Motion adjustment device and motion adjustment method for adjusting the motion of a robot device

Abstract

The present invention provides a motion adjustment device for adjusting the motion of a robot device and a motion adjustment method for adjusting the motion of a robot device. The motion adjustment device includes a camera configured to photograph a robot and a manipulator. A robot control device includes a motion control unit that issues motion instructions to the robot in a predetermined control cycle. The camera captures images at time intervals consistent with the control cycle. A determination unit of the robot control device determines whether the motion of the manipulator is appropriate based on the image processing result of the image processing unit. When the determination unit determines that the motion of the manipulator is inappropriate, the correction unit of the robot control device corrects the instruction sentence contained in the motion program so that the motion of the manipulator becomes an appropriate motion.

Description

Technical Field

[0001] The present invention relates to a motion adjustment device for adjusting the motion of a robot device and a motion adjustment method for adjusting the motion of a robot device. Background Art

[0002] In a robot device equipped with a robot, various operations can be performed by installing a work tool corresponding to the operation on the robot. The operation can be performed by cooperating the movement of the robot with the movement of the work tool. For example, after the robot reaches a predetermined position, the robot can hold or release the workpiece through the manipulator.

[0003] The robot and the working tool are driven based on a pre-made motion program. When the robot is driven based on the motion program, the robot may perform a slightly different motion from the desired motion. For example, the position and posture of the robot at a predetermined time may slightly deviate from the desired position and posture. The operator can correct the motion of the robot by observing the state when the robot is actually driven.

[0004] It is known in the prior art that a camera for monitoring the movement of a robot is arranged in a robot device (for example, Japanese Patent Application Laid-Open No. 2011-19058). By processing the image captured by the camera, the position and posture of the robot can be detected. For example, the following control is known: an image of a robot actually being driven is captured and the actual position and posture of the robot is detected, thereby detecting abnormality in the movement of the robot or correcting the position and posture of the robot (for example, Japanese Patent Application Laid-Open No. 60-16386 and Japanese Patent Application Laid-Open No. 61-118810).

[0005] Alternatively, there is a case where the peripheral equipment arranged around the robot moves according to the movement of the robot. In this case, it is known to control the movement of the peripheral equipment based on the image captured by the camera so as to appropriately move the robot and the peripheral equipment (for example, Japanese Patent Publication No. 2011-154656). Summary of the invention

[0006] Problems to be solved by the invention

[0007] In recent years, the speed of robot movement has been sought to improve the efficiency of product production. When the robot moves slowly, the operator can visually observe the robot's movement. However, it is difficult to visually confirm the movement of a robot driven at high speed. Therefore, when the robot device is driven, it is difficult for the operator to determine whether the movement of the robot device is appropriate. In addition, when the operation performed by the robot device is not performed as expected, it is difficult to adjust the movement of the robot and equipment such as the working tool.

[0008] For example, there is a case where a robot device carries out an operation of transporting a workpiece from one location to another location. The robot device can transport the workpiece by holding the workpiece with a manipulator and driving the robot. When the manipulator is holding the workpiece, if the manipulator is driven too early, the workpiece may not be held in a desired state. Alternatively, when the manipulator releases the workpiece, if the manipulator starts driving before the robot reaches the target position, the workpiece may be thrown out.

[0009] Therefore, it is necessary to adjust the timing of starting the driving of the manipulator according to the state of the driving robot. However, it is difficult to confirm the state of the robot that moves at high speed. In this way, there are cases where it is difficult to adjust the movement of the robot device equipped with the robot.

[0010] Methods for solving problems

[0011] The first mode of the present disclosure is an action adjustment device that adjusts the action of a robot device including a robot. The action adjustment device includes a high-speed camera configured to capture at least one of the robot and the device that performs actions corresponding to the action of the robot. The action adjustment device includes a control device that controls the actions of the robot and the device and receives images captured by the high-speed camera. The control device includes a motion control unit that issues action instructions to the robot at a predetermined control cycle and a storage unit that stores action programs of the robot and the device. The high-speed camera is formed to be able to capture images at time intervals consistent with the control cycle. The control device includes an image processing unit that processes images captured at time intervals consistent with the control cycle. The control device includes a determination unit that determines whether at least one of the actions of the robot and the device is a predetermined action based on the processing result of the image processing unit. The control device includes a correction unit that corrects the instruction sentence contained in the action program. When the determination unit determines that at least one of the actions of the robot and the device is not a predetermined action, the correction unit corrects the instruction sentence contained in the action program so that the action of the robot and the action of the device become a predetermined action.

[0012] The motion adjustment device of the second mode of the present disclosure adjusts the motion of a robot device including a robot. The motion adjustment device includes a high-speed camera configured to capture at least one of the robot and the device that performs motion corresponding to the motion of the robot. The motion adjustment device includes a control device that controls the motion of the robot and the device and receives images captured by the high-speed camera. The control device includes a motion control unit that issues motion instructions to the robot in a predetermined control cycle and a storage unit that stores motion programs of the robot and the device. The high-speed camera is formed to be able to capture images at time intervals consistent with the control cycle. The control device includes an image processing unit that processes images captured at time intervals consistent with the control cycle. The control device includes a determination unit that determines whether the robot has reached a target position for starting the motion of the device based on the processing result of the image processing unit. The control device includes an instruction unit that issues an action instruction to the motion control unit. When the determination unit determines that the robot has reached the target position, the instruction unit issues an instruction to the motion control unit to start the motion of the device.

[0013] The motion adjustment method of one embodiment of the present disclosure is a method for adjusting the motion of a robot device based on an image captured by a high-speed camera. The robot device includes a robot and a device that performs motions corresponding to the motions of the robot. The high-speed camera is formed to be able to capture images at time intervals consistent with a control cycle for issuing motion instructions to the robot. The motion adjustment method includes a capturing step in which the high-speed camera captures at least one of the robot and the device at time intervals consistent with the control cycle. The motion adjustment method includes an image processing step for processing the image captured by the high-speed camera. The motion adjustment method includes a determination step for determining whether at least one of the motion of the robot and the motion of the device is a predetermined motion based on the processing result of the processed image. The motion adjustment method includes a correction step for correcting the instruction sentence contained in the motion program. When it is determined in the determination step that at least one of the motion of the robot and the motion of the device is not a predetermined motion, the instruction sentence contained in the motion program is corrected in the correction step so that the motion of the robot and the motion of the device become a predetermined motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic side view of the robot device in the embodiment.

[0015] Figure 2 It is a block diagram of a robot device in an embodiment.

[0016] Figure 3 This is a diagram for explaining a control cycle in which the motion control unit of the control device sends motion commands to the robot.

[0017] Figure 4This is an image of the robot starting to drive at the desired time and placing the workpiece on the conveyor.

[0018] Figure 5 This is a flowchart of the first control in the embodiment.

[0019] Figure 6 This is an image of a state in which the robot starts driving earlier than expected and places the workpiece on the conveyor.

