Work method and robot system

Abstract

To provide a work method and a robot system by which it is possible to carry out a highly accurate work.SOLUTION: A work method is one which uses a robot including a work tool, a contact part, and a force sensor. By copy control designed to move the work tool while bringing the contact part into contact with a guide part, the robot is driven to cause the work tool on the move to carry out a work. The work tool is moved while pressing the contact part against the guide part by a predetermined force.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a working method and a robot system.

Background Art

[0002] The printing system described in Patent Document 1 moves a robot equipped with a print head attached to its tip, and performs printing on an object by discharging ink toward the object. Further, the printing system includes a rotation angle sensor for detecting the actual position of the print head, and a piezo actuator disposed between the print head and correcting the position of the print head based on the actual position of the print head. In this way, by correcting the position of the print head based on the actual position of the print head, printing without a strip (gap) is realized.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a printing system having such a configuration, vibration or undulation of the print head may occur during printing, and the print quality may deteriorate.

Means for Solving the Problems

[0005] The working method of the present invention is a working method using a robot including a working tool, a contact portion, and a force sensor, driving the robot by following control to move the working tool while bringing the contact portion into contact with a guide portion, and causing the working tool to perform work during the movement.

[0006] The robot system of the present invention includes a robot equipped with a working tool, a contact portion, and a force sensor, a guide portion that contacts the contact portion, and a control device that controls the driving of the robot, The control device drives the robot by following control that moves the working tool while contacting the contact portion with the guide portion, and causes the working tool to perform work during the movement.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0008] Hereinafter, the working method and robot system of the present invention will be described in detail based on the embodiments shown in the accompanying drawings.

[0009] <First Embodiment> FIG. 1 is an overall view of a robot system according to the first embodiment. FIGS. 2 to 4 are diagrams for explaining the procedure of a printing operation. In each figure, an X-axis, a Y-axis, and a Z-axis, which are three axes orthogonal to each other, are illustrated. Further, hereinafter, for convenience of explanation, the direction along the X-axis is also referred to as the X-axis direction, the direction along the Y-axis is also referred to as the Y-axis direction, and the direction along the Z-axis is also referred to as the Z-axis direction.

[0010] The robot system 1 shown in FIG. 1 is applied to, for example, a printing system that performs printing on an object W. The robot system 1 includes a robot 2 that performs printing on the object W, a control device 9 that controls the driving of the robot 2, and a guide device 8 that guides the movement of the robot 2. Further, the robot 2 includes a robot body 3, a print head 4 as a working tool disposed on the robot body 3, a contact portion 5, and a force sensor 6.

[0011] In such a robot system 1, the print head 4 is moved while the contact portion 5 is brought into contact with a guide member 81 of the guide device 8 by driving the robot body 3, and further, ink I is ejected from the print head 4 at a predetermined timing during the movement of the print head 4 to perform a printing operation on the object W. In this way, by moving the print head 4 while bringing it into contact with the guide member 81, vibrations and undulations of the moving print head 4 can be effectively suppressed. Therefore, high printing quality can be exhibited.

[0012] Note that the “vibration” means a vibration with a relatively high frequency, and the “undulation” means a vibration with a relatively low frequency. Hereinafter, these are also simply referred to as “vibration”. Hereinafter, the robot system 1 will be described in detail.

[0013] ≪Robot body 3≫ As shown in Fig. 1, the robot body 3 is a six-axis vertical articulated robot having six drive axes, and includes a base 31 fixed to a mounting table, a floor, etc., and a robot arm 32 rotatably connected to the base 31. Further, the robot arm 32 has a configuration in which six arms 321, 322, 323, 324, 325, and 326 are rotatably connected in this order from the base 31 side, and includes six joints J1, J2, J3, J4, J5, and J6. Specifically, the arm 321 is rotatably connected to the base 31 via the joint J1. The arm 322 is rotatably connected to the arm 321 via the joint J2. The arm 323 is rotatably connected to the arm 322 via the joint J3. The arm 324 is rotatably connected to the arm 323 via the joint J4. The arm 325 is rotatably connected to the arm 324 via the joint J5. The arm 326 is rotatably connected to the arm 325 via the joint J6.

