WO2023033008A1 - ロボットシステムおよびロボット - Google Patents

ロボットシステムおよびロボット Download PDF

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Publication number
WO2023033008A1
WO2023033008A1 PCT/JP2022/032679 JP2022032679W WO2023033008A1 WO 2023033008 A1 WO2023033008 A1 WO 2023033008A1 JP 2022032679 W JP2022032679 W JP 2022032679W WO 2023033008 A1 WO2023033008 A1 WO 2023033008A1
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WO
WIPO (PCT)
Prior art keywords
work
unit
relative movement
amount
signal output
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2022/032679
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
覚 山角
勝人 福嶋
理史 大西
雅隆 小山
康弘 大倉
哲 伊地知
佳史樹 三東
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
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.)
Filing date
Publication date
Application filed by Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Priority to EP22864590.9A priority Critical patent/EP4397452A4/en
Priority to CN202280056668.0A priority patent/CN117836098A/zh
Priority to US18/687,915 priority patent/US20240424672A1/en
Priority to KR1020247010469A priority patent/KR20240052813A/ko
Publication of WO2023033008A1 publication Critical patent/WO2023033008A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45066—Inspection robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

Definitions

  • the present disclosure relates to robot systems and robots, and more particularly to robot systems and robots with articulated robot arms.
  • the above Japanese Patent Laid-Open No. 2013-166185 describes a multi-joint robot arm including a plurality of joints, a control device for controlling movement of the multi-joint robot arm, and a control device provided at the tip of the multi-joint robot arm for imaging an inspection target.
  • a robotic system is disclosed that includes an imager that performs: In the robot system disclosed in Japanese Patent Application Laid-Open No. 2013-166185, when the distal end of the articulated robot arm moves to a preset position, the control device causes the imaging device to capture an image of the inspection target. Send a command signal.
  • the present disclosure has been made to solve the problems described above, and one object of the present disclosure is to perform work while relatively moving a working part with respect to a work by an articulated robot arm. To provide a robot system and a robot capable of suppressing complicated setting work.
  • a robot system includes an articulated robot arm including a plurality of joints, a robot control unit for controlling movement of the articulated robot arm, and a work piece. a working unit; and a signal output unit that outputs a signal based on the amount of relative movement of the working unit for each amount of relative movement of the working unit with respect to the work due to the movement of the work or the working unit provided at the tip of the articulated robot arm. and a work control section for controlling work on the workpiece by the work section based on the signal output from the signal output section.
  • the robot system is provided with a signal output unit that outputs a signal based on the amount of relative movement of the working part for each amount of relative movement of the working part with respect to the work.
  • a work control section is provided for controlling the work performed by the work section on the basis of the signal output from the signal output section.
  • the work control unit can acquire the amount of relative movement of the work unit with respect to the work for each relative movement, and can control the work performed by the work unit. can also work on the workpiece. As a result, it is possible to prevent the setting work from becoming complicated when performing the work while moving the working part relative to the work by the articulated robot arm.
  • a robot includes an articulated robot arm including a plurality of joints, a robot control unit that controls the movement of the articulated robot arm, and a workpiece provided at the tip of the articulated robot arm, or for the workpiece. a signal output unit for outputting a signal based on the amount of relative movement of the working unit for each amount of relative movement of the working unit with respect to the work due to the movement of the working unit that performs the work by moving the working unit.
  • the robot according to the second aspect is provided with a signal output unit that outputs a signal based on the amount of relative movement of the working part for each amount of relative movement of the working part with respect to the work. Accordingly, based on the signal output from the signal output unit, the amount of relative movement of the working unit with respect to the work can be acquired for each relative movement, and the work by the working unit can be controlled. Work can be performed on the workpiece without setting the position in advance. As a result, it is possible to provide a robot capable of suppressing complication of setting work when performing work while moving the working part relative to the work by the articulated robot arm.
  • FIG. 1 is a schematic diagram of a robotic system according to one embodiment
  • FIG. 1 is a diagram showing a control configuration of a robot system according to one embodiment
  • FIG. FIG. 4 is a diagram for explaining an example of signals generated by the robot system according to one embodiment
  • FIG. 4 is a diagram showing a first example for explaining relative movement of the working part of the robot system according to one embodiment
  • FIG. 4 is a diagram for explaining the work of the working part with respect to the relative movement of the working part of the robot system according to one embodiment
  • FIG. 7 is a diagram showing a second example for explaining relative movement of the working part of the robot system according to one embodiment
