Control Method of Robot System and Robot System

Abstract

The present application provides a control method for a robot system and a robot system that can exhibit excellent working accuracy. The control method of the robot system includes the following steps: making the robotic arm assume a first posture; while maintaining the first posture, moving the tool relative to the object by means of a mobile stage and performing an operation on a first region of the object; making the robotic arm assume a second posture; while maintaining the second posture, photographing the object using a camera, and based on the photographing result, correcting the position of the tool by driving the mobile stage; and while maintaining the second posture, moving the tool relative to the object by means of the mobile stage and performing an operation on a second region of the object.

Description

Technical Field

[0001] The present invention relates to a control method for a robot system and a robot system. Background Art

[0002] In Patent Document 1, a robot system is disclosed. The robot system has a robot in which a spray nozzle is supported at the front end of a robotic arm by a head sliding unit, and the surface of an object is painted by spraying paint from the spray nozzle. In such a robot system, the entire object is painted by repeatedly performing the following steps: a moving step of moving the robotic arm so that the spray nozzle faces an unpainted area of the object; and a painting step of stopping the robotic arm and performing a painting operation on the unpainted area while moving the spray nozzle relative to the object by the head sliding unit.

[0003] Patent Document 1: Japanese Patent Laid-Open No. 2-31850

[0004] However, when printing using the robot system and the inkjet head of Patent Document 1, there is a possibility that the area printed in the current printing step deviates from the area printed in the previous printing step, resulting in a decrease in printing quality. Summary of the Invention

[0005] In the control method for a robot system of the present invention, the robot system includes a mobile stage, a tool mounted on the mobile stage, a robotic arm that holds one of the mobile stage and an object, and a camera, and a prescribed operation is performed on the object using the tool. The control method for the robot system includes the following steps: making the robotic arm assume a first posture; while maintaining the first posture, performing the operation on a first area of the object while moving the tool relative to the object by the mobile stage; making the robotic arm assume a second posture; while maintaining the second posture, photographing the object using the camera, and correcting the position of the tool by driving the mobile stage based on the photographing result; and while maintaining the second posture, performing the operation on a second area of the object while moving the tool relative to the object by the mobile stage.

[0006] The robot system of the present invention includes a mobile stage, a tool mounted on the mobile stage, a robotic arm that holds one of the mobile stage and an object, and a camera, and performs a prescribed operation on the object using the tool. The robot system sets the robotic arm to a first posture; while maintaining the first posture, moves the tool relative to the object by the mobile stage and performs the operation on a first region of the object; sets the robotic arm to a second posture; while maintaining the second posture, uses the camera to photograph the object, and based on the photographing result, corrects the position of the tool by driving the mobile stage; and while maintaining the second posture, moves the tool relative to the object by the mobile stage and performs the operation on a second region of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 FIG. 1 is a perspective view showing the overall configuration of the robot system according to the first embodiment.

[0008] Figure 2 FIG. 2 is a top view showing the mobile stage.

[0009] Figure 3 FIG. 3 is a flowchart showing the printing process.

[0010] Figure 4 FIG. 4 is a view showing a state in which a printing surface is divided into a plurality of regions.

[0011] Figure 5 FIG. 5 is a view for explaining the operation of the robot system in the printing step.

[0012] Figure 6 FIG. 6 is a view for explaining the operation of the robot system in the printing step.

[0013] Figure 7 FIG. 7 is a view for explaining the operation of the robot system in the printing step.

[0014] Figure 8 FIG. 8 is a view for explaining the operation of the robot system in the printing step.

[0015] Figure 9 FIG. 9 is a view for explaining the effect of the printing step.

[0016] Figure 10 FIG. 10 is a view for explaining the operation of the robot system in the printing step.

[0017] Figure 11 FIG. 11 is a view for explaining the operation of the robot system in the printing step.

[0018] Figure 12 FIG. 12 is a view for explaining the operation of the robot system in the printing step.

[0019] Figure 13 It is a diagram showing the actions of the robot system in the printing steps.

[0020] Figure 14 It is a diagram showing a modified example of the printing method.

[0021] Figure 15 It is a diagram showing a modified example of the printing method.

[0022] Figure 16 It is a diagram showing a modified example of the printing method.

[0023] Figure 17 It is a diagram showing a modified example of the robot system.

[0024] Figure 18 It is a diagram showing the robot system related to the second embodiment.

