each work program is created manually in advance.
  • the installation sensor 110 detects that the robot apparatus 1 is installed in any of the docking stations 8-1, 8-2, 8-3, and 8-4, and outputs an installation detection signal.
  • the installation sensor 110 a pressure sensor, a contact sensor, a photoelectric sensor, or the like can be applied.
  • the pendant device 111 includes a display unit and an operation unit, and is typically provided by a touch screen.
  • the system control unit 101 stores a plurality of work programs stored in the work program storage unit 106.
  • a work program selection screen including a list relating to the pendant device 111 is created and displayed on the display unit of the pendant device 111. Further, the system control unit 101 loads a work program selected from the list via the operation unit by the user from the work program storage unit 106 to the robot control unit 107.
  • FIG. 10 shows a display example of the work program list displayed on the display unit of the pendant device 111 of FIG.
  • installation positions and work outlines respectively corresponding to a plurality of work programs stored in the work program storage unit 106 are displayed in a list together with work program IDs.
  • the work program selection screen indicates that two types of work programs are associated with the robot installation position A-1. The user can visually check the work program selection screen and select a work program that matches the installation position of the robot apparatus 1 and the work outline.
  • Modification 3 On the work program selection screen exemplified in the second modification, a list of information on all work programs stored in the work program storage unit 106 is displayed. However, two or more work programs associated with the installation positions of the robot apparatus 1 are extracted from a plurality of work programs stored in the work program storage unit 106, and the installation positions and work outlines related to the two or more work programs. May be displayed together with the work program ID.
  • FIG. 11 is a block diagram showing a configuration of a robot system according to the third modification of the present embodiment.
  • the system control unit 101 of the robot system according to the third modification of the present embodiment stores a work program associated with a position code representing the installation position of the robot apparatus 1 specified by the installation position specifying unit 105 or the image processing unit 103.
  • a work program selection screen is displayed on the display unit.
  • the system control unit 101 outputs the work program selected by the user on the work program selection screen to the robot control unit 107.
  • FIG. 12 is a diagram showing an example of a work program selection screen displayed on the display unit of the pendant device 111 of FIG.
  • FIG. 12 shows a work program selection screen displayed on the display unit when the robot apparatus 1 is installed at the installation position A-2.
  • the work program selection screen includes two or more work program installation positions and work associated with the installation position of the robot apparatus 1 among the work programs stored in the work program storage unit 106. A summary and a list of work program IDs are included.
  • two work programs (ID003, ID004) associated with the installation position A-2 of the robot apparatus 1 are displayed as a list display target. Thereby, since the choice of the work program which a user selects can be decreased, work efficiency can be improved.

Abstract

The purpose of the invention is to respond flexibly in a short time to changes in the installation position of a robot device. A robot system comprises a robot device (1). The robot device (1) can be installed in a plurality of installation positions in the workplace, and comprises an articulated arm mechanism (200). An end effector (3) is mounted to the distal end of the arm of the articulated arm mechanism. A position detector (104, 9-1 to 9-4) is provided for detecting the installation position where the robot device is installed. A plurality of work programs that describe the movements of the articulated arm mechanism and the end effector are respectively associated with the plurality of installation locations and stored in a storage unit (106). The work program associated with an installation position detected by the position detector is selectively called from the storage unit. A control unit (107) controls the movements of the articulated arm mechanism and the end effector according to the work program that was called.

Description

ロボットシステム及びロボット装置Robot system and robot apparatus
　本発明の実施形態はロボットシステム及びロボット装置に関する。 Embodiments described herein relate generally to a robot system and a robot apparatus.
　近年、産業用ロボットがこれまで作業者の専有スペースであった作業場に進出する状況が拡大しつつある。発明者が実用化を実現した直動伸縮アーム機構は従来の垂直多関節アーム機構のような肘関節がなく、特異点もないことから、上記状況を急速に拡大させるものとして期待されている。 In recent years, the situation where industrial robots have advanced into the workplace, which has previously been an operator's exclusive space, is expanding. The linear motion telescopic arm mechanism realized by the inventor has no elbow joint and no singularity like the conventional vertical articulated arm mechanism, and is expected to rapidly expand the above situation.
　この直動伸縮アーム機構を備えたロボット装置は、ロボット装置を作業者から隔離する隔離柵を不要にして作業員の隣で動作する特段の優位性を備えている。この柵設備が不要であるとの優位性は、当該ロボット装置を決まった位置で動作させるという制約からの解放を実現する。つまりロボット装置を自由に移動させ、その場所で必要な作業をさせることができるようになると、例えば作業員の欠勤等によりある工程で必要なマンパワーが不足している状況が発見されたとき、その場所にロボット装置を配置させて、マンパワー不足を補うような使い方ができるようになる。 The robot device equipped with this linear motion telescopic arm mechanism has a special advantage of operating next to the worker without the need for an isolation fence for isolating the robot device from the worker. The advantage that the fence facility is unnecessary realizes release from the restriction of operating the robot apparatus at a fixed position. In other words, when the robot device can be moved freely and the necessary work can be performed at that location, for example, when a situation where the necessary manpower is insufficient in a certain process due to the absence of the worker, etc. By placing a robot device at the place, it becomes possible to use it to make up for the lack of manpower.
　しかしその都度ロボット装置にその作業内容に応じて手先軌道や手先作業等を教示させる必要があり、その教示作業は非常に負担であったばかりかその間工程が中断するという問題があった。 However, each time it is necessary to have the robot apparatus teach the hand trajectory and the hand work according to the work contents, the teaching work is not only very burdensome, but the process is interrupted.
　目的は、ロボット装置の設置位置の変化に対して短時間で柔軟に対応することにある。 The purpose is to respond flexibly in a short time to changes in the installation position of the robot apparatus.
　本実施形態に係るロボットシステムはロボット装置を有する。ロボット装置は、作業場内の複数の設置位置に設置可能であり、多関節アーム機構を備えている。多関節アーム機構のアーム先端には手先効果器が取り付けられる。ロボット装置が設置される設置位置を検出するために位置検出部が設けられる。多関節アーム機構と手先効果器の動作を記述する複数の作業プログラムが複数の設置位置にそれぞれ関連付けられて記憶部に記憶される。位置検出部により検出された設置位置に関連付けられている作業プログラムが記憶部から選択的に読み出される。制御部は、読み出された作業プログラムに従って多関節アーム機構と手先効果器との動作を制御する。 The robot system according to this embodiment has a robot apparatus. The robot apparatus can be installed at a plurality of installation positions in the work place and includes an articulated arm mechanism. A hand effector is attached to the arm tip of the articulated arm mechanism. A position detector is provided to detect an installation position where the robot apparatus is installed. A plurality of work programs describing operations of the articulated arm mechanism and the hand effector are stored in the storage unit in association with a plurality of installation positions. A work program associated with the installation position detected by the position detection unit is selectively read from the storage unit. The control unit controls operations of the articulated arm mechanism and the hand effector according to the read work program.
図１は、本実施形態に係るロボットシステムの外観斜視図である。FIG. 1 is an external perspective view of the robot system according to the present embodiment. 図２は、図１のロボットシステムの平面図である。FIG. 2 is a plan view of the robot system of FIG. 図３は、図１のロボットシステムの側面図である。FIG. 3 is a side view of the robot system of FIG. 図４は、図１のロボット装置の外観斜視図である。4 is an external perspective view of the robot apparatus of FIG. 図５は、図１のロボットシステムの構成を示すブロック図である。FIG. 5 is a block diagram showing a configuration of the robot system of FIG. 図６は、図５の作業プログラム記憶部に記憶される作業プログラムの記述例を示す図である。FIG. 6 is a diagram showing a description example of a work program stored in the work program storage unit of FIG. 図７は、図６の作業プログラムによる手先軌道と作業内容を示す平面図である。FIG. 7 is a plan view showing the hand trajectory and work contents according to the work program of FIG. 図８は、本実施形態の変形例１に係るロボットシステムの構成を示すブロック図である。FIG. 8 is a block diagram illustrating a configuration of the robot system according to the first modification of the present embodiment. 図９は、本実施形態の変形例２に係るロボットシステムの構成を示すブロック図である。FIG. 9 is a block diagram illustrating a configuration of a robot system according to the second modification of the present embodiment. 図１０は、図９のペンダントデバイスの表示部に表示される作業プログラム選択画面の一例を示す図である。FIG. 10 is a diagram showing an example of a work program selection screen displayed on the display unit of the pendant device of FIG. 図１１は、本実施形態の変形例３に係るロボットシステムの構成を示すブロック図である。FIG. 11 is a block diagram illustrating a configuration of a robot system according to the third modification of the present embodiment. 図１２は、図１１のペンダントデバイスの表示部に表示される作業プログラム選択画面の一例を示す図である。FIG. 12 is a diagram illustrating an example of a work program selection screen displayed on the display unit of the pendant device of FIG.
　以下、図面を参照しながら本実施形態に係るロボットシステムを説明する。以下の説明において、略同一の機能及び構成を有する構成要素については、同一符号を付し、重複説明は必要な場合にのみ行う。 Hereinafter, the robot system according to the present embodiment will be described with reference to the drawings. In the following description, components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description will be given only when necessary.
　図１は、本実施形態に係るロボットシステムの外観斜視図である。図２は、図１のロボットシステムの平面図である。図３は、図１のロボットシステムの側面図である。本実施形態に係るロボットシステムは複数の設置位置に設置可能なロボット装置１を有する。ロボット装置１は、可搬性を備えている。倉庫、工場等の作業エリア内には複数の設置位置が予め設定されている。増産体制が必要になったり、作業員が不測に欠勤したり、様々な事情によりマンパワー不足が生じることがあり、そのとき当該工程に応じた設置位置にロボット装置１を搬送して設置することができる。ロボット装置１には複数の設置位置それぞれで予定されている手先軌道や各経由点での手先作業を記述した複数の作業プログラムがプリセットされている。ロボット装置１の制御部は、設置位置に応じた作業プログラムを選択的にロードしてその設置位置でロボット装置１に作業させることができる。 FIG. 1 is an external perspective view of the robot system according to the present embodiment. FIG. 2 is a plan view of the robot system of FIG. FIG. 3 is a side view of the robot system of FIG. The robot system according to the present embodiment includes a robot apparatus 1 that can be installed at a plurality of installation positions. The robot apparatus 1 has portability. A plurality of installation positions are set in advance in work areas such as warehouses and factories. It may be necessary to increase production, workers may be absent from work unexpectedly, or manpower may be insufficient due to various circumstances. At that time, the robot apparatus 1 may be transported and installed at an installation position according to the process. it can. The robot apparatus 1 is preset with a plurality of work programs describing the hand trajectory scheduled at each of the plurality of installation positions and the hand work at each waypoint. The control unit of the robot apparatus 1 can selectively load a work program corresponding to the installation position and cause the robot apparatus 1 to work at the installation position.
