Control method for a robot system and a robot system

Abstract

To provide a control method for a robot system that can exhibit excellent operating accuracy, and a robot system.SOLUTION: A control method for a robot system includes: a step at which a robot arm is so made as to be a first attitude; a step at which operation is performed on a first region of an object while moving a tool with respect to the object by a movable stage in the state tha the first attitude is maintained; a step at which the robot arm is so made as to be a second attitude; a step at which the object is imaged by use of a camera in the state that the second attitude is maintained, and on the basis of the imaging result, a position of the tool is corrected by drive of the movable stage; and a step at which operation is performed on a second region of the object while moving the tool with respect to the object in the state that the second attitude is maintained.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a robot system having a robot in which a spray nozzle is supported at the tip of a robot arm via a head slide unit, and the surface of an object is painted by injecting paint from the spray nozzle. In such a robot system, a moving step of moving the robot arm to oppose the spray nozzle to an unpainted area of the object, and a painting step of stopping the robot arm and performing a painting operation on the unpainted area while moving the spray nozzle relative to the object by the head slide unit are repeated to paint the entire object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when printing is performed using the robot system of Patent Document 1 and an inkjet head, the area printed in the current printing step may be displaced with respect to the area printed in the previous printing step, and the printing quality may deteriorate.

Means for Solving the Problems

[0005] The control method of the robot system of the present invention includes a moving stage, a tool attached to the moving stage, a robot arm that holds one of the moving stage or an object, and a camera, and is a control method of a robot system that performs a predetermined operation on the object using the tool, a step of setting the robot arm to a first posture; a step of performing the operation on a first region of the object while moving the tool relative to the object by the moving stage while maintaining the first posture; a step of setting the robot arm to a second posture; a step of imaging the object using the camera while maintaining the second posture, and correcting the position of the tool by driving the moving stage based on the imaging result; a step of performing the operation on a second region of the object while moving the tool relative to the object by the moving stage while maintaining the second posture.

[0006] The robot system of the present invention includes a moving stage, a tool attached to the moving stage, a robot arm that holds one of the moving stage or an object, and a camera, and is a robot system that performs a predetermined operation on an object using the tool, set the robot arm to a first posture, perform the operation on a first region of the object while moving the tool relative to the object by the moving stage while maintaining the first posture, set the robot arm to a second posture, image the object using the camera while maintaining the second posture, correct the position of the tool by driving the moving stage based on the imaging result, perform the operation on a second region of the object while moving the tool relative to the object by the moving stage while maintaining the second posture.

Brief Description of the Drawings

[0007]

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Embodiments for Carrying Out the Invention

[0008] Hereinafter, a control method of the robot system and a preferred embodiment of the robot system will be described based on the accompanying drawings.

[0009] <First Embodiment> FIG. 1 is a perspective view showing the overall configuration of the robot system according to the first embodiment. FIG. 2 is a plan view showing the moving stage. FIG. 3 is a flowchart showing the printing process. FIG. 4 is a diagram showing a state in which the printing surface is divided into a plurality of regions. FIGS. 5 to 8 are diagrams for explaining the movement of the robot system in the printing step, respectively. FIG. 9 is a diagram for explaining the effect of the printing step. FIGS. 10 to 13 are diagrams for explaining the movement of the robot system in the printing step, respectively. FIGS. 14 to 16 are diagrams showing modified examples of the printing method. FIG. 17 is a diagram showing a modified example of the robot system.

[0010] The robot system 100 shown in FIG. 1 includes a robot 200, a robot control device 900 that controls the driving of the robot 200, a fixing member 700 that supports and fixes the object Q, and a camera 800.

[0011] The robot 200 is a six-axis robot having six drive axes. The robot 200 includes a base 210 fixed to the floor, a robot arm 220 connected to the base 210, and a tool 400 connected to the robot arm 220 via a moving stage 300.