  • FIG. 10 is a diagram showing an example of work performed by the working unit of the robot system according to one embodiment in comparison with a comparative example
  • FIG. 10 is a diagram showing a working part of a robot system according to a modification of one embodiment
  • FIG. 1 The configuration of a robot system 100 according to one embodiment will be described with reference to FIGS. 1 to 8.
  • FIG. 1 The configuration of a robot system 100 according to one embodiment will be described with reference to FIGS. 1 to 8.
  • FIG. 1 The configuration of a robot system 100 according to one embodiment will be described with reference to FIGS. 1 to 8.
  • FIG. 1 The configuration of a robot system 100 according to one embodiment will be described with reference to FIGS. 1 to 8.
  • a robot system 100 works on a workpiece 200.
  • a robot system 100 includes an articulated robot arm 10 and a control device 20 that controls the articulated robot arm.
  • the robot system 100 also includes a work section 30 and a work control section 40 that controls the work section 30 .
  • the articulated robot arm 10 is, for example, an industrial or medical robot.
  • the articulated robot arm 10 includes multiple joints.
  • articulated robot arm 10 includes a 6-axis vertical articulation.
  • the articulated robot arm 10 operates by AC power supplied from the outside.
  • the control device 20 includes a robot control section 21 and a signal output section 22, as shown in FIG.
  • the signal output section 22 has an enable generation section 23 and a pulse generation section 24 .
  • the robot control unit 21 performs control to move the articulated robot arm 10 . Specifically, the robot control unit 21 controls the operation of the articulated robot arm 10 by controlling the electric power supplied to the motors 14 provided at the joints of the articulated robot arm 10 .
  • the robot control unit 21 also includes a CPU (Central Processing Unit) and a memory.
  • the robot control unit 21 performs control to operate the articulated robot arm 10 by executing a predetermined program. Further, the robot control unit 21 receives instruction (teaching) of the operation of the articulated robot arm 10 by the user, and controls the articulated robot arm 10 to perform the operation based on the teaching. Specifically, the robot control unit 21 receives the positions and orientations of the control points of the articulated robot arm 10 and calculates the motion of each joint of the articulated robot arm 10 .
  • the articulated robot arm 10 includes six joints 12a, 12b, 12c, 12d, 12e and 12f, and links 13a, 13b, 13c, 13d and 13e connecting the joints.
  • each of the six joints 12a to 12f is provided with a motor 14 consisting of a servomotor and a position detector 15 for detecting the rotational position of each joint.
  • the articulated robot arm 10 has a working part 30 attached to one end.
  • the articulated robot arm 10 includes a base 11 provided at the other end portion and attached to a floor, a wall, a pillar, or the like.
  • the six joints 12a to 12f are each rotated by driving the motor 14.
  • the joint 12a of the first axis is connected to the base 11.
  • the joint 12a rotates the link 13a with respect to the base 11 around the rotation axis A1.
  • the joint 12b on the second axis rotates the link 13b with respect to the link 13a around the rotation axis A2 in the direction perpendicular to the rotation axis A1.
  • the joint 12c of the third axis rotates the link 13c with respect to the link 13b around the rotation axis A3 parallel to the rotation axis A2.
  • the joint 12d of the fourth axis rotates the link 13d with respect to the link 13c around the rotation axis A4 in the direction perpendicular to the rotation axis A3.
  • the fifth-axis joint 12e rotates the link 13e with respect to the link 13d around the rotation axis A5 perpendicular to the rotation axis A4.
  • the joint 12f of the sixth axis rotates the working part 30 with respect to the link 13e around the rotation axis A6 perpendicular to the rotation axis A5.
  • the work unit 30 works on the workpiece 200 .
  • Working unit 30 includes, for example, at least one of a line camera, an area camera, a laser profile sensor, a range sensor, an application unit, an application unit, a spray unit, a welding unit, and an ultrasonic flaw detection unit.
  • the work unit 30 performs work on the work 200 while moving relative to the work 200 .
  • a line camera captures a line-shaped image while moving relative to the workpiece 200 .
  • the area camera captures a rectangular image while moving relative to the workpiece 200 .
  • the laser profile sensor performs imaging by projecting a laser beam while moving relative to the work 200, and measures the three-dimensional shape of the work 200 by the light section method.
  • the distance measuring sensor measures the distance to each position of the work 200 while moving relative to the work 200 .
  • the application unit applies the material to the workpiece 200 while moving relative to the workpiece 200 .
  • the material to be applied is liquid or paste, such as adhesive, sealant, reagent, paint, or solder.
  • the sticking unit sticks the sticking material onto the work 200 while moving relative to the work 200 .
  • the sticking material is, for example, a sealant, a seal, a tape, or the like.
  • the spray section sprays the spray onto the work 200 while moving relative to the work 200 .
  • the sprayed material is, for example, a liquid such as an adhesive, a drug, or a paint.
  • the welding part welds the work 200 while moving relative to the work 200 .
  • the ultrasonic flaw detector applies ultrasonic waves to the workpiece 200 while moving relative to the workpiece 200 , detects ultrasonic waves that are reflected back, and detects flaws in the workpiece 200 .
  • the work control unit 40 controls work on the workpiece 200 by the work unit 30 .
  • the work control unit 40 controls imaging by the work unit 30 .
