Robot, robot control device, and work robot system

Abstract

A robot (10) is provided with an arm (10a) and a control device for controlling the arm (10a), and performs a predetermined work on a target portion of an article (100) moved by an article moving device. The control device performs passing point tracking control for controlling the arm (10a) to track the moving article (100) by the member (110) or the tool at each of one or a plurality of passing points (211, 212) before the member (110) or the tool supported by the arm (10a) is moved to the work start position (220). Furthermore, after the point tracking control has passed, the control device arranges the component (110) or the tool at the work start position (220), and controls the arm (10a) to track the article (100) when the component (110) or the tool works.

Description

Technical Field

[0001] The present invention relates to a robot, a robot control device, and a working robot system. Background Art

[0002] In the past, when assembling parts to an object being transported by a transport device, the transport device was often stopped. In particular, when assembling parts precisely to a large object such as a car body, it was necessary to stop the transport device from transporting the object. This sometimes led to a decrease in system efficiency.

[0003] On the other hand, there is known a robot system in which a robot tracks an article or the like moved by a transport device. For example, refer to Patent Documents 1 to 3.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2011-140084

[0007] Patent Document 2: Japanese Patent Application Laid-Open No. 62-241684

[0008] Patent Document 3: Japanese Patent Application Publication No. 2007-090479 Summary of the invention

[0009] Problem that the invention aims to solve

[0010] As described above, in order to improve the efficiency of the system, it is important to use a conveying device or the like to move and a robot to operate on an object. At this time, depending on the type of the object, it is sometimes preferable not to move the components of the front end of the robot in a straight line toward the start position of the operation. Alternatively, depending on the type of the object, it is sometimes impossible to move the components of the front end of the robot in a straight line toward the start position of the operation. For example, the linear movement of the components may lead to contact with the object. Thus, a robot, a robot control device, and an operating robot system are desired that can avoid contact between components or tools supported by the robot and the object as much as possible.

[0011] Solutions for solving problems

[0012] The first aspect of the present invention is a robot that includes an arm and a control device that controls the arm, and performs a predetermined operation on an object portion of an object that is moved by an object moving device. The control device is configured to perform the following passing point tracking control: before moving a component or tool supported by the front end of the arm to a work start position of the predetermined operation, at each of one or more passing points, the arm is controlled to track the moving object by the component or tool. In addition, the control device is configured to perform the following tracking control during operation: after the passing point tracking control, the component or tool is arranged at the work start position, and the arm is controlled to track the moving object by the component or tool during operation.

[0013] The second aspect of the present invention is a robot control device that controls the arm of the robot that performs a predetermined operation on an object portion of an article that is moved by an article moving device. The control device is configured to perform the following passing point tracking control: before moving a component or tool supported by the front end of the arm to a work start position of the predetermined operation, at each of one or more passing points, the arm is controlled to track the moving article by the component or tool. In addition, the control device is configured to perform the following operation tracking control: after the passing point tracking control, the component or tool is arranged at the work start position, and the arm is controlled to track the moving article by the component or tool during operation.

[0014] The third aspect of the present invention is a working robot system, which comprises: an article moving device that moves an article; a robot having an arm; and a control device that controls the arm to perform a predetermined operation on an object portion of the article moved by the article moving device. The control device is configured to perform the following passing point tracking control: before moving a component or tool supported on the front end of the arm to the operation start position of the predetermined operation, at each of one or more passing points, the arm is controlled to track the moving article by the component or tool. In addition, the control device is configured to perform the following operation tracking control: after the passing point tracking control, the component or tool is arranged at the operation start position, and the arm is controlled to track the moving article by the component or tool during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic plan view of the working robot system according to the first embodiment.

[0016] Figure 2 It is a schematic side view of the working robot system according to the first embodiment.

[0017] Figure 3 This is an example of image data obtained by using the sensor of the working robot system according to the first embodiment.

[0018] Figure 4 This is a block diagram of a control device of the working robot system according to the first embodiment.

[0019] Figure 5 This is a flowchart of an example of processing performed by the control device of the working robot system according to the first embodiment.

[0020] Figure 6 This is an example of a screen of the display device of the working robot system according to the first embodiment.

[0021] Figure 7 This is a flowchart of an example of processing performed by the control device of the working robot system according to the first embodiment.

[0022] Figure 8 It is a schematic plan view of the working robot system according to the first embodiment.

[0023] Fig. 9 This is an example of a screen of the display device of the working robot system according to the first embodiment.

[0024] Fig.10 It is a schematic plan view of a working robot system according to a second embodiment.

[0025] Fig.11 It is a schematic side view of a working robot system according to a third embodiment.

[0026] Fig.12 It is a schematic plan view of a working robot system according to a third embodiment.

[0027] Fig.13 This is an example of a screen of a display device of the working robot system according to the third embodiment.

[0028] Fig.14 This is a flowchart of an example of processing performed by the control device of the working robot system according to the third embodiment. DETAILED DESCRIPTION

[0029] A working robot system 1 according to a first embodiment will be described with reference to the drawings.

[0030] like Figure 1 as well as Figure 2As shown, the working robot system 1 includes a conveying device (article moving device) 2 for conveying an article 100 as a work object. In addition, the working robot system 1 includes: a robot 10, a control device 20 for controlling the robot 10, and a detection device 40. The robot 10 performs a predetermined work on a target portion 101 of the article 100 moved by the conveying device 2. In addition, the working robot system 1 has a first tracking sensor 50 and a second tracking sensor 60 mounted on the front end of the robot 10.

[0031] The detection device 40 acquires data that can specify at least the position of the object portion 101 of the article 100 conveyed by the conveying device 2. The detection device 40 may also acquire data that can specify the position and posture of the object portion 101. In the first embodiment, the object portion 101 has a plurality of holes 101a. The tracking sensors 50 and 60 may also assume the function of the detection device 40.

[0032] As the detection device 40, all devices having the above-mentioned functions can be used. The detection device 40 is, for example, a two-dimensional camera, a three-dimensional camera, a three-dimensional distance sensor, a sensor that irradiates linear light on an object to measure a shape, a photoelectric sensor, etc. The detection device 40 of the first embodiment has the same function as the tracking sensors 50 and 60. The detection device 40 of the first embodiment is a two-dimensional camera arranged along the conveying path of the conveying device 2. When the object part 101 enters a predetermined range of the viewing angle, the detection device 40 obtains image data of the object part 101 and sends the image data as an output to the control device 20. The detection device 40 can be a camera or sensor facing downward, or a camera or sensor facing horizontally, diagonally downward, etc.

