Robot operation system

Abstract

The present invention provides a robot operation system that can perform operations on each workpiece by the robot even when multiple workpieces are transported within a certain distance transported by a conveying device. The system comprises: a robot; a conveying device that is driven to transport multiple workpieces placed within a certain distance by a certain distance each time; a drive management unit that manages the driving distance of the conveying device and the timing of the start of the drive; a work position generation unit that generates multiple work positions for the robot to operate on the multiple workpieces at the timing of the start of the drive managed by the drive management unit; an operation unit that updates the multiple work positions generated by the operation position generation unit according to the driving of the conveying device and generates an operation instruction for the robot to perform a specified operation on the multiple workpieces while tracking them; and a control unit that controls the conveying device based on the driving distance of the conveying device and the timing of the start of the drive, and controls the robot based on the operation instruction generated by the operation unit.

Description

Technical Field

[0001] The invention relates to a robot operation system. Background Art

[0002] For example, a conveying device composed of a servo-driven conveyor mechanism places a workpiece within each pitch of the conveying device and conveys the workpiece one pitch at a time. In a robotic operating system having such a conveying device, the position of a workpiece within each pitch is determined by driving the conveying device one pitch at a time.

[0003] A robotic work system uses a robot to perform work on a workpiece being transported by a conveyor. As the conveyor moves one step at a time based on servo drive signals from the robot or peripheral devices, the robot performs work while accurately tracking the conveyor (and workpiece) using machine pulses from the servo motor.

[0004] Furthermore, Patent Document 1 discloses a component supply device, the purpose of which is to be able to remove the conveyed components without moving a robot to a standby position, thereby minimizing the component removal time. The component supply device includes: a conveyor for conveying components; a visual recognition unit for recognizing the position and posture of the components conveyed by the conveyor and outputting the recognized position and posture as recognition data; a movement amount measurement unit for measuring the movement amount of the components moved by the conveyor and outputting the movement amount as movement amount data; a removal robot for removing the conveyed components; and a robot control unit for storing the recognition data and movement amount data and controlling the operation of the removal robot based on these data.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2000-71188 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] In a robot operation system that operates on workpieces transported pitch by pitch by a transport device, the position of the workpiece corresponds one-to-one with the drive signal of the transport device. Therefore, if the transport device transports multiple workpieces within a single pitch, the robot cannot operate on each of the multiple workpieces within that single pitch.

[0010] Therefore, in a robot working system, it is desired that a robot can perform work on each workpiece even when a plurality of workpieces are transported within a certain distance transported by a transport device.

[0011] Solutions for solving problems

[0012] One embodiment of the robot operation system disclosed in the present invention comprises: a robot; a conveying device driven to convey a plurality of workpieces placed within a certain distance by conveying the certain distance each time; a drive management unit that manages the driving distance of the conveying device and the timing of the start of driving; a work position generation unit that generates a plurality of work positions for the robot to operate on the plurality of workpieces at the timing of the start of driving the conveying device managed by the drive management unit; an operation unit that updates the plurality of work positions of the robot generated by the operation position generation unit according to the driving of the conveying device and generates operation instructions for causing the robot to perform specified operations on the plurality of workpieces while tracking them; and a control unit that controls the conveying device based on the driving distance of the conveying device and the timing of the start of driving managed by the drive management unit, and controls the robot based on the operation instructions generated by the operation unit.

[0013] Effects of the Invention

[0014] According to one embodiment of the robot working system of the present disclosure, even when a plurality of workpieces are transported within a certain distance transported by a transport device, the robot can perform work on each workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 1 is an overall structural diagram showing one embodiment of the robot operation system disclosed herein.

[0016] Figure 2 This is a block diagram showing one embodiment of the robot operation system of the present disclosure.

[0017] Figure 3 This is a diagram showing how a work position is updated in one embodiment of the robot work system of the present disclosure.

[0018] Figure 4 FIG. 1 is a diagram illustrating a state of updating a work position in one embodiment of the robot work system of the present disclosure.

[0019] Figure 5 This is a flowchart showing the operation of the transport device in one embodiment of the robot operation system of the present disclosure.

[0020] Figure 6This is a flowchart showing the operation of a robot in one embodiment of the robot operation system of the present disclosure.

[0021] Figure 7 This is a diagram showing a conveying device in another embodiment of the robot operation system of the present disclosure.