[0020] Figure 7 This is an example of an operation program in the embodiment.

[0021] Figure 8 This is a flowchart of the second control in the embodiment.

[0022] Fig. 9 This image captures the state of vibration that occurs in the robot when placing a workpiece on the conveyor. DETAILED DESCRIPTION

[0023] Reference Figures 1 to 9 , a motion adjustment device for adjusting the motion of a robot device and a motion adjustment method for adjusting the motion of a robot device in an embodiment are described. The robot device includes a robot and a working tool installed on the robot. In addition, there is a case where the robot device includes peripheral equipment arranged around the robot. In this embodiment, a robot device for transporting a workpiece is cited as an example for description.

[0024] Figure 1 Schematic diagram of a robot device in this embodiment. The robot device 5 includes a manipulator 2 as a working tool (end effector) and a robot 1 that moves the manipulator 2. The robot 1 in this embodiment is a multi-joint robot including a plurality of joints.

[0025] The robot 1 includes a base 14 and a rotating base 13 supported by the base 14. The base 14 is fixed to a setting surface. The rotating base 13 is formed to rotate relative to the base 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is supported by the rotating base 13 so as to be rotatable via a joint. The upper arm 11 is supported by the lower arm 12 so as to be rotatable via a joint. In addition, the upper arm 11 rotates around a rotation axis parallel to the direction in which the upper arm 11 extends.

[0026] The robot 1 includes a wrist 15 connected to the end of the upper arm 11. The wrist 15 is supported by the upper arm 11 so as to be rotatable via a joint. The wrist 15 includes a flange 16 formed in a rotatable manner. The manipulator 2 is fixed to the flange 16 of the wrist 15. The robot 1 of this embodiment has six drive axes, but is not limited to this. Any robot that can move a working tool can be used.

[0027] The manipulator 2 is a working tool for holding or releasing a workpiece W. The manipulator 2 has a plurality of claws 3. The workpiece W is held by the claws 3. The manipulator 2 is formed so that the claws 3 are open or closed. The manipulator 2 of this embodiment has claws 3, but is not limited to this. The manipulator can adopt any structure formed in a manner capable of holding a workpiece. For example, a manipulator that holds a workpiece by adsorption or magnetism can also be adopted.

[0028] The robot device 5 in the present embodiment includes a conveyor 8 as a peripheral device arranged around the robot 1. The conveyor 8 is formed to transport the workpiece W to another location.

[0029] The robot device 5 of the present embodiment holds a workpiece W arranged on a workbench not shown in the figure. The robot 1 changes its position and posture in such a way that the manipulator 2 can hold the workpiece W arranged on the workbench. The workpiece W is held by closing the claws 3 of the manipulator 2. Next, the robot 1 changes its position and posture to transport the workpiece W to the loading surface of the conveyor 8. Next, the manipulator 2 releases the workpiece W by opening the claws 3. After loading the workpiece W, the conveyor 8 starts to move and transports the workpiece W to a predetermined position. In this way, the movement of the robot 1 cooperates with the movement of the manipulator 2. The manipulator 2 is equivalent to a device that moves in accordance with the movement of the robot 1.

[0030] The robot 1 of this embodiment is driven at high speed. As an example of a high-speed driven robot, a robot whose tool tip can move at a speed of 2000 mm / sec or more can be exemplified. For such a high-speed driven robot, it is difficult to visually observe the state of the robot driving.

[0031] The robot device 5 in this embodiment includes a camera 7 configured to capture at least one of the robot 1 and the manipulator 2. The camera 7 is supported by a stand 25. The camera 7 in this embodiment is a high-speed camera that can capture many images per second. As a high-speed camera, a camera that can capture images at more than 30 frames (30fps) per second can be exemplified. As the camera 7, a camera that captures dynamic images can be used. Alternatively, as the camera 7, a camera that captures multiple static images can also be used.

[0032] A reference coordinate system 56 is set in the robot device 5 of this embodiment. Figure 1In the example shown, the origin of the reference coordinate system 56 is arranged at the base portion 14 of the robot 1. The reference coordinate system 56 is also called the world coordinate system. The reference coordinate system 56 is a coordinate system in which the position of the origin is fixed and the orientation of the coordinate axis is fixed. Even if the position and posture of the robot 1 change, the position and orientation of the reference coordinate system 56 do not change. As coordinate axes, the reference coordinate system 56 has an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other. In addition, a W-axis is set as a coordinate axis around the X-axis. A P-axis is set as a coordinate axis around the Y-axis. An R-axis is set as a coordinate axis around the Z-axis.

[0033] In this embodiment, a tool coordinate system 57 is set, and the tool coordinate system 57 has an origin set at an arbitrary position of the working tool. When the robot 1 changes its position and posture, the position and orientation of the tool coordinate system 57 change. The tool coordinate system 57 has mutually orthogonal X-axis, Y-axis and Z-axis as coordinate axes. Figure 1 In the example shown, the origin of the tool coordinate system 57 is set at the tool tip point. In addition, the tool coordinate system 57 is set so that the direction in which the Z axis extends is parallel to the direction in which the claw 3 of the manipulator 2 extends. In addition, the tool coordinate system 57 has a W axis around the X axis, a P axis around the Y axis, and an R axis around the Z axis. For example, the position of the robot 1 corresponds to the position of the tool tip point. In addition, the posture of the robot 1 corresponds to the orientation of the tool coordinate system 57 relative to the reference coordinate system 56.

[0034] Figure 2 A block diagram showing a robot device in this embodiment. Figure 1 and Figure 2 The robot 1 includes a robot driving device that changes the position and posture of the robot 1. The robot driving device includes a robot driving motor 22 that drives components such as an arm and a wrist. The robot driving motor 22 drives the components to change their orientation.

[0035] The manipulator 2 includes a manipulator driving device for driving the manipulator 2. The manipulator driving device includes a manipulator driving motor 21 for driving the claw 3 of the manipulator 2. The claw 3 of the manipulator 2 is opened or closed by the manipulator driving motor 21. In addition, the claw may be formed to work by air pressure. In this case, the manipulator driving device may include a device for driving the claw, such as an air pump and an air cylinder.

[0036] The control device of the robot device 5 includes a robot control device 4. The robot control device 4 includes a processing device (computer) having a CPU (Central Processing Unit) as a processor. The processing device has a RAM (Random Access Memory) and a ROM (Read Only Memory) connected to the CPU via a bus. An action program 41 prepared in advance for controlling the robot 1, the manipulator 2, and the conveyor 8 is input into the robot control device 4. The robot control device 4 includes a storage unit 42 for storing information related to the control of the robot 1, the manipulator 2, and the conveyor 8. The storage unit 42 can be composed of a storage medium capable of storing information, such as a volatile memory, a non-volatile memory, or a hard disk. The action program 41 is stored in the storage unit 42. The robot device 5 of this embodiment transports the workpiece W based on the action program 41. The robot device 5 can automatically transport the workpiece W to a predetermined position.