[0033] The image data is data that can specify the position of at least one of the plurality of object parts 101. There is also a case where the control device 20 specifies the position of the object part 101 based on the position, shape, etc. of the characteristic part of the object in the image data. In addition, the control device 20 can also specify the posture of the object part 101 based on the positional relationship of the plurality of object parts 101 in the image data. The control device 20 can specify the posture of the object part 101 based on the position, shape, etc. of the characteristic part in the image data. The characteristic part can be a part having a shape such as Figure 3 The mark M shown, the characteristic elements such as the corners of the article 100, etc.

[0034] The object 100 is not limited to a specific type of object. In the first embodiment, as an example, the object 100 is a vehicle body. The transport device 2 is used to move the object 100 in one direction by driving the motor 2a. In the first embodiment, the transport device 2 moves the object 100 toward Figure 2The motor 2a is provided with a working position detection device 2b, which detects the rotation position and the rotation amount of the output shaft of the motor 2a one by one. The working position detection device 2b is, for example, an encoder. The detection value of the working position detection device 2b is sent to the control device 20. The conveying device 2 may also have other structures for moving the article 100, such as a belt.

[0035] In addition, the structure described in this specification can be applied to a working robot system 1 that performs other operations such as processing, assembling, inspecting, and observing the object 100. As long as the object 100 can be transported by any mobile unit, other robots different from the robot 10 can also be used as the object moving device. In the case where the object 100 is a body or frame of a car, the body or frame can be moved by an engine, a motor, wheels, etc. mounted thereon. In this case, the engine, motor, wheels, etc. function as an object moving device. The object 100 can be moved by an AGV (Automated Guided Vehicle) or the like as an object moving device. In addition, the control device 20 can also receive data on the moving path of the object 100 or the object part 101 from the control device of other robots, the car, the AGV, sensors installed thereon, etc. Alternatively, the control device 20 can also calculate the data of the moving path using image data successively obtained by the detection device 40, the tracking sensor 50, 60, etc.

[0036] The object part 101 is a part of the object 100 where the arm 10a of the robot 10 performs a predetermined operation. In the first embodiment, as the predetermined operation, the arm 10a lifts the component 110 using the tool 30, and the arm 10a mounts the mounting part 111 of the component 110 to the object part 101. Thus, for example, a plurality of shafts 111a extending downward from the mounting part 111 of the component 110 are respectively fitted into a plurality of holes 101a provided in the object part 101 of the object 100. In the first embodiment, the arm 10a mounts the mounting part 111 of the component 110 to the object part 101 while the object 100 is continuously moved by the conveying device 2.

[0037] The robot 10 is not limited to a specific type, and the robot 10 of the first embodiment is a multi-joint robot having six axes. The arm 10a includes a plurality of servomotors 11 (see Figure 2 as well as Figure 4 Each servo motor 11 has a working position detection device for detecting its working position. As an example, the working position detection device is an encoder. The control device 20 receives the detection value of the working position detection device.

[0038] The robot 10 has a tool 30 mounted on a front end thereof. The tool 30 is used to transport a component 110 .

[0039] In one example, the tool 30 is a hand, and the tool 30 includes a servo motor 31 (see Figure 4 The servomotor 31 has a working position detection device for detecting its working position. As an example, the working position detection device is an encoder. The detection value of the working position detection device is sent to the control device 20. As each servomotor 11, 31, various servomotors such as a rotary motor and a linear motor can be used.

[0040] The robot 10 has a force sensor 32 at its front end. The force sensor 32 detects, for example, Figure 1 to Figure 3 The force sensor 32 detects forces in the X-axis direction, the Y-axis direction, and the Z-axis direction shown in the figure. The force sensor 32 also detects forces around the X-axis, around the Y-axis, and around the Z-axis. As the force sensor 32, other sensors that can detect the direction and degree of force applied to the tool 30 or the component 110 held by the tool 30 can be used. In the first embodiment, the force sensor 32 is provided between the robot 10 and the tool 30. Alternatively, the force sensor 32 can also be provided in the tool 30, the base end of the arm 10a, other parts of the arm 10a, the base of the robot 10, etc.

[0041] The tracking sensors 50 and 60 are mounted on the front end of the arm 10a. In one example, the tracking sensors 50 and 60 are mounted on the wrist flange 10b of the arm 10a in the same manner as the tool 30. The tracking sensors 50 and 60 are two-dimensional cameras, three-dimensional cameras, three-dimensional distance sensors, etc. The tracking sensors 50 and 60 of the first embodiment are two-dimensional cameras.

[0042] In the first embodiment, the first tracking sensor 50 can successively obtain the following information when the object unit 101 enters a predetermined range of the viewing angle: Figure 3 The first tracking sensors 50 and 60 can obtain image data of the object part 101 shown in FIG. Figure 1 The tracking sensors 50 and 60 successively acquire image data when the passing point tracking objects 121, 122, and 123 shown enter the predetermined range of the viewing angle. The tracking sensors 50 and 60 successively send image data (output) to the control device 20. The image data is data that can specify at least the position of the object unit 101 and the passing point tracking objects 121, 122, and 123 transported by the transport device 2. The tracking sensors 50 and 60 can also acquire image data that can specify the position and posture of the object unit 101 and the passing point tracking objects 121, 122, and 123.

[0043] When there are multiple object parts 101, the image data is data that can specify the position of at least one of the multiple object parts 101. There is also a case where the control device 20 specifies the position and posture of the passing point tracking objects 121, 122, 123, etc. based on the position, shape, etc. of the characteristic part of the object in the image data. In addition, the control device 20 can specify the posture of the object part 101, the passing point tracking object 121, etc. based on the positional relationship of the multiple object parts 101 and the multiple passing point tracking objects 121 in the image data. The characteristic part may have a shape such as Figure 3 The mark M shown, the characteristic elements such as the corners of the article 100, etc.

[0044] The position and direction of the coordinate system of the tracking sensors 50 and 60 are preliminarily associated with the position and direction of the coordinate system of the robot 10 in the control device 20. In one example, the coordinate system of any one of the tracking sensors 50 and 60 is set as the reference coordinate system of the robot 10 that operates based on the motion program 23b stored in the control device 20. A coordinate system with the tool center point (TCP) of the tool 30 as the origin, a coordinate system with the reference position of the component 110 as the origin, and the like can be associated with the reference coordinate system.