[0022] Description of Reference Numerals

[0023] 1: Robot operating system; 2: Transport device; 3: Robot; 51: Drive management unit; 52: Operating position generation unit; 53: Operating unit; 54: Control unit; W1, W1a, W1b, W2: Workpiece. DETAILED DESCRIPTION

[0024] Hereinafter, one embodiment of the robot operation system disclosed herein will be described with reference to the accompanying drawings. Figure 1 1 is an overall structural diagram showing one embodiment of the robot operation system disclosed herein. Figure 2 This is a block diagram showing one embodiment of the robot operation system of the present disclosure.

[0025] like Figure 1 As shown, the robot operation system 1 of this embodiment includes: a conveying device 2, which is used to convey a workpiece W as an operation object; a robot 3, which is arranged near the conveying device 2; a detection unit 4, which is fixedly arranged near the conveying device 2; and a control device 5, which controls the drive of the conveying device 2 and the robot 3.

[0026] Figure 1 The XZ in FIG represents a coordinate system of the conveying device 2 and the robot 3 in the robot operation system 1. The X direction is a direction along the moving direction of the conveying device 2. The Z direction is a direction along the direction of gravity.

[0027] The conveying device 2 is composed of a servo conveyor driven by a servo motor (not shown). The conveying device 2 is configured to move a certain distance at a time in the X direction indicated by the hollow arrow by driving the servo motor controlled by the control device 5.

[0028] The upper surface of the conveying device 2 has a plurality of first partitions 21 and a plurality of second partitions 22. The plurality of first partitions 21 are erected at regular intervals along the direction of movement of the conveying device 2, and the plurality of second partitions 22 are erected between adjacent first partitions 21, 21. The first partitions 21 are higher than the second partitions 22. The distance between adjacent first partitions 21, 21 corresponds to one pitch of the conveying device 2. That is, the conveying device 2 is driven by the servo motor, and moves the distance (one pitch) between adjacent first partitions 21, 21 each time.

[0029] The conveying device 2 places multiple types of workpieces W1 and W2 between adjacent first partitions 21 and 21. Specifically, multiple workpiece placement areas S are formed between adjacent first partitions 21 and 21 by erecting multiple second partitions 22 between adjacent first partitions 21 and 21. Figure 1 In the example shown, three workpiece placement areas S are formed by vertically providing two second partitions 22 , 22 between adjacent first partitions 21 , 21 . Figure 1 The illustrated conveying device 2 has three workpiece loading areas S within one pitch, each of which carries one of three workpieces: two workpieces W1, W1 of the same type, and one workpiece W2 of a different type from workpiece W1. Therefore, the conveying device 2 is driven by a servo motor to move one pitch at a time, thereby conveying the three workpieces W1, W1, and W2 placed within the same pitch together.

[0030] The robot 3 may be any type of robot, such as a type installed on the floor or a type suspended from the ceiling, depending on the type of work to be performed on the workpiece on the conveying device 2 . Figure 1 The robot 3 shown is suspended from the ceiling 100 above the conveying device 2. A robot hand 31 capable of gripping workpieces W1 and W2 is provided at the lower end of the robot 3. The robot 3 is driven and controlled by a robot control device (not shown), thereby enabling the robot hand 31 to move up and down along the Z direction and in any other direction intersecting the Z direction. Thus, the robot 3 performs a predetermined operation on the workpieces W1 and W2 on the conveying device 2. Predetermined operations include, for example, unloading the workpieces W1 and W2 from the conveying device 2 to predetermined locations, attaching labels to the workpieces W1 and W2 on the conveying device 2, and the like.

[0031] The detection unit 4 is positioned upstream of the robot 3 in the direction of movement of the conveying device 2 and is used to detect the presence or absence of workpieces W1 and W2 on the conveying device 2 (whether workpieces W1 and W2 are placed on the conveying device 2) and the positions of the workpieces W1 and W2 within a pitch along the direction of movement of the conveying device 1. The specific detection unit 4 is not particularly limited and may be, for example, a two-dimensional camera having a field of view covering at least one pitch on the conveying device 2, a photoelectric sensor that uses light to detect the workpieces W1 and W2 on the conveying device 2, or the like. Figure 1 The detection unit 4 shown is composed of a two-dimensional camera that captures two-dimensional images of the workpieces W1 and W2 from above the conveying device 2. A detection signal (two-dimensional image, etc.) from the detection unit 4 is output to the control device 5.

[0032] The control device 5 generates a conveyor drive signal and outputs it to the servo motor of the conveyor 2 to control the driving of the conveyor 2. It also generates a robot drive signal and outputs it to the robot control device (not shown) of the robot 3 to control the driving of the robot 3. Figure 2 As shown, the control device 5 includes a drive management unit 51 , a work position generation unit 52 , a work unit 53 , and a control unit 54 .

