Robot, light-emitting device, and teaching method

Abstract

The invention relates to a robot, a light-emitting device, and a teaching method, which can more easily set an end effector to a more appropriate posture. A robot according to an embodiment includes a robot hand, a first end effector, a first light emitting unit, and a second light emitting unit. The first end effector is attached to the tip of the robot. The first light-emitting unit is attached to the tip portion and emits first line laser light in a first direction. The second light-emitting unit is attached to the tip portion and irradiates a second line of laser light in a second direction. The first direction is inclined with respect to the orientation of the first end effector in a first plane parallel to the direction from the tip portion toward the first end effector. The second direction is inclined with respect to the orientation of the first end effector in a second plane that is parallel to the first direction and intersects the first plane.

Description

Technical Field

[0001] Embodiments of the present invention relate to a robot, a light emitting device, and a teaching method. Background Art

[0002] There are robots that can operate autonomously, and technology is required to easily set an appropriate posture for these robots.

[0003] Patent Document 1: Japanese Patent No. 5239100 Summary of the Invention

[0004] An object of the embodiments of the present invention is to provide a robot, a light emitting device, and a teaching method that can more easily set an end effector to a more appropriate posture.

[0005] The robot of the embodiment includes a manipulator, a first end effector, a first light-emitting unit, and a second light-emitting unit. The first end effector is mounted on the front end portion of the manipulator. The first light-emitting unit is mounted on the front end portion and irradiates a first line laser in a first direction. The second light-emitting unit is mounted on the front end portion and irradiates a second line laser in a second direction. The first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the front end portion toward the first end effector. The second direction is inclined relative to the above-mentioned direction of the first end effector in a second plane parallel to the first direction and intersecting the first plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 Schematic diagram showing a robot system according to an embodiment.

[0007] Figure 2 It is a perspective view showing the end effector.

[0008] Figure 3 is a side view showing the end effector.

[0009] Figure 4 It is a side view showing the end effector.

[0010] Figure 5 is a schematic diagram showing a line laser.

[0011] Figure 6 (a) and Figure 6 (b) is a schematic diagram showing a line laser.

[0012] Figure 7 (a) and Figure 7 (b) is a schematic diagram showing a line laser.

[0013] Figure 8 (a) and Figure 8 (b) is a schematic diagram showing a line laser.

[0014] Figure 9 This is a flowchart showing a teaching method according to an embodiment.

[0015] Figure 10 This is a flowchart showing a specific example of the teaching method according to the embodiment.

[0016] Figure 11 It is a schematic diagram showing the structure of the detector and the assembly.

[0017] Figure 12 (a)~ Figure 12 (c) is a schematic diagram for explaining the operation of the detector.

[0018] Figure 13 This is a flowchart showing a method for teaching the posture of the detector.

[0019] Figure 14 This is a schematic diagram illustrating intensity data obtained by probing.

[0020] Figure 15 (a)~ Figure 15 (c) is an example of an image showing the intensity distribution of the reflected wave obtained by processing the intensity data.

[0021] Figure 16 Schematic diagram illustrating the identified welded portion.

[0022] Figure 17 (a)~ Figure 17 (c) is another example of an image showing the intensity distribution of the reflected wave obtained by processing the intensity data.

[0023] Figure 18 This is a flowchart showing the operation of the robot system according to the embodiment.

[0024] Figure 19 This is a flowchart showing an inspection performed by the robot system according to the embodiment.

[0025] Figure 20 This is a flowchart showing the operation of the robot system according to the embodiment.

[0026] Figure 21 This is a schematic diagram showing the hardware configuration.

[0027] Explanation of symbols

[0028] 1: Robot system; 100: Robot; 110: Manipulator; 121: Camera; 122: Detector; 122a: Detection element; 122b: Propagation unit; 122c: Housing; 123: Discharger; 131: First light-emitting unit; 132: Second light-emitting unit; 200: Robot controller; 210: Operation terminal; 220: System control unit; 230: Processing device; 300: Joint; 301: Metal plate; 301a: Upper surface; 301b: Lower surface; 302: metal plate; 303: welding part; 303a: upper surface; 303b: lower surface; 304: solidification part; 305: coupling agent; D1: first direction; D1a: first extension direction; D1b: second extension direction; D2: second direction; D2c: third extension direction; D2d: fourth extension direction; L1: first line laser; L2: second line laser; OBJ: object; Pe0~Pe4: peak value; RW: reflected wave; US: ultrasonic wave; θx, θy: tilt. DETAILED DESCRIPTION

[0029] The following describes various embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the size between parts, etc. may not necessarily be the same as in reality. In addition, even when representing the same part, the size and ratio may be different depending on the drawing. In this application specification and each figure, the same reference numerals are used for elements that are identical to those already described, and detailed descriptions are omitted as appropriate.

[0030] Figure 1 Schematic diagram showing a robot system according to an embodiment.

[0031] like Figure 1 As shown, the robot system 1 of the embodiment includes a robot 100 , a robot controller 200 , an operation terminal 210 , a system control unit 220 , and a processing device 230 .

[0032] The robot controller 200 controls the operation of the robot 100. The robot controller 200 includes a control circuit, a servo control unit, a power supply device, etc. The robot controller 200 operates the robot 100 according to a pre-stored operation program.

[0033] The operation terminal 210 is a terminal device used to operate the robot 100. The operation terminal 210 is a so-called teaching pendant. The operation terminal 210 is connected to the robot controller 200 and accepts user input of motion programs and settings related to the robot 100. Furthermore, the user uses the operation terminal 210 to modify, revise, or create new teaching data. Teaching data is data used to teach the robot 100 its movements.

[0034] The system control unit 220 performs calculations required for the operation of the robot 100. Furthermore, the system control unit 220 displays a user interface for inputting information from a user and outputting information to a user. The robot controller 200 is connected to the operation terminal 210 and the system control unit 220 via wireless communication, wired communication, or a network.

[0035] The processing device 230 processes data obtained by the end effector of the robot 100. The processing device 230 is connected to the system control unit 220 via wireless communication, wired communication, or a network.

[0036] The robot 100 includes a manipulator 110, an imaging device 121, a detector 122, an ejector 123, a first light-emitting unit 131, and a second light-emitting unit 132. For example, the manipulator 110 is a vertical multi-joint type. Alternatively, the manipulator 110 may be a horizontal multi-joint type or a parallel linkage type. Alternatively, the manipulator 110 may include a combination of two or more selected from the vertical multi-joint type, the horizontal multi-joint type, and the parallel linkage type. The manipulator 110 preferably has six or more degrees of freedom.