　ここでは作業内容の一例として、プリント配線基板の外観検査ラインの近傍の設置位置にロボット装置１が設置され、ロボット装置１は、設置位置に応じて、外観検査ライン脇に運搬台車７１に載せて運ばれてきた複数のプリント配線基板を、外観検査ライン上にリリースするロード作業と、外観検査後のプリント配線基板を外観検査ライン脇の運搬台車７２にリリースするアンロード作業を行う。外観検査ラインは、コンベア装置５とコンベア装置５の搬送ライン５１の途中に介在され、搬送ライン５１によって連続的に搬送されるプリント配線基板の外観検査を行う外観検査装置７０とを備える。 Here, as an example of the work content, the robot apparatus 1 is installed at an installation position near the appearance inspection line of the printed wiring board, and the robot apparatus 1 is placed on the transport carriage 71 beside the appearance inspection line according to the installation position. A loading operation for releasing the plurality of printed wiring boards carried on the appearance inspection line and an unloading operation for releasing the printed wiring boards after the appearance inspection on the carriage 72 beside the appearance inspection line are performed. The appearance inspection line includes a conveyor device 5 and an appearance inspection device 70 that is interposed in the middle of the conveyance line 51 of the conveyor device 5 and performs an appearance inspection of a printed wiring board that is continuously conveyed by the conveyance line 51.
　本実施形態に係るロボットシステムは、ロボット装置１と、コンベア装置５と、俯瞰カメラ６０と、外観検査装置７０と、複数、ここでは４つのドッキングステーション８－１、８－２，８－３，８－４と、互いに異なるコードが記録されている複数の、ここでは４つのバーコードタグ９－１，９－２，９－３，９－４とを有する。４つのバーコードタグ９－１，９－２，９－３，９－４は４つのドッキングステーション８－１、８－２，８－３，８－４にそれぞれ貼付されている。なお、本実施形態では、バーコードタグを用いたが、バーコードに代わって、２次元コードタグ、ＲＦＩＤタグ等を用いてもよい。 The robot system according to the present embodiment includes a robot apparatus 1, a conveyor apparatus 5, an overhead camera 60, an appearance inspection apparatus 70, and a plurality of, here, four docking stations 8-1, 8-2, 8-3, 8-4 and a plurality of bar code tags 9-1, 9-2, 9-3, 9-4 in which different codes are recorded. The four barcode tags 9-1, 9-2, 9-3, 9-4 are attached to the four docking stations 8-1, 8-2, 8-3, 8-4, respectively. In the present embodiment, a barcode tag is used. However, a two-dimensional code tag, an RFID tag, or the like may be used instead of the barcode.
　コンベア装置５は、複数のワーク３００を連続的に搬送する機能を有する。ワーク３００はここではプリント配線基板である。例えば、コンベア装置５は、直線に沿ってワーク３００を搬送するための直線状に配設された搬送ライン５１を有する。搬送ライン５１は、搬送ライン５１上に載置されたワーク３００を、予めユーザ等により設定された搬送速度で搬送する。外観検査装置７０は、搬送ライン５１の途中に介在される。 The conveyor device 5 has a function of continuously conveying a plurality of workpieces 300. Here, the work 300 is a printed wiring board. For example, the conveyor device 5 includes a conveyance line 51 arranged in a straight line for conveying the workpiece 300 along a straight line. The conveyance line 51 conveys the workpiece 300 placed on the conveyance line 51 at a conveyance speed set in advance by a user or the like. The appearance inspection device 70 is interposed in the middle of the transport line 51.
　ドッキングステーション８－１、８－２，８－３，８－４は、作業場内、コンベア装置５の近傍に予め配設されている。ドッキングステーション８－１、８－２，８－３，８－４は、ロボット装置１の位置を固定するための治具である。ドッキングステーション８－１、８－２，８－３は、作業場の床面の複数の設置位置Ａ－１，Ａ－２，Ａ－３にそれぞれ据え付けられている。ドッキングステーション８－１にドッキングされたロボット装置１の設置位置は、ドッキングステーション８－１が据え付けられた設置位置Ａ－１に同一である。ドッキングステーション８－４は、コンベア装置５のフレーム側面に装備されており、ロボット装置１を作業場の設置位置Ａ－４に固定する。これらドッキングステーション８－１、８－２，８－３，８－４には、バーコードタグ（バーコードラベルともいう）９－１、９－２，９－３，９－４が取り付けられている。これらバーコードタグ９－１、９－２，９－３，９－４のバーコードは、それぞれ設置位置Ａ－１，Ａ－２，Ａ－３、Ａ－４に対応する位置コードとともに、後述の設置位置特定部１０５の対応表に記憶されている。ロボット装置１は、これらバーコードタグ９－１、９－２，９－３，９－４を読み取るためのバーコードリーダ１０４を有する。例えば、バーコードリーダ１０４は、ドッキングステーション８－１、８－２，８－３の底面に取り付けられたバーコードタグ９－１、９－２，９－３を読み取るために、ロボット装置１の基部底面に設けられている。また、リーダは、ドッキングステーション８－４に取り付けられたバーコードタグ９－４を読み取るために、ロボット装置１の基部側面にも設けられている。 Docking stations 8-1, 8-2, 8-3 and 8-4 are arranged in advance in the vicinity of the conveyor device 5 in the work place. Docking stations 8-1, 8-2, 8-3, and 8-4 are jigs for fixing the position of the robot apparatus 1. The docking stations 8-1, 8-2 and 8-3 are installed at a plurality of installation positions A-1, A-2 and A-3 on the floor of the work place, respectively. The installation position of the robot apparatus 1 docked at the docking station 8-1 is the same as the installation position A-1 at which the docking station 8-1 is installed. The docking station 8-4 is installed on the side of the frame of the conveyor device 5, and fixes the robot device 1 to the installation position A-4 of the workplace. Barcode tags (also referred to as barcode labels) 9-1, 9-2, 9-3, 9-4 are attached to these docking stations 8-1, 8-2, 8-3, 8-4. Yes. The bar codes of these bar code tags 9-1, 9-2, 9-3, 9-4 are described later together with the position codes corresponding to the installation positions A-1, A-2, A-3, A-4, respectively. Are stored in the correspondence table of the installation position specifying unit 105. The robot apparatus 1 has a barcode reader 104 for reading these barcode tags 9-1, 9-2, 9-3, 9-4. For example, the barcode reader 104 reads the barcode tags 9-1, 9-2, and 9-3 attached to the bottom surfaces of the docking stations 8-1, 8-2, and 8-3. Provided on the bottom of the base. The reader is also provided on the side of the base of the robot apparatus 1 for reading the barcode tag 9-4 attached to the docking station 8-4.
　ドッキングステーション８－１、８－２，８－３，８－４は、ロボット装置１に商用電源を供給する機能を有する。例えば、ドッキングステーション８－１、８－２，８－３，８－４には、電力供給用の差込口（レセプタクル）が設けられる。レセプタクルは外部の商用電源に接続されている。ロボット装置１の、レセプタクルに対応する位置には、電力供給用のコネクタ（ジャック）が設けられている。例えば、ロボット装置１がドッキングステーション８－１に予め決まった向きでドッキングすることにより、ロボット装置１のジャックは、ドッキングステーション８－１のレセプタクルに接続される。これにより、ロボット装置１とドッキングステーション８－１とは通電し、レセプタクルを介して外部電源から商用電源が供給される。 The docking stations 8-1, 8-2, 8-3, and 8-4 have a function of supplying commercial power to the robot apparatus 1. For example, the docking stations 8-1, 8-2, 8-3, 8-4 are provided with power supply outlets (receptacles). The receptacle is connected to an external commercial power source. A connector (jack) for power supply is provided at a position corresponding to the receptacle of the robot apparatus 1. For example, when the robot apparatus 1 is docked to the docking station 8-1 in a predetermined direction, the jack of the robot apparatus 1 is connected to the receptacle of the docking station 8-1. As a result, the robot apparatus 1 and the docking station 8-1 are energized, and commercial power is supplied from the external power source via the receptacle.
　なお、本実施形態では、ロボット装置１を作業場内の決まった設置位置Ａ－１，Ａ－２，Ａ－３，Ａ－４に固定するために、ロボット装置１を固定するドッキングステーション８－１、８－２，８－３，８－４が作業場またはコンベア装置５に設けられているとしたが、例えば、床面のドッキングステーション８－１，８－２，８－３に代わって、床面にロボット装置１の位置と向きとを規定するマーカが設けられ、その位置にバーコードタグ９－１、９－２，９－３が貼設されていてもよい。 In the present embodiment, the docking station 8-1 for fixing the robot apparatus 1 is used to fix the robot apparatus 1 to fixed installation positions A-1, A-2, A-3, and A-4 in the work place. , 8-2, 8-3, 8-4 are provided in the work place or the conveyor device 5. For example, instead of the docking stations 8-1, 8-2, 8-3 on the floor, Markers that define the position and orientation of the robot apparatus 1 may be provided on the surface, and barcode tags 9-1, 9-2, and 9-3 may be attached to the positions.
　俯瞰カメラ６０は、コンベア装置５の全体を俯瞰する位置に設置される。俯瞰カメラ６０は、コンベア装置５の全体を、例えば、動画モードで撮影している。俯瞰カメラ６０により撮影された画像は、後述の動作制御装置１００に出力される。後述の画像処理部１０３により俯瞰カメラ６０により撮影された画像からロボット装置１の領域が例えばパターン認識により抽出され、抽出されたロボット領域の例えば底部位置に関する画像座標系で表現された座標が、予め俯瞰カメラ６０の取り付け位置及び方向、さらに撮影視野等に基づいて求められた変換行列により作業場座標系上での位置に変換される。それにより作業場座標系上のロボット装置１の位置が特定される。なお画像からロボット装置１の位置を特定する処理を簡素に且つ精度を高めるためにロボット装置１の基部底部の周囲に黄色等の特定色であって楕円形等の特定形状且つ特定寸法のマーカを複数貼付していてもよい。 The overhead camera 60 is installed at a position where the entire conveyor device 5 is overhead. The overhead camera 60 captures the entire conveyor device 5 in, for example, a moving image mode. An image taken by the overhead camera 60 is output to the operation control device 100 described later. A region of the robot apparatus 1 is extracted from an image captured by the overhead camera 60 by an image processing unit 103 described later by, for example, pattern recognition, and coordinates expressed in an image coordinate system relating to, for example, a bottom position of the extracted robot region are preliminarily stored. The position is converted into a position on the work space coordinate system by a conversion matrix obtained based on the mounting position and direction of the overhead camera 60 and the field of view for photographing. Thereby, the position of the robot apparatus 1 on the work space coordinate system is specified. In addition, in order to simplify the process of specifying the position of the robot apparatus 1 from the image and to improve the accuracy, a marker having a specific color such as yellow, an ellipse or the like having a specific color such as yellow is formed around the base bottom of the robot apparatus 1. Multiple stickers may be attached.