[0045] like Figure 4 As shown, the control device 20 has a processor 21 and a display device 22, and the processor 21 has one or more processor elements such as a CPU and a microcomputer. The control device 20 has a storage unit 23, and the storage unit 23 has a non-volatile memory, ROM, RAM, etc. The control device 20 has a plurality of servo controllers 24 corresponding to the servo motors 11 of the robot 10, and a servo controller 25 corresponding to the servo motor 31 of the tool 30. The control device 20 also has an input unit 26, which is connected to the control device 20 by wire or wireless. In one example, the input unit 26 is an input device such as an operating panel that can be carried by a user. In another example, the input unit 26 is a tablet computer. In the case of a tablet computer, the input is performed using a touch screen function. There is also a case where the operating panel or tablet computer has a display device 22.

[0046] The storage unit 23 stores a system program 23a, which performs basic functions of the control device 20. The storage unit 23 also stores an action program 23b. The storage unit 23 also stores a pre-approach control program 23c, a passing point tracking control program 23d, a work tracking control program 23e, and a force control program 23f.

[0047] Based on these programs, the control device 20 sends control instructions for performing a predetermined operation on the object 100 to each servo controller 24, 25. As a result, the arm 10a and the tool 30 perform a predetermined operation on the object 100. Figure 5The flow chart of FIG. 1 illustrates the operation of the control device 20 at this time.

[0048] First, the control device 20 detects the object 100 based on the output of the detection device 40 or the tracking sensors 50 and 60 (step S1-1). After the detection, the control device 20 sends a control command to the arm 10a and the tool 30 based on the pre-approach control program 23c (step S1-2). As a result, the arm 10a moves the tool 30 located at the standby position to the position where the component 110 is placed, and the tool 30 holds the component 110. In addition, the arm 10a moves the component 110 to the position where the tool 30 is placed. Figure 1 An approach starting position 200 is shown.

[0049] In a first embodiment, if Figure 1 As shown, the approach start position 200 is a position closer to the base end side of the robot 10 than the boundary line BL. In the first embodiment, the approach start position 200 and the passing point described later are positions corresponding to the mounting portion 111 of the component 110. Alternatively, the approach start position 200 and the passing point may be positions corresponding to other positions of the component 110, the front end of the arm 10a, a predetermined position of the tool 30, and the like.

[0050] The position and posture of each article 100 on the transport device 2 may be shifted. This shift may occur, for example, when each article 100 is placed on the transport device 2. In addition, this shift may occur when each article 100 on the transport device 2 slightly moves in an undesired direction due to vibration or the like. Figure 1 As shown, the article 100 may be placed on the transport device 2 in a state rotated about a vertical axis. In this case, the X-direction end 120 of the article 100 is arranged closer to the robot 10 than the target part 101 in the Y direction.

[0051] It can be said that the end portion 120 is a possible interference portion. In one example, the possible interference portion is a portion close to the robot 10, the tool 30, and the component 110 in the Y direction. Figure 1 The rotation of the article 100 is exaggeratedly depicted in FIG. 1 . There is a case where the length of the article 100 is about 5 m, for example, and the position of the article 100 in the rotation direction around the vertical axis is offset within a range of about 2°. In this case, the position of the end portion 120 is offset by more than 10 cm in the Y direction, and sometimes by more than 20 cm. If the offset of the placement position in the Y direction is added to this offset, the offset of the position of the end portion 120 in the Y direction becomes even greater.

[0052] In one example, the storage unit 23 of the control device 20 stores the starting position data 23g ( Figure 4 ). That is to say, Figure 1 As shown, the arm 10a arranges the component 110 at the near start position 200 corresponding to the start position data 23g. Therefore, even if the one end portion 120 is moved by the transport device 2 to pass in front of the component 110, the component 110 does not interfere with the one end portion 120. In the first embodiment, interference means that the one end portion 120 interferes with the component 110, the arm 10a, or the tool 30 while the one end portion 120 passes in front of the component 110 as described above. The storage unit 23 of the control device 20 can store the coordinate value of the tool 30 or the start position data 23g which is the coordinate value of the front end portion of the arm 10a.

[0053] In another example, the storage unit 23 of the control device 20 stores the position information of the boundary line BL as the boundary position data 23h ( Figure 4 The storage unit 23 of the control device 20 may also store information on the area AR1 where interference may occur, information on the area AR2 where interference does not occur, etc. ( Figure 4 ).like Figure 1 As shown, the boundary line BL is a line that separates an area AR1 where the interference may occur due to the end portion 120 moved by the transport device 2 and an area AR2 where the interference does not occur.

[0054] By using the start position data 23 g and / or the boundary position data 23 h , the arm 10 a can be arranged close to the start position 200 so that the component 110 does not come into contact with the article 100 .

[0055] The storage unit 23 only needs to store at least one of the start position data 23g and the boundary position data 23h. In one example, the control device 20 stores the start position data 23g and the boundary position data 23h in the storage unit 23 based on the user's input to the input unit 26. In another example, the control device 20 detects or calculates the path of the end portion 120 moving through the conveying device 2 using the image data of the detection device 40 or the tracking sensor 50.

[0056] In one example, the path corresponds to the boundary line BL. And, the control device 20 sets the start position data 23g and the boundary position data 23h based on the result of the detection or the operation. The control device 20 can update the start position data 23g and the boundary position data 23h every time the next article 100 arrives. For example, when the next article 100 to be operated arrives, the control device 20 detects the position of the one end 120 using image data. Then, the control device 20 updates the start position data 23g or the boundary position data 23h using the position, or using the position and data based on the moving path of the conveying device 2. Through this update, it is possible to prevent the distance between the component 110 and the object part 101 from becoming uselessly far when approaching the start position 200. In addition, the start position data 23g can also be data showing a predetermined range. In this case, the arm 10a moves the component 110 to an arbitrary position within the predetermined range. The setting of the first passing point 211 described later can also be used instead of the setting of the approaching start position 200.