[0037] The imaging device 121, detector 122, and ejector 123 are mounted as end effectors at the front end of the manipulator 110. For example, the system control unit 220 controls the imaging device 121 and ejector 123. Another controller may also be provided to control the ejector 123. The processing device 230 controls the detector 122.

[0038] The imaging device 121 captures an image of an object being worked on by the robot 100. To improve the operability of the robot 100, the imaging device 121 is preferably small in size. To achieve miniaturization, the imaging device 121 is preferably a single-focus camera. The imaging device 121 is an example of a first end effector.

[0039] The detector 122 performs exploration (detection) of the object. During exploration, ultrasonic waves are transmitted toward the object and their reflected waves are detected (received). The detector 122 transmits the detection result of the reflected waves to the processing device 230. The detector 122 is an example of a second end effector.

[0040] The ejector 123 ejects a coupling agent toward the surface of the object. The coupling agent is a gel-like substance used to improve the acoustic compatibility between the object and the detector 122. The ejector 123 is another example of a second end effector.

[0041] The first light emitting unit 131 and the second light emitting unit 132 are attached to the front end portion of the robot 110. The first light emitting unit 131 and the second light emitting unit 132 irradiate the surface of the object with a line laser.

[0042] Figure 2 It is a perspective view showing the end effector. Figure 3 as well as Figure 4 It is a side view showing the end effector.

[0043] Here, if Figures 2 to 4 As shown, a system orthogonal coordinate system is used in the description of the embodiment. The direction from the front end of the robot 110 toward the imaging device 121 is set as the Z direction (first direction). Two directions perpendicular to the Z direction and orthogonal to each other are set as the X direction (second direction) and the Y direction (third direction).

[0044] The imaging device 121, detector 122, and ejector 123 are generally oriented in the Z direction. Specifically, the lens and image sensor of the imaging device 121 are oriented in the Z direction, and the imaging device 121 captures an object located in the Z direction relative to the imaging device 121. The detector 122 transmits ultrasonic waves in the Z direction. The ejector 123 ejects coupling agent in the Z direction. However, the imaging device 121, detector 122, and ejector 123 may be tilted relative to the Z direction within a range that does not substantially affect their functions.

[0045] like Figure 2 as well as Figure 3 As shown, the first light emitting unit 131 irradiates the first laser line L1 in the first direction D1. The first direction D1 is inclined with respect to the Z direction in a first plane parallel to the Z direction.

[0046] like Figure 2 as well as Figure 4 As shown, the second light emitting unit 132 emits the second laser line L2 in the second direction D2. The second direction D2 is parallel to the Z direction and tilted relative to the Z direction in a second plane intersecting the first plane. The second direction D2 is not parallel to the first direction D1.

[0047] exist Figures 2 to 4 In the example shown, the first surface is parallel to the YZ plane, and the second surface is parallel to the XZ plane. The first surface and the second surface are perpendicular to each other.

[0048] When the robot 100 moves the end effector, it moves the manipulator 110 so that the control point assumes a pre-taught posture. A control point is a point whose posture is controlled, such as any point on the end effector. The posture is represented by position and angle. Position includes coordinates along three mutually orthogonal axes. Angles include tilts about the three mutually orthogonal axes.

[0049] The taught posture affects the end effector's accuracy. For example, if the imaging device 121 is not properly positioned during imaging, a clear image cannot be obtained. If the detector 122 is not properly positioned during detection, accurate reflected wave detection results cannot be obtained. If the ejector 123 is not properly positioned during coupling agent discharge, the coupling agent cannot be properly attached to the object. Therefore, it is desirable to teach the posture appropriately.

[0050] The first and second light-emitting units 131, 132 are used to appropriately set the posture of the end effector. They are mounted so that when the positional relationship between the end effector and the object is in a predetermined state, the first and second laser line L1, L2 are in a predetermined positional relationship.

[0051] Figure 5 、 Figure 6 (a) Figure 6 (b) Figure 7 (a) Figure 7 (b) Figure 8 (a) and Figure 8 (b) is a schematic diagram showing a line laser.

[0052] Here, a specific example of teaching the camera device 121 how to operate using the first and second light-emitting units 131, 132 will be described. The first and second light-emitting units 131, 132 irradiate a target with a first laser line L1 and a second laser line L2, respectively. In the illustrated example, the first and second laser line L1, L2 are intersecting laser lines. Intersecting laser lines consist of two mutually orthogonal laser beams. Two intersecting straight lines appear on the surface of the target irradiated with the intersecting laser beams.

[0053] like Figure 5 As shown, the first laser line L1 extends along a first extension direction D1a and a second extension direction D1b on the surface of object OBJ. The first extension direction D1a and the second extension direction D1b intersect with each other. The second laser line L2 extends along a third extension direction D2c and a fourth extension direction D2d on the surface of object OBJ. The third extension direction D2c and the fourth extension direction D2d intersect with each other.

[0054] The first light emitting unit 131 and the second light emitting unit 132 are installed so that the first laser line L1 and the second laser line L2 overlap on the surface of the object OBJ when the imaging device 121 focuses on the surface of the object and faces the surface.

[0055] Figure 6 (a) and Figure 6(b) shows a state where the imaging device 121 is facing the surface of the object OBJ, but the distance between the imaging device 121 and the surface is offset from the focal length of the imaging device 121. In this case, on the surface of the object OBJ, the first extension direction D1a and the third extension direction D2c are parallel to each other, and the second extension direction D1b and the fourth extension direction D2d are parallel to each other. Meanwhile, the first laser line L1 and the second laser line L2 are offset from each other in a direction perpendicular to the orientation of the imaging device 121.

[0056] Figure 7 (a) and Figure 7 (b) shows a state where the distance between imaging device 121 and the surface of object OBJ matches the focal length of imaging device 121, but imaging device 121 is tilted relative to the surface. In this case, on the surface of object OBJ, the straight line of the first laser line L1 and the straight line of the second laser line L2 are parallel to and overlap with each other. On the other hand, the straight line of the first laser line L1 and the straight line of the second laser line L2 are not parallel to and do not overlap with each other.

[0057] Figure 8 (a) and Figure 8 (b) shows a state where the imaging device 121 is facing the surface of the object OBJ, and the distance between the imaging device 121 and the surface is consistent with the focal length of the imaging device 121. In this case, the plurality of straight lines of the first laser line L1 overlap with the plurality of straight lines of the second laser line L2 on the surface of the object OBJ.

[0058] When the first laser line L1 and the second laser line L2 overlap on the surface of object OBJ, the end effector is in the appropriate posture. The posture of the control point at this time is taught. Thus, when the robot 100 operates automatically, the imaging device 121 can be set to the appropriate posture, and the imaging device 121 can capture an appropriate image of the surface of object OBJ.

