Robot system

Abstract

The invention provides a robot system and provides a technology capable of smoothly performing a series of operations on a workpiece. The robot system includes: a mobile station; a robot mounted on the mobile station; a work machine mounted on the mobile station at a position different from that of the robot; a first placement unit on which a workpiece is placed before the work is executed by the work machine; and a second placement unit on which the workpiece is placed after the work has been performed by the work machine. The robot may also include a gripping portion that grips the workpiece, a first recognition portion that recognizes a form of the workpiece placed on the first placement portion, and a second recognition portion that recognizes a form of the second placement portion.

Description

Technical Field

[0001] The technology disclosed in this specification relates to robotic systems. Background Technology

[0002] Patent Document 1 discloses a robot system. The robot system of Patent Document 1 includes a mobile platform, a robot mounted on the mobile platform, and a workpiece mounted on a worktable different from the mobile platform. Furthermore, the robot system of Patent Document 1 includes a first mounting section for placing a workpiece before the workpiece is operated by the workpiece, and a second mounting section for placing a workpiece after the workpiece is operated by the workpiece.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-058954 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] In the robot system of Patent Document 1, because the mobile stage carrying the robot and the worktable carrying the work machine are positioned separately, it is sometimes difficult to perform work on the workpiece smoothly. For example, because the robot's motion varies depending on the distance between the robot and the work machine, it is difficult to adjust the motion, thus making it difficult to perform work smoothly. This specification provides a technique that enables the smooth performance of a series of operations on a workpiece.

[0008] Solution for solving the problem

[0009] In the first technical solution of this invention, the robot system comprises: a mobile platform; a robot mounted on the mobile platform; a workpiece mounted on the mobile platform at a different position from the robot; a first placement unit for placing a workpiece before the workpiece is operated by the workpiece; and a second placement unit for placing a workpiece after the workpiece is operated by the workpiece. The robot may also include a gripping unit for holding the workpiece, a first recognition unit for recognizing the shape of the workpiece placed on the first placement unit, and a second recognition unit for recognizing the shape of the second placement unit. The robot performs: a first control, in which the gripping part grips a workpiece whose shape is identified by the first recognition part; a second control, in which the workpiece held by the gripping part is moved toward the work machine; a third control, in which, after the work machine performs work on the workpiece, the workpiece held by the gripping part is moved toward the second placement part; and a fourth control, in which the workpiece held by the gripping part is placed on the second placement part whose shape is identified by the second recognition part.

[0010] According to this structure, since the robot and the workpiece are mounted on the same moving platform, a series of operations on the workpiece can be performed smoothly. For example, when using the robot to move the workpiece from the first mounting section to the workpiece, positional deviation can be suppressed, and the operation can be performed smoothly. In addition, when moving the workpiece from the workpiece to the second mounting section, positional deviation can also be suppressed, and the operation can be performed smoothly.

[0011] In the second technical solution, as in the first technical solution above, the robot may perform control to change the gripping position of the gripping part on the workpiece after the work machine performs the operation on the workpiece and before the third control is performed.

[0012] According to this structure, by changing the gripping position of the gripping part, the workpiece can be smoothly placed in the second loading part when the fourth control is performed later.

[0013] In the third technical solution, as in the first or second technical solution described above, the robot system may also include a solar power generation device for supplying electricity to the robot. According to this structure, cost reduction can be achieved by utilizing natural energy sources. Attached Figure Description

[0014] Figure 1 This is a perspective view (1) of a robot system schematically representing an embodiment.

[0015] Figure 2 This is a perspective view (2) of a robot system schematically representing an embodiment.

[0016] Figure 3 This is a top view illustrating an embodiment of a robot system.

[0017] Figure 4 This is a cross-sectional view of the belt conveyor in the embodiment.

[0018] Figure 5 This is a cross-sectional view of the storage container in the embodiment.

[0019] Figure 6 This is a flowchart of the control process in an embodiment.

[0020] Figure 7 This is a flowchart of the control process for a variant example.

[0021] Explanation of reference numerals in the attached figures

[0022] 2. Robot system; 4. First mounting unit; 6. Second mounting unit; 10. Working robot; 18. Arm; 30. Moving table; 50. Box; 70. Second shooting device; 80. First shooting device; 90. Working machine; 100. Control unit; W. Workpiece. Detailed Implementation

[0023] Robot system 2, as described in the accompanying drawings, represents an embodiment. Figure 1 and Figure 2 As shown, the robot system 2 of this embodiment includes a mobile platform 30, a work robot 10 mounted on the mobile platform 30, and a work machine 90 mounted on the mobile platform 30 at a different position than the work robot 10. Additionally, as... Figure 3 As shown, the robot system 2 includes a first mounting section 4 and a second mounting section 6 located separately from the mobile platform 30.