[0012] The robotic arm 220 is a robotic arm in which a plurality of arms 221, 222, 223, 224, 225, and 226 are rotatably connected, and is provided with six joints J1 to J6. Among these, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Further, motors M as drive sources and encoders E for detecting the rotation amount (rotation angle of the arm) of the motors M are respectively installed at joints J1, J2, J3, J4, J5, and J6.

[0013] A tool 400 is connected to the tip of the arm 226 via a moving stage 300. That is, the moving stage 300 is held by the arm 226, and the tool 400 is attached to the moving stage 300. The tool 400 is not particularly limited and can be appropriately set according to the target work. In the present embodiment, a printer head, particularly an inkjet head 410, is used. The inkjet head 410 has a diaphragm disposed on the wall surface of an ink chamber (not shown) and the ink chamber, and an ink discharge hole 411 connected to the ink chamber, and is configured such that the ink in the ink chamber is discharged from the ink discharge hole 411 when the diaphragm vibrates. However, the configuration of the inkjet head 410 is not particularly limited. Further, the printer head is not limited to the inkjet head 410.

[0014] Further, as shown in FIG. 2, the moving stage 300 that connects the inkjet head 410 and the robot arm 220 includes a base 310 connected to the arm 226, a stage 320 that moves relative to the base 310, and a moving mechanism 330 that moves the stage 320 relative to the base 310. When three axes orthogonal to each other are defined as the X-axis, Y-axis, and Z-axis, the stage 320 includes a θ stage 320θ that is rotatable about the Z-axis relative to the base 310, a Y stage 320Y that is movable in a direction along the Y-axis relative to the θ stage 320θ, and an X stage 320X that is movable in a direction along the X-axis relative to the Y stage 320Y. The inkjet head 410 is mounted on the X stage 320X. The X stage 320X and the Y stage 320Y are linearly guided in the X-axis direction and the Y-axis direction, respectively, by linear guides, and can move smoothly without play in the rail direction of the linear guides.

[0015] Further, the moving mechanism 330 includes a θ moving mechanism 330θ that moves the θ stage 320θ about the Z-axis relative to the base 310, a Y moving mechanism 330Y that moves the Y stage 320Y in a direction along the Y-axis relative to the θ stage 320θ, and an X moving mechanism 330X that moves the X stage 320X in a direction along the X-axis relative to the Y stage 320Y.

[0016] Further, the θ moving mechanism 330θ, the Y moving mechanism 330Y, and the X moving mechanism 330X each have a piezoelectric actuator 340 as a drive source. Thereby, miniaturization and weight reduction of the moving stage 300 can be achieved. Since direct drive can be performed without using a speed reducer, further weight reduction and miniaturization can be achieved. Also, the driving accuracy of the moving stage 300 is improved. Note that the piezoelectric actuator 340 is configured to vibrate by utilizing the expansion and contraction of a piezoelectric element, and moves the stages 320θ, 320X, and 320Y by transmitting the vibration to the stages 320θ, 320X, and 320Y. However, the drive source is not particularly limited, and for example, an electromagnetic motor may be used.

[0017] As shown in FIG. 1, the camera 800 is disposed on the arm 225 while facing the tip side of the robot arm 220. By disposing the camera 800 on the robot arm 220 in this way, the object Q can be imaged by the camera 800 from a relatively short distance, and clearer image data D can be obtained. Further, for example, compared with the case where the camera 800 is disposed on the moving stage 300 as in the second embodiment described later, the load on the moving stage 300 is reduced, and accordingly, the acceleration and deceleration of the moving stage 300 can be set larger. Therefore, the time required for the work can be shortened and the productivity is improved.