　俯瞰カメラ６０は、ロボット装置１が作業場内のどの位置に配置されたかを特定するための画像を提供するためのものである。そのため、俯瞰カメラ６０は、側方からロボット装置１を撮影するカメラとして、コンベア装置５のフレームに設置してもよいし、また、複数の俯瞰カメラ６０を作業場内に設置してもよい。 The overhead camera 60 is for providing an image for specifying the position in the work place where the robot apparatus 1 is arranged. Therefore, the overhead camera 60 may be installed on the frame of the conveyor device 5 as a camera for photographing the robot apparatus 1 from the side, or a plurality of overhead cameras 60 may be installed in the work place.
　図４は、図１のロボット装置１の外観斜視図である。ロボット装置１は、多関節アーム機構２００を有する。本実施形態に係るロボットシステムのロボット装置１の多関節アーム機構２００において、複数の関節のうち、一が直動伸縮関節で構成されている。 FIG. 4 is an external perspective view of the robot apparatus 1 of FIG. The robot apparatus 1 has an articulated arm mechanism 200. In the multi-joint arm mechanism 200 of the robot apparatus 1 of the robot system according to the present embodiment, one of the plurality of joints is configured with a linear motion extendable joint.
　ロボット装置１は、略円筒形状の基部１０と基部１０に接続されるアーム部２とを有する。アーム部２の先端には手首部４が取り付けられている。手首部４には図示しないアダプタが設けられている。アダプタは、後述する第６回転軸ＲＡ６の回転部に設けられる。手首部４のアダプタを介して吸着部３が取り付けられる。 The robot apparatus 1 has a substantially cylindrical base portion 10 and an arm portion 2 connected to the base portion 10. A wrist part 4 is attached to the tip of the arm part 2. The wrist part 4 is provided with an adapter (not shown). The adapter is provided in a rotating part of a sixth rotating shaft RA6 described later. The suction part 3 is attached via the adapter of the wrist part 4.
　ロボット装置１は、複数、ここでは６つの関節部Ｊ１，Ｊ２，Ｊ３，Ｊ４，Ｊ５，Ｊ６を有する。複数の関節部Ｊ１，Ｊ２，Ｊ３，Ｊ４，Ｊ５，Ｊ６は基部１０から順番に配設される。一般的に、第１、第２、第３関節部Ｊ１，Ｊ２，Ｊ３は根元３軸と呼ばれ、第４、第５、第６関節部Ｊ４，Ｊ５，Ｊ６は吸着部３の姿勢を変化させる手首３軸と呼ばれる。手首部４は第４、第５、第６関節部Ｊ４，Ｊ５，Ｊ６を有する。根元３軸を構成する関節部Ｊ１，Ｊ２，Ｊ３の少なくとも一つは直動伸縮関節である。ここでは第３関節部Ｊ３が直動伸縮関節、特に伸縮距離の比較的長い関節部として構成される。アーム部２は第３関節部Ｊ３を構成する主要な構成要素である。 The robot apparatus 1 has a plurality of joints, here six joints J1, J2, J3, J4, J5 and J6. The plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially arranged from the base portion 10. In general, the first, second, and third joint portions J1, J2, and J3 are referred to as the root three axes, and the fourth, fifth, and sixth joint portions J4, J5, and J6 change the posture of the suction portion 3. Called wrist 3 axis. The wrist 4 has fourth, fifth, and sixth joints J4, J5, and J6. At least one of the joint portions J1, J2, and J3 constituting the base three axes is a linear motion expansion / contraction joint. Here, the third joint portion J3 is configured as a linear motion expansion / contraction joint, particularly a joint portion having a relatively long expansion / contraction distance. The arm part 2 is a main component constituting the third joint part J3.
　第１関節部Ｊ１は基台面に対して例えば垂直に支持される第１回転軸ＲＡ１を中心としたねじり関節である。第２関節部Ｊ２は第１回転軸ＲＡ１に対して垂直に配置される第２回転軸ＲＡ２を中心とした曲げ関節である。第３関節部Ｊ３は、第２回転軸ＲＡ２に対して垂直に配置される第３軸（移動軸）ＲＡ３を中心として直線的にアーム部２が伸縮する関節である。 The first joint portion J1 is a torsion joint centered on the first rotation axis RA1 supported, for example, perpendicularly to the base surface. The second joint portion J2 is a bending joint centered on the second rotation axis RA2 arranged perpendicular to the first rotation axis RA1. The third joint portion J3 is a joint in which the arm portion 2 expands and contracts linearly around a third axis (moving axis) RA3 arranged perpendicular to the second rotation axis RA2.
　第４関節部Ｊ４は、第３移動軸ＲＡ３に一致する第４回転軸ＲＡ４を中心としたねじり関節であり、第５関節部Ｊ５は第４回転軸ＲＡ４に対して直交する第５回転軸ＲＡ５を中心とした曲げ関節である。第６関節部Ｊ６は第４回転軸ＲＡ４に対して直交し、第５回転軸ＲＡ５に対して垂直に配置される第６回転軸ＲＡ６を中心とした曲げ関節である。 The fourth joint portion J4 is a torsion joint centered on the fourth rotation axis RA4 that coincides with the third movement axis RA3, and the fifth joint portion J5 is a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4. It is a bending joint centered around. The sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is perpendicular to the fourth rotation axis RA4 and perpendicular to the fifth rotation axis RA5.
　基部１０を成すアーム支持体（第１支持体）１１ａは、第１関節部Ｊ１の第１回転軸ＲＡ１を中心に形成される円筒形状の中空構造を有する。第１関節部Ｊ１は図示しない固定台に取り付けられる。第１関節部Ｊ１が回転するとき、第１支持体１１ａはアーム部２の旋回とともに軸回転する。なお、第１支持体１１ａが接地面に固定されていてもよい。その場合、第１支持体１１ａとは独立してアーム部２が旋回する構造に設けられる。第１支持体１１ａの上部には第２支持部１１ｂが接続される。 The arm support (first support) 11a forming the base 10 has a cylindrical hollow structure formed around the first rotation axis RA1 of the first joint J1. The first joint portion J1 is attached to a fixed base (not shown). When the first joint portion J <b> 1 rotates, the first support 11 a rotates along with the turning of the arm portion 2. The first support 11a may be fixed to the ground plane. In that case, the arm part 2 is provided in a structure that turns independently of the first support 11a. A second support part 11b is connected to the upper part of the first support 11a.
　第２支持部１１ｂは第１支持部１１ａに連続する中空構造を有する。第２支持部１１ｂの一端は第１関節部Ｊ１の回転部に取り付けられる。第２支持部１１ｂの他端は開放され、第３支持部１１ｃが第２関節部Ｊ２の第２回転軸ＲＡ２において回動自在に嵌め込まれる。第３支持部１１ｃは第１支持部１１ａ及び第２支持部に連通する鱗状の外装からなる中空構造を有する。第３支持部１１ｃは、第２関節部Ｊ２の曲げ回転に伴ってその後部が第２支持部１１ｂに収容され、また送出される。ロボット装置１の直動関節部Ｊ３（第３関節部Ｊ３）を構成するアーム部２の後部はその収縮により第１支持部１１ａと第２支持部１１ｂの連続する中空構造の内部に収納される。 The second support portion 11b has a hollow structure that is continuous with the first support portion 11a. One end of the second support portion 11b is attached to the rotating portion of the first joint portion J1. The other end of the second support portion 11b is opened, and the third support portion 11c is fitted so as to be rotatable on the second rotation axis RA2 of the second joint portion J2. The 3rd support part 11c has a hollow structure which consists of a scale-like exterior which is connected to the 1st support part 11a and the 2nd support part. The third support portion 11c is accommodated in the second support portion 11b and sent out as the second joint portion J2 is bent and rotated. The rear part of the arm part 2 constituting the linear joint part J3 (third joint part J3) of the robot apparatus 1 is housed in a hollow structure in which the first support part 11a and the second support part 11b are continuous by contraction thereof. .
　第３支持部１１ｃはその後端下部において第２支持部１１ｂの開放端下部に対して第２回転軸ＲＡ２を中心として回動自在に嵌め込まれる。それにより第２回転軸ＲＡ２を中心とした曲げ関節部としての第２関節部Ｊ２が構成される。第２関節部Ｊ２が回動すると、アーム部２は、手首部４及び吸着部３とともに第２関節部Ｊ２の第２回転軸ＲＡ２を中心に垂直方向に回動、つまり起伏動作をする。 The third support portion 11c is fitted to the lower end portion of the second support portion 11b so as to be rotatable about the second rotation axis RA2 at the lower end portion of the second support portion 11b. Thereby, a second joint portion J2 as a bending joint portion around the second rotation axis RA2 is configured. When the second joint portion J2 rotates, the arm portion 2 rotates in a vertical direction around the second rotation axis RA2 of the second joint portion J2 together with the wrist portion 4 and the suction portion 3, that is, performs a undulation operation.
　第４関節部Ｊ４は、アーム部２の伸縮方向に沿ったアーム中心軸、つまり第３関節部Ｊ３の第３移動軸ＲＡ３に典型的には一致する第４回転軸ＲＡ４を有するねじり関節である。第４関節部Ｊ４が回転すると、第４関節部Ｊ４から先端にかけて吸着部３とともに第４回転軸ＲＡ４を中心に回転する。第５関節部Ｊ５は、第４関節部Ｊ４の第４回転軸ＲＡ４に対して直交する第５回転軸ＲＡ５を有する曲げ関節部である。第５関節部Ｊ５が回転すると、第５関節部Ｊ５から先端にかけて吸着部３とともに上下に回動する。第６関節部Ｊ６は、第４関節部Ｊ４の第４回転軸ＲＡ４に直交し、第５関節部Ｊ５の第５回転軸ＲＡ５に垂直な第６回転軸ＲＡ６を有する曲げ関節である。第６関節部Ｊ６が回転すると吸着部３が左右に旋回する。 The fourth joint portion J4 is a torsional joint having a fourth rotation axis RA4 that typically coincides with the arm central axis along the expansion / contraction direction of the arm portion 2, that is, the third movement axis RA3 of the third joint portion J3. . When the fourth joint portion J4 rotates, the fourth joint portion J4 rotates around the fourth rotation axis RA4 together with the suction portion 3 from the fourth joint portion J4 to the tip. The fifth joint J5 is a bending joint having a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4 of the fourth joint J4. When the fifth joint portion J5 rotates, it rotates up and down together with the suction portion 3 from the fifth joint portion J5 to the tip. The sixth joint J6 is a bending joint having a sixth rotation axis RA6 perpendicular to the fourth rotation axis RA4 of the fourth joint J4 and perpendicular to the fifth rotation axis RA5 of the fifth joint J5. When the sixth joint portion J6 rotates, the suction portion 3 turns left and right.