  • the work control unit 40 controls the imaging timing of the work 200 by the work unit 30 .
  • the work control unit 40 controls projection of laser light and imaging of the laser light by the work unit 30 . Specifically, the work control unit 40 controls the imaging timing of the work 200 by the work unit 30 .
  • the work control unit 40 controls the measurement timing of the work 200 by the work unit 30.
  • the work section 30 is the application section, the work control section 40 controls the timing and amount of application of the material to be applied by the work section 30 .
  • the work control unit 40 controls the timing and amount of pasting of the pasting material by the work unit 30 .
  • the working control unit 40 controls the timing and amount of spraying of the sprayed material by the working unit 30 .
  • the work control unit 40 controls the welding timing and amount of welding performed by the working unit 30 .
  • the work control unit 40 controls the timing of transmission and detection of ultrasonic waves by the work unit 30 .
  • the work control section 40 controls the work performed by the work section 30 on the work 200 based on the signal output from the signal output section 22 of the control device 20 .
  • the signal output unit 22 outputs a signal based on the amount of relative movement of the working unit 30 for each amount of relative movement of the working unit 30 with respect to the work 200 due to the movement of the working unit 30 provided at the tip of the articulated robot arm 10. to output
  • the signal output unit 22 outputs a signal based on the amount of relative movement of the working unit 30 with respect to the workpiece 200 as a variable frequency pulse signal for each amount of relative movement of the working unit 30 .
  • the signal output section 22 generates a pulse enable using the enable generation section 23 .
  • the signal output unit 22 also causes the pulse generation unit 24 to generate a pulse signal based on the pulse enable generated by the enable generation unit 23 .
  • the signal output unit 22 outputs a predetermined pulse signal for each amount of relative movement of the working unit 30 with respect to the workpiece 200 .
  • the signal output unit 22 generates and outputs a pulse signal based on the relative movement amount of the working unit 30 at each predetermined processing cycle. That is, the signal output unit 22 acquires the amount of relative movement of the working unit 30 with respect to the workpiece 200 for each predetermined processing cycle. Then, the signal output unit 22 generates a number of pulse signals corresponding to the obtained relative movement amount.
  • a pulse signal is generated for each x mm of relative movement. For example, when there is a relative movement of 5xmm in a predetermined period, five pulse signals are generated within the predetermined period.
  • a pulse signal is counted as one at its rising edge and counted as one at its trailing edge. That is, the pulse signal is counted as two by rising and falling.
  • the frequency of the output pulse is variable in the range of 0 Hz to several MHz, for example. That is, the frequency of the output pulse increases as the amount of relative movement increases, and the frequency of the output pulse decreases as the amount of relative movement decreases.
  • the control period is 2 msec
  • the movement amount is acquired for each control period, and a pulse signal is output based on the movement amount.
  • the movement amount of the hand in FIG. 3 indicates the cumulative movement amount from 0 mm. That is, the difference in the amount of hand movement from the previous control cycle is obtained as the relative movement amount in the current control cycle. For example, if the hand movement amount in the previous control cycle is 10 mm and the hand movement amount in the current control cycle is 16 mm, the relative movement amount in the current control cycle is acquired as 6 mm.
  • the pulse resolution is 1 mm/pulse. That is, one pulse signal is output for every 1 mm movement. For example, for a 2 mm movement, the number of output pulses is set to 2 and the pulse frequency is 1 kHz. Further, when the object moves 3 mm, the number of output pulses is set to 3, and the pulse frequency is 1.5 kHz.
  • the signal output unit 22 outputs a pulse enable from the enable generation unit 23 at the start timing of a predetermined processing cycle, and the pulse generation unit 24 starts outputting pulses at the same time as the pulse enable is output. Further, the signal output section 22 stops outputting the pulse enable from the enable generation section 23 when the last pulse of the pulse generation section 24 is output. This prevents the processing from being rushed at the beginning of a predetermined processing cycle. As a result, there is no need to provide extra time for performing calculations.
  • the signal output unit 22 may continue outputting the pulse enable to the pulse generation unit 24 by the enable generation unit 23 . Further, the signal output unit 22 may provide a calculation cycle correction amount sufficiently small with respect to the processing cycle by the enable generation unit 23, and stop outputting the pulse enable by the calculation cycle correction amount. As a result, an allowance time for performing the calculation is ensured by the calculation cycle correction amount. For example, the calculation cycle correction amount is 40 ⁇ sec for a processing cycle of 2 msec.
  • the signal output unit 22 may first stop the pulse output from the pulse generation unit 24 within the processing period, and then generate the pulse.
  • the signal output unit 22 includes, for example, an FPGA (Field Programmable Gate Array), and performs processing using the FPGA.
  • FPGA Field Programmable Gate Array
  • the pulse output function is directly controlled by the CPU that controls the articulated robot arm 10, the load on the CPU may increase and the high-frequency pulse may not be controlled accurately. Therefore, the pulse output is controlled using a pulse control processing unit such as an FPGA provided separately from the CPU that controls the articulated robot arm 10 .