[0025] Figure 19 It is a diagram showing the operation reference point P0 adopted by the robot system in the third embodiment.

[0026] Figure 20 It is a perspective view showing the overall configuration of the robot system in the fourth embodiment.

[0027] Explanation of reference numerals

[0028] 100… Robot system, 200… Robot, 210… Base, 220… Robot arm, 221… Arm, 222… Arm, 223… Arm, 224… Arm, 225… Arm, 226… Arm, 300… Moving stage, 310… Base portion, 320… Worktable, 320X… X worktable, 320Y… Y worktable, 320θ… θ worktable, 330… Moving mechanism, 330X… X moving mechanism, 330Y… Y moving mechanism, 330θ… θ moving mechanism, 340… Piezoelectric actuator, 400… Tool, 410… Inkjet head, 411… Ink ejection hole, 600… Gripper, 700… Fixing member, 800… Camera, 900… Robot control device, D… Image data, E… Encoder, J1… Joint, J2… Joint, J3… Joint, J4… Joint, J5… Joint, J6… Joint, K… Mark, M… Motor, N… Arrow, P0… Operation reference point, P1… Moving start position, P2… Moving end position, Q… Object, Q1… Printing surface, R… Region, R1… Region, R2… Region, R3… Region, R4… Region, S1… Printing preparation step, S2… Printing step, S21… Unit printing step, S211… Robot arm driving step, S212… Operation step, S22… Unit printing step, S221… Robot arm driving step, S222… Calibration step, S223… Operation step, S23… Unit printing step, S24… Unit printing step, U… Pattern, U1… End portion. Detailed implementation mode

[0029] Hereinafter, a control method of a robot system and a preferred implementation mode of the robot system will be described based on the drawings.

[0030] First implementation mode

[0031] Figure 1 is a perspective view showing the overall configuration of the robot system according to the first implementation mode. Figure 2 is a top view showing the moving stage. Figure 3 is a flowchart showing the printing process. Figure 4 is a view showing a state in which the printing surface is divided into a plurality of regions. Figures 5 to 8 are views respectively explaining the operation of the robot system in the printing step. Figure 9 is a view for explaining the effect of the printing step. Figures 10 to 13 are views respectively explaining the operation of the robot system in the printing step. Figures 14 to 16 is a view showing a modified example of the printing method. Figure 17 is a view showing a modified example of the robot system.

[0032] Figure 1The shown robot system 100 includes a robot 200, a robot control device 900 that controls the driving of the robot 200, a fixing member 700 that supports and fixes an object Q, and a camera 800.

[0033] The robot 200 is a six-axis robot having six drive axes. The robot 200 has a base 210 fixed to the floor, a robotic arm 220 connected to the base 210, and a tool 400 connected to the robotic arm 220 via a mobile stage 300.

[0034] In addition, the robotic arm 220 is a robotic hand that rotatably connects multiple arms 221, 222, 223, 224, 225, 226 and has six joints J1 to J6. Among them, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are twisting joints. In addition, motors M as drive sources and encoders E that detect the rotation amount (rotation angle of the arm) of the motors M are respectively provided at joints J1, J2, J3, J4, J5, and J6.

[0035] In addition, a tool 400 is connected to the front end portion of the arm 226 via a mobile stage 300. That is, the mobile stage 300 is held by the arm 226, and the tool 400 is mounted on the mobile stage 300. There is no particular limitation on the tool 400, and it can be appropriately set according to the target operation. In the present embodiment, a print head is used, and in particular, an inkjet head 410 is used. The inkjet head 410 has an ink chamber (not shown), a vibration plate disposed on the wall surface of the ink chamber, and an ink ejection hole 411 connected to the ink chamber, and is configured to eject the ink in the ink chamber from the ink ejection hole 411 by vibrating the vibration plate. However, there is no particular limitation on the configuration of the inkjet head 410. In addition, as the print head, it is not limited to the inkjet head 410.

