Robot system, table, control method, article manufacturing method, program, and recording medium

Abstract

To provide a technique advantageous for changing the way a robot holds a work-piece.SOLUTION: A robot system comprises: a robot which can hold a work-piece; a plurality of support parts which can support the work-piece in mutually different postures; and a control part which controls the robot. The control part can execute first processing for causing the robot to hold the work-piece and second processing for changing the way the robot holds the work-piece by using at least one support part from the plurality of support parts.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to robot technology. [Background technology]

[0002] There is known a robot system that manufactures an article by assembling a plurality of randomly stacked parts. In automating the robot system, it is sometimes necessary to align each of the randomly stacked parts in a desired position.

[0003] Patent document 1 discloses that a robot picks up a part inside a box with its end effector, places it in a temporary placement area so that it takes a temporary posture, and then holds the part placed in the temporary placement area in the temporary posture with its end effector and places it in a part placement position so that it takes a final, confirmed posture.

[0004] Patent Document 2 also discloses that the robot transfers the workpiece it has come into contact with onto a temporary placement table, captures an image of the workpiece on the temporary placement table using a visual device, detects the position and orientation of the workpiece, and based on the detected position and orientation of the workpiece, holds the workpiece in a predetermined orientation and positions the workpiece. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2013-212580 A [Patent Document 2] Japanese Patent Application Publication No. 8-243961 Summary of the Invention [Problem to be solved by the invention]

[0006] Both Patent Documents 1 and 2 describe a robot transferring a workpiece to a temporary placement table, but the position and posture of the workpiece placed on a box or the like varies, and the posture of the workpiece relative to the robot when held by the robot also varies.

[0007] Therefore, since the workpieces held by the robot in various postures are temporarily placed on the temporary placement table, depending on the position and posture of the workpiece temporarily placed on the temporary placement table, it may be difficult for the robot to change hands over the workpiece due to the constraints on the robot's range of motion.

[0008] The present disclosure provides an advantageous technique for causing a robot to change hands to a different grip on a workpiece. [Means for solving the problem]

[0009] A first aspect of the present disclosure is a robot system comprising a robot capable of holding a workpiece, a plurality of support parts capable of supporting the workpiece in different postures, and a control part that controls the robot, wherein the control part is capable of executing a first process of causing the robot to hold the workpiece, and a second process of causing the robot to change hands to the workpiece using at least one support part from the plurality of support parts.

[0010] A second aspect of the present disclosure is a table characterized by including a plurality of support parts capable of supporting a workpiece in different postures.

[0011] A third aspect of the present disclosure is a control method for a robot system including a robot capable of holding a workpiece, a plurality of support parts capable of supporting the workpiece in different postures, and a control part that controls the robot, characterized in that the control part executes a first process of causing the robot to hold the workpiece, and a second process of causing the robot to change hands on the workpiece using at least one support part from the plurality of support parts. Effect of the Invention

[0012] The present disclosure provides an advantageous technique for allowing a robot to change hands over a workpiece. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is an explanatory diagram illustrating a schematic configuration of a robot system according to an embodiment. [Diagram 2] 1A is an explanatory diagram of a supply table and a transport mechanism according to an embodiment, and FIG. [Diagram 3] 1(a) to 1(c) are explanatory views of a workpiece according to an embodiment. [Figure 4] 5(a) to 5(c) are explanatory diagrams of an example of a holding operation of the robot hand according to the embodiment. [Diagram 5] FIG. 2 is an explanatory diagram of a conversion table according to the embodiment. [Figure 6] 1A is a flowchart of a control method for a robot system according to an embodiment, and FIG. 1B is an explanatory diagram of the control method for a robot system according to an embodiment. [Figure 7] 1A is a flowchart of a control method for a robot system according to an embodiment, and FIG. 1B is an explanatory diagram of the control method for a robot system according to an embodiment. [Figure 8] 1A is a flowchart of a control method for a robot system according to an embodiment, and FIG. 1B is an explanatory diagram of the control method for a robot system according to an embodiment. [Figure 9] 1A is a flowchart of a control method for a robot system according to an embodiment, and FIG. 1B is an explanatory diagram of the control method for a robot system according to an embodiment. [Figure 10] FIG. 13 is an explanatory diagram of an assembly table according to a modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. The following embodiments are illustrative of preferred configurations of the present disclosure, and for example, those skilled in the art can appropriately modify the detailed configurations without departing from the spirit of the present disclosure. In addition, in the drawings referred to in the following description of the embodiments, elements indicated by the same reference numbers have the same functions unless otherwise noted. In addition, these drawings are represented diagrammatically for convenience of illustration and explanation, and therefore shapes, sizes, arrangements, etc. may not strictly match between the drawings.

[0015] Fig. 1 is an explanatory diagram showing a schematic configuration of a robot system 1 according to an embodiment. The robot system 1 includes a supply table 3, a transport mechanism 4, a conversion table 5, an assembly table 6, a lifting mechanism 7, a vision sensor 8, a vision sensor 9, a robot 100, and a control device 200. Fig. 2(a) is an explanatory diagram of the supply table 3 and the transport mechanism 4 according to the embodiment.

[0016] The robot 100 is an industrial robot and is arranged on a logistics line or a production line. The robot 100 is a manipulator. The robot 100 is fixed to, for example, a stand (not shown). A supply table 3, a conversion table 5, and an assembly table 6 are arranged within the movable range of the robot 100.

[0017] The robot 100 and the control device 200 are connected by wire or wirelessly, directly or via a network. The vision sensors 8, 9 and the control device 200 are connected by wire or wirelessly, directly or via a network. The transport mechanism 4 and the control device 200 are connected by wire or wirelessly, directly or via a network. The lifting mechanism 7 and the control device 200 are connected by wire or wirelessly, directly or via a network.

[0018] The supply table 3 is an example of a placement section on which one or more workpieces W are placed. The workpieces W can be placed on the supply table 3 by an operator or a device. The workpieces W can be removed from above the supply table 3 by the robot 100. A plurality of workpieces W can be bulk-stacked on the supply table 3. A box can be placed on the supply table 3, and a plurality of workpieces can be bulk-stacked in the box.

[0019] The transport mechanism 4 is configured to be able to transport the supply table 3 between an area E1 where the workpieces W are input and an area E2 that is within the angle of view of the vision sensor 8. When the transport mechanism 4 moves the supply table 3 to the area E1, an operator or a supply device (not shown) can input the workpieces W onto the supply table 3.

[0020] An example will be described in which an operator loads a workpiece W onto the supply table 3. A loading completion tool 301 is disposed near the area E1. The loading completion tool 301 has, for example, a switch and a lamp. The loading completion tool 301 has a function of notifying the operator with a lamp of the timing when the workpiece W can be loaded onto the supply table 3, and a function of notifying the control device 200 of the completion of loading of the workpiece W by the operator operating the switch.

[0021] After receiving a notification of completion of loading from the loading completion tool 301, the control device 200 causes the transport mechanism 4 to move the supply table 3 from area E1 to area E2. By causing the transport mechanism 4 to move the supply table 3 between area E1 and area E2, it becomes possible for an operator to load the workpiece W.

