Robot task system

Abstract

Robot task system (1), comprising: a robot (3); a transfer device (2) configured to be driven to transfer a plurality of workpieces (W1, W1a, W1b, W2) thereon by a predetermined distance each, wherein the plurality of workpieces (W1, W1a, W1b, W2) are placed within the predetermined distance; a drive management unit (51) configured to manage a drive distance and a drive start time of the transfer device (2) for each drive of the transfer device (2); a task position generation unit (52) configured to generate a plurality of task positions at the drive start time of the transfer device (2) managed by the drive management unit (51), the plurality of task positions being positions for the robot (3) to perform a predetermined task on the plurality of workpieces (W1, W1a, W1b, W2); a task unit (53) configured to update, in accordance with the drive of the transfer device (2), the plurality of task positions generated by the task position generation unit (52) for the robot (3) and to generate a task command to cause the robot (3) to execute the predetermined task on the plurality of workpieces (W1, W1a, W1b, W2) while following the plurality of workpieces (W1, W1a, W1b, W2); and a control unit (54) configured to control the transfer device (2) based on the drive distance and the drive start time of the transfer device (2) managed by the drive management unit (51), and to control the robot (3) based on the task command generated by the task unit (53); wherein the transfer device (2) has a plurality of first dividers (21) arranged in a movement direction of the transfer device (2) at the predetermined distance and at least one second divider (22) arranged between adjacent first dividers (21).

Description

[0001] The present invention relates to a robot task system.

[0002] In a transfer device, for example, including a servo-driven conveyor belt, the workpieces are positioned so that each workpiece is located at a pitch by which the transfer device is driven, and the workpieces are transferred pitch by pitch. In a robotic task system with such a transfer device, a position of each workpiece at the corresponding pitch is generated while the transfer device is driven pitch by pitch.

[0003] The robot tasking system uses a robot to perform a task on the workpieces transferred by the transfer device. As the transfer device moves pitch by pitch based on a servo drive signal from the robot or a robot peripheral, the robot performs the task while following the transfer device (workpieces) with a high degree of accuracy based on a machine pulse from a servo motor.

[0004] It should be noted that Japanese Unexamined Patent Application No. 2000-71188 discloses a parts feeder which aims to reduce the time required for picking up parts as much as possible by enabling a robot to pick up each of the parts to be transferred without returning to a standby position.This parts feeder includes: a conveyor belt configured to transfer parts; visual recognition means configured to recognize a position and an orientation of each of the parts transferred by the conveyor belt and output the recognized position and orientation as recognition data; movement amount measuring means configured to measure the movement amount of each of the parts transferred by the conveyor belt and output the movement amount as movement amount data; a pickup robot configured to pick up each of the parts being transferred; and a robot controller configured to store the recognition data and the movement amount data and control the operation of the pickup robot based on the recognition data and the movement amount data.

[0005] Patent Document 1: Unexamined Japanese Patent Application JP 2000 - 071 188 A

[0006] DE 10 2018 111 371 A1 concerns a gripper guidance system.

[0007] DE 11 2009 001 414 T5 concerns a robot system.

[0008] DE 10 2006 031 178 B4 concerns a placement system.

[0009] EP 2 730 987 A2 relates to a robot tracking system for parts distribution.

[0010] EP 1 522 911 A2 relates to a robot system for improving the accuracy of a synchronization control between a robot and a conveyor device.

[0011] US 2012 / 0 165 972 A1 concerns a processing system.

[0012] In a robot task system in which a robot performs a task on workpieces transferred pitch by pitch by a transfer device, the positions of the workpieces correspond one-to-one to the drive signals for the transfer device. In a case where a plurality of workpieces are transferred at one pitch on the transfer device, the robot is unable to perform the task on each of the plurality of workpieces at one pitch.

[0013] Therefore, a robot task system is desired in which a transfer device transfers workpieces one at a time by a certain distance, and even if a plurality of workpieces are placed within the certain distance, a robot is capable of performing a task on each of the plurality of workpieces.

[0014] The task is therefore to solve the above problems.

[0015] The above objects are solved by the subject matter of the independent patent claims. Advantageous further developments are the subject matter of the dependent patent claims.