[0037] The robot control device 4 includes a motion control unit 43 that issues motion commands. The motion control unit 43 corresponds to a processor that is driven according to the motion program 41. The processor reads the motion program 41 and performs control specified in the motion program 41, thereby functioning as the motion control unit 43.

[0038] The motion control unit 43 issues a motion command for driving the robot 1 to the robot driving unit 45 based on the motion program 41. The robot driving unit 45 includes a circuit for driving the robot driving motor 22. The robot driving unit 45 supplies power to the robot driving motor 22 based on the motion command. In addition, the motion control unit 43 issues a motion command for driving the robot 2 to the manipulator driving unit 44 based on the motion program 41. The manipulator driving unit 44 includes a circuit for driving the manipulator driving motor 21. The manipulator driving unit 44 supplies power to the manipulator driving motor 21 based on the motion command. Furthermore, the motion control unit 43 issues a command to capture an image to the camera 7 based on the motion program 41.

[0039] The robot 1 includes a state detector for detecting the position and posture of the robot 1. The state detector in this embodiment includes a position detector 18, which is installed on a robot drive motor 22 corresponding to a drive shaft of a component such as an arm. The orientation of the component in each drive shaft can be obtained based on the output of the state detector. For example, the position detector 18 detects the rotation angle when the robot drive motor 22 is driven. The position and posture of the robot 1 are detected based on the output of the position detector 18.

[0040] The control device of the robot device 5 includes a conveyor control device 9 for controlling the operation of the conveyor 8. The conveyor control device 9 includes a processing device (computer) including a CPU and a RAM. The conveyor control device 9 is formed to be able to communicate with the robot control device 4. The conveyor control device 9 receives instructions from the robot control device 4 and drives the conveyor 8. In addition, the conveyor control device 9 stops the conveyor 8 when the conveyor 8 transports the workpiece W to a predetermined position. The conveyor control device 9 sends a signal to the robot control device 4 to stop the conveyor 8.

[0041] The robot 5 of this embodiment includes a robot control device 4 for controlling the robot 1 and the manipulator 2 and a conveyor control device 9 for controlling the conveyor 8, but the present invention is not limited to this embodiment. The robot 5 may be configured such that a single control device controls the robot 1, the manipulator 2, and the conveyor 8.

[0042] Figure 3 A diagram illustrating a control cycle sent by an operation control unit of a control device is shown. Figure 3 Indicates the moving points P1, P2, and P3 recorded in the motion program. For example, the robot 1 is controlled so that the tool tip point moves from the moving point P1 to the moving point P2. Also, the robot 1 is controlled so that the tool tip point moves from the moving point P2 to the moving point P3. The motion program 41 specifies the positions of the moving points P1, P2, and P3 and the postures of the robot 1 at each position.

[0043] The motion control unit 43 issues motion commands to the robot 1 at a predetermined control cycle Δt. The control cycle Δt is predetermined according to the performance of the robot 1. Alternatively, the control cycle Δt may be input into the robot control device by an operator. The control cycle Δt of the robot 1 is, for example, a time within a range of 1 msec to 8 msec.

[0044] The motion control unit 43 obtains the position and posture of the robot 1 at the moving points P1, P2, and P3 from the motion program 41. Next, the motion control unit 43 adds interpolation points IP between the moving points P1, P2, and P3. The interpolation points IP are set between the adjacent moving points. The interpolation points IP are generated based on the time interval of the control cycle Δt of the robot 1. In addition, the interpolation points IP are generated based on the driving method of the robot 1 such as the speed of the robot 1 and the linear movement.

[0045] The motion control unit 43 calculates the position and posture of the robot 1 at each interpolation point IP. The motion control unit 43 issues motion commands for each interpolation point IP. The position and posture of the robot 1 are controlled in such a way that the tool tip passes through the moving points P1, P2, P3 and the interpolation points IP set between the moving points P1, P2, P3. Alternatively, the robot 1 is controlled in such a way that the tool tip passes near the moving points P1, P2, P3 and the interpolation points IP.

[0046] Reference Figure 1 The robot device 5 of this embodiment carries the workpiece W as shown by arrow 91. The workpiece W is placed on the loading surface of the belt of the conveyor 8 by the actions of the robot 1 and the manipulator 2. The position and orientation of the workpiece W change as the robot 1 changes its position and posture. Figure 1 In the state shown, the workpiece W is placed on the conveyor 8 in a state rotated 90° about the Z axis of the tool coordinate system 57 .

[0047] Reference Figure 1 and Figure 2 The camera 7 in this embodiment is formed to be able to acquire images at time intervals consistent with the control cycle Δt of the robot 1. For example, it is formed to capture images at the same time interval as the control cycle Δt. That is, when the control cycle is 5msec, it is formed to be able to capture images every 5msec (200fps). Alternatively, the camera can also be formed to capture images at time intervals that are multiples of the control cycle. For example, it can also be formed to be able to capture images at time intervals of 1msec or 2msec when the control cycle is 4msec. In this case, the camera can also capture images at the same time interval as the control cycle.

[0048] Figure 4 This shows the image captured by the camera when the workpiece is transported to the conveyor. Figure 4 The images 51a to 51f are images taken at time intervals Δt that match the control cycle Δt. Figure 4 An image showing the position and posture changes of the robot 1 each time the motion control unit 43 sends a motion command to the robot 1. The motion control unit 43 can issue a command to the camera 7 to shoot at the same time as the motion command of the robot 1. That is, the sending of the motion command of the robot 1 and the sending of the command to shoot by the camera 7 can be synchronized. Alternatively, the motion control unit 43 can issue a command to the camera 7 to shoot at the same time interval as the control cycle Δt at a time different from the time when the motion command of the robot 1 is sent. The motion states of the robot 1 and the manipulator 2 are captured in each of the images 51a to 51f.

[0049] exist Figure 4 In the images 51a to 51f shown in FIG, the robot 1 and the manipulator 2 operate as the operator desires and place the workpiece W on the conveyor 8. Image 51a is an image when the workpiece W is transported toward the conveyor 8 at time t1. The robot 1 changes its position and posture toward a predetermined target position and target posture. The workpiece W is gripped by the claw 3 of the manipulator 2. The wrist 15 and the manipulator 2 move toward the loading surface of the conveyor 8 as indicated by the arrow 92. Image 51b is an image when the workpiece W is transported toward the conveyor 8 at time t2. The workpiece W approaches the conveyor 8, and the robot 1 decelerates.

[0050] Image 51c is an image captured at time t3. The robot 1 reaches a predetermined target position and a predetermined target posture. The workpiece W contacts the placement surface of the conveyor 8, and the operation of the robot 1 stops. The claw 3 of the robot hand 2 holds the workpiece W.

