Robot system and robot

Abstract

This robot system (100) comprises: an articulated robot arm (10) including a plurality of joints; a robot control unit (21) that performs control to move the articulated robot arm; a working unit (30) that conducts working on a work (200); a signal output unit (22) that outputs a movement signal at certain time intervals on the basis of a movement of the working unit provided at the distal end of the articulated robot arm; and a working control unit (40) that controls working conducted on the work by the working unit, on the basis of the movement signal outputted from the signal output unit.

Description

Technical Field

[0001] The present disclosure relates to a robot system and a robot, and more particularly to a robot system and a robot including an articulated robot arm.

Background Art

[0002] Conventionally, robots including articulated robot arms are known (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2002-331428 discloses a robot system including an articulated robot arm including a plurality of joints, a robot control unit that performs control to move the articulated robot arm, and a working unit provided at the tip of the articulated robot arm that performs an operation of tightening a screw against a workpiece. In this robot system, the working unit is pressed against the screw by the articulated robot arm, and the screw is rotated by the working unit to perform an operation of tightening the screw against the workpiece.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Japanese Patent Application Laid-Open No. 2002-331428, a multi-joint robot arm presses a working part against a screw, and the working part rotates the screw to tighten the screw against a workpiece. Therefore, when the speed at which the multi-joint robot arm presses the working part against the screw is different from the speed at which the screw is tightened and moves in the axial direction as the screw is rotated by the working part, there is a problem that the working part is pressed against the screw excessively or the working part cannot be sufficiently pressed against the screw. In this case, it is difficult to properly tighten the screw against the workpiece. As a result, there is a problem that it is difficult for the working part to perform work on the workpiece with high accuracy.

[0006] The present disclosure has been made to solve the above-described problems, and one object of the present disclosure is to provide a robot system and a robot capable of accurately performing work on a workpiece by a working part while relatively moving the working part with respect to the workpiece by a multi-joint robot arm.

Means for Solving the Problems

[0007] To achieve the above object, a robot system according to a first aspect includes a multi-joint robot arm including a plurality of joints, a robot control unit that controls the movement of the multi-joint robot arm, a working part that performs work on a workpiece, a signal output unit that outputs a movement amount signal based on the movement amount of a workpiece or a working part provided at the tip of the multi-joint robot arm at regular intervals, and a work control unit that controls the work of the working part on the workpiece based on the movement amount signal output from the signal output unit. , the signal output unit outputs, at regular intervals, a movement amount signal based on the movement amount of the workpiece or the working unit as a pulse signal corresponding to the movement amount 。

[0008] In the robot system according to the first aspect, as described above, a signal output unit that outputs a movement amount signal based on the movement amount of a workpiece or a working unit provided at the tip of the articulated robot arm is provided at regular intervals. Further, a work control unit that controls the work on the workpiece by the working unit is provided based on the movement amount signal output from the signal output unit. As a result, the work control unit can acquire the movement amount of the workpiece or the working unit at regular intervals and control the work by the working unit in synchronization with the movement of the workpiece or the working unit. As a result, when performing work while relatively moving the working unit with respect to the workpiece by the articulated robot arm, the working unit can perform work on the workpiece with high accuracy. For example, when tightening a screw on a workpiece, by synchronizing the speed at which the working unit is pressed against the screw by the articulated robot arm and the moving speed in the axial direction of the screw as the working unit rotates the screw, the working unit can appropriately press the screw while fastening the screw to the workpiece with high accuracy. Further, since the movement amount signal is output at regular intervals, the control by the work control unit can be stably performed at regular intervals. As a result, it is possible to suppress the occurrence of control delay.

[0009] The robot according to the second aspect includes an articulated robot arm including a plurality of joints, a robot control unit that controls the movement of the articulated robot arm, and a signal output unit that outputs a movement amount signal based on the movement amount of a workpiece or a working unit that performs work on the workpiece provided at the tip of the articulated robot arm at regular intervals. , the signal output unit outputs, at regular intervals, a movement amount signal based on the movement amount of the workpiece or the working unit as a pulse signal corresponding to the movement amount 。

[0010] In the robot according to the second aspect, as described above, a signal output unit that outputs a movement amount signal based on the movement amount of a work piece provided at the tip of the articulated robot arm or a work unit that performs work on the work piece is provided at regular intervals. As a result, at regular intervals, based on the movement amount of the work piece or the work unit, the work performed by the work unit can be controlled in synchronization with the movement of the work piece or the work unit. As a result, when performing work while relatively moving the work unit with respect to the work piece by the articulated robot arm, it is possible to provide a robot capable of accurately performing work on the work piece by the work unit. For example, when tightening a screw on a work piece, by synchronizing the speed at which the work unit is pressed against the screw by the articulated robot arm and the moving speed in the axial direction of the screw as the work unit rotates the screw, the work of fastening the screw to the work piece can be accurately performed while moderately pressing the screw by the work unit. Further, since the movement amount signal is output at regular intervals, the control of the work unit can be stably performed at regular intervals. As a result, it is possible to suppress the occurrence of control delay.

