robotic device

Abstract

To provide a robot device 1, which is configured to satisfactorily process a work-piece 2 which is large in build.SOLUTION: A robot device 1, which process a work-piece 2 while moving a processing tool 5 mounted on a robot 4 three-dimensionally, comprises site measuring means described below and processing condition correcting means. First, the site measuring means measures a state of a processing site 3 in the work-piece 2, while setting a position and an attitude of the work-piece 2, in making the processing tool 5 process the work-piece. The processing condition correcting means corrects an initial processing condition set preliminarily as a processing condition for processing the work-piece 2, on the basis of the state of the processing site 3 obtained by the site measuring means. The robot device 1 controls processing of the work-piece 2 on the basis of the processing condition corrected by the processing condition correcting means. This enables the robot device 1 to satisfactorily process the work-piece 2 which is large in build.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot device that processes a workpiece while three-dimensionally moving a processing tool mounted on the robot.

Background Art

[0002] Conventionally, in the above-described robot device, it is known to operate the robot to perform processing with a processing tool while the position and orientation of the workpiece are determined (see, for example, Patent Document 1).

[0003] According to Patent Document 1, a roller hemming processing device is disclosed in which the periphery of a workpiece formed by stacking a plurality of metal plates, such as a door panel of an automobile, is hemmed by a roller as a processing tool mounted on a robot. And according to this processing device, a lower die is installed in a predetermined processing space, the workpiece is placed on this lower die, and by operating the robot according to the processing conditions set by prior teaching, a large number of workpieces of the same type can be hemmed one by one.

[0004] In recent years, the demand for processing workpieces that are much larger in size than door panels with a robot device has been increasing regardless of the material such as metal materials and resin materials. However, when processing such large-sized workpieces with a robot device, the following problems occur due to the large size.

[0005] For example, in the manufacturing process of a bogie of a railway vehicle, a large metal structure in which various metal members are integrated by welding is used as a workpiece, and the excess metal at the welded part is removed by a face mill or the like. However, in such a workpiece, since the amount of deformation due to welding distortion is large, it is difficult to perform satisfactory processing even when the robot device is operated according to the processing conditions set by prior teaching.

[0006] In the manufacturing process of the deck and hull of a motorboat, large resin molded products mainly made of FRP are used as workpieces, and surplus materials are cut off using an end mill, circular saw, etc. However, in such workpieces, the amount of deformation due to thermal shrinkage is large, so even if the robot device is operated according to the processing conditions set by prior teaching, it is similarly difficult to perform satisfactory processing.

[0007] Also, regarding workpieces with a large size as described above, it is difficult to accurately determine the position and orientation for each piece, and often the position and orientation are roughly determined. For this reason, the position and orientation of the workpiece also vary greatly for each piece, making it even more difficult to perform processing with a robot device.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0009] The present disclosure has been made to solve the above problems, and its object is to enable satisfactory processing of large-sized workpieces in a robot device.

Means for Solving the Problems

[0010] The present disclosure of the robot The robot device processes a workpiece while three-dimensionally moving a processing tool attached to the robot, and includes the following part measurement means and processing condition correction means. First, the part measurement means measures the state of the processing part on the workpiece in a state where the position and orientation of the workpiece are determined during processing by the processing tool. Also, the processing condition correction means corrects the initial processing conditions set in advance as the processing conditions for processing the workpiece based on the state of the processing part obtained by the part measurement means. Then, the robot device controls the machining of the workpiece using the machining conditions after correction by the machining condition correction means. Further, the robot device includes the following overall measurement means and measurement condition correction means. First, the overall measurement means measures the position and orientation of the workpiece in a state where the position and orientation of the workpiece are determined during machining by the cutting tool. Also, the measurement condition correction means corrects the initial measurement conditions set in advance as the measurement conditions for measuring the state of the machining part by the part measurement means based on the position and orientation of the workpiece obtained by the overall measurement means. Then, the part measurement means measures the state of the machining part using the measurement conditions after correction by the measurement condition correction means. Furthermore, the robot device includes the following part detection means. That is, the part detection means is attached to the robot and moves three-dimensionally, generating a signal according to the state of the machining part. Then, the part measurement means measures the state of the machining part based on the signal generated by the part detection means. 。