[0036] In addition, as Figure 2 shown, the mobile stage 300 connecting the inkjet head 410 and the robotic arm 220 has a base portion 310 connected to the arm 226, a worktable 320 that moves relative to the base portion 310, and a moving mechanism 330 that moves the worktable 320 relative to the base portion 310. When setting three mutually orthogonal axes as the X-axis, Y-axis, and Z-axis, the worktable 320 has a θ worktable 320θ that can rotate around the Z-axis relative to the base portion 310, a Y worktable 320Y that can move in the direction along the Y-axis relative to the θ worktable 320θ, and an X worktable 320X that can move in the direction along the X-axis relative to the Y worktable 320Y. The inkjet head 410 is mounted on the X worktable 320X. The X worktable 320X and the Y worktable 320Y are linearly guided along the X-axis direction and the Y-axis direction respectively by linear guide rails and can move smoothly and without shaking in the track direction of the linear guide rails.

[0037] In addition, the moving mechanism 330 includes a θ moving mechanism 330θ that moves the θ stage 320θ relative to the base 310 about the Z axis, a Y moving mechanism 330Y that moves the Y stage 320Y relative to the θ stage 320θ in the direction along the Y axis, and an X moving mechanism 330X that moves the X stage 320X relative to the Y stage 320Y in the direction along the X axis.

[0038] In addition, the θ moving mechanism 330θ, the Y moving mechanism 330Y, and the X moving mechanism 330X each include a piezoelectric actuator 340 as a drive source. Thereby, miniaturization and weight reduction of the moving stage 300 can be achieved. Since direct drive can be performed without using a speed reducer, further weight reduction and miniaturization can be achieved. In addition, the driving accuracy of the moving stage 300 is improved. It should be noted that the piezoelectric actuator 340 is configured to vibrate by the expansion and contraction of a piezoelectric element, and the vibration is transmitted to each of the stages 320θ, 320X, and 320Y to move each of the stages 320θ, 320X, and 320Y. However, the drive source is not particularly limited, and for example, an electromagnetic motor can also be used.

[0039] As Figure 1 shown, the camera 800 is disposed on the arm 225 in a state of facing the front end side of the robotic arm 220. By disposing the camera 800 on the robotic arm 220 in this way, the object Q can be photographed by the camera 800 at a relatively close distance, and clearer image data D can be obtained. In addition, for example, compared with the case where the camera 800 is disposed on the moving stage 300 as in the second embodiment described later, the load applied to the moving stage 300 becomes smaller, and accordingly, the acceleration and deceleration of the moving stage 300 can be set larger. Therefore, the time taken for the operation can be shortened and the productivity can be improved.

[0040] Regardless of how the arms 221 to 224 and 226 other than the arm 225 move, the relationship that the inkjet head 410 is located on the front end side of the arm 225 is maintained. Therefore, by disposing the camera 800 on the arm 225, the camera 800 can always photograph the front end side of the inkjet head 410. Therefore, regardless of the posture when using the inkjet head 410 to print on the object Q, that is, regardless of the posture in which the inkjet head 410 faces the object Q, the object Q can be photographed in that posture. However, the arrangement of the camera 800 is not particularly limited, and it can also be arranged on the arms 221 to 224 and 226.

[0041] Such a camera 800 is a spectroscopic camera, and in addition to planar images, it can also acquire spectroscopic data (spectral information) for each pixel. Therefore, image recognition based on the image data D acquired by the camera 800 can be performed with better accuracy. However, there are no particular limitations on the camera 800.

[0042] In addition, the robot control device 900 controls the driving of the joints J1 to J6, the mobile stage 300, the inkjet head 410, and the camera 800, causing the robot 200 to perform a prescribed operation described later. Such a robot control device 900 is constituted by, for example, a computer, and has a processor (CPU) for processing information, a memory connected to the processor in a communicable manner, and an external interface. In addition, various programs that can be executed by the processor are stored in the memory, and the processor can read and execute various programs stored in the memory, etc.

[0043] Above, the configuration of the robot system 100 has been described. In such a robot system 100, each part of the system is controlled by the robot control device 900. For example, as Figure 1 shown, it is possible to use the inkjet head 410 to perform an operation of printing a desired pattern on the printing surface Q1 provided on the surface of the object Q (hereinafter also simply referred to as "printing operation").

[0044] As Figure 3 shown, the printing operation includes a printing preparation step S1 and a printing step S2 of printing on the printing surface Q1. Hereinafter, each process will be described in sequence.

[0045] Printing preparation step S1

[0046] In the printing preparation step S1, first, the shape of the printing surface Q1 is calculated. In the present embodiment, CAD data, which is 3D data of the object Q, is acquired in advance, and the shape of the printing surface Q1 is calculated based on the CAD data. Thereby, the shape of the printing surface Q1 can be calculated more simply and with better accuracy.