Effects of the Invention

[0011] According to the present disclosure, as described above, when performing work while relatively moving the work unit with respect to the work piece by the articulated robot arm, the work unit can accurately perform work on the work piece.

Brief Description of the Drawings

[0012]

Figure 1

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Modes for Carrying Out the Invention

[0013] (First Embodiment) With reference to FIGS. 1 to 3, the configuration of the robot system 100 according to the first embodiment will be described.

[0014] As shown in FIG. 1, the robot system 100 performs operations on the workpiece 200. The robot system 100 includes an articulated robot arm 10, a control device 20 that controls the articulated robot arm 10, a working unit 30, a working control unit 40 that controls the working unit 30, and a material supply unit 50 that supplies materials for performing operations on the working unit 30.

[0015] The articulated robot arm 10 is, for example, a robot for industrial or medical use. The articulated robot arm 10 includes a plurality of joints. For example, the articulated robot arm 10 includes a six-axis vertical articulated joint. The articulated robot arm 10 operates by AC power supplied from the outside.

[0016] As shown in FIG. 1, the control device 20 includes a robot control unit 21 and a signal output unit 22.

[0017] The robot control unit 21 controls the movement of the articulated robot arm 10. Specifically, the robot control unit 21 controls the operation of the articulated robot arm 10 by controlling the power supplied to the motors provided at each joint of the articulated robot arm 10. Further, the robot control unit 21 includes a CPU (Central Processing Unit) and a memory. The robot control unit 21 controls the operation of the articulated robot arm 10 by executing a predetermined program. Also, the robot control unit 21 receives the teaching of the operation of the articulated robot arm 10 by the user and controls the articulated robot arm 10 to perform the operation based on the teaching. Specifically, the robot control unit 21 receives the position and posture of the control point of the articulated robot arm 10 and calculates the operation of each joint of the articulated robot arm 10.

[0018] As shown in FIG. 2, the articulated robot arm 10 includes six joints 12a, 12b, 12c, 12d, 12e, and 12f, and links 13a, 13b, 13c, 13d, and 13e connecting the respective joints. Further, a motor composed of a servo motor and a position detection unit for detecting the rotational position of each joint are provided at each of the six joints 12a to 12f. Also, as shown in FIG. 2, a working unit 30 is attached to one tip of the articulated robot arm 10. Further, the articulated robot arm 10 includes a base 11 provided at the other tip and attached to the floor, wall, pillar, etc.

[0019] The six joints 12a to 12f each rotate by the drive of a motor.

[0020] The first-axis joint 12a is connected to the base 11. The joint 12a rotates the link 13a around the rotation axis A1 with respect to the base 11. The second-axis joint 12b rotates the link 13b around the rotation axis A2 in a direction orthogonal to the rotation axis A1 with respect to the link 13a.

[0021] The third-axis joint 12c rotates the link 13c around the rotation axis A3 parallel to the rotation axis A2 with respect to the link 13b. The fourth-axis joint 12d rotates the link 13d around the rotation axis A4 in a direction orthogonal to the rotation axis A3 with respect to the link 13c.

[0022] The fifth-axis joint 12e rotates the link 13e around the rotation axis A5 in a direction orthogonal to the rotation axis A4 with respect to the link 13d. The sixth-axis joint 12f rotates the working part 30 around the rotation axis A6 in a direction orthogonal to the rotation axis A5 with respect to the link 13e.

[0023] The working part 30 performs work on the workpiece 200. The working part 30 includes at least one of, for example, a coating part, an attaching part, a spraying part, a welding part, a brazing part, a polishing part, a cutting part, and a picking part.

[0024] The working part 30 performs work on the workpiece 200 while relatively moving with respect to the workpiece 200. For example, the coating part applies a coating material to the workpiece 200 while relatively moving with respect to the workpiece 200. Also, the coating part is supplied with a coating material as a material from the material supply part 50 and applies the supplied material to the workpiece 200. The coating material is, for example, a liquid or paste-like material such as an adhesive, a sealing material, a reagent, a paint, solder, etc.