  • a pulse control processing unit such as an FPGA provided separately from the CPU that controls the articulated robot arm 10 .
  • the CPU controlling the articulated robot arm 10 calculates the amount of relative movement of the hand, and the pulse control processing unit controls the pulse frequency and the number of pulses based on the amount of relative movement of the hand. By doing so, it is possible to perform accurate pulse output. In addition, since the pulse output part is controlled by a separately provided processing unit, it is possible to easily change and expand pulse output specifications such as pulse-distance conversion and n-multiplied pulse by changing control parameters. .
  • the signal output unit 22 acquires the amount of relative movement of the working unit 30 during a predetermined processing cycle, and outputs a pulse signal assuming that the working unit 30 relatively moves at a constant speed during the predetermined processing cycle.
  • the predetermined processing cycle is sufficiently short, even if the relative movement is made at a constant speed, it is substantially the same as the actual relative movement amount of the working unit 30 .
  • the signal output unit 22 may acquire the relative movement amount of the working unit 30 based on the actual movement of the working unit 30, or based on the movement command of the articulated robot arm 10 of the robot control unit 21. , the amount of relative movement of the working unit 30 may be obtained.
  • the signal output unit 22 acquires the amount of relative movement of the working unit 30 with respect to the work 200, taking into consideration the movement by the external movement mechanism.
  • the external movement mechanism includes a travel shaft, a rotary table, and the like for moving the base 11 of the articulated robot arm 10 .
  • the amount of movement of the working part 30 relative to the work 200 is obtained based on the amount of movement of the control point TCP that controls the movement of the articulated robot arm 10 .
  • a control point TCP for controlling the movement of the articulated robot arm 10 is set, for example, at a work position for the work 200 by the working unit 30 .
  • the control point TCP is set at the imaging focus position of the working unit 30 . If the working unit 30 is a distance measuring sensor, the control point TCP is set at the distance measuring position of the working unit 30 .
  • the control point TCP is set at the application position of the work unit 30.
  • the control point TCP is set at the sticking position of the working unit 30 .
  • the control point TCP is set at the welding position of the working part 30 .
  • the control point TCP is set at the flaw detection position of the working unit 30 .
  • the work control unit 40 controls the work performed by the work unit 30 on the work 200 using the signal output from the signal output unit 22 as a trigger. Specifically, based on the signal output from the signal output unit 22, the work control unit 40 causes the work unit 30 to perform work by a constant amount of movement. For example, the work control unit 40 counts the pulse signals output from the signal output unit 22 to acquire the relative movement amount of the work unit 30 . Then, the work control unit 40 causes the work unit 30 to work on the workpiece 200 every time the work unit 30 moves a certain amount of movement.
  • the work control unit 40 controls the work unit 30 to take an image every fixed amount of movement of the work unit 30 .
  • the work unit 30 is a laser profile sensor
  • the work control unit 40 controls the work unit 30 to project laser light and capture an image of the laser light for each fixed amount of movement of the work unit 30 .
  • the work control unit 40 controls the working unit 30 to measure the distance to the workpiece 200 for each fixed amount of movement.
  • the work control unit 40 controls the work unit 30 to apply a constant amount of material for each constant amount of movement of the work unit 30 .
  • the work control unit 40 controls so that a fixed amount of material is pasted for each fixed amount of movement of the work unit 30 .
  • the working control unit 40 controls the working unit 30 to spray a fixed amount of spray for each fixed amount of movement of the working part 30 .
  • the work control unit 40 controls the work unit 30 to perform a fixed amount of welding for each fixed amount of movement.
  • the work control unit 40 controls the work unit 30 to perform flaw detection by irradiating ultrasonic waves for each fixed amount of movement of the work unit 30 .
  • the robot control unit 21 causes the articulated robot arm 10 to relatively move the working unit 30 relative to the work 200 along the surface of the work 200 in a curved shape.
  • the robot control unit 21 causes the articulated robot arm 10 to relatively move the working unit 30 along the workpiece 200 curved in the vertical direction.
  • the work control unit 40 controls the work unit 30 to perform work for each amount of movement L1 of the control point TCP.
  • the robot control unit 21 causes the articulated robot arm 10 to relatively move the working unit 30 in a curved line along the work position having the curved portion of the work 200 .
  • the work control unit 40 controls the work unit 30 to perform work for each movement amount L2 of the control point TCP.
  • the work control unit 40 controls the application amount V1 of the material to be applied for each movement amount L2 of the work unit 30 .
  • the ejection switch is turned on in synchronization with the output of the pulse signal for each movement amount L2.
  • the work control unit 40 controls the ejection stroke S1 for ejecting the application material to be a constant amount for each moving amount L2 of the working unit 30 regardless of the moving speed of the working unit 30 .
