Sewing robot system and method for controlling the sewing robot system

Abstract

The present invention provides a sewing robot system that can suppress sewing abnormalities even when the sewing unit moves relative to the workpiece while performing sewing operations on the workpiece. [Solution] This sewing robot system 100 comprises a multi-joint robot arm 10, a sewing unit 30 that performs sewing work on a workpiece 200, a signal output unit 22, and a sewing control unit 40. The signal output unit 22 generates a signal based on the relative movement of the sewing unit 30 relative to the workpiece 200 for each movement of the sewing unit 30, which is provided at the tip of the multi-joint robot arm 10, and the sewing control unit 40 controls the sewing work on the workpiece 200 by the sewing unit 30 based on the generated signal.

Claims

1. A robotic arm and The sewing department performs sewing work on the workpieces, It comprises a control unit and, The control unit, For each relative movement of the sewing unit relative to the workpiece, caused by the movement of the workpiece or the sewing unit located at the tip of the robot arm, a signal is generated based on the relative movement of the sewing unit. A sewing robot system that controls the sewing operation performed by the sewing unit on the workpiece based on the generated signal.

2. The sewing unit includes a sewing needle that moves back and forth relative to the workpiece. The sewing robot system according to claim 1, wherein the control unit controls the movement of the sewing needle based on the generated signal.

3. The sewing robot system according to claim 2, wherein the control unit generates a signal based on the relative movement of the sewing unit with respect to the workpiece using a variable frequency pulse signal, and controls the movement of the sewing needle based on the generated signal.

4. The sewing robot system according to claim 3, wherein the control unit outputs a pulse signal corresponding to the relative movement amount for each relative movement amount of the sewing unit with respect to the workpiece.

5. The sewing robot system according to claim 4, wherein the control unit moves the sewing needle toward the workpiece side using a pulse signal corresponding to the relative amount of movement as a trigger.

6. The sewing robot system according to claim 5, wherein the control unit uses a pulse signal corresponding to the relative amount of movement as a trigger to move the sewing needle toward the workpiece at regular intervals of a certain amount of movement of the sewing unit.

7. The sewing robot system according to claim 1, wherein the control unit moves the sewing section relative to the workpiece in a curved or bent shape, at least one of the two, by the robot arm along the surface of the workpiece.

8. It includes an inspection unit for inspecting the aforementioned workpiece, The control unit, A process for generating a movement path for the robot arm when the inspection unit is moved relative to the workpiece by the robot arm and the workpiece is inspected by the inspection unit, Based on the generated movement path, the process generates coordinate transformation information for converting the coordinate values ​​of the inspection coordinate system of the inspection image obtained by inspecting the workpiece by the inspection unit into coordinate values ​​of a three-dimensional coordinate system capable of representing the coordinate values ​​of the workpiece in three dimensions. A process to acquire the inspection image by operating the robot arm based on the generated movement path and inspecting the workpiece with the inspection unit, A process for detecting the target of the workpiece in the acquired inspection image, Based on the generated coordinate transformation information, a process is performed to convert the coordinate values ​​of the target inspection coordinate system to the coordinate values ​​of the three-dimensional coordinate system. A process to show the position of the object based on the coordinate values ​​of the three-dimensional coordinate system of the converted object, using the actual workpiece or a three-dimensional image of the workpiece, A sewing robot system according to claim 1, which performs the following:

9. The control unit, The sewing robot system according to claim 8, which, when input is made for the object shown in the three-dimensional image of the workpiece, performs processing on the actual workpiece with respect to the input object.

10. The control unit, The sewing robot system according to claim 8, which controls the sewing operation on the workpiece and performs a process of obtaining an inspection image of the workpiece by inspecting the workpiece with the inspection unit.

11. Multiple robot arms are arranged, The inspection unit is located in each of the plurality of robot arms, The control unit, The process involves moving the inspection unit, which is positioned on each of the multiple robot arms, relative to the workpiece to inspect the workpiece, thereby acquiring the inspection images of the multiple workpieces from each of the inspection units. A process for detecting the target of the workpiece in multiple inspection images, The sewing robot system according to claim 8, further comprising the process of integrating the positions of the targets detected from a plurality of the aforementioned inspection images as data.

12. An imaging unit for imaging the aforementioned workpiece, A lighting unit that illuminates the workpiece with illumination light, It includes a teaching display unit, The robot arm moves the imaging unit and the illumination unit, or the workpiece. The sewing robot system according to claim 1, wherein the control unit, when teaching the operation of the robot arm on the teaching display unit, obtains the state of reflection of the illumination light on the workpiece by simulation and displays an image relating to the obtained state of reflection of the illumination light on the teaching display unit.

13. An imaging unit for imaging the aforementioned workpiece, A lighting unit that illuminates the workpiece with illumination light, The system includes a virtual image display unit on which the workpiece is displayed, The control unit, The robot arm moves the imaging unit or the workpiece, and the coordinates of the irradiated light in the image captured by the imaging unit, which is moved relative to the workpiece, are obtained. The sewing robot system according to claim 1, which performs a process of superimposing a virtual image of the irradiated light, generated by computer graphics, onto an image of the workpiece and displaying it on the virtual image display unit, based on the coordinates of the acquired irradiated light and the control point of the robot arm.

14. The system generates a signal based on the relative movement of the sewing unit relative to the workpiece, for each relative movement of the sewing unit relative to the workpiece, caused by the movement of the sewing unit that performs sewing work on the workpiece, located at the tip of the robot arm. A method for controlling a sewing robot system, comprising controlling the sewing operation performed by the sewing unit on the workpiece based on the generated signal.

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