Robot system

Abstract

To provide a technique capable of smoothly performing a series of work on a workpiece.SOLUTION: The robot system includes a moving base, a robot mounted on the moving base, a working machine mounted on the moving base at a position different from that of the robot, a first placement part on which a workpiece before the work is executed by the working machine is placed, and a second placement part on which a workpiece after the work is executed by the working machine is placed. The robot may include a gripping unit configured to grip a workpiece, a first recognition unit configured to recognize a form of the workpiece placed on the first placement unit, and a second recognition unit configured to recognize a form of the second placement unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a robot system. [Background technology]

[0002] A robot system is disclosed in Patent Document 1. The robot system of Patent Document 1 includes a movable table, a robot mounted on the movable table, and a work machine mounted on a work table different from the movable table. The robot system of Patent Document 1 also includes a first placement section on which a workpiece is placed before work is performed by the work machine, and a second placement section on which the workpiece is placed after work is performed by the work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-058954 Summary of the Invention [Problem to be solved by the invention]

[0004] In the robot system of Patent Document 1, the mobile platform on which the robot is mounted and the work table on which the work machine is mounted are located at separate positions, which can make it difficult to perform work on a workpiece. For example, the amount of movement of the robot changes depending on the distance between the robot and the work machine, making it difficult to adjust the amount of movement and making it difficult to perform work smoothly. This specification provides technology that can smoothly perform a series of workpiece operations. [Means for solving the problem]

[0005] In a first aspect of the present technology, a robot system includes a movable platform, a robot mounted on the movable platform, a work machine mounted on the movable platform at a position different from the robot, a first placement unit on which a workpiece is placed before an operation is performed by the work machine, and a second placement unit on which a workpiece is placed after an operation is performed by the work machine. The robot may include a gripper that grips a workpiece, a first recognition unit that recognizes a shape of the workpiece placed on the first placement unit, and a second recognition unit that recognizes a shape of the second placement unit. The robot may execute first control to grip, with the gripper, a workpiece whose shape has been recognized by the first recognition unit, second control to move the workpiece gripped by the gripper to the work machine, third control to move the workpiece gripped by the gripper to the second placement unit after the operation is performed on the workpiece by the work machine, and fourth control to place the workpiece gripped by the gripper on the second placement unit whose shape has been recognized by the second recognition unit.

[0006] With this configuration, the robot and the work machine are mounted on the same movable platform, allowing a series of tasks to be performed smoothly on the workpiece. For example, when the robot moves the workpiece from the first platform to the work machine, positional deviation can be suppressed, allowing the tasks to be performed smoothly. Also, when the workpiece is moved from the work machine to the second platform, positional deviation can be suppressed, allowing the tasks to be performed smoothly.

[0007] In a second aspect, in the first aspect described above, the robot may perform control to change the gripping position of the workpiece by the gripping unit after the workpiece is performed by the work machine and before performing the third control.

[0008] According to this configuration, by changing the gripping position of the workpiece by the gripping section, the workpiece can be smoothly placed on the second placement section when the fourth control is subsequently executed.

[0009] In a third aspect, the robot system of the first or second aspect may further include a solar power generation device that supplies power to the robot. With this configuration, costs can be reduced by utilizing natural energy. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view (1) showing a schematic diagram of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view schematically illustrating the robot system according to the embodiment. [Figure 3] FIG. 1 is a top view schematically showing a robot system according to an embodiment. [Figure 4] FIG. 2 is a cross-sectional view of the belt conveyor of the embodiment. [Figure 5] FIG. [Figure 6] 4 is a flowchart of a control process according to an embodiment. [Figure 7] 10 is a flowchart of a control process according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] A robot system 2 of the embodiment will be described with reference to the drawings. As shown in Figures 1 and 2, the robot system 2 of the embodiment includes a movable platform 30, a working robot 10 mounted on the movable platform 30, and a working machine 90 mounted on the movable platform 30 at a position different from that of the working robot 10. Furthermore, as shown in Figure 3, the robot system 2 includes a first mounting unit 4 and a second mounting unit 6 provided at positions spaced apart from the movable platform 30.