[0057] The control device 20 adjusts the posture of the component 110 approaching the starting position 200 or the posture of the component 110 toward the starting position 200 according to the posture of the object part 101 based on the pre-approach control program 23c (step S1-3). In one example, the control device 20 adjusts the posture of the component 110 while the component 110 is moving toward the starting position 200 or when the component 110 reaches the starting position 200. For example, the control device 20 detects the posture of the object part 101 using the image data of the tracking sensors 50 and 60, and adjusts the posture of the component 110 to match the detected posture. The control device 20 can also be set not to perform step S1-3.

[0058] The control device 20 uses the arm 10a to move the component 110 at the first passing point 211 ( Figure 1 ) tracks the article 100 (step S1-4). Tracking at the second passing point 212 is also performed based on the passing point tracking control program 23d. In the first embodiment, the position corresponding to the mounting portion 111 of the component 110 tracks the component 110. In addition, the passing points 211 and 212 are relative positions relative to the article 100. It can also be set that the front end of the arm 10a, the tool 30, etc. track the article 100 at the first passing points 211 and 212.

[0059] For this tracking, the control device 20 performs visual feedback using image data successively obtained by the tracking sensors 50 and 60, for example. In another example, the control device 20 performs visual feedback using data successively obtained by other cameras, other sensors, etc. There are cases where other cameras and other sensors are supported on the front ends of other robots, and there are cases where they are fixed to predetermined locations. There are also cases where other cameras and other sensors are supported on a slider that can move in the conveying direction of the conveying device 2. Depending on the type and shape of the object part 101, the tracking sensors 50 and 60, other cameras, and other sensors can be three-dimensional cameras or three-dimensional distance sensors.

[0060] Well-known visual feedback can be used for the above control. In the first embodiment, as the control of visual feedback, for example, any one of the following two controls can be adopted. In addition, in both controls, the control device 20 detects at least the position of the passing point tracking object 121, and causes the component 110 to track the article 100 based on the detected position. The control of the control device 20 is similar when the component 110 tracks the article 100 based on the position of the passing point tracking objects 122, 123, the object part 101, etc.

[0061] There are cases where the moving path of the article 100 by the transport device 2 is not a straight line. In addition, there are cases where the posture of the article 100 gradually changes on the transport device 2 due to vibration or the like. In these cases, in step S1-4 and step S1-5 described later, the control device 20 may also make the posture of the component 110 track the posture of the target part 101. In particular, making the posture of the component 110 track the posture of the target part 101 in step S1-5 is useful for smoothly performing work on the target part 101 using the arm 10a.

[0062] The first control is a control in which the component 110 tracks the object 100 by always placing the tracking object at a predetermined position within the field of view of the tracking sensors 50 and 60. In the second control, the position of the tracking object on the object 100 in the coordinate system of the robot 10 (the position relative to the robot 10) is detected. And, the second control corrects the action program 23b using the detected position of the tracking object, so that the component 110 tracks the object 100. The tracking object is the passing point tracking objects 121, 122, 123, the object part 101, etc.

[0063] In the first control, the control device 20 detects characteristic parts on the image data successively obtained by the first tracking sensors 50 and 60. The characteristic parts are the overall shape of the object part 101, the hole 101a of the object part 101, the mark M ( Figure 3) etc. The overall shape of the passing point tracking objects 121, 122, 123 of the article 100 is also a characteristic part.

[0064] The control device 20 always arranges the characteristic part at a predetermined position in the image data in a manner that is within the range of the shape and size that serve as a reference. The control device 20 sends a control command for this purpose to the servo controller 24. Thus, the control device 20 can make the component 110 track the position and posture of the characteristic part. When the tracking sensor 50, 60 is a three-dimensional camera, a three-dimensional distance sensor, etc., the control device 20 always arranges the characteristic part at a predetermined position in the three-dimensional image data in a manner that serves as a reference posture. That is, the control device 20 sends a control command for this purpose to the servo controller 24.

[0065] In the second control, the control device 20 detects the actual position of the feature part relative to the coordinate system of the robot 10 using the image data successively obtained by the tracking sensors 50, 60, etc. Then, the control device 20 corrects the teaching point of the motion program 23b based on the difference between the position of the feature part as a premise in the motion program 23b and the actual position of the feature part.

[0066] In one example, in order to execute step S1-4, the control device 20 always configures the position of the first passing point tracking object 121 obtained by the second tracking sensor 60 to a predetermined position on the image data. Thus, the control device 20 causes the component 110 to track the object 100 at the first passing point 211. When step S1-4 is started, for example, Figure 1 The position of the central axis 111 a (relative position with respect to the object 100 ) moves from the approach start position 200 to the first passing point 211 .

[0067] Next, the control device 20 uses the arm 10a to make the component 110 track the article 100 at the second passing point 212 (step S1-5). In order to execute step S1-5, the control device 20 always arranges the position of the second passing point tracking object 122 obtained by the second tracking sensor 60 at a predetermined position on the image data. Alternatively, in order to execute step S1-5, the control device 20 always arranges the position of the third passing point tracking object 123 obtained by the first tracking sensor 50 at a predetermined position on the image data. The control device 20 may also make the component 110 track both the passing point tracking objects 122 and 123. When the matching degree of the images successively obtained by the tracking sensors 50 and 60 and the teaching image exceeds a predetermined reference, the passing point tracking control at each passing point 211 and 212 is terminated. For example, when the matching degree at the first passing point 211 exceeds a predetermined reference, the control device 20 terminates the tracking at the first passing point 211. Then, the control device 20 shifts to the action for tracking control at the second passing point 122. In one example, the time for performing the passing point tracking control at each passing point 211, 212 is 0.1 seconds to several seconds. There may be a case where the passing point tracking is performed in a shorter time than the above time. In addition, the time, distance, etc. for performing the passing point tracking control at each passing point 211, 212 can be set arbitrarily.

[0068] Next, the control device 20 moves the axis 111a of the component 110 to the operation start position 220 relative to the object part 101 based on the operation tracking control program 23e (step S1-6). The control device 20 performs step S1-5 using the above-mentioned visual feedback and the image data of the tracking sensors 50 and 60. In another example, in step S1-6, the control device 20 uses the arm 10a to move the component 110 to the object part 101 side by a predetermined distance. In step S1-6, the control device 20 can also use the arm 10a to bring the component 110 close to the object part 101 while using the data of the other cameras or the other sensors. At this time, the control device 20 can use the visual feedback to make the posture of the component 110 close to the object part 101 track the posture of the object part 101.