[0016] A robot task system according to an embodiment of the present disclosure includes a robot, a transfer device, a drive management unit, a task position generation unit, a task unit, and a control unit. The transfer device is driven to simultaneously transfer a plurality of workpieces by a specified distance. The plurality of workpieces are located within the specified distance. The drive management unit manages a drive distance and a drive start timing of the transfer device to drive the transfer device each time. The task position generation unit generates a plurality of task positions at the drive start timing of the transfer device, which is managed by the drive management unit. The plurality of task positions are positions at which the robot is to perform a predetermined task on the plurality of workpieces.The task unit updates the plurality of task positions generated by the task position generation unit for the robot according to the drive of the transfer device, and generates a task command to cause the robot to perform the predetermined task on the plurality of workpieces while following the plurality of workpieces. The control unit controls the transfer device based on the drive distance and drive start timing of the transfer device managed by the drive management unit, and controls the robot based on the task command generated by the task unit.

[0017] In the robot task system according to the embodiment of the present disclosure, the transfer device transfers workpieces one by one by a certain distance, and even if a plurality of workpieces are placed within the certain distance, a robot is capable of performing a task on each of the plurality of workpieces. Fig. 1 shows an overall configuration of a robot task system according to an embodiment of the present disclosure; Fig. 2 is a block diagram illustrating the robot task system according to the embodiment of the present disclosure; Fig. 3 shows task positions updated in the robot task system according to the embodiment of the present disclosure; Fig. 4 shows the task positions updated in the robot task system according to the embodiment of the present disclosure; Fig. 5 is a flowchart showing an operation of a transfer device in the robot task system according to the embodiment of the present disclosure; Fig. 6 is a flowchart showing an operation of a robot in the robot task system according to the embodiment of the present disclosure; and Fig. 7 shows a transfer device in a robot task system according to another embodiment of the present disclosure.

[0018] Hereinafter, a robot task system according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. Fig. 1 shows an overall configuration of the robot task system according to the embodiment of the present disclosure. Fig. 2 is a block diagram illustrating the robot task system according to the embodiment of the present disclosure. As in Fig. 1, a robot task system 1 according to the present embodiment includes a transfer device 2 that transfers workpieces W to which a task is to be performed, a robot 3 arranged near the transfer device 2, a detector 4 fixed near the transfer device 2, and a controller 5 that controls the driving of the transfer device 2 and the robot 3.

[0019] X and Z represent Fig. 1 shows a coordinate system of the transfer device 2 and the robot 3 in the robot task system 1. The X direction runs along the direction of movement of the transfer device 2. The Z direction runs along the direction of gravity.

[0020] The transfer device 2 includes a servo-driven conveyor belt driven by a servo motor (not shown). The transfer device 2 is driven by the servo motor controlled by the controller 5 to move a certain distance in the X direction, which is Fig. 1 is represented by an outlined arrow.

[0021] A top surface of the transfer device 2 includes a plurality of first dividers 21 arranged at a predetermined distance in the moving direction of the transfer device 2, and a plurality of second dividers 22 arranged between adjacent first dividers 21. The first dividers 21 are larger than the second dividers 22. The distance between adjacent first dividers 21 corresponds to one pitch, by which the transfer device 2 is driven. That is, the transfer device 2 is driven by the servo motor to move the distance between adjacent first dividers 21 (one pitch) at a time.

[0022] On the transfer device 2, different types of workpieces W1 and W2 are placed between adjacent first dividers 21. Specifically, the plurality of second dividers 22 standing and arranged between adjacent first dividers 21 form a plurality of workpiece placement areas S between the adjacent first dividers 21. In a Fig. In the example shown in Figure 1, two second dividers 22 are placed between two adjacent first dividers 21, forming three workpiece placement areas S. On the Fig. In the transfer device 2 shown in Figure 1, the following three workpieces are placed within one pitch in each of the three workpiece placement areas S: two workpieces W1 and W1 of the same type and one workpiece W2 of a different type than the workpieces W1 and W1. Accordingly, the transfer device 2 collectively transfers the three workpieces W1, W1, and W2 located within the one pitch by being driven by the servo motor and moving pitch by pitch.