[0047] However, there are no particular limitations on the method for calculating the shape of the printing surface Q1. For example, the shape of the printing surface Q1 can also be calculated based on the shooting data of the object Q acquired by the camera 800 or other cameras. In addition, besides this, the shape of the printing surface Q1 can also be calculated using a depth sensor, and the shape of the printing surface Q1 can also be calculated by the phase shift method using a projector that projects a stripe pattern of light on the printing surface Q1 and a camera that shoots the printing surface Q1 in a state where the light pattern is irradiated.

[0048] Next, the printing surface Q1 is divided into a plurality of regions R based on the shape of the printing surface Q1. For example, in Figure 4In the example shown, the printing surface Q1 is equally divided into four regions R1, R2, R3, and R4 arranged in a column. However, the method of dividing into multiple regions R is not particularly limited, and they can have different sizes and shapes, and they do not have to be arranged in a column.

[0049] Next, determine the printing order of the four regions R1, R2, R3, and R4. In this embodiment, printing is performed on the regions R1, R2, R3, and R4 in order of arrangement. Thereby, the unnecessary movement of the robot 200 during the printing operation is reduced, and the printing step S2 can be performed efficiently. Therefore, the tact time is shortened and the productivity is improved. However, the printing order is not particularly limited.

[0050] Furthermore, determine the working conditions of the robot 200 in each region R1, R2, R3, and R4. The working conditions are not particularly limited. For example, the posture of the robotic arm 220, the movement trajectory, the acceleration, the deceleration, and the maximum speed in each region R1, R2, R3, and R4, and the output conditions of the inkjet head 410 such as the ink ejection amount and the ink ejection interval can be cited.

[0051] Printing step S2

[0052] Printing step S2 is a step of printing the printing surface Q1 using the inkjet head 410. Such a printing step S2 is performed based on the working conditions determined in the printing preparation step S1, as Figure 3 shown, this printing step S2 includes a unit printing step S21 of printing in region R1, a unit printing step S22 of printing in region R2, a unit printing step S23 of printing in region R3, and a unit printing step S24 of printing in region R4.

[0053] It should be noted that the unit printing steps S23 and S24 are repetitions of the unit printing step S22. Therefore, the following is based on Figures 5 to 7 Only the unit printing steps S21 and S22 will be described, and the description of the unit printing steps S23 and S24 will be omitted.

[0054] Unit printing step S21

[0055] The unit printing step S21 includes: a robotic arm driving step S211 to make the robotic arm 220 assume a first posture; and an operation step S212 to print on the region R1 while moving the inkjet head 410 relative to the object Q through the moving table 300 while maintaining the first posture.

[0056] In the robotic arm driving step S211, as Figure 5As shown, the robotic arm 220 is driven to assume a first posture, causing the inkjet head 410 to face the region R1. At this time, the separation distance between the inkjet head 410 and the region R1 is within an appropriate interval preset for the inkjet head 410. In addition, in the first posture, the movable range of the inkjet head 410 generated by the driving of the mobile stage 300 overlaps with the entire range of the region R1.

[0057] Next, while maintaining the robotic arm 220 in the first posture, that is, without moving the robotic arm 220, the operation step S212 is performed. In the operation step S212, first, as Figure 6 shown, the mobile stage 300 is driven to move the inkjet head 410 to the movement start position P1. Next, as Figure 7 shown, while driving the mobile stage 300 to move the inkjet head 410 from the movement start position P1 along the arrow N to the movement end position P2, ink is ejected from the inkjet head 410 at a specified timing to perform printing on the region R1.

[0058] Unit printing step S22

[0059] As Figure 3 shown, the unit printing step S22 includes: a robotic arm driving step S221 that changes the robotic arm 220 from the first posture to the second posture; a calibration step S222 that uses the camera 800 to photograph the object Q and corrects the position of the inkjet head 410 based on the photographing result; and an operation step S223 that performs printing on the region R2 while moving the inkjet head 410 relative to the object Q by the mobile stage 300.

[0060] As Figure 8 shown, in the robotic arm driving step S221, the robotic arm 220 is driven to assume the second posture, causing the inkjet head 410 to face the region R2. At this time, the separation distance between the inkjet head 410 and the region R2 is within an appropriate interval preset for the inkjet head 410. In addition, in the second posture, the movable range of the inkjet head 410 generated by the driving of the mobile stage 300 overlaps with the entire range of the region R2.