[0051] Image 51d is an image captured at time t4. According to the instruction of the motion control unit 43, the claws 3 of the manipulator 2 start to move away from each other as shown by the arrow 93. Image 51e is an image captured at time t5. The workpiece W is released by the claws 3 moving in the direction of moving away from each other as shown by the arrow 93. Image 51f is an image captured at time t6. The claws 3 of the manipulator 2 are fully opened. When the claws 3 move to a predetermined position, the movement of the claws 3 stops. The workpiece W is arranged on the loading surface of the conveyor 8. Thereafter, the manipulator 2 moves away from the workpiece W by being driven by the robot 1. The robot 1 changes its position and posture to hold the next workpiece W. Thereafter, the conveyor 8 starts to drive to transport the workpiece W.

[0052] exist Figure 4 In the operation of the robot device 5 shown, after the robot 1 places the workpiece W at the desired position, the manipulator 2 releases the workpiece W. In addition, the robot 1 does not vibrate when the operation is stopped. Therefore, the robot device 5 can place the workpiece W at the desired position in the conveyor 8. On the other hand, in the case of a device such as the manipulator 2 that moves in accordance with the operation of the robot 1, there is a case where the operation of the device relative to the state of the robot 1 deviates from the desired operation. First, as an operation adjustment method for adjusting the operation of the robot device, the first control performed by the control device is described. In the first control, the time to start the operation of the manipulator 2 is adjusted relative to the operation of the robot 1.

[0053] Reference Figure 2The robot device 5 of this embodiment includes a motion adjustment device 10 for adjusting the motion of the robot device. The motion adjustment device 10 includes a robot control device 4 and a camera 7. The robot control device 4 includes a signal processing unit 31 that receives a signal from the position detector 18 and a signal from the camera 7 and processes the signals. The signal processing unit 31 includes an image processing unit 32 that processes an image captured by the camera 7. The image processing unit 32 receives an image captured by the camera 7. The image processing unit 32 processes images captured at time intervals consistent with the control cycle.

[0054] The signal processing unit 31 includes a determination unit 33 that determines whether at least one of the actions of the robot 1 and the manipulator 2 is a predetermined action based on the processing result of the image processing unit 32. The determination unit 33 determines whether the action of the robot device 5 is appropriate. In this example, the determination unit 33 determines whether the timing at which the manipulator 2 attached to the robot 1 releases the workpiece W is appropriate.

[0055] The signal processing unit 31 includes a correction unit 34 that corrects the command sentence included in the action program. There is a case where the determination unit 33 determines that at least one of the action of the robot 1 and the action of the manipulator 2 is not a predetermined action. In this case, the correction unit 34 corrects the command sentence included in the action program 41 so that the action of the robot 1 and the action of the manipulator 2 become the predetermined action.

[0056] Each of the signal processing unit 31, image processing unit 32, determination unit 33, correction unit 34, and instruction unit 35 described above corresponds to a processor driven according to the operation program 41. The processor reads the operation program 41 and performs control specified in the operation program 41 to function as each unit.

[0057] The example in which the claws 3 of the robot 2 open earlier when placing the workpiece W on the placing surface of the conveyor 8 in the first control is described. The correction unit 34 corrects the command included in the operation program 41 to delay the opening of the claws 3 when the robot 1 reaches the target position.

[0058] Figure 5 A flowchart showing the first control in this embodiment. Figure 6 This shows an image in which the claw is opened earlier than expected. Figure 5 and Figure 6In step 71, the motion control unit 43 implements a driving process of driving the robot 1 in a manner of conveying the workpiece W toward the conveyor 8 based on the motion program 41. The motion control unit 43 controls the robot 1 and the manipulator 2 to hold the workpiece W placed on the workbench. The motion control unit 43 controls the position and posture of the robot 1 to place the workpiece W on the placement surface of the conveyor 8.

[0059] In step 72, the motion control unit 43 performs an imaging step of imaging an image with the camera 7 to image the area where the workpiece W is placed on the conveyor 8. The camera 7 captures images of the robot 1 and the manipulator 2 at time intervals consistent with the control cycle.

[0060] Figure 6 Images 52a to 52f captured in the capturing step are shown. Figure 6 Indicates that Figure 4 The images are captured at the same time t1 to t6. Image 52a is an image captured at time t1. The wrist 15 and the manipulator 2 move to the vicinity of the surface of the conveyor 8. The robot 1 changes its position and posture toward the target position and the target posture.

[0061] like Figure 4 As shown in the images 51c to 51f, the robot 2 needs to open the claw 3 after placing the workpiece W on the placing surface of the conveyor 8. Figure 6 In the image 52a in FIG. 1 , the claw 3 starts to open at time t1 as shown by the arrow 93. That is, the claw 3 opens earlier than expected, and the robot 2 performs an action different from the predetermined action. The grip of the claw 3 is released, and the workpiece W falls onto the loading surface of the conveyor 8. The workpiece W is sometimes arranged at a position that deviates from the expected position. Alternatively, the workpiece W is sometimes thrown out due to the action of the robot 1.

[0062] Image 52b is an image captured at time t2. In image 52b, the claw 3 continues to open as indicated by arrow 93. In addition, the robot 1 changes its position and posture toward the target position and the target posture as indicated by arrow 92. The workpiece W falls from the robot 2 and is placed on the surface of the conveyor 8.

[0063] Image 52c is an image captured at time t3. The robot 2 has reached a desired position relative to the conveyor 8. That is, the robot 1 has reached a target position and a target posture. The robot 2 is fully opened.

[0064] Image 52d is an image captured at time t4. Image 52e is an image captured at time t5. Image 52f is an image captured at time t6. As shown in images 52d to 52f, the robot 1 stops and the manipulator 2 maintains the open state. Figure 4In normal operation, the period from time t4 to time t6 is the period when the claw 3 is opened, but Figure 6 In the example shown, the opening operation of the claw 3 is completed at time t3.

[0065] Reference Figure 5 In step 73, the image processing unit 32 performs an image processing step of processing the image captured by the camera 7. The image processing unit 32 receives the image captured by the camera 7. The image processing unit 32 calculates the time when the workpiece W is operated. In this example, the image processing unit 32 detects the time when the robot 2 starts to open based on the images 52a to 52f.

[0066] In the present embodiment, a plurality of reference images of the manipulator 2 in which the positions of the claws 3 are different from each other are stored in the storage unit 42. Figure 4 For example, the storage unit 42 stores a reference image of the manipulator 2 with the claws 3 closed as shown in image 51a (reference image of the manipulator 2 holding the workpiece W with the claws 3) and a reference image of the manipulator 2 with the claws 3 slightly opened as shown in image 51e. Such reference images can be taken by the operator in advance and input to the robot control device 4.