[0022] The conversion table 5 is a table (support table) that supports the temporarily placed workpiece W. The conversion table 5 has a plurality of support parts 51, 52, and 53. The workpiece W can be temporarily placed on each of the support parts 51, 52, and 53. Note that the workpiece W being temporarily placed means that the workpiece W is placed temporarily without being assembled or the like.

[0023] The lifting mechanism 7 is a mechanism that raises and lowers the assembly table 6 under the control of the control device 200. The assembly table 6 has a plurality of bosses 601 that can position the workpiece W. When the lifting mechanism 7 is in a raised state, assembly work can be performed by the robot 100 on the assembly table 6. When an item such as an intermediate product or a final product is completed, the lifting mechanism 7 can be lowered to remove the item from the assembly table 6 and transport it to the robot 100.

[0024] The vision sensor 8 is an example of a sensor, and has a function of sensing the workpiece W placed on the supply table 3 located in the area E2. That is, the vision sensor 8 is a sensor used to obtain information on the position and posture of the workpiece W placed on the supply table 3.

[0025] The vision sensor 9 has a function of sensing the workpiece W placed on a support portion 53 (described later) of the conversion table 5. That is, the vision sensor 9 is a sensor used to obtain information on the position and posture of the workpiece W placed on the support portion 53 of the conversion table 5.

[0026] The vision sensor 8 is disposed at a position where it can capture an image of the workpiece W placed on the supply table 3 that has moved to the area E2. For example, the vision sensor 8 is disposed above the supply table 3 that is moving to the area E2. The vision sensor 8 is fixed to a frame (not shown) that is disposed around the robot 100.

[0027] The vision sensor 9 is disposed at a position where it can capture an image of the workpiece W placed on the conversion table 5. For example, the vision sensor 9 is installed on the robot 100.

[0028] Each of the vision sensors 8 and 9 outputs a captured image, which is sensing data, as a sensing result to the control device 200. The captured image is a grayscale image, for example, a monochrome image, or a color image. The color image is, for example, an RGB image.

[0029] In this embodiment, each of the vision sensors 8 and 9 is a camera (digital camera) having an image sensor (not shown). The image sensor is, for example, a CMOS image sensor or a CCD image sensor. Each of the vision sensors 8 and 9 captures an image of a subject and outputs the captured image, in which the subject appears, to the control device 200 as sensing data.

[0030] The installation position of the vision sensor 8 is not limited to the frame as long as it can sense the workpiece W placed on the supply table 3. The vision sensor 8 may be a monocular camera (two-dimensional camera) or a stereo camera (three-dimensional camera). The number of vision sensors 8 is not limited to one, and may be multiple.

[0031] Furthermore, the installation position of the vision sensor 9 is not limited to the robot 100, as long as it is capable of sensing the workpiece W placed on the conversion table 5. Furthermore, the vision sensor 9 may be a monocular camera (two-dimensional camera) or a stereo camera (three-dimensional camera). Furthermore, the number of vision sensors 9 is not limited to one, and may be multiple.

[0032] The robot 100 is configured to be able to hold a workpiece W. The robot 100 has a robot arm 101 and a robot hand 102, which is an example of an end effector. In this embodiment, the robot 100 is configured to be able to hold a workpiece W by the robot hand 102. The robot arm 101 is, for example, a vertical multi-joint robot arm. The base of the robot 100 is a fixed end, which is fixed to a stand (not shown). The tip of the robot 100 is a free end. That is, the tip of the robot 100 moves to an arbitrary position by the operation of the robot 100. Note that the robot arm 101 is not limited to a vertical multi-joint robot arm, and may be, for example, an orthogonal robot, a parallel link robot arm, or a SCARA (Selective Compliance Assembly Robot Arm) as long as it has a degree of freedom required for the robot hand 102 to hold the workpiece W.

[0033] The robot hand 102 is supported by the robot arm 101. The robot hand 102 is attached to a predetermined portion of the robot arm 101, for example, to the tip of the robot arm 101. The robot hand 102 is configured to be able to hold each of the workpieces W bulk loaded on the supply table 3.

[0034] The robot hand 102 has at least two fingers, and in this embodiment, two fingers 121 and 122. The number of fingers of the robot hand 102 is not limited to two, and may be three or more.

[0035] With the above-described configuration of the robot 100, the robot arm 101 can move the robot hand 102 to a desired position, and the robot 100 can be made to perform a task of holding a workpiece W.

[0036] In a production line for manufacturing goods, the robot 100 can hold a workpiece with the robot hand 102 and carry it, assemble it to other workpieces, or grip a tool to process the workpiece. Alternatively, the robot 100 can attach an actuator other than the robot hand 102 to the tip of the robot arm 101 instead of the robot hand 102 depending on the work content of the manufacturing process.

[0037] For example, a plurality of workpieces W are placed on the supply table 3. An article that is an assembled product can be manufactured by a manufacturing method in which the robot 100 holds one workpiece W on the supply table 3 and assembles the workpiece W to another workpiece. The assembled product may be an intermediate product or a final product.

[0038] The control device 200 is configured to control the robot 100, the transport mechanism 4, and the like. In this embodiment, under the control of the control device 200, the robot 100 holds one workpiece W from among a plurality of workpieces W randomly piled on the supply table 3, performs one or more transfer operations of the workpiece W on the conversion table 5 as necessary, transports the workpiece W to a specified position and posture, and performs an assembly task of assembling an article on the assembly table 6.

[0039] In this embodiment, the control device 200 is configured with a computer. The control device 200 can send an imaging command to the vision sensors 8 and 9 to cause the vision sensors 8 and 9 to capture images. The control device 200 is configured to be able to acquire image information (image data) generated by the vision sensors 8 and 9, and is configured to be able to process the acquired image information. Furthermore, the control device 200 can execute control processing for controlling the robot 100 in addition to information processing.

[0040] 2(b) is a block diagram of a control device 200 according to an embodiment. The control device 200 is configured as a computer, and includes a CPU (Central Processing Unit) 201, which is an example of a processor. The control device 200 also includes a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, and a HDD (Hard Disk Drive) 204 as storage units. The control device 200 also includes a recording disk drive 205, and an interface 206, which is an input / output interface.

[0041] The CPU 201, the ROM 202, the RAM 203, the HDD 204, the recording disk drive 205, and the interface 206 are connected to each other via a bus so that data can be transmitted between them. The ROM 202 stores a basic program related to the operation of the computer. The RAM 203 is a storage device that temporarily stores various data such as the results of the calculation processing of the CPU 201. The HDD 204 stores the results of the calculation processing of the CPU 201 and various data acquired from the outside, and also stores a program 207 for the CPU 201 to execute. The program 207 is application software for causing the CPU 201 to function as the control unit 300 in FIG. 1. Thus, the CPU 201 functions as the control unit 300 by executing the program 207, and can execute various control processes of the control method.