[0061] Here, when changing the robotic arm 220 from the first posture to the second posture, there is a possibility that the actual movement trajectory deviates from the specified movement trajectory and the actual position of the inkjet head 410 in the second posture deviates from the specified position. Thus, if printing is performed on the region R2 in a state where the actual position of the inkjet head 410 deviates from the specified position, as Figure 9 shown, printing misalignment occurs at the connection between the regions R1 and R2, and the printing quality deteriorates. Therefore, in the subsequent calibration step S222, the position of the inkjet head 410 is corrected to suppress such printing misalignment at the connection between the regions R1 and R2.

[0062] In the correction step S222, first, as Figure 10 shown, while the robotic arm 220 is maintained in the second posture, the printing surface Q1 is photographed by the camera 800. Then, the operation reference point P0 included in the image data D obtained by this photographing is identified by image recognition. In the present embodiment, the end U1 on the region R2 side of the pattern U printed in the region R1 is used as the operation reference point P0.

[0063] As described above, in the present embodiment, the camera 800 is a spectroscopic camera and can acquire spectroscopic data (spectral information) for each pixel. Therefore, the image recognition of the operation reference point P0 can be performed with higher precision. In addition, in order to make the operation reference point P0 more reliably located within the field of view of the camera 800, in the present embodiment, the second posture (particularly, the orientation of the arm 225) is determined such that the camera 800 is located on the region R1 side of the robotic arm 220. However, the orientation of the camera 800 in the second posture is not particularly limited as long as it can photograph an image including the operation reference point P0.

[0064] Next, as Figure 11 shown, based on the operation reference point P0, while the robotic arm 220 is maintained in the second posture, the position of the inkjet head 410 is corrected by driving the moving stage 300. In Figure 11 the example shown, the Y stage 320Y is moved in the Y-axis direction to correct the position of the inkjet head 410.

[0065] Specifically, first, the actual position of the inkjet head 410 is detected based on the position of the operation reference point P0 in the image data D. Next, the deviation between the detected position of the inkjet head 410 and the target position is detected. Then, based on the detected deviation, the position of the inkjet head 410 is corrected to make it the target position. The position correction of the inkjet head 410 is performed by driving the moving stage 300 while the robotic arm 220 is maintained in the second posture. Thereby, the position correction of the inkjet head 410 can be performed with high precision. In particular, in the present embodiment, the moving stage 300 is composed of an X stage 320X, a Y stage 320Y, and a θ stage 320θ with three-axis degrees of freedom, so the position correction of the inkjet head 410 can be performed with even higher precision.

[0066] Next, the operation step S223 is performed while the robotic arm 220 is maintained in the second posture. In the operation step S223, first, as Figure 12 shown, the moving stage 300 is driven to move the inkjet head 410 to the movement start position P1. Next, as Figure 13As shown, the mobile station 300 is driven in one direction to move the inkjet head 410 from the start position P1 of movement to the end position P2 of movement along the arrow N, and ink is ejected from the inkjet head 410 at a prescribed timing to perform printing on the region R2.

[0067] According to such a unit printing step S22, it is possible to effectively suppress printing misregistration at the connection between the regions R1 and R2, and it is possible to effectively suppress a decrease in printing quality. In addition, by making the robotic arm 220 in a stopped state in this way, it is no longer affected by vibrations and trajectory fluctuations caused by the motors and speed reducers that drive the joints of the robotic arm 220. Furthermore, if the mobile station 300 is in a driven state, it slides along the linear guide rail provided in the mobile station 300, so that printing with excellent accuracy can be performed along the moving direction.

[0068] Following the unit printing step S22 described above, the unit printing steps S23 and S24 are similarly performed to complete the printing of the entire printing surface Q1. As Figure 3 shown, if the printing of the printing surface Q1 is completed, it is determined whether the printing operation has been performed on a prescribed number of objects Q. If so, the operation of the robot system 100 is ended. On the other hand, if not, a new object Q is re-fixed to the fixing member 700, and the printing operation is started from the printing step S2.