[0011] Furthermore The robot device includes the following moving means. That is, the moving means moves the robot in one direction parallel to the horizontal plane. Then, while moving the robot by the moving means, the robot device machines the workpiece, and the part measurement means measures the state of the machining part based on the signal generated by the part detection means while moving the robot by the moving means. Furthermore, the robot device includes the following overall detection means. That is, the overall detection means is mounted on the robot and moves three-dimensionally, generating a signal according to the position and posture of the workpiece. Then, while moving the robot by the moving means, the overall measurement means measures the position and posture of the workpiece by detecting the positions of three points, namely, the tip, the rear end, and the center of the side edge on the side of the robot's traveling path, within the processed part of the workpiece, based on the signal generated by the overall detection means. Thereby, according to the robot device of the present disclosure, it is possible to potentially solve the problem of enabling satisfactory machining even for workpieces with large physical dimensions.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

[0013] The robot device of the embodiment will be described based on the following examples.

Examples

[0014] 〔 Reference Example Configuration〕 Reference Example The configuration of the robot device 1 of will be described with reference to FIGS. 1 to 4. Reference ExampleThe robot device 1, for example, in the manufacturing process of a bogie of a railway vehicle, uses a large metal structure in which a plurality of cylindrical metal members are integrated by welding at a plurality of locations as the workpiece 2 (see Fig. 2), and uses a plurality of welded parts as the processing parts 3, and removes the excess metal at the welded parts by a face mill.

[0015] Here, the robot 4 is a well-known 6-axis vertical articulated type, and a face mill as a processing tool 5 is attached to the tip. Further, the robot device 1 includes a control panel as a control unit 6 that controls the operations of the robot 4 and the processing tool 5. Then, the control unit 6 commands various actuators assembled to the robot 4 and the processing tool 5, and while rotating the face mill as the processing tool 5, removes the excess metal while moving three-dimensionally.

[0016] In addition, the robot device 1 includes the following part measurement means and processing condition correction means as functions of the control unit 6. First, the part measurement means measures the state of the processing part 3 on the workpiece 2 in a state where the position and posture of the workpiece 2 are determined when processing with the processing tool 5.

[0017] The robot device 1 also includes the following part detection means 7. That is, the part detection means 7 is, for example, attached to the tip of the robot 4 together with the processing tool 5 and moves three-dimensionally, and generates a signal according to the state of the processing part 3. Then, the part measurement means measures the state of the processing part 3 based on the signal generated by the part detection means 7.

[0018] As described above, the control unit 6 measures the state of the processing part 3 of the workpiece 2 whose position and posture are determined by scanning the processing part 3 with the part detection means 7. More specifically, the control unit 6 operates while moving the part detection means 7 according to the movement locus of the initial measurement conditions described later, outputs a signal according to the shape of the welded part, and sequentially measures the shapes of a plurality of welded parts.

[0019] Note that the part detection means 7 is, for example, a well-known two-dimensional laser displacement meter. Then, the part detection means 7 moves while irradiating a linear laser beam toward the welded part (see Fig. 3), and generates a signal corresponding to the profile of the welded part for each cross-section perpendicular to the moving direction.

[0020] Further, a mounting plate 9 is attached to the tip of the robot 4, and the processing tool 5 and the part detection means 7 are attached to the surface of the mounting plate 9 on the side opposite to the robot 4. Furthermore, Reference Example According to the robot device 1 of , a large number of workpieces 2 are processed one by one, but in a specific processing space 10, the position and posture are accurately determined before each processing. Therefore, the variation in the position and posture of each workpiece 2 is extremely small.

[0021] Here, the part measurement means measures the state of the processing part 3 according to the initial measurement conditions preset as the measurement conditions for measuring the state of the processing part 3. For example, the control unit 6 measures the state of the processing part 3 while moving the part detection means 7 according to the moving trajectory set under the initial measurement conditions (see Fig. 3).