[0067] The image processing unit 32 Figure 6 It is determined which image among the images 52a to 52f shown contains the reference image of the manipulator 2 with the claws 3 closed. For example, the image processing unit 32 detects an image containing the manipulator 2 with the claws 3 closed by comparing the images of the manipulator 2 using a pattern matching method. In addition, the image processing unit 32 detects an image containing the reference image of the manipulator 2 with the claws 3 slightly opened. As a result, the image processing unit 32 determines that the image 52a contains the reference image of the manipulator 2 with the claws 3 closed. In addition, the image processing unit 32 determines that the image 52b contains the reference image of the manipulator 2 with the claws 3 slightly opened. Therefore, the image processing unit 32 determines that the time when the manipulator 2 starts to move is the time t1 when the claws 3 start to open.

[0068] exist Figure 4 In the example of normal driving shown in FIG. 5 , the claw 3 is closed in the image 51d at time t4, and is slightly opened in the image 54e at time t5. Therefore, the time t4 can be set as the period when the claw 3 starts to open. That is, the time t4 can be set as the target period when the robot 2 starts to drive. In addition, the determination range of the target period when the robot 2 starts to drive can be set. In the example here, the period after the workpiece W is loaded on the conveyor 8 can be set as the determination range of the target period. In the present embodiment, the period from time t3 to time t5 is set as the determination range of the target period when the robot 2 starts to move.

[0069] The determination range of the target period is predetermined and stored in the storage unit 4. The determination range of the target period may be predetermined by the operator. Alternatively, the image processing unit 32 may be based on Figure 4 The images 51a to 51f shown are used to set the determination range of the target period by using a method such as pattern matching.

[0070] Reference Figure 5 In step 74, the determination unit 33 implements a determination process for determining whether the action of the robot 2 is a predetermined action based on the processing result of the processed image. In the determination process of the first control, it is determined whether the action of the robot 2 is appropriate. In this determination process, it is determined whether the period when the robot 2 operates the workpiece W is within the determination range. The determination unit 33 determines whether the period when the robot 2 starts to move detected by the image processing unit 32 is out of the determination range of the target period. In step 74, when the period when the workpiece W is operated is within the determination range, the control is terminated.

[0071] As described above, the image processing unit 32 determines that the time when the robot 2 starts to move is time t1. In contrast, the determination range of the target time is the period from time t3 to time t5. Therefore, the determination unit 33 determines that the time when the robot 2 starts to move is out of the target determination range. In step 74, when the time when the workpiece W is operated is out of the determination range of the target time, control proceeds to step 75.

[0072] Next, the correction unit 34 performs a correction process of correcting the command sentence included in the action program 41 so that the action of the robot 2 becomes a predetermined action. The correction unit 34 corrects the command sentence at the time when the robot 2 starts to move in the action program 41 based on the difference between the judgment range of the target time and the time when the robot 2 starts to move detected by the image processing unit 32.

[0073] In step 75, the correction unit 34 calculates the correction value of the time when the workpiece W is operated. In this example, the time t4, which is the middle time in the determination range from time t3 to time t5, is adopted as the most preferred target time. The correction unit 34 calculates the correction value when the time when the robot 2 starts to move is time t4. The correction unit 34 can set the time length of (t4-t1) as the correction value.

[0074] In step 76, the correction unit 34 receives the operation program 41 from the storage unit 42. The correction unit 34 corrects the command sentence included in the operation program so as to delay the timing of starting the operation of the robot 2 by the time length of (t4-t1). Here, an example of the operation program will be described.

[0075] Figure 741 shows an example of an operation program in this embodiment. The operation program 41 includes information for defining the movement points of the operation of the robot 1. In the operation program 41, the symbol P is used to represent the movement points. Figure 7 In the example shown, a moving point P[1] and a moving point P[2] are set. The position and posture of the robot 1 at each moving point are recorded at the end of the action program 41. Alternatively, the position and posture of the robot 1 at the moving point may be referenced from a setting file that sets the variables of the action program 41 in detail. In this embodiment, the position of the robot 1 at the moving point is specified by the position of the tool tip point. In addition, the posture of the robot 1 at the moving point is specified by the orientation of the tool coordinate system 57. The orientation of the tool coordinate system 57 can be specified by the coordinate value of the W axis, the coordinate value of the P axis, and the coordinate value of the R axis of the reference coordinate system 56.

[0076] The robot control device 4 controls the robot 1 so that the robot 1 passes through each moving point or the vicinity of the moving point. For example, the instruction for moving the tool tip to the moving point P[1] is recorded in the instruction sentence of the first line of the action program 41. In addition, the instruction for moving the tool tip from the moving point P[1] to the moving point [2] is recorded in the instruction sentence of the second line. The instruction for moving from the moving point [2] to the moving point [1] is recorded in the instruction sentence of the third line.

[0077] In each command sentence, the symbol L indicates the front end point of the tool is moved linearly. In addition, it indicates the command to move the front end point of the tool at a speed of 4000 mm / sec. In addition, the symbol CNT indicates the variable of the distance that can be away from the moving point. The larger the value after the symbol CNT, the longer the distance that can be away from the moving point. The larger the value after the symbol CNT, the smoother the movement of the robot 1.

[0078] In the second instruction sentence, the symbol P[2: Drop_Pos] indicates that the moving point P[2] is the position where the workpiece W is placed. The symbol "TB.01sec, RO[1] = OFF" indicates control to set the device RO[1] to the "OFF" state 0.01 seconds before the robot 1 reaches the moving point P[2]. The device RO[1] here is the manipulator 2. Therefore, it indicates control to send the instruction to start releasing the workpiece W to the manipulator 2 0.01 seconds before the robot 1 reaches the moving point P[2]. In addition, the symbol ACC100 indicates the gain when accelerating or decelerating when approaching the target position. The larger the value recorded after the symbol ACC, the greater the magnitude of the acceleration.

[0079] Reference Figure 2 , Figure 5 and Figure 7In step 76, the correction unit 34 corrects the symbol "TB.01sec" to delay the time when the robot 2 releases the workpiece W. In this example, the correction unit 34 corrects to a value obtained by subtracting the time length (t4-t1) from 0.01. By performing this control, the time when the claw 3 opens can be delayed. The correction unit 34 sends the corrected action program 41 to the storage unit 42. The action control unit 43 controls the robot 2 based on the corrected action program 41.

[0080] Then, the control returns to step 71. In the first control of the present embodiment, after the instructions in the action program 41 are corrected in step 76, the program correction control of the aforementioned steps 71 to 76 is repeated. That is, the robot control device 4 performs the same actions of the robot 1 and the manipulator 2 as the previous time after correcting the instruction sentence of the action program 41 in the correction unit 34. In addition, the image is captured by the camera 7. The robot control device 4 determines whether the action of the manipulator 2 is a predetermined action based on the processing result of the image captured at intervals corresponding to the control cycle. By implementing this control, it is possible to determine whether the action of the robot device 5 is appropriately adjusted.