  • the application material is applied at a constant discharge amount regardless of the relative movement speed of the working unit 30 .
  • the amount of the applied material discharged increases in the curved portion, and a large amount of the applied material is applied in the curved portion. For this reason, coating unevenness of the coated material occurs in the linear portion and the curved portion.
  • the signal output unit 22 may output a plurality of signals corresponding to each of the plurality of positions of the working unit 30 based on the relative movement thereof.
  • a plurality of positions such as a control point TCP, a point inside the control point TCP, and a point outside the control point TCP are set as the plurality of positions of the working unit 30, for example.
  • the work control unit 40 that has received a plurality of signals may perform work by the work unit 30 for each relative movement amount at each position, or based on the relative movement amount at a plurality of positions. , and the work unit 30 may perform the work for each calculated relative movement amount of any position.
  • the signal output section 22 is provided for outputting a signal based on the relative movement amount of the working section 30 for each relative movement amount of the working section 30 with respect to the workpiece 200 .
  • a work control section 40 is provided for controlling work on the workpiece 200 by the work section 30 based on the signal output from the signal output section 22 .
  • the work control unit 40 can acquire the amount of relative movement of the work unit 30 with respect to the work 200 for each relative movement, and can control the work performed by the work unit 30. Therefore, all work positions can be determined in advance. Work can be performed on the workpiece 200 without setting.
  • each predetermined relative movement amount The working unit 30 can work on the workpiece 200 immediately. That is, since it is difficult to increase the speed of the relative movement in a work involving complicated relative movement such as a curved section, if the speed of the relative movement of the working unit 30 is to be kept constant, the speed of the relative movement The speed of the relative movement must also be reduced for movement in a straight section, etc., where .DELTA.
  • the work 200 is operated not by speed but by a predetermined amount of relative movement, there is no need to keep the speed of relative movement of the working unit 30 constant.
  • the speed can be increased.
  • the relative speed becomes small.
  • the work of the working section 30 with respect to the workpiece 200 is denser than in the straight section where the relative speed is high.
  • the position at which the relative movement speed of the working unit 30 is low is faster than the position at which the relative movement speed is high. Since it is possible to prevent the work by the unit 30 from becoming dense, it is possible to prevent unevenness in the work performed by the work unit 30 on the workpiece 200 .
  • the signal output unit 22 outputs a signal based on the amount of relative movement of the working unit 30 with respect to the workpiece 200 as a variable frequency pulse signal for each amount of relative movement of the working unit 30. .
  • the frequency of the variable-frequency pulse signal is set to a corresponding frequency according to the relative movement speed of the working unit 30, and the pulse signal is output. can be output.
  • the signal output unit 22 outputs a predetermined pulse signal for each amount of relative movement of the working unit 30 with respect to the workpiece 200 . Accordingly, by counting the pulses of the variable-frequency pulse signal, the amount of relative movement of the working unit 30 with respect to the workpiece 200 can be easily obtained.
  • the work control unit 40 controls the work performed by the work unit 30 on the work 200 using the signal output from the signal output unit 22 as a trigger.
  • the work performed by the working unit 30 on the workpiece 200 can be accurately interlocked with the relative movement of the working unit 30 .
  • the work control unit 40 causes the work unit 30 to work by a constant amount of movement based on the signal output from the signal output unit 22 .
  • work can be performed for each fixed amount of movement of the working unit 30 regardless of the speed of relative movement of the working unit 30, so that unevenness in the work performed by the working unit 30 on the workpiece 200 can be reliably suppressed. can do.
  • the robot control unit 21 causes the articulated robot arm 10 to relatively move the working unit 30 relative to the work 200 along the surface of the work 200 in a curved shape.
  • the working part 30 can perform the work according to the amount of relative movement. .
  • the signal output unit 22 outputs a plurality of signals corresponding to each of the plurality of positions of the working unit 30 based on the relative movement thereof.
  • the amount of relative movement of the working unit 30 at multiple positions can be acquired, so that the work of the working unit 30 can be controlled based on the relative movement of the working unit 30 at multiple positions.
  • the working unit 30 includes at least one of a line camera, an area camera, a laser profile sensor, a range sensor, an application unit, an application unit, a spray unit, and a welding unit.
  • the workpiece 200 can be imaged or measured at each relative movement while the line camera, area camera, laser profile sensor, or distance measuring sensor is relatively moved along the workpiece 200, so that the shape and state of the workpiece 200 can be detected. It can be obtained with high accuracy.
  • the coating portion, the sticking portion, the spraying portion, or the welding portion along the work 200 the work 200 can be coated, stuck, sprayed, or welded for each relative movement.