[0069] As described above, the robot system 100 of the present embodiment has been described. As mentioned before, the control method of such a robot system 100 is the control method of the robot system 100, which includes a mobile platform 300, a tool 400 mounted on the mobile platform 300, a robotic arm 220 that holds either the mobile platform 300 or the object Q, and a camera 800, and uses the tool 400 to perform a prescribed operation on the object Q. The control method of the robot system 100 includes: a robotic arm driving step S211, which is a step of making the robotic arm 220 assume a first posture; an operation step S212, which is a step of performing an operation on a region R1, which is a first region of the object Q, while moving the tool 400 relative to the object Q by means of the mobile platform 300 while maintaining the first posture; a robotic arm driving step S221, which is a step of making the robotic arm 220 assume a second posture; a calibration step S222, which is a step of photographing the object Q using the camera 800 while maintaining the second posture and correcting the position of the tool 400 by driving the mobile platform 300 based on the photographing result; and an operation step S223, which is a step of performing an operation on a region R2, which is a second region of the object Q, while moving the tool 400 relative to the object Q by means of the mobile platform 300 while maintaining the second posture. According to such a control method, it is possible to effectively suppress the deviation of the operation at the connection of the regions R1 and R2, and it is possible to effectively suppress the deterioration of the operation quality.

[0070] In addition, as mentioned before, the robotic arm 220 holds the mobile platform 300. Thereby, it is easy to perform an operation on the object Q. In addition, as mentioned before, the mobile platform 300 holds the tool 400. Thereby, it is easy to perform an operation on the object Q.

[0071] In addition, as mentioned before, in the control method of the robot system 100, the mobile platform 300 has a piezoelectric actuator 340 as a drive source. Thereby, it is possible to miniaturize and lighten the mobile platform 300. In addition, the driving accuracy of the mobile platform 300 is improved, and furthermore, it is easy to move the tool 400 at a constant speed.

[0072] In addition, as mentioned before, the tool 400 is an inkjet head 410 that serves as a print head. Thereby, it is possible to perform a printing operation on the object Q. Therefore, the robot system 100 becomes highly convenient.

[0073] In addition, as mentioned before, in the calibration step S222, the position of the tool 400 is corrected based on the operation trace formed in the region R1, that is, the printed pattern U. Thereby, it is possible to easily and accurately correct the tool 400.

[0074] In addition, as described above, the camera is disposed on the robot 200. Accordingly, it is easy to photograph the object Q. In addition, for example, compared with the case where the camera 800 is disposed on the mobile station 300 as in the second embodiment described later, the load applied to the mobile station 300 is smaller, and accordingly, the acceleration and deceleration of the mobile station 300 can be set larger. Therefore, the time taken for the operation can be shortened and the productivity can be improved.

[0075] In addition, as described above, the camera 800 is a spectroscopic camera. Accordingly, image recognition in the calibration step S222 can be performed with higher precision.

[0076] In addition, as described above, the robot system 100 includes a mobile station 300, a tool 400 mounted on the mobile station 300, a robotic arm 220 that holds one of the mobile station 300 and the object Q, and a camera 800, and performs a prescribed operation on the object Q using the tool 400. The robot system 100 sets the robotic arm 220 to a first posture; while maintaining the first posture, operates on a region R1, which is a first region of the object Q, while moving the tool 400 relative to the object Q by the mobile station 300; sets the robotic arm 220 to a second posture; while maintaining the second posture, photographs the object Q using the camera 800, and corrects the position of the tool 400 based on the photographing result by driving the mobile station 300; and while maintaining the second posture, operates on a region R2, which is a second region of the object Q, while moving the tool 400 relative to the object Q by the mobile station 300. With the robot system 100 configured in this way, it is possible to effectively suppress operation deviation at the connection of the regions R1 and R2, and it is possible to effectively suppress a reduction in operation quality.

[0077] The robot system 100 has been described above, but the robot system 100 is not particularly limited. For example, in the present embodiment, the arrow N indicating the moving direction of the inkjet head 410 in the printing step S2 follows the arrangement direction (the moving direction of the robotic arm 220) of the regions R1, R2, R3, and R4. However, for example, as Figure 14 shown, the moving direction of the inkjet head 410 in each of the regions R1, R2, R3, and R4 may be orthogonal (cross) to the arrangement direction of the regions R1, R2, R3, and R4. In addition, as Figure 15 shown, the moving direction of the inkjet head 410 in each of the regions R1, R2, R3, and R4 may meander two-dimensionally. In addition, in the present embodiment, the regions R are arranged in a single row. However, as Figure 16 shown, they may be arranged in two or more rows.