[0081] Furthermore, when the action of the robot 2 is not a predetermined action, the instructions contained in the action program are corrected. On the other hand, in step 74, when the period of operating the workpiece W is within the determination range, the control is terminated. In the present embodiment, the program correction control of correcting the action program is repeated until the action of the robot device becomes a predetermined action. By implementing the control of correcting the action program multiple times, the action of the robot device can be adjusted more reliably in a manner that makes the action become an appropriate action. In addition, the control can also be terminated after implementing step 76 once.

[0082] As described above, in the present embodiment, it is possible to adjust the start timing of the operation of the device that starts the operation in accordance with the operation of the robot 1. It is possible to suppress the position where the workpiece W is arranged from being deviated or the workpiece from being thrown out.

[0083] In the above-mentioned embodiment, the action of the manipulator 2 releasing the workpiece W is illustrated as the action of the manipulator 2, but it is not limited to this mode. The control of this embodiment can also be applied to the action of the manipulator 2 holding the workpiece W. For example, when holding the workpiece, if the manipulator closes at an early time, there is a case where the workpiece cannot be held. Or, there is a case where the manipulator cannot hold the workpiece in a desired state. On the other hand, if the manipulator is closed at a late time, there is a case where the robot starts driving and cannot hold the workpiece. Or, there is a case where the workpiece cannot be held in a desired state. In this case, by implementing the first control, it is possible to adjust the time when the manipulator is closed and hold the workpiece in an appropriate state.

[0084] In the above control, the timing of opening or closing the robot arm is adjusted, but the method is not limited to this method, and the robot motion may be adjusted. The robot motion speed or acceleration may be adjusted so that the robot arm holds or releases the workpiece at an appropriate timing. For example, when the robot arm releases the workpiece early, the magnitude of the deceleration acceleration when the robot stops may be increased.

[0085] Next, the second control of the control device in this embodiment is described. The robot 1 may vibrate when the robot 1 stops. In the second control, the command statements included in the operation program 41 are corrected to suppress the vibration generated when the robot 1 stops.

[0086] Figure 8 The flowchart of the second control in this embodiment is shown. Step 71 and step 72 are the same as those of the first control (see Figure 5 ). In step 71, the robot 1 performs a driving process of driving the robot 1 to transport the workpiece W toward the placement surface of the conveyor 8. In step 72, the camera 7 performs a photographing process of photographing images at the same time interval as the control cycle.

[0087] Fig. 9 This image shows the state where the robot vibrates after being stopped. Fig. 9 Indicates that Figure 4 The images 53a to 53f are taken at the same time t1 to t6. The images 53a and 53b are taken by taking a picture of the normal operation of the robot device 5. Figure 4 The images 51a and 51b are the same. The actions of the robot 1 and the manipulator 2 from time t1 to time t2 are appropriate.

[0088] Image 53c is captured at time t3. Robot 1 reaches the target position and target posture at time t3 and stops. Tool tip point TC1 reaches the predetermined target position. At this time, robot 1 vibrates as robot 1 stops. As robot 1 vibrates, manipulator 2 also vibrates. As indicated by arrow 94, manipulator 2 rises.

[0089] Image 53d is captured at time t4. Workpiece W is lifted due to the vibration of robot 2. Tool tip point TC2 is higher than tool tip point TC1. Claw 3 starts opening at time t4 as indicated by arrow 93. That is, robot 2 starts moving. At this time, workpiece W falls toward conveyor 8 due to leaving conveyor 8. Workpiece W is sometimes arranged at a position deviating from the desired position. Robot 2 moves in the direction indicated by arrow 95 due to the vibration of robot 1.

[0090] An image 53e is captured at time t5. The claw 3 continues to open as indicated by an arrow 93. In addition, as indicated by an arrow 94, the manipulator 2 rises due to the vibration of the robot 1.

[0091] The image 53 f is captured at time t6 . Due to the vibration of the robot 1 , the claw 3 is arranged at a position away from the workpiece W. Thereafter, as indicated by an arrow 95 , the manipulator 2 descends due to the vibration of the robot 1 .

[0092] In the second control, the robot controller 4 detects the vibration amount of the working tool when the robot 1 reaches the target position and target posture. If the vibration amount is out of the determination range, the robot controller 4 corrects the deceleration acceleration instruction sentence for stopping the robot 1 in the operation program.

[0093] Reference Figure 2 , Figure 8 and Fig. 9 In step 81, the image processing unit 32 performs an image processing step of processing the image captured by the camera 7. The image processing unit 32 detects the vibration amount of the working tool when the robot 1 reaches the target position based on the image captured at the same time interval as the control cycle. In this embodiment, the image processing unit 32 detects the amplitude of the vibration of the manipulator 2 as the vibration amount.

[0094] In this embodiment, the position of the working tool in the image is calibrated relative to the actual position of the working tool. The actual position and orientation of the robot 2 can be calculated using the reference coordinate system 56. The position of the robot 2 in the image captured by the camera 7 is calibrated relative to the position shown in the reference coordinate system 56. That is, as long as the position of the robot 2 in the image is determined, the position of the robot 2 on the plane at a predetermined distance from the camera 7 can be determined.

[0095] The storage unit 42 stores a reference image of the manipulator 2 when the claw 3 is closed (a reference image of the manipulator 2 when the workpiece W is held by the claw 3), a reference image of the manipulator 2 when the claw 3 is slightly opened, and a reference image of the manipulator 2 when the claw 3 is fully opened. The image processing unit 32 can detect the position of the manipulator 2 in each image 53a to 53f by a pattern matching method. The image processing unit 32 can calculate the actual position of the manipulator 2 at each time based on the position of the manipulator 2 in the images 53a to 53f. In addition, the image processing unit 32 can calculate the actual positions of the tool tip points TC1, TC2, TC3, and TC4 of the robot device 5 based on the actual position of the manipulator 2.

[0096] The image processing unit 32 can extract images of the period when the robot 1 vibrates when it stops. In the present embodiment, the storage unit 42 stores the target position at which the robot 1 stops in order to start the operation of the working tool. At time t3, the position and posture of the robot 1 reach the target position and target posture. The image processing unit 32 detects the time t3 when the robot 1 reaches the target position and target posture. The image processing unit 32 extracts a plurality of images based on the time t3 when the robot 1 reaches the target position and target posture. In the example here, the image processing unit 32 extracts a predetermined number of images. The image processing unit 32 extracts image 53c when the robot 1 reaches the target position and target posture. In addition, the image processing unit 32 extracts image 53d at time t4, image 53e at time t5, and image 53f at time t6, which are taken after image 53c at time t3.

[0097] The image processing unit 32 calculates the positions of the tool tip points TC1, TC2, TC3, and TC4 corresponding to each image 53c, 53d, 53e, and 53f. The image processing unit 32 can calculate the difference between the highest position and the lowest position of the tool tip point as the vibration amount. In the example here, the image processing unit 32 calculates the difference between the position of the tool tip point TC2 and the position of the tool tip point TC3 as the vibration amount VA. The vibration amount is not limited to this method, and any value related to the magnitude of the vibration can be used. For example, the image processing unit 32 can also extract two consecutive images and calculate the difference in the position of the robot 2 in the two images as the vibration amount.