[0014] Among the joints J1 to J6, the joints J2, J3, and J5 are bending joints, respectively, and the joints J1, J4, and J6 are torsion joints, respectively. Although not shown, a drive mechanism including a motor, a speed reducer that decelerates the rotation of the motor and increases the rotational force (torque) for output, and an encoder that detects the amount of rotation of the joint is installed at each of the joints J1, J2, J3, J4, J5, and J6. By moving each of the joints J1, J2, J3, J4, J5, and J6 independently, the print head 4 disposed at the tip of the robot arm 32 can be moved in a desired direction at a desired posture and speed.

[0015] However, the configuration of the robot body 3 is not particularly limited. For example, the number of arms included in the robot arm 32 is not limited to six. Further, the robot body 3 may be a dual-arm robot, a horizontal articulated robot (scalar robot), etc. Further, the robot body 3 may not be fixed to a mounting table, a floor, etc., and may be capable of self-running.

[0016] <<Force sensor 6>> As shown in FIG. 1, the force sensor 6 is disposed at the tip of the robot arm 32, that is, on the arm 326. The force sensor 6 has three detection axes orthogonal to each other, and can independently detect the translational force (axial force) along each detection axis and the rotational force (torque) around each detection axis. In the robot system 1, the force sensor 6 is used to detect the contact between the contact portion 5 and the guide device 8. Thereby, the contact between the contact portion 5 and the guide device 8 can be accurately detected. Note that the configuration of the force sensor 6 is not particularly limited as long as it can detect the contact between the contact portion 5 and the guide device 8.

[0017] ≪Contact portion 5≫ As shown in FIG. 1, the contact portion 5 is disposed on the arm 326 via the force sensor 6. The contact portion 5 is rod-shaped and extends in a direction orthogonal to the rotation axis of the arm 326 (the axis of the joint J6). In this way, by making the contact portion 5 rod-shaped, the configuration of the contact portion 5 becomes simple and it becomes easy to bring the contact portion 5 into contact with the guide device 8. Further, the contact portion 5 is configured such that its tip contacts the guide device 8, and the tip portion is rounded. Thereby, the contact area with the guide device 8 can be reduced, and the frictional resistance with the guide device 8 can be suppressed. Therefore, the slidability of the contact portion 5 with respect to the guide device 8 is enhanced, and the contact portion 5 can be smoothly moved with respect to the guide device 8. However, the configuration of the contact portion 5 is not particularly limited, and for example, it may have a shape that is bent or curved in the middle. Also, the tip portion may be tapered and pointed.

[0018] The constituent material of the contact portion 5 is not particularly limited, but in this embodiment, it is made of various ceramic materials such as alumina, for example. Thereby, the contact portion 5 becomes sufficiently hard and difficult to deform. Furthermore, the frictional resistance with the guide device 8 can also be reduced.

[0019] ≪Printing head 4≫ As shown in FIG. 1, the print head 4 is disposed on the arm 326 via a fixture 40. Further, the print head 4 is disposed eccentrically with respect to the rotation axis of the arm 326 (the axis of the joint J6), and is arranged side by side with the force sensor 6 along a direction orthogonal to the rotation axis of the arm 326. Such a print head 4 is not particularly limited, but in this embodiment, a piezo-driven inkjet head is used. The piezo-driven inkjet head has an ink chamber, a diaphragm that forms a part of the wall surface of the ink chamber, a piezo element that vibrates the diaphragm, and a nozzle connected to the ink chamber. In such a configuration, when a voltage is applied to the piezo element to vibrate the piezo element, the diaphragm vibrates and the ink I in the ink chamber is ejected from the nozzle.

[0020] Further, a plurality of nozzles 41 are formed on the tip surface of the print head 4 along the extending direction of the contact portion 5. Then, the ink I is ejected from each nozzle 41 in the direction along the rotation axis of the arm 326. That is, the ejection direction of the ink I from each nozzle 41 is orthogonal to the extending direction of the contact portion 5. Thereby, during the printing operation, the contact portion 5 and the guide member 81 that contacts the contact portion 5 are less likely to get in the way, and the printing operation can be performed smoothly. Also, the same color ink I, for example, black ink I is ejected from each nozzle 41. Then, while moving the print head 4 in a direction orthogonal to the direction in which the plurality of nozzles 41 are arranged, the ink I is ejected from each nozzle 41 at a predetermined timing and landed on the object W, whereby a predetermined print pattern is printed on the object W. In this way, by having a plurality of nozzles 41, the printing range per scan of the print head 4 is widened, and the printing operation can be performed efficiently.