[0012] As shown in FIGS. 1 and 2, the movable platform 30 includes a main body 32 and a plurality of wheels 34 attached to the main body 32. The movable platform 30 is configured to be movable in multiple directions by including the plurality of wheels 34. The plurality of wheels 34 are attached to the lower part of the main body 32. The movable platform 30 is movable in multiple directions on, for example, a floor. In a modified example, the movable platform 30 may be movable on rails along the rails. The movable platform 30 can be moved manually or automatically.

[0013] The main body 32 of the movable stage 30 is configured, for example, in a box shape. The main body 32 has an upper surface 36 on which the work robot 10 and the box body 50 are mounted. The main body 32 supports the work robot 10 and the box body 50. The main body 32 is made, for example, from an aluminum alloy.

[0014] The work robot 10 is fixed to the upper surface 36 of the movable stage 30. The mounting position of the work robot 10 on the upper surface 36 of the movable stage 30 can be set as appropriate. The work robot 10 is, for example, an articulated robot equipped with multiple arms. The work robot 10 can, for example, grasp a workpiece W that is to be imaged (work object). Furthermore, the work robot 10 can move the workpiece W while grasping the imaged workpiece W. For example, the work robot 10 can move the workpiece W from the outside to the inside of the box 50, or from the inside to the outside of the box 50.

[0015] The configuration of working robot 10 is not particularly limited. Working robot 10 includes, for example, a base end portion 12, an arm 18, a first imaging device 80, and a control unit 100. Base end portion 12 of working robot 10 is fixed to the top surface 36 of movable stage 30. Arm 18 of working robot 10 includes a first portion 13, a second portion 14, a tip end portion 15, and a gripper 16.

[0016] The first portion 13 is connected to the base end portion 12. The first portion 13 is configured to be rotatable relative to the base end portion 12. The first portion 13 rotates, for example, around one or more axes. The second portion 14 is connected to the first portion 13. The second portion 14 is configured to be rotatable relative to the first portion 13. The second portion 14 rotates, for example, around one or more axes. The tip portion 15 is connected to the second portion 14. The tip portion 15 is configured to be rotatable relative to the second portion 14. The tip portion 15 rotates, for example, around one or more axes.

[0017] The gripping portion 16 is connected to the tip portion 15. The gripping portion 16 is configured to be able to grip the workpiece W to be imaged. The gripping portion 16 is equipped with, for example, a plurality of claw members, and grips the workpiece W by moving the plurality of claw members closer to or apart from each other. The gripping portion 16 is also called a chuck.

[0018] The first imaging device 80 is attached to the tip portion 15. The first imaging device 80 is capable of capturing an image of the workpiece W placed on the first placement section 4 (see FIG. 3). The first imaging device 80 captures an image of the workpiece W by capturing an image of the workpiece W. The first imaging device 80 captures still images and / or video images of the workpiece W.

[0019] The first imaging device 80 is also capable of capturing images of the first mounting section 4 and the second mounting section 6 (see FIG. 3). The first imaging device 80 captures an image of the first mounting section 4 by capturing an image of the first mounting section 4. The first imaging device 80 captures an image of the second mounting section 6 by capturing an image of the second mounting section 6. The first imaging device 80 captures still images and / or video images of the first mounting section 4 and the second mounting section 6. The first imaging device 80 may also be equipped with an illumination device that illuminates the imaging target.

[0020] The control unit 100 of the working robot 10 is equipped with, for example, a CPU, ROM, RAM, etc., and executes various controls and processes related to the working robot 10 based on a predetermined program. The control unit 100 is located, for example, inside the main body 32 of the moving stage 30.

[0021] The control unit 100 can recognize the configuration (e.g., posture, position, angle) of the workpiece W based on an image acquired by the first imaging device 80 capturing an image of the workpiece W. The control unit 100 can also recognize the configuration (e.g., posture, position, angle) of the first placement unit 4 based on an image acquired by the first imaging device 80 capturing an image of the first placement unit 4. The control unit 100 can also recognize the configuration (e.g., posture, position, angle) of the second placement unit 6 based on an image acquired by the first imaging device 80 capturing an image of the second placement unit 6.

[0022] The working robot 10 may have components different from those described above. For example, the working robot 10 may have an extension / contraction unit that extends and contracts in the front-to-rear direction. The extension / contraction unit of the working robot 10 may extend and contract in the front-to-rear direction relative to the box body 50, thereby moving the workpiece W to be imaged from the outside to the inside of the box body 50, or from the inside to the outside of the box body 50. The configuration of the working robot 10 is not particularly limited.