[0059] For example, a person adjusts the position and angle of robot 110 while confirming the first laser line L1 and the second laser line L2 irradiating the surface of object OBJ. When the first laser line L1 and the second laser line L2 overlap, the person stops robot 110 and teaches the control point's posture. In the illustrated example, the first laser line L1 and the second laser line L2 overlap when the center of the first laser line L1 and the center of the second laser line L2 coincide, and the line segments of the first laser line L1 and the second laser line L2 are parallel to each other.

[0060] The imaging device 121 can also capture images of the first laser line L1 and the second laser line L2 irradiating the surface. Based on the obtained images, the system control unit 220 calculates the amount of movement of the manipulator 110 required to overlap the first laser line L1 and the second laser line L2. The robot controller 200 calculates the amount of drive required for each motor of the manipulator 110 to achieve this movement. The robot controller 200 drives each motor according to the calculated amount. As a result, the manipulator 110 operates so that the first laser line L1 and the second laser line L2 overlap on the surface of the object OBJ.

[0061] Here, an example of using the first light emitting unit 131 and the second light emitting unit 132 to teach the posture of the imaging device 121 during operation has been described. However, the present invention is not limited to this example, and the first light emitting unit 131 and the second light emitting unit 132 can also be used to teach the posture of the detector 122 or the ejector 123 during operation.

[0062] For example, to teach the ejector 123 the proper posture during operation, a first light-emitting unit 131 and a second light-emitting unit 132 are installed around the ejector 123. These units are installed so that when the ejector 123 and the object OBJ are in the desired positional relationship, the first laser line L1 emitted by the first light-emitting unit 131 and the second laser line L2 emitted by the second light-emitting unit 132 overlap. A person can teach the robot controller 200 the proper posture for the ejector 123 during operation while confirming the first laser line L1 and the second laser line L2 irradiating the surface of the object OBJ. By setting the ejector 123 in the proper posture, the coupling agent can be more appropriately adhered to the surface of the object OBJ.

[0063] Figure 9 This is a flowchart showing a teaching method according to an embodiment.

[0064] The robot controller 200 moves the manipulator 110 so that the end effector faces the surface of the object OBJ (step S1). The first light-emitting unit 131 and the second light-emitting unit 132 irradiate the first laser line L1 and the second laser line L2 toward the surface of the object OBJ (step S2). The manipulator 110 is adjusted so that the first laser line L1 and the second laser line L2 overlap on the surface (step S3). When the first laser line L1 and the second laser line L2 overlap, the operation terminal 210 is used to teach the robot 100 the posture of the control point at this time (step S4). The above steps complete the posture teaching.

[0065] Advantages of the embodiment will be described.

[0066] As described above, in order for the end effector to operate properly, it is preferable to appropriately set the posture of the end effector. To appropriately set the posture of the end effector, it is effective to pre-teach the posture of the end effector. On the other hand, the posture for appropriately operating the end effector varies for each function of the end effector. Furthermore, accurately setting the posture of the end effector so that it can operate properly is not easy. In particular, the camera 121, ejector 123, etc. operate away from the object. In order to accurately teach the posture of these end effectors so that they can operate properly, knowledge and experience related to the end effector are required.

[0067] To address this issue, the robot 100 of the embodiment includes a first light-emitting unit 131 and a second light-emitting unit 132 mounted on the front end of a manipulator 110. The first light-emitting unit 131 and the second light-emitting unit 132 respectively irradiate a first laser line L1 and a second laser line L2 toward the surface of an object. The first light-emitting unit 131 and the second light-emitting unit 132 are mounted so that, when the manipulator 110 is in an appropriate posture, the first laser line L1 and the second laser line L2 irradiated onto the surface are in a predetermined state. Therefore, by maintaining the irradiated first laser line L1 and second laser line L2 in a predetermined state, the manipulator 110 can be set to an appropriate posture.

[0068] For example, it is difficult for a person to determine whether the imaging device 121 is accurately facing the surface of the object OBJ. Furthermore, a person cannot visually identify the focal length of the imaging device 121. However, according to an embodiment, a person can easily achieve a state in which the imaging device 121 is facing the surface of the object OBJ and the distance between the imaging device 121 and the surface is consistent with the focal length of the imaging device 121 by moving the robot 110 while confirming the first laser line L1 and the second laser line L2.

[0069] Furthermore, it is difficult for a person to determine whether the ejector 123 is aligned with the surface of the object OBJ. Inexperienced personnel find it difficult to appropriately set the distance between the ejector 123 and the object OBJ. By moving the robot 110 while checking the first laser line L1 and the second laser line L2, a person can easily ensure that the ejector 123 is aligned with the surface of the object OBJ and that the distance between the ejector 123 and the surface is appropriately set.

[0070] The colors of the first laser line L1 and the second laser line L2 are preferably different. By making the colors of the first laser line L1 and the second laser line L2 different, a person can easily distinguish between the first laser line L1 and the second laser line L2 irradiating object OBJ. Therefore, a person can easily determine whether the first laser line L1 and the second laser line L2 overlap. As an example, the color of the first laser line L1 is one of the three primary colors (red, green, and blue), and the color of the second laser line L2 is another of the three primary colors (red, green, and blue).

[0071] After the teaching is performed by the above method, the robot 100 automatically operates based on the taught information. When the end effector operates, the robot controller 200 operates the manipulator 110 so that the control point takes the taught posture.

[0072] As a specific example, the posture of the control point when the camera 121 is in motion, the posture of the control point when the detector 122 is in motion, and the posture of the control point when the ejector 123 is in motion are pre-registered. When the camera 121 is in motion, the robot controller 200 moves the manipulator 110 so that the posture of the control point becomes the posture taught in advance when the camera 121 is in motion. In this way, the camera 121 is set to an appropriate posture. Similarly, when the detector 122 is in motion, the robot controller 200 moves the manipulator 110 so that the posture of the control point becomes the posture taught in advance when the detector 122 is in motion. When the ejector 123 is in motion, the robot controller 200 moves the manipulator 110 so that the posture of the control point becomes the posture taught in advance when the ejector 123 is in motion.

[0073] For simplicity of description, the posture of the control point when the imaging device 121 is in operation is also referred to as the "posture of the imaging device 121." The posture of the control point when the detector 122 is in operation is also referred to as the "posture of the detector 122." The posture of the control point when the ejector 123 is in operation is also referred to as the "posture of the ejector 123."

[0074] like Figure 1 as well as Figure 2 As shown, when the robot 100 has multiple end effectors, a posture is taught for each end effector. In this case, the first light emitting unit 131 and the second light emitting unit 132 are used to teach the posture of at least one end effector during operation. The postures of other end effectors can then be adjusted based on the pre-registered positional relationships between the end effectors.