　上記の通り手首部４のアダプタに取り付けられた吸着部３は、第１、第２、第３関節部Ｊ１、Ｊ２、Ｊ３により任意位置に移動され、第４、第５、第６関節部Ｊ４、Ｊ５、Ｊ６により任意姿勢に配置される。特に第３関節部Ｊ３の直動伸縮距離の長さは、基部１０の近接位置から遠隔位置までの広範囲の対象に吸着部３を到達させることを可能にする。第３関節部Ｊ３はそれを構成する直動伸縮機構により実現される直動伸縮距離の長さが特徴的である。 As described above, the suction portion 3 attached to the adapter of the wrist portion 4 is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and the fourth, fifth, and sixth joint portions J4. , J5 and J6 are arranged in an arbitrary posture. In particular, the length of the linear motion expansion / contraction distance of the third joint portion J3 enables the suction portion 3 to reach a wide range of objects from the proximity position of the base portion 10 to the remote position. The third joint portion J3 is characterized by the length of the linear motion expansion / contraction distance realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3.
　直動伸縮機構はアーム部２を有する。アーム部２は第１連結コマ列２１と第２連結コマ列２２とを有する。第１連結コマ列２１は複数の第１連結コマ２３からなる。第１連結コマ２３は略平板に構成される。前後の第１連結コマ２３は、互いの端部箇所においてピンにより屈曲自在に列状に連結される。これにより第１連結コマ列２１は内側と外側とに屈曲可能な性質を備える。第２連結コマ列２２は複数の第２連結コマ２４からなる。第２連結コマ２４は断面コ字形状の短溝状体に構成される。前後の第２連結コマ２４は、互いの底面端部箇所においてピンにより屈曲自在に列状に連結される。第２連結コマ２４の断面形状及びピンによる連結位置により第２連結コマ列２２は内側に屈曲可能であるが、外側に屈曲不可な性質を備える。 The linear motion expansion / contraction mechanism has an arm part 2. The arm unit 2 includes a first connection frame row 21 and a second connection frame row 22. The first connected frame row 21 includes a plurality of first connected frames 23. The 1st connection piece 23 is comprised by the substantially flat plate. The front and rear first connecting pieces 23 are connected in a row so as to be freely bent by pins at the end portions of each other. Thereby, the 1st connection top row | line | column 21 is provided with the property which can be bent inside and outside. The second linked frame row 22 includes a plurality of second linked frames 24. The second connecting piece 24 is configured as a short groove having a U-shaped cross section. The front and rear second connecting pieces 24 are connected in a row so as to be freely bent by pins at the bottom end portions of each other. Depending on the cross-sectional shape of the second connecting piece 24 and the connecting position by the pins, the second connecting piece row 22 can be bent inward, but cannot be bent outward.
　第１連結コマ列２１のうち先頭の第１連結コマ２３と、第２連結コマ列２２のうち先頭の第２連結コマ２４とは結合コマ２７により結合される。例えば、結合コマ２７は第１連結コマ２３と第２連結コマ２４とを合成した形状を有している。　
　アーム部２が伸長するときには、結合コマ２７が始端となって、第１、第２連結コマ列２１，２２が第３支持部１１ｃの開口から外に向かって送り出される。第１、第２連結コマ列２１、２２は、第３支持体１１ｃの開口付近で互いに接合される。第１、第２連結コマ列２１、２２の後部が第３支持体１１ｃの内部で堅持されることにより、第１、第２連結コマ列２１，２２の接合状態が保持される。第１、第２連結コマ列２１、２２の接合状態が保持されたとき、第１連結コマ列２１と第２連結コマ列２２の屈曲は拘束される。接合し、それぞれの屈曲が拘束された第１、第２連結コマ列２１、２２により一定の剛性を備えた柱状体が構成される。柱状体とは、第２連結コマ列２２に第１連結コマ列２１が接合されてなる柱状の棒体を言う。 The first first connected frame 23 in the first connected frame sequence 21 and the first second connected frame 24 in the second connected frame sequence 22 are connected by a connecting frame 27. For example, the connecting piece 27 has a shape obtained by combining the first connecting piece 23 and the second connecting piece 24.
When the arm portion 2 extends, the connecting piece 27 becomes the starting end, and the first and second connecting piece rows 21 and 22 are sent out from the opening of the third support portion 11c. The first and second connection frame rows 21 and 22 are joined to each other near the opening of the third support 11c. When the rear portions of the first and second connection frame rows 21 and 22 are firmly held inside the third support 11c, the joined state of the first and second connection frame rows 21 and 22 is maintained. When the joined state of the first and second connection frame rows 21 and 22 is maintained, the bending of the first connection frame row 21 and the second connection frame row 22 is restricted. A columnar body having a certain rigidity is constituted by the first and second connecting piece rows 21 and 22 joined to each other and restrained from bending. The columnar body refers to a columnar rod body in which the first connection frame row 21 is joined to the second connection frame row 22.
　アーム部２が収縮するときには、第３支持体１１ｃの開口に第１、第２連結コマ列２１，２２が引き戻される。柱状体を構成する第１、第２連結コマ列２１，２２は、第３支持体１１ｃの内部で互いに離反される。離反された第１、第２連結コマ列２１，２２はそれぞれ屈曲可能な状態に復帰し、それぞれ同方向の内側に屈曲され、第１支持体１１ａの内部に略平行に格納される。 When the arm part 2 contracts, the first and second connecting piece rows 21 and 22 are pulled back to the opening of the third support 11c. The first and second connecting frame rows 21 and 22 constituting the columnar body are separated from each other inside the third support 11c. The separated first and second connecting frame rows 21 and 22 are returned to a bendable state, bent inward in the same direction, and stored substantially in parallel inside the first support 11a.
　図４に示すように、手首部４のアダプタには、作業内容に適した手先効果器として本実施形態では吸着部３が取り付けられる。吸着部３は、吸着板３１とセンサユニット３２とを有する。吸着板３１は、真空吸着方式、クーロン力方式、分極方式、電気接着方式のいずれでもよい。吸着板３１は典型的には比較的薄い長方形の平板形状を有し、センサユニット３２を取り囲むように形成されている。 As shown in FIG. 4, the adapter of the wrist part 4 is attached with the suction part 3 in the present embodiment as a hand effector suitable for the work content. The suction unit 3 includes a suction plate 31 and a sensor unit 32. The suction plate 31 may be any of a vacuum suction method, a Coulomb force method, a polarization method, and an electric adhesion method. The suction plate 31 typically has a relatively thin rectangular flat plate shape and is formed so as to surround the sensor unit 32.
　吸着板３１はその背面及び側面がハウジング３８に覆われている。吸着板３１の吸着面とセンサユニット３２の表面とは同一平面を構成する。ここでは、吸着面の中心位置をＣＰとする。クーロン力方式であれば、吸着部ドライバ３９は電圧を電極層に印加する。電極層とワーク、ここではプリント配線基板との間に絶縁層が介在する。電極に電圧を印加すると基板の表面（吸着面）には強い電界が形成され、それにより電極と基板との間にクーロン力が誘起され、プリント配線基板が吸着される。リリースに際しては逆に電極への印加電圧を遮断すると、プリント配線基板の表面分極を拘束する電極からの電界が消滅するため、基板表面の分極も瞬時に無くなり、電極面と基板表面との間に電位差が無くなり吸引力が消滅する。 The back surface and side surface of the suction plate 31 are covered with the housing 38. The suction surface of the suction plate 31 and the surface of the sensor unit 32 constitute the same plane. Here, CP is the center position of the suction surface. In the case of the Coulomb force method, the suction unit driver 39 applies a voltage to the electrode layer. An insulating layer is interposed between the electrode layer and the work, here, the printed wiring board. When a voltage is applied to the electrode, a strong electric field is formed on the surface (adsorption surface) of the substrate, thereby inducing a Coulomb force between the electrode and the substrate and adsorbing the printed wiring board. Conversely, when the voltage applied to the electrode is cut off during release, the electric field from the electrode that constrains the surface polarization of the printed wiring board disappears, so the polarization of the board surface disappears instantaneously, and there is no gap between the electrode surface and the substrate surface. The potential difference disappears and the attractive force disappears.
　センサユニット３２は例えばＣＣＤ形式のハンドカメラ３３と接触センサ３４，３５，３６とを備える。センサユニット３２は、例えば樹脂製のハウジング３７内に収納されている。ハウジング３７の底面の中央には、レンズ孔が空けられ、ハンドカメラ３３のレンズが嵌め込まれる。ハンドカメラ３３は、典型的には、その撮像視野中心線が吸着板３１の吸着面に対して略垂直になる向きにハウジング３７に取り付けられる。これにより、吸着板３１から所定距離にある吸着対象はハンドカメラ３３の撮像視野に含まれる。もちろん、ハンドカメラ３３は、その撮像視野中心線が吸着板３１の吸着面に対して傾斜する向きにハウジング３７に取り付けられてもよい。吸着部３にセンサユニット３２は固定されているので、吸着部３に対してハンドカメラ３３の位置は固定される。従って吸着部３の中心とハンドカメラ３３により撮像される画像の中心との位置関係は固定的である。ハウジング３７のレンズ孔の周囲にはセンサ孔が空けられている。これらセンサ孔に接触センサ３４，３５，３６の感度面が嵌め込まれる。接触センサ３４，３５，３６は、その感度方向が吸着板３１の吸着面に略垂直になる向きにハウジング３７内に取り付けられる。つまり接触センサ３４，３５，３６はその感度方向がハンドカメラ３３の撮像視野中心線と略平行になり、ハンドカメラ３３による撮像方向に関して感度を有する。なお、吸着部３は静電方式に限定されず、吸引方式であってもよい。また、ハンドカメラ３３は、吸着板３１の側面に取り付けられてもよい。 The sensor unit 32 includes, for example, a CCD-type hand camera 33 and contact sensors 34, 35, and 36. The sensor unit 32 is accommodated in a resin housing 37, for example. A lens hole is formed in the center of the bottom surface of the housing 37, and the lens of the hand camera 33 is fitted therein. The hand camera 33 is typically attached to the housing 37 in a direction in which the imaging visual field center line is substantially perpendicular to the suction surface of the suction plate 31. Thereby, the suction target at a predetermined distance from the suction plate 31 is included in the imaging field of view of the hand camera 33. Of course, the hand camera 33 may be attached to the housing 37 in such a direction that the imaging visual field center line is inclined with respect to the suction surface of the suction plate 31. Since the sensor unit 32 is fixed to the suction unit 3, the position of the hand camera 33 is fixed to the suction unit 3. Therefore, the positional relationship between the center of the suction unit 3 and the center of the image captured by the hand camera 33 is fixed. A sensor hole is formed around the lens hole of the housing 37. The sensitivity surfaces of the contact sensors 34, 35, and 36 are fitted into these sensor holes. The contact sensors 34, 35, and 36 are attached in the housing 37 such that the direction of sensitivity thereof is substantially perpendicular to the suction surface of the suction plate 31. That is, the sensitivity direction of the contact sensors 34, 35, and 36 is substantially parallel to the imaging visual field center line of the hand camera 33 and has sensitivity with respect to the imaging direction of the hand camera 33. In addition, the adsorption | suction part 3 is not limited to an electrostatic system, A suction system may be used. The hand camera 33 may be attached to the side surface of the suction plate 31.