[0069] By controlling the arm 10a in step S1-6, the component 110 reaches the position and posture for fitting with the target part 101. As a result, the target part 101 is within a certain range of the viewing angle of the first tracking sensor 50. Then, when the distance between the mounting part 111 and the target part 101 becomes within the reference value (step S1-7), the control device 20 starts the tracking control during operation (step S1-8). In addition, the control device 20 starts the fitting control for fitting the mounting part 111 to the target part 101 based on the action program 23b (step S1-9).

[0070] The control device 20 executes step S1-8 by causing the component 110 to track the target unit 101 based on the work tracking control program 23e. In addition, if the detection results of the second tracking sensor 60, the other cameras, or the other sensors are also used, the determination in step S1-7 becomes more accurate.

[0071] Preferably, the control device 20 uses the characteristic portion seen from the tracking sensor 50 during the fitting for tracking control during the operation of step S1-8. Alternatively, the control device 20 can change the characteristic portion used for tracking control when the characteristic portion used for tracking control becomes invisible from the tracking sensors 50, 60.

[0072] In the state of being controlled in this way, the control device 20 starts force control based on the force control program 23f (step S1-10). A known force control can be used in step S1-10. In the first embodiment, according to the control of the control device 20, the arm 10a moves the component 110 in a direction to escape from the force detected by the force sensor 32. The control device 20 determines the amount of movement based on the detection value of the force sensor 32.

[0073] For example, after the fitting control is started, there is a case where the force sensor 32 detects a force in the direction opposite to the moving direction of the conveying device 2. In this case, the control device 20 moves the component 110 in the direction opposite to the moving direction of the conveying device 2 according to the detection value of the force sensor 32 while performing tracking control during operation. In addition, when a force exceeding the reference value is detected by the force sensor 32, the control device 20 performs an abnormal response action.

[0074] On the other hand, the control device 20 determines that the fitting operation is completed (step S1-11), and when the fitting operation is completed, sends a control command to the arm 10a and the tool 30 (step S1-12). As a result, the tool 30 is separated from the component 110, and the tool 30 is moved to a standby position or a place where the next component 110 is stored by the arm 10a.

[0075] In the first embodiment, the position of the mounting part 111 passes through the first passing point 211 and the second passing point 212 between the approach start position 200 and the operation start position 220. In addition, at the first passing point 211 and the second passing point 212, the position of the mounting part 111 tracks the article 100 transported by the transport device 2. If the first passing point 211 and the second passing point 212 are not set, the position of the mounting part 111 moves, for example, in a straight line from the approach start position 200 to the operation start position 220. In the case where the member 110 and the article 100 may come into contact during the linear movement, the first embodiment that can be set to track at the above-mentioned passing points 211 and 212 is useful.

[0076] Furthermore, when two tracking sensors 50, 60 are used, even if these are two-dimensional sensors, the respective movements of the object 100 in the X, Y, and Z directions can be tracked.

[0077] There are cases where the transport speed of the transport device 2 changes under certain conditions. Or, there are cases where the position of the object 100 relative to the detection device 40 is not completely constant when the object 100 is detected by the detection device 40. The latter is affected by the cycle time of the image processing performed by the control device 20 for the detection device 40, etc. In these cases, the setting of performing the linear movement after a certain time from the start of the detection by the detection device 40 may also cause the contact between the component 110 and the object 100. In this case, the setting of tracking at the above-mentioned passing points 211 and 212 is also useful.

[0078] In addition, there is a case where a single tracking sensor 50 is provided instead of the tracking sensor 60. Even in this case, as described above, the position of the shaft 111a can track the conveyed article 100 at the first passing point 211 and the second passing point 212.

[0079] The following describes a method for setting tracking at the passing points 211 and 212 and a structure for the same. The user performs the setting by, for example, inputting to the input unit 26. The input unit 26 is an operation panel, a tablet computer, a remote controller with a joystick, etc., and the input is performed using a touch screen function, a joystick, etc.

[0080] The input unit 26 has a display device 22 that can display a variety of screens for teaching the movements of the arm 10a. One of the various screens is a teaching screen for setting the moving path of the front end of the arm 10a, the predetermined position of the tool 30, etc. An example of this teaching screen is a well-known teaching screen in which a user teaches a plurality of teaching points. There is a case in which the user teaches the plurality of teaching points by inputting coordinate values. There is also a case in which the user teaches the plurality of teaching points by making a predetermined input to the input unit 26 while moving the front end of the arm 10a to a plurality of arbitrary positions. The method of moving the arm 10a at this time is a well-known method such as the operation of the joystick, the operation of the operating panel, and the operation of moving the front end of the arm 10a by applying force by the user.

[0081] In the first embodiment, for example, the waiting position, the position of the placement member 110 , the approach start position 200 , etc. are used as the teaching points for teaching.

[0082] At least one of the other of the plurality of screens is a passing point teaching screen 300 ( Figure 6 ).exist Figure 6In the illustrated passing point teaching screen 300, the user teaches the tracking object to be tracked at each passing point 211, 212. Figure 7 An example of the processing of the control device 20 for teaching the tracking object will be described. Typically, the user performs the following teaching using the stationary article 100 on the stopped conveying device 2. On the other hand, there are cases where the following teaching can be performed even when the article 100 is moving by the conveying device 2.

[0083] For example, the user places the front end of the arm 10a at an arbitrary position and posture, and in this state, the user performs a first input for setting a passing point on the input unit 26. Based on the first input, the control device 20 causes each tracking sensor 50, 60 to acquire an image at the position and posture (step S2-1). Thereafter, the user performs a second input for setting a passing point on the input unit 26. Based on the second input, the control device 20 determines a tracking target on the acquired image (step S2-3).

[0084] The user actually arranges the arm 10a, the tool 30, the component 110, etc. for the object 100, and the control device 20 sets the tracking object based on the image acquired at the position. This structure is useful for preventing contact, improving work efficiency, etc. In addition, there may be a case where the control device 20 sets the first passing point 211 to be close to the starting position 200.

[0085] Before the second input, the control device 20 Figure 6 The captured image 400 shown in FIG. 1 shows a single or multiple indication graphics 410 (step S2-2). In addition, the captured image 400 may also be as follows: Figure 6 The image is obtained by enlarging a part of the image of the tracking sensor 50, 60. Each indicator graphic 410 is a graphic for indicating a part that can be set as a tracking target on the acquired image 400, a graphic for indicating a characteristic shape on the acquired image 400, etc. Figure 6 The indicator graphic 410 may also be displayed to draw attention to the outer edge, the inside, etc. of the characteristic shape. In the specification where the characteristic shape indicated by the cursor is highlighted, the cursor also functions as an indicator graphic.

