Robot operation method and program
By outputting signals based on relative movement amounts, the method and program simplify setup processes for multi-joint robot arms, enabling efficient and consistent imaging operations across complex workpiece geometries.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- KAWASAKI JUKOGYO KK
- Filing Date
- 2025-02-19
- Publication Date
- 2026-06-17
Smart Images
Figure 0007875330000001 
Figure 0007875330000002 
Figure 0007875330000003
Abstract
Description
Technical Field
[0001] The present disclosure relates to a method and program for operating a robot, and particularly to a method and program for operating a robot including a multi-joint robot arm.
Background Art
[0002] Conventionally, a robot including a multi-joint robot arm has been known (see, for example, Patent Document 1).
[0003] Patent Document 1 discloses a robot system including a multi-joint robot arm including a plurality of joints, a control device that performs control to move the multi-joint robot arm, and an imager provided at the tip of the multi-joint robot arm that images an inspection target. In the robot system of Patent Document 1, when the tip of the multi-joint robot arm moves to a preset position, the control device transmits an imaging command signal to the imager to image the inspection target.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] In Patent Document 1, when the tip of the multi-joint robot arm moves to a preset position, the control device transmits an imaging command signal to the imager to image the inspection target. Therefore, when the number of positions for performing operations such as imaging increases, it is necessary to preset many positions, and the setting work for setting the positions for performing operations becomes complicated. Therefore, when performing work while relatively moving the working part with respect to the workpiece by the multi-joint robot arm, it is desired to suppress the complication of the setting work.
[0006] This disclosure was made to solve the above-mentioned problems, and one of the objectives of this disclosure is to provide a robot operation method and program that can suppress the complexity of the setup process when performing work by moving the work unit relative to the workpiece using a multi-joint robot arm. [Means for solving the problem]
[0007] To achieve the above objective, the robot operation method according to the first phase is a robot operation method comprising a multi-joint robot arm that includes five or more joints, has an imaging unit at its tip that performs imaging work on a workpiece or on a workpiece, and moves the workpiece or imaging unit, comprising the steps of outputting a signal based on the relative movement amount of the imaging unit with respect to the workpiece for each relative movement amount of the imaging unit with respect to the workpiece due to the movement of the workpiece or imaging unit provided at the tip of the multi-joint robot arm, and controlling the imaging work on the workpiece by the imaging unit based on the output signal.
[0008] In the robot operation method according to the first phase, as described above, a signal based on the relative movement amount of the work unit is output for each relative movement amount of the work unit relative to the workpiece. Furthermore, the imaging operation of the imaging unit on the workpiece is controlled based on the output signal. This allows the relative movement amount of the imaging unit relative to the workpiece to be acquired for each relative movement and the imaging operation of the imaging unit to be controlled, so that work can be performed on the workpiece without having to set all work positions in advance. As a result, the complexity of the setting work can be suppressed when performing imaging work while moving the imaging unit relative to the workpiece with a multi-joint robot arm. In addition, even when the relative movement speed of the imaging unit by the multi-joint robot arm is not constant, such as when performing imaging work on both straight and curved parts of the workpiece, the imaging unit can perform imaging work on the workpiece at predetermined relative movement amounts. That is, in imaging work involving complex relative movement such as curved parts, it is difficult to increase the relative movement speed, so if one tries to keep the relative movement speed of the imaging unit constant, the relative movement speed must also be reduced even for movements such as straight parts where it is possible to increase the relative movement speed. On the other hand, in this disclosure, since imaging is performed on the workpiece at predetermined relative movement intervals rather than by speed, it is not necessary to keep the relative movement speed of the imaging unit constant. Therefore, in work positions where it is possible to increase the relative movement speed, the speed can be increased. This makes it possible to suppress a decrease in the overall imaging speed. Furthermore, if the imaging unit performs a constant imaging operation on the workpiece regardless of speed, while changing the relative movement speed of the imaging unit relative to the workpiece, the work of the imaging unit on the workpiece becomes denser in curved sections where the relative speed is low compared to straight sections where the relative speed is high. On the other hand, in this disclosure, by performing work on the workpiece at predetermined relative movement intervals, it is possible to suppress the denser work of the imaging unit on the workpiece in positions where the relative movement speed of the imaging unit is low compared to positions where the relative movement speed is high, thus suppressing unevenness in the work of the imaging unit on the workpiece.
