WO2016186061A1 - Système de robot et dispositif de robot - Google Patents

Système de robot et dispositif de robot 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
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English (en)
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
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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/fr

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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

L'invention vise à répondre de façon souple en un temps court à des changements dans la position d'installation d'un dispositif de robot. Un système de robot comprend un dispositif de robot (1). Le dispositif de robot (1) peut être installé dans une pluralité de positions d'installation dans le lieu de travail, et comprend un mécanisme de bras articulé (200). Un effecteur d'extrémité (3) est monté sur l'extrémité distale du bras du mécanisme de bras articulé. Un détecteur de position (104, 9-1 à 9-4) est disposé pour détecter la position d'installation où le dispositif de robot est installé. Une pluralité de programmes de travail qui décrivent les mouvements du mécanisme de bras articulé et de l'effecteur d'extrémité sont respectivement associés à la pluralité d'emplacements d'installation et stockés dans une unité de stockage (106). Le programme de travail associé à une position d'installation détectée par le détecteur de position est appelé de manière sélective à partir de l'unité de stockage. Une unité de commande (107) commande les mouvements du mécanisme de bras articulé et de l'effecteur d'extrémité en fonction du programme de travail qui a été appelé.
PCT/JP2016/064402 2015-05-20 2016-05-15 Système de robot et dispositif de robot WO2016186061A1 (fr)

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JP2015102982A JP6629520B2 (ja) 2015-05-20 2015-05-20 ロボットシステム

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JPH10151591A (ja) * 1996-09-30 1998-06-09 Sony Corp 識別装置及び方法、位置検出装置及び方法、ロボツト装置並びに色抽出装置
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