[0042] The recording disk drive 205 can read out various data and programs recorded on a recording disk 208. In this embodiment, the non-transient recording medium readable by a computer is the HDD 204, and the program 207 is recorded on the HDD 204, but this is not limiting. The program 207 may be recorded on any recording medium as long as it is a non-transient recording medium readable by a computer. As a recording medium for supplying the program 207 to a computer, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a magnetic tape, a non-volatile memory, etc. can be used.

[0043] The control device 200 may be configured to be able to communicate with an external device via a network, and the program 207 may be downloaded from the external device via the network.

[0044] Furthermore, although the CPU 201 of the control device 200 is configured to execute the processing of the control unit 300, the present invention is not limited to this. For example, the control processing of the control unit 300 may be distributed and executed by a plurality of CPUs.

[0045] As shown in FIG. 1, the control unit 300 includes a measurement unit 400 , a pre-planning unit 500 , pre-planning data 800 , an action planning unit 600 , and an action control unit 700 .

[0046] The measurement unit 400 has a function of measuring the position and posture of each workpiece W on the supply table 3 based on the captured image acquired from the vision sensor 8. The measurement unit 400 also has a function of measuring the position and posture of the workpiece W on the conversion table 5 based on the captured image acquired from the vision sensor 9.

[0047] The advance planning unit 500 has a function of creating advance planning data 800 required for the robot 100 to perform a posture changing operation. The behavior planning unit 600 has a function of creating a plan of behavior (motion) of the robot 100 for changing the position and posture of the workpiece W, based on the advance planning data 800 and information (measurement data) on the position and posture of the workpiece W obtained from the measurement unit 400. The motion control unit 700 has a function of controlling the robot 100 and a function of controlling the transport mechanism 4, based on the plan of behavior of the robot 100.

[0048] 3(a) to 3(c) are explanatory diagrams of the workpiece W according to the embodiment. The workpiece W is a substantially hexahedral block, and a stable posture is one in which each of the substantially hexahedral blocks is in contact with a flat surface. The workpiece W has a top surface with multiple bosses, a bottom surface into which the multiple bosses can fit, and four side surfaces.

[0049] In the following description, the orientation of the work W in which the top surface of the work W faces upward as shown in FIG. 3(a) is referred to as the front orientation, the orientation of the work W in which the bottom surface of the work W faces upward as shown in FIG. 3(b) is referred to as the back orientation, and the orientation of the work W in which one of the four sides of the work W faces upward as shown in FIG. 3(c) is referred to as the lateral orientation.

[0050] The holding operation of the robot hand 102 will be described. Figs. 4(a) to 4(c) are explanatory diagrams of an example of the holding operation of the robot hand 102 according to the embodiment. The robot hand 102 can hold a workpiece W at multiple locations. The robot hand 102 can hold one workpiece W from multiple workpieces W randomly piled up on the supply table 3 in any posture as shown in Figs. 4(a) to 4(c). Therefore, by using the robot hand 102, the holding operation of the workpiece W is highly likely to be successful.

[0051] Fig. 4(a) illustrates a state in which the workpiece W is in a front position relative to the robot hand 102, and two side surfaces of the workpiece W are gripped by the robot hand 102. Fig. 4(b) illustrates a state in which the workpiece W is in a front position relative to the robot hand 102, and the insides of two bosses on the top surface of the workpiece W are gripped by the robot hand 102. Fig. 4(c) illustrates a state in which the workpiece W is in a front position relative to the robot hand 102, and the outsides of two bosses on the top surface of the workpiece W are gripped by the robot hand 102.

[0052] The posture in which the robot hand 102 holds the workpiece W is not limited to the postures exemplified in FIGS. 4(a) to 4(c).

[0053] The robot hand 102 has a motor (not shown) that drives the two fingers 121, 122 to open and close, and a current sensor (not shown) that detects a current supplied to the motor. The operation control unit 700 determines whether the robot hand 102 has succeeded in holding the workpiece W based on the current value detected by the current sensor. This allows the operation control unit 700 to retry the holding operation when the robot hand 102 fails to hold the workpiece W.

[0054] 5 is an explanatory diagram of the conversion table 5 according to the embodiment. The conversion table 5 has a plurality of support parts, for example, three support parts 51, 52, and 53. The support parts 51, 52, and 53 are configured to be able to support the workpiece W in stable postures different from each other. In this embodiment, the support parts 51, 52, and 53 have different shapes from each other. Each of the support parts 51, 52, and 53 has a shape that allows the workpiece W placed thereon to be positioned in a stable posture by the weight of the workpiece W itself.

[0055] The support portion 51 is a surface having a V-shaped cross section that can support the workpiece W in a stable oblique posture in which the top surface of the workpiece W contacts one of its four side surfaces and the bottom surface of the workpiece W and another of its four side surfaces face upward. The support portion 52 is a surface having a U-shaped cross section that can support the workpiece W in a stable horizontal posture. The support portion 53 is a flat surface that can support the workpiece W in a stable front posture.

[0056] When the workpiece W is temporarily placed on each support portion 51, 52, 53, the workpiece W is pulled into a stable position by its own weight in accordance with the shape of each support portion 51, 52, 53, and is supported in a stable position by each support portion 51, 52, 53.

[0057] Here, in this embodiment, the robot 100 is capable of transporting the workpiece W from the support portion 51 to the support portion 52 so that the workpiece W supported in a stable attitude on the support portion 51 is supported in a horizontal attitude on the support portion 52. However, due to restrictions on the movable range, the robot 100 is unable to transport the workpiece W directly from the support portion 51 to the support portion 53 so that the workpiece W supported in a stable attitude on the support portion 51 is supported in a front attitude on the support portion 53. On the other hand, the robot 100 is capable of transporting the workpiece W from the support portion 52 to the support portion 53 so that the workpiece W supported in a stable attitude on the support portion 52 is supported in a front attitude on the support portion 53.

[0058] Therefore, in this embodiment, one of four trajectories is created as the operation plan: a trajectory that transports the work W directly from the supply table 3 to the assembly table 6, a trajectory that transports the work W from the supply table 3 to the assembly table 6 via the support part 53, a trajectory that transports the work W from the supply table 3 to the assembly table 6 via the support parts 52 and 53 in this order, and a trajectory that transports the work W from the supply table 3 to the assembly table 6 via the support parts 51, 52, and 53 in this order.

[0059] Hereinafter, a specific description will be given of a method for controlling the robot system 1. Figures 6(a), 7(a), 8(a), and 9(a) are flowcharts of a method for controlling the robot system 1 according to an embodiment. Figures 6(b), 7(b), 8(b), and 9(b) are explanatory diagrams of a method for controlling the robot system 1 according to an embodiment.

[0060] The operation control unit 700 moves the supply table 3 on which the workpiece W has been loaded to the transport mechanism 4 from area E1 to area E2. The pre-planning unit 500 also calculates in advance posture data of the workpiece W with respect to the robot hand 102 that can be temporarily placed on each of the support units 51, 52, and 53, and sets the calculated posture data in the pre-planning data 800.

[0061] In step S101, the measurement unit 400 causes the vision sensor 8 to capture an image of the workpiece W on the supply table 3, and acquires the captured image from the vision sensor 8.