[0009] The program in the second phase is a program that causes a computer to execute a method for operating a robot comprising a multi-joint robot arm that includes five or more joints, has an imaging unit at its tip that performs imaging work on a workpiece or on a workpiece, and moves the workpiece or the imaging unit, the robot operating method comprising the steps of outputting a signal based on the relative movement amount of the imaging unit with respect to the workpiece for each relative movement amount of the imaging unit with respect to the workpiece due to the movement of the workpiece or imaging unit provided at the tip of the multi-joint robot arm, and controlling the imaging work on the workpiece by the imaging unit based on the output signal.
[0010] In the second phase of the program, as described above, a signal based on the relative movement of the imaging unit relative to the workpiece is output for each relative movement of the imaging unit. This allows the relative movement of the imaging unit relative to the workpiece to be acquired for each relative movement based on the output signal, and the work performed by the imaging unit can be controlled. As a result, imaging work can be performed on the workpiece without having to pre-set all work positions. Consequently, it is possible to provide a program that can suppress the complexity of the setup process when performing imaging work while moving the imaging unit relative to the workpiece using a multi-joint robot arm. [Effects of the Invention]
[0011] According to this disclosure, as described above, when performing work while moving the work unit relative to the workpiece using a multi-joint robot arm, it is possible to suppress the complexity of the setup process. [Brief explanation of the drawing]
[0012] [Figure 1] This figure shows a schematic diagram of a robot system according to one embodiment. [Figure 2] This figure shows the control configuration of a robot system according to one embodiment. [Figure 3] This figure illustrates an example of a signal generated by a robot system according to one embodiment. [Figure 4]This figure shows a first example illustrating the relative movement of the work unit of a robot system according to one embodiment. [Figure 5] This figure illustrates the operation of a robot system in relation to the relative movement of its work unit, according to one embodiment of the system. [Figure 6] This figure shows a second example illustrating the relative movement of the work unit of a robot system according to one embodiment. [Figure 7] This figure shows an example of the work performed by the work section of a robot system according to one embodiment, in comparison with a comparative example. [Figure 8] This figure shows the working section of a robot system according to a modified embodiment. [Modes for carrying out the invention]
[0013] Referring to Figures 1 to 8, the configuration of a robot system 100 according to one embodiment will be described.
[0014] As shown in Figure 1, the robot system 100 performs work on the workpiece 200. The robot system 100 comprises an articulated robot arm 10 and a control device 20 that controls the articulated robot arm. The robot system 100 also comprises a work unit 30 and a work control unit 40 that controls the work unit 30.
[0015] The articulated robot arm 10 is, for example, a robot used for industrial or medical purposes. The articulated robot arm 10 includes multiple joints. For example, the articulated robot arm 10 includes six vertical articulation axes. The articulated robot arm 10 is powered by AC power supplied from an external source.
[0016] As shown in Figure 2, the control device 20 includes a robot control unit 21 and a signal output unit 22. The signal output unit 22 has an enable generation unit 23 and a pulse generation unit 24.
[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 14 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 teaching (teaching) of the operation of the articulated robot arm 10 by the user and controls the articulated robot arm 10 to perform an operation based on the teaching. Specifically, the robot control unit 21 receives the position and orientation 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. 1, the articulated robot arm 10 includes six joints 12a, 12b, 12c, 12d, 12e, and 12f and links 13a, 13b, 13c, 13d, and 13e that connect the joints. Further, as shown in FIG. 2, a motor 14 composed of a servo motor and a position detection unit 15 that detects the rotational position of each joint are provided at each of the six joints 12a to 12f. Also, as shown in FIG. 1, 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] Each of the six joints 12a to 12f rotates by driving the motor 14.
[0020] The joint 12a of the first axis 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 joint 12b of the second axis 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 link 13c relative to link 13b around a rotation axis A3 that is parallel to the rotation axis A2. The fourth axis joint 12d rotates link 13d relative to link 13c around a rotation axis A4 that is perpendicular to the rotation axis A3.
[0022] The fifth joint 12e rotates link 13e relative to link 13d around a rotation axis A5 perpendicular to the rotation axis A4. The sixth joint 12f rotates the work section 30 relative to link 13e around a rotation axis A6 perpendicular to the rotation axis A5.