[0023] The robot 3 can be of any type depending on the type of task to be performed on the workpieces on the transfer device 2. For example, the robot 3 can be a floor-mounted robot or a ceiling-suspended robot. Fig. The robot 3 shown in FIG. 1 is suspended from a ceiling 100 above the transfer device 2, and a lower end thereof includes a robot hand 31 capable of holding the workpieces W1 and W2. The robot 3 is driven and controlled by a robot controller (not shown) to move the robot hand 31 up and down in the Z direction. Furthermore, the robot 3 is capable of moving the robot hand 31 in any direction crossing the Z direction. Thus, the robot 3 can perform a predetermined task on the workpieces W1 and W2 on the transfer device 2. The predetermined task is, for example, a sorting task for transporting each of the workpieces W1 and each of the workpieces W2 on the transfer device 2 to predetermined locations, respectively, or a sticking task for affixing stickers to the workpieces W1 and W2 on the transfer device 2.

[0024] The detector 4 is arranged in front of the robot 3 in the direction of movement of the transfer device 2 and detects the presence or absence of the workpieces W1 and W2 on the transfer device 2 (placement of the workpieces W1 and W2 on the transfer device 2) and also detects the positions of the workpieces W1 and W2 in a pitch in the direction of movement of the transfer device 2. The specific devices that can be used as the detector 4 are not particularly limited, and examples thereof include a two-dimensional camera having a pickup field in an area spanning at least one pitch on the transfer device 2 and a photoelectric sensor that detects the workpieces W1 and W2 on the transfer device 2 using light. The detector 4 shown in Fig. The detector 4 shown in Figure 1 includes a two-dimensional camera that captures a two-dimensional image of the workpieces W1 and W2 from above the transfer device 2. The detector 4 outputs a detection signal (including the two-dimensional image) to the controller 5.

[0025] The controller 5 generates a transfer device drive signal and outputs it to the servo motor of the transfer device 2, thereby controlling the drive of the transfer device 2. The controller 5 also generates a robot drive signal and outputs it to the robot controller (not shown) of the robot 3, thereby controlling the drive of the robot 3. As shown in Fig. 2, the controller 5 comprises a drive management unit 51, a task position generation unit 52, a task unit 53 and a control unit 54.

[0026] The drive management unit 51 manages a drive distance (a distance by which the transfer device 2 should move workpieces each time) and a drive start timing (when the movement of the workpieces should start each time) of the transfer device 2. Specifically, the drive management unit 51 generates, according to a prescribed program for managing the transfer device 2, information indicating a predetermined drive distance for each pitch on the transfer device 2 and information indicating a predetermined timing for starting the drive of the transfer device 2 for each pitch on the transfer device 2. The drive distance and the drive start timing of the transfer device 2 are preset as default values.The information indicating the driving distance and the information indicating the driving start time generated by the driving management unit 51 are output to the control unit 54. Among the information generated by the driving management unit 51, the information indicating the driving start time is also output to the task position generation unit 52 and the task unit 53.

[0027] The driving distance and the driving start timing to be generated by the driving management unit 51 are controlled based on a signal externally input to the controller 5. Specifically, the driving management unit 51 generates the information indicating the driving distance of the transfer device 2 and the information indicating the driving start timing of the transfer device 2 using a signal input from the detector 4 as a trigger. This facilitates the generation of the information indicating the driving distance of the transfer device 2 and the information indicating the driving start timing of the transfer device 2.

[0028] Either the information indicating the drive distance or the information indicating the drive start time, or both, to be generated by the drive management unit 51 is variable based on information indicating a task status of the robot 3 as transmitted from the control unit 54 described below. The information indicating the task status of the robot 3 is whether or not the task has been executed on all different types of workpieces W1 and W2 in one pitch on the transfer device 2 and whether the robot 3 can proceed to the task for the next pitch.Specifically, upon determining that the robot 3 performing the task is slightly lagging behind the driving speed of the transfer device 2 based on the information indicating the task status transmitted from the control unit 54, the drive management unit 51 performs, for example, one or both of control to decrease the preset driving distance for each pitch on the transfer device 2 relative to the driving distance in normal driving and control to delay the preset driving start timing of the transfer device 2 relative to the driving start timing in normal driving. This allows the robot 3 to reliably perform the task on the various types of workpieces W1 and W2.