[0025] The pasting unit pastes an adherend onto the workpiece 200 while relatively moving with respect to the workpiece 200. Also, the pasting unit is supplied with an adherend as a material from the material supply unit 50 and pastes the supplied material onto the workpiece 200. The adherend is, for example, a sealing material, a seal, a tape, a composite material such as a prepreg, etc. The spraying unit sprays a sprayed material onto the workpiece 200 while relatively moving with respect to the workpiece 200. Also, the spraying unit is supplied with a sprayed material as a material from the material supply unit 50 and sprays the supplied material onto the workpiece 200. The sprayed material is, for example, a liquid such as an adhesive, a chemical agent, a paint, etc.

[0026] The welding unit welds the workpiece 200 while relatively moving with respect to the workpiece 200. Also, the welding unit is supplied with a welding material from the material supply unit 50 and performs welding with the supplied material on the workpiece 200. Also, the welding unit may perform welding while melting the workpiece 200 by irradiating a laser. The brazing unit brazes the workpiece 200 while relatively moving with respect to the workpiece 200. Also, the welding unit performs brazing while melting the workpiece 200 by irradiating a laser.

[0027] The polishing unit polishes the workpiece 200 while relatively moving with respect to the workpiece 200. The cutting unit cuts the workpiece 200 while relatively moving with respect to the workpiece 200. The picking unit picks up the workpiece 200 while relatively moving with respect to the workpiece 200.

[0028] The work control unit 40 controls the work on the workpiece 200 by the work unit 30. Also, the work control unit 40 controls the supply of the material from the material supply unit 50 based on the movement amount signal output from the signal output unit 22. When the work unit 30 is the coating unit, the work control unit 40 controls the timing and the coating amount of the coating material by the work unit 30.

[0029] When the working unit 30 is an affixing unit, the working control unit 40 controls the timing and the affixing amount of the affixing object by the working unit 30. When the working unit 30 is a spraying unit, the working control unit 40 controls the timing and the spraying amount of the spraying object by the working unit 30.

[0030] When the working unit 30 is a welding unit, the working control unit 40 controls the timing and the welding amount of the welding by the working unit 30. When the working unit 30 is a welding deposition unit, the working control unit 40 controls the timing and the welding deposition amount of the welding deposition by the working unit 30.

[0031] When the working unit 30 is a polishing unit, the working control unit 40 controls the timing and the polishing amount of the polishing by the working unit 30. When the working unit 30 is a cutting unit, the working control unit 40 controls the timing and the cutting amount of the cutting by the working unit 30.

[0032] When the working unit 30 is a picking unit, the working control unit 40 controls the timing and the moving amount of the picking of the workpiece 200 by the working unit 30.

[0033] Here, the working control unit 40 controls the work on the workpiece 200 by the working unit 30 based on the movement amount signal output from the signal output unit 22 of the control device 20.

[0034] Also, the working control unit 40 controls at least one of the working amount of the working unit 30, the working speed of the working unit 30, and the working acceleration of the working unit 30 based on the movement amount signal output from the signal output unit 22.

[0035] That is, the working control unit 40 controls the working amount, the working speed, or the working acceleration of the working unit 30 in accordance with the movement of the working unit 30.

[0036] Also, the signal output unit 22 outputs a movement amount signal based on the movement amount of the working unit 30 provided at the tip of the multi-joint robot arm 10 every fixed time.

[0037] Specifically, the signal output unit 22 outputs, at regular intervals, a movement amount signal based on the movement amount of the working unit 30 as a pulse signal corresponding to the movement amount. For example, as shown in FIG. 3, the signal output unit 22 outputs, at regular intervals, a movement amount signal based on the movement amount of the working unit 30 as a pulse signal having a number of pulses corresponding to the movement amount.

[0038] In the example shown in FIG. 3, when the movement amount of the tip of the working unit 30 is 2d from time t0 to time t1, the signal output unit 22 generates and outputs two pulses at time t1. Also, when the movement amount of the tip of the working unit 30 is 3d from time t1 to time t2, the signal output unit 22 generates and outputs three pulses at time t2. Further, when the movement amount of the tip of the working unit 30 is d from time t2 to time t3, the signal output unit 22 generates and outputs one pulse at time t3.

[0039] Also, the signal output unit 22 outputs a movement amount signal for each control period as a fixed time. In the example shown in FIG. 3, the control period is 2 msec, the movement amount is acquired for each control period, and a pulse signal is output based on the movement amount. Also, the frequency of the output pulses is, for example, 1 MHz. Also, for example, one pulse is generated for a movement of 0.1 mm.

[0040] The signal output unit 22 includes, for example, an FPGA (Field Programmable Gate Array) and performs processing by the FPGA.

[0041] If the CPU that controls the multi-joint robot arm 10 is directly controlled to have a pulse output function, the load on the CPU may increase and it may become impossible to accurately control high-frequency pulses. Therefore, pulse output is controlled using a pulse control processing unit such as an FPGA provided separately from the CPU that controls the multi-joint robot arm 10.