[0018] The positional relationship in which the inkjet head 410 is located on the tip side of the arm 225 is maintained regardless of how the arms 221 to 224 and 226 other than the arm 226 move. Therefore, by disposing the camera 800 on the arm 226, the camera 800 can always image the tip side of the inkjet head 410. Therefore, when printing on the object Q using the inkjet head 410, that is, no matter what posture the inkjet head 410 faces the object Q, the object Q can be imaged in that posture. However, the arrangement of the camera 800 is not particularly limited and may be arranged on the arms 221 to 224 and 226.

[0019] Such a camera 800 is a spectral camera, and in addition to a planar image, spectral data (spectral information) for each pixel can be acquired. Therefore, image recognition based on the image data D acquired by the camera 800 can be performed more accurately. However, the camera 800 is not particularly limited.

[0020] In addition, the robot control device 900 controls the driving of joints J1 to J6, the moving stage 300, the inkjet head 410, and the camera 800 to cause the robot 200 to perform a predetermined operation described later. Such a robot control device 900 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. Further, various programs executable by the processor are stored in the memory, and the processor can read and execute various programs and the like stored in the memory.

[0021] The configuration of the robot system 100 has been described above. Such a robot system 100 can perform an operation (hereinafter also simply referred to as "printing operation") of printing a desired pattern on the printing surface Q1 provided on the surface of the object Q using the inkjet head 410 by the robot control device 900 controlling each part of the system, as shown in FIG. 1, for example.

[0022] As shown in FIG. 3, the printing operation includes a printing preparation step S1 and a printing step S2 of performing printing on the printing surface Q1. Each step will be described in order below.

[0023] [Printing Preparation Step S1] In the printing preparation step S1, first, the shape of the printing surface Q1 is calculated. In the present embodiment, CAD data, which is 3D data of the object Q, is acquired in advance, and the shape of the printing surface Q1 is calculated based on this CAD data. Thereby, the shape of the printing surface Q1 can be calculated more easily and accurately.

[0024] However, the method for calculating the shape of the printing surface Q1 is not particularly limited. For example, the shape of the printing surface Q1 may be calculated based on the imaging data of the object Q obtained by the camera 800 or another camera. Additionally, the shape of the printing surface Q1 may also be calculated using a depth sensor, or the shape of the printing surface Q1 may be calculated by the phase shift method using a projector that projects a striped light pattern onto the printing surface Q1 and a camera that images the printing surface Q1 in a state where the light pattern is irradiated.

[0025] Next, the printing surface Q1 is divided into a plurality of regions R based on the shape of the printing surface Q1. For example, in the example shown in FIG. 4, the printing surface Q1 is evenly divided into four regions R1, R2, R3, and R4 arranged in a row. However, the method for dividing into a plurality of regions R is not particularly limited, and the sizes and shapes may be different from each other, or they may not be arranged in a row.

[0026] Next, the printing order of the four regions R1, R2, R3, and R4 is determined. In this embodiment, the regions are printed in the order of R1, R2, R3, and R4 in sequence. This reduces the unnecessary movement of the robot 200 during the printing operation, and the printing step S2 can be performed efficiently. Therefore, the tact time is shortened and the productivity is improved. However, the printing order is not particularly limited.

[0027] Furthermore, the operating conditions of the robot 200 in each region R1, R2, R3, and R4 are determined. The operating conditions are not particularly limited, but examples include the posture of the robot arm 220 in each region R1, R2, R3, and R4, the movement trajectory, acceleration, deceleration, and maximum speed, and the output conditions of the inkjet head 410 such as the ink ejection amount and the ink ejection interval.

[0028] [Printing Step S2] The printing step S2 is a step of performing printing on the printing surface Q1 using the inkjet head 410. Such a printing step S2 is performed based on the operating conditions determined in the printing preparation step S1. As shown in FIG. 3, it includes a unit printing step S21 of printing on the region R1, a unit printing step S22 of printing on the region R2, a unit printing step S23 of printing on the region R3, and a unit printing step S24 of printing on the region R4.