[0086] The user performs the movement or size change of the instruction graphic 410 as part of the second input. Alternatively, the user performs the selection of any one or more of the plurality of instruction graphics 410 as the second input. The characteristic shape set by the second input becomes the passing point tracking object 121, 122, 123, etc. In addition, when the control device 20 automatically sets the characteristic shape on the acquired image 400 as the passing point tracking object, the control device 20 does not perform the above-mentioned processing for the second input.

[0087] After that, the user makes a third input for setting the passing point to the input unit 26. The control device 20 sets the tracking sensors 50 and 60 used at each passing point 211 and 212 according to the third input. The passing point teaching screen 300 has a sensor selection display 420, and the sensor selection display 420 is used to select or display whether each tracking sensor 50 and 60 is used for tracking at each passing point 211 and 212. The control device 20 sets the tracking sensor selected by the third input as the tracking sensor for passing point tracking (step S2-4). In the first embodiment, the user makes the third input using a check box belonging to the sensor selection display 420. In addition, in the case where the tracking sensor used for tracking is predetermined, in the case where only a single tracking sensor 50 is provided, etc., the control device 20 does not perform the above-mentioned processing for the third input.

[0088] In addition, the user makes a fourth input for setting a passing point to the input unit 26. The control device 20 sets the tracking direction for passing point tracking at each passing point 211, 212 based on the fourth input (step S2-5). More specifically, the control device 20 sets the tracking direction based on the input to the input unit 26. The passing point teaching screen 300 has a direction selection display 430 for setting the tracking direction at each passing point 211, 212 for each of the plurality of tracking sensors 50, 60. The control device 20 sets the direction selected by the fourth input as the tracking direction at each passing point 211, 212. In addition, when the tracking direction is predetermined, when the control device 20 automatically sets the tracking direction, etc., the control device 20 does not perform the processing for the fourth input.

[0089] According to the above structure, the user can set whether to use each tracking sensor 50, 60, and can also easily set the tracking direction. The user can also perform a test operation of moving the arm 10a through tracking control while changing the setting of the direction selection display 430. This structure is useful for achieving contact prevention, improving work efficiency, etc.

[0090] Figure 6 It is shown that, with respect to the first passing point, tracking control is performed only in the X direction using the image of the second tracking sensor 60. With respect to the second passing point 122, Figure 6 It is also shown that the image of the first tracking sensor 50 is used for tracking control in the X direction and the Y direction, and the image of the second tracking sensor 60 is used for tracking control in the Z direction.

[0091] The above-mentioned structure of the first embodiment is a useful aid for teaching the tracking of the passing points for tracking control at each passing point 211, 212. In addition, the above-mentioned structure that can select the tracking sensors 50, 60 at each passing point 211, 212 is a useful aid for reliably performing tracking at each passing point 211, 212, robot motion, etc. In addition, the above-mentioned structure that can set the direction of each tracking sensor 50, 60 at each passing point 211, 212 is also a useful aid for reliably performing tracking at each passing point 211, 212, robot motion, etc.

[0092] In addition, the setting status of the tracking object is displayed on the passing point teaching screen 300 as described above. This configuration is useful for the user to accurately and easily recognize whether a passing point is set, the setting status of each passing point, and the like.

[0093] One of the multiple screens is a teaching screen for teaching tracking during operation at the operation start position 220. As the teaching screen for operation, a known teaching screen for making the axis 111a of the component 110 track the target part 101 through visual feedback can be used. For example, the user places the arm 10a at the operation start position 220, and the control device 20 causes the first tracking sensor 50 to acquire the target part 101 at this position. In one example, the acquisition is performed when the user makes a predetermined input to the input unit 26. The control device 20 sets the characteristic shape in the acquired image as a tracking object, and the control device 20 uses the tracking object to perform the above-mentioned tracking control during operation.

[0094] When the arm 10a moves to each of the passing points 211 and 212, the control device 20 may move the front end of the arm 10a in a predetermined direction based on the operation program 23b. Figure 1 In the case where the control device 20 moves the component 110 in the Y direction based on the action program 23b when moving from the passing point 211 to the passing point 212. Figure 6 In the teaching screen 300 of the passing point, the user can cancel the designation of the Y direction of the direction selection display 430 of the first tracking sensor 50 for the second passing point. With this setting, the control device 20 causes the component 110 not to track the article 100 in the Y direction for the second passing point. If the motion control based on the control instruction of the motion program 23b is consistent with the direction of the tracking control, the motion of the arm 10a may become unsmooth due to overshoot or the like. The above structure is useful for reducing or eliminating this undesirable situation.

[0095] exist Figure 8 and Fig. 9 In the Figure 1 Different passing points 211', 212'. Fig. 9In the example, the Z-direction tracking is not performed at the passing points 211' and 212'. When the approach start position 200 is higher than the operation start position 220, the Z-direction positions of the passing points 211' and 212' are also higher than the operation start position 220. Figure 8 In the example, the X-direction and Y-direction positions of the second passing point 212' are slightly offset from the position of the operation start position 220, but the two may be consistent. In this case, the tracking object at the operation start position 220 can be used as the tracking object of the second passing point 212'. This structure is useful for reducing the user's teaching work.

[0096] Reference Fig.10 A working robot system according to a second embodiment is described. The second embodiment is obtained by setting the component 130 held by the tool 30 in the first embodiment as a steering wheel, and setting the object part 101' as a mounting part of the steering wheel. In the second embodiment, the same reference numerals are given to the same structures as those in the first embodiment, and the description of the structure and the same effects obtained by the structure is omitted.

[0097] In the second embodiment, at least one of the plurality of passing points 231, 232 is set inside the article 100. In the second embodiment, the central portion of the component 130 is a mounting portion mounted on the target portion 101', and the central portion of the component 130 tracks the component 110 at each of the passing points 231, 232 and the operation start position 240.

[0098] For example, the first passing point 231 is set outside the object 100, and the second passing point 232 is set inside the object 100. A shift knob or the like can be used as a tracking target of the second passing point 232.