[0042] Based on the movement amount signal output from the signal output unit 22, the operation control unit 40 integrates the movement amount of the working unit 30 to calculate the operation path length, and determines an abnormality based on the operation path length and the operation amount of the working unit 30. Specifically, the operation control unit 40 compares the value based on the operation path length with the value based on the operation amount of the working unit 30, and determines that there is an abnormality when the difference is equal to or greater than a predetermined threshold value.

[0043] Note that the operation control unit 40 may calculate the required operation amount based on the operation path length, compare the operation amount calculated from the operation path length with the actual operation amount, and determine whether there is an abnormality. Alternatively, based on the operation amount of the working unit 30, the operation control unit 40 may calculate an appropriate operation path length, compare the operation path length calculated from the operation amount with the actual operation path length, and determine whether there is an abnormality.

[0044] In addition, when the operation control unit 40 determines that the operation by the working unit 30 is abnormal, it notifies the operator that an abnormality has occurred. Further, when an abnormality occurs, the operation control unit 40 may interrupt the operation by the working unit 30.

[0045] The operation amount is calculated, for example, based on the amount of material supplied from the material supply unit 50.

[0046] The movement amount of the working unit 30 with respect to the workpiece 200 is obtained based on the movement amount of the control point TCP that controls the movement of the articulated robot arm 10. The control point TCP for controlling the movement of the articulated robot arm 10 is set, for example, at the working position of the workpiece 200 by the working unit 30.

[0047] When the working unit 30 is a coating unit, the control point TCP is set at the coating position of the working unit 30. When the working unit 30 is an attaching unit, the control point TCP is set at the attaching position of the working unit 30. When the working unit 30 is a welding unit, the control point TCP is set at the welding position of the working unit 30.

[0048] (Effect of the First Embodiment) In the first embodiment, the following effects can be obtained.

[0049] In the first embodiment, as described above, a signal output unit 22 is provided that outputs a movement amount signal based on the movement amount of the working unit 30 provided at the tip of the articulated robot arm 10 at regular time intervals. Further, a work control unit 40 is provided that controls the work on the workpiece 200 by the working unit 30 based on the movement amount signal output from the signal output unit 22. As a result, the work control unit 40 can acquire the movement amount of the working unit 30 at regular time intervals and control the work by the working unit 30 in synchronization with the movement of the working unit 30. As a result, when performing work while relatively moving the working unit 30 with respect to the workpiece 200 by the articulated robot arm 10, the working unit 30 can perform work on the workpiece 200 with high accuracy. Further, since the movement amount signal is output at regular time intervals, the control by the work control unit 40 can be stably performed at regular time intervals. Thereby, it is possible to suppress the occurrence of control delay.

[0050] Also, in the first embodiment, as described above, the signal output unit 22 outputs a movement amount signal based on the movement amount of the working unit 30 at regular time intervals by a pulse signal corresponding to the movement amount. As a result, since a pulse signal corresponding to the movement amount of the working unit 30 in a certain period of time is output, the movement speed of the working unit 30 can be acquired based on the movement amount signal by the pulse signal.

[0051] Also, in the first embodiment, as described above, the signal output unit 22 outputs a movement amount signal based on the movement amount of the working unit 30 at regular time intervals by a pulse signal having a number of pulses corresponding to the movement amount. As a result, by counting the number of pulses of the pulse signal at regular time intervals, the movement speed of the working unit 30 can be easily acquired.

[0052] Also, in the first embodiment, as described above, the work control unit 40 controls the supply of the material from the material supply unit 50 based on the movement amount signal output from the signal output unit 22. As a result, the material can be supplied from the material supply unit 50 without excess or deficiency in synchronization with the movement of the working unit 30.

[0053] Also, in the first embodiment, as described above, the work control unit 40 controls at least one of the work amount of the work unit 30, the work speed of the work unit 30, and the work acceleration of the work unit 30 based on the movement amount signal output from the signal output unit 22. Thereby, by controlling at least one of the work amount of the work unit 30, the work speed of the work unit 30, and the work acceleration of the work unit 30 in synchronization with the movement of the work unit 30, it is possible to suppress unevenness in the work of the work unit 30.

[0054] Also, in the first embodiment, as described above, the work control unit 40 integrates the movement amount of the work unit 30 based on the movement amount signal output from the signal output unit 22 to calculate the operation path length, and determines an abnormality based on the operation path length and the work amount of the work unit 30. Thereby, even when the movement path of the work unit 30 is changed by the articulated robot arm 10, it is possible to accurately detect an abnormality in real time corresponding to the change in the movement path of the work unit 30 based on the work amount with respect to the operation path length.