　図５は、図１のロボット装置１の構成を示すブロック図である。本実施形態に係るロボット装置１は、動作制御装置１００と多関節アーム機構２００と吸着部３とを有する。 FIG. 5 is a block diagram showing a configuration of the robot apparatus 1 of FIG. The robot apparatus 1 according to the present embodiment includes an operation control apparatus 100, an articulated arm mechanism 200, and a suction unit 3.
　多関節アーム機構２００の関節部Ｊ１，Ｊ２，Ｊ３，Ｊ４，Ｊ５、Ｊ６には、それぞれステッピングモータ及びモータドライバ等からなるアーム関節アクチュエータ２０１が設けられている。これらステッピングモータのドライブシャフトには、一定の回転角ごとにパルスを出力するロータリエンコーダ２０２が接続されている。ロータリエンコーダ２０２からの出力パルスは、カウンタで加減算されることにより関節角度が測定される。吸着部３は、ハンドカメラ３３と接触センサ３４，３５，３６と吸着部ドライバ３９を有する。ハンドカメラ３３は、吸着部３の下方を撮影する。ハンドカメラ３３は、吸着対象のプリント配線基板の位置と向きとを特定するための画像を提供するために設けられる。ハンドカメラ３３により撮影された画像のデータは動作制御装置１００に出力される。接触センサ３４，３５，３６は、吸着板３１に吸着対象のプリント配線基板が接触したか否かを特定するために設けられる。これら接触センサ３４，３５，３６は、その感度面がプリント配線基板等に接触したとき、接触検知信号を動作制御装置１００に出力する。吸着部ドライバ３９は、後述のロボット制御部１０７の制御に従って、電極層に電圧を印加する。 In the joint portions J1, J2, J3, J4, J5, and J6 of the multi-joint arm mechanism 200, arm joint actuators 201 each including a stepping motor and a motor driver are provided. A rotary encoder 202 that outputs a pulse at every predetermined rotation angle is connected to the drive shaft of these stepping motors. The joint angle is measured by adding / subtracting the output pulses from the rotary encoder 202 with a counter. The suction unit 3 includes a hand camera 33, contact sensors 34, 35, 36 and a suction unit driver 39. The hand camera 33 images the lower part of the suction unit 3. The hand camera 33 is provided to provide an image for specifying the position and orientation of the printed wiring board to be attracted. Data of an image photographed by the hand camera 33 is output to the operation control apparatus 100. The contact sensors 34, 35, and 36 are provided to specify whether or not the printed wiring board to be sucked contacts the suction plate 31. These contact sensors 34, 35, 36 output a contact detection signal to the operation control device 100 when the sensitivity surface comes into contact with a printed wiring board or the like. The suction unit driver 39 applies a voltage to the electrode layer according to the control of the robot control unit 107 described later.
　動作制御装置１００は、システム制御部１０１と、カメラインターフェース１０２と、画像処理部１０３と、バーコードリーダ１０４と、設置位置特定部１０５と、作業プログラム記憶部１０６と、ロボット制御部１０７とを有する。　
　システム制御部１０１には、制御／データバス１０９を介して各部が接続されている。システム制御部１０１は、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）と半導体メモリ等を有し、動作制御装置１００を統括して制御する。　
　動作制御装置１００には、カメラインタ－フェース１０２を介して俯瞰カメラ６０が接続されている。俯瞰カメラ６０は、コンベア装置５を俯瞰する位置に設けられ、撮影した画像のデータを動作制御装置１００に対して出力する。 The motion control apparatus 100 includes a system control unit 101, a camera interface 102, an image processing unit 103, a barcode reader 104, an installation position specifying unit 105, a work program storage unit 106, and a robot control unit 107. .
Each unit is connected to the system control unit 101 via a control / data bus 109. The system control unit 101 includes a CPU (Central Processing Unit), a semiconductor memory, and the like, and controls the operation control apparatus 100 in an integrated manner.
An overhead camera 60 is connected to the operation control apparatus 100 via a camera interface 102. The overhead camera 60 is provided at a position overlooking the conveyor device 5, and outputs captured image data to the operation control device 100.
　画像処理部１０３は、俯瞰カメラ６０により撮影された画像の画像座標系で表現されたロボット位置を作業場座標系での表現に変換する変換行列式と、作業場座標系で表現されたロボット位置を位置コードに変換するための対応表とを用いる。画像処理部１０３は、俯瞰カメラ６０の撮影画像からロボット装置１又はロボット装置１の特徴点に対応する領域を抽出し、抽出した領域の画像上の位置を特定する。特徴点とは、ロボット装置１に取り付けられたマーカ等である。そして、画像処理部１０３は、画像座標系上のロボット位置を作業場座標系上の位置に変換する。画像処理部１０３は、対応表を参照し、変換した作業場座標系上の位置を位置コードに変換する。また、画像処理部１０３は、ハンドカメラ３３により撮影された画像から、プリント配線基板に対応する領域を抽出し、吸着対象のプリント配線基板の、ロボット座標系上の位置と向きとを特定する。 The image processing unit 103 converts the robot position expressed in the image coordinate system of the image captured by the overhead camera 60 into the expression in the work space coordinate system, and the position of the robot expressed in the work space coordinate system. Use the correspondence table for conversion to code. The image processing unit 103 extracts a region corresponding to the robot device 1 or a feature point of the robot device 1 from a captured image of the overhead camera 60, and specifies the position of the extracted region on the image. A feature point is a marker or the like attached to the robot apparatus 1. Then, the image processing unit 103 converts the robot position on the image coordinate system into a position on the work field coordinate system. The image processing unit 103 refers to the correspondence table and converts the converted position on the work space coordinate system into a position code. Further, the image processing unit 103 extracts an area corresponding to the printed wiring board from the image photographed by the hand camera 33, and identifies the position and orientation of the printed wiring board to be attracted on the robot coordinate system.
　バーコードリーダ１０４は、光学的にバーコードタグを読み取る。設置位置特定部１０５は、バーコードと位置コードとを関連付けた対応表のデータを保持する。位置コードは、作業場内に予め設定されたロボット装置１の設置位置を表すコードである。この対応表は、バーコードを位置コードとともに管理するものであり、適宜更新可能である。例えば、バーコードタグを取り換えるとき、ユーザは、対応表の、取り換え前バーコードを取り換え後のバーコードに変更する。また、作業場内に新しくバーコードタグを設置したとき、ユーザは、対応表に、バーコードを、設置位置に対応する位置コードとともに追加する。設置位置特定部１０５は、対応表を参照し、バーコードリーダ１０４により読み込まれたバーコードに関連付けられている位置コードを特定する。 Bar code reader 104 optically reads a bar code tag. The installation position specifying unit 105 holds correspondence table data in which a barcode and a position code are associated with each other. The position code is a code representing the installation position of the robot apparatus 1 set in advance in the work place. This correspondence table manages bar codes together with position codes, and can be updated as appropriate. For example, when the barcode tag is replaced, the user changes the barcode before replacement in the correspondence table to the barcode after replacement. When a new barcode tag is installed in the work place, the user adds the barcode to the correspondence table together with the position code corresponding to the installation position. The installation position specifying unit 105 refers to the correspondence table and specifies a position code associated with the barcode read by the barcode reader 104.
　作業プログラム記憶部１０６には、手先軌道、経由地（作業位置）、各作業位置での手先作業内容を既述した複数の作業プログラムが記憶される。例えば、複数の作業プログラムは、複数の位置コードにそれぞれ関連付けられている。　
　システム制御部１０１は、作業プログラム記憶部１０６を参照し、複数の作業プログラムから設置位置特定部１０５または画像処理部１０３により特定された位置コードに関連付けられている作業プログラムを読み出す。なお、ロボット装置１の設置位置を特定するために、バーコード方式とカメラ方式とを併記したが、いずれか一方を備えていても良い。バーコード方式を優位として、バーコード方式でロボット設置位置を特定できないとき、例えばバーコードタグが貼付されていない位置にロボット装置１を設置するときにカメラ方式で位置特定をする使い方が好ましい。 The work program storage unit 106 stores a plurality of work programs in which hand trajectories, waypoints (work positions), and hand work contents at each work position are already described. For example, a plurality of work programs are respectively associated with a plurality of position codes.
The system control unit 101 refers to the work program storage unit 106 and reads a work program associated with the position code specified by the installation position specifying unit 105 or the image processing unit 103 from a plurality of work programs. In addition, in order to specify the installation position of the robot apparatus 1, although the barcode system and the camera system were described together, either one may be provided. When the robot installation position cannot be specified by the barcode method with the barcode method being dominant, for example, when the robot apparatus 1 is installed at a position where the barcode tag is not attached, the method of specifying the position by the camera method is preferable.
　ロボット制御部１０７は、システム制御部１０１に読み出された作業プログラムと、画像処理部１０３により特定されたプリント配線基板の位置と向きと、接触センサ３４，３５，３６の接触検知信号とに従って、多関節アーム機構２００と吸着部３との動作を制御する。 The robot control unit 107 follows the work program read by the system control unit 101, the position and orientation of the printed wiring board specified by the image processing unit 103, and the contact detection signals of the contact sensors 34, 35, and 36. The operations of the articulated arm mechanism 200 and the suction unit 3 are controlled.
　図６は、図５の作業プログラム記憶部１０６に記憶される作業プログラムの記述例を示す図である。図６の作業プログラムは、プリント配線基板を運搬台車７１から搬送ライン５１にリリースするロボット装置１によるロード作業に対応する。例えば、ロード作業の作業プログラムは、バーコードタグ９－１に対応する。すなわち、ロード作業の作業プログラムは、ロボット装置１がドッキングステーション８－１に固定されたときに、自動的に選択される。ロボット装置１は、ユーザ指示に従って、その動作が開始される。「Ｓｕｂｓｔｒａｔｅ＝１」は、ハンドカメラ３３により撮影された画像に基づいて、システム制御部１０１により、吸着対象のプリント配線基板があると判定されたとき、それをトリガとしてロボット装置１を後述の手順に従って動作させることを明示するための命令である。各手順において、「ＭＯＶ」はロボット装置１の手先基準点を移動させる命令である。手先基準点は、例えば、吸着部３の吸着中心位置ＣＰに設定されている。各手順の「ＭＯＶ」の右側には、経由地Ｐｗａｉｔ、Ｐｔ、Ｐｄｏｗｎ、Ｐｐ、Ｐｖ、Ｐｒが記述されている。 FIG. 6 is a diagram showing a description example of the work program stored in the work program storage unit 106 of FIG. The work program in FIG. 6 corresponds to a load work by the robot apparatus 1 that releases the printed wiring board from the transport carriage 71 to the transport line 51. For example, the work program for the load work corresponds to the barcode tag 9-1. That is, the work program for the load work is automatically selected when the robot apparatus 1 is fixed to the docking station 8-1. The robot apparatus 1 starts its operation in accordance with a user instruction. “Substrate = 1” is based on an image photographed by the hand camera 33, and when the system control unit 101 determines that there is a printed wiring board to be picked up, the robot apparatus 1 is used as a trigger for the procedure described later. It is an instruction to clearly indicate that the operation is to be performed according to. In each procedure, “MOV” is a command for moving the hand reference point of the robot apparatus 1. The hand reference point is set, for example, at the suction center position CP of the suction part 3. The route points Pwait, Pt, Pdown, Pp, Pv, and Pr are described on the right side of “MOV” in each procedure.