[0075] Figure 10 This is a flowchart showing a specific example of the teaching method according to the embodiment.

[0076] First, the robot controller 200 operates the manipulator 110 so that the imaging device 121 faces the surface of the object OBJ (step S11). The same processes as steps S2 to S4 are then performed. Specifically, the surface of the object OBJ is irradiated with a line laser and the manipulator 110 is adjusted (step S12). Furthermore, the posture of the imaging device 121 is taught (step S13).

[0077] The system control unit 220 refers to the pre-registered relationship between the posture of the camera 121 and the posture of the ejector 123 (step S14). For example, the relationship between the desired posture of the camera 121 and the desired posture of the ejector 123 is pre-registered. The system control unit 220 calculates the difference between the pre-registered position of the camera 121 and the pre-registered position of the ejector 123 as the translational movement amount of the robot 110. The system control unit 220 calculates the difference between the pre-registered angle of the camera 121 and the pre-registered angle of the ejector 123 as the rotational movement amount of the robot 110.

[0078] The robot controller 200 causes the manipulator 110 to move the calculated amount of movement (step S15). If the manipulator 110 is properly adjusted in step S12, the posture of the camera 121 is in the desired state. From this state, the manipulator 110 is moved based on the pre-registered posture relationship between the camera 121 and the ejector 123, thereby setting the ejector 123 to the desired posture. The posture of the ejector 123 can also be fine-tuned as needed. Afterwards, the posture of the ejector 123 during operation is taught (step S16).

[0079] After the posture of the ejector 123 is taught, the posture of the detector 122 is taught. At this time, the system control unit 220 also refers to the relationship between the posture of the camera 121 and the posture of the ejector 123 that has been registered in advance (step S17). The system control unit 220 calculates the amount of movement of the manipulator 110 required for the desired posture of the detector 122 based on the pre-registered relationship. The robot controller 200 causes the manipulator 110 to move the calculated amount of movement (step S18). The posture of the detector 122 can also be fine-tuned as needed. Thereafter, the posture of the detector 122 when it moves is taught (step S19).

[0080] according to Figure 10 In the method shown, the posture taught to the imaging device 121 is also used to teach the posture of the detector 122 and the posture of the ejector 123. This makes it possible to easily teach the posture of the detector 122 and the posture of the ejector 123.

[0081] The robot system 1 described above can be used for inspecting joined structures.

[0082] Figure 11 It is a schematic diagram showing the structure of the detector and the assembly.

[0083] like Figure 11 As shown, joint 300 includes metal plates 301 (first component) and metal plates 302 (second component). Metal plates 301 and 302 are joined at weld 303. That is, there is no boundary surface between metal plates 301 and 302 at weld 303. A solidified portion 304 is formed at weld 303 by the mixing of molten metals. Weld 303 is formed by resistance spot welding.

[0084] The detector 122 detects the welded portion 303 of the bonded body 300. Figure 11 As shown, the detector 122 includes a detection element 122a, a propagation portion 122b, and a housing 122c.

[0085] The detection elements 122a are arranged two-dimensionally along the X and Y directions. For example, the detection elements 122a are transducers that emit ultrasonic waves with a frequency of 1 MHz to 100 MHz. Each detection element 122a transmits ultrasonic waves along the Z direction.

[0086] Multiple detection elements 122a are disposed at the front end of the housing 122c and are covered by a propagation portion 122b. When the detector 122 is brought into contact with the assembly 300, the propagation portion 122b is positioned between the detection elements 122a and the assembly 300. When the detection elements 122a emit ultrasonic waves, the ultrasonic waves propagate through the propagation portion 122b and are transmitted to the exterior of the detector 122. When the ultrasonic waves are reflected, the reflected waves propagate through the propagation portion 122b and reach the detection elements 122a.

[0087] The detection element 122a detects the reflected wave. The intensity of the signal detected by the detection element 122a corresponds to the intensity of the reflected wave. The detector 122 obtains a detection result indicating the intensity of the reflected wave and transmits it to the processing device 230.

[0088] Propagation portion 122b is made of a resin material, for example, that easily transmits ultrasonic waves. Propagation portion 122b prevents deformation or damage to detection element 122a when detector 122 contacts weld portion 303. Propagation portion 122b has sufficient hardness to prevent deformation or damage when in contact with weld portion 303.

[0089] During the inspection, a coupling agent 305 is attached to the surface of the bonded body 300 to facilitate the propagation of ultrasonic waves between the detector 122 and the bonded body 300. Each detection element 122a transmits ultrasonic waves US toward the bonded body 300 to which the coupling agent 305 is attached.

[0090] Alternatively, the propagation portion 122b may be easily deformed to follow the surface shape of the object. If the deformation of the propagation portion 122b brings the propagation portion 122b into close contact with the bonded body 300 and achieves sufficient acoustic matching between the propagation portion 122b and the bonded body 300, the use of a coupling agent may be omitted.

[0091] For example, Figure 11 As shown, one detection element 122a transmits ultrasonic waves US toward the bonded structure 300. A portion of the ultrasonic waves US is reflected by the upper or lower surface of the bonded structure 300. Multiple detection elements 122a each detect reflected waves RW. During the probe, each detection element 122a sequentially transmits ultrasonic waves US, and each reflected wave RW is detected by the multiple detection elements 122a.

[0092] Figure 12 (a)~ Figure 12 (c) is a schematic diagram for explaining the operation of the detector.

[0093] like Figure 12 As shown in (a), part of the ultrasonic wave US is reflected by the upper surface 301a of the metal plate 301 or the upper surface 303a of the weld 303. The other part of the ultrasonic wave US enters the bonded structure 300 and is reflected by the lower surface 301b of the metal plate 301 or the lower surface 303b of the weld 303.

[0094] The upper surface 301a, upper surface 303a, lower surface 301b, and lower surface 303b are positioned differently in the Z direction. That is, the distances in the Z direction between these surfaces and the detector 122 are different. Upon receiving reflected waves from these surfaces, the detector 122 detects the peak intensity of the reflected waves. By calculating the time from the transmission of the ultrasonic wave US to the detection of each peak, it is possible to determine which surface reflected the ultrasonic wave US.

[0095] The intensity of the reflected wave can be expressed in any manner. For example, the reflected wave intensity output from detector 122 may include both positive and negative values ​​depending on the phase. Various processing may be performed based on the reflected wave intensity including both positive and negative values. The reflected wave intensity including both positive and negative values ​​may also be converted to an absolute value. The average value of the reflected wave intensity may be subtracted from the reflected wave intensity at each moment. Alternatively, a weighted average value, a weighted moving average value, or the like of the reflected wave intensity may be subtracted from the reflected wave intensity at each moment. Even when using the results obtained by applying these processing to the reflected wave intensity, the various processing described in this application can be performed.