[0022] Note that the moving trajectory of the part detection means 7 under the initial measurement conditions is set based on, for example, the following premises. That is, the normal position where the workpiece 2 should be placed when processing with the processing tool 5, and the normal posture that the workpiece 2 should assume are set. And the deviation of the position and posture of the workpiece 2 at the time of measurement from their respective normal positions and normal postures is within a predetermined range. Also, the variation in the shape and dimensions of the workpiece 2 is within a predetermined range. Based on such premises, the moving trajectory of the part detection means 7 under the initial measurement conditions is set.

[0023] For such premises, Reference ExampleSince the position and orientation of the workpiece 2 are accurately determined before processing, the control unit 6 can measure the state of the processing site 3 with high precision by moving the site detection means 7 according to the movement trajectory under the initial measurement conditions.

[0024] Next, the processing condition correction means corrects the initial processing conditions set in advance as the processing conditions for processing the workpiece 2 based on the state of the processing site 3 obtained by the site measurement means. Then, the control unit 6 controls the processing of the workpiece 2 using the processing conditions corrected by the processing condition correction means.

[0025] More specifically, the control unit 6 corrects, for example, the movement trajectory of the processing tool 5 based on the shape of the welded part obtained by the site measurement means by means of the function of the processing condition correction means. Then, the control unit 6 removes the excess metal of the welded part while moving the processing tool 5 according to the movement trajectory corrected by the processing condition correction means.

[0026] Here, the movement trajectory of the processing tool 5 under the initial processing conditions is set based on, for example, the following premises, similar to the movement trajectory of the site detection means 7 under the initial measurement conditions. That is, the normal positions of the position and orientation of the workpiece 2 during processing, and the deviations from the normal orientation are within a predetermined range. Also, the variations in the shape and dimensions of the workpiece 2 are within a predetermined range. Based on such premises, the movement trajectory of the processing tool 5 under the initial processing conditions is set.

[0027] For such premises, Reference Example the workpiece 2 has its position and orientation accurately determined before processing, but at the processing site 3, the deformation due to welding distortion is large. Therefore, even if the processing tool 5 is moved according to the movement trajectory under the initial processing conditions, it is difficult to perform satisfactory processing. In contrast, the control unit 6 can obtain a movement trajectory that conforms to the actual shape of the welded part by correcting the movement trajectory based on the shape of the welded part obtained by the site measurement means, and can appropriately move the processing tool 5 with respect to the actual shape of the welded part to perform satisfactory processing.

[0028] Reference Example Control method of Reference Example The control method of will be described with reference to the flowchart of FIG. 5. Note that the flowchart of FIG. 5 starts when the position and orientation of the workpiece 2 are determined in the machining space 10. First, in step S1, the part measurement means is executed. In step S1, the control unit 6 operates the part detection means 7 while moving it along the movement locus of the initial measurement conditions, outputs a signal according to the shape of the welding part, and sequentially measures the shapes of a plurality of welding parts.

[0029] Next, in step S2, the machining condition correction means is executed. In step S2, the control unit 6 corrects, for example, the movement locus of the cutting tool 5, which is one of the machining conditions, based on the shape of the welding part obtained by the part measurement means. Then, in step S3, machining is performed. In step S3, the control unit 6 sequentially removes the surplus material in each of the plurality of welding parts while moving the cutting tool 5 along the movement locus corrected by the machining condition correction means.

[0030] Reference Example Effect of Reference Example The robot device 1 of processes the workpiece 2 while three-dimensionally moving the cutting tool 5 mounted on the robot 4, and includes the following part measurement means and machining condition correction means. First, the part measurement means measures the state of the machining part 3 on the workpiece 2 in a state where the position and orientation of the workpiece 2 are determined during machining by the cutting tool 5. Further, the machining condition correction means corrects the initial machining conditions set in advance as the machining conditions for machining the workpiece 2 based on the state of the machining part 3 obtained by the part measurement means. Then, the robot device 1 controls the machining of the workpiece 2 using the machining conditions corrected by the machining condition correction means.