[0033] The drive management unit 51 manages the drive distance (the distance the workpiece is moved) and the timing of the start of the drive (the timing at which the workpiece starts to move) of the conveying device 2. Specifically, the drive management unit 51 generates information indicating a prescribed drive distance for one pitch of the conveying device 1 and information indicating a prescribed timing of the start of the drive for one pitch of the conveying device 2 in accordance with a pre-taught management program of the conveying device 2. The drive distance and the timing of the start of the drive of these conveying devices 2 are preset to predetermined values. The information indicating the drive distance and the timing of the start of the drive generated by the drive management unit 51 is output to the control unit 54. In addition, the information indicating the timing of the start of the drive among the information generated by the drive management unit 51 is output to the work position generation unit 52 and the work unit 53.

[0034] The drive distance and drive start timing generated by the drive management unit 51 are controlled based on signals input from outside the control device 5. Specifically, the drive management unit 51 receives a detection signal from the detection unit 4 and, using this detection signal as a trigger, generates information on the drive distance and drive start timing of the conveying device 2. This makes it possible to easily generate information on the drive distance and drive start timing of the conveying device 2.

[0035] Either or both of the information generated by the drive management unit 51 regarding the drive distance and the drive start timing can be changed based on information indicating the robot 3's operating status, transmitted from the control unit 54 described later. The robot 3's operating status information refers to whether the robot 3 has completed its work on multiple types of workpieces W1 and W2 within a single pitch of the conveyor 2 and has shifted to the next pitch. Specifically, if the drive management unit 51 determines, based on the information indicating the operating information transmitted from the control unit 54, that the robot 3's work is slightly slower than the drive speed of the conveyor 2, the drive management unit 51 controls either or both of shortening the preset drive distance for a single pitch of the conveyor 2 relative to the drive distance during normal operation or delaying the preset drive start timing for the conveyor 2 relative to the drive start timing during normal operation. This allows the robot 3 to reliably perform work on multiple types of workpieces W1 and W2.

[0036] Furthermore, if the drive management unit 51 determines that the driving of the conveying device 2 is slightly slower than the operation of the robot 3, for example, the drive management unit 51 controls either one or both of extending the preset driving distance of the conveying device 2 per pitch relative to the driving distance during normal operation or advancing the preset timing for starting the driving of the conveying device 2 relative to the timing for starting the driving during normal operation. This enables the robot 3 to quickly perform operations on a variety of workpieces W1 and W2.

[0037] The work position generation unit 52 generates multiple work positions for the robot 3 to perform work on multiple workpieces W1 and W2 within a single pitch on the conveying device 2, based on information indicating the timing of the start of drive of the conveying device 2, which is managed and input by the drive management unit 51. Specifically, the work position generation unit 52 receives a detection signal from the detection unit 4 and, based on this detection signal and the information indicating the timing of the start of drive of the conveying device 2, input from the drive management unit 51, generates the position coordinates (XZ coordinates) of each workpiece W1 and W2 within a single pitch on the conveying device 2, serving as the robot 3's work position. In other words, even if multiple types of objects W1 and W2 are arranged within a single pitch on the conveying device 2, a work position can be generated for each of the multiple types of objects W1 and W2 within that single pitch. The information on the robot's work position (the position coordinates of each workpiece W1 and W2) generated by the work position generation unit 52 is output to the working unit 53.

[0038] The work position generating unit 52 can also generate attribute information for each of the multiple types of workpieces W1 and W2 at the timing of the driving execution of the conveying device 2. The attribute information of the workpieces W1 and W2 refers to the information corresponding to each workpiece W1 and W2 required when the robot 3 performs the work on the workpieces W1 and W2. Specifically, for example, when the robot 3 performs the work of unloading the workpieces W1 and W2, the attribute information is the location information of the transfer destination of each workpiece W1 and W2. Alternatively, for example, when the robot 3 performs the work of attaching labels to the workpieces W1 and W2, the attribute information is information about the type of label attached to each workpiece W1 and W2.

[0039] Attribute information is pre-stored in the work position generation unit 52 or in a storage unit (not shown) of the control device 5, corresponding to each workpiece W1 and W2. The work position generation unit 52 identifies the workpieces W1 and W2 placed on the conveyor 2 by performing image processing such as pattern matching based on the detection signals input from the detection unit 4. The work position generation unit 52 then reads the attribute information corresponding to the workpieces W1 and W2. The attribute information generated by the work position generation unit 52 is output to the work unit 53, corresponding to the position coordinates of the workpieces W1 and W2. Thus, the robot operation system 1 enables the robot 3 to easily perform operations corresponding to each of the multiple workpieces W1 and W2.