[0096] Figure 12 (b) and Figure 12(c) is a graph illustrating the relationship between the time after the ultrasonic wave US is transmitted and the intensity of the reflected wave RW. Here, the intensity of the reflected wave RW is expressed as an absolute value. Figure 12 The graph of (b) illustrates the reception results of the reflected waves RW from the upper surface 301 a and the lower surface 301 b of the metal plate 301 . Figure 12 The graph of (c) illustrates the reception result of the reflected wave RW from the upper surface 303 a and the lower surface 303 b of the weld portion 303 .

[0097] exist Figure 12 (b) and Figure 12 In the graph of (c), the first peak value Pe0 is based on the reflected wave RW from the front end of the detector 122. Figure 12 In (b), the second peak Pe1 is based on the reflected wave RW from the upper surface 301a. The third peak Pe2 is based on the reflected wave RW from the lower surface 301b. The times at which peaks Pe1 and Pe2 are detected correspond to the positions of the upper surface 301a and lower surface 301b in the Z direction, respectively. The difference between the times at which peaks Pe1 and Pe2 are detected corresponds to the distance in the Z direction between the upper surface 301a and lower surface 301b.

[0098] Likewise, in Figure 12 In the graph (c), the second peak Pe3 is based on the reflected wave RW from the upper surface 303a. The third peak Pe4 is based on the reflected wave RW from the lower surface 303b. The times when peaks Pe3 and Pe4 are detected correspond to the positions of the upper surface 303a and the lower surface 303b in the Z direction, respectively. The difference between the times when peaks Pe3 and Pe4 are detected corresponds to the distance in the Z direction between the upper surface 303a and the lower surface 303b.

[0099] The processing device 230 processes the reflected wave detection results from the system control unit to obtain data related to the weld 303. For example, the processing device 230 determines the position of the weld 303 in the bonded structure 300. The processing device 230 can also calculate the inclination of the upper surface 303a. The processing device 230 can also calculate the diameter or thickness of the weld 303.

[0100] Figure 13 This is a flowchart showing a method for teaching the posture of the detector.

[0101] The above-mentioned detection results can also be used when teaching the posture of the detector 122. Figure 10 In step S19 shown in FIG. Figure 13The process shown in FIG. First, the robot 110 moves in step S18 to move the detector 122 to the approach start position (step S19a). When the detector 122 contacts the weld 303, it moves a predetermined distance in the Z direction toward the weld 303. The approach start position is the position where movement toward the weld 303 begins, and the detector 122 is separated from the weld 303 by a predetermined distance in the Z direction.

[0102] The robot controller 200 brings the detector 122 close to the weld 303 (step S19b). When the detector 122 contacts the weld 303, the robot controller 200 causes the detector 122 to perform a probe (step S19c). The processing device 230 obtains the detection result of the reflected wave. Based on the detection result of the reflected wave, the system control unit 220 calculates the position offset of the detector 122 relative to the weld 303 and the inclination between the weld 303 and the detector 122 (step S19d). Specifically, based on the detection result of the reflected wave, the system control unit 220 calculates the center position of the weld 303 on the XY plane. The system control unit 220 calculates the offset of the center position of the detector 122 relative to the center position of the weld 303. In addition, based on the detection result of the reflected wave, the system control unit 220 calculates the average inclination of the weld 303 relative to the detector 122.

[0103] The system control unit 220 determines whether the calculated positional offset is less than a preset threshold value (distance), and whether the calculated tilt is less than a preset threshold value (angle) (step S19e). If the positional offset is greater than or equal to the threshold value, the robot controller 200 moves the detector 122 to reduce the positional offset or tilt (step S19f). Step S19c is then executed again. Steps S19c to S19e are repeated until the positional offset and tilt are sufficiently reduced.

[0104] If the positional offset is less than the threshold and the tilt is greater than the threshold, the robot controller 200 moves the detector 122 in the Z direction by a predetermined distance, moving the detector 122 away from the weld portion 303 (step S19g). This moves the detector 122 to the approach start position. The approach start position after step S19g is taught as the posture of the detector 122 (step S19h).

[0105] A specific example of the method for calculating the center position of the weld portion 303 in the above-mentioned teaching method will be described.

[0106] During the probe, as described above, each detection element 122a transmits ultrasonic waves in sequence, and each reflected wave is detected by the plurality of detection elements 122a. Figure 11In the specific example shown, 64 detection elements 122a are provided in an 8×8 arrangement. In this case, the 64 detection elements 122a transmit ultrasonic waves in sequence. One detection element 122a repeatedly detects the reflected waves 64 times. The detection results of the intensity distribution of the reflected waves in the Z direction are output 64 times from one detection element 122a. The intensity distributions of the 64 reflected waves output from one detection element 122a are summed up. The summed intensity distribution becomes the intensity distribution at the coordinates where one detection element 122a is provided in one exploration. The same processing is performed on the detection results of each of the 64 detection elements 122a. For the detection results of each detection element 122a, open synthesis can also be performed to improve the resolution in the X and Y directions. Through the above processing, the intensity distribution of the reflected wave in the Z direction is generated for each point in the XY plane. That is, three-dimensional intensity data including the intensity of the reflected waves at each point in the X, Y, and Z directions is obtained.

[0107] Figure 14 This is a schematic diagram illustrating intensity data obtained by probing.

[0108] Figure 14 Schematically shows the three-dimensional intensity distribution. Figure 14 The schematic diagram of FIG shows the appearance of the three-dimensional intensity data near the welding part 303. The intensity is represented by binary value. Figure 14 The brighter part is the part where the reflected wave intensity of the ultrasonic wave is relatively large. Figure 14 In the example of FIG, a reflected wave from the upper surface 303 a of the weld portion 303 , a reflected wave from the lower surface 303 b , and multiple reflected waves between the upper surface 303 a and the lower surface 303 b are shown.

[0109] Figure 15 (a)~ Figure 15 (c) is an example of an image showing the intensity distribution of the reflected wave obtained by processing the intensity data.

[0110] The processing device 230 processes the intensity data to obtain Figure 15 (a)~ Figure 15 The data shown in (c). Figure 15 (a) shows the intensity distribution of the reflected wave in the XY plane near the weld portion 303 . Figure 15 (b) shows the intensity distribution of the reflected wave in the YZ plane near the weld portion 303 . Figure 15 (c) shows the intensity distribution of the reflected wave in the XZ plane near the weld portion 303 .