[0023] The work unit 30 performs operations on the workpiece 200. The work unit 30 includes, for example, at least one of the following: a line camera, an area camera, a laser profile sensor, a distance measuring sensor, a coating unit, a bonding unit, a spraying unit, a welding unit, and an ultrasonic flaw detection unit.
[0024] The work unit 30 performs operations on the workpiece 200 while moving relative to the workpiece 200. For example, the line camera captures a line-shaped image while moving relative to the workpiece 200. The area camera captures a rectangular image while moving relative to the workpiece 200. The laser profile sensor projects laser light onto the workpiece 200 and takes an image, and measures the three-dimensional shape of the workpiece 200 using the light section method.
[0025] The distance measuring sensor measures the distance to each position on the workpiece 200 while moving relative to the workpiece 200. The coating unit applies a coating material to the workpiece 200 while moving relative to the workpiece 200. The coating material is a liquid or paste-like substance such as an adhesive, sealant, reagent, paint, or solder.
[0026] The adhesive unit applies an adhesive to the workpiece 200 while moving relative to the workpiece 200. The adhesive is, for example, a sealant, a sticker, or tape. The spraying unit sprays an adhesive onto the workpiece 200 while moving relative to the workpiece 200. The adhesive is, for example, a liquid such as an adhesive, a chemical, or a paint. The welding unit welds the workpiece 200 while moving relative to the workpiece 200. The ultrasonic flaw detection unit applies ultrasonic waves to the workpiece 200 while moving relative to the workpiece 200, and detects the reflected ultrasonic waves to detect flaws in the workpiece 200.
[0027] The work control unit 40 controls the work performed on the work unit 30 on the workpiece 200. If the work unit 30 is a line camera or an area camera, the work control unit 40 controls the imaging performed by the work unit 30. Specifically, the work control unit 40 controls the timing of imaging of the workpiece 200 by the work unit 30.
[0028] When the work unit 30 is a laser profile sensor, the work control unit 40 controls the projection of laser light and the imaging of laser light by the work unit 30. Specifically, the work control unit 40 controls the timing of imaging of the workpiece 200 by the work unit 30.
[0029] If the work unit 30 is a distance measuring sensor, the work control unit 40 controls the timing of measurement of the workpiece 200 by the work unit 30. If the work unit 30 is a coating unit, the work control unit 40 controls the timing and amount of coating applied by the work unit 30.
[0030] If the work unit 30 is an adhesive unit, the work control unit 40 controls the timing and amount of adhesive applied by the work unit 30. If the work unit 30 is a spray unit, the work control unit 40 controls the timing and amount of spray applied by the work unit 30.
[0031] If the work unit 30 is a welding unit, the work control unit 40 controls the timing and amount of welding performed by the work unit 30. If the work unit 30 is an ultrasonic flaw detection unit, the work control unit 40 controls the timing of ultrasonic emission and detection performed by the work unit 30.
[0032] Here, the work control unit 40 controls the work performed by the work unit 30 on the workpiece 200 based on the signal output unit 22 of the control device 20.
[0033] Furthermore, the signal output unit 22 outputs a signal based on the relative movement of the work unit 30 relative to the workpiece 200, for each movement of the work unit 30 located at the tip of the articulated robot arm 10.
[0034] Specifically, the signal output unit 22 outputs a variable-frequency pulse signal based on the relative movement of the work unit 30 relative to the workpiece 200 for each relative movement of the work unit 30. For example, the signal output unit 22 generates a pulse enable using the enable generation unit 23. The signal output unit 22 also generates a pulse signal using the pulse generation unit 24 based on the pulse enable generated by the enable generation unit 23.
[0035] Furthermore, the signal output unit 22 outputs a predetermined pulse signal for each relative movement of the work unit 30 relative to the workpiece 200. For example, as shown in Figure 3, the signal output unit 22 generates and outputs a pulse signal based on the relative movement of the work unit 30 at each predetermined processing cycle. In other words, the signal output unit 22 acquires the relative movement of the work unit 30 relative to the workpiece 200 at each predetermined processing cycle. The signal output unit 22 then generates a number of pulse signals corresponding to the acquired relative movement. A pulse signal is generated for every x mm of relative movement. For example, if the relative movement is 5x mm in a predetermined cycle, five pulse signals are generated within that cycle. A pulse signal is counted as one on its rising edge and one on its falling edge. In other words, a pulse signal is counted as two due to its rising and falling edges. The frequency of the output pulse is variable, for example, in the range from 0 Hz to several MHz. In other words, as the relative movement increases, the frequency of the output pulse increases, and as the relative movement decreases, the frequency of the output pulse decreases.