[0024] like Figure 1 and Figure 2 As shown, the movable platform 30 includes a main body 32 and a plurality of wheels 34 mounted on the main body 32. The movable platform 30 is configured to move in multiple directions by means of the plurality of wheels 34. The plurality of wheels 34 are mounted on the lower part of the main body 32. The movable platform 30 can move in multiple directions, for example, on a floor. In a variation, the movable platform 30 may also be able to move along a track. The movable platform 30 can be moved manually or automatically.

[0025] The main body 32 of the mobile platform 30 is configured as a box shape, for example. The main body 32 has an upper surface portion 36 for mounting the work robot 10 and the box body 50. The main body 32 supports the work robot 10 and the box body 50. The main body 32 is made of aluminum alloy, for example.

[0026] The work robot 10 is fixed to the upper surface 36 of the moving platform 30. The mounting position of the work robot 10 on the upper surface 36 of the moving platform 30 can be appropriately set. The work robot 10 is, for example, a multi-joint robot with multiple arms. The work robot 10 is capable of holding a workpiece W, which is the object to be photographed (the work object). In addition, the work robot 10 can move the workpiece W while holding it. For example, the work robot 10 can move the workpiece W from the outside to the inside of the housing 50 or from the inside to the outside of the housing 50.

[0027] The structure of the work robot 10 is not particularly limited. The work robot 10 may include, for example, a base end 12, an arm 18, a first shooting device 80, and a control unit 100. The base end 12 of the work robot 10 is fixed to the upper surface 36 of the moving platform 30. The arm 18 of the work robot 10 includes a first part 13, a second part 14, a tip part 15, and a gripping part 16.

[0028] Part 13 is connected to base end 12. Part 13 is configured to rotate relative to base end 12. Part 13 rotates, for example, about one or more axes. Part 24 is connected to Part 13. Part 24 is configured to rotate relative to Part 13. Part 24 rotates, for example, about one or more axes. Top end 15 is connected to Part 24. Top end 15 is configured to rotate relative to Part 24. Top end 15 rotates, for example, about one or more axes.

[0029] The gripping part 16 is connected to the top part 15. The gripping part 16 is configured to grip the workpiece W, which is the object of photography. The gripping part 16 has, for example, multiple claw members, and grips the workpiece W by the approach or distance of the multiple claw members. The gripping part 16 is sometimes also referred to as a chuck.

[0030] The first imaging device 80 is mounted on the top end 15. The first imaging device 80 is capable of imaging objects placed on the first mounting section 4 (see reference). Figure 3 The first imaging device 80 acquires an image of the workpiece W by photographing the workpiece W. The first imaging device 80 acquires images of the workpiece W in the form of still images and / or moving images.

[0031] In addition, the first imaging device 80 is capable of imaging the first mounting section 4 and the second mounting section 6 (see reference). Figure 3 The first imaging device 80 acquires an image of the first mounting unit 4 by photographing the first mounting unit 4. Additionally, the first imaging device 80 acquires an image of the second mounting unit 6 by photographing the second mounting unit 6. The first imaging device 80 acquires images in the form of still images and / or moving images of the first mounting unit 4 and the second mounting unit 6. Furthermore, the first imaging device 80 may also be equipped with a lighting device for illuminating the subject being photographed.

[0032] The control unit 100 of the work robot 10 includes, for example, a CPU, ROM, and RAM, and performs various controls and processes related to the work robot 10 based on a prescribed program. The control unit 100 is, for example, disposed inside the main body 32 of the mobile station 30.

[0033] The control unit 100 can identify the shape (e.g., posture, position, angle) of the workpiece W based on the image acquired by the first imaging device 80. Additionally, the control unit 100 can identify the shape (e.g., posture, position, angle) of the first mounting unit 4 based on the image acquired by the first imaging device 80. Furthermore, the control unit 100 can identify the shape (e.g., posture, position, angle) of the second mounting unit 6 based on the image acquired by the first imaging device 80.