[0111] Figure 15 The data of (a) are obtained by summing the intensity in the Z direction at each point on the XY plane. Figure 15The data of (b) is obtained by summing the intensity in the X direction at each point in the Z direction. Figure 15 The data of (c) is obtained by summing the intensity in the Y direction at each point in the Z direction. Figure 15 (a)~ Figure 15 In (c), the intensity of the reflected wave is schematically binarized and represented. A white point indicates that the intensity of the reflected wave at that point is relatively high. A black point indicates that the intensity of the reflected wave at that point is relatively low.

[0112] For example, the processing device 230 Figure 15 The intensity distribution of the reflected wave in the XY plane shown in (a) is calculated, and the center of the intensity is calculated as the center position of the weld 303. Figure 15 Alternatively, the center of luminance may be calculated for an image in which each pixel has a value of at least three levels (eg, 0 to 255).

[0113] Alternatively, the processing device 230 may extract the reflected wave component from the weld portion 303 in the Z direction and calculate the center of gravity position. Figure 15 (b) and Figure 15 As shown in (c), the period for detecting the reflected wave from weld 303 differs from the period for detecting the reflected wave from other parts. Processing device 230 filters the intensity distribution in the Z direction using the preset thickness of weld 303. This extracts the reflected wave component from weld 303. Processing device 230 calculates the center of gravity of the filtered intensity distribution in the XY plane as the center position of weld 303.

[0114] Alternatively, the processing device 230 may determine the weld portion 303 and calculate the center position based on the determined weld portion 303. Figure 12 (b) and Figure 12 As shown in (c), the period of the reflected wave from the welding part 303 is different from the period of the reflected wave from other parts. Figure 12 Points with peak Pe2 shown in (b) indicate that metal plates 301 and 302 are not joined. For example, processing device 230 applies a filter to the reflected wave detection results to extract peak Pe2. Points where peak Pe2 is not extracted are considered joined. Points where peak Pe2 is extracted are considered unjoined. The set of joined points corresponds to weld 303.

[0115] Figure 16 Schematic diagram illustrating the identified welded portion.

[0116] exist Figure 16 In the figure, points determined to be joined based on the intensity data are indicated in white. Points determined to be unjoined are indicated in black. The set of points determined to be joined is determined as the weld 303. The system control unit 220 calculates the centroid position of the determined weld 303 in the XY plane as the center position of the weld 303. Alternatively, the system control unit 220 may calculate the center of a circle inscribed or circumscribed in the XY plane as the center position of the weld 303.

[0117] The center of detector 122 is located at the center of the reflected wave detection result in the XY plane. Therefore, the offset of the center position of weld 303 from the center position of the reflected wave detection result corresponds to the offset of the center position of detector 122 from the center position of weld 303.

[0118] Figure 17 (a)~ Figure 17 (c) is another example of an image showing the intensity distribution of the reflected wave obtained by processing the intensity data.

[0119] The calculation method of the tilt is described. Figure 17 (a) is an image showing the intensity distribution of the reflected wave in the XY plane near the weld portion 303 . Figure 17 (b) is an image showing the intensity distribution of the reflected wave in the YZ plane near the weld portion 303 . Figure 17 (c) is an image showing the intensity distribution of the reflected wave in the XZ plane near the welding portion 303. Figure 17 (a)~ Figure 17 In (c), intensity is represented by grayscale. Brightness corresponds to the intensity of the reflected wave. That is, the brighter the pixel color, the higher the intensity of the reflected wave at that point.

[0120] The system control unit 220 calculates the inclination θx of the weld portion 303 in the YZ plane and the inclination θy of the weld portion 303 in the XZ plane. Figure 17 As shown in (b), the tilt θx is calculated based on the detection results in the YZ plane. Figure 17 As shown in (c), the tilt θy is calculated based on the detection results in the XZ plane. For example, the system control unit 220 calculates the average value of the tilt around the X direction as the tilt θx. The system control unit 220 calculates the average value of the tilt around the Y direction as the tilt θy. The tilt θx and the tilt θy correspond to the tilt of the detector 122 relative to the weld 303.

[0121] By calculating the positional offset and tilt using the result of the exploration and appropriately correcting the positional offset and tilt, the detector 122 can be set to a posture more suitable for exploration.

[0122] After the posture of the end effector attached to the robot arm 110 is taught, the robot system 1 is used to inspect the bonded body 300 . When a plurality of welded portions 303 are formed on one bonded body 300 , a teaching point is set for each welded portion 303 .

[0123] Figure 18 This is a flowchart showing the operation of the robot system according to the embodiment.

[0124] The robot controller 200 activates the manipulator 110 and positions the imaging device 121 in the taught position (step S21). The imaging device 121 captures an image of the joined structure 300, and the processing device 230 detects the weld 303 from the image (step S22). The system control unit 220 compares the position of the weld 303 detected from the image with the previously registered position of the weld 303. The system control unit 220 calculates the offset between the detected position and the registered position (step S23).

[0125] The robot controller 200 activates the manipulator 110 and positions the ejector 123 in the taught position (step S24). The robot controller 200 adjusts the position of the ejector 123 to correct the positional offset calculated in step S23. The ejector 123 ejects the coupling agent toward the weld portion 303 (step S25).

[0126] The robot controller 200 activates the manipulator 110 and positions the detector 122 in the taught position (step S26). The detector 122 is positioned close to the starting position. At this point, the robot controller 200 adjusts the position of the detector 122 to correct the positional offset calculated in step S23. The robot controller 200 then inspects the weld 303 (step S27).

[0127] Figure 19 This is a flowchart showing an inspection performed by the robot system according to the embodiment.

[0128] During the inspection, Figure 13The processing shown is the same as that shown in FIG. , and the detector 122 is approached (step S27a), detected (step S27b), the position offset and tilt are calculated (step S27c), compared with the threshold value (step S27d), and the detector 122 is moved (steps S27e and S27f). After step S27f, the processing device 230 uses the detection result of the reflected wave obtained in the immediately preceding step S27b to determine the weld 303 and calculate the diameter of the weld 303 (step S27g). The diameter is the length of the weld 303 in any one direction. The processing device 230 compares the diameter with the threshold value (step S27h). If the diameter is greater than the threshold value, the processing device 230 determines that the weld 303 is well joined (step S27i). If the diameter is less than the threshold value, the processing device 230 determines that the weld 303 is poorly joined (step S27j). Through the above steps, the inspection of the weld 303 is completed.

[0129] Figure 20 This is a flowchart showing the operation of the robot system according to the embodiment.

[0130] In step S21, when setting the posture of the imaging device 121, the first light-emitting unit 131 and the second light-emitting unit 132 may be used to adjust the posture of the imaging device 121. When the robot 100 is in use, an object is transported to a predetermined position relative to the robot 100. However, if the accuracy of the transport position is insufficient, the positional relationship between the robot 100 and the object may deviate from the predetermined positional relationship. This deviation may be corrected using the first light-emitting unit 131 and the second light-emitting unit 132.