[0029] For another example, upon determining that the drive of the transfer device 2 is slightly lagging behind the robot 3 performing the task, the drive management unit 51 performs one or both of control to increase the preset drive distance for each pitch on the transfer device 2 relative to the drive distance in normal drive and control to accelerate the preset drive start timing of the transfer device 2 relative to the drive start timing in normal drive. This allows the robot 3 to quickly perform the task on the various types of workpieces W1 and W2.

[0030] The task position generation unit 52 generates a plurality of task positions for the robot 3 to perform the task on the different types of workpieces W1 and W2 in a pitch on the transfer device 2, based on the information indicating the drive start timing of the transfer device 2, which is managed and input by the drive management unit 51. Specifically, the task position generation unit 52 generates, as the task positions for the robot 3, position coordinates (XZ coordinates) of each of the workpieces W1 and W2 in a pitch on the transfer device 2, based on the detection signal input from the detector 4 and the information indicating the drive start timing of the transfer device 2 input from the drive management unit 51.That is, even if a plurality of articles W1 and W2 of different types are placed in one pitch on the transfer device 2, a task position is generated for each of the plurality of articles W1 and W2 of different types in the one pitch. Information indicating the task positions for the robot (position coordinates for each of the workpieces W1 and W2) generated by the task position generation unit 52 is output to the task unit 53.

[0031] The task position generation unit 52 may further generate attribute information for each of the different types of workpieces W1 and W2 when the transfer device 2 is driven. The attribute information for each of the workpieces W1 and W2 is information related to each of the workpieces W1 and W2, which is required when the robot 3 performs the task on each of the workpieces W1 and W2. Specifically, in a case where the task of the robot 3 is, for example, a task of sorting out the workpieces W1 and W2, the attribute information is position information of respective destinations to which each workpiece W1 and each workpiece W2 is to be transported.For example, if the task of robot 3 is a task of sticking the workpieces W1 and W2, the attribute information is information indicating a type of sticker to be affixed to each of the workpieces W1 and W2.

[0032] The attribute information is stored in advance in the task position generation unit 52 or in a storage unit (not shown) or the like of the controller 5 in association with each of the workpieces W1 and W2. The task position generation unit 52 recognizes the workpieces W1 and W2, for example, by performing image processing such as pattern matching on the workpieces W1 and W2 on the transfer device 2, based on the detection signal output from the detector 4, and reads the attribute information corresponding to the workpieces W1 and W2. The attribute information generated by the task position generation unit 52 is associated with the position coordinates of the workpieces W1 and W2 and output to the task unit 53. Thereby, the robot task system 1 can cause the robot 3 to perform the task in a manner corresponding to the different types of workpieces W1 and W2, respectively.

[0033] The task unit 53 updates, in accordance with the drive of the transfer device 2, the information indicating the plurality of task positions (position coordinates of each of the workpieces W1 and W2) generated by the task position generation unit 52 for the robot 3, and generates a task command to cause the robot 3 to perform a predetermined task on the various types of workpieces W1 and W2 while following the workpieces W1 and W2. Specifically, in a case where a workpiece W1a, a workpiece W1b, and a workpiece W2 placed on the transfer device 2 are located under the detector 4, as shown in Fig. 3, a plurality of task positions (position coordinates of each of the workpieces W1 and W2) for the robot 3 based on a detection signal from the detector 4. At the time of detection by the detector 4, the position coordinates of the workpiece W1a (X: 0090, Z: 0010), the position coordinates of the workpiece W1b (X: 0080, Z: 0010), and the position coordinates of the workpiece W2 (X: 0070, Z: 0010) in Fig. 3.

[0034] The transfer device 2 is driven by the servo motor to move in the direction shown in Fig. 3 is shown by an outlined arrow. Accordingly, as shown in Fig. 4, the position coordinates at an arrival time of the workpieces W1a, W1b and W2 in a work execution area of the robot 3 from the position coordinates at the detection time. Fig. 3 by the distance traveled by the transfer device 2 since the detection. At the time of arrival in the task execution area of the robot 3, the position coordinates of the workpiece W1a (X: 0030, Z: 0010), the position coordinates of the workpiece W1b (X: 0020, Z: 0010), and the position coordinates of the workpiece W2 (X: 0010, Z: 0010) in Fig. 4.