  • the occurrence of uneven coating, uneven sticking, uneven spraying, or uneven welding can be suppressed.
  • the working part is provided at the tip of the articulated robot arm, and the working part is moved by the articulated robot arm, thereby moving the working part relative to the workpiece.
  • the present disclosure is not limited thereto.
  • a workpiece 200 is provided at the tip of an articulated robot arm 10, and the workpiece 200 is moved by the articulated robot arm 10, thereby moving the working unit 30 with respect to the workpiece 200. Relative movement may be performed.
  • the working unit 30 may work on the workpiece 200 every predetermined amount of movement L3.
  • an end effector may be provided at the tip of the articulated robot arm 10, and the workpiece 200 may be held by gripping or the like with the end effector.
  • the working part and the work may be provided at the distal end of each of a plurality of articulated robots, and the working part and the work may be moved relative to the work by moving the working part and the work with the articulated robot arm. .
  • the robot control section, the signal output section, and the work control section may be provided in a common control device.
  • the common control device separate processing units such as a CPU may be provided as the robot control unit, the signal output unit, and the work control unit, or a common processing unit such as a CPU may be provided. .
  • an articulated robotic arm may include multiple joints of five or less, or seven or more joints.
  • the present disclosure is not limited to this.
  • the amount of relative movement of the working unit with respect to the work may be obtained based on the movement of the articulated robot arm to any position.
  • the robot control section and the signal output section may be provided in separate control devices.
  • the signal output section may be provided in a control device common to the robot control section by adding hardware, or may be provided in a control device common to the robot control section by adding software. good.
  • the relative position of the working part with respect to the work may be output in real time based on the movement of the work or the working part provided at the distal end of the articulated robot arm.
  • the position coordinates of the tip position of the articulated robot arm may be output.
  • the multi-joint robot arm is moved at a low speed in advance to acquire the position coordinates of the tip position of the multi-joint robot arm.
  • a signal based on the relative movement amount of the working unit may be output in association with the position coordinates of the tip position of the multi-joint robot arm according to the relative movement amount of .
  • ASICs Application Specific Integrated Circuits
  • a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits.
  • a circuit, unit, or means is hardware that performs or is programmed to perform the recited functions.
  • the hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions.
  • a circuit, means or unit is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware and/or the processor.
  • an articulated robotic arm including a plurality of joints; a robot control unit that performs control to move the articulated robot arm; a working unit that performs work on the workpiece; A signal output for outputting a signal based on the amount of relative movement of the working unit for each amount of relative movement of the working unit with respect to the work due to the movement of the work or the working unit provided at the tip of the articulated robot arm.
  • Department and A robot system comprising: a work control section that controls work performed on the workpiece by the work section based on a signal output from the signal output section.
  • (Item 2) The robot system according to item 1, wherein the signal output unit outputs a signal based on the amount of relative movement of the working unit with respect to the workpiece as a pulse signal with a variable frequency for each amount of relative movement of the working unit with respect to the work.
  • (Item 4) 4. The robot system according to any one of items 1 to 3, wherein the work control section controls the work performed by the work section on the work using a signal output from the signal output section as a trigger.
  • (Item 6) The robot system according to any one of items 1 to 5, wherein the robot control unit causes the multi-joint robot arm to move the working unit relative to the work in a curved line along the surface of the work. .
  • (Item 7) The robot system according to any one of items 1 to 6, wherein the signal output unit outputs a plurality of signals corresponding to each of the plurality of positions of the working unit based on the relative movement thereof.
  • the working unit includes at least one of a line camera, an area camera, a laser profile sensor, a ranging sensor, an application unit, a sticking unit, a spray unit, a welding unit, and an ultrasonic flaw detection unit.
  • the working unit includes at least one of a line camera, an area camera, a laser profile sensor, a ranging sensor, an application unit, a sticking unit, a spray unit, a welding unit, and an ultrasonic flaw detection unit.
  • an articulated robotic arm including a plurality of joints; a robot control unit that performs control to move the articulated robot arm; Based on the amount of relative movement of the working unit for each amount of relative movement of the working unit with respect to the work due to the movement of the work provided at the tip of the articulated robot arm or the working unit that performs work on the work and a signal output unit that outputs a signal.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
PCT/JP2022/032679 2021-08-31 2022-08-30 ロボットシステムおよびロボット Ceased WO2023033008A1 (ja)