[0034] The work robot 10 may also have components different from those described above. For example, the work robot 10 may also have a telescopic part that can extend and retract in the front-to-back direction. The work robot 10 can also move the workpiece W, which is the object of photography, from the outside to the inside of the housing 50 or from the inside to the outside of the housing 50 by extending and retracting the telescopic part relative to the housing 50 in the front-to-back direction. The structure of the work robot 10 is not particularly limited.

[0035] Next, the work machine 90 of the robot system 2 will be described. The work machine 90 has a light-shielding housing 50 mounted on the moving platform 30 at a different position than the work robot 10, and a second shooting device 70 mounted on the housing 50.

[0036] The housing 50 is fixed to the upper surface 36 of the moving platform 30. The housing 50 is mounted on the moving platform 30 at a different position than the working robot 10. The working robot 10 and the housing 50 are arranged in a face-to-face configuration on the upper surface 36 of the moving platform 30. Furthermore, the mounting position of the housing 50 on the upper surface 36 of the moving platform 30 can be appropriately set.

[0037] The enclosure 50 blocks external light from entering its interior. That is, the enclosure 50 prevents external light from entering its interior. Inside the enclosure 50, a space is formed capable of housing the workpiece W, which is the subject of the photograph.

[0038] The housing 50 includes, for example, an upper member 51, a lower member 52, a left member 53, a right member 54, and a rear member 55. The upper member 51, left member 53, right member 54, and rear member 55 respectively block external light from entering the housing 50 (i.e., suppress external light from entering the housing 50). For example, the upper member 51 suppresses light from entering the housing 50 from its upper side. The left member 53 and right member 54 suppress light from entering the housing 50 from its side (left or right). The rear member 55 suppresses light from entering the housing 50 from its rear side. The lower member 52 is fixed to the upper surface 36 of the moving platform 30. The lower member 52 suppresses light reflection. Each member is, for example, a black plate-shaped member.

[0039] Additionally, the housing 50 has an opening 60. The opening 60 is located on the front side of the housing 50 (on the side of the working robot 10). The opening 60 is located between the rear member 55 of the housing 50 and the working robot 10. The opening 60 faces the working robot 10. In the robot system 2, the workpiece W, which is the subject of photography, enters and exits the housing 50 through the opening 60.

[0040] The second imaging device 70 is mounted on the housing 50. The second imaging device 70 is fixed to the left side member 53 of the housing 50, for example. In a modified example, the second imaging device 70 may also be fixed to the right side member 54, the rear member 55, the upper member 51, or the lower member 52 of the housing 50.

[0041] The second imaging device 70 is capable of imaging the interior of the housing 50. When a workpiece W is present inside the housing 50, the second imaging device 70 is capable of imaging the workpiece W inside the housing 50. The second imaging device 70 acquires an image of the workpiece W by imaging it. The second imaging device 70 acquires images of the workpiece W in the form of still images and / or moving images. Furthermore, the second imaging device 70 may also be equipped with an illumination device for illuminating the object being imaged.

[0042] Next, the first mounting section 4 and the second mounting section 6 will be described (see reference). Figure 3 The first mounting section 4 is for mounting the workpiece W before it is grasped by the work robot 10. The first mounting section 4 is also for mounting the workpiece W before it is photographed by the second photographing device 70 of the work machine 90. The first mounting section 4 is positioned separately from the moving table 30. In this embodiment, the first mounting section 4 includes a support platform 20 and a belt conveyor 22 mounted on the support platform 20. Figure 4 As shown, multiple workpieces W are mounted on a belt conveyor 22. The belt conveyor 22 is capable of conveying these workpieces W while they are mounted on it.

[0043] The second mounting section 6 is for mounting the workpiece W after it has been grasped by the work robot 10. The second mounting section 6 is also for mounting the workpiece W after it has been photographed by the second photographing device 70 of the work machine 90. The second mounting section 6 is positioned separately from the moving platform 30. In this embodiment, the second mounting section 6 includes a support platform 24 and a storage container 26 disposed on the support platform 24. Figure 5 As shown, a plurality of workpieces W are placed inside the storage container 26. The storage container 26 has a plurality of storage sections 27 for storing the plurality of workpieces W. The storage container 26 has a plurality of partition sections 28 that separate adjacent storage sections 27.