[0099] In the second embodiment, when the component 130 moves linearly from the approach start position 200' to the operation start position 240, the component 130 will definitely contact the article 100. Even in this case, the second embodiment having the same structure as the first embodiment can reasonably set the mounting component 130 without contact.

[0100] See attached Fig.11 ~Attached Fig.14 A working robot system according to a third embodiment is described. In the third embodiment, a first tracking sensor 50' fixed at a predetermined position is used instead of the tracking sensors 50 and 60 of the first embodiment. In this embodiment, the tracking sensor 50' is supported by a known frame 51 or the like.

[0101] The configuration position, support structure, etc. of the tracking sensor 50' are arbitrary. In the present embodiment, the configuration position of the tracking sensor 50' is above the object 100. The tracking sensor 50' may also be supported by other robots, and the tracking sensor 50' may also be supported by a known linear guide rail that can move in the conveying direction of the conveying device 2. The tracking sensor 50' may also be supported by other methods. In the second embodiment, the same figure marks are attached to the same structures as the first embodiment, and the description of the structure and the same effects obtained by the structure is omitted.

[0102] As the tracking sensor 50', for example, a three-dimensional camera, a three-dimensional distance sensor, etc. are used. The position and direction of the coordinate system of the tracking sensor 50 are preliminarily associated with the position and direction of the coordinate system of the robot 10 in the control device 20. In the third embodiment, for example, the standby position, the position of the placement component 110, the approach start position 200, etc. are also taught as the teaching points. Fig.13 As shown, the passing point teaching screen 300' of the third embodiment may be slightly different from that of the first embodiment. Fig.13 In the illustrated passing point teaching screen 300, the user performs the following operations to be performed at each passing point 211, 212 ( Fig.12 ) to teach the tracking object to be tracked. Fig.14 An example of processing performed by the control device 20 for teaching tracking of an object will be described.

[0103] The control device 20 obtains the user's teaching of the tracking object using the passing point teaching screen 300', a known voice generator built into the control device 20, etc. The user places the front end of the arm 10a at an arbitrary position and posture, and in this state, the user performs a first input for setting the passing point in the input unit 26. Based on the first input, the control device 20 causes the tracking sensor 50' to acquire an image at the position and posture (step S3-1).

[0104] As in the first embodiment, the control device 20 Fig.13 A single or multiple indication graphics 410 are displayed on the acquisition image 400 (step S3-2). The user performs a second input for setting a passing point on the input unit 26. The control device 20 determines the tracking target on the acquisition image based on the second input (step S3-3). Fig.13 The tracking target of the first passing point 211 is the object part 101, but other parts 123 of the article 100 that are convenient for passing point tracking may also be used as tracking targets.

[0105] Next, the user performs the third input and the fourth input for setting the passing point on the input unit 26 in the same manner as in the first embodiment, and performs the same processing as in the first embodiment (steps S3-4 and S3-5). In addition, in the present embodiment, since there is only one tracking sensor, step S3-3 is not necessary, but step S3-3 is useful when there are two or more tracking sensors. In addition, if two two-dimensional cameras facing the same direction as the tracking sensors 50 and 60 are used instead of the tracking sensor 50' that obtains the three-dimensional image, three-dimensional detection can be performed using the two-dimensional camera.

[0106] Next, the control device 20 teaches the user the relative position and relative posture of the tracking object and the part to be tracked using the passing point teaching screen 300', the voice generator, etc. The user places the front end of the arm 10a at an arbitrary position and posture corresponding to the first passing point 211, and in this state, the user performs a first input for setting the passing point in the input unit 26.

[0107] The control device 20 causes the tracking sensor 50' to acquire an image at the position and posture according to the fifth input (step S3-6). The acquired image is used to show the relative position of the tracking object and the part to be tracked in the component 110. In this embodiment, the component 110, the mounting portion 111 of the component 110, etc. are the parts to be tracked. The control device 20 stores the acquired image as a reference image in the storage unit 23 (step S3-7).

[0108] In addition, regarding step S3-1, the control device 20 can also determine whether the acquired image includes both the tracking target and the portion to be tracked. In this case, step S3-7 is executed instead of step S3-6.

[0109] The control device 20 repeats steps S3-1 to S3-6 until the above settings are performed for all passing points (step S3-8).

[0110] In the third embodiment, the control device 20 also performs visual feedback using image data successively obtained by, for example, the tracking sensors 50 and 60 for tracking at each passing point 211 and 212. Known visual feedback can be used for the above control, but in the third embodiment, the control device 20 performs the following tracking control.

[0111] The control device 20 arranges the tracking object and the part to be tracked in the visual angle of the tracking sensor 50' so that the relative position of the tracking object and the part to be tracked is consistent with the reference image within a predetermined reference. In addition, the control device 20 may arrange the tracking object and the part to be tracked in the visual angle so that the relative posture of the tracking object and the part to be tracked is consistent with the reference image beyond a predetermined reference. Through this visual feedback, the mounting portion 111 of the component 110 tracks the object portion 101 of the article 100.

[0112] In the third embodiment, the control device 20 performs passing point tracking based on the relative position of the tracking object and the portion to be tracked that can be seen from the tracking sensor 50' fixed outside the arm 10a. There are cases where the tool 30 and the like may hinder the detection of the tracking object in the field of view of the tracking sensor installed at the front end of the arm 10a. In the third embodiment, the tracking sensor 50' has a high degree of freedom in configuration, which helps reduce the hindrance of the detection.

[0113] In the third embodiment, the passing point teaching screen 300' displays the setting of the tracking object and the setting of the object to be tracked. This configuration is useful for the user to accurately and easily recognize whether a passing point is set, the setting status of each passing point, etc.

[0114] There is a situation where the linear movement of the component 110 from the approach start position 200 to the operation start position may cause contact with the arm 10a, the tool 30, the component 110, etc. Alternatively, as in the second embodiment, there is also a situation where the component 110 is bound to contact the object 100 when the component 110 moves linearly from the approach start position 200 to the operation start position. In the above-mentioned embodiments, before the arm 10a moves the component 110 to the operation start position, the arm 10a can make the component 110 perform passing point tracking at multiple passing points. Through this structure, the user can make any multiple settings to prevent the above-mentioned contact. In addition, there may be a situation where the arm 10a makes the component 110 perform passing point tracking at a single passing point before the arm 10a moves the component 110 to the operation start position. Even in this case, the effects of the above-mentioned embodiments can be achieved.