Priority Applications (4)

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EP22864590.9A EP4397452A4 (en) 2021-08-31 2022-08-30 ROBOTIC SYSTEM AND ROBOT
CN202280056668.0A CN117836098A (zh) 2021-08-31 2022-08-30 机器人系统及机器人
US18/687,915 US20240424672A1 (en) 2021-08-31 2022-08-30 Robot system and robot
KR1020247010469A KR20240052813A (ko) 2021-08-31 2022-08-30 로봇 시스템 및 로봇

Applications Claiming Priority (2)

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JP2021140738A JP7640411B2 (ja) 2021-08-31 2021-08-31 ロボットシステムおよびロボット
JP2021-140738 2021-08-31

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WO2025053255A1 (ja) * 2023-09-06 2025-03-13 川崎重工業株式会社 検査システム、検査方法およびロボットシステム
JP7654733B2 (ja) * 2023-09-06 2025-04-01 川崎重工業株式会社 検査システムおよび検査方法
JP7707249B2 (ja) * 2023-09-06 2025-07-14 川崎重工業株式会社 検査システムおよび検査方法

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JP2007054759A (ja) * 2005-08-25 2007-03-08 Sharp Corp 液滴吐出方法および液滴吐出装置
JP2013166185A (ja) 2012-02-14 2013-08-29 Kawasaki Heavy Ind Ltd 撮像検査装置ならびにその制御装置および制御方法
JP2017019214A (ja) * 2015-07-13 2017-01-26 横浜ゴム株式会社 印刷装置

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See also references of EP4397452A4

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JP7640411B2 (ja) 2025-03-05
JP2025071194A (ja) 2025-05-02
EP4397452A4 (en) 2025-09-10
US20240424672A1 (en) 2024-12-26
JP2025075067A (ja) 2025-05-14
CN117836098A (zh) 2024-04-05
KR20240052813A (ko) 2024-04-23
EP4397452A1 (en) 2024-07-10
JP2023034483A (ja) 2023-03-13

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