Robot device

Abstract

To provide a robot device 1, which is configured to satisfactorily process a work-piece 2 which is large in build.SOLUTION: A robot device 1, which process a work-piece 2 while moving a processing tool 5 mounted on a robot 4 three-dimensionally, comprises site measuring means described below and processing condition correcting means. First, the site measuring means measures a state of a processing site 3 in the work-piece 2, while setting a position and an attitude of the work-piece 2, in making the processing tool 5 process the work-piece. The processing condition correcting means corrects an initial processing condition set preliminarily as a processing condition for processing the work-piece 2, on the basis of the state of the processing site 3 obtained by the site measuring means. The robot device 1 controls processing of the work-piece 2 on the basis of the processing condition corrected by the processing condition correcting means. This enables the robot device 1 to satisfactorily process the work-piece 2 which is large in build.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot apparatus that processes a workpiece while three-dimensionally moving a processing tool attached to a robot.

Background Art

[0002] Conventionally, in a robot apparatus as described above, it is known to operate the robot to perform processing with a processing tool while the position and orientation of the workpiece are determined (see, for example, Patent Document 1).

[0003] According to Patent Document 1, a roller hemming processing apparatus is disclosed that hems the periphery of a workpiece configured by stacking a plurality of metal plates, such as a door panel of an automobile, with a roller as a processing tool attached to a robot. And according to this processing apparatus, a lower die is installed in a predetermined processing space, the workpiece is placed on this lower die, and by operating the robot according to the processing conditions set by prior teaching, a large number of workpieces of the same type can be hemmed one by one.

[0004] In recent years, the demand for processing workpieces that are much larger in size than door panels with a robot apparatus has been increasing regardless of materials such as metal materials and resin materials. However, when processing such large-sized workpieces with a robot apparatus, the following problems occur due to the large size.

[0005] For example, in the manufacturing process of a railway vehicle bogie, a large metal structure in which various metal members are integrated by welding is used as a workpiece, and the excess metal at the welded part is removed by a face mill or the like. However, in such a workpiece, the amount of deformation due to welding distortion is large, so it is difficult to perform satisfactory processing even when operating the robot apparatus according to the processing conditions set by prior teaching.

[0006] In the manufacturing process of the deck and hull of a motorboat, large resin molded products mainly made of FRP are used as workpieces, and surplus materials are cut off using an end mill, circular saw, etc. However, in such workpieces, the amount of deformation due to thermal shrinkage is large, so even if the robot device is operated according to the processing conditions set by prior teaching, it is similarly difficult to perform satisfactory processing.

[0007] Also, for workpieces with a large size as described above, it is difficult to accurately determine the position and orientation for each piece, and often the position and orientation are roughly determined. For this reason, the position and orientation of the workpiece also vary greatly for each piece, making it even more difficult to perform processing with a robot device.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0009] The present disclosure has been made to solve the above problems, and its object is to enable satisfactory processing even for large-sized workpieces in a robot device.

Means for Solving the Problems

[0010] The robot device of the present disclosure processes a workpiece while three-dimensionally moving a processing tool attached to the robot, and includes the following part measurement means and processing condition correction means. First, the part measurement means measures the state of the processing part of the workpiece in a state where the position and orientation of the workpiece are determined during processing by the processing tool. Also, the processing condition correction means corrects the initial processing conditions set in advance as the processing conditions for processing the workpiece based on the state of the processing part obtained by the part measurement means. Then, the robot device controls the machining of the workpiece using the machining conditions after correction by the machining condition correction means. The robot device also includes the following overall measurement means and measurement condition correction means. First, the overall measurement means measures the position and orientation of the workpiece in a state where the position and orientation of the workpiece are determined during machining by the cutting tool. Further, the measurement condition correction means corrects the initial measurement conditions preset as the measurement conditions for measuring the state of the machining part by the part measurement means based on the position and orientation of the workpiece obtained by the overall measurement means. Then, the part measurement means measures the state of the machining part using the measurement conditions after correction by the measurement condition correction means. Furthermore, the robot device includes the following part detection means. That is, the part detection means is attached to the robot and moves three-dimensionally, generating a signal according to the state of the machining part. Then, the part measurement means measures the state of the machining part based on the signal generated by the part detection means. Also, the part measurement means generates a signal according to the profile of the cross-section of the workpiece while moving the part detection means along the movement locus after correction by the measurement condition correction means, and acquires information regarding the profile. The profile acquired by the part measurement means has a stepped edge. Then, the machining condition correction means corrects the movement locus of the cutting tool based on the stepped profile acquired by the part measurement means.