[0098] Next, in step 82, the determination unit 33 performs a determination process for determining whether the action of the robot 1 is a predetermined action based on the processing result of the processed image. In the determination process in the second control, it is determined whether the action of the robot 1 is appropriate. The determination unit 33 determines whether the vibration amount VA of the manipulator 2 detected by the image processing unit 32 is out of the determination range of the vibration amount.

[0099] The storage unit 42 stores the determination range of the vibration amount of the working tool when the robot 1 stops moving. When the vibration amount VA of the manipulator 2 is out of the determination range of the vibration amount, the determination unit 33 determines that a large vibration has occurred in the robot 1. The determination unit 33 determines that the action of the robot 1 is not a predetermined action. In the example here, the vibration amount VA of the manipulator 2 exceeds the upper limit of the determination range. In this case, the control enters step 83.

[0100] In step 83, the correction unit 34 performs a correction process of correcting the command sentence included in the motion program 41 so that the motion of the robot 1 becomes a predetermined motion. When the vibration amount VA of the manipulator 2 is out of the vibration amount determination range, the correction unit 34 corrects the acceleration command sentence of the deceleration in the motion program 41 for stopping the robot 1.

[0101] In this example, the correction unit 34 changes the magnitude of the acceleration to a value obtained by subtracting a predetermined amount. Figure 7 , the correction unit 34 corrects the value of the gain in the symbol ACC100 in the instruction sentence of the second line. For example, the correction unit 34 changes the gain of the acceleration from 100 to 80. In addition, the correction unit 34 may also calculate the magnitude of the acceleration of the deceleration based on the vibration amount. For example, the correction unit 34 may also correct the instruction sentence in such a way that the magnitude of the acceleration of the deceleration is smaller as the vibration amount is larger.

[0102] After the control of step 83 is completed, the control returns to step 71. In the second control, the program correction control of steps 71 to 83 is repeated after the correction of the action program 41 is completed. In this way, by repeating the control of correcting the action program until the vibration amount is within the determination range, the vibration can be suppressed more reliably. In step 82, when the vibration amount VA is within the determination range, the control is terminated. Alternatively, the control may be terminated after step 83 is implemented once, as in the first control.

[0103] In the second control, the action program can be corrected in a manner to suppress the vibration amount of the robot 2. By suppressing the vibration of the robot 2, it is possible to suppress the position deviation when arranging the workpiece W. Alternatively, it is possible to suppress the workpiece W from being thrown out due to the vibration of the robot 2 and being unable to be arranged at a predetermined position.

[0104] In the above-mentioned second control, a case where the vibration amount when stopping the robot is large is exemplified, but the present invention is not limited to this mode. The second control can also be applied when the vibration amount when stopping the robot is very small. For example, when the vibration amount is less than the lower limit value of the determination range, control can be implemented to increase the magnitude of acceleration when stopping the robot 1. Through this control, the operation time of the robot device 5 can be shortened.

[0105] In the first control and the second control described above, the image processing step of processing the image captured by the camera may also be performed by the operator. In addition, the determination step of determining whether at least one of the robot's action and the manipulator's action is appropriate based on the processing result of the processed image may also be performed by the operator. Furthermore, the correction step of correcting the instruction sentence included in the action program to make the action of the robot 1 and the action of the device appropriate may also be performed by the operator.

[0106] Next, the third control in this embodiment is described. In the third control, an image is captured by a camera while the robot device 5 is being driven. Based on the image captured by the camera, the movement of at least one of the robot and the device that moves in accordance with the movement of the robot is adjusted. Figure 2The signal processing unit 31 in this embodiment includes an instruction unit 35 that issues instructions for the actions of the robot 1 and the devices that act in accordance with the actions of the robot 1 to the action control unit 43. The instruction unit 35 is equivalent to a processor driven according to the action program 41. The processor functions as the instruction unit 35 by reading the action program 41 and implementing the control specified in the action program 41. Here, the manipulator 2 is illustrated as a device that acts in accordance with the actions of the robot 1. In addition, the determination unit 33 determines whether the position and posture of the robot 1 have reached the target position and target posture specified in the action program 41.

[0107] In the third control, the camera 7 captures the image of the robot 1 and the manipulator 2 at time intervals consistent with the control cycle. The image processing unit 32 detects the position of the manipulator 2. The determination unit 33 determines whether the position of the manipulator 2 has reached the target position for starting the motion of the manipulator 2. That is, the determination unit 33 determines whether the position and posture of the robot 1 have reached the target position and the target posture recorded in the motion program 41. When the determination unit 33 determines that the manipulator 2 has reached the target position, the instruction unit 35 issues an instruction to the motion control unit 43 to start the motion of the manipulator 2.

[0108] For example, refer to Figure 2 and Figure 4 As shown in images 51a to 51c, when the workpiece W approaches the conveyor 8, the camera 7 captures the robot 1 and the manipulator 2. The storage unit 42 stores a reference image of the manipulator 2 in a closed state. The image processing unit 32 detects the position of the manipulator 2 in the image using a pattern matching method based on the reference image of the manipulator 2. The image processing unit 32 detects the actual position of the manipulator 2 each time it acquires an image. In addition, the image processing unit 32 detects the actual position and posture of the robot 1. The determination unit 33 determines whether the robot 1 has reached the target position and target posture recorded in the action program 41. In the example here, the robot 1 reaches the target position and target posture for starting the action of the manipulator 2 at time t3.

[0109] The determination unit 33 determines that the robot 1 has reached the target position recorded in the motion program 41 in the image 51c. That is, the determination unit 33 determines that the workpiece W is placed on the upper surface of the conveyor 8 at time t3. The instruction unit 35 issues an instruction to the motion control unit 43 to start the action of opening the claw 3 of the robot 2. The motion control unit 43 issues an instruction to open the robot 2 to the robot driving unit 44 to implement the action of the robot 2 opening the claw 3.

[0110] Thus, in the third control, the robot 1 actually driven and the equipment that starts to move according to the movement of the robot 1 can be photographed and the start time of the movement of the equipment can be controlled. In the third control, images are taken at time intervals consistent with the control cycle, so the movement of the equipment can be started at an appropriate time. For example, it is possible to prevent the manipulator 2 from releasing the workpiece W too early or too late. In addition, the movement of the equipment can be started immediately after the robot 1 reaches an appropriate position and posture. Therefore, there is no need to set a waiting time for the robot 1 to stop or a surplus time for the movement of the robot 1, and the operation time can be shortened.

[0111] In the first control, the second control, and the third control described above, both the robot 1 and the manipulator 2 are photographed, but the present invention is not limited to this method. It is also possible to photograph an image of at least one of the robot 1 and the manipulator 2. The position and posture of the robot 1 correspond to the position and orientation of the manipulator 2. Therefore, by acquiring an image of the robot 1 or the manipulator 2, the image processing unit 32 can detect the position and posture of the robot 1.