[0078] In addition, multiple cameras 800 may be disposed on the robotic arm 220. For example, Figure 17In the example shown, two cameras 800 are arranged on the arm 225 so as to face each other across the arm 225. With such a configuration, it is possible to obtain image data D with a wider field of view using the two cameras 800. In addition, in the calibration step S222, it is sufficient to obtain the image data D including the end portion U1 (operation reference point P0) by any one of the cameras 800. Therefore, the degree of freedom of the second posture is increased, and the driving of the robotic arm 220 can be made more efficient.

[0079] Second Embodiment

[0080] Figure 18 FIG. is a diagram showing a robot system according to the second embodiment.

[0081] The robot system 100 of the present embodiment is the same as the robot system 100 of the foregoing first embodiment except for the arrangement of the cameras 800. Therefore, in the following description, regarding the present embodiment, the differences from the foregoing first embodiment will be described, and the same matters will be omitted. In addition, in the respective drawings of the present embodiment, the same reference numerals are given to the same configurations as those of the foregoing embodiments.

[0082] As Figure 18 shown, in the present embodiment, the camera 800 is arranged on the workbench 320 of the mobile station 300, particularly on the X workbench 320X. Thus, even when the robotic arm 220 is maintained in the second posture, the camera 800 can be moved by driving the mobile station 300. Therefore, the photographable range of the camera 800 in the second posture becomes larger, and in the calibration step S222, the operation reference point P0 on the printing surface Q1 can be photographed more reliably. In addition, when the operation reference point P0 is large and one image cannot completely photograph the entire range, etc., the operation reference point P0 can also be identified based on a plurality of image data D obtained by photographing from different positions.

[0083] As described above, in the control method of the robot system 100 of the present embodiment, the camera 800 is arranged on the mobile station 300. Thus, even when the robotic arm 220 is maintained in the second posture, the camera 800 can be moved by driving the mobile station 300. Therefore, the photographable range of the camera 800 in the second posture becomes larger, and in the calibration step S222, the operation reference point P0 on the printing surface Q1 can be photographed more reliably.

[0084] By such a second embodiment, the same effects as those of the foregoing first embodiment can also be achieved.

[0085] Third Embodiment

[0086] Figure 19This is a diagram showing the operation reference point P0 adopted by the robot system in the third embodiment.

[0087] The robot system 100 of this embodiment is the same as the robot system 100 of the aforementioned first embodiment except for the different operation reference point P0. Therefore, in the following description, regarding this embodiment, the differences from the aforementioned first embodiment will be described, and the same matters will be omitted. In addition, in the diagrams of this embodiment, the same components as those in the aforementioned embodiments are labeled with the same reference numerals.

[0088] As Figure 19 shown, in this embodiment, the mark K disposed on the printing surface Q1 is used as the operation reference point P0. As the mark K, there is no particular limitation as long as it can be recognized. For example, it can be formed by unevenness, printing, etc.

[0089] In the calibration step S222 of this embodiment, first, the printing surface Q1 is photographed by the camera 800 while the robotic arm 220 is maintained in the second posture. Then, the mark K image included in the image data D obtained by this photographing is recognized as the operation reference point P0. Next, the position of the actual inkjet head 410 is detected based on the position of the mark K in the image data D, and the position of the inkjet head 410 is corrected based on the deviation from the target position. In the aforementioned first embodiment, there are also cases where it is difficult to recognize the operation reference point P0 according to the pattern U. In contrast, in this embodiment, the mark K pre-disposed on the printing surface Q1 is used as the operation reference point P0. Therefore, the operation reference point P0 can be recognized more accurately and reliably.

[0090] As described above, in the control method of the robot system 100 of this embodiment, in the calibration step S222, the position of the tool 400 is corrected based on the mark K disposed on the object Q. Thereby, the operation reference point P0 can be recognized more accurately and reliably.

[0091] Through such a third embodiment, the same effects as those of the aforementioned first embodiment can also be achieved.

[0092] Fourth Embodiment

[0093] Figure 20 This is a perspective view showing the overall configuration of the robot system in the fourth embodiment.