　Ｐｗａｉｔは，吸着部３の待機位置を示している。Ｐｔは、プリント配線基板を撮影するための位置を示している。Ｐｄｏｗｎは、吸着部３の降下開始位置を示している。Ｐｐは、吸着部３の吸着動作を行う吸着位置を示している。Ｐｒは、吸着部３のリリース動作を行うリリース位置を示している。Ｐｖは、吸着位置Ｐｐからリリース位置Ｐｒに移動する際の経由する移動位置を示している。これら経由地は、移動先の手先基準点の位置と移動先での手先姿勢とを記述したパラメータであり、ロボット座標系で記述されている。これら経由点のうち、待機位置Ｐｗａｉｔと撮影位置Ｐｔと移動位置Ｐｖとリリース位置Ｐｒとは、固定位置として与えられる。降下位置Ｐｄｏｗｎと吸着位置Ｐｐと移動位置Ｐｖは、画像処理部１０３により特定されたプリント配線基板の位置と向きとに基づいて与えられる。 Pwait indicates the standby position of the suction unit 3. Pt indicates a position for photographing the printed wiring board. Pdown indicates the descent start position of the suction unit 3. Pp indicates a suction position where the suction portion 3 performs a suction operation. Pr indicates a release position where the release operation of the suction unit 3 is performed. Pv indicates a movement position that is passed when moving from the suction position Pp to the release position Pr. These transit points are parameters describing the position of the hand reference point of the movement destination and the hand posture at the movement destination, and are described in the robot coordinate system. Among these via points, the standby position Pwait, the shooting position Pt, the movement position Pv, and the release position Pr are given as fixed positions. The lowered position Pdown, the suction position Pp, and the moving position Pv are given based on the position and orientation of the printed wiring board specified by the image processing unit 103.
　図６の作業プログラムにおいて、「Ｖ」は経由点間の移動速度を指定するパラメータである。例えば、「Ｖ＝９０」は、予め設定されている基準移動速度の９０％の速度を指定している。手順００３における作業内容「吸着動作」は、吸着部３に吸着動作をさせる命令である。手順００５の作業内容「リリース動作」は、吸着部３にリリース動作をさせる命令である。これら作業内容に対応する基本動作プログラムは作業プログラム記憶部１０６に記憶されている。 In the work program of FIG. 6, “V” is a parameter for designating the moving speed between via points. For example, “V = 90” designates a speed that is 90% of a preset reference movement speed. The work content “suction operation” in step 003 is a command for causing the suction unit 3 to perform a suction operation. The work content “release operation” in step 005 is a command for causing the suction unit 3 to perform a release operation. The basic operation program corresponding to these work contents is stored in the work program storage unit 106.
　以下、図６の作業プログラムに従って動作するロボット装置１について、図７を参照して説明する。図７は、図６の作業プログラムによる手先軌道を示す平面図である。図７では、複数の経由点を搬送ライン５１とロボット装置１とともに示している。 Hereinafter, the robot apparatus 1 that operates according to the work program of FIG. 6 will be described with reference to FIG. FIG. 7 is a plan view showing a hand trajectory according to the work program of FIG. In FIG. 7, a plurality of waypoints are shown together with the transfer line 51 and the robot apparatus 1.
　待機位置Ｐｗａｉｔは、搬送ライン５１の上方に設定されている。これにより、プリント配線基板を載せる台車や台車を操作する運搬者にロボット装置１の吸着部３が障害とならない。撮影位置Ｐｔは、台車に載せて予め決まった位置に運ばれてくるプリント配線基板が撮影視野に収まる位置に予め設定されている。撮影位置Ｐｔにて撮影した画像に基づいて、システム制御部１０１により降下位置Ｐｄｏｗｎが設定される。降下位置Ｐｄｏｗｎは、プリント配線基板の中心位置の上方に設定される。このとき、手先姿勢は、システム制御部１０１により、プリント配線基板の向きに合わせて設定される。吸着部３は、降下位置Ｐｄｏｗｎから真下に向かって、接触センサ３４，３５，３６から接触検知信号が検出するまで降下される。接触センサ３４，３５，３６から接触検知信号が検出された位置が、吸着位置Ｐｐに対応する。吸着部３は、吸着位置Ｐｐで、吸着動作を行う。移動位置Ｐｖは、吸着部３を吸着位置Ｐｐから一旦、搬送ライン５１よりも上方に持ち上げるために、搬送ライン５１よりも高い位置に設定されている。リリース位置Ｐｒは、搬送ライン５１のライン中心線の上方に設定されている。吸着部３は、リリース位置Ｐｒでリリース動作を行う。吸着部３はリリース動作後、待機位置Ｐｗａｉｔに戻される。 The standby position Pwait is set above the transfer line 51. Thereby, the adsorption | suction part 3 of the robot apparatus 1 does not become a hindrance to the carriage which mounts a printed wiring board, or the transporter who operates a carriage. The photographing position Pt is set in advance to a position where the printed wiring board that is placed on the carriage and carried to a predetermined position is within the photographing field of view. Based on the image photographed at the photographing position Pt, the system control unit 101 sets the lowered position Pdown. The lowered position Pdown is set above the center position of the printed wiring board. At this time, the hand posture is set by the system control unit 101 according to the orientation of the printed wiring board. The adsorbing unit 3 is lowered from the lowered position Pdown directly below until a contact detection signal is detected from the contact sensors 34, 35, 36. The position where the contact detection signal is detected from the contact sensors 34, 35, 36 corresponds to the suction position Pp. The suction unit 3 performs a suction operation at the suction position Pp. The movement position Pv is set to a position higher than the transport line 51 in order to lift the suction part 3 upward from the transport line 51 once from the suction position Pp. The release position Pr is set above the line center line of the transport line 51. The suction unit 3 performs a release operation at the release position Pr. The suction unit 3 is returned to the standby position Pwait after the release operation.
　ハンドカメラ３３により撮影された画像に基づいて、システム制御部１０１により、吸着対象のプリント配線基板があると判定されたとき、それをトリガとして、ロボット装置１は、この一連の動作を、吸着対象のプリント配線基板がなくなるまで繰り返し行う。吸着対象のプリント配線基板の有無は、システム制御部１０１により、ハンドカメラ３３の撮影画像に基づいて判定される。 When the system control unit 101 determines that there is a printed wiring board to be sucked based on an image photographed by the hand camera 33, the robot apparatus 1 uses this as a trigger to perform this series of operations as a suction target. Repeat until there is no printed wiring board. The presence or absence of the printed wiring board to be attracted is determined by the system control unit 101 based on the photographed image of the hand camera 33.
　図６，７では、ロボット装置１のロード作業を例に作業プログラムと吸着部３の手先軌道について説明した。例えば、ロボット装置１がドッキングステーション８－２に固定されたとき、バーコードリーダ１０４により読み取られたバーコードタグ９－２に対応するアンロード作業の作業プログラムに従って動作する。アンロード作業において、ロボット装置１は、搬送ライン５１上のプリント配線基板を吸着し、吸着したプリント配線基板を予め決まった位置に配置された搬送台車７３にリリースする。搬送ライン５１上のプリント配線基板を吸着する吸着位置及び吸着したプリント配線基板をリリースする位置は、ハンドカメラ３３の撮影画像に基づいて、システム制御部１０１により設定される。 6 and 7, the work program and the hand trajectory of the suction unit 3 have been described by taking the loading operation of the robot apparatus 1 as an example. For example, when the robot apparatus 1 is fixed to the docking station 8-2, the robot apparatus 1 operates according to an unloading work program corresponding to the barcode tag 9-2 read by the barcode reader 104. In the unloading operation, the robot apparatus 1 sucks the printed circuit board on the transport line 51 and releases the sucked printed circuit board to the transport carriage 73 disposed at a predetermined position. The suction position for sucking the printed wiring board on the transport line 51 and the position for releasing the sucked printed wiring board are set by the system control unit 101 based on the captured image of the hand camera 33.
　以上説明したように、本実施形態に係るロボットシステムにおいて、ロボット装置１は、予め容易された複数の作業プログラムから、配置位置に対応する作業プログラムを選択し、その選択した作業プログラムに従って動作する。作業場内において、ロボット装置１の複数の設置位置が用意されており、ロボット装置１が、どの設置位置に設置されたかは、俯瞰カメラ６０の撮影画像または設置位置に貼設されたバーコード等のタグの読み取りにより特定することができる。これにより、本実施形態に係るロボットシステムは、ロボット装置１の位置の変化に応じて、ロボット装置１の作業プログラムを動的に変化させることができる。例えば、搬送ライン上を搬送されるワークに対して複数の作業者が作業工程毎に予め決まった位置に配置されているような生産ラインにおいて、欠勤等不足の事態により作業者が足りない場合がある。本実施形態に係るロボットシステムのロボット装置１は、従来の垂直多関節アーム機構のような肘関節がなく、特異点もないことから、他の作業者の位置を気にせず、また、作業者に近接して配置することができる。したがって、不足している作業者の位置に、ロボット装置１を設置するだけで、作業者の代わりに、ロボット装置１にその設置位置に対応する作業を行わせることができる。つまり、その作業をロボット装置に代行させるためには従来であれば当該作業の教示作業が不要となり、ダウンタイムの発生を実質的に解消されることとなる。 As described above, in the robot system according to the present embodiment, the robot apparatus 1 selects a work program corresponding to the arrangement position from a plurality of work programs facilitated in advance, and operates according to the selected work program. A plurality of installation positions of the robot apparatus 1 are prepared in the work place, and the installation position where the robot apparatus 1 is installed can be determined by a captured image of the overhead camera 60 or a barcode pasted on the installation position. It can be specified by reading the tag. Thereby, the robot system according to the present embodiment can dynamically change the work program of the robot apparatus 1 in accordance with the change of the position of the robot apparatus 1. For example, in a production line in which a plurality of workers are arranged at predetermined positions for each work process with respect to a workpiece conveyed on the conveyance line, there may be a case where there are not enough workers due to a lack of absence or the like. is there. Since the robot apparatus 1 of the robot system according to the present embodiment has no elbow joint and no singularity like the conventional vertical articulated arm mechanism, it does not care about the positions of other workers, and the worker Can be placed close to. Therefore, it is possible to cause the robot apparatus 1 to perform an operation corresponding to the installation position instead of the operator only by installing the robot apparatus 1 at the position of the insufficient worker. In other words, in order to perform the work on behalf of the robot apparatus, conventionally, the work of teaching the work becomes unnecessary, and the occurrence of downtime is substantially eliminated.