[0036] In the example shown in Figure 3, the control period is 2 msec, and the amount of movement is acquired at each control period, with a pulse signal output based on the amount of movement. Note that the end-effector movement in Figure 3 represents the cumulative amount of movement from 0 mm. In other words, the difference in end-effector movement from the previous control period is acquired as the relative movement in the current control period. For example, if the end-effector movement in the previous control period was 10 mm and the end-effector movement in the current control period is 16 mm, the relative movement in the current control period will be acquired as 6 mm. Also, in the example shown in Figure 3, the pulse resolution is set to 1 mm / pulse. In other words, one pulse signal is output for every 1 mm movement. For example, if the movement is 2 mm, the number of output pulses is set to 2, and the pulse frequency is 1 kHz. If the movement is 3 mm, the number of output pulses is set to 3, and the pulse frequency is 1.5 kHz.
[0037] The signal output unit 22 outputs a pulse enable signal from the enable generation unit 23 at the start of a predetermined processing cycle, and the pulse generation unit 24 starts outputting pulses simultaneously with the pulse enable signal output. Furthermore, when the pulse generation unit 24 outputs its last pulse, the signal output unit 22 stops outputting the pulse enable signal from the enable generation unit 23. This prevents a surge in processing at the beginning of a predetermined processing cycle. As a result, there is no need to provide buffer time for calculations.
[0038] The signal output unit 22 may continuously output a pulse enable signal to the pulse generation unit 24 via the enable generation unit 23. Alternatively, the signal output unit 22 may stop outputting the pulse enable signal for a sufficiently small calculation period correction amount relative to the processing cycle via the enable generation unit 23. This ensures sufficient buffer time for calculations by the amount of the calculation period correction amount. For example, the calculation period correction amount is 40 μsec for a processing cycle of 2 msec.
[0039] Furthermore, the signal output unit 22 may, within the processing cycle, initially pause before generating pulses from the pulse generation unit 24.
[0040] The signal output unit 22 includes, for example, an FPGA (Field Programmable Gate Array), and processing is performed by the FPGA.
[0041] If the CPU controlling the articulated robot arm 10 were to directly control the pulse output function, the CPU load would increase, potentially making it impossible to accurately control high-frequency pulses. Therefore, the pulse output is controlled using a pulse control processing unit, such as an FPGA, which is separate from the CPU controlling the articulated robot arm 10.
[0042] The CPU controlling the articulated robot arm 10 calculates the relative movement of the end-effector, and the pulse control processing unit controls the pulse frequency and number of pulses based on the relative movement of the end-effector. By dividing the processing in this way, accurate pulse output is possible. Furthermore, since the pulse output section is controlled by a separately provided processing unit, the pulse output specifications, such as pulse-to-distance conversion and n-multiplier pulses, can be easily changed and expanded by changing the control parameters.
[0043] Furthermore, the signal output unit 22 acquires the relative movement amount of the work unit 30 during a predetermined processing cycle and outputs a pulse signal assuming that the relative movement is constant during the predetermined processing cycle. However, since the predetermined processing cycle is sufficiently small, even assuming a constant relative movement, it is not significantly different from the actual relative movement amount of the work unit 30.
[0044] Furthermore, the signal output unit 22 may acquire the relative movement amount of the work unit 30 based on the actual movement of the work unit 30, or it may acquire the relative movement amount of the work unit 30 based on the movement command of the articulated robot arm 10 from the robot control unit 21.
[0045] Furthermore, when the articulated robot arm 10 is moved by an external moving mechanism, the signal output unit 22 takes into account the movement by the external moving mechanism to obtain the relative movement amount of the work unit 30 with respect to the workpiece 200. The external moving mechanism includes a travel axis and a rotary table that move the base 11 of the articulated robot arm 10.
[0046] The relative movement of the work unit 30 with respect to the workpiece 200 is obtained based on the movement 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, to the working position of the work unit 30 relative to the workpiece 200.