[0031] Reference Example ​​The workpiece 2, although large in size, can have its position and orientation accurately determined before processing. However, at the processing site 3, the deformation due to welding distortion is significant. Therefore, even when the cutting tool 5 is moved according to the movement trajectory under the initial processing conditions, it is difficult to perform satisfactory processing due to the large size of the workpiece 2 itself. In contrast, by modifying the movement trajectory based on the state of the processing site 3 obtained by the site measurement means, a movement trajectory that conforms to the actual state of the processing site 3 can be obtained, and by appropriately moving the cutting tool 5 with respect to the actual state of the processing site 3, satisfactory processing can be performed.

[0032] Also, Reference Example the robot device 1 is provided with the following site detection means 7. That is, the site detection means 7 is attached to the robot 4 and moves three-dimensionally, generating a signal according to the state of the processing site 3. And the site measurement means measures the state of the processing site 3 based on the signal generated by the site detection means 7. Thereby, by selecting the site detection means 7 according to the state of the processing site 3, the required measurement accuracy, etc., the measurement by the site measurement means can be appropriately performed.

[0033] Specifically, Reference Example in, as the site detection means 7, a two-dimensional laser displacement meter is adopted, and by moving while irradiating a linear laser beam toward the welding part, a signal corresponding to the profile of the welding part is generated for each cross-section perpendicular to the moving direction. Thereby, the control unit 6 can appropriately acquire the information necessary to grasp the shape of the welding part.

[0034] 〔 Example 1 Configuration of Example 1 The robot device 1 of Reference Example will be described with reference to FIGS. 6 to 11, centering on the differences from Example 1 The robot device 1 of, for example, in the manufacturing process of the deck or hull of a motorboat, uses a large resin molded product made of FRP as the workpiece 2 and cuts off the surplus material with a circular saw.

[0035] More specifically,Example 1 The robot device 1, for example, uses a large resin molded product that is the main body of the hull as the workpiece 2. Further, with the vicinity of the upper end of the resin molded product as the processing site 3, the surplus material generated circumferentially so as to extend upward at the upper end is cut by a circular saw (see FIGS. 6 and 7). Note that Example 1 Even in the robot device 1 of , a large number of workpieces 2 are processed by determining their positions and postures in the processing space 10 one by one.

[0036] Also, Example 1 According to the robot device 1 of , Reference Example Since it processes workpieces 2 that are even larger than , the robot 4 is provided so as to be movable in one axial direction parallel to the horizontal plane, and its movable range is wide. Specifically, the robot device 1 includes the following moving means 12 (see FIGS. 8 and 9). That is, the moving means 12 freely moves the robot 4 in one direction parallel to the horizontal plane, and has a well-known configuration including the traveling path 13 of the robot 4 and an actuator 14 that drives the robot 4.

[0037] Furthermore, Example 1 According to the robot device 1 of , since the workpiece 2 is difficult to be directly carried into the processing space 10 due to its own size, each workpiece 2 is lifted, for example, by a crane and placed on a predetermined carriage 15, and then carried into the processing space 10 together with the carriage 15 (see FIG. 8). Also, the workpiece 2 is carried into the processing space 10 so that the orientation in the longitudinal direction of itself substantially coincides with, for example, the movable direction of the robot 4.

[0038] Also, a circular saw is attached to the tip of the robot 4 as the processing tool 5. Then, the control unit 6 commands various actuators assembled to the robot 4, the processing tool 5, and the moving means 12, and while rotating the circular saw as the processing tool 5, cuts the surplus material while moving three-dimensionally.

[0039] By the way, Example 1 Since the workpiece 2 of is a large resin molded product, the deformation due to thermal shrinkage is large. Therefore, Reference ExampleSimilar to the robot device 1, it is necessary to correct the initial processing conditions by the part measurement means and the processing condition correction means.