[0021] However, the configuration of the print head 4 is not particularly limited. For example, the number and arrangement of the nozzles 41, the color of the ink I ejected from the nozzles 41, etc. are not particularly limited. For example, it may be a print head 4 having nozzles 41 for ejecting cyan ink I, nozzles 41 for ejecting magenta ink I, nozzles 41 for ejecting yellow ink I, and nozzles 41 for ejecting black ink I, and capable of full-color printing in the CMYK color model. In this case, the nozzles 41 of each color may be arranged side by side in the moving direction of the print head 4.

[0022] Also, the configuration of the print head 4 is not limited to the above-described piezo-driven inkjet head. For example, it may be an inkjet head such as a thermal method using the film boiling phenomenon of the ink I, a bubble ejection method that generates bubbles in the ink I by applying heat and ejects the ink I, or an electrostatic actuator method that displaces and vibrates a diaphragm by electrostatic force to eject the ink I.

[0023] ≪Guide device 8≫ As shown in FIG. 1, the guide device 8 has a guide member 81 that contacts the contact portion 5 and a moving mechanism 82 that displaces the guide member 81 with respect to the object W.

[0024] The moving mechanism 82 has an X moving portion 821 that is movable in the X-axis direction with respect to the stage ST on which the object W is disposed, a Y moving portion 822 that is movable in the Y-axis direction with respect to the X moving portion 821, a Z moving portion 823 that is movable in the Z-axis direction with respect to the Y moving portion 822, and a θ moving portion 824 that is rotatable about the Z-axis with respect to the Z moving portion 823.

[0025] Furthermore, although not shown, the moving mechanism 82 includes an X moving mechanism that moves an X moving part 821 in the X-axis direction with respect to the stage ST and holds the position after movement, a Y moving mechanism that moves a Y moving part 822 in the Y-axis direction with respect to the X moving part 821 and holds the position after movement, a Z moving mechanism that moves a Z moving part 823 in the Z-axis direction with respect to the Y moving part 822 and holds the position after movement, and a θ moving mechanism that rotates a θ moving part 824 around the Z axis with respect to the Z moving part 823 and holds the position after rotation. The X moving mechanism, Y moving mechanism, Z moving mechanism, and θ moving mechanism each include a piezoelectric actuator that is driven by utilizing the expansion and contraction of a piezoelectric element by energization, and the vibration of the piezoelectric actuator is transmitted to the X moving part 821, Y moving part 822, Z moving part 823, and θ moving part 824 to move them.

[0026] However, the configuration of the moving mechanism 82 is not particularly limited as long as the guide member 81 can be moved.

[0027] The side surface of the guide member 81 serves as a guide portion 810 that abuts against the abutting portion 5. The guide portion 810 is composed of a flat surface orthogonal to the X-Y plane. Note that the constituent material of the guide member 81 is not particularly limited, but in this embodiment, for example, it is composed of various ceramic materials such as alumina. Thereby, the guide member 81 becomes sufficiently hard and difficult to deform. Furthermore, the frictional resistance with the abutting portion 5 can also be reduced.

[0028] ≪Control Device 9≫ As shown in FIG. 1, the control device 9 is electrically connected to the robot 2 and the guide device 8, and controls the driving of each part of the robot 2 and the guide device 8 independently or in conjunction. The control device 9 is composed of, for example, a computer, and includes a processor (CPU) that processes information, a memory communicably connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the programs stored in the memory.

[0029] The configuration of the robot system 1 has been described above. Next, a working method using the robot system 1 will be described. As described above, since the robot system 1 is applied to a printing system, the working method of this embodiment is a printing method. In the working method using the robot system 1, the control device 9 drives the robot 2 by following control in which the printing head 4 is moved while the contact portion 5 is brought into contact with the guide portion 810, and causes a predetermined operation, that is, a printing operation, to be performed on the moving printing head 4.

[0030] Specifically, first, as shown in FIG. 2, the control device 9 drives the moving mechanism 82 to set the object W and the guide member 81 in a predetermined relative positional relationship. In the illustrated example, the guide portion 810 of the guide member 81 is orthogonal to the X axis. Next, as shown in FIG. 3, the control device 9 drives the robot arm 32 to adjust the posture of the printing head 4 so that the plurality of nozzles 41 are arranged in the X-axis direction, and brings the tip of the contact portion 5 into contact with the guide portion 810 from the X-axis direction. That is, the tip of the contact portion 5 is brought into contact with the guide portion 810 in a posture orthogonal to the guide portion 810.