[0044] Next, refer to Figure 6 This describes the control processing performed in robot system 2 of the embodiment. For example... Figure 6 As shown, in the control process S2 of the embodiment, the control unit 100 of the work robot 10 identifies the initial position of the arm 18. For example, the control unit 100 identifies the initial position of the arm 18 based on the setting value input by the user from a predetermined input unit (not shown).

[0045] In the following S4, the control unit 100 identifies the positions of the first mounting unit 4, the second mounting unit 6, and the moving stage 30. For example, the control unit 100 identifies the positions of the first mounting unit 4, the second mounting unit 6, and the moving stage 30 based on the setting values ​​input by the user from a predetermined input unit (not shown).

[0046] In the next step S6, the robot 10 moves the arm 18 toward the initial position identified in S2 above. For example, the robot 10 moves the arm 18 toward the initial position by appropriately moving the various parts 13, 14, 15, and 16 of the arm 18.

[0047] In the next step S8, the work robot 10 moves the arm 18 toward the vicinity of the first mounting section 4. The work robot 10 moves the arm 18 toward the vicinity of the first mounting section 4 by appropriately moving the various parts 13, 14, 15, and 16 of the arm 18.

[0048] In the next step S10, the control unit 100 of the work robot 10 identifies the shape of the workpiece W placed on the first placement unit 4. Specifically, the control unit 100 identifies the shape of the workpiece W based on an image of the workpiece W acquired by the first imaging device 80. The first imaging device 80 captures an image of the workpiece W near the first placement unit 4 after the arm 18 of the work robot 10 moves to the vicinity of the first placement unit 4.

[0049] In the next step S12, the work robot 10 uses the gripping part 16 to grip the workpiece W (i.e., the workpiece W placed on the first placement part 4) whose shape was identified in S10. In the next step S14, while the workpiece W is gripped by the gripping part 16, the work robot 10 moves the gripped workpiece W toward the moving table 30 by moving the arm 18. The work robot 10 moves the arm 18 toward the moving table 30 by appropriately moving the various parts 13, 14, 15, and 16 of the arm 18.

[0050] In the following S16, the work robot 10 and the second imaging device 70 perform work on the workpiece W held by the gripping part 16 on the moving table 30. More specifically, the work robot 10 moves the workpiece W, which is held outside the housing 50, towards the inside of the housing 50 (see reference). Figure 2 The workpiece W held by the robot 10 is moved from the outside of the housing 50 to the inside of the housing 50 by appropriately moving the various parts 13, 14, 15, and 16 of the arm 18. The workpiece W is held by the robot 10 inside the housing 50.

[0051] Next, the second imaging device 70 captures an image of the workpiece W inside the housing 50. The second imaging device 70 captures an image of the workpiece W held by the work robot 10 inside the housing 50. The second imaging device 70 acquires an image of the workpiece W by capturing the image. The image information of the workpiece W acquired by the second imaging device 70 is transmitted to the control unit 100, for example, via wireless or wired communication. In a modified example, the image information of the workpiece W can also be transmitted via wireless or wired communication to an external device different from the robot system 2.

[0052] Next, the robot 10 moves the workpiece W, held inside the housing 50, to the outside of the housing 50 (see reference). Figure 1 After the second imaging device 70 captures a picture of the workpiece W inside the housing 50, the work robot 10 moves the workpiece W it is holding from inside the housing 50 to outside the housing 50.

[0053] After the operation on workpiece W is completed, execute Figure 6 Control of S18. In S18, the work robot 10 moves the arm 18 toward the vicinity of the second mounting section 6. The work robot 10 moves the arm 18 toward the vicinity of the second mounting section 6 by appropriately moving the various parts 13, 14, 15, and 16 of the arm 18.

[0054] In the next step S20, the control unit 100 of the work robot 10 identifies the shape of the second mounting unit 6. Specifically, the control unit 100 identifies the shape of the second mounting unit 6 based on an image of the second mounting unit 6 acquired by the first imaging device 80. The first imaging device 80 captures an image of the second mounting unit 6 near the second mounting unit 6 after the arm 18 of the work robot 10 moves to the vicinity of the second mounting unit 6.

[0055] In the next step S22, the work robot 10 places the workpiece W, held by the gripping part 16, onto the second loading part 6. The work robot 10 then stores the workpiece W in the storage part 27 of the second loading part 6. Afterward, the robot system 2 repeatedly performs the above series of actions.