[0040] Also, Example 1 the workpiece 2 is Reference Example larger than the workpiece 2 and deforms more greatly as a whole. Moreover, not only is the placement of the workpiece 2 on the carriage 15 rough, but there is also no positioning means for the carriage 15 in the processing space 10. Therefore, Example 1 in the processing space 10, the position and orientation of the workpiece 2 are roughly determined in the first place, so the variation in the position and orientation for each workpiece 2 is also large.

[0041] For this reason, even if an attempt is made to measure the state of the processing part 3 according to the above initial measurement conditions, it is difficult to measure satisfactorily. Therefore, Example 1 the robot device 1, as a function of the control unit 6, Reference Example in addition to the part measurement means and the processing condition correction means similar to those, is provided with the following overall measurement means and measurement condition correction means.

[0042] First, the overall measurement means measures the position and inclination of the workpiece 2 set at the processing position. Also, the robot device 1 is provided with the following overall detection means 16 (see Fig. 8). That is, the overall detection means 16 is, for example, attached to the robot 4 and moves three-dimensionally, and generates a signal according to the position and inclination of the workpiece 2. Then, the overall measurement means measures the position and inclination of the workpiece 2 based on the signal generated by the overall detection means 16.

[0043] Furthermore, the overall measurement means measures the position and orientation of the workpiece 2 by three-point measurement. Here, the overall measurement means measures the position and inclination of the workpiece 2 by detecting the positions of, for example, three points, i.e., the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13, inside the processing part 3 of the workpiece 2, based on the signal generated by the overall detection means 16 (see Fig. 6).

[0044] The overall detection means 16 is, for example, a well-known one-dimensional laser displacement meter, and is mounted on the tip of the robot 4 together with the processing tool 5 and the part detection means 7. Then, the overall detection means 16 irradiates dot-like laser light to the peripheries of the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13 within the processing part 3 of the workpiece 2, and generates signals corresponding to the respective positions.

[0045] Next, the measurement condition correction means corrects the initial measurement conditions based on the position and inclination of the workpiece 2 obtained by the overall measurement means. Then, the part measurement means measures the state of the processing part 3 using the measurement conditions corrected by the measurement condition correction means. Note that Example 1 the part detection means 7 is also Reference Example the same two-dimensional laser displacement meter as . Then, the part detection means 7 irradiates linear laser light toward the upper end of the workpiece 2 while moving (see FIG. 10), and generates signals corresponding to the profile of the surplus material for each cross section perpendicular to the moving direction.

[0046] As described above, the control unit 6 can obtain measurement conditions in accordance with the actual position and inclination of the workpiece 2, and can appropriately operate the robot 4, the part detection means 7, and the moving means 12 with respect to the actual position and inclination of the workpiece 2 to perform satisfactory measurement. Then, based on the state of the processing part 3 thus obtained, that is, the shape of the surplus material, the processing condition correction means corrects, for example, the movement locus of the processing tool 5. Then, the control unit 6 removes the surplus material while moving the processing tool 5 according to the movement locus corrected by the processing condition correction means (see FIG. 11).

[0047] 〔 Example 1 Control method〕 Example 1 The control method of will be described with reference to the flowchart of FIG. 12. Note that the flowchart of FIG. 12 starts when the workpiece 2 is carried into the processing space 10 and stops. First, in step S11, the overall measurement means is executed. In step S11, the control unit 6 operates the overall detection means 16 to detect three points, namely, the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13, within the upper edge of the workpiece 2. By performing three-point measurement, the position and inclination of the workpiece 2 are measured.

[0048] Next, in step S12, the measurement condition correction means is executed. In step S12, the control unit 6 corrects, for example, the movement locus of the part detection means 7, which is one of the measurement conditions, based on the position and inclination of the workpiece 2 obtained by the overall measurement means. Next, in step S13, the part measurement means is executed. In step S13, the control unit 6 operates while moving the part detection means 7 according to the movement locus corrected by the measurement condition correction means, to output a signal corresponding to the shape of the surplus material, and measures the shape of the surplus material.