[0112] In the above embodiment, a manipulator is exemplified as a device that operates in accordance with the operation of the robot 1, but the present invention is not limited to this embodiment. As a device that operates in accordance with the operation of the robot 1, any working tool can be used in accordance with the work performed by the robot device.

[0113] For example, in a robot device that performs spot welding, a spot welding gun is installed on the robot as a working tool. After the spot welding gun is arranged at a predetermined position, spot welding is performed in a manner that electrodes facing each other are close to each other. At this time, if the time when the movement of the electrodes is started is earlier or later than the expected time, it is possible that spot welding cannot be performed at the correct position. Alternatively, if the robot vibrates when the robot stops, it is possible that spot welding cannot be performed at the correct position. By applying the control of this embodiment to a robot device that performs spot welding, spot welding can be performed at the correct position.

[0114] In addition, as a device that operates in accordance with the operation of the robot, it is not limited to the working tool, and any peripheral device arranged around the robot 1 can be used. In particular, any device that operates in cooperation with the robot can be exemplified. A conveyor arranged around the robot or a traveling cart that travels on the ground to transport a workpiece can be exemplified as such a device.

[0115] For example, in Figure 4 In the embodiment, after time t6, the robot 1 is driven so that the manipulator 2 is separated from the workpiece W. After the robot 1 is driven, the conveyor 8 starts to move the workpiece W. The control of this embodiment can also be applied to the timing of starting the operation of the conveyor 8. That is, the timing of starting the operation of the conveyor 8 can be adjusted according to the operation of the robot 1 and the manipulator 2.

[0116] According to the aspects of the present disclosure, it is possible to provide a motion adjustment device and a motion adjustment method capable of adjusting the motion of a robot device including a robot.

[0117] In each of the above-mentioned controls, the order of the steps may be appropriately changed within the range where the functions and effects are not changed.

[0118] The above-mentioned embodiments can be appropriately combined. In the above-mentioned drawings, the same or equivalent parts are marked with the same reference numerals. In addition, the above-mentioned embodiments are examples and do not limit the invention. In addition, the embodiments include changes to the embodiments shown in the technical solution.

Claims

1. A motion adjustment device for adjusting the motion of a robot device including a robot, characterized in that: The action adjustment device comprises: a high-speed camera configured to capture at least one of the robot and a device that operates in accordance with the operation of the robot; and A control device controls the actions of the robot and the device and receives images captured by the high-speed camera. The control device includes a motion control unit that issues motion instructions to the robot in a predetermined control cycle and a storage unit that stores motion programs of the robot and the device. The high-speed camera is configured to capture images at time intervals consistent with the control cycle in which the control device issues motion instructions to the robot. The control device comprises: an image processing unit that processes images captured at time intervals consistent with the control cycle; a determination unit that determines whether at least one of the movement of the robot and the movement of the device is a predetermined movement based on a result of the image processing unit processing a plurality of continuous images captured by the high-speed camera; as well as A correction unit, which corrects the instruction sentences contained in the action program, When the determination unit determines that at least one of the operation of the robot and the operation of the device is not a predetermined operation, the correction unit corrects the instruction sentence included in the operation program so that the operation of the robot and the operation of the device become the predetermined operation.

2. The motion adjustment device according to claim 1, characterized in that: The device is a working tool mounted on a robot, The storage unit stores a determination range of a target time for the working tool to start operating when the robot reaches a target position. The high-speed camera takes pictures of the working tool when the robot reaches the target position. The image processing unit detects a timing when the working tool starts to operate based on images captured at the same time interval as the control cycle. The determination unit determines whether the timing at which the working tool starts moving, detected by the image processing unit, is out of a determination range of a target timing. When the working tool start time is out of the target time determination range, the correction unit corrects the working tool start time instruction sentence in the action program based on the difference between the target time determination range and the working tool start time detected by the image processing unit.

3. The motion adjustment device according to claim 1, characterized in that: The device is a working tool mounted on a robot, The storage unit stores a target position reached by the robot for the working tool to operate and a determination range of a vibration amount of the working tool when the robot stops operating. The high-speed camera captures at least one of the robot and the working tool when the robot reaches the target position. The image processing unit detects the vibration amount of the working tool after the robot reaches the target position based on the images captured at the same time interval as the control cycle, The determination unit determines whether the vibration amount of the working tool detected by the image processing unit is out of a vibration amount determination range. When the vibration amount of the working tool deviates from the vibration amount determination range, the correction unit corrects a command sentence of deceleration acceleration for stopping the robot in the operation program.

4. The motion adjustment device according to any one of claims 1 to 3, characterized in that: The control device performs the same actions of the robot and the device as last time after the correction unit corrects the instruction sentence of the action program. The high-speed camera captures images at time intervals consistent with the control cycle, The determination unit determines whether at least one of the operation of the robot and the operation of the device is a predetermined operation based on the processing result of the image processing unit.

5. A motion adjustment device for adjusting the motion of a robot device including a robot, characterized in that: The action adjustment device comprises: a high-speed camera configured to capture at least one of the robot and a device that operates in accordance with the operation of the robot; and A control device controls the actions of the robot and the device and receives images captured by the high-speed camera. The control device includes a motion control unit that issues motion instructions to the robot in a predetermined control cycle and a storage unit that stores motion programs of the robot and the device. The high-speed camera is configured to capture images at time intervals consistent with the control cycle in which the control device issues motion instructions to the robot. The control device comprises: an image processing unit that processes images captured at time intervals consistent with the control cycle; a determination unit that determines whether the robot has reached a target position for starting an operation of the device based on a result of processing the plurality of consecutive images captured by the high-speed camera by the image processing unit; as well as The command unit sends an action command to the action control unit. When the determination unit determines that the robot has reached the target position, the instruction unit issues an instruction to the motion control unit to start the motion of the device.

6. A method for adjusting the motion of a robot device based on an image captured by a high-speed camera, characterized in that: The robot device includes a robot and a device that performs actions corresponding to the actions of the robot. The high-speed camera is configured to capture images at time intervals consistent with a control cycle in which the control device issues motion instructions to the robot. The action adjustment method comprises: The high-speed camera takes a picture of at least one of the robot and the device at a time interval consistent with the control cycle; An image processing step of processing the image captured by the high-speed camera; a step of determining whether at least one of the movement of the robot and the movement of the device is a predetermined movement based on a result of processing a plurality of continuous images taken by the high-speed camera; as well as Correction process of the instruction sentences contained in the correction action program, When it is determined in the determination step that at least one of the operation of the robot and the operation of the device is not a predetermined operation, in the correction step, the instruction statement included in the operation program is corrected so that the operation of the robot and the operation of the device become the predetermined operation.

Images