[0062] In step S102, the measurement unit 400 measures the position and posture of the workpiece W on the supply table 3 based on an image, which is an example of a sensing result obtained from the vision sensor 8, and acquires information on the position and posture of the workpiece W on the supply table 3.

[0063] The measurement unit 400 also measures the number of workpieces W on the supply table 3. When the measurement unit 400 measures that there are no more workpieces W on the supply table 3, the operation control unit 700 controls the transport mechanism 4 to move the supply table 3 from area E2 to area E1. This eliminates the need to add a sensor other than the vision sensor 8 that detects the number of workpieces W on the supply table 3.

[0064] Next, in step S103, the behavior planning unit 600 selects one workpiece W from among one or more workpieces W on the supply table 3 as a workpiece W to be held. The behavior planning unit 600 obtains, for example, a priority indicating the ease of holding the workpiece W for each of the multiple workpieces W, and selects the workpiece W with the highest priority. The selected workpiece W will be described below.

[0065] In step S104, the behavior planning unit 600 determines whether the position and posture of the workpiece W on the supply table 3 are such that the robot 100 can hold the workpiece W in the front posture.

[0066] If the robot 100 can hold the workpiece W in the front posture (step S104: YES), in step S105, the action planning unit 600 creates motion plans A0 and A1.

[0067] The motion plan A0 is a motion plan for making the robot 100 hold the workpiece W on the supply table 3. The motion plan A1 is a motion plan for transporting the workpiece W held by the robot 100 from the supply table 3 onto the assembly table 6. The motion plans A0 and A1 include trajectory data of the robot arm 101.

[0068] In step S106, the operation control unit 700 controls the operation of the robot 100 according to the operation plan A0, and causes the robot hand 102 of the robot 100 to hold the workpiece W placed on the supply table 3. That is, the operation control unit 700 controls the robot 100 according to the operation plan A0 corresponding to the position and posture of the workpiece W measured by the measurement unit 400, and performs a holding operation to cause the robot hand 102 to hold the workpiece W. In this way, the operation control unit 700 can execute a process (first process) of causing the robot 100 to hold the workpiece W according to the operation plan A0.

[0069] Next, the operation control unit 700 controls the operation of the robot 100 according to the operation plan A1, and causes the robot 100 to transport the workpiece W directly from the supply table 3 to the assembly table 6 (third process). That is, because the posture of the workpiece W held by the robot 100 is a predetermined posture (front posture), the operation control unit 700 does not execute a process (second process) to have the robot 100 transfer the workpiece W using the conversion table 5, which will be described later. Then, as the third process, the operation control unit 700 performs an assembly task of assembling the workpiece W in the front posture to the assembly table 6 or another workpiece on the assembly table 6.

[0070] If the robot 100 cannot hold the workpiece W in the upright position (step S104: NO), in step S201, the behavior planning unit 600 checks from the pre-planning data 800 whether the position and posture of the workpiece W on the supply table 3 allows it to be temporarily placed in the upright position.

[0071] If the position and posture of the workpiece W on the supply table 3 allows it to be temporarily placed in the front posture (step S201: YES), then in step S202, the action planning unit 600 creates operation plans B0 and B1.

[0072] The motion plan B0 is a motion plan for making the robot 100 hold the workpiece W on the supply table 3. The motion plan B1 is a motion plan for transporting the workpiece W held by the robot 100 from the supply table 3 onto the support part 53. The motion plans B0 and B1 include trajectory data of the robot arm 101.

[0073] That is, the behavior planning unit 600 selects at least one support part, in step S202, the support part 53, from among the multiple support parts 51, 52, and 53 based on the position and posture of the workpiece W on the supply table 3. Then, the behavior planning unit 600 acquires the motion plans B0 and B1 by planning the motion of the robot 100 to be temporarily placed on the support part 53 based on the position and posture of the workpiece W on the supply table 3.

[0074] In step S203, the operation control unit 700 controls the operation of the robot 100 according to the operation plan B0, and causes the robot hand 102 of the robot 100 to hold the workpiece W placed on the supply table 3. That is, the operation control unit 700 controls the robot 100 according to the operation plan B0 corresponding to the position and posture of the workpiece W measured by the measurement unit 400, and performs a holding operation to cause the robot hand 102 to hold the workpiece W. In this way, the operation control unit 700 can execute a process (first process) of causing the robot 100 to hold the workpiece W according to the operation plan B0.

[0075] Next, the operation control unit 700 controls the operation of the robot 100 in accordance with the operation plan B1, and causes the robot 100 to transport the workpiece W from the supply table 3 to the support unit 53. The robot 100 releases the workpiece W on the support unit 53, and temporarily places the workpiece W on the support unit 53 in a face-up position.

[0076] After the workpiece W has been temporarily placed on the support portion 53 in the front position, in step S204, the operation control portion 700 controls the robot arm 101 to temporarily position the robot hand 102, i.e., the vision sensor 9, at a predetermined position above the support portion 53. Then, the measurement portion 400 causes the vision sensor 9 to capture an image of the workpiece W temporarily placed on the support portion 53, and acquires the captured image from the vision sensor 9.

[0077] Then, in step S205, the position and orientation of the workpiece W on the support portion 53 are measured based on the captured image acquired by the vision sensor 9.

[0078] Next, in step S206, the behavior planning unit 600 creates a motion plan B2. The motion plan B2 is a motion plan for changing the posture of the robot 100, causing the robot 100 to hold the workpiece W placed on the support unit 53 again, and transporting the workpiece W onto the assembly table 6. The motion plan B2 includes trajectory data of the robot arm 101.

[0079] Next, in step S207, the operation control unit 700 controls the operation of the robot 100 in accordance with the operation plan B2 to cause the robot 100 to hold the workpiece W on the support unit 53 and transport the workpiece W from the support unit 53 to the assembly table 6.

[0080] That is, the operation control unit 700 causes the robot 100 to change the grip of the workpiece W so that the posture of the workpiece W with respect to the robot 100 becomes a predetermined posture (front posture). As a result, the operation control unit 700 performs an assembly task of assembling the workpiece W to the assembly table 6 or another workpiece on the assembly table 6 in the front posture.

[0081] In this manner, the operation control unit 700 can execute a process (second process) of making the robot 100 change the grip of the workpiece W by using at least one of the multiple support units 51, 52, and 53, for example, the support unit 53. That is, in this second process, the operation control unit 700 performs a conversion operation of converting the posture of the workpiece W relative to the robot 100 by making the robot 100 change the grip of the workpiece W by using the support unit 53.

[0082] In this second process, when the workpiece W is to be transferred to the robot 100 at the support portion 53, the operation control portion 700 causes the robot 100 to release the workpiece W and have the support portion 53 support the workpiece W, changes the posture of the robot 100, and causes the robot 100 to hold the workpiece W supported by the support portion 53 again.

[0083] If the position and posture of the work W on the supply table 3 does not allow temporary placement in the front position (step S201: NO), in step S301, the action planning unit 600 checks from the pre-planning data 800 whether the position and posture of the work W on the supply table 3 allows temporary placement in the side position.