[0049] Next, in step S14, the processing condition correction means is executed. In step S14, the control unit 6 corrects, for example, the movement locus of the cutting tool 5, which is one of the processing conditions, based on the shape of the surplus material obtained by the part measurement means. Then, in step S15, processing is performed. In step S15, the control unit 6 moves the cutting tool 5 according to the movement locus after correction by the processing condition correction means, and cuts off the surplus material.

[0050] Example 1 Effect Example 1 The robot device 1 has the following overall measurement means and measurement condition correction means. First, the overall measurement means measures the position and orientation of the workpiece 2 in a state where the position and orientation of the workpiece 2 are determined during machining by the cutting tool 5. Also, the measurement condition correction means corrects the initially set measurement conditions based on the position and orientation of the workpiece 2 obtained by the overall measurement means. Then, the part measurement means measures the state of the machining part 3 using the measurement conditions after correction by the measurement condition correction means.

[0051] ​Accordingly, even when the position and orientation of the workpiece 2 are roughly determined, the machining part 3 of the workpiece 2 can be satisfactorily measured. Therefore, for a large workpiece 2, even when the position and orientation are roughly determined, the machining conditions can be appropriately corrected, so that satisfactory machining can be performed.

[0052] Also, Example 1 According to the robot device 1 of Example 1 , the overall measurement means measures the position and inclination of the workpiece 2 by three-point measurement. Thereby, the position and inclination of the workpiece 2 can be measured simply and with high precision.

[0053] Furthermore, Example 1 the robot device 1 of Example 1 includes the following overall detection means 16. That is, the overall detection means 16 is mounted on the robot 4 and moves three-dimensionally, generating a signal according to the position and inclination of the workpiece 2. Then, the overall measurement means measures the position and inclination of the workpiece 2 based on the signal generated by the overall detection means 16. Accordingly, by selecting the overall detection means 16 according to the overall shape of the workpiece 2, the required measurement accuracy, etc., the measurement by the overall measurement means can be appropriately performed.

[0054] Specifically, Example 1 in Example 1 , as the overall detection means 16, a one-dimensional laser displacement meter is adopted, and dot-like laser light is irradiated to the peripheries of the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13 inside the machining part 3, respectively, to generate signals corresponding to the respective positions. Thereby, the control unit 6 can appropriately acquire the information necessary for three-point measurement in the measurement of the position and inclination of the workpiece 2.

[0055] 〔 Example 2 〕 Example 2 The robot device 1 of Example 2 will be described with reference to FIGS. 13 to 15, centering on the differences from Example 1 . Example 1 Example 2 ​The robot device 1 uses an end mill as the processing tool 5 and a resin molded product that forms the main body of the hull as the workpiece 2, and performs processing to drill a hole 18 in the workpiece 2 in the manufacturing process of the hull of a motorboat.

[0056] Here, the hole 18 is provided in a substantially square plane 19 located near the front inside of the workpiece 2 and at the center left and right in plan view (see Fig. 13). Further, the front, both sides of the plane 19 are respectively surrounded by steps 20a, 20b, 20c that bulge upward, and the rear forms a step 20d that sinks downward and stands upright. Note that the shape of the hole 18 is rectangular, and the dimensions are La and Lb in the front-rear direction and the left-right direction, respectively.

[0057] For such a plane 19, the control unit 6 causes the part detection means 7 to generate, for example, the following signals in the part measurement means to grasp the position of the plane 19. That is, the part detection means 7 irradiates linear laser light toward the plane 19 so as to include the front and rear steps 20a, 20d, and generates a signal corresponding to the profile of the cross section perpendicular to the left-right direction including the steps 20a, 20d and the plane 19 (see Fig. 14). Further, the part detection means 7 irradiates linear laser light toward the plane 19 so as to include the left and right steps 20b, 20c, and generates a signal corresponding to the profile of the cross section perpendicular to the front-rear direction including the steps 20b, 20c and the plane 19 (see Fig. 15).

[0058] Then, the control unit 6 grasps the position of the plane 19 based on these signals and corrects the movement locus of the processing tool 5. Specifically, the movement locus of the processing tool 5 is corrected so that lines that are La / 2 forward, backward from the middle of the distance Lc between the steps 20a, 20d, and Lb / 2 left and right from the middle of the distance Ld between the steps 20b, 20c become the opening edges of the hole 18.