[0023] Next, we will explain the working machine 90 of the robot system 2. The working machine 90 is equipped with a light-blocking box body 50 mounted on the movable stage 30 at a position different from that of the working robot 10, and a second imaging device 70 attached to the box body 50.

[0024] The box body 50 is fixed to the upper surface 36 of the movable stage 30. The box body 50 is mounted on the movable stage 30 at a different position from the work robot 10. The work robot 10 and the box body 50 are arranged side by side on the upper surface 36 of the movable stage 30. The work robot 10 and the box body 50 are arranged facing each other. The mounting position of the box body 50 on the upper surface 36 of the movable stage 30 can be set as appropriate.

[0025] The box body 50 blocks light outside the box body 50. That is, the box body 50 prevents light outside the box body 50 from entering the inside of the box body 50. A space capable of accommodating the workpiece W to be imaged is formed inside the box body 50.

[0026] The box 50 includes, for example, an upper member 51, a lower member 52, a left member 53, a right member 54, and a rear member 55. The upper member 51, the left member 53, the right member 54, and the rear member 55 each block light outside the box 50 (i.e., prevent light outside the box 50 from entering the inside of the box 50). For example, the upper member 51 prevents light from entering the inside of the box 50 from the upper side of the box 50. The left member 53 and the right member 54 each prevent light from entering the inside of the box 50 from the side (left or right side) of the box 50. The rear member 55 prevents light from entering the inside of the box 50 from the rear side of the box 50. The lower member 52 is fixed to the upper surface 36 of the movable stage 30. The lower member 52 prevents light reflection. Each member is, for example, a black plate-shaped member.

[0027] The box body 50 also has an opening 60. The opening 60 is provided on the front side (the working robot 10 side) of the box body 50. The opening 60 is provided between the rear member 55 of the box body 50 and the working robot 10. The opening 60 faces the working robot 10. In the robot system 2, the workpiece W to be imaged is placed in and taken out of the box body 50 through the opening 60.

[0028] The second imaging device 70 is attached to the box body 50. The second imaging device 70 is fixed to, for example, the left side member 53 of the box body 50. In a modified example, the second imaging device 70 may be fixed to the right side member 54, the rear side member 55, the upper side member 51, or the lower side member 52 of the box body 50.

[0029] The second imaging device 70 is capable of capturing an image of the inside of the box body 50. When the workpiece W is present inside the box body 50, the second imaging device 70 is capable of capturing an image of the workpiece W inside the box body 50. The second imaging device 70 captures an image of the workpiece W by capturing an image of the workpiece W. The second imaging device 70 captures still images and / or video images of the workpiece W. The second imaging device 70 may also be equipped with an illumination device that illuminates the object to be imaged.

[0030] Next, the first placement section 4 and the second placement section 6 (see FIG. 3) will be described. The first placement section 4 is a section on which the workpiece W is placed before being grasped by the working robot 10. The first placement section 4 is a section on which the workpiece W is placed before being imaged by the second imaging device 70 of the working machine 90. The first placement section 4 is disposed at a position separated from the movable table 30. In this embodiment, the first placement section 4 includes a support table 20 and a belt conveyor 22 provided on the support table 20. As shown in FIG. 4, multiple workpieces W are placed on the belt conveyor 22. The belt conveyor 22 can transport multiple workpieces W placed thereon.

[0031] The second placement section 6 is a section on which the workpiece W is placed after being grasped by the work robot 10. The second placement section 6 is a section on which the workpiece W is placed after being imaged by the second imaging device 70 of the work machine 90. The second placement section 6 is arranged at a position separated from the movable table 30. The second placement section 6 in this embodiment includes a support table 24 and a storage container 26 arranged on the support table 24. As shown in FIG. 5, a plurality of workpieces W are placed inside the storage container 26. The storage container 26 includes a plurality of storage sections 27 that store a plurality of workpieces W. The storage container 26 includes a plurality of partition sections 28 that separate adjacent storage sections 27.

[0032] Next, the control process executed in the robot system 2 of this embodiment will be described with reference to Fig. 6. As shown in Fig. 6, in S2 of the control process of this embodiment, the control unit 100 of the working robot 10 recognizes the initial position of the arm 18. For example, the control unit 100 recognizes the initial position of the arm 18 based on a setting value input by the user from a predetermined input unit (not shown).