[0084] If the position and posture of the workpiece W on the supply table 3 allows it to be temporarily placed in a horizontal position (step S301: YES), in step S302, the action planning unit 600 creates operation plans C0, C1, and C2.

[0085] The motion plan C0 is a motion plan for making the robot 100 hold the workpiece W on the supply table 3. The motion plan C1 is a motion plan for transporting the workpiece W held by the robot 100 from the supply table 3 onto the support part 52. The motion plan C2 is a motion plan for transporting the workpiece W, which has been held again by the robot 100, from the support part 52 onto the support part 53. The motion plans C0, C1, and C2 include trajectory data of the robot arm 101.

[0086] That is, the behavior planning unit 600 selects at least one support part, in step S302, the support parts 52 and 53, from among the multiple support parts 51, 52, and 53 based on the position and posture of the workpiece W on the supply table 3. Then, the behavior planning unit 600 acquires the motion plans C0, C1, and C2 by planning the motion of the robot 100 to be temporarily placed on the support parts 52 and 53 based on the position and posture of the workpiece W on the supply table 3.

[0087] In step S302, two or more supports, namely, supports 52 and 53, are selected, and the behavior planning unit 600 causes the robot 100 to transfer the workpiece W to each of the supports 52 and 53 in a predetermined order, i.e., in the order of support 52 and support 53.

[0088] In step S303, the operation control unit 700 controls the operation of the robot 100 according to the operation plan C0, and causes the robot hand 102 of the robot 100 to hold the workpiece W placed on the supply table 3. That is, the operation control unit 700 controls the robot 100 according to the operation plan C0 corresponding to the position and posture of the workpiece W measured by the measurement unit 400, and performs a holding operation to cause the robot hand 102 to hold the workpiece W. In this way, the operation control unit 700 can execute a process (first process) of causing the robot 100 to hold the workpiece W according to the operation plan C0.

[0089] Next, the operation control unit 700 controls the operation of the robot 100 in accordance with the operation plan C1, and causes the robot 100 to transport the workpiece W from the supply table 3 to the support unit 52. The robot 100 releases the workpiece W on the support unit 52, and temporarily places the workpiece W on the support unit 52 in a horizontal position.

[0090] As described above, the robot 100 can change the orientation of the robot 100 to hold the workpiece W temporarily placed on the support portion 52 in a horizontal orientation again from another direction, and temporarily place the workpiece W on the support portion 53 in a front orientation. Therefore, the operation control unit 700 controls the operation of the robot 100 according to the operation plan C2, and causes the robot hand 102 of the robot 100 to hold the workpiece W. Then, the operation control unit 700 controls the operation of the robot 100 according to the operation plan C2, and causes the robot 100 to transport the workpiece W from the support portion 52 to the support portion 53. The robot 100 releases the workpiece W on the support portion 53, and temporarily places the workpiece W on the support portion 53 in a front orientation.

[0091] After the workpiece W has been temporarily placed on the support portion 53 in the front position, in step S304, the operation control portion 700 controls the robot arm 101 to temporarily position the robot hand 102, i.e., the vision sensor 9, at a predetermined position above the support portion 53. Then, the measurement portion 400 causes the vision sensor 9 to capture an image of the workpiece W temporarily placed on the support portion 53, and acquires the captured image from the vision sensor 9.

[0092] Then, in step S305, the position and orientation of the workpiece W on the support portion 53 are measured based on the captured image acquired by the vision sensor 9.

[0093] Next, in step S306, the behavior planning unit 600 creates a motion plan C3. The motion plan C3 is a motion plan for changing the posture of the robot 100, causing the robot 100 to hold the workpiece W placed on the support unit 53 again, and transporting the workpiece W onto the assembly table 6. The motion plan C3 includes trajectory data of the robot arm 101.

[0094] Next, in step S307, the operation control unit 700 controls the operation of the robot 100 in accordance with the operation plan C3 to cause the robot 100 to hold the workpiece W on the support unit 53 and transport the workpiece W from the support unit 53 to the assembly table 6.

[0095] That is, the operation control unit 700 causes the robot 100 to change the grip of the workpiece W so that the posture of the workpiece W with respect to the robot 100 becomes a predetermined posture (front posture). As a result, the operation control unit 700 performs an assembly task of assembling the workpiece W to the assembly table 6 or another workpiece on the assembly table 6 in the front posture.

[0096] In this manner, the operation control unit 700 can execute a process (second process) of making the robot 100 change the grip of the workpiece W using at least one of the multiple support units 51, 52, and 53, for example, the support units 52 and 53. That is, in this second process, the operation control unit 700 makes the robot 100 change the grip of the workpiece W using the support units 52 and 53, thereby performing a conversion operation of converting the posture of the workpiece W with respect to the robot 100.

[0097] In this second process, when the workpiece W is to be transferred to the robot 100 at the support portion 52, the operation control unit 700 causes the robot 100 to release the workpiece W and have the support portion 52 support the workpiece W, changes the posture of the robot 100, and causes the robot 100 to hold the workpiece W supported by the support portion 52 again.

[0098] Furthermore, in this second process, when the workpiece W is to be transferred to the robot 100 at the support portion 53, the operation control portion 700 causes the robot 100 to release the workpiece W and have the support portion 53 support the workpiece W, changes the posture of the robot 100, and causes the robot 100 to hold the workpiece W supported by the support portion 53 again.

[0099] Furthermore, the support unit 53 is an example of a predetermined support unit capable of supporting the workpiece W in a posture that allows the robot 100 to hold the workpiece W in a predetermined posture (front posture). In the second process, the operation control unit 700 causes the robot 100 to finally transfer the workpiece W to the support unit 53 out of the support units 52 and 53. Then, the operation control unit 700 moves the workpiece W held by the robot 100 in the front posture relative to the robot 100, and causes the robot 100 to assemble the workpiece W to a workpiece other than the workpiece W.

[0100] If the position and posture of the work W on the supply table 3 does not allow temporary placement in a horizontal position (step S301: NO), in step S401, the action planning unit 600 checks from the pre-planning data 800 whether the position and posture of the work W on the supply table 3 allows temporary placement in an oblique position with the bottom surface facing upwards.

[0101] If the position and posture of the workpiece W on the supply table 3 allows it to be temporarily placed in an oblique posture (step S401: YES), in step S402, the action planning unit 600 creates operation plans D0, D1, D2, and D3.

[0102] The motion plan D0 is a motion plan for making the robot 100 hold the workpiece W on the supply table 3. The motion plan D1 is a motion plan for transporting the workpiece W held by the robot 100 from the supply table 3 onto the support part 51. The motion plan D2 is a motion plan for transporting the workpiece W held again by the robot 100 from the support part 51 onto the support part 52. The motion plan D3 is a motion plan for transporting the workpiece W held again by the robot 100 from the support part 52 onto the support part 53. The motion plans D0, D1, D2, and D3 include trajectory data of the robot arm 101.