[0055] Also, in the first embodiment, as described above, the work control unit 40 compares a value based on the operation path length with a value based on the work amount of the work unit 30, and determines that there is an abnormality when the difference is equal to or greater than a predetermined threshold value. Thereby, it is possible to accurately determine that an abnormality occurs due to an excess or deficiency in the work amount of the work unit 30.

[0056] Also, in the first embodiment, as described above, the signal output unit 22 outputs a plurality of movement amount signals based on the movement amounts of the respective plurality of movement points of the work unit 30 provided at the tip of the articulated robot arm 10, and the work control unit 40 integrates the movement amounts of the plurality of movement points of the work unit 30 based on the movement amount signals output from the signal output unit 22 to calculate a plurality of operation path lengths, and compares a value based on each of the plurality of operation path lengths with a value based on the work amount of the work unit 30 at each of the plurality of movement points, and determines that there is an abnormality individually when the difference is equal to or greater than a predetermined threshold value. Thereby, it is possible to detect an abnormality for each of the plurality of movement points of the work unit 30.

[0057] Also, in the first embodiment, as described above, the signal output unit 22 outputs a movement amount signal every control period which is a fixed time. As a result, since the movement amount signal is output every control period, it is possible to easily perform control to synchronize the work of the work unit with the movement of the work unit 30.

[0058] (Second Embodiment) With reference to FIGS. 4 and 5, the robot system 100 according to the second embodiment will be described.

[0059] As shown in FIG. 4, the robot system 100 performs work on the workpiece 200. The robot system 100 includes an articulated robot arm 10 and a control device 20 that controls the articulated robot arm 10. Further, the robot system 100 includes a work unit 30 and a work control unit 40 that controls the work unit 30. Further, the robot system 100 includes a plurality of material supply units 50 that supply materials for performing work on a plurality of work positions of the work unit 30.

[0060] The work unit 30 performs work in parallel at a plurality of work positions within the work unit 30. For example, as shown in FIG. 5, the work unit 30 performs work at a plurality of work positions in the width direction orthogonal to the traveling direction while relatively moving with respect to the workpiece 200.

[0061] Here, the signal output unit 22 outputs a plurality of movement amount signals based on the movement amounts of each of a plurality of movement points of the work unit 30 provided at the tip of the articulated robot arm 10. Further, the work control unit 40 individually controls the work on the workpiece 200 by the work unit 30 at each of the plurality of movement points based on each of the plurality of movement amount signals.

[0062] Specifically, when the surface of the workpiece 200 has a curved surface shape, for example, when the working unit 30 moves in a curved shape such as an arc on the curved surface and performs work on the workpiece 200, a difference occurs in the construction path length between the inner and outer sides of the curve in the width direction. In this case, each working position of the working unit 30 is specified in advance to the robot control unit 21. Then, the moving amount at regular time intervals at each position is calculated, and a pulse signal corresponding to each moving amount is output to the work control unit 40 for each control cycle of the control device 20.

[0063] Based on the pulse signals at each of the plurality of working positions received from the control device 20, the work control unit 40 performs real-time control of the supply of each material of the plurality of material supply units 50. For example, at a working position where it passes through the outer side of the curve and the passing speed increases, the supply speed of the material is increased. On the other hand, at a working position where it passes through the inner side of the curve and the passing speed decreases, the supply speed of the material is decreased.

[0064] In addition, the signal output unit 22 outputs a plurality of movement amount signals based on the movement amounts of each of the plurality of movement points of the working unit 30 provided at the tip of the articulated robot arm 10. Also, based on the movement amount signals output from the signal output unit 22, the work control unit 40 integrates the movement amounts of the plurality of movement points of the working unit 30 to calculate a plurality of operation path lengths, and compares a value based on each of the plurality of operation path lengths with a value based on the work amount of the working unit 30 at each of the plurality of movement points. If the difference is equal to or greater than a predetermined threshold value, it is individually determined as abnormal.

[0065] Other configurations of the second embodiment are the same as those of the first embodiment described above.

[0066] (Effects of the Second Embodiment) In the second embodiment, the following effects can be obtained.

[0067] In the second embodiment, as in the first embodiment, when performing work while relatively moving the working unit 30 with respect to the workpiece 200 by the articulated robot arm 10, the working unit 30 can perform work on the workpiece 200 with high precision.

[0068] Also, in the second embodiment, as described above, the signal output unit 22 outputs a plurality of movement amount signals based on the movement amounts of the respective plurality of movement points of the working unit 30 provided at the tip of the articulated robot arm 10. Further, the work control unit 40 individually controls the work on the workpiece 200 by the working unit 30 at each of the plurality of movement points based on each of the plurality of movement amount signals. Thereby, since the work by the working unit 30 can be controlled in synchronization with the movement of each of the plurality of movement points of the working unit 30, the work by the working unit 30 at each movement point can be performed with high precision.