[0011] Thereby, according to the robot device of the present disclosure, it is possible to potentially solve the problem of enabling satisfactory machining even for workpieces with a large physical size.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

[0013] The robot device of the embodiment will be described based on the following examples.

Example

[0014] 〔Configuration of Reference Example 1〕 The configuration of the robot device 1 of Reference Example 1 will be described with reference to FIGS. 1 to 4. The robot device 1 of Reference Example 1 uses, for example, in the manufacturing process of a bogie of a railway vehicle, a large metal structure in which a plurality of cylindrical metal members are integrated by welding at a plurality of locations as the workpiece 2 (see Fig. 2), and uses a plurality of welding parts as the processing parts 3 to remove the excess metal at the welding parts by a face mill.

[0015] Here, the robot 4 is a well-known 6-axis vertical articulated type, and a face mill is attached to the tip as the processing tool 5. Further, the robot device 1 includes a control panel as the control unit 6 that controls the operations of the robot 4 and the processing tool 5. Then, the control unit 6 commands various actuators assembled to the robot 4 and the processing tool 5, and while rotating the face mill as the processing tool 5, removes the excess metal while moving three-dimensionally.

[0016] Further, the robot device 1 includes the following part measurement means and processing condition correction means as functions of the control unit 6. First, the part measurement means measures the state of the processing part 3 on the workpiece 2 in a state where the position and orientation of the workpiece 2 are determined during processing by the processing tool 5.

[0017] Also, the robot device 1 includes the following part detection means 7. That is, the part detection means 7 is, for example, attached to the tip of the robot 4 together with the processing tool 5 and moves three-dimensionally, and generates a signal according to the state of the processing part 3. Then, the part measurement means measures the state of the processing part 3 based on the signal generated by the part detection means 7.

[0018] As described above, the control unit 6 measures the state of the processing part 3 of the workpiece 2 whose position and orientation are determined by scanning the processing part 3 with the part detection means 7. More specifically, the control unit 6 operates while moving the part detection means 7 according to the movement locus of the initial measurement conditions described later, outputs a signal according to the shape of the welded part, and sequentially measures the shapes of a plurality of welded parts.

[0019] Incidentally, the part detection means 7 is, for example, a well-known two-dimensional laser displacement meter. Then, the part detection means 7 generates a signal corresponding to the profile of the welded part for each cross-section perpendicular to the moving direction by moving while irradiating a linear laser beam toward the welded part (see Fig. 3).

[0020] Also, a mounting plate 9 is attached to the tip of the robot 4, and the processing tool 5 and the part detection means 7 are attached to the surface of the mounting plate 9 on the side opposite to the robot 4. Furthermore, according to the robot device 1 of Reference Example 1, a large number of workpieces 2 are processed one by one, but in a specific processing space 10, the position and posture are accurately determined before each processing. Therefore, the variation in the position and posture for each workpiece 2 is extremely small.

[0021] Here, the part measurement means measures the state of the processing part 3 according to the initial measurement conditions preset as the measurement conditions for measuring the state of the processing part 3. For example, the control unit 6 measures the state of the processing part 3 while moving the part detection means 7 according to the movement trajectory set under the initial measurement conditions (see Fig. 3).

[0022] Incidentally, the movement trajectory of the part detection means 7 under the initial measurement conditions is set based on the following premises, for example. That is, the normal position where the workpiece 2 should be placed when processing with the processing tool 5 and the normal posture that the workpiece 2 should assume are set. And the deviation of the position and posture of the workpiece 2 at the time of measurement from their respective normal positions and normal postures is within a predetermined range. Also, the variation in the shape and dimensions of the workpiece 2 is within a predetermined range. Based on such premises, the movement trajectory of the part detection means 7 under the initial measurement conditions is set.

[0023] For such a premise, since the position and orientation of the workpiece 2 in Reference Example 1 are accurately determined before processing, the control unit 6 can measure the state of the processing site 3 with high precision by moving the site detection means 7 according to the movement trajectory under the initial measurement conditions.

[0024] Next, the processing condition correction means corrects the initial processing conditions set in advance as the processing conditions for processing the workpiece 2 based on the state of the processing site 3 obtained by the site measurement means. Then, the control unit 6 controls the processing of the workpiece 2 using the processing conditions corrected by the processing condition correction means.