[0040] The operation unit 53 updates the information of the multiple operation positions of the robot 3 (the position coordinates of the workpieces W1 and W2) generated by the operation position generation unit 52 according to the driving of the conveying device 2, and generates an operation instruction for the robot 3 to perform a predetermined operation while tracking the multiple types of workpieces W1 and W2. Specifically, Figure 3 As shown, when workpieces W1a, W1b, and W2 are placed on the conveying device 2 below the detection unit 4, the work position generating unit 52 generates multiple work positions of the robot 3 (the position coordinates of the workpieces W1 and W2) based on the detection signal of the detection unit 4. Figure 3 , the position coordinates of each workpiece at the time of detection by the detection unit 4 are workpiece W1a; (X: 0090, Z: 0010), workpiece W1b; (X: 0080, Z: 0010), and workpiece W2; (X: 0070, Z: 0010).

[0041] The conveying device 2 is driven by the servo motor to move in the direction of the hollow arrow in the figure, so Figure 4 As shown in FIG. 1 , the position coordinates of the workpieces W1a, W1b, and W2 at the time when they reach the working range of the robot 3 are relative to Figure 3 The position coordinates at the time of detection by the detection unit 4 are offset by the distance the conveying device 2 has moved. Figure 4 , the position coordinates of each workpiece at the time point when it reaches the working range of the robot 3 are workpiece W1a; (X: 0030, Z: 0010), workpiece W1b; (X: 0020, Z: 0010), and workpiece W2; (X: 0010, Z: 0010).

[0042] In this manner, the working unit 53 updates information on the robot 3's multiple working positions (the coordinates of the workpieces W1 and W2) in response to the driving of the conveying device 2, based on information indicating the timing of the start of driving the conveying device 2, transmitted from the drive management unit 51. Thus, the working unit 53 monitors the timing of the robot 3's work start and whether the workpieces W1 and W2 have reached the robot 3's working range. If the monitoring results indicate that the workpieces W1 and W2 have reached the robot 3's working range and the robot 3 has started working, the working unit 53 generates a work command that causes the robot 3 to perform a predetermined operation while tracking the multiple types of workpieces W1 and W2, and outputs this work command to the control unit 54 along with the attribute information transmitted from the work position generation unit 52.

[0043] The control unit 54 controls the conveyor device 2 according to a pre-taught control program based on the drive distance and drive start timing of the conveyor device 2, which are managed and input by the drive management unit 51. It also controls the robot 3 based on the work instructions generated and input by the operation unit 53. Specifically, upon receiving information indicating the drive start timing of the conveyor device 2 from the drive management unit 51, the control unit 54 generates a conveyor device drive signal and outputs it to the servo motor of the conveyor device 2. Consequently, during normal operation, the conveyor device 2 is driven a predetermined drive distance of one pitch, moving the workpieces W1 and W2 one pitch at a time. Furthermore, upon receiving work instructions for the robot 3 from the operation unit 53, the control unit 54 generates a robot drive signal for controlling the drive of the robot 3 and outputs it to the robot control unit. Consequently, the robot 3 performs predetermined operations, such as unloading operations, on multiple types of workpieces W1 and W2 within one pitch.

[0044] Next, use Figure 5 and Figure 6 The specific operation of the robot operation system 1 is explained with reference to the flowchart shown. Figure 5 This is a flowchart showing the operation of the conveying device 2 in one embodiment of the robot operation system 1 of the present disclosure. Figure 6 This is a flowchart showing the operation of the robot 3 in one embodiment of the robot working system 1 of the present disclosure.

[0045] First, if Figure 5As shown, the drive management unit 51 of the control device 5 monitors whether a workpiece is placed on the conveying device 2 at a predetermined control cycle (S101). When the drive management unit 51 detects that a workpiece is placed within a pitch of the conveying device 2 based on the detection signal from the detection unit 4 (step S101: "Yes"), it outputs information indicating the predetermined drive distance and drive start timing of the conveying device 2 to the control unit 54. The control unit 54 then generates a conveying device drive signal and outputs it to the servo motor, driving the conveying device 2 at the predetermined drive distance and drive start timing (S102).