[0029] Note that since the unit printing steps S23 and S24 are repetitions of the unit printing step S22, hereinafter, based on FIGS. 5 to 7, only the unit printing steps S21 and S22 will be described, and the description of the unit printing steps S23 and S24 will be omitted.

[0030] ≪Unit printing step S21≫ The unit printing step S21 includes a robot arm driving step S211 of setting the robot arm 220 to the first posture, and a working step S212 of performing printing on the region R1 while moving the inkjet head 410 relative to the object Q by the moving stage 300 while maintaining the first posture.

[0031] In the robot arm driving step S211, as shown in FIG. 5, the robot arm 220 is driven to the first posture to oppose the inkjet head 410 to the region R1. The separation distance between the inkjet head 410 and the region R1 at this time is within the proper gap preset for the inkjet head 410. Also, in the first posture, the movable range of the inkjet head 410 due to the driving of the moving stage 300 overlaps the entire region R1.

[0032] Next, while maintaining the robot arm 220 in the first posture, that is, without moving the robot arm 220, the work step S212 is performed. In the work step S212, first, as shown in FIG. 6, the moving stage 300 is driven to move the inkjet head 410 to the movement start position P1. Next, as shown in FIG. 7, while driving the moving stage 300 to move the inkjet head 410 from the movement start position P1 to the movement end position P2 along the arrow N, ink is ejected from the inkjet head 410 at a predetermined timing to perform printing on the region R1.

[0033] ≪Unit printing step S22≫ As shown in FIG. 3, the unit printing step S22 includes a robot arm driving step S221 of changing the robot arm 220 from the first posture to the second posture, a correction step S222 of imaging the object Q using the camera 800 and correcting the position of the inkjet head 410 based on the imaging result, and a work step S223 of performing printing on the region R2 while moving the inkjet head 410 relative to the object Q by the moving stage 300.

[0034] In the robot arm driving step S221, as shown in FIG. 8, the robot arm 220 is driven to the second posture, and the inkjet head 410 is opposed to the region R2. The separation distance between the inkjet head 410 and the region R2 at this time is within the proper gap preset for the inkjet head 410. Also, in the second posture, the movable range of the inkjet head 410 due to the driving of the moving stage 300 overlaps the entire region R2.

[0035] Here, when changing the robot arm 220 from the first posture to the second posture, the actual movement trajectory may deviate from the specified movement trajectory, and the position of the actual inkjet head 410 in the second posture may deviate from the specified position. Thus, if printing is performed on the region R2 with the position of the actual inkjet head 410 deviated from the specified position, as shown in FIG. 9, printing misregistration occurs at the joint between the regions R1 and R2, and the print quality deteriorates. Therefore, in the next correction step S222, the position of the inkjet head 410 is corrected to suppress such printing misregistration at the joint between the regions R1 and R2.

[0036] In the correction step S222, first, as shown in FIG. 10, the printing surface Q1 is imaged by the camera 800 while the robot arm 220 is maintained in the second posture. Then, the work reference point P0 included in the image data D obtained by the imaging is recognized by image recognition. In the present embodiment, the end portion U1 on the region R2 side of the pattern U printed on the region R1 is used as the work reference point P0.

[0037] As described above, in the present embodiment, the camera 800 is a spectral camera and can acquire spectral data (spectral information) for each pixel. Therefore, the image recognition of the work reference point P0 can be performed with higher accuracy. Further, in order to more surely position the work reference point P0 within the field of view of the camera 800, in the present embodiment, the second posture (particularly, the orientation of the arm 225) is determined such that the camera 800 is positioned on the region R1 side of the robot arm 220. However, the orientation of the camera 800 in the second posture is not particularly limited as long as an image including the work reference point P0 can be imaged.

[0038] Next, as shown in FIG. 11, based on the work reference point P0, the position of the inkjet head 410 is corrected by driving the moving stage 300 while the robot arm 220 is maintained in the second posture. In the example shown in FIG. 11, the Y stage 320Y is moved in the Y-axis direction to correct the position of the inkjet head 410.