[0131] After the imaging device 121 is positioned in the taught position in step S21, the first light-emitting unit 131 and the second light-emitting unit 132 emit the first laser line L1 and the second laser line L2, respectively (step S21a). The imaging device 121 captures the first laser line L1 and the second laser line L2 that have been irradiated onto the surface of the object (step S21b). The system control unit 220 detects the first laser line L1 and the second laser line L2 from the images (step S21c).

[0132] The system control unit 220 calculates the offset between the first laser line L1 and the second laser line L2 (step S21d). For example, the system control unit 220 calculates the translational movement amount and the rotational movement amount required to overlap one of the first laser line L1 and the second laser line L2 with the other of the first laser line L1 and the second laser line L2 as the offset. The system control unit 220 determines whether the offset is less than a threshold value (step S21e). When the offset is greater than the threshold value, the robot controller 200 moves the manipulator 110 based on the calculated movement amount so that the first laser line L1 and the second laser line L2 overlap (step S21f). As a result, the camera device 121 can be set to a more appropriate posture. When step S21f is executed, the posture of the camera device 121 after step S21f can also be registered as the taught posture.

[0133] In the example described above, the end effectors used are the imaging device 121, the detector 122, and the ejector 123. This is not limiting; only the imaging device 121 and the detector 122 may be provided as the end effectors. For example, by providing a flexible component in the propagation portion 122b, the acoustic compatibility between the propagation portion 122b and the weld portion 303 can be improved, thereby eliminating the need for a coupling agent. In this case, after the imaging device 121's posture is taught using the first and second light-emitting units 131 and 132, the detector 122's posture can be adjusted based on the pre-registered posture relationship between the imaging device 121 and the detector 122.

[0134] Alternatively, the end effector may be a device for processing, detecting, or measuring a workpiece, instead of the imaging device 121, detector 122, and ejector 123. Regardless of the end effector used, each end effector has an appropriate posture. Using the first light-emitting unit 131 and the second light-emitting unit 132 facilitates setting the end effector to an appropriate posture.

[0135] Figure 21 This is a schematic diagram showing the hardware configuration.

[0136] The system control unit 220 uses Figure 21 The computer 90 shown in the figure serves as the robot controller 200 , the operation terminal 210 , and the processing device 230 . The computer 90 includes a CPU 91 , a ROM 92 , a RAM 93 , a storage device 94 , an input interface 95 , an output interface 96 , and a communication interface 97 .

[0137] The ROM 92 stores a program for controlling the operation of the computer 90. The ROM 92 stores a program necessary for the computer 90 to implement the above-described processing. The RAM 93 functions as a storage area for developing the program stored in the ROM 92.

[0138] The CPU 91 includes a processing circuit and uses the RAM 93 as a working memory to execute a program stored in at least one of the ROM 92 and the storage device 94. While executing the program, the CPU 91 controls each component via the system bus 98 and executes various processes.

[0139] The storage device 94 stores data required for executing the program and data obtained by executing the program. The storage device 94 includes one or more selected from a Hard Disk Drive (HDD) and a Solid State Drive (SSD).

[0140] An input interface (I / F) 95 can connect the computer 90 to an input device. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device via the input I / F 95 .

[0141] Output interface (I / F) 96 connects computer 90 to an output device. Examples of output I / F 96 include a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI (registered trademark)). CPU 91 can transmit data to the output device via output I / F 96 and cause the output device to display images.

[0142] The communication interface (I / F) 97 can connect a server outside the computer 90 to the computer 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server via the communication I / F 97.

[0143] The processes executed by the robot controller 200, the operation terminal 210, the system control unit 220, and the processing device 230 may be implemented by a single computer 90 or through the cooperation of multiple computers 90. For example, a single computer may have two or more functions selected from the functions of the robot controller 200, the operation terminal 210, the system control unit 220, and the processing device 230. Any one function of the robot controller 200, the operation terminal 210, the system control unit 220, and the processing device 230 may also be implemented through the cooperation of multiple computers 90.

[0144] The processing of the above-mentioned various data can also be recorded as a program that can be executed by a computer on a disk (floppy disk and hard disk, etc.), an optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0145] For example, the information recorded in the recording medium can be read out by a computer (or embedded system). In the recording medium, the recording format (storage format) is arbitrary. For example, the computer reads the program from the recording medium and, based on the program, causes the CPU to execute the instructions described in the program. In the computer, the program can also be obtained (or read out) via a network.

[0146] The embodiments of the present invention include the following features.

[0147] (Feature 1)

[0148] A robot comprising:

[0149] Robotic arm;

[0150] A first end effector is mounted on the front end of the manipulator;

[0151] a first light emitting unit mounted on the front end portion and emitting a first line of laser light in a first direction; and

[0152] The second light emitting unit is mounted on the front end portion and emits a second line of laser light in the second direction.

[0153] The first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the distal end portion toward the first end effector,

[0154] The second direction is inclined with respect to the orientation of the first end effector in a second plane that is parallel to the first direction and intersects the first plane.

[0155] (Feature 2)

[0156] In the robot described in feature 1,

[0157] The first light emitting unit and the second light emitting unit are mounted so that when the positional relationship between the first end effector and the object is in a predetermined state, the first laser line and the second laser line are in a predetermined positional relationship.

[0158] (Feature 3)

[0159] In the robot according to feature 1 or 2,

[0160] The first end effector includes a camera device,

[0161] The first light emitting section and the second light emitting section are installed so that the first laser line and the second laser line overlap when the imaging device focuses on the surface of the object and the imaging device faces the object.

[0162] (Feature 4)

[0163] In the robot according to any one of features 1 to 3,

[0164] The first light emitting unit and the second light emitting unit irradiate the first laser line and the second laser line when teaching the posture of the first end effector.

[0165] (Feature 5)

[0166] In the robot according to any one of features 1 to 4,

[0167] The robot further comprises a second end effector mounted on the front end portion.

[0168] After the posture of the first end effector is taught, the robot operates based on the positional relationship between the first end effector and the second end effector.

[0169] (Feature 6)

[0170] In the robot described in feature 5,

[0171] The second end effector includes a detector capable of transmitting ultrasonic waves and detecting reflected waves.

[0172] (Feature 7)

[0173] In the robot according to any one of features 1 to 6,

[0174] The color of the second laser line is different from the color of the first laser line.

[0175] (Feature 8)

[0176] A light emitting device, wherein

[0177] It has a first light emitting unit and a second light emitting unit installed at the front end of the robot arm,

[0178] The first light emitting unit irradiates a first line of laser light in a first direction.

[0179] The second light emitting unit irradiates a second line of laser light in a second direction.