[0056] (Effect)

[0057] The robot system 2 of the embodiment has been described above. As can be seen from the above description, the robot system 2 includes a mobile platform 30, a work robot 10 mounted on the mobile platform 30, and a work machine 90 mounted on the mobile platform 30 at a different position than the work robot 10. Furthermore, the robot system 2 includes a first mounting section 4 for placing a workpiece W before the work machine 90 performs work, and a second mounting section 6 for placing a workpiece W after the work machine 90 performs work. The work robot 10 includes a gripping section 16 for gripping the workpiece W. The control unit 100 of the work robot 10 recognizes the shape of the workpiece W placed on the first mounting section 4. Additionally, the control unit 100 recognizes the shape of the second mounting section 6. The work robot 10 performs the following: a first control, in which the gripping part 16 grips the workpiece W whose shape is identified by the control part 100; a second control, in which the workpiece W held by the gripping part 16 is moved toward the work machine 90; a third control, in which the workpiece W held by the gripping part 16 is moved toward the second placement part 6 after the work machine 90 performs work on the workpiece W; and a fourth control, in which the workpiece held by the gripping part 16 is placed in the second placement part 6 whose shape is identified by the control part 100.

[0058] According to this structure, since the work robot 10 and the work machine 90 are mounted on the same moving platform 30, a series of operations on the workpiece W can be performed smoothly. For example, when the work robot 10 moves the workpiece from the first mounting section 4 to the work machine 90, positional deviation can be suppressed, and the operation can be performed smoothly. In addition, when the workpiece W is moved from the work machine 90 to the second mounting section 6, positional deviation can also be suppressed, and the operation can be performed smoothly.

[0059] (Correspondence)

[0060] The controls of S10 and S12 are an example of "first control". The controls of S14 and S16 are an example of "second control". The control of S18 is an example of "third control". The controls of S20 and S22 are an example of "fourth control".

[0061] (Modified Example)

[0062] (1) In the variant example, such as Figure 7 As shown, the work robot 10 can also perform the processing of S30 after the control of S16 and before the control of S18. In S30, the work robot 10 changes the gripping position of the workpiece W held by the gripping part 16. More specifically, the work robot 10 places the workpiece W held by the gripping part 16 on the upper member 51 of the housing 50. Then, the work robot 10 changes the orientation of the gripping part 16 and grips the workpiece W again.

[0063] After the workpiece W is operated by the work machine 90 and before the third control is executed, the work robot 10 performs control to change the gripping position of the gripping unit 16 on the workpiece W. According to this structure, by changing the gripping position of the gripping unit 16 on the workpiece W, the workpiece can be smoothly placed on the second placement unit 6 when the fourth control is executed later.

[0064] (2) In a variation, the robot system 2 may also include a solar power generation device that supplies power to the working robot 10. The solar power generation device may, for example, be mounted on the mobile platform 30. According to this structure, cost reduction can be achieved by utilizing natural energy.

[0065] The specific examples of the present invention have been described in detail above, but these are merely illustrative and do not limit the scope of the claims. The technology described in the claims includes techniques obtained by various modifications and alterations to the specific examples described above. The technical elements described in this specification or drawings exert their technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of application. Furthermore, the technology illustrated in this specification or drawings simultaneously achieves multiple objectives, and achieving one of these objectives is itself technically useful.

Claims

1. A robot system, wherein, This robot system has the following features: Mobile station; The robot is mounted on the mobile platform; A work machine, which is mounted on the mobile platform at a different location than the robot; The first loading section is used to load the workpiece before the work machine performs the operation. as well as The second loading section is used to load workpieces after the work has been performed by the machine. The robot includes a gripping part for gripping a workpiece, a first recognition part for recognizing the shape of a workpiece placed on the first mounting part, and a second recognition part for recognizing the shape of the second mounting part. The robot performs: The first control utilizes the gripping part to grip the workpiece whose shape has been identified by the first recognition part; The second control moves the workpiece held by the gripping part toward the working machine. The third control involves moving the workpiece held by the gripping part towards the second mounting part after the workpiece is operated by the machine. as well as The fourth control involves placing the workpiece held by the gripping part onto the second placement part whose shape has been identified by the second recognition part.

2. The robot system according to claim 1, wherein, After the workpiece is operated by the machine and before the third control is executed, the robot performs control to change the gripping position of the gripping part on the workpiece.

3. The robot system according to claim 1 or 2, wherein, The robot system also has a solar power generation device to supply power to the robot.

Images