[0031] Then, as shown in FIG. 4, while maintaining the state in which the contact portion 5 is in contact with the guide portion 810, the control device 9 moves the printing head 4 along the Y axis at a predetermined speed by sliding the contact portion 5 with respect to the guide portion 810. As described above, since the guide portion 810 is a flat surface, the printing head 4 can be moved straight in the Y-axis direction. Further, while the printing head 4 is moving, the control device 9 discharges the ink I toward the object W from each nozzle 41 of the printing head 4 at a predetermined timing. Thereby, printing for one scan is performed. The control device 9 performs printing on the object W by repeating such positioning of the guide member 81 and the movement of the printing head 4 along the guide portion 810 at least once or more.

[0032] According to such a working method, during the printing operation, since the contact portion 5 is kept in contact with the guide portion 810, the vibration of the print head 4 in the X-axis direction, which is the pressing direction of the contact portion 5 against the guide portion 810, is effectively suppressed. Therefore, high printing quality can be achieved.

[0033] In addition, when moving the print head 4, it is preferable that the control device 9 feeds back the force detected by the force sensor 6 and moves the print head 4 while pressing the guide portion 810 with a predetermined force by the contact portion 5. Thereby, the contact portion 5 can be kept in contact with the guide portion 810 with an appropriate force, and the vibration of the moving print head 4 can be more effectively suppressed.

[0034] As described above, the working method using the robot system 1 has been explained. Such a working method using the robot system 1 is a working method using the robot 2 provided with the print head 4, the contact portion 5, and the force sensor 6, which are working tools. The robot 2 is driven by a follow-up control that moves the print head 4 while the contact portion 5 is in contact with the guide portion 810, and the moving print head 4 is made to perform an operation, that is, printing on the object W. According to such a working method, during the printing operation, since the contact portion 5 is kept in contact with the guide portion 810, the vibration of the print head 4 in the X-axis direction, which is the pressing direction of the contact portion 5 against the guide portion 810, is effectively suppressed. Therefore, excellent workability, that is, high printing quality can be achieved.

[0035] Also, as described above, in the working method using the robot system 1, the print head 4 is moved while pressing the guide portion 810 with a predetermined force by the contact portion 5. Thereby, the contact portion 5 can be kept in contact with the guide portion 810 with an appropriate force.

[0036] Also, as described above, the guide portion 810 is a plane. Thereby, the print head 4 can be moved straight.

[0037] Also, as described above, the abutting portion 5 is rod-shaped. This simplifies the configuration of the abutting portion 5.

[0038] Also, as described above, the tip of the abutting portion 5 is brought into contact with the guide portion 810. This makes it easier to bring the abutting portion 5 into contact with the guide portion 810.

[0039] Also, as described above, the working tool is the print head 4. Then, while moving the print head 4 while bringing the abutting portion 5 into contact with the guide portion 810, ink I is ejected from the print head 4 at a predetermined timing to print on the object W. By applying the working method to the printing operation in this way, high printing quality can be exhibited.

[0040] Also, as described above, the robot system 1 includes a robot 2 having a print head 4 as a working tool, an abutting portion 5, and a force sensor 6, a guide portion 810 for bringing the abutting portion 5 into contact, and a control device 9 for controlling the drive of the robot 2. Then, the control device 9 drives the robot 2 by following control that moves the print head 4 while bringing the abutting portion 5 into contact with the guide portion 810, and causes the moving print head 4 to perform work, that is, printing on the object W. According to such a configuration, since the state where the abutting portion 5 is in contact with the guide portion 810 is maintained during the printing operation, vibration of the print head 4 in the X-axis direction, which is the pressing direction of the abutting portion 5 against the guide portion 810, is effectively suppressed. Therefore, excellent workability, that is, high printing quality can be exhibited.

[0041] <Second Embodiment> FIG. 5 is a diagram showing the tip of the robot according to the second embodiment.

[0042] This embodiment is the same as the first embodiment described above except that the configuration of the guide portion 810 is different. In the following description, regarding this embodiment, the differences from the first embodiment described above will be mainly described, and the description of the same matters will be omitted. Also, in the drawings of this embodiment, the same reference numerals are given to the same configurations as those in the above-described embodiment.