[0035] As described above, according to the drive of the transfer device 2, the task unit 53 updates the information indicating the plurality of task positions for the robot 3 (position coordinates for each of the workpieces W1 and W2) based on the information indicating the drive start timing of the transfer device 2 transmitted from the drive management unit 51. Thereby, the task unit 53 monitors whether or not the workpieces W1 and W2 have arrived at the task execution area of the robot 3 and whether or not it is the right time for the robot 3 to start the task.When it is determined as a result of the monitoring that the workpieces W1 and W2 have arrived at the task execution area of the robot 3 and it is the right time for the robot 3 to start the task, the task unit 53 generates a task command to cause the robot 3 to execute a predetermined task on the different types of workpieces W1 and W2 while following the workpieces W1 and W2, and outputs the task command to the control unit 54 together with the attribute information transmitted from the task position generation unit 52.

[0036] The control unit 54 controls the transfer device 2 based on the drive distance and drive start timing of the transfer device 2, which are managed and input by the drive management unit 51, and controls the robot 3 based on the task command generated and input by the task unit 53, according to a prescribed control program. That is, upon receiving the information indicating the drive start timing of the transfer device 2, which is input by the drive management unit 51, the control unit 54 generates a transfer device drive signal and outputs it to the servo motor of the transfer device 2. In response, during normal operation, the transfer device 2 is driven by the preset drive distance for each pitch to move the workpieces W1 and W2 pitch by pitch.Furthermore, upon receiving the task command for the robot 3 input from the task unit 53, the control unit 54 generates a robot drive signal and outputs it to the robot controller to control the drive of the robot 3. In response, the robot 3 performs a predetermined task, such as a sorting task, on each of the different types of workpieces W1 and W2 in a pitch.

[0037] The following describes a specific operation of the robot task system 1 using the flowcharts in Fig. 5 and Fig. 6 described. Fig. 5 is a flowchart showing an operation of the transfer device 2 in the robot task system 1 according to the above-described embodiment of the present disclosure. Fig. 6 is a flowchart showing an operation of the robot 3 in the robot task system 1 according to the above-described embodiment of the present disclosure.

[0038] First, as in Fig. 5, the drive management unit 51 of the controller 5 monitors whether or not workpieces are placed on the transfer device 2 at a predetermined frequency (S101). Upon detecting workpieces placed at a pitch on the transfer device 2 by a detection signal from the detector 4 (YES in step S101), the drive management unit 51 outputs to the control unit 54 the information indicating the preset drive distance of the transfer device 2 and the information indicating the preset drive start timing of the transfer device 2. In response, the control unit 54 generates a transfer device drive signal and outputs it to the servo motor to drive the transfer device 2 in accordance with the preset drive distance and the preset drive start timing (S102).

[0039] Once the drive of the transfer device 2 has started, the drive management unit 51 monitors the task status of the robot 3, which is transmitted from the control unit 54 (S103). If the task status of the robot 3 is determined to be normal in step S103 (YES in step S103), the operation proceeds to step S104, and the drive of the transfer device 2 and the robot 3 continues until the task has been executed on all workpieces transferred by the transfer device 2.

[0040] If the task status of the robot 3 is not determined to be normal in step S103 (NO in step S103), the drive management unit 51 changes either one or both of the default value of the drive distance of the transfer device 2 and the default value of the drive start timing of the transfer device 2 (S105). After that, the operation proceeds to step S104, and the drive of the transfer device 2 and the robot 3 continues until the task has been executed on all the workpieces transferred by the transfer device 2, as described above.

[0041] Meanwhile, as in Fig. As shown in Figure 6, the task position generation unit 52 of the controller 5 monitors whether or not workpieces are placed on the transfer device 2 at a predetermined frequency (S201). Upon detecting workpieces placed at a pitch on the transfer device 2 by a detection signal from the detector 4 (YES at step S201), the task position generation unit 52 determines position coordinates for each of the workpieces, which are different types of workpieces W1 and W2, at a pitch on the transfer device 2 based on the detection signal from the detector 4, and generates task positions and outputs them to the task unit 53 so that the robot 3 performs a predetermined task (S202). At the same time, the task position generation unit 52 also generates attribute information for each of the workpieces W1 and W2 in addition to the task positions and outputs them to the task unit 53.

