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Robot system and imaging method

A robot system and robot technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as inability to perform proper operations

Inactive Publication Date: 2013-03-27
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, in the case of moving a robot equipped with a vision sensor (imaging device) based on previous teaching to perform imaging, the vision sensor (imaging device) may take an image with an error.
In this case, even if corrections are made based on the imaging results, proper work cannot be performed.

Method used

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  • Robot system and imaging method

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Experimental program
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no. 1 Embodiment approach ）

[0029] figure 1 A schematic diagram of the robot system 10 of this embodiment is shown. The robot system 10 has an imaging unit 20 , a robot 30 mounted with the imaging unit 20 , an imaging controller 40 , and a robot controller 50 . The camera unit 20 is mounted on the front end of the robot 30 . In the present embodiment, the robot 30 is an articulated robot including a plurality of actuators each having a servo motor. By driving the respective actuators, the position and direction of each part of the robot 30 can be changed, whereby the position of the entire robot 30 and the position of the imaging unit 20 can be changed.

[0030] The imaging unit 20 has an imaging device 22 and a distance measuring unit 24 . For example, the imaging device 22 and the distance measuring unit 24 are integrally provided. The imaging device 22 has, for example, a camera. The imaging device 22 captures a two-dimensional planar image. As an example, the number of pixels of the imaging dev...

no. 2 Embodiment approach ）

[0060] Figure 5 A schematic diagram of the robot system 10 of this embodiment is shown. The robot system 10 of the present embodiment has the same configuration as the robot system described in the first embodiment, and redundant descriptions are omitted to avoid redundancy.

[0061] A reference image of the workpiece W is stored in the storage device 41 . The processor 42 extracts an area corresponding to the reference image stored in the storage device 41 from the image pre-captured by the imaging device 22, and obtains a degree of coincidence with the reference image. The processor 42 may also determine at least one of the direction and the distance to pre-move the imaging unit 20 based on such pattern matching.

[0062] In addition, the processor 42 may compare the image captured by the imaging device 22 with the reference image stored in the storage device 41 before and after the distance measurement. For example, the comparison is based on at least one of shape and l...

no. 3 Embodiment approach ）

[0080] Figure 11 A schematic diagram of the robot system 10 of this embodiment is shown. Figure 11 The robot system 10 shown includes a plurality of robots 30 equipped with an imaging unit 20 and an end effector 110 for one workpiece W. In addition to this point, reference is made to Figure 8 ~ Figure 10 The robot system 10 described has the same structure, and redundant descriptions are omitted to avoid redundancy. In this way, a plurality of parts of the workpiece W can be imaged by a plurality of robots 30 equipped with the imaging unit 20 and the end effector 110 . Thereby, work (for example, machining) and measurement on the workpiece W can be performed in a short time.

[0081] In addition, in figure 1 In the illustrated robot system 10 , the distance of the workpiece W is measured and captured by one set of imaging units 20 and the robot 30 , but multiple sets of imaging units 20 and robots 30 may measure the distance of the workpiece W and capture the image. For...

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Abstract

Provided are a robot system and an imaging method. The robot system is capable of shooting in a high accurtacy. The robot system (10) includes: an imaging unit (20) including an imaging device (22) and a distance measuring part (24) ; and a robot (30) to which the imaging unit (20) is attached. The imaging device (22) preliminarily images a workpiece. The robot (30) preliminarily moves the imaging unit (20) based on the result of the preliminary imaging. The distance measuring part (24) measures the distance to the workpiece. The robot (30) actually moves the imaging unit (20) based on the result of the measurement. The imaging device (22) actually images the workpiece.

Description

technical field [0001] The present invention relates to a robot system and an imaging method. Background technique [0002] The control technology of industrial robots has progressed along with computer technology, and in recent years, industrial robots have been required to perform high-precision operations. For example, robot arms are installed in production lines of automobiles and the like, and are used to work on workpieces such as automobile parts. As the control for moving the robot arm to the workpiece, teaching playback control is widely used. Teaching playback control is to move the robot arm along a predetermined path leading to a predetermined target position. In the teaching playback control, the motion of moving the robot arm along a predetermined path is taught in advance, and the motion is reproduced. [0003] However, in actual work, the position of the workpiece may deviate due to individual differences in the workpiece itself or the accuracy of conveying...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/04B25J13/08B25J11/00
CPCB25J9/1697B25J9/10B25J9/1684B25J9/1692B25J9/1694B25J19/023G05B2219/36433G05B2219/37555G05B2219/39016G05B2219/39044
Inventor 中原义光
Owner YASKAWA DENKI KK
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