[0025] More specifically, the control unit 6 corrects, for example, the movement trajectory of the processing tool 5 based on the shape of the welded part obtained by the site measurement means by means of the function of the processing condition correction means. Then, the control unit 6 removes the excess metal of the welded part while moving the processing tool 5 according to the movement trajectory corrected by the processing condition correction means.

[0026] Here, the movement trajectory of the processing tool 5 under the initial processing conditions is set based on, for example, the following premises, similar to the movement trajectory of the site detection means 7 under the initial measurement conditions. That is, the normal positions of the position and orientation of the workpiece 2 during processing, and the deviations from the normal orientation are within a predetermined range. Also, the variations in the shape and dimensions of the workpiece 2 are within a predetermined range. Based on such a premise, the movement trajectory of the processing tool 5 under the initial processing conditions is set.

[0027] For such a premise, the workpiece 2 in Reference Example 1 has its position and orientation accurately determined before processing, but in the processing site 3, the deformation due to welding distortion is large. Therefore, even if the processing tool 5 is moved according to the movement trajectory under the initial processing conditions, it is difficult to perform satisfactory processing. In contrast, the control unit 6 can obtain a movement trajectory that conforms to the actual shape of the welded part by correcting the movement trajectory based on the shape of the welded part obtained by the site measurement means, and can appropriately move the processing tool 5 with respect to the actual shape of the welded part to perform satisfactory processing.

[0028] 〔Control method of Reference Example 1〕 The control method of Reference Example 1 will be described with reference to the flowchart of FIG. 5. Note that the flowchart of FIG. 5 starts when the position and orientation of the workpiece 2 are determined in the processing space 10. First, in step S1, the part measurement means is executed. In step S1, the control unit 6 operates the part detection means 7 while moving it according to the movement locus of the initial measurement conditions, outputs a signal according to the shape of the welding part, and sequentially measures the shapes of a plurality of welding parts.

[0029] Next, in step S2, the processing condition correction means is executed. In step S2, the control unit 6 corrects, for example, the movement locus of the tool 5, which is one of the processing conditions, based on the shape of the welding part obtained by the part measurement means. Then, in step S3, processing is performed. In step S3, the control unit 6 sequentially removes the surplus material in each of the plurality of welding parts while moving the tool 5 according to the movement locus corrected by the processing condition correction means.

[0030] 〔Effect of Reference Example 1〕 The robot device 1 of Reference Example 1 processes the workpiece 2 while three-dimensionally moving the tool 5 attached to the robot 4, and includes the following part measurement means and processing condition correction means. First, the part measurement means measures the state of the processing part 3 on the workpiece 2 in a state where the position and orientation of the workpiece 2 are determined during processing by the tool 5. Further, the processing condition correction means corrects the initial processing conditions set in advance as the processing conditions for processing the workpiece 2 based on the state of the processing part 3 obtained by the part measurement means. Then, the robot device 1 controls the processing of the workpiece 2 using the processing conditions corrected by the processing condition correction means.

[0031] Although the workpiece 2 of Reference Example 1 is large in size, its position and orientation can be accurately determined before processing. However, at the processing site 3, the deformation due to welding distortion is large. Therefore, even if the cutting tool 5 is moved according to the movement trajectory under the initial processing conditions, it is difficult to perform satisfactory processing due to the large size of the workpiece 2 itself. In contrast, based on the state of the processing site 3 obtained by the site measurement means, by modifying the movement trajectory, a movement trajectory that conforms to the actual state of the processing site 3 can be obtained, and by appropriately moving the cutting tool 5 with respect to the actual state of the processing site 3, satisfactory processing can be performed.

[0032] Also, the robot device 1 of Reference Example 1 includes the following site detection means 7. That is, the site detection means 7 is attached to the robot 4 and moves three-dimensionally, generating a signal according to the state of the processing site 3. And the site measurement means measures the state of the processing site 3 based on the signal generated by the site detection means 7. Thereby, by selecting the site detection means 7 according to the state of the processing site 3, the required measurement accuracy, etc., the measurement by the site measurement means can be appropriately performed.

[0033] Specifically, in Reference Example 1, as the site detection means 7, a two-dimensional laser displacement meter is adopted, and while irradiating a linear laser beam toward the welded part and moving it, signals corresponding to the profile of the welded part are generated for each cross-section perpendicular to the moving direction. Thereby, the control unit 6 can appropriately acquire the information necessary to grasp the shape of the welded part.