[0033] In the following S4, the control unit 100 recognizes the positions of the first placement unit 4, the second placement unit 6, and the movable table 30. For example, the control unit 100 recognizes the positions of the first placement unit 4, the second placement unit 6, and the movable table 30 based on setting values ​​input by the user from a predetermined input unit (not shown).

[0034] In the next step S6, the working robot 10 moves the arm 18 to the initial position recognized in step S2. For example, the working robot 10 moves the arm 18 to the initial position by appropriately moving the sections 13, 14, 15, and 16 of the arm 18.

[0035] In the next step S8, the working robot 10 moves the arm 18 to the vicinity of the first receiver 4. The working robot 10 moves the arm 18 to the vicinity of the first receiver 4 by appropriately moving the sections 13, 14, 15, and 16 of the arm 18.

[0036] Next, in S10, the control unit 100 of the work robot 10 recognizes the shape of the workpiece W placed on the first placement unit 4. Specifically, the control unit 100 recognizes the shape of the workpiece W based on an image of the workpiece W acquired by the first imaging device 80 capturing an image of the workpiece W. The first imaging device 80 captures an image of the workpiece W near the first placement unit 4 after the arm 18 of the work robot 10 moves near the first placement unit 4.

[0037] In the next step S12, the working robot 10 grasps the workpiece W whose shape was recognized in step S10 (i.e., the workpiece W placed on the first placement unit 4) with the gripper 16. In the next step S14, the working robot 10, while holding the workpiece W with the gripper 16, moves the arm 18 to move the grasped workpiece W to the movable stage 30. The working robot 10 moves the arm 18 to the movable stage 30 by appropriately moving the sections 13, 14, 15, and 16 of the arm 18.

[0038] In the next step S16, the working robot 10 and the second imaging device 70 perform a task on the workpiece W held by the gripper 16 on the movable stage 30. More specifically, the working robot 10 moves the workpiece W held outside the box body 50 to the inside of the box body 50 (see FIG. 2). The working robot 10 moves the held workpiece W from the outside of the box body 50 to the inside of the box body 50 by appropriately moving the sections 13, 14, 15, and 16 of the arm 18. The working robot 10 maintains the state in which it holds the workpiece W inside the box body 50.

[0039] Next, the second imaging device 70 images the workpiece W inside the box 50. The second imaging device 70 images the workpiece W that the work robot 10 is holding inside the box 50. The second imaging device 70 acquires an image of the workpiece W by imaging the workpiece W. Information about the image of the workpiece W acquired by the second imaging device 70 is transmitted to the control unit 100, for example, by wireless communication or wired communication. In a modified example, information about the image of the workpiece W may be transmitted to an external device different from the robot system 2 by wireless communication or wired communication.

[0040] Next, the working robot 10 moves the workpiece W that it is holding inside the box body 50 to the outside of the box body 50 (see FIG. 1). After the second imaging device 70 captures an image of the workpiece W inside the box body 50, the working robot 10 moves the workpiece W that it is holding from the inside of the box body 50 to the outside of the box body 50.

[0041] After the work on the workpiece W is completed, the control of S18 in Figure 6 is executed. In S18, the working robot 10 moves the arm 18 to the vicinity of the second placement part 6. The working robot 10 moves the arm 18 to the vicinity of the second placement part 6 by appropriately moving each part 13, 14, 15, and 16 of the arm 18.

[0042] In the next step S20, the control unit 100 of the work robot 10 recognizes the configuration of the second mount part 6. Specifically, the control unit 100 recognizes the configuration of the second mount part 6 based on an image of the second mount part 6 acquired by the first imaging device 80 capturing an image of the second mount part 6. The first imaging device 80 captures an image of the workpiece W in the vicinity of the second mount part 6 after the arm 18 of the work robot 10 moves to the vicinity of the second mount part 6.

[0043] In the next step S22, the working robot 10 places the workpiece W held by the gripper 16 on the second mounter 6. The working robot 10 stores the workpiece W in the storage section 27 of the second mounter 6. The robot system 2 then repeats the above series of operations multiple times.