[0047] If the work unit 30 is a line camera, area camera, or laser profile sensor, the control point TCP is set to the focal position of the work unit 30's imaging. If the work unit 30 is a distance measuring sensor, the control point TCP is set to the distance measuring position of the work unit 30.
[0048] If the work unit 30 is a coating unit, the control point TCP is set to the coating position of the work unit 30. If the work unit 30 is an adhesive unit, the control point TCP is set to the adhesive position of the work unit 30. If the work unit 30 is a welding unit, the control point TCP is set to the welding position of the work unit 30. If the work unit 30 is an ultrasonic testing unit, the control point TCP is set to the testing position of the work unit 30.
[0049] The work control unit 40 controls the work performed by the work unit 30 on the workpiece 200, using the signal output from the signal output unit 22 as a trigger. Specifically, the work control unit 40 causes the work unit 30 to perform work at regular intervals based on the signal output from the signal output unit 22. For example, the work control unit 40 counts the pulse signals output from the signal output unit 22 to obtain the relative movement amount of the work unit 30. Then, each time the work unit 30 moves a certain amount, the work control unit 40 causes the work unit 30 to perform work on the workpiece 200.
[0050] If the work unit 30 is a line camera or an area camera, the work control unit 40 controls the work unit 30 to take images at regular intervals of a certain amount of movement. If the work unit 30 is a laser profile sensor, the work control unit 40 controls the work unit 30 to project laser light and take images of laser light at regular intervals of a certain amount of movement.
[0051] If the work unit 30 is a distance measuring sensor, the work control unit 40 controls the work unit 30 to measure the distance to the workpiece 200 at regular intervals of movement. If the work unit 30 is a coating unit, the work control unit 40 controls the work unit 30 to apply a fixed amount of coating material at regular intervals of movement.
[0052] If the work unit 30 is an adhesive unit, the work control unit 40 controls the work unit 30 to apply a fixed amount of adhesive for every fixed amount of movement. If the work unit 30 is a spray unit, the work control unit 40 controls the work unit 30 to spray a fixed amount of spray for every fixed amount of movement.
[0053] If the work unit 30 is a welding unit, the work control unit 40 controls the work unit 30 to perform a fixed amount of welding at a fixed amount of movement. If the work unit 30 is an ultrasonic flaw detection unit, the work control unit 40 controls the work unit 30 to perform flaw detection by irradiating it with ultrasound at a fixed amount of movement.
[0054] The robot control unit 21 moves the work unit 30 in a curved relative position to the workpiece 200 using the articulated robot arm 10 along the surface of the workpiece 200. For example, as shown in Figure 4, the robot control unit 21 moves the work unit 30 relative to the workpiece 200 which is curved in the vertical direction using the articulated robot arm 10. In this case, the work control unit 40 controls the work unit 30 to perform work for each movement amount L1 of the control point TCP.
[0055] Furthermore, as shown in Figure 6, the robot control unit 21 moves the work unit 30 in a curved relative motion along the curved work position of the workpiece 200 using the articulated robot arm 10. In this case, the work control unit 40 controls the work unit 30 to perform work for each movement amount L2 of the control point TCP.
[0056] For example, if the work unit 30 is a coating unit, the work control unit 40 controls the dispensing of the coating material in amounts V1 for every L2 of movement of the work unit 30. Specifically, as shown in Figure 5, the dispensing switch is switched on in sync with the output of a pulse signal for every L2 of movement. In addition, the work control unit 40 controls the dispensing stroke S1 for dispensing the coating material to be a constant amount for every L2 of movement of the work unit 30, regardless of the speed of movement of the work unit 30.
[0057] As a result, as shown in the embodiment in Figure 7(A), it is possible to apply the coating material consistently in both straight and curved sections. On the other hand, in the comparative example shown in Figure 7(B), the coating material is applied at a constant discharge rate regardless of the relative movement speed of the work unit 30. In this case, the discharge rate of the coating material increases in the curved section, resulting in a larger amount of coating material being applied in the curved section. Consequently, uneven coating occurs between the straight and curved sections.
[0058] Furthermore, the signal output unit 22 may output multiple signals corresponding to each of the relative movements of each of the multiple positions of the work unit 30. The multiple positions of the work unit 30 may be, for example, a control point TCP, a point inside the control point TCP, and a point outside the control point TCP. Also, the work control unit 40, having received multiple signals, may have the work unit 30 perform work for each relative movement amount at each position, or it may calculate the relative movement amount at an arbitrary position based on the relative movement amounts at the multiple positions, and have the work unit 30 perform work for each calculated relative movement amount at the arbitrary position.