[0115] In addition, in the above-mentioned embodiments, the arm 10a causes the component 110 to track the article 100, but similarly, in the above-mentioned embodiments, the arm 10a may cause the tool 30 to track the article 100. This structure also has the same effect as the above-mentioned embodiments. The tool 30 may be a tool that performs various known operations such as welding to a part of the article 100, processing for assembly, and application of a sealant as a predetermined operation.

[0116] In addition, the control device 20 of the first embodiment can perform passing point tracking based on the relative position between the tracking target and the portion to be tracked, similarly to the third embodiment. In this case, the reference image is also stored in the storage unit 23 in the first embodiment.

[0117] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the invention, or without departing from the idea and main purpose of the present invention derived from the contents recorded in the claims and their equivalents. For example, in the above-mentioned embodiments, it is possible to change the order of each action, change the order of each process, omit or add a part of the actions corresponding to the conditions, and omit or add a part of the process corresponding to the conditions without being restricted to the above-mentioned examples. In addition, the same applies to the case where numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0118] Description of reference numerals:

[0119] 1. Operation robot system

[0120] 2. Transport device

[0121] 10. Robot

[0122] 11Servo motor

[0123] 20 Control device

[0124] 21 processors

[0125] 22 Display device

[0126] 23 Storage

[0127] 23a System Program

[0128] 23b Action Program

[0129] 23c Pre-approach control procedure

[0130] 23d passing point tracking control program

[0131] 23e Operation Tracking Control Program

[0132] 23f force control program

[0133] 23g start location data

[0134] 23h boundary position data

[0135] 26 Input section

[0136] 30 lots

[0137] 31 Servo motor

[0138] 32 force sensors

[0139] 40 Detection device

[0140] 50, 60, 50' tracking sensor

[0141] 100 items

[0142] 101, 101' object department

[0143] 101a hole

[0144] 110 parts

[0145] 111 Installation Department

[0146] 111a shaft

[0147] 200, 200' close to the starting position

[0148] 211, 212, 211', 212', 231, 232 passing points

[0149] 220, 240 operation start position

[0150] 300, 300' passing point teaching screen

Claims

1. A robot, characterized in that: The robot includes an arm and a control device for controlling the arm, and performs a predetermined operation on a target portion of an article moved by an article moving device. The control device is configured to perform the following control: Passing point tracking control, before moving the component or tool supported by the front end of the arm to the predetermined operation start position, at each of one or more passing points, controlling the arm to track the moving object by the component or tool; as well as The tracking control during operation is to place the component or the tool at the operation start position after the passing point tracking control, and control the arm to perform the tracking of the component or the tool on the moving object during operation.

2. The robot according to claim 1, characterized in that: The control device is configured to perform the passing point tracking control using visual feedback.

3. The robot according to claim 1 or 2, characterized in that: The control device is configured to use visual feedback to perform tracking control during the operation. The tracking object used for the tracking control during the operation is used for the tracking of the passing point closest to the operation start position among the one or more passing points.

4. The robot according to any one of claims 1 to 3, characterized in that: The control device stores an action program for causing the arm to perform a predetermined action. When the tracking is performed while the component or the tool is moved in a predetermined direction according to the operation program, the control device does not cause the component or the tool to track the article in the predetermined direction.

5. The robot according to any one of claims 1 to 4, characterized in that: The robot has: a display device capable of displaying a passing point teaching screen for teaching the tracking at each of the one or more passing points; and An input unit performs input of the teaching for the tracking.

6. The robot according to claim 5, characterized in that: The display device is capable of displaying a screen for specifying a direction in which the tracking is to be performed at each of the one or more passing points. The control device causes the arm to perform the tracking in the direction corresponding to the designation at each passing point.

7. A robot control device, characterized in that: The robot control device controls the robot arm to perform a predetermined operation on the target part of the article moved by the article moving device. The control device of the robot is configured to perform the following control: Passing point tracking control, before moving the component or tool supported by the front end of the arm to the predetermined operation start position, at each of one or more passing points, controlling the arm to track the moving object by the component or tool; as well as The tracking control during operation is to place the component or the tool at the operation start position after the passing point tracking control, and control the arm to perform the tracking of the component or the tool on the moving object during operation.

8. The robot control device according to claim 7, characterized in that: The control device of the robot comprises: a display device capable of displaying a passing point teaching screen for teaching the tracking at each of the one or more passing points; and An input unit performs input of the teaching for the tracking.

9. The robot control device according to claim 8, characterized in that: The display device is capable of displaying a screen for specifying a direction in which the tracking is to be performed at each of the one or more passing points. The control device causes the arm to perform the tracking in the direction corresponding to the designation at each passing point.

10. A working robot system, characterized in that: have: an article moving device, which moves articles; a robot having an arm; and a control device for controlling the arm to perform a predetermined operation on a target portion of an article moved by the article moving device, The control device is configured to perform the following control: Passing point tracking control, before moving the component or tool supported by the front end of the arm to the predetermined operation start position, at each of one or more passing points, controlling the arm to track the moving object by the component or tool; as well as The tracking control during operation is to place the component or the tool at the operation start position after the passing point tracking control, and control the arm to perform the tracking of the component or the tool on the moving object during operation.

11. The working robot system according to claim 10, characterized in that: The control device stores an action program for causing the arm to perform a predetermined action. When the tracking is performed while the component or the tool is moved in a predetermined direction according to the operation program, the control device does not cause the component or the tool to track the article in the predetermined direction.

12. The working robot system according to claim 10 or 11, characterized in that: The working robot system comprises: a display device capable of displaying a passing point teaching screen for teaching the tracking at each of the one or more passing points; and an input unit for teaching the tracking in the passing point teaching screen, The control device is configured to perform the passing point tracking control using visual feedback based on the output of the sensor. The control device is configured to perform the following processing: image acquisition processing, in which the sensor acquires an image based on an input to the input unit in a state where the front end portion of the arm is arranged at a position corresponding to each of the one or more passing points; as well as The tracking target setting process sets a part or all of the object appearing in the acquired image as a tracking target in the passing point tracking control.

13. The working robot system according to claim 12, characterized in that: The control device controls the arm during the passing point tracking control so that the relative positions of the tracking object and the part to be tracked in the component or the tool in the images successively obtained by the sensor are consistent within a predetermined reference.

Images