　（変形例１）　
　上述した本実施形態においては、動作制御装置１００の作業プログラム記憶部１０６には、事前に複数の作業プログラムにそれぞれ設置位置（設置位置を表す位置コード）を関連付けて記憶する。従って作業プログラムを選択するにはロボット装置１が設置された位置の位置コードを特定し、その位置コードを予め作成した対応表により作業プログラムＩＤに変換する。対応表の更新により、設置位置と作業プログラムの対応関係の修正や更新作業が容易になる利点があった。しかし、バーコードタグにその設置位置に応じた作業プログラムに固有の作業プログラムＩＤを直接記録させるようにしてもよい。 (Modification 1)
In the above-described embodiment, the work program storage unit 106 of the motion control apparatus 100 stores in advance a plurality of work programs in association with respective installation positions (position codes representing the installation positions). Therefore, in order to select a work program, the position code of the position where the robot apparatus 1 is installed is specified, and the position code is converted into a work program ID by a correspondence table created in advance. By updating the correspondence table, there is an advantage that the correspondence between the installation position and the work program can be easily corrected and updated. However, the work program ID unique to the work program corresponding to the installation position may be directly recorded on the barcode tag.
　図８は、本実施形態の変形例１に係るロボットシステムの構成を示すブロック図である。本実施形態の変形例１に係るロボットシステムにおいて、動作制御装置１００は、システム制御部１０１と、バーコードリーダ１０４と、作業プログラム記憶部１０６と、ロボット制御部１０７とを有する。複数種類の作業プログラムＩＤコードがそれぞれ記憶された複数のバーコードタグが複数の設置位置にそれぞれ配置されている。各設置位置にはその位置固有の作業プログラムが予め決められている。各作業プログラムが対応する設置位置には、その作業プログラムに固有の作業プログラムＩＤが記録されたバーコードタグがその設置位置に配置される。 FIG. 8 is a block diagram showing a configuration of the robot system according to the first modification of the present embodiment. In the robot system according to the first modification of the present embodiment, the motion control apparatus 100 includes a system control unit 101, a barcode reader 104, a work program storage unit 106, and a robot control unit 107. A plurality of bar code tags each storing a plurality of types of work program ID codes are respectively arranged at a plurality of installation positions. Each installation position has a work program specific to that position. A bar code tag in which a work program ID unique to the work program is recorded is placed at the installation position corresponding to each work program.
　システム制御部１０１は、ロボット装置１が設置された設置位置においてバーコードリーダ１０４により読み込まれたバーコードタグの作業プログラムＩＤにより、作業プログラム記憶部１０６に対して作業プログラムの読み出し制御をする。当該作業プログラムはシステム制御部１０１の制御のもとで作業プログラム記憶部１０６からロボット制御部１０７にロードされる。ロボット制御部１０７は、ロードされた作業プログラムに従って、多関節アーム機構２００と吸着部３とに制御信号を出力する。 The system control unit 101 controls the work program storage unit 106 to read out the work program based on the work program ID of the bar code tag read by the bar code reader 104 at the installation position where the robot apparatus 1 is installed. The work program is loaded from the work program storage unit 106 to the robot control unit 107 under the control of the system control unit 101. The robot control unit 107 outputs control signals to the articulated arm mechanism 200 and the suction unit 3 in accordance with the loaded work program.
　それによりロボット装置１を、要求された設置位置に設置することにより、その設置位置に応じた作業プログラムが選択され、その設置位置に応じた作業がロボット装置１に実行される。 Thereby, by installing the robot apparatus 1 at the requested installation position, a work program corresponding to the installation position is selected, and the work corresponding to the installation position is executed by the robot apparatus 1.
　（変形例２）　
　上述した本実施形態に係るロボットシステムにおいては、ロボット装置１が設置された設置位置に応じた作業プログラムが自動的に選択される。作業プログラムを手動で選択するようにしてもよい。 (Modification 2)
In the robot system according to the present embodiment described above, a work program corresponding to the installation position where the robot apparatus 1 is installed is automatically selected. The work program may be manually selected.
　図９は、本実施形態の変形例２に係るロボットシステムの構成を示すブロック図である。本実施形態の変形例２に係るロボットシステムにおいて、動作制御装置１００は、システム制御部１０１と、作業プログラム記憶部１０６と、ロボット制御部１０７と、設置センサ１１０と、ペンダントデバイス１１１とを有する。作業プログラム記憶部１０６では、複数の作業プログラムがそれぞれ位置コードと関連付けて記憶される。さらに複数の作業プログラム各々には、ユーザがその作業プログラムによる作業を他の作業プログラムの作業と明確に識別して所要の作業プログラムを容易に選択させるための情報として、その作業上の特徴を簡易に且つ端的に表す作業概要が関連付けられている。各作業プログラムの作業概要は事前に人的に作成される。 FIG. 9 is a block diagram illustrating a configuration of a robot system according to the second modification of the present embodiment. In the robot system according to the second modification of the present embodiment, the motion control apparatus 100 includes a system control unit 101, a work program storage unit 106, a robot control unit 107, an installation sensor 110, and a pendant device 111. In the work program storage unit 106, a plurality of work programs are stored in association with the position codes. Furthermore, each of the plurality of work programs is simply characterized by the work as information for the user to clearly identify the work by the work program from the work of other work programs and easily select the required work program. A work summary that is directly expressed is associated. The work summary of each work program is created manually in advance.
　設置センサ１１０は、ロボット装置１がドッキングステーション８－１，８－２，８－３、８－４のいずれかに設置されたことを検知し、設置検知信号を出力する。設置センサ１１０には、圧力センサ、接触センサ、光電センサ等を適用できる。ペンダントデバイス１１１は、表示部と操作部からなり、典型的にはタッチスクリーンにより提供される。システム制御部１０１は、設置センサ１１０から設置検知信号が出力されたとき、つまりロボット装置１が複数の設置位置のいずれかに設置されたとき、作業プログラム記憶部１０６に記憶された複数の作業プログラムに関するリストを含む作業プログラム選択画面を作成し、ペンダントデバイス１１１の表示部にそのリストを表示させる。また、システム制御部１０１は、そのリストからユーザにより操作部を介して選択された作業プログラムを、作業プログラム記憶部１０６からロボット制御部１０７にロードさせる。 The installation sensor 110 detects that the robot apparatus 1 is installed in any of the docking stations 8-1, 8-2, 8-3, and 8-4, and outputs an installation detection signal. As the installation sensor 110, a pressure sensor, a contact sensor, a photoelectric sensor, or the like can be applied. The pendant device 111 includes a display unit and an operation unit, and is typically provided by a touch screen. When the installation detection signal is output from the installation sensor 110, that is, when the robot apparatus 1 is installed at any of a plurality of installation positions, the system control unit 101 stores a plurality of work programs stored in the work program storage unit 106. A work program selection screen including a list relating to the pendant device 111 is created and displayed on the display unit of the pendant device 111. Further, the system control unit 101 loads a work program selected from the list via the operation unit by the user from the work program storage unit 106 to the robot control unit 107.
　図１０は、図９のペンダントデバイス１１１の表示部に表示される作業プログラムリストの表示例を示している。図１０に示すように、作業プログラム記憶部１０６に記憶されている複数の作業プログラムにそれぞれ対応する設置位置及び作業概要が作業プログラムＩＤとともにリスト表示される。例えば、作業プログラム選択画面では、ロボット設置位置Ａ－１には、２種類の作業プログラムが関連付けされていることを示している。ユーザは、作業プログラム選択画面を視認して、ロボット装置１の設置位置と作業概要とに合致する作業プログラムを選択することができる。 FIG. 10 shows a display example of the work program list displayed on the display unit of the pendant device 111 of FIG. As shown in FIG. 10, installation positions and work outlines respectively corresponding to a plurality of work programs stored in the work program storage unit 106 are displayed in a list together with work program IDs. For example, the work program selection screen indicates that two types of work programs are associated with the robot installation position A-1. The user can visually check the work program selection screen and select a work program that matches the installation position of the robot apparatus 1 and the work outline.
　（変形例３）　
　変形例２で例示した作業プログラム選択画面では、作業プログラム記憶部１０６に記憶されているすべての作業プログラムに関する情報が一覧表示される。しかしながら、ロボット装置１の設置位置に関連付けられている２以上の作業プログラムが、作業プログラム記憶部１０６に記憶されている複数の作業プログラムから抽出され、それら２以上の作業プログラムに関する設置位置及び作業概要が作業プログラムＩＤとともにリスト表示されてもよい。 (Modification 3)
On the work program selection screen exemplified in the second modification, a list of information on all work programs stored in the work program storage unit 106 is displayed. However, two or more work programs associated with the installation positions of the robot apparatus 1 are extracted from a plurality of work programs stored in the work program storage unit 106, and the installation positions and work outlines related to the two or more work programs. May be displayed together with the work program ID.
　図１１は、本実施形態の変形例３に係るロボットシステムの構成を示すブロック図である。本実施形態の変形例３に係るロボットシステムのシステム制御部１０１は、設置位置特定部１０５または画像処理部１０３により特定されたロボット装置１の設置位置を表す位置コードに関連付けられている作業プログラムを作業プログラム記憶部１０６から読み出すとともに、表示部に作業プログラム選択画面を表示する。システム制御部１０１は、作業プログラム選択画面上でユーザにより選択された作業プログラムをロボット制御部１０７に出力する。 FIG. 11 is a block diagram showing a configuration of a robot system according to the third modification of the present embodiment. The system control unit 101 of the robot system according to the third modification of the present embodiment stores a work program associated with a position code representing the installation position of the robot apparatus 1 specified by the installation position specifying unit 105 or the image processing unit 103. In addition to reading from the work program storage unit 106, a work program selection screen is displayed on the display unit. The system control unit 101 outputs the work program selected by the user on the work program selection screen to the robot control unit 107.