[0180] The first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the front end portion toward the first end effector attached to the front end portion,

[0181] The second direction is inclined relative to the orientation of the first end effector in a second plane that is parallel to the direction and intersects the first plane.

[0182] The first light emitting unit and the second light emitting unit are installed so that the first laser line and the second laser line overlap when the positional relationship between the first end effector and the object is in a predetermined state.

[0183] (Feature 9)

[0184] A teaching method is a teaching method for a robot, wherein:

[0185] The above-mentioned robot has:

[0186] Robotic arm;

[0187] A first end effector is mounted on the front end of the manipulator;

[0188] a first light emitting unit mounted on the distal end portion and emitting a first line laser in a first direction, wherein the first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the distal end portion toward the first end effector; and

[0189] a second light emitting unit mounted on the front end portion and emitting a second line of laser light in a second direction, wherein the second direction is inclined relative to the orientation of the first end effector in a second plane parallel to the direction and perpendicular to the first plane.

[0190] irradiating the surface of the object with the first laser line and the second laser line,

[0191] The robot is taught a posture of the first end effector when the first laser line and the second laser line are in a predetermined positional relationship.

[0192] (Feature 10)

[0193] In the teaching method described in feature 9,

[0194] The first light emitting unit and the second light emitting unit are mounted so that when the positional relationship between the first end effector and the object is in a predetermined state, the first laser line and the second laser line are in a predetermined positional relationship.

[0195] (Feature 11)

[0196] In the teaching method described in feature 9 or 10,

[0197] The first end effector includes a camera device,

[0198] The first light emitting section and the second light emitting section are installed so that the first laser line overlaps the second laser line when the imaging device focuses on the surface of the object and the imaging device faces the object.

[0199] (Feature 12)

[0200] In the teaching method according to any one of features 9 to 11,

[0201] When teaching the posture of the first end effector, the first light emitting unit and the second light emitting unit are caused to irradiate the first laser line and the second laser line.

[0202] (Feature 13)

[0203] In the teaching method according to any one of features 9 to 12,

[0204] The robot further comprises a second end effector mounted on the front end portion.

[0205] After the posture of the first end effector is taught, the robot is operated based on the positional relationship between the first end effector and the second end effector.

[0206] (Feature 14)

[0207] In the teaching method described in feature 13,

[0208] The second end effector includes a detector capable of transmitting ultrasonic waves and detecting reflected waves.

[0209] According to the embodiments described above, a robot 100 and a teaching method are provided that make it easier to set an end effector to a more appropriate posture. Furthermore, by attaching a light emitting device including a first light emitting unit 131 and a second light emitting unit 132 to the front end of the robot hand 110, it is possible to more easily set the end effector to a more appropriate posture.

[0210] In this specification, "or" means that "at least one or more" of the items listed in the article can be adopted.

[0211] While several embodiments of the present invention have been described above, these embodiments are provided as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their variations are included in the scope and gist of the invention, and are included in the invention described in the claims and their equivalents. In addition, the above-mentioned embodiments can be combined with each other and implemented.

Claims

1. A robot comprising: Robotic arm; A first end effector is mounted on the front end of the manipulator; a first light emitting unit mounted on the front end portion and emitting a first line of laser light in a first direction; and The second light emitting unit is mounted on the front end portion and emits a second line of laser light in the second direction. The first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the distal end portion toward the first end effector, The second direction is inclined with respect to the orientation of the first end effector in a second plane that is parallel to the first direction and intersects the first plane.

2. The robot according to claim 1, wherein: The first light emitting unit and the second light emitting unit are mounted so that when the positional relationship between the first end effector and the object is in a predetermined state, the first laser line and the second laser line are in a predetermined positional relationship.

3. The robot according to claim 1, wherein: The first end effector includes a camera device, The first light emitting section and the second light emitting section are installed so that the first laser line and the second laser line overlap when the imaging device focuses on the surface of the object and the imaging device faces the object.

4. The robot according to claim 1, wherein: The first light emitting unit and the second light emitting unit irradiate the first laser line and the second laser line when teaching the posture of the first end effector.

5. The robot according to claim 1, wherein: The robot further comprises a second end effector mounted on the front end portion. After the posture of the first end effector is taught, the robot operates based on the positional relationship between the first end effector and the second end effector.

6. The robot according to claim 5, wherein: The second end effector includes a detector capable of transmitting ultrasonic waves and detecting reflected waves.

7. The robot according to any one of claims 1 to 6, wherein: The color of the second laser line is different from the color of the first laser line.

8. A light emitting device, wherein: It has a first light emitting unit and a second light emitting unit installed at the front end of the robot arm, The first light emitting unit irradiates a first line of laser light in a first direction. The second light emitting unit irradiates a second line of laser light in a second direction. The first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the front end portion toward the first end effector attached to the front end portion, The second direction is inclined relative to the orientation of the first end effector in a second plane that is parallel to the direction and intersects the first plane. The first light emitting unit and the second light emitting unit are installed so that the first laser line and the second laser line overlap when the positional relationship between the first end effector and the object is in a predetermined state.

9. A teaching method is a teaching method for a robot, wherein: The above-mentioned robot has: Robotic arm; A first end effector is mounted on the front end of the manipulator; a first light emitting unit mounted on the distal end portion and emitting a first line laser in a first direction, wherein the first direction is inclined relative to the direction of the first end effector in a first plane parallel to the direction from the distal end portion toward the first end effector; and a second light emitting unit mounted on the front end portion and emitting a second line of laser light in a second direction, wherein the second direction is inclined relative to the orientation of the first end effector in a second plane parallel to the direction and perpendicular to the first plane. In the above teaching method, irradiating the surface of the object with the first laser line and the second laser line, The robot is taught a posture of the first end effector when the first laser line and the second laser line are in a predetermined positional relationship.

10. The teaching method according to claim 9, wherein: The first light emitting unit and the second light emitting unit are mounted so that when the positional relationship between the first end effector and the object is in a predetermined state, the first laser line and the second laser line are in a predetermined positional relationship.

11. The teaching method according to claim 9, wherein: The first end effector includes a camera device, The first light emitting section and the second light emitting section are installed so that the first laser line overlaps the second laser line when the imaging device focuses on the surface of the object and the imaging device faces the object.

12. The teaching method according to claim 9, wherein: When teaching the posture of the first end effector, the first light emitting unit and the second light emitting unit are caused to irradiate the first laser line and the second laser line.

13. The teaching method according to claim 9, wherein: The robot further comprises a second end effector mounted on the front end portion. After the posture of the first end effector is taught, the robot is operated based on the positional relationship between the first end effector and the second end effector.

14. The teaching method according to claim 13, wherein: The second end effector includes a detector capable of transmitting ultrasonic waves and detecting reflected waves.

Images