[0094] The robot system 100 of the present embodiment is the same as the robot system 100 of the foregoing first embodiment except for the configurations of the mobile station 300 and the tool 400. Therefore, in the following description, regarding the present embodiment, the differences from the foregoing first embodiment will be described, and the same matters will be omitted. In addition, in the drawings of the present embodiment, the same reference numerals are given to the same components as those in the foregoing embodiments.

[0095] As Figure 20 shown, in the present embodiment, a gripper 600 is disposed on the front end portion of the robotic arm 220, i.e., the arm 226, and the object Q is gripped by the gripper 600 during operation. On the other hand, the mobile station 300 is separated from the robotic arm 220 and fixed to the fixing member 700, and the inkjet head 410 is disposed on the mobile station 300.

[0096] Through such a fourth embodiment, the same effects as those of the foregoing first embodiment can also be achieved. It should be noted that, in addition, for example, the gripper 600 may be connected to the arm 226 via the mobile station 300, and the inkjet head 410 may be separated from the robotic arm 220 and fixed to the fixing member 700. In addition, the following configuration may also be adopted: the inkjet head 410 is connected to the arm 226, and in a state separated from the robotic arm 220, the gripper 600 is connected to the fixing member 700 via the mobile station 300.

[0097] As described above, the control method and the robot system of the present invention have been described based on the illustrated embodiments. However, the present invention is not limited thereto, and the configurations of the respective parts can be replaced with any configurations having the same functions. In addition, any other components can be added to the present invention. In addition, the respective embodiments can be appropriately combined.

[0098] In addition, as the tool 400, it is not limited to the inkjet head 410. For example, tools for laser processing, tools for soldering operations, tools for welding, etc., which are used for operations synchronized with the movement trajectory of the tool, can be cited.

Claims

1. A control method for a robot system, characterized in that, the robot system includes a mobile platform, a tool mounted on the mobile platform, a robotic arm that holds one of the mobile platform and an object, and a camera, and uses the tool to perform a specified operation on the object, the control method of the robot system includes the following steps: making the robotic arm into a first posture; while maintaining the first posture of the robotic arm, moving the tool relative to the object through the mobile platform and performing the operation on a first area of the object; making the robotic arm into a second posture; while maintaining the second posture of the robotic arm, using the camera to photograph the object, and based on the operation reference points included in the photographing result, correcting the position of the tool by driving the mobile platform; and while maintaining the second posture of the robotic arm, moving the tool relative to the object through the mobile platform and performing the operation on a second area of the object, in the first posture, the movable range of the tool generated by driving the mobile platform overlaps with the entire range of the first area, in the second posture, the movable range of the tool generated by driving the mobile platform overlaps with the entire range of the second area, the robotic arm holds the mobile platform.

2. The control method for a robot system according to claim 1, characterized in that, the mobile platform holds the tool.

3. The control method for a robot system according to claim 1 or 2, characterized in that, the mobile platform has a piezoelectric actuator as a driving source.

4. The control method for a robot system according to claim 1, characterized in that, the tool is a print head.

5. The control method for a robot system according to claim 1, characterized in that, in the step of correction, the position of the tool is corrected based on the operation marks formed in the first area.

6. The control method for a robot system according to claim 1, characterized in that, in the step of correction, the position of the tool is corrected based on the marks arranged on the object.

7. The control method for a robot system according to claim 1, characterized in that, the camera is arranged on the robot.

8. The control method for a robot system according to claim 1, characterized in that, the camera is arranged on the mobile platform.

9. The control method for a robot system according to claim 1, characterized in that, the camera is a spectroscopic camera. 1, A robot system, characterized in that, the robot system includes a mobile platform, a tool mounted on the mobile platform, a robotic arm that holds one of the mobile platform and an object, and a camera, and uses the tool to perform a specified operation on the object, the robot system makes the robotic arm into a first posture; While maintaining the first posture of the robotic arm, perform the operation on the first area of the object while moving the tool relative to the object by means of the mobile stage; Set the robotic arm to the second posture; While maintaining the second posture of the robotic arm, photograph the object using the camera, and correct the position of the tool by driving the mobile stage based on the operation reference point included in the photographing result; And, While maintaining the second posture of the robotic arm, perform the operation on the second area of the object while moving the tool relative to the object by means of the mobile stage, In the first posture, the movable range of the tool generated by driving the mobile stage overlaps with the entire range of the first area, In the second posture, the movable range of the tool generated by driving the mobile stage overlaps with the entire range of the second area, The robotic arm holds the mobile stage.

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