[0046] After the conveying device 2 starts driving, the drive management unit 51 monitors the working status of the robot 3 sent from the control unit 54 (S103). In step S103, if the working status of the robot 3 indicates that the work is being performed normally (step S103; "Yes"), the process proceeds to step S104, and the conveying device 2 and the robot 3 continue to be driven until the work on all workpieces conveyed by the conveying device 2 is completed.

[0047] In step S103, if the robot 3's operating status indicates that the work is not being performed normally (step S103; "No"), the drive management unit 51 changes one or both of the preset values for the drive distance and the drive start timing of the conveyor 2 (S105). The process then proceeds to step S104, where the conveyor 2 and robot 3 continue to be driven in the same manner as described above until all workpieces conveyed by the conveyor 2 are completed.

[0048] On the other hand, Figure 6 As shown, the work position generation unit 52 of the control device 5 monitors whether a workpiece is placed on the conveying device 2 at a predetermined control cycle (S201). When the work position generation unit 52 detects that a workpiece is placed within a pitch of the conveying device 2 based on the detection signal from the detection unit 4 (step S201: "Yes"), it calculates the position coordinates of each of the multiple types of workpieces W1 and W2 within the pitch of the conveying device 2 based on the detection signal from the detection unit 4, generates the work position of the robot 3, and outputs it to the work unit 53 (S202). At this time, the work position generation unit 52 not only generates the work position but also generates attribute information of each workpiece W1 and W2, and outputs it to the work unit 53.

[0049] The working unit 53 updates the working position of the robot 3 sent from the working position generating unit 52 based on the information indicating the timing of the start of driving of the conveying device 2 sent from the driving management unit 51, and generates a working instruction based on the updated working position and the attribute information sent from the working position generating unit 52 and outputs it to the control unit 54 (S203).

[0050] Next, the control unit 54 generates a robot drive signal for driving the robot 3 based on the work instruction sent from the work unit 53 and outputs it to the robot control device to control the robot 3 (S204). As a result, the robot 3 continues the prescribed operation while tracking the workpieces W1 and W2 until the operation on all the multiple types of workpieces W1 and W2 within a spacing is completed (S205). At this time, the information on the working status of the robot 3 is output from the control unit 54 to the drive management unit 51 at a prescribed control cycle. Figure 5 In step S103 of the flowchart shown, it is determined whether the working status of the robot 3 is that the work is being performed normally.

[0051] When the robot 3 completes the work on all workpieces W1 and W2 within one pitch of the conveying device 2 (step S205: "YES"), the control unit 54 determines whether there is work to be done for the workpieces in the next pitch to be conveyed by the conveying device 2, that is, whether there is a work instruction from the work unit 53 (S206). If there is a next work to be done (step S206: "YES"), the process from step S204 onwards is repeated. If there is no next work to be done (step S206: "NO"), the operation is terminated.

[0052] Figure 1 The transport device 2 shown has three, i.e., the same number of, workpiece loading areas S in each pitch. However, the number of workpiece loading areas S in each pitch of the transport device 2 may be different. In addition, either or both of the type and number of workpieces may be different for each pitch of the transport device 2. For example, Figure 7 The illustrated conveying device 2 has different numbers of workpiece placement areas S at even and odd pitches. In this case, the work position generation unit 52 can generate position coordinates for multiple types of workpieces W1 and W2 based on the timing of the start of driving the conveying device 2, that is, based on whether the pitch is even or odd. Thus, even if the type and number of workpieces vary within each pitch of the conveying device 2, the robot 3's work position (each workpiece's position coordinate) can be generated for each workpiece.

[0053] exist Figure 2 In the control device 5 shown, the conveyor drive signal and the robot drive signal are output from one control unit 54, but the conveyor drive signal and the robot drive signal can also be output from independent control units (a conveyor control unit and a robot control unit) respectively.

[0054] Furthermore, the various components of the control device 5 are not limited to being centrally provided in a single structure. One or more of the various components of the control device 5 may be separately configured to constitute other components of the robotic operation system 1 (e.g., a servo control device that controls the drive of the transport device 2, a robot control device that controls the drive of the robot 3, etc.).