[0039] Specifically, first, the position of the actual inkjet head 410 is detected based on the position of the working reference point P0 within the image data D. Next, the deviation between the detected position of the inkjet head 410 and the target position is detected. Next, based on the detected deviation, the position of the inkjet head 410 is corrected to reach the target position. The position correction of the inkjet head 410 is performed by driving the moving stage 300 while maintaining the robot arm 220 in the second posture. Thereby, the position correction of the inkjet head 410 can be accurately performed. In particular, in the present embodiment, since the moving stage 300 has a configuration with three degrees of freedom consisting of an X stage 320X, a Y stage 320Y, and a θ stage 320θ, the position correction of the inkjet head 410 can be performed more accurately.

[0040] Next, while maintaining the robot arm 220 in the second posture, the working step S223 is performed. In the working step S223, first, as shown in FIG. 12, the moving stage 300 is driven to move the inkjet head 410 to the movement start position P1. Next, as shown in FIG. 13, while driving the moving stage 300 to move the inkjet head 410 from the movement start position P1 to the movement end position P2 along the arrow N, ink is ejected from the inkjet head 410 at a predetermined timing to perform printing on the region R2.

[0041] According to such a unit printing step S22, printing misalignment at the joint between the regions R1 and R2 can be effectively suppressed, and a decrease in print quality can be effectively suppressed. Further, by setting the robot arm 220 in a stopped state in this way, the influence of vibration and trajectory deviation caused by the motors and speed reducers driven by the joints of the robot arm 220 is eliminated. Moreover, if the moving stage 300 is in a driven state, it slides along the linear guide of the moving stage 300, so that printing with high accuracy can be performed along the moving direction.

[0042] Following the unit printing step S22 as described above, the unit printing steps S23 and S24 are similarly performed, and thus the printing over the entire printing surface Q1 is completed. As shown in FIG. 3, when the printing on the printing surface Q1 is completed, it is determined whether the printing operation has been performed on a predetermined number of objects Q. If so, the operation by the robot system 100 is terminated. On the other hand, if not, a new object Q is fixed again to the fixing member 700, and the printing operation is performed from the printing step S2.

[0043] As described above, the robot system 100 of the present embodiment has been described. As described above, such a control method of the robot system 100 includes a moving stage 300, a tool 400 attached to the moving stage 300, a robot arm 220 that holds one of the moving stage 300 or the object Q, and a camera 800, and is a control method of the robot system 100 that performs a predetermined operation on the object Q using the tool 400, and includes a robot arm driving step S211 that is a step of setting the robot arm 220 to a first posture, a work step S212 that, while maintaining the first posture, performs a work on a region R1 that is a first region of the object Q while moving the tool 400 relative to the object Q by the moving stage 300, a robot arm driving step S221 that is a step of setting the robot arm 220 to a second posture, a correction step S222 that, while maintaining the second posture, images the object Q using the camera 800 and corrects the position of the tool 400 by driving the moving stage 300 based on the imaging result, and a work step S223 that, while maintaining the second posture, performs a work on a region R2 that is a second region of the object Q while moving the tool 400 relative to the object Q by the moving stage 300. According to such a control method, it is possible to effectively suppress the work deviation at the joint of the regions R1 and R2, and it is possible to effectively suppress the deterioration of the work quality.

[0044] Also, as described above, the robot arm 220 holds the moving stage 300. Thereby, it becomes easier to perform the operation on the object Q. Also, as described above, the moving stage 300 holds the tool 400. Thereby, it becomes easier to perform the operation on the object Q.

[0045] Also, as described above, in the control method of the robot system 100, the moving stage 300 has a piezoelectric actuator 340 as a drive source. Thereby, miniaturization and weight reduction of the moving stage 300 can be achieved. In addition, the driving accuracy of the moving stage 300 is improved, and furthermore, it becomes easier to move the tool 400 at a constant speed.