[0069] Also, in the second embodiment, as described above, the signal output unit 22 outputs a plurality of movement amount signals based on the movement amounts of the respective plurality of movement points of the working unit 30 provided at the tip of the articulated robot arm 10. Further, the work control unit 40 integrates the movement amounts of the plurality of movement points of the working unit 30 based on the movement amount signals output from the signal output unit 22 to calculate a plurality of operation path lengths, and compares a value based on each of the plurality of operation path lengths with a value based on the work amount of the working unit 30 at each of the plurality of movement points, and when the difference is equal to or greater than a predetermined threshold value, individually determines it as an abnormality. Thereby, an abnormality can be detected for each of the plurality of movement points of the working unit 30.

[0070] Other effects of the second embodiment are the same as those of the first embodiment.

[0071] (Third Embodiment) With reference to FIGS. 6 and 7, the robot system 100 according to the third embodiment will be described.

[0072] As shown in FIG. 6, the robot system 100 performs work on the workpiece 200. The robot system 100 includes an articulated robot arm 10 and a control device 20 that controls the articulated robot arm 10. Further, the robot system 100 includes a working unit 31 and a work control unit 40 that controls the working unit 31. In the third embodiment, the working unit 31 is a cutting unit that performs polishing or a polishing unit that performs polishing.

[0073] The working unit 31 rotates its tip to cut or polish the workpiece 200. The work control unit 40 controls the rotation speed of the working unit 31 in accordance with the moving speed of the working unit 31 by the articulated robot arm 10. That is, the work control unit 40 controls the work on the workpiece 200 by the working unit 31 based on the movement amount signal output from the signal output unit 22 at regular intervals.

[0074] In the example shown in FIG. 7, the workpiece 200 has a straight portion and a corner portion provided between the straight portions. The articulated robot arm 10 moves the working unit 31 at high speed in the straight portion. Further, the work control unit 40 rotates the working unit 31 at high speed in accordance with the high-speed movement of the working unit 31 in the straight portion.

[0075] On the other hand, in the corner portion, the articulated robot arm 10 moves the working unit 31 at low speed. Further, the work control unit 40 rotates the working unit 31 at low speed in accordance with the low-speed movement of the working unit 31 in the corner portion. Thereby, even when the moving speed of the working unit 31 changes between the straight portion and the corner portion, it is possible to realize the same cutting amount. As a result, high-quality construction can be performed.

[0076] Other configurations of the third embodiment are the same as those of the first embodiment described above.

[0077] (Effect of the Third Embodiment) In the third embodiment, the following effects can be obtained.

[0078] In the third embodiment, as in the first embodiment, when performing work while relatively moving the working unit 31 with respect to the workpiece 200 by the articulated robot arm 10, the working unit 31 can perform work on the workpiece 200 with high accuracy.

[0079] Other effects of the third embodiment are the same as those of the first embodiment.

[0080] (Fourth Embodiment) With reference to FIGS. 8 and 9, the robot system 100 according to the fourth embodiment will be described.

[0081] As shown in FIG. 8, the robot system 100 performs work on the workpiece 200. The robot system 100 includes an articulated robot arm 10 and a control device 20 that controls the articulated robot arm 10. Further, the robot system 100 includes a laser generation unit 32 and a laser head 32a as a working unit, and a work control unit 40 that controls the generation of the laser of the laser generation unit 32. In the fourth embodiment, the working unit performs welding or brazing on the workpiece 200 with a laser.

[0082] The laser generation unit 32 irradiates the workpiece 200 with a laser from the laser head 32a. Thereby, the workpiece 200 is melted to perform welding or brazing. The work control unit 40 controls the output of the laser and the output frequency of the laser in accordance with the moving speed of the laser head 32a by the articulated robot arm 10. That is, the work control unit 40 controls the work on the workpiece 200 by the working unit based on the movement amount signal output from the signal output unit 22 at regular intervals.

[0083] In the example shown in FIG. 9, the workpiece 200 has a straight portion and a corner portion provided between the straight portions. In the straight portion, the articulated robot arm 10 moves the laser head 32a at high speed. Further, in the straight portion, the work control unit 40 increases the frequency of the laser generated from the laser generation unit 32. Further, in the straight portion, the work control unit 40 increases the output of the laser generated from the laser generation unit 32.

[0084] On the other hand, at the corner part, the multi-joint robot arm 10 moves the laser head 32a at a low speed. Further, the work control unit 40 reduces the frequency of the laser generated from the laser generation unit 32 at the corner part. Further, the work control unit 40 reduces the output of the laser generated from the laser generation unit 32 at the corner part. Thereby, even when the moving speed of the laser head 32a changes between the straight part and the corner part, it is possible to adjust the output timing of the laser and the amount of heat input by the output of the laser. As a result, high-quality construction can be performed.