[0103] That is, the behavior planning unit 600 selects at least one support part from among the multiple support parts 51, 52, and 53, and in step S402, selects the support parts 51, 52, and 53, based on the position and posture of the workpiece W on the supply table 3. Then, the behavior planning unit 600 acquires motion plans D0, D1, D2, D3, and D4 by planning the motion of the robot 100 to be temporarily placed on the support parts 51, 52, and 53 based on the position and posture of the workpiece W on the supply table 3.

[0104] In step S402, two or more support parts, namely support parts 51, 52, and 53, are selected, and the behavior planning unit 600 causes the robot 100 to transfer the workpiece W to each of the support parts 51, 52, and 53 in a predetermined order, i.e., in the order of support part 51, support part 52, and support part 53.

[0105] In step S403, the operation control unit 700 controls the operation of the robot 100 according to the operation plan D0, and causes the robot hand 102 of the robot 100 to hold the workpiece W placed on the supply table 3. That is, the operation control unit 700 controls the robot 100 according to the operation plan D0 corresponding to the position and posture of the workpiece W measured by the measurement unit 400, and performs a holding operation to cause the robot hand 102 to hold the workpiece W. In this way, the operation control unit 700 can execute a process (first process) of causing the robot 100 to hold the workpiece W according to the operation plan D0.

[0106] Then, the operation control unit 700 controls the operation of the robot 100 in accordance with the operation plan D1, and causes the robot 100 to transport the workpiece W from the supply table 3 to the support unit 51. The robot 100 releases the workpiece W on the support unit 51, and temporarily places the workpiece W on the support unit 51 in an oblique position.

[0107] As described above, the robot 100 can change the posture of the robot 100 to hold the workpiece W temporarily placed on the support portion 51 in an oblique posture again from a different direction, and temporarily place the workpiece W on the support portion 52 in a horizontal posture. Therefore, the operation control unit 700 controls the operation of the robot 100 according to the operation plan D2, and causes the robot hand 102 of the robot 100 to hold the workpiece W. Then, the operation control unit 700 controls the operation of the robot 100 according to the operation plan D2, and causes the robot 100 to transport the workpiece W from the support portion 51 to the support portion 52. The robot 100 releases the workpiece W on the support portion 52, and temporarily places the workpiece W on the support portion 52 in a horizontal posture.

[0108] As described above, the robot 100 can change the orientation of the robot 100 to hold the workpiece W temporarily placed on the support portion 52 in a horizontal orientation again from another direction, and temporarily place the workpiece W on the support portion 53 in a front orientation. Therefore, the operation control unit 700 controls the operation of the robot 100 according to the operation plan D3, and causes the robot hand 102 of the robot 100 to hold the workpiece W. Then, the operation control unit 700 controls the operation of the robot 100 according to the operation plan D3, and causes the robot 100 to transport the workpiece W from the support portion 52 to the support portion 53. The robot 100 releases the workpiece W on the support portion 53, and temporarily places the workpiece W on the support portion 53 in a front orientation.

[0109] After the workpiece W has been temporarily placed on the support portion 53 in the front position, in step S404, the operation control portion 700 controls the robot arm 101 to temporarily position the robot hand 102, i.e., the vision sensor 9, at a predetermined position above the support portion 53. Then, the measurement portion 400 causes the vision sensor 9 to capture an image of the workpiece W temporarily placed on the support portion 53, and acquires the captured image from the vision sensor 9.

[0110] Then, in step S405, the position and orientation of the workpiece W on the support portion 53 are measured based on the captured image acquired by the vision sensor 9.

[0111] Next, in step S406, the behavior planning unit 600 creates a motion plan D4. The motion plan D4 is a motion plan for changing the posture of the robot 100, causing the robot 100 to hold the workpiece W placed on the support unit 53 again, and transporting the workpiece W onto the assembly table 6. The motion plan D4 includes trajectory data of the robot arm 101.

[0112] Next, in step S407, the operation control unit 700 controls the operation of the robot 100 in accordance with the operation plan D4 to cause the robot 100 to hold the workpiece W on the support unit 53 and transport the workpiece W from the support unit 53 to the assembly table 6.

[0113] That is, the operation control unit 700 causes the robot 100 to change the grip of the workpiece W so that the posture of the workpiece W with respect to the robot 100 becomes a predetermined posture (front posture). As a result, the operation control unit 700 performs an assembly task of assembling the workpiece W to the assembly table 6 or another workpiece on the assembly table 6 in the front posture.

[0114] In this manner, the operation control unit 700 can execute a process (second process) of making the robot 100 change the grip of the workpiece W using at least one of the multiple support units 51, 52, and 53, for example, the support units 51, 52, and 53. That is, in this second process, the operation control unit 700 makes the robot 100 change the grip of the workpiece W using the support units 51, 52, and 53, thereby performing a conversion operation of converting the posture of the workpiece W with respect to the robot 100.

[0115] In this second process, when the workpiece W is to be transferred to the robot 100 at the support portion 51, the operation control unit 700 causes the robot 100 to release the workpiece W and have the support portion 51 support the workpiece W, changes the posture of the robot 100, and causes the robot 100 to hold the workpiece W supported by the support portion 51 again.

[0116] Furthermore, in this second process, when the workpiece W is to be transferred to the robot 100 at the support portion 52, the operation control portion 700 causes the robot 100 to release the workpiece W and have the support portion 52 support the workpiece W, changes the posture of the robot 100, and causes the robot 100 to hold the workpiece W supported by the support portion 52 again.

[0117] Furthermore, in this second process, when the workpiece W is to be transferred to the robot 100 at the support portion 53, the operation control portion 700 causes the robot 100 to release the workpiece W and have the support portion 53 support the workpiece W, changes the posture of the robot 100, and causes the robot 100 to hold the workpiece W supported by the support portion 53 again.

[0118] Furthermore, the support unit 53 is an example of a predetermined support unit capable of supporting the workpiece W in a posture that allows the robot 100 to hold the workpiece W in a predetermined posture (front posture). In the second process, the operation control unit 700 causes the robot 100 to finally transfer the workpiece W to the support unit 53 among the support units 51, 52, and 53. Then, the operation control unit 700 moves the workpiece W held by the robot 100 in the front posture relative to the robot 100, and causes the robot 100 to assemble the workpiece W to a workpiece other than the workpiece W.

[0119] By using the above selection algorithm, the shortest movement of the robot 100 from the supply table 3 to the assembly table 6 can be calculated according to the position and posture of the workpiece W on the supply table 3.

[0120] As described above, the action planning unit 600 creates an action plan for converting the position and posture of the workpiece W based on the information (measurement data) on the position and posture of the workpiece W obtained from the measurement unit 400. The operation control unit 700 selects at least one support unit from among the multiple support units 51 to 53 based on the created action plan, and has the robot 100 change grip of the workpiece W using the selected at least one support unit, converts the posture of the workpiece W relative to the robot 100 to a predetermined posture, and transports the workpiece W to the assembly table 6. The predetermined posture is a front posture that is a final assembly posture, and a conversion operation is performed on the conversion table 5 until the posture of the workpiece W relative to the robot hand 102 of the robot 100 becomes the front posture.