[0055] One embodiment of the robot operation system 1 of the present disclosure described above has the following effects. The system comprises: a robot 3; a conveying device 2 driven to convey a plurality of workpieces W1 and W2 placed within a certain distance by a certain distance each time; a drive management unit 51 that manages the drive distance and drive start timing of the conveying device 2; a work position generation unit 52 that generates a plurality of work positions for the robot 3 to perform work on the plurality of workpieces W1 and W2 at the drive start timing of the conveying device 2 managed by the drive management unit 51; a work unit 53 that updates the plurality of work positions of the robot 3 generated by the work position generation unit 52 in response to the drive of the conveying device 2 and generates a work command for causing the robot 3 to perform a predetermined work on the plurality of workpieces W1 and W2 while tracking the plurality of workpieces W1 and W2; and a control unit 54 that controls the conveying device 2 based on the drive distance and drive start timing of the conveying device 2 managed by the drive management unit 51, and controls the robot 3 based on the work command generated by the work unit 53. Therefore, even when multiple workpieces W1 and W2 are transported within a certain distance (a spacing) by the conveying device 2, since the working position of the robot 3 (the position coordinates of the workpieces W1 and W2) is generated for each of the multiple workpieces W1 and W2, the robot 3 can perform operations on each workpiece W1 and W2.

[0056] The drive management unit 51 changes at least one of the drive distance and the drive start timing of the conveying device 2 according to the working status of the robot 3. This allows the robot 3 to reliably perform work on the plurality of workpieces W1 and W2 conveyed by the conveying device 2.

[0057] The drive management unit 51 controls the drive distance and drive start timing of the conveying device 2 based on a signal input from the outside. This makes it possible to easily generate information on the drive distance and drive start timing of the conveying device 2.

[0058] The work position generating unit 52 generates the positions of the plurality of workpieces W1 and W2 based on the count of the timing of the start of driving the conveying device 2. Thus, even if the types and quantities of workpieces within each pitch of the conveying device 2 vary, the work position of the robot 3 (the coordinates of each position of the workpiece) can be generated for each workpiece.

[0059] The work position generating unit 52 also generates attribute information of the plurality of workpieces W1 and W2 at the timing of starting to drive the conveying device 2, and the working unit 53 generates a work instruction based on the attribute information generated by the work position generating unit 52. Thus, the robot working system 1 can easily perform work corresponding to each of the plurality of workpieces W1 and W2 using the robot 3.

Claims

1. A robotic operation system comprising: robot; a conveying device driven to convey a plurality of workpieces placed within a certain distance by conveying the certain distance each time; a drive management unit that manages the drive distance and drive start timing of the transport device; a work position generating unit configured to generate a plurality of work positions at which the robot performs work on the plurality of workpieces at a timing when the driving of the conveying device managed by the drive managing unit starts; a working unit that updates the plurality of working positions of the robot generated by the working position generating unit in response to the driving of the conveying device, and generates working instructions for causing the robot to perform a predetermined work while tracking the plurality of workpieces; as well as a control unit that controls the conveying device based on the driving distance and the driving start timing of the conveying device managed by the drive management unit, and controls the robot based on the operation command generated by the operation unit, The conveying device includes a plurality of first partitions and a plurality of second partitions, wherein the plurality of first partitions are erected at regular intervals along the moving direction of the conveying device, and the plurality of second partitions are erected between adjacent first partitions, and the plurality of first partitions have a shape different from that of at least one of the second partitions. The work position generating unit generates position coordinates of the plurality of types of workpieces based on counting of the timing of starting the driving of the conveying device, that is, based on whether the pitch is even or odd.

2. The robot operation system according to claim 1, wherein: The drive management unit changes at least one of the drive distance of the conveying device and the timing of starting the drive according to the working status of the robot.

3. The robot operation system according to claim 1, wherein: The drive management unit controls the drive distance and the drive start timing of the conveying device based on a signal input from the outside.

4. The robot operation system according to claim 1, wherein: The work position generating unit generates positions of the plurality of workpieces based on an order of pitches of the conveying devices divided by a plurality of first partitions.

5. The robot operation system according to claim 2, wherein: The work position generating unit generates positions of the plurality of workpieces based on an order of pitches of the conveying devices divided by a plurality of first partitions.

6. The robot operation system according to claim 3, wherein: The work position generating unit generates positions of the plurality of workpieces based on an order of pitches of the conveying devices divided by a plurality of first partitions.

7. The robot operation system according to any one of claims 1 to 6, wherein: The work position generating unit further generates attribute information of the plurality of workpieces at the timing of starting the driving of the conveying device. The working unit generates the working instruction based on the attribute information generated by the working position generating unit.

8. The robot operation system according to any one of claims 1 to 6, wherein: The plurality of first dividers have a height different from that of at least one second divider.

9. The robot operation system according to claim 7, wherein: The plurality of first dividers have a height different from that of at least one second divider.

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