[0046] Also, as described above, the tool 400 is an inkjet head 410 as a printer head. Thereby, printing work on the object Q can be performed. Therefore, the robot system 100 has high convenience.

[0047] Also, as described above, in the correction step S222, the position of the tool 400 is corrected based on the working trace formed in the region R1, that is, the printed pattern U. Thereby, the correction of the tool 400 can be performed easily and accurately.

[0048] Also, as described above, the camera is arranged on the robot 200. Thereby, it becomes easier to image the object Q. Also, for example, compared with the case where the camera 800 is arranged on the moving stage 300 as in the second embodiment described later, the load on the moving stage 300 is reduced, and accordingly, the acceleration and deceleration of the moving stage 300 can be set larger. Therefore, the time required for the work can be shortened and the productivity is improved.

[0049] Also, as described above, the camera 800 is a spectroscopic camera. Thereby, image recognition in the correction step S222 can be performed more accurately.

[0050] Also, as described above, the robot system 100 includes a moving stage 300, a tool 400 attached to the moving stage 300, a robot arm 220 that holds either the moving stage 300 or the object Q, and a camera 800, and is a robot system 100 that performs a predetermined operation on the object Q using the tool 400. The robot arm 220 is set to the first posture, and while maintaining the first posture, the tool 400 is moved relative to the object Q by the moving stage 300 to perform an operation on the region R1, which is the first region of the object Q. The robot arm 220 is set to the second posture, and while maintaining the second posture, the object Q is imaged using the camera 800, the position of the tool 400 is corrected by driving the moving stage 300 based on the imaging result, and while maintaining the second posture, the tool 400 is moved relative to the object Q by the moving stage 300 to perform an operation on the region R2, which is the second region of the object Q. According to the robot system 100 having such a configuration, it is possible to effectively suppress the operation deviation at the joint between the regions R1 and R2, and it is possible to effectively suppress the deterioration of the operation quality.

[0051] As described above, the robot system 100 has been described, but the robot system 100 is not particularly limited. For example, in the present embodiment, the arrow N, which is the moving direction of the inkjet head 410 in the printing step S2, is along the arrangement direction of the regions R1, R2, R3, and R4 (the moving direction of the robot arm 220). However, for example, as shown in FIG. 14, the moving direction of the inkjet head 410 in each of the regions R1, R2, R3, and R4 may be orthogonal (cross) to the arrangement direction of the regions R1, R2, R3, and R4. Further, as shown in FIG. 15, the moving direction of the inkjet head 410 in each of the regions R1, R2, R3, and R4 may meander two-dimensionally. Also, in the present embodiment, the regions R are arranged in a single row, but as shown in FIG. 16, they may be arranged in two or more rows.

[0052] Also, a plurality of cameras 800 may be arranged on the robot arm 220. For example, in the example shown in FIG. 17, two cameras 800 are arranged on the arm 225 so as to face each other via the arm 225. According to such a configuration, image data D with a wider field of view can be acquired using the two cameras 800. Further, in the correction step S222, it is sufficient to acquire the image data D including the end portion U1 (working reference point P0) with any one of the cameras 800. Therefore, the degree of freedom of the second posture is increased, and the driving efficiency of the robot arm 220 can be improved.

[0053] <Second Embodiment> FIG. 18 is a diagram showing a robot system according to the second embodiment.

[0054] The robot system 100 of the present embodiment is the same as the robot system 100 of the first embodiment described above, except that the arrangement of the cameras 800 is different. Therefore, in the following description, regarding the present 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 each figure of the present embodiment, the same reference numerals are given to the same configurations as those in the above-described embodiment.