[0042] The task unit 53 updates the task positions for the robot 3 transmitted from the task position generation unit 52 based on the information indicating the drive start timing of the transfer device 2 transmitted from the drive management unit 51, generates a task command based on the updated task positions and the attribute information transmitted from the task position generation unit 52, and outputs the task command to the control unit 54 (S203).

[0043] Subsequently, the control unit 54 controls the robot 3 by generating and outputting, to the robot controller, a robot drive signal for driving the robot 3 based on the task command transmitted from the task unit 53 (S204). Under this control, the robot 3 continuously executes the predetermined task while following the workpieces W1 and W2 until the task has been executed on all different types of workpieces W1 and W2 in the one pitch (S205). During the execution of the task, the information indicating the task status of the robot 3 is output from the control unit 54 to the drive management unit 51 at a predetermined frequency, so that the drive management unit 51 determines whether the task status of the robot 3 is normal or not in step S103 in the flowchart of Fig. 5.

[0044] Once the robot 3 has executed the task on all workpieces W1 and W2 in one pitch on the transfer device 2 (YES in step S205), the control unit 54 determines whether a task is to be executed on workpieces in the next pitch transferred by the transfer device 2, that is, whether or not another task command is received from the task unit 53 (S206). If a task is to be executed next (YES in step S206), the processes in and after step S204 are repeated. If no task is to be executed next (NO in step S206), the operation ends.

[0045] The Fig. The transfer device 2 shown in Figure 1 has the same number (three) of workpiece placement areas S in each pitch. However, the number of workpiece placement areas S does not have to be the same in each pitch on the transfer device 2. In addition, both the type and the number of workpieces can differ depending on the pitch on the transfer device 2. For example, the Fig. 7, the transfer device 2 has a different number of workpiece placement areas S in even-numbered pitches than in odd-numbered pitches. In this case, the task position generation unit 52 can generate position coordinates of different types of workpieces W1 and W2 for each pitch based on the number of drive start times of the transfer device 2, that is, based on whether the pitch is an even-numbered pitch or an odd-numbered pitch. This allows the task position generation unit 52 to generate task positions for the robot 3 on a workpiece-by-workpiece basis (position coordinates of each of the workpieces), even if one or both of the type and number of workpieces are different depending on the pitch on the transfer device 2.

[0046] In the Fig.In the configuration of the controller 5 shown in Figure 2, the transfer device drive signal and the robot drive signal are output from a single control unit 54. In another configuration, the transfer device drive signal and the robot drive signal may each be output from independent control units (a control unit for the transfer device and a control unit for the robot).

[0047] Furthermore, the constituent elements of the controller 5 are not limited to being provided in one part. One or more constituent elements of the controller 5 may also be provided in another part of the robot task system 1 (for example, a servo controller that controls the drive of the transfer device 2 or the robot controller that controls the drive of the robot 3) separately from the other constituent elements.

[0048] The robot task system 1 according to the above-described embodiment of the present disclosure produces effects described below. The robot task system 1 includes: a robot 3; a transfer device 2 configured to be driven to transfer a plurality of workpieces W1 and W2 thereon by a predetermined distance, each of which is placed within the predetermined distance; a drive management unit 51 configured to manage a drive distance and a drive start timing of the transfer device 2 for each drive of the transfer device 2; anda task position generation unit 52 configured to generate a plurality of task positions at the drive start time of the transfer device 2 managed by the drive management unit 51, the plurality of task positions being positions for the robot 3 to perform a predetermined task on the plurality of workpieces W1 and W2; a task unit 53 configured to update the plurality of task positions generated by the task position generation unit 52 for the robot 3 according to the drive of the transfer device 2 and generate a task command to cause the robot 3 to perform the predetermined task on the plurality of workpieces W1 and W2 while following the plurality of workpieces W1 and W2;and a control unit 54 configured to control the transfer device 2 based on the drive distance and drive start timing of the transfer device 2 managed by the drive management unit 51, and to control the robot 3 based on the task command generated by the task unit 53. According to this configuration, even if a plurality of workpieces W1 and W2 are placed within a certain distance (one pitch) by which the transfer device 2 transfers the workpieces W1 and W2, a task position for the robot 3 is generated for each of the plurality of workpieces W1 and W2 (position coordinates of each of the workpieces W1 and W2). This allows the robot 3 to perform a task on each of the workpieces W1 and W2.