[0043] As shown in FIG. 5, in the robot system 1 of the present embodiment, the guide portion 810 is formed on the side surface of the guide member 81 and is constituted by a groove 811 that extends straight along a predetermined direction. In the illustrated configuration, the groove 811 extends along the X-Y plane, but the extending direction of the groove 811 is not particularly limited. Further, the groove 811 may be bent or curved. Also, in the illustrated configuration, the cross-sectional shape of the groove 811 is V-shaped, but it is not limited thereto, and may be rectangular, semi-circular, or the like.

[0044] In such a configuration, while maintaining the state in which the tip of the contact portion 5 is pressed against the inner surface of the groove 811 from the X-axis direction, the contact portion 5 is slid along the groove 811 so that the print head 4 is moved at a predetermined speed, and ink I is ejected from each nozzle 41 at a predetermined timing. According to such a printing method, since the state in which the contact portion 5 is in contact with the groove 811 is maintained during the printing operation, the vibration of the print head 4 in the X-axis direction, which is the pressing direction of the contact portion 5 against the guide portion 810, and the vibration of the print head 4 in the Z-axis direction, the displacement of which is restricted by the contact with the groove 811, are effectively suppressed. Therefore, high printing quality can be exhibited.

[0045] Also, according to such a second embodiment, the same effects as those of the first embodiment described above can be exhibited.

[0046] <Third Embodiment> FIG. 6 is a diagram showing the tip portion of the robot according to the third embodiment.

[0047] This embodiment is the same as the first embodiment described above, except that the directions of the print head 4 and the contact portion 5 are different. In the following description, regarding this embodiment, the differences from the first embodiment described above will be mainly described, and the description of the same matters will be omitted. Also, in the drawings of this embodiment, the same reference numerals are given to the same configurations as those of the above-described embodiments.

[0048] As shown in FIG. 6, in the robot system 1 of the present embodiment, the contact portion 5 extends along the rotation axis of the arm 326 (the axis of the joint J6). On the other hand, the print head 4 discharges the ink I from each nozzle 41 in a direction orthogonal to the rotation axis of the arm 326. That is, the discharge direction of the ink I from each nozzle 41 is orthogonal to the extending direction of the contact portion 5. Thereby, during the printing operation, it is difficult for the contact portion 5 and the guide member 81 that contacts the contact portion 5 to get in the way, and the printing operation can be performed smoothly.

[0049] Even with such a third embodiment, the same effects as those of the first embodiment described above can be exhibited.

[0050] <Fourth Embodiment> FIG. 7 is a view showing the tip of the robot according to the fourth embodiment.

[0051] This embodiment is the same as the first embodiment described above except that the configurations of the contact portion 5 and the guide member 81 are different. In the following description, regarding this embodiment, the differences from the first embodiment described above will be mainly described, and the description of the same matters will be omitted. In the drawings of this embodiment, the same reference numerals are given to the same configurations as those of the above-described embodiments.

[0052] As shown in FIG. 7, in the robot system 1 of the present embodiment, the upper surface of the guide member 81 serves as the guide portion 810. The guide portion 810 is composed of a flat surface orthogonal to the Z axis. During the printing operation, while maintaining the state in which the side surface of the contact portion 5 is pressed against the guide portion 810 from the Z-axis direction, the contact portion 5 is slid with respect to the guide portion 810, and the print head 4 is moved at a predetermined speed, and the ink I is discharged from each nozzle 41 at a predetermined timing. According to such a printing method, since the state in which the contact portion 5 is in contact with the guide portion 810 is maintained during the printing operation, the vibration of the print head 4 in the Z-axis direction, which is the pressing direction of the contact portion 5 against the guide portion 810, is effectively suppressed. Therefore, high printing quality can be exhibited.

[0053] As described above, in the working method using the robot system 1 of the present embodiment, the side surface of the contact portion 5 is brought into contact with the guide portion 810. This makes it easier to bring the contact portion 5 into contact with the guide portion 810.

[0054] Also, according to such a fourth embodiment, the same effects as those of the first embodiment described above can be exhibited.

[0055] <Fifth Embodiment> FIG. 8 is a diagram showing the tip of the robot according to the fifth embodiment. FIG. 9 is a diagram showing a modified example of the guide portion.

[0056] This embodiment is the same as the fourth embodiment described above, except that the shape of the guide portion 810 is different. In the following description, regarding this embodiment, the differences from the fourth embodiment described above will be mainly described, and the description of the same matters will be omitted. Also, in each drawing of this embodiment, the same components as those of the above-described embodiments are denoted by the same reference numerals.