[0034] 〔Configuration of Reference Example 2〕 The robot device 1 of Reference Example 2 will be described with reference to FIGS. 6 to 11, centering on the differences from Reference Example 1. The robot device 1 of Reference Example 2, for example, in the manufacturing process of the deck or hull of a motorboat, uses a large resin molded product made of FRP as the workpiece 2 and cuts off the surplus material with a circular saw.

[0035] More specifically, for example, in the robot device 1 of Reference Example 2, a large resin molded product that is the main body of the hull is used as the workpiece 2, and further, with the vicinity of the upper end of the resin molded product as the processing site 3, the surplus material generated circumferentially so as to extend upward at the upper end is cut by a circular saw (see FIGS. 6 and 7). Note that, also in the robot device 1 of Reference Example 2, a large number of workpieces 2 are processed by determining their positions and postures in the processing space 10 one by one.

[0036] Moreover, according to the robot device 1 of Reference Example 2, since a workpiece 2 larger than that of Reference Example 1 is processed, the robot 4 is provided so as to be movable in one axial direction parallel to the horizontal plane, and the movable range is widened. Specifically, the robot device 1 includes the following moving means 12 (see FIGS. 8 and 9). That is, the moving means 12 freely moves the robot 4 in one direction parallel to the horizontal plane, and has a well-known configuration including a traveling path 13 of the robot 4 and an actuator 14 that drives the robot 4.

[0037] Furthermore, according to the robot device 1 of Reference Example 2, since the workpiece 2 is difficult to be directly carried into the processing space 10 due to its own size, each workpiece is lifted by, for example, a crane and placed on a predetermined cart 15, and then carried into the processing space 10 together with the cart 15 (see FIG. 8). Also, the workpiece 2 is carried into the processing space 10 such that the orientation in the longitudinal direction of the workpiece 2 substantially coincides with, for example, the movable direction of the robot 4.

[0038] Also, a circular saw is attached to the tip of the robot 4 as the processing tool 5. Then, the control unit 6 commands various actuators assembled to the robot 4, the processing tool 5, and the moving means 12, and while rotating the circular saw as the processing tool 5, cuts the surplus material while moving three-dimensionally.

[0039] By the way, since the workpiece 2 of Reference Example 2 is a large resin molded product, the deformation due to thermal shrinkage is large. Therefore, similar to the robot device 1 of Reference Example 1, it is necessary to correct the initial processing conditions by the part measurement means and the processing condition correction means.

[0040] In addition, the workpiece 2 in Reference Example 2 is larger than the workpiece 2 in Reference Example 1 and is deformed more greatly as a whole. Moreover, not only is the placement of the workpiece 2 on the carriage 15 rough, but there is also no positioning means for the carriage 15 in the machining space 10. Therefore, in Reference Example 2, since the position and posture of the workpiece 2 in the machining space 10 are roughly determined in the first place, the variation in the position and posture for each workpiece 2 is also large.

[0041] For this reason, even if an attempt is made to measure the state of the machining part 3 according to the above initial measurement conditions, it is difficult to measure satisfactorily. Therefore, the robot device 1 in Reference Example 2, as a function of the control unit 6, in addition to the part measurement means and machining condition correction means similar to those in Reference Example 1, is provided with the following overall measurement means and measurement condition correction means.

[0042] First, the overall measurement means measures the position and inclination of the workpiece 2 set at the machining position. In addition, the robot device 1 is provided with the following overall detection means 16 (see FIG. 8). That is, the overall detection means 16 is, for example, attached to the robot 4 and moves three-dimensionally to generate a signal according to the position and inclination of the workpiece 2. Then, the overall measurement means measures the position and inclination of the workpiece 2 based on the signal generated by the overall detection means 16.

[0043] Furthermore, the overall measurement means measures the position and posture of the workpiece 2 by three-point measurement. Here, the overall measurement means detects the positions of three points, for example, the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13, within the machining part 3 of the workpiece 2 based on the signal generated by the overall detection means 16, thereby measuring the position and inclination of the workpiece 2 (see FIG. 6).

[0044] The overall detection means 16 is, for example, a well-known one-dimensional laser displacement meter, and is mounted on the tip of the robot 4 together with the machining tool 5 and the part detection means 7. Then, the overall detection means 16 irradiates the periphery of the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13 of the machining part 3 of the workpiece 2 with dot-like laser light to generate signals corresponding to their respective positions.