[0049] The drive management unit 51 changes either one or both of the drive distance and the drive start timing of the transfer device 2 depending on a task status of the robot 3. Thereby, the robot 3 can reliably perform the task on the plurality of workpieces W1 and W2 transferred by the transfer device 2.

[0050] The drive management unit 51 controls the drive distance and drive start timing of the transfer device 2 based on an externally input signal. This facilitates the generation of information indicating the drive distance of the transfer device 2 and information indicating the drive start timing of the transfer device 2.

[0051] The task position generation unit 52 generates positions for the plurality of workpieces W1 and W2 based on a number of drive start timings of the transfer device 2. This enables the task position generation unit 52 to generate task positions for the robot 3 on a workpiece-by-workpiece basis (position coordinates of each of the workpieces) even if one or both of the type and number of workpieces are different depending on the pitch on the transfer device 2.

[0052] The task position generation unit 52 further generates attribute information for each of the plurality of workpieces W1 and W2 at the drive start time of the transfer device 2, and the task unit 53 generates the task command based on the attribute information generated by the task position generation unit 52. Thereby, the robot task system 1 can cause the robot 3 to execute the task in a manner corresponding to the different types of workpieces W1 and W2, respectively. 1 robot task system 2 transfer device 3 robots 51 Drive management unit 52 Task position generation unit 53 Task unit 54 Control unit W1, W1a, W1b, W2 workpieces

Claims

[1] Robot task system (1), comprising: a robot (3); a transfer device (2) configured to be driven to transfer a plurality of workpieces (W1, W1a, W1b, W2) thereon by a predetermined distance each, wherein the plurality of workpieces (W1, W1a, W1b, W2) are placed within the predetermined distance; a drive management unit (51) configured to manage a drive distance and a drive start time of the transfer device (2) for each drive of the transfer device (2); a task position generation unit (52) configured to generate a plurality of task positions at the drive start time of the transfer device (2) managed by the drive management unit (51), the plurality of task positions being positions for the robot (3) to perform a predetermined task on the plurality of workpieces (W1, W1a, W1b, W2); a task unit (53) configured to update, in accordance with the drive of the transfer device (2), the plurality of task positions generated by the task position generation unit (52) for the robot (3) and to generate a task command to cause the robot (3) to execute the predetermined task on the plurality of workpieces (W1, W1a, W1b, W2) while following the plurality of workpieces (W1, W1a, W1b, W2); and a control unit (54) configured to control the transfer device (2) based on the drive distance and the drive start time of the transfer device (2) managed by the drive management unit (51), and to control the robot (3) based on the task command generated by the task unit (53); wherein the transfer device (2) has a plurality of first dividers (21) arranged in a movement direction of the transfer device (2) at the predetermined distance and at least one second divider (22) arranged between adjacent first dividers (21). [2] The robot task system (1) according to claim 1, wherein the drive management unit (51) changes either one or both of the drive distance and the drive start timing of the transfer device (2) depending on a task status of the robot (3). [3] The robot task system (1) according to claim 1, wherein the drive management unit (51) controls the drive distance and the drive start timing of the transfer device (2) based on an externally input signal. [4] The robot task system (1) according to any one of claims 1 to 3, wherein the task position generating unit (52) generates positions for the plurality of workpieces (W1, W1a, W1b, W2) based on a number of the drive start timings of the transfer device (2). [5] Robot task system (1) according to one of claims 1 to 4, wherein the task position generation unit (52) further generates attribute information for each of the plurality of workpieces (W1, W1a, W1b, W2) at the drive start time of the transfer device (2), and the task unit (53) generates the task command based on the attribute information generated by the task position generation unit (52).

Images