[0057] As shown in FIG. 7, in the robot system 1 of this embodiment, the object W is convexly curved. On the other hand, in the guide member 81, its upper surface serves as the guide portion 810. And the guide portion 810 is convexly curved so as to follow the shape of the object W. That is, the guide portion 810 is a curved surface.

[0058] During the printing operation, while maintaining the state in which the side surface of the contact portion 5 is pressed against the guide portion 810 from the Z-axis direction, the printing head 4 is moved at a predetermined speed while sliding the contact portion 5 with respect to the guide portion 810, and the ink I is ejected from each nozzle 41 at a predetermined timing. According to such a printing method, during the printing operation, since the state in which the contact portion 5 is in contact with the guide portion 810 is maintained, the vibration of the printing head 4 in the Z-axis direction, which is the pressing direction of the contact portion 5 against the guide portion 810, is effectively suppressed. Furthermore, since the guide portion 810 is a curved surface that follows the shape of the object W, the separation distance between the printing head 4 and the object W can be kept constant during the movement of the printing head 4. Therefore, high printing quality can be exhibited.

[0059] As described above, in the working method using the robot system 1 of the present embodiment, the guide portion 810 has a curved surface. For example, when the object W has a curved surface, by making the guide portion 810 a curved surface that follows the shape of the object W, the separation distance between the printing head 4 and the object W can be kept constant during the operation of the printing head 4.

[0060] Even with such a fifth embodiment, the same effects as those of the first embodiment described above can be exhibited.

[0061] Note that the shape of the guide portion 810 is not particularly limited and can be appropriately set according to the shape of the object W, for example. For example, as shown in FIG. 9, when the upper surface of the object W has a convexly bent shape, the guide portion 810 may be made to have a convexly bent shape accordingly. Also, although not shown, it may have a concavely curved or bent shape.

[0062] The working method and the robot system of the present invention have been described with respect to the illustrated embodiments. However, the present invention is not limited thereto, and the configuration and process of each part can be replaced with any configuration and process having the same function. Also, any other arbitrary configuration and process may be added to the present invention. Further, the embodiments may be appropriately combined.

[0063] Also, in the above-described embodiments, an example in which the working method is applied to a printing method has been described as a representative. However, the working content is not particularly limited as long as work can be performed on the working tool during the movement of the working tool. For example, it may be a welding operation using a welding device as the working tool, an imaging operation using a camera as the working tool, or the like.

Explanation of Reference Numerals

[0064] 1... Robot system, 2... Robot, 3... Robot body, 31... Base, 32... Robot arm, 321... Arm, 322... Arm, 323... Arm, 324... Arm, 325... Arm, 326... Arm, 4... Printing head, 40... Fixture, 41... Nozzle, 5... Contact part, 6... Force sensor, 8... Guide device, 81... Guide member, 810... Guide part, 811... Groove, 82... Moving mechanism, 821... X moving part, 822... Y moving part, 823... Z moving part, 824... θ moving part, 9... Control device, I... Ink, J1... Joint, J2... Joint, J3... Joint, J4... Joint, J5... Joint, J6... Joint, ST... Stage, W... Object

Claims

1. A working method using a robot equipped with a working tool, a contact portion, and a force sensor, comprising: driving the robot by following control to move the working tool while bringing the contact portion into contact with a guide portion, and causing the working tool during the movement to perform a task.

2. The working method according to claim 1, wherein the working tool is moved while pressing the contact portion against the guide portion with a predetermined force.

3. The working method according to claim 1, wherein the guide portion is a plane.

4. The working method according to claim 1, wherein the guide portion is a curved surface.

5. The working method according to claim 1, wherein the contact portion is rod-shaped.

6. The working method according to claim 5, wherein the tip of the contact portion is brought into contact with the guide portion.

7. The working method according to claim 5, wherein the side surface of the contact portion is brought into contact with the guide portion.

8. The working tool is a printing head, and the working method according to claim 1, wherein the printing head is moved while bringing the contact portion into contact with the guide portion, and printing is performed on an object by discharging ink from the printing head at a predetermined timing.

9. A robot system comprising a robot equipped with a working tool, a contact portion, and a force sensor, a guide portion for bringing the contact portion into contact, and a control device for controlling the driving of the robot, wherein the control device drives the robot by following control to move the working tool while bringing the contact portion into contact with the guide portion, and causes the working tool during the movement to perform a task.

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