[0045] Next, the measurement condition correction means corrects the initial measurement conditions based on the position and inclination of the workpiece 2 obtained by the overall measurement means. Then, the part measurement means measures the state of the machining part 3 using the measurement conditions corrected by the measurement condition correction means. Note that the part detection means 7 in Reference Example 2 is also a two-dimensional laser displacement meter similar to that in Reference Example 1. Then, the part detection means 7 irradiates the upper end of the workpiece 2 with linear laser light while moving (see FIG. 10), and generates signals corresponding to the profile of the surplus material for each cross section perpendicular to the moving direction.

[0046] As described above, the control unit 6 can obtain measurement conditions that conform to the actual position and inclination of the workpiece 2, and can appropriately operate the robot 4, the part detection means 7, and the moving means 12 with respect to the actual position and inclination of the workpiece 2 to perform satisfactory measurement. Then, based on the state of the machining part 3 thus obtained, that is, the shape of the surplus material, the machining condition correction means corrects, for example, the movement trajectory of the machining tool 5. Then, the control unit 6 removes the surplus material while moving the machining tool 5 according to the movement trajectory corrected by the machining condition correction means (see FIG. 11).

[0047] 〔Control Method of Reference Example 2〕 The control method of Reference Example 2 will be described with reference to the flowchart of FIG. 12. Note that the flowchart of FIG. 12 starts when the workpiece 2 is carried into the machining space 10 and stops. First, in step S11, the overall measurement means is executed. In step S11, the control unit 6 operates the overall detection means 16 to detect three points, namely, the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13, within the upper edge of the workpiece 2, thereby measuring the position and inclination of the workpiece 2 by three-point measurement.

[0048] Next, in step S12, the measurement condition correction means is executed. In step S12, the control unit 6 corrects, for example, the movement locus of the part detection means 7, which is one of the measurement conditions, based on the position and inclination of the workpiece 2 obtained by the overall measurement means. Next, in step S13, the part measurement means is executed. In step S13, the control unit 6 operates while moving the part detection means 7 according to the movement locus corrected by the measurement condition correction means to output a signal corresponding to the shape of the surplus material, and measures the shape of the surplus material.

[0049] Next, in step S14, the processing condition correction means is executed. In step S14, the control unit 6 corrects, for example, the movement locus of the cutting tool 5, which is one of the processing conditions, based on the shape of the surplus material obtained by the part measurement means. Then, in step S15, processing is performed. In step S15, the control unit 6 moves the cutting tool 5 according to the movement locus after correction by the processing condition correction means, and cuts off the surplus material.

[0050] 〔Effect of Reference Example 2〕 The robot device 1 of Reference Example 2 includes the following overall measurement means and measurement condition correction means. First, the overall measurement means measures the position and posture of the workpiece 2 in a state where the position and posture of the workpiece 2 are determined during machining by the cutting tool 5. Further, the measurement condition correction means corrects the initially set measurement conditions based on the position and posture of the workpiece 2 obtained by the overall measurement means. Then, the part measurement means measures the state of the machining part 3 using the measurement conditions after correction by the measurement condition correction means.

[0051] Accordingly, even when the position and orientation of the workpiece 2 are roughly determined, the machining part 3 of the workpiece 2 can be satisfactorily measured. Therefore, for a large workpiece 2, even when the position and orientation are roughly determined, the machining conditions can be appropriately corrected, so that satisfactory machining can be performed.

[0052] Further, according to the robot device 1 of Reference Example 2, the overall measurement means measures the position and inclination of the workpiece 2 by three-point measurement. Thereby, the position and inclination of the workpiece 2 can be measured simply and with high precision.

[0053] Furthermore, the robot device 1 of Reference Example 2 includes the following overall detection means 16. That is, the overall detection means 16 is attached to the robot 4 and moves three-dimensionally, and generates a signal according to the position and inclination of the workpiece 2. Then, the overall measurement means measures the position and inclination of the workpiece 2 based on the signal generated by the overall detection means 16. Thereby, by selecting the overall detection means 16 according to the overall shape of the workpiece 2, the required measurement accuracy, etc., the measurement by the overall measurement means can be appropriately performed.

[0054] Specifically, in Reference Example 2, as the overall detection means 16, a one-dimensional laser displacement meter is adopted, and dot-like laser light is irradiated to the peripheries of the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13 among the machining parts 3, respectively, to generate signals according to the respective positions. Thereby, the control unit 6 can appropriately acquire the information necessary for three-point measurement in the measurement of the position and inclination of the workpiece 2.

[0055] 〔Example〕 The robot device 1 of the example will be described with reference to FIGS. 13 to 15, centering on the differences from Reference Example 2. The robot device 1 of the example performs a machining process of drilling a hole 18 in the workpiece 2, using an end mill as the machining tool 5 and a resin molded product as the main body of the hull as the workpiece 2 in the manufacturing process of the hull of a motorboat.