　図１２は、図１１のペンダントデバイス１１１の表示部に表示される作業プログラム選択画面の一例を示す図である。図１２は、ロボット装置１が設置位置Ａ－２に設置されたとき、表示部に表示される作業プログラム選択画面を示している。図１２に示すように、作業プログラム選択画面には、作業プログラム記憶部１０６に記憶されている作業プログラムのうち、ロボット装置１の設置位置に関連付けられている２以上の作業プログラムの設置位置と作業概要、さらに作業プログラムＩＤのリストが含まれる。図１２ではロボット装置１の設置位置Ａ－２に関連付けられている２つの作業プログラム（ＩＤ００３，ＩＤ００４）がリスト表示の対象とされる。これにより、ユーザが選択する作業プログラムの選択肢を少なくすることができるため、作業効率を向上できる。 FIG. 12 is a diagram showing an example of a work program selection screen displayed on the display unit of the pendant device 111 of FIG. FIG. 12 shows a work program selection screen displayed on the display unit when the robot apparatus 1 is installed at the installation position A-2. As shown in FIG. 12, the work program selection screen includes two or more work program installation positions and work associated with the installation position of the robot apparatus 1 among the work programs stored in the work program storage unit 106. A summary and a list of work program IDs are included. In FIG. 12, two work programs (ID003, ID004) associated with the installation position A-2 of the robot apparatus 1 are displayed as a list display target. Thereby, since the choice of the work program which a user selects can be decreased, work efficiency can be improved.
　本発明のいくつかの実施形態を説明したが、これらの実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれると同様に、特許請求の範囲に記載された発明とその均等の範囲に含まれるものである。 Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.
　１…ロボット装置、２…アーム部、３…吸着部、４…手首部、５…コンベア装置、３３…ハンドカメラ、３４，３５，３６…接触センサ、３９…吸着部ドライバ、５１…搬送ライン、６０…俯瞰カメラ、７０…基板検査装置、９－１～９－４…バーコードタグ、１００…動作制御装置、１０１…システム制御部、１０２…カメラインターフェース、１０３…画像処理部、１０４…バーコードリーダ、１０５…設置位置特定部、１０６…作業プログラム記憶部、１０７…ロボット制御部、１０９…制御／データバス、２００…多関節アーム機構 DESCRIPTION OF SYMBOLS 1 ... Robot apparatus, 2 ... Arm part, 3 ... Adsorption part, 4 ... Wrist part, 5 ... Conveyor apparatus, 33 ... Hand camera, 34, 35, 36 ... Contact sensor, 39 ... Adsorption part driver, 51 ... Conveyance line, 60 ... Overhead camera, 70 ... Board inspection device, 9-1 to 9-4 ... Bar code tag, 100 ... Operation control device, 101 ... System control unit, 102 ... Camera interface, 103 ... Image processing unit, 104 ... Bar code Leader, 105 ... Installation position specifying unit, 106 ... Work program storage unit, 107 ... Robot control unit, 109 ... Control / data bus, 200 ... Articulated arm mechanism

Claims (9)

  1. 　作業場内の複数の設置位置に設置可能な多関節アーム機構を備えたロボット装置と、
    　前記多関節アーム機構のアーム先端に取り付けられる手先効果器と、
    　前記ロボット装置が設置される設置位置を検出する位置検出部と、
    　前記多関節アーム機構と前記手先効果器の動作を記述する複数の作業プログラムを前記複数の設置位置にそれぞれ関連付けて記憶する記憶部と、
    　前記位置検出部により検出された設置位置に関連付けられている作業プログラムを前記記憶部から選択的に読み出し、前記読み出された作業プログラムに従って前記多関節アーム機構と前記手先効果器との動作を制御するロボット制御部とを具備することを特徴とするロボットシステム。     A robot apparatus equipped with an articulated arm mechanism that can be installed at a plurality of installation positions in the workplace;
    A hand effector attached to the arm tip of the articulated arm mechanism;
    A position detector for detecting an installation position where the robot apparatus is installed;
    A storage unit for storing a plurality of work programs describing operations of the articulated arm mechanism and the hand effector in association with the plurality of installation positions;
    A work program associated with the installation position detected by the position detection unit is selectively read from the storage unit, and operations of the articulated arm mechanism and the hand effector are controlled according to the read work program. And a robot control unit.
  2. 　前記位置検出部は、前記複数の設置位置に配設された複数のバーコードタグ、複数の２次元コードタグ又は複数のＲＦＩＤタグに記録された前記設置位置を特定するための情報を読み取るためのリーダであって、前記ロボット装置に搭載されることを特徴とする請求項１記載のロボットシステム。 The position detector is configured to read information for identifying the installation positions recorded on the plurality of barcode tags, the plurality of two-dimensional code tags, or the plurality of RFID tags arranged at the plurality of installation positions. The robot system according to claim 1, wherein the robot system is a reader and is mounted on the robot apparatus.
  3. 　前記複数の設置位置に取り付けられ、前記ロボット装置を着脱する複数のドッキングステーションをさらに備え、
    　前記バーコードタグ、２次元コードタグ又はＲＦＩＤタグは前記ドッキングステーションに装着されていることを特徴とする請求項２記載のロボットシステム。     A plurality of docking stations that are attached to the plurality of installation positions and attach and detach the robot apparatus;
    The robot system according to claim 2, wherein the barcode tag, the two-dimensional code tag, or the RFID tag is attached to the docking station.
  4. 　前記位置検出部は、前記作業場内を俯瞰するカメラと、前記カメラで撮像した画像から前記ロボット装置の領域を抽出するとともに前記画像内における前記ロボット装置の領域の位置を前記作業場内での位置に変換する画像処理部とを備えることを特徴とする請求項１記載のロボットシステム。 The position detection unit extracts a region of the robot apparatus from a camera overlooking the inside of the work place, and an image captured by the camera, and sets a position of the area of the robot device in the image to a position in the work place. The robot system according to claim 1, further comprising an image processing unit for conversion.
  5. 　前記多関節アーム機構は、基部と、前記基部の略中心線に係る第1軸回りのねじり回転間接部と前記第1軸に直交する第２軸回りの曲げ回転間接部と前記第２軸に直交する第３軸に沿った直動伸縮性を有する直動伸縮関節部とを有する請求項１記載のロボットシステム。 The articulated arm mechanism includes a base, a torsional rotation indirect portion about a first axis related to a substantially center line of the base, a bending rotation indirect portion about a second axis orthogonal to the first axis, and the second axis. The robot system according to claim 1, further comprising: a linear motion expansion / contraction joint portion having linear motion stretchability along a third axis perpendicular to each other.
  6. 　前記直動伸縮関節部は、
    　屈曲可能に連結された複数の連結コマと、前記連結コマの屈曲が拘束されることにより柱状体が前記アーム部として構成される、
    　前記柱状体を支持する射出部と、
    　前記連結コマを屈曲可能な状態で前記基部内に収納する収納部とを有することを特徴とする請求項５記載のロボットシステム。     The direct acting telescopic joint is
    A plurality of connecting pieces connected to bendable, and a columnar body is configured as the arm portion by restraining the bending of the connecting pieces,
    An injection part for supporting the columnar body;
    The robot system according to claim 5, further comprising: a storage unit that stores the connection piece in the base in a bendable state.
  7. 　複数の設置位置に設置可能なロボット装置において、
    　多関節アーム機構と、
    　前記多関節アーム機構のアーム先端に取り付けられる手先効果器と、
    　前記複数の設置位置にそれぞれ対応する複数の作業プログラムを記憶する記憶部と、
    　前記ロボット装置が設置された前記設置位置に対応する作業プログラムを前記記憶部から選択的に読み出し、前記読み出された作業プログラムに従って前記多関節アーム機構と前記手先効果器との動作を制御する動作制御部とを具備することを特徴とするロボット装置。     In robotic devices that can be installed at multiple installation positions,
    An articulated arm mechanism;
    A hand effector attached to the arm tip of the articulated arm mechanism;
    A storage unit for storing a plurality of work programs respectively corresponding to the plurality of installation positions;
    An operation for selectively reading a work program corresponding to the installation position where the robot apparatus is installed from the storage unit, and controlling operations of the articulated arm mechanism and the hand effector according to the read work program A robot apparatus comprising a control unit.
  8. 　複数の設置位置に設置可能なロボット装置において、
    　多関節アーム機構と、
    　前記多関節アーム機構のアーム先端に取り付けられる手先効果器と、
    　前記多関節アーム機構と前記手先効果器との動作を制御するための複数の作業プログラムを記憶する記憶部と、
    　表示部と、
    　操作部と、
    　前記複数の設置位置のいずれかへの前記ロボット装置の設置を契機として前記記憶された複数の作業プログラムに関するリストを前記表示部に表示させるとともに、前記操作部のユーザ操作により前記表示されたリストから選択された一の作業プログラムに従って前記多関節アーム機構と前記手先効果器との動作を制御する動作制御部とを具備することを特徴とするロボット装置。     In robotic devices that can be installed at multiple installation positions,
    An articulated arm mechanism;
    A hand effector attached to the arm tip of the articulated arm mechanism;
    A storage unit for storing a plurality of work programs for controlling operations of the articulated arm mechanism and the hand effector;
    A display unit;
    An operation unit;
    When the robot apparatus is installed at any one of the plurality of installation positions, a list relating to the plurality of stored work programs is displayed on the display unit, and from the displayed list by a user operation of the operation unit A robot apparatus comprising: an operation control unit configured to control operations of the articulated arm mechanism and the hand effector according to a selected work program.
  9. 　複数の設置位置に設置可能なロボット装置において、
    　多関節アーム機構と、
    　前記多関節アーム機構のアーム先端に取り付けられる手先効果器と、
    　前記多関節アーム機構と前記手先効果器との動作を制御するための複数の作業プログラムを前記設置位置に関連付けて記憶する記憶部と、前記複数の設置位置の少なくとも一つには２以上の作業プログラムが関連付けられている、
    　表示部と、
    　操作部と、
    　前記ロボット装置が設置された前記設置位置に対応する作業プログラムを前記記憶部から読み出し、前記読み出された作業プログラムに従って前記多関節アーム機構と前記手先効果器との動作を制御するとともに、前記ロボット装置が設置された前記設置位置に前記２以上の作業プログラムが関連付けられているとき前記２以上の作業プログラムに関するリストを前記表示部に表示させ、前記操作部のユーザ操作により前記表示されたリストから選択された一の作業プログラムに従って前記多関節アーム機構と前記手先効果器との動作を制御する動作制御部とを具備することを特徴とするロボット装置。     In robotic devices that can be installed at multiple installation positions,
    An articulated arm mechanism;
    A hand effector attached to the arm tip of the articulated arm mechanism;
    A storage unit that stores a plurality of work programs for controlling operations of the articulated arm mechanism and the hand effector in association with the installation position, and at least one of the plurality of installation positions has two or more operations. Associated with the program,
    A display unit;
    An operation unit;
    A work program corresponding to the installation position where the robot apparatus is installed is read from the storage unit, and the operation of the articulated arm mechanism and the hand effector is controlled according to the read work program, and the robot When the two or more work programs are associated with the installation position where the apparatus is installed, a list relating to the two or more work programs is displayed on the display unit, and from the displayed list by a user operation of the operation unit A robot apparatus comprising: an operation control unit configured to control operations of the articulated arm mechanism and the hand effector according to a selected work program.
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