[0121] Furthermore, when assembling the workpiece W to another workpiece on the assembly table 6, the workpiece W needs to be held by the robot hand 102 in a state in which the workpiece W is oriented with high accuracy in the front orientation relative to the robot hand 102.

[0122] In this embodiment, the measurement unit 400 causes the vision sensor 9 to capture an image of the workpiece W temporarily placed on the support unit 53. The measurement unit 400 measures the position and posture of the workpiece W on the support unit 53 based on the captured image of the workpiece W on the support unit 53 acquired from the vision sensor 9. The operation control unit 700 controls the robot 100 to cause the robot hand 102 to hold the workpiece W in the upside-down posture. Note that if the workpiece W on the supply table 3 is in the upside-down posture, no posture conversion operation is performed.

[0123] The movable range of the robot 100 is limited. For this reason, if there is only one support part, the position and posture of the workpiece W on the supply table 3 that can be converted to the front posture by the support part is limited to a narrow range. As a result, there are many situations where there is no workpiece on the supply table 3 that can be converted to the front posture, and a process to change the position and posture of the workpiece W by, for example, stirring the workpieces on the supply table 3 is required. This can result in a long cycle time for the system.

[0124] In contrast to this, in this embodiment, a plurality of support parts 51 to 53 are provided which are necessary for changing the posture of the workpieces W relative to the robot hand 102 of the robot 100. By using at least one of the support parts 51 to 53, each of the multiple workpieces W on the supply table 3 can be brought into the front posture relative to the robot hand 102 of the robot 100, thereby shortening the cycle time of the robot system 1, i.e., speeding up the transport of the workpieces W from the supply table 3 to the assembly table 6.

[0125] Furthermore, since the work W is supported in different stable postures that match the respective shapes of the support parts 51 to 53, it is possible to reliably change the posture of the work W on the conversion table 5, thereby enabling the work W to be transported at high speed from the supply table 3 to the assembly table 6.

[0126] Furthermore, in this embodiment, based on the position and posture of the work W on the supply table 3, the action planning unit 600 selects the shortest operating route from the supply table 3, via at least one of the multiple support parts 51 to 53, to the assembly table 6, thereby enabling the robot 100 to achieve high-speed operation.

[0127] In addition, multiple workpieces W that are randomly piled up in various positions and orientations can be quickly aligned into a desired orientation.

[0128] As described above, according to this embodiment, a technique is provided that is advantageous for the robot 100 to change the grip of the workpiece W. Then, the control unit 300 selects a necessary support part from among the multiple support parts 51 to 53 in accordance with the position and posture of the workpiece W on the supply table 3, and uses the selected support part to change the posture of the workpiece W. This enables the robot 100 to efficiently change the grip of the workpiece W, thereby shortening the cycle time.

[0129] [First Modification of the Embodiment]

[0130] 10 is an explanatory diagram of an assembly stand 6A according to Modification 1 of the embodiment. The assembly stand 6A has a larger area than the assembly stand 6, and includes a main assembly section 61, a sub-assembly section 62, and a sub-assembly section 63.

[0131] When assembling an article in the main assembly section 61, if the point of application and point of action of the assembly force are offset, a moment will be generated between the workpieces, which may result in failure in assembling the article.

[0132] The operation control unit 700 assembles a sub-assembly having two or more workpieces on the sub-assembly unit 62 or sub-assembly unit 63 so that the point of application and the point of force of the assembly force are not offset, and then performs the assembly work in the main assembly unit 61. This makes it possible to perform the assembly work stably.

[0133] Each of the assembly units 61-63 has a boss 601 capable of positioning the workpiece. The lifting mechanism 7 raises and lowers the assembly table 6A. When the lifting mechanism 7 is raised, assembly work can be performed by the robot 100. When a sub-assembly or an article is completed, the lifting mechanism 7 can be lowered to remove the sub-assembly or the article from each of the assembly units 61-63 and transport it to the robot 100.

[0134] [Modification 2 of the embodiment] In the above embodiment, the conversion table 5 has three support parts 51 to 53 as the multiple support parts, but the present invention is not limited to this. The number of support parts of the conversion table 5 may be two or four or more. The multiple support parts may have any shape that can stably support the workpiece in different postures. In this case, it is preferable that the multiple support parts have different shapes.

[0135] Each support part may be any of a flat plate, a funnel-shaped base, a V-shaped base, a base with notches to match the shape of the workpiece, a base having the function of holding the workpiece using a chuck mechanism with multiple fingers, a base having the function of holding the workpiece by suction or adhesion, or a base having the function of adjusting the angle of the base using a rotary actuator.

[0136] In addition, each support part may be optimally designed for each workpiece, and may be made of a material with high slipperiness to reduce frictional resistance and improve the ability to pull in the workpiece.

[0137] [Modification 3 of the embodiment] In the above embodiment, the conversion table 5 has a plurality of support parts, but the present invention is not limited to this. For example, the robot system may have a plurality of conversion tables, and each of the plurality of conversion tables may have one or more support parts.

[0138] [Other variations] The present disclosure is not limited to the above-described embodiments, and many modifications of the embodiments are possible within the technical concept of the present disclosure. Furthermore, the effects described in the present embodiment are merely a list of the most preferable effects resulting from the embodiments of the present disclosure, and the effects of the embodiments of the present disclosure are not limited to those described in the present embodiment.

[0139] In the above embodiment, the robot arm is a vertically multi-jointed robot arm, but the present invention is not limited to this. The robot arm may be, for example, a horizontally multi-jointed robot arm, a parallel link robot arm, or an orthogonal robot. The present disclosure is also applicable to a machine that can automatically perform operations such as extension, contraction, bending, vertical movement, horizontal movement, or rotation, or a combination of these operations, based on information in a storage device provided in a control device.

[0140] (Other Examples) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0141] The disclosure of the above embodiments includes the following sections.

[0142] (Section 1) A robot capable of holding a workpiece; A plurality of support parts capable of supporting the workpiece in different postures; A control unit for controlling the robot, The control unit is a first process of causing the robot to hold the workpiece; A second process of causing the robot to change the grip of the workpiece using at least one support part from among the plurality of support parts is executable. A robot system comprising:

[0143] (Section 2) The control unit, in the second process, changes the posture of the workpiece relative to the robot by causing the robot to change the grip of the workpiece using the at least one support unit. 2. The robot system according to item 1,

[0144] (Section 3) When the control unit causes the robot to transfer the workpiece to one of the at least one support parts in the second process, the control unit causes the robot to release the workpiece and support the workpiece on the one support part, changes the posture of the robot, and causes the robot to hold the workpiece supported on the one support part again. 3. The robot system according to item 1 or 2,

[0145] (Section 4) The shapes of the plurality of support parts are different from each other. 4. The robot system according to any one of items 1 to 3,

[0146] (Section 5) Each of the plurality of support parts is shaped so that the workpiece is positioned by its own weight. 5. The robot system according to any one of items 1 to 4,

[0147] (Section 6) A placement section on which the workpiece is placed, The control unit is In the first process, the workpiece placed on the placement unit is held by the robot. 6. The robot system according to any one of items 1 to 5,