[0085] In the example shown in FIG. 10, the pitch of welding or deposition is changed between the straight part and the corner part. In the straight part, the pitch of welding or deposition is reduced, and in the corner part, the pitch of welding or deposition is increased.

[0086] Other configurations of the fourth embodiment are the same as those of the first embodiment described above.

[0087] (Effect of the Fourth Embodiment) In the fourth embodiment, the following effects can be obtained.

[0088] In the fourth embodiment, as in the first embodiment described above, when performing work while relatively moving the work part with respect to the work 200 by the multi-joint robot arm 10, the work part can perform work on the work 200 with high accuracy.

[0089] Other effects of the fourth embodiment are the same as those of the first embodiment described above.

[0090] (Fifth Embodiment) With reference to FIGS. 11 to 13, the robot system 100 according to the fifth embodiment will be described.

[0091] As shown in FIG. 11, the robot system 100 performs operations on the workpiece 200. The robot system 100 includes an articulated robot arm 10 and a control device 20 that controls the articulated robot arm 10. Further, the robot system 100 includes a working unit 33 and a working control unit 40 that controls the working unit 33. In the fifth embodiment, the working unit 33 is a hand that picks up the workpiece 200.

[0092] The working unit 33 picks up the workpiece 200 by opening and closing the claw portion of the hand. For example, as shown in FIG. 12, the robot system 100 picks up the workpiece 200 at the lower left position, moves it to the upper right, and releases it. Further, after moving to the lower right, the robot system 100 picks up the workpiece 200, moves it to the upper left, and releases it. Then, the robot system 100 moves to the lower left, and picking, moving, and releasing are repeated. Note that the robot system 100 may detect the workpiece 200 randomly placed on the path of the working unit 33 and perform picking.

[0093] The working unit 33 picks up and releases the workpiece 200 while moving at high speed without stopping the workpiece 200 on the operation path. In this case, the working control unit 40 controls the opening / closing speed and the gripping force of the claw portion of the hand according to the moving speed of the working unit 33 by the articulated robot arm 10. Specifically, when the moving speed of the working unit 33 is high, the opening / closing speed of the claw is increased and the gripping force is increased. On the other hand, when the moving speed of the working unit 33 is low, the opening / closing speed of the claw is decreased and the gripping force is decreased. Thereby, even when the articulated robot arm 10 is not stopped and the moving speed of the working unit 33 changes during operation, the workpiece 200 can be accurately picked up and released. As a result, the working time can be shortened.

[0094] Further, as shown in FIG. 13, a plurality of working units 33 may be provided at the tip of the articulated robot arm 10 to grip and convey a plurality of workpieces 200 simultaneously. In this case, the signal output unit 22 outputs a plurality of movement amount signals based on the respective movement amounts of the movement points of the plurality of working units 33 provided at the tip of the articulated robot arm 10.

[0095] Other configurations of the fifth embodiment are the same as those of the first embodiment described above.

[0096] (Effect of the fifth embodiment) In the fifth embodiment, the following effects can be obtained.

[0097] In the fifth embodiment, similar to the first embodiment described above, when performing work while relatively moving the working part 33 with respect to the workpiece 200 by the articulated robot arm 10, the working part 33 can perform work on the workpiece 200 with high accuracy.

[0098] Other effects of the fifth embodiment are the same as those of the first embodiment described above.

[0099] (Modification) It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the above-described embodiments, and further includes all modifications within the meaning and scope equivalent to the claims.

[0100] For example, in the first to fifth embodiments described above, an example of a configuration in which a working part is provided at the tip of an articulated robot arm and the working part is relatively moved with respect to the workpiece by moving the working part by the articulated robot arm is shown. However, the present disclosure is not limited to this. In the present disclosure, a workpiece may be provided at the tip of the articulated robot arm, and the working part may be relatively moved with respect to the workpiece by moving the workpiece by the articulated robot arm. Further, when a workpiece is provided at the tip of the articulated robot arm, an end effector may be provided at the tip of the articulated robot arm, and the workpiece may be held, such as by gripping, by the end effector.

[0101] Further, a working part and a workpiece may be provided at the tip of each of a plurality of articulated robots, and the working part may be relatively moved with respect to the workpiece by moving each of the working part and the workpiece by the articulated robot arm.

[0102] In addition, in the above-described first to fifth embodiments, an example of a configuration in which the articulated robot arm includes six vertical joints has been shown, but the present disclosure is not limited thereto. In the present disclosure, the articulated robot arm may include a plurality of five or less joints, or seven or more joints.