[0055] As shown in FIG. 18, in the present embodiment, the camera 800 is arranged on the stage 320 of the moving stage 300, particularly the X stage 320X. Thereby, even when the robot arm 220 is maintained in the second posture, the camera 800 can be moved by driving the moving stage 300. Therefore, the imaging range of the camera 800 in the second posture becomes wider, and in the correction step S222, the working reference point P0 on the printing surface Q1 can be more reliably imaged. Further, when the working reference point P0 is large and the entire area cannot be imaged in a single image, the working reference point P0 may be recognized based on a plurality of image data D obtained by imaging from different positions.

[0056] As described above, in the control method of the robot system 100 according to the present embodiment, the camera 800 is disposed on the moving stage 300. Accordingly, even when the robot arm 220 is maintained in the second posture, the camera 800 can be moved by driving the moving stage 300. Therefore, the imaging range of the camera 800 in the second posture becomes wider, and in the correction step S222, the working reference point P0 on the printing surface Q1 can be more reliably imaged.

[0057] Even with such a second embodiment, the same effects as those of the first embodiment described above can be achieved.

[0058] <Third Embodiment> FIG. 19 is a diagram showing a working reference point P0 used in the robot system according to the third embodiment.

[0059] The robot system 100 according to the present embodiment is the same as the robot system 100 of the first embodiment described above, except that the working reference point P0 is different. Therefore, in the following description, the differences between the present embodiment and the first embodiment described above will be mainly described, and the description of the same matters will be omitted. In addition, in each figure of the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals.

[0060] As shown in FIG. 19, in the present embodiment, a marker K disposed on the printing surface Q1 is used as the working reference point P0. The marker K is not particularly limited as long as it can be identified, and can be formed, for example, by unevenness, printing, or the like.

[0061] In the correction step S222 of the present embodiment, first, while maintaining the robot arm 220 in the second posture, the printing surface Q1 is imaged by the camera 800. Then, the marker K included in the image data D obtained by the imaging is recognized as the work reference point P0 by image recognition. Next, the position of the actual inkjet head 410 is detected based on the position of the marker K in the image data D, and the position of the inkjet head 410 is corrected based on the deviation from the target position. In the first embodiment described above, it may be difficult to recognize the work reference point P0 depending on the pattern U. In contrast, in the present embodiment, since the marker K pre-arranged on the printing surface Q1 is used as the work reference point P0, the work reference point P0 can be recognized more accurately and reliably.

[0062] As described above, in the control method of the robot system 100 of the present embodiment, in the correction step S222, the position of the tool 400 is corrected based on the marker K arranged on the object Q. Thereby, the work reference point P0 can be recognized more accurately and reliably.

[0063] Also, such a third embodiment can exhibit the same effects as those of the first embodiment described above.

[0064] <Fourth Embodiment> FIG. 20 is a perspective view showing the overall configuration of the robot system according to the fourth embodiment.

[0065] The robot system 100 of the present embodiment is the same as the robot system 100 of the first embodiment described above, except that the arrangements of the moving stage 300 and the tool 400 are different. Therefore, in the following description, regarding the present 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 each figure of the present embodiment, the same reference numerals are given to the same configurations as those of the above-described embodiments.

[0066] As shown in FIG. 20, in this embodiment, a hand 600 is arranged at the tip of the robot arm 220, that is, the arm 226, and the object Q is gripped by this hand 600 during work. On the other hand, the moving stage 300 is fixed to the fixing member 700 apart from the robot arm 220, and an inkjet head 410 is arranged on this moving stage 300.

[0067] Also by such a fourth embodiment, the same effects as those of the first embodiment described above can be exhibited. In addition to this, for example, a configuration in which the hand 600 is connected to the arm 226 via the moving stage 300 and the inkjet head 410 is fixed to the fixing member 700 apart from the robot arm 220 may also be possible. Further, a configuration in which the inkjet head 410 is connected to the arm 226 and the hand 600 is connected to the fixing member 700 via the moving stage 300 in a state of being separated from the robot arm 220 may also be possible.