[0059] 〔Modification example〕 Examples 1 and 2 discloses a specific example, and it goes without saying that the present invention is Examples 1 and 2 not limited thereto. For example, Example 1The robot device 1 used a resin molded product that forms the main body of the hull as the workpiece 2, and the surplus material generated circumferentially so as to extend upward along the upper end was cut off by a circular saw, but it is not limited to such a mode. For example, the surplus material generated so as to extend outward at the periphery of the deck may be cut off by a circular saw.

[0060] Also, Examples 1 and 2 According to the robot device 1, the part detection means 7 is a two-dimensional laser displacement meter, and the overall detection means 16 is a one-dimensional laser displacement meter, but the part detection means 7 and the overall detection means 16 are not limited to such a mode. For example, a camera may be adopted as the part detection means 7 and the overall detection means 16, and measurement by the part measurement means and the overall measurement means may be executed based on the image information acquired by the camera.

[0061] Furthermore, Examples 1 and 2 In, the two-dimensional laser displacement meter as the part detection means 7 and the one-dimensional laser displacement meter as the overall detection means 16 were individually mounted on the robot 4. For example, only the two-dimensional laser displacement meter may be mounted on the robot 4 to function as the part detection means 7 and the overall detection means 16.

Explanation of Signs

[0062] 1 Robot device 2 Workpiece 3 Processing part 4 Robot 5 Processing tool 6 Control unit (part measurement means, processing condition correction means, Overall measurement means, measurement condition correction means ) 7 Part position detection means

Claims

1. In a robot apparatus that processes a workpiece while three-dimensionally moving a processing tool mounted on a robot, a part measuring means for measuring a state of a processing part on the workpiece in a state where the position and orientation of the workpiece are determined during processing by the processing tool; a processing condition correcting means for correcting an initial processing condition set in advance as a processing condition for processing the workpiece based on the state of the processing part obtained by the part measuring means; controlling the processing of the workpiece using the processing condition corrected by the processing condition correcting means; Further, the robot apparatus, an overall measuring means for measuring the position and orientation of the workpiece in a state where the position and orientation of the workpiece are determined during processing by the processing tool; a measurement condition correcting means for correcting an initial measurement condition set in advance as a measurement condition for measuring the state of the processing part by the part measuring means based on the position and orientation of the workpiece obtained by the overall measuring means; the part measuring means measures the state of the processing part using the measurement condition corrected by the measurement condition correcting means; Furthermore, the robot apparatus, comprises a part detecting means that is mounted on the robot and moves three-dimensionally and generates a signal corresponding to the state of the processing part; the part measuring means measures the state of the processing part based on the signal generated by the part detecting means; Furthermore, the robot apparatus, comprises a moving means for moving the robot in one direction parallel to the horizontal plane; processing the workpiece while moving the robot by the moving means; the part measuring means measures the state of the processing part based on the signal generated by the part detecting means while moving the robot by the moving means; Furthermore, the robot apparatus, comprises an overall detecting means that is mounted on the robot and moves three-dimensionally and generates a signal corresponding to the position and orientation of the workpiece; the overall measuring means measures the position and orientation of the workpiece by detecting the positions of three points, namely, the tip, the rear end, and the center of the side edge on the side of the robot's travel path, among the processing parts of the workpiece, based on the signal generated by the overall detecting means while moving the robot by the moving means. A robot apparatus characterized by this.

2. In the robot apparatus according to Claim 1, The robot device is characterized in that the longitudinal direction of the workpiece is arranged to substantially coincide with the direction in which the robot moves. **Claim 3**: In the robot device according to Claim 1, the workpiece is carried in while being placed on a carriage, and is positioned while being placed on the carriage, and measurement by the overall measurement means and the part measurement means and machining are performed on the workpiece positioned while being placed on the carriage. The robot device is characterized by this. **Claim 4**: In the robot device according to Claim 1, the workpiece is a resin molded product. The robot device is characterized by this.

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