[0103] In addition, in the above-described first to fifth embodiments, an example of a configuration in which the movement amount of the workpiece is acquired based on the movement of the control point of the articulated robot arm has been shown, but the present disclosure is not limited thereto. In the present disclosure, the movement amount of the workpiece may be acquired based on the movement amount at any position of the articulated robot arm.

[0104] In addition, in the above-described first to fifth embodiments, an example of a configuration in which the robot control unit and the signal output unit are provided in a common control device has been shown, but the present disclosure is not limited thereto. In the present disclosure, the robot control unit and the signal output unit may be provided in separate control devices. Further, the signal output unit may be provided in a common control device with the robot control unit by adding hardware, or may be provided in a common control device with the robot control unit by adding software.

[0105] The functions of the elements disclosed in this specification can be executed using circuitry or a processing circuit that includes a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof that are configured or programmed to perform the disclosed functions. Since a processor includes transistors and other circuits, it is considered a processing circuit or a circuit. In the present disclosure, a circuit, unit, or means is either hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be the hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. When the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used in the configuration of the hardware and / or the processor.

Explanation of Signs

[0106] 10 Multi-joint robot arm 21 Robot control unit 22 Signal output unit 30 Working unit 40 Work control unit 50 Material supply unit 100 Robot system 200 Workpiece

Claims

1. A multi-joint robot arm including a plurality of joints, a robot control unit that controls the movement of the multi-joint robot arm, a working unit that performs work on a workpiece, a signal output unit that outputs a movement amount signal based on the movement amount of the workpiece or the working unit provided at the tip of the multi-joint robot arm every fixed time, a work control unit that controls the work on the workpiece by the working unit based on the movement amount signal output from the signal output unit, and the signal output unit outputs the movement amount signal based on the movement amount of the workpiece or the working unit every fixed time by a pulse signal corresponding to the movement amount, a robot system.

2. The signal output unit outputs the movement amount signal based on the movement amount of the workpiece or the working unit every fixed time by a pulse signal having a number of pulses corresponding to the movement amount, the robot system according to Claim 1.

3. further comprising a material supply unit that supplies a material for performing work on the working unit, the work control unit controls the supply of the material from the material supply unit based on the movement amount signal output from the signal output unit, the robot system according to Claim 1 or 2.

4. The work control unit controls at least one of the work amount of the working unit, the work speed of the working unit, and the work acceleration of the working unit based on the movement amount signal output from the signal output unit, the robot system according to any one of Claims 1 to 3.

5. the signal output unit outputs a plurality of the movement amount signals based on the movement amount of each of a plurality of movement points that are the work positions of the workpiece or the working unit provided at a plurality of positions at the tip of the multi-joint robot arm, the work control unit individually controls the work on the workpiece by the working unit at each of the plurality of movement points that are the work positions based on each of the plurality of movement amount signals, the robot system according to any one of Claims 1 to 4.

6. The work control unit calculates an operation path length by integrating the movement amount of the workpiece or the working unit based on the movement amount signal output from the signal output unit, and determines an abnormality based on the operation path length and the work amount of the working unit, the robot system according to any one of Claims 1 to 5.

7. The robot system according to claim 6, wherein the operation control unit compares a value based on the operation path length and a value based on the work amount of the work unit, and determines that there is an abnormality when the difference is equal to or greater than a predetermined threshold value.

8. The signal output unit outputs a plurality of the movement amount signals based on the movement amount of each of a plurality of movement points that are the workpieces provided at the tip of the articulated robot arm or the work positions of the work unit. The operation control unit calculates a plurality of the operation path lengths by integrating the movement amounts of the plurality of the movement points that are the work positions of the workpiece or the work unit based on the movement amount signals output from the signal output unit, and compares a value based on each of the plurality of the operation path lengths with a value based on the work amount of the work unit at each of the plurality of the movement points. When the difference is equal to or greater than a predetermined threshold value, the robot system according to claim 6 or 7 determines that there is an abnormality individually.

9. The robot system according to any one of claims 1 to 8, wherein the signal output unit outputs the movement amount signal for each control cycle that is a fixed time.

10. An articulated robot arm including a plurality of joints; A robot control unit that controls the movement of the articulated robot arm; A signal output unit that outputs a movement amount signal based on the movement amount of a workpiece provided at the tip of the articulated robot arm or a work unit that performs work on the workpiece at regular intervals; The robot, wherein the signal output unit outputs the movement amount signal based on the movement amount of the workpiece or the work unit at regular intervals by a pulse signal corresponding to the movement amount.

11. The robot according to claim 10, wherein the movement amount signal is used to control the supply of a material from a material supply unit that supplies a material for performing work on the work unit.

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