[0068] As described above, the control method and the robot system of the present invention have been described based on the illustrated embodiments. However, the present invention is not limited to this, and the configuration of each part can be replaced with any configuration having the same function. Further, any other arbitrary component may be added to the present invention. Also, the respective embodiments may be combined as appropriate.

[0069] Further, the tool 400 is not limited to the inkjet head 410, and examples thereof include tools for laser processing, tools for soldering work, tools for welding, and other tools for work performed in synchronization with the movement locus of the tool.

Explanation of Reference Numerals

[0070] 100... Robot system, 200... Robot, 210... Base, 220... Robot arm, 221... Arm, 222... Arm, 223... Arm, 224... Arm, 225... Arm, 226... Arm, 300... Moving stage, 310... Base part, 320... Stage, 320X... X stage, 320Y... Y stage, 320θ... θ stage, 330... Moving mechanism, 330X... X moving mechanism, 330Y... Y moving mechanism, 330θ... θ moving mechanism, 340... Piezoelectric actuator, 400... Tool, 410... Inkjet head, 411... Ink ejection hole, 600... Hand, 700... Fixed member, 800... Camera, 900... Robot control device, D... Image data, E... Encoder, J1... Joint, J2... Joint, J3... Joint, J4... Joint, J5... Joint, J6... Joint, K... Marker, M... Motor, N... Arrow, P0... Working reference point, P1... Movement start position, P2... Movement end position, Q... Object, Q1... Printing surface, R... Region, R1... Region, R2... Region, R3... Region, R4... Region, S1... Printing preparation step, S2... Printing step, S21... Unit printing step, S211... Robot arm drive step, S212... Working step, S22... Unit printing step, S221... Robot arm drive step, S222... Correction step, S223... Working step, S23... Unit printing step, S24... Unit printing step, U... Pattern, U1... End part

Claims

1. A control method for a robot system comprising a moving stage, a tool attached to the moving stage, a robot arm for holding either the moving stage or an object, and a camera, and performing a predetermined operation on the object using the tool, the method comprising: setting the robot arm to a first posture; while maintaining the first posture of the robot arm, moving the tool relative to the object by the moving stage and performing the operation on a first region of the object; setting the robot arm to a second posture; while maintaining the second posture of the robot arm, imaging the object using the camera and correcting the position of the tool by driving the moving stage based on the imaging result; while maintaining the second posture of the robot arm, moving the tool relative to the object by the moving stage and performing the operation on a second region of the object.

2. The control method for a robot system according to claim 1, wherein the robot arm holds the moving stage.

3. The control method for a robot system according to claim 2, wherein the moving stage holds the tool.

4. The control method for a robot system according to any one of claims 1 to 3, wherein the moving stage has a piezoelectric actuator as a drive source.

5. The control method for a robot system according to any one of claims 1 to 4, wherein the tool is a printer head.

6. In the correcting step, the position of the tool is corrected based on a working trace formed in the first region.

7. In the correcting step, the position of the tool is corrected based on a marker arranged on the object.

8. The control method for a robot system according to any one of claims 1 to 7, wherein the camera is arranged on the robot.

9. The control method for a robot system according to any one of claims 1 to 7, wherein the camera is arranged on the moving stage.

10. The control method of the robot system according to any one of claims 1 to 9, wherein the camera is a spectroscopic camera.

11. A robot system comprising a moving stage, a tool attached to the moving stage, a robot arm that holds one of the moving stage or an object, and a camera, and performing a predetermined operation on the object using the tool, setting the robot arm to a first posture, while maintaining the first posture of the robot arm, moving the tool relative to the object by the moving stage and performing the operation on a first region of the object, setting the robot arm to a second posture, while maintaining the second posture of the robot arm, imaging the object using the camera, correcting the position of the tool by driving the moving stage based on the imaging result, A robot system, characterized in that, while maintaining the second posture of the robot arm, the operation is performed on a second region of the object while moving the tool relative to the object by the moving stage.

Images