[0044] (effect) The robot system 2 of the embodiment has been described above. As is clear from the above description, the robot system 2 comprises a mobile platform 30, a working robot 10 mounted on the mobile platform 30, and a working implement 90 mounted on the mobile platform 30 at a position different from that of the working robot 10. The robot system 2 also comprises a first mounting section 4 on which a workpiece W is placed before work is performed by the working implement 90, and a second mounting section 6 on which the workpiece W is placed after work has been performed by the working implement 90. The working robot 10 comprises a gripping section 16 that grips the workpiece W. The control section 100 of the working robot 10 recognizes the shape of the workpiece W placed on the first mounting section 4. The control section 100 also recognizes the shape of the second mounting section 6. The work robot 10 executes a first control in which the gripper 16 grips the workpiece W, the shape of which has been recognized by the control unit 100; a second control in which the workpiece W gripped by the gripper 16 is moved to the work machine 90; a third control in which the workpiece W gripped by the gripper 16 is moved to the second placement unit 6 after work has been performed on the workpiece W by the work machine 90; and a fourth control in which the workpiece gripped by the gripper 16 is placed on the second placement unit 6, the shape of which has been recognized by the control unit 100.

[0045] With this configuration, the work robot 10 and the work implement 90 are mounted on the same mobile platform 30, allowing a series of tasks to be performed smoothly on the workpiece W. For example, when the work robot 10 moves the workpiece from the first mount 4 to the work implement 90, positional deviation can be suppressed, allowing the task to be performed smoothly. Furthermore, when the workpiece W is moved from the work implement 90 to the second mount 6, positional deviation can also be suppressed, allowing the task to be performed smoothly.

[0046] (Correspondence) The control of S10 and S12 is an example of "first control." The control of S14 and S16 is an example of "second control." The control of S18 is an example of "third control." The control of S20 and S22 is an example of "fourth control."

[0047] (Variation) (1) In a modified example, as shown in Figure 7, the working robot 10 may execute the process of S30 after the control of S16 and before the control of S18. In S30, the working robot 10 changes the gripping position of the workpiece W gripped by the gripper 16. More specifically, the working robot 10 places the workpiece W gripped by the gripper 16 on the upper member 51 of the box 50. Next, the working robot 10 changes the orientation of the gripper 16 and grips the workpiece W again.

[0048] After the work machine 90 performs work on the workpiece W, the work robot 10 executes control to change the gripping position of the workpiece W by the gripper 16 before executing the third control. With this configuration, by changing the gripping position of the workpiece W by the gripper 16, the workpiece can be smoothly placed on the second placement unit 6 when the fourth control is subsequently executed.

[0049] (2) In a modified example, the robot system 2 may include a solar power generation device that supplies power to the working robot 10. The solar power generation device may be mounted on the movable platform 30, for example. This configuration allows for cost reduction by utilizing natural energy.

[0050] Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. The technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technology exemplified in this specification or drawings can achieve multiple objectives simultaneously, and achieving one of these objectives itself has technical utility. [Explanation of symbols]

[0051] 2: Robot system, 4: First placement section, 6: Second placement section, 10: Work robot, 18: Arm, 30: Mobile table, 50: Box body, 70: Second imaging device, 80: First imaging device, 90: Work machine, 100: Control section, W: Work

Claims

1. A mobile stand and a robot mounted on the moving stage; a work machine mounted on the movable table at a position different from that of the robot; a first placement section on which a workpiece is placed before work is performed by the work machine; a second placement section on which a workpiece is placed after work has been performed by the work machine, the robot includes a gripping unit that grips a workpiece, a first recognition unit that recognizes a shape of the workpiece placed on the first placement unit, and a second recognition unit that recognizes a shape of the second placement unit; The robot executes a first control of gripping a workpiece, the shape of which has been recognized by the first recognition unit, with the gripping unit; a second control of moving the workpiece gripped by the gripping unit to the work machine; a third control of moving the workpiece gripped by the gripping unit to the second placement unit after work has been performed on the workpiece by the work machine; and a fourth control of placing the workpiece gripped by the gripping unit on the second placement unit, the shape of which has been recognized by the second recognition unit.

2. The robot system according to claim 1, A robot system in which the robot performs control to change the gripping position of the workpiece by the gripper after the work machine performs work on the workpiece and before performing the third control.

3. 3. The robot system according to claim 1, The robot system further comprises a solar power generation device that supplies power to the robot.

Images