[0148] (Section 7) A sensor is provided for acquiring information on the position and posture of the workpiece placed on the placement section, The control unit acquires information on the position and posture of the workpiece based on the sensing result of the sensor. Item 7. The robot system according to item 6,

[0149] (Section 8) The sensor includes a camera. The control unit acquires information on the position and posture of the workpiece based on an image captured by the camera of the workpiece placed on the placement unit. Item 8. The robot system according to item 7, characterized in that:

[0150] (Section 9) The control unit selects the at least one support unit from among the plurality of support units based on the position and posture of the workpiece. Item 9. The robot system according to item 7 or 8,

[0151] (Section 10) The control unit plans an operation of the robot to temporarily place the workpiece on the at least one support unit based on the position and posture of the workpiece. Item 10. The robot system according to item 9, characterized in that:

[0152] (Section 11) the at least one support is two or more supports; The control unit causes the robot to transfer the workpiece to each of the two or more support units in a predetermined order. Item 11. The robot system according to item 10,

[0153] (Section 12) The control unit causes the robot to change the grip of the workpiece so that the posture of the workpiece with respect to the robot becomes a predetermined posture in the second process. 12. The robot system according to any one of items 1 to 11,

[0154] (Section 13) The control unit does not execute the second process when the posture of the workpiece held by the robot in the first process is the predetermined posture. Item 13. The robot system according to item 12,

[0155] (Section 14) One of the at least one support parts can support the workpiece in a position that allows the workpiece to be held in the predetermined position by the robot. 14. The robot system according to item 12 or 13,

[0156] (Section 15) the at least one support is two or more supports; One of the two or more support parts is a predetermined support part capable of supporting the workpiece in a posture that allows the robot to hold the workpiece in the predetermined posture, The control unit, in the second process, causes the robot to finally transfer the workpiece to the predetermined support unit among the two or more support units. 15. The robot system according to any one of items 12 to 14,

[0157] (Section 16) The predetermined support portion is a plane. Item 16. The robot system according to item 15,

[0158] (Section 17) The control unit, in the second process, moves the workpiece held by the robot in the predetermined posture relative to the robot. 17. The robot system according to any one of items 12 to 16,

[0159] (Section 18) The control unit, in the second process, causes the robot to move the workpiece and assemble the workpiece to another workpiece. Item 18. The robot system according to item 17,

[0160] (Section 19) The workpiece is provided with a plurality of support parts capable of supporting the workpiece in different postures. A platform characterized by the above.

[0161] (Section 20) A robot capable of holding a workpiece; A plurality of support parts capable of supporting the workpiece in different postures; A control method for a robot system including a control unit for controlling the robot, a first process in which the control unit causes the robot to hold the workpiece; and executing a second process in which the control unit causes the robot to change the grip of the workpiece using at least one support unit from among the plurality of support units. A method for controlling a robot system comprising:

[0162] (Section 21) Item 19. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot system according to any one of items 1 to 18.

[0163] (Section 22) Item 21. A program for causing a computer to execute the control method according to item 20.

[0164] (Section 23) Item 23. A computer-readable recording medium having the program according to item 22 recorded thereon. [Explanation of symbols]

[0165] 1... robot system, 5... conversion table (base), 51... support part, 52... support part, 53... support part, 100... robot, 300... control part

Claims

1. A robot capable of holding a workpiece; A plurality of support parts capable of supporting the workpiece in different postures; A control unit for controlling the robot, The control unit is a first process of causing the robot to hold the workpiece; A second process of causing the robot to change the grip of the workpiece using at least one support part from among the plurality of support parts is executable. A robot system comprising:

2. The control unit, in the second process, changes the posture of the workpiece relative to the robot by causing the robot to change the grip of the workpiece using the at least one support unit.

2. The robot system according to claim 1 .

3. When the control unit causes the robot to transfer the workpiece to one of the at least one support parts in the second process, the control unit causes the robot to release the workpiece and support the workpiece on the one support part, changes the posture of the robot, and causes the robot to hold the workpiece supported on the one support part again.

2. The robot system according to claim 1 .

4. The shapes of the plurality of support parts are different from each other.

2. The robot system according to claim 1 .

5. Each of the plurality of support parts is shaped so that the workpiece is positioned by its own weight.

2. The robot system according to claim 1 .

6. A placement section on which the workpiece is placed, The control unit is In the first process, the workpiece placed on the placement unit is held by the robot.

2. The robot system according to claim 1 .

7. A sensor is provided for acquiring information on the position and posture of the workpiece placed on the placement section, The control unit acquires information on the position and posture of the workpiece based on the sensing result of the sensor.

7. The robot system according to claim 6.

8. The sensor includes a camera. The control unit acquires information on the position and posture of the workpiece based on an image captured by the camera of the workpiece placed on the placement unit.

8. The robot system according to claim 7.

9. The control unit selects the at least one support unit from among the plurality of support units based on the position and posture of the workpiece.

8. The robot system according to claim 7.

10. The control unit plans an operation of the robot to temporarily place the workpiece on the at least one support unit based on a position and a posture of the workpiece. The robot system according to claim 9 .

11. the at least one support is two or more supports; The control unit causes the robot to transfer the workpiece to each of the two or more support units in a predetermined order. The robot system according to claim 10 .

12. The control unit causes the robot to change the grip of the workpiece so that the posture of the workpiece with respect to the robot becomes a predetermined posture in the second process.

2. The robot system according to claim 1 .

13. The control unit does not execute the second process when the posture of the workpiece held by the robot in the first process is the predetermined posture. The robot system according to claim 12 .

14. One of the at least one support parts can support the workpiece in a position that allows the workpiece to be held in the predetermined position by the robot. The robot system according to claim 12 .

15. the at least one support is two or more supports; one of the two or more support parts is a predetermined support part capable of supporting the workpiece in a posture that allows the workpiece to be held in the predetermined posture by the robot; The control unit, in the second process, causes the robot to finally transfer the workpiece to the predetermined support unit among the two or more support units. The robot system according to claim 12 .

16. The predetermined support portion is a plane. The robot system according to claim 15 .

17. The control unit, in the second process, moves the workpiece held by the robot in the predetermined posture relative to the robot. The robot system according to claim 12 .

18. The control unit, in the second process, causes the robot to move the workpiece and assemble the workpiece to another workpiece.

20. The robot system according to claim 17 .

19. The workpiece is provided with a plurality of support parts capable of supporting the workpiece in different postures. A platform characterized by the above.

20. A robot capable of holding a workpiece; A plurality of support parts capable of supporting the workpiece in different postures; A control method for a robot system including a control unit for controlling the robot, a first process in which the control unit causes the robot to hold the workpiece; and executing a second process in which the control unit causes the robot to change the grip of the workpiece using at least one support unit from among the plurality of support units. A method for controlling a robot system comprising:

21. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot system according to any one of claims 1 to 18;

22. A program for causing a computer to execute the control method according to claim 20.

23. A computer-readable recording medium having the program according to claim 22 recorded thereon.

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