[0056] Here, the hole 18 is provided in a substantially square plane 19 located near the front inside of the workpiece 2 and at the center in the left - right direction in plan view (see FIG. 13). Further, three sides, i.e., the front and both side - ways of the plane 19 are surrounded by raised steps 20a, 20b, 20c on the upper side respectively, and the rear forms a step 20d that sinks downward and stands upright. Note that the shape of the hole 18 is rectangular, and the dimensions are La and Lb for the lengths in the front - rear direction and the left - right direction respectively.

[0057] For such a plane 19, the control unit 6 causes the part detection means 7 to generate signals as follows in the part measurement means to grasp the position of the plane 19. That is, the part detection means 7 irradiates linear laser light toward the plane 19 so as to include the front and rear steps 20a, 20d, and generates a signal according to the profile of the cross - section perpendicular to the left - right direction including the steps 20a, 20d and the plane 19 (see FIG. 14). Further, the part detection means 7 irradiates linear laser light toward the plane 19 so as to include the left and right steps 20b, 20c, and generates a signal according to the profile of the cross - section perpendicular to the front - rear direction including the steps 20b, 20c and the plane 19 (see FIG. 15).

[0058] Then, the control unit 6 grasps the position of the plane 19 based on these signals and corrects the movement locus of the cutting tool 5. Specifically, the movement locus of the cutting tool 5 is corrected so that lines that are La / 2 forward, backward from the middle of the distance Lc between the steps 20a, 20d, and Lb / 2 leftward, rightward from the middle of the distance Ld between the steps 20b, 20c become the opening edges of the hole 18.

[0059] 〔Modification Example〕 The embodiment discloses specific examples, and it goes without saying that the present invention is not limited to the embodiment. For example, according to the robot device 1 of the embodiment, the part detection means 7 is a two-dimensional laser displacement meter, and the overall detection means 16 is a one-dimensional laser displacement meter. However, the part detection means 7 and the overall detection means 16 are not limited to such a mode. For example, a camera may be adopted as the part detection means 7 and the overall detection means 16, and measurement by the part measurement means and the overall measurement means may be executed based on the image information acquired by the camera.

[0060] Furthermore, in the embodiment, the two-dimensional laser displacement meter as the part detection means 7 and the one-dimensional laser displacement meter as the overall detection means 16 were individually mounted on the robot 4. However, for example, only the two-dimensional laser displacement meter may be mounted on the robot 4 to function as the part detection means 7 and the overall detection means 16.

[0061] 1 Robot device 2 Workpiece 3 Processing part 4 Robot 5 Tool 6 Control unit (part measurement means, processing condition correction means, overall measurement means, measurement condition correction means) 7 Part detection means

Claims

1. A robot device that processes a workpiece while moving a processing tool attached to the robot in three dimensions, a part measuring means for measuring a state of a processed part of the workpiece while a position and a posture of the workpiece are determined during processing by the processing tool; a machining condition correction means for correcting an initial machining condition previously set as a machining condition for machining the workpiece, based on a state of the machined portion obtained by the portion measurement means; Controlling the machining of the workpiece using the machining conditions corrected by the machining condition correction means; Moreover, the robot device an overall measuring means for measuring a position and a posture of the workpiece while the position and the posture of the workpiece are determined during processing by the processing tool; a measurement condition correction means for correcting an initial measurement condition that is set in advance as a measurement condition for measuring the state of the processed portion by the portion measurement means, based on the position and orientation of the workpiece obtained by the overall measurement means, the portion measuring means measures a state of the processed portion using the measurement conditions corrected by the measurement condition correcting means, Furthermore, the robot device a part detection means that is attached to the robot and moves three-dimensionally to generate a signal corresponding to a state of the processed part, The part measuring means measures the state of the processed part based on the signal generated by the part detecting means, The part measurement means moves the part detection means along the movement trajectory corrected by the measurement condition correction means, generates a signal corresponding to a profile of the cross section of the workpiece, and acquires information about the profile; The profile acquired by the part measurement means has abrupt steps, The robot device is characterized in that the processing condition correction means corrects a movement trajectory of the processing tool based on the steep step profile acquired by the part measurement means.

2. 2. The robot device according to claim 1, The robot apparatus is characterized in that the overall measuring means measures the position and orientation of the workpiece by three-point measurement.

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