[0059] (Effects of this embodiment) In this embodiment, the following effects can be obtained.
[0060] In this embodiment, as described above, a signal output unit 22 is provided that outputs a signal based on the relative movement amount of the work unit 30 relative to the workpiece 200 for each relative movement amount of the work unit 30. In addition, a work control unit 40 is provided that controls the work performed by the work unit 30 on the workpiece 200 based on the signal output unit 22. As a result, the work control unit 40 can acquire the relative movement amount of the work unit 30 relative to the workpiece 200 for each relative movement and control the work performed by the work unit 30, so that work can be performed on the workpiece 200 without having to set all work positions in advance. As a result, when performing work while moving the work unit 30 relative to the workpiece 200 with the articulated robot arm 10, the complexity of the setting work can be suppressed. Furthermore, even when the speed of relative movement of the work unit 30 by the articulated robot arm 10 is not constant, such as when performing work on both the straight and curved sections of the workpiece 200, the work unit 30 can perform work on the workpiece 200 at predetermined relative movement intervals. In other words, in operations involving complex relative movement such as curved sections, it is difficult to increase the relative movement speed. Therefore, if the operation to keep the relative movement speed of the work unit 30 constant, the relative movement speed must be reduced even in straight sections where it is possible to increase the relative movement speed. On the other hand, in this embodiment, since the operation is performed on the workpiece 200 at predetermined relative movement intervals rather than by speed, it is not necessary to keep the relative movement speed of the work unit 30 constant. Therefore, the speed can be increased in work positions where it is possible to increase the relative movement speed. This makes it possible to suppress the overall slowing down of the operation speed. Furthermore, if the work unit 30 performs a constant operation on the workpiece 200 regardless of speed, while changing the relative movement speed of the work unit 30 relative to the workpiece 200, the operation of the work unit 30 on the workpiece 200 becomes more frequent in curved sections where the relative speed is low compared to straight sections where the relative speed is high.On the other hand, in this embodiment, by performing work on the workpiece 200 at predetermined relative movement intervals, it is possible to suppress the work performed by the workpiece 30 becoming more dense at positions where the relative movement speed of the workpiece 30 is low compared to positions where the relative movement speed is high, thereby suppressing unevenness in the work performed by the workpiece 200 by the workpiece 30.
[0061] Furthermore, in this embodiment, as described above, the signal output unit 22 outputs a variable frequency pulse signal based on the relative movement amount of the work unit 30 with respect to the workpiece 200 for each relative movement amount of the work unit 30. As a result, the frequency of the variable frequency pulse signal is set to the corresponding frequency according to the speed of the relative movement of the work unit 30, and the pulse signal is output, so that a pulse signal can be output for each predetermined relative movement of the work unit 30.
[0062] Furthermore, in this embodiment, as described above, the signal output unit 22 outputs a predetermined pulse signal for each relative movement of the work unit 30 relative to the workpiece 200. This makes it possible to easily obtain the relative movement of the work unit 30 relative to the workpiece 200 by counting the pulses of the variable frequency pulse signal.
[0063] Furthermore, in this embodiment, as described above, the work control unit 40 controls the work performed by the work unit 30 on the workpiece 200 using the signal output from the signal output unit 22 as a trigger. This allows the work performed by the work unit 30 on the workpiece 200 to be precisely synchronized with the relative movement of the work unit 30.
[0064] Furthermore, in this embodiment, as described above, the work control unit 40 causes the work unit 30 to perform work at fixed movement intervals based on the signal output from the signal output unit 22. This allows the work unit 30 to perform work at fixed movement intervals regardless of the relative movement speed of the work unit 30, thereby reliably suppressing inconsistencies in the work performed by the work unit 30 on the workpiece 200.
[0065] Furthermore, in this embodiment, as described above, the robot control unit 21 moves the work unit 30 in a curved relative motion relative to the workpiece 200 using the articulated robot arm 10 along the surface of the workpiece 200. As a result, even if the relative movement speed is not constant when moving the work unit 30 in a curved relative motion along the surface of the workpiece 200, the work unit 30 can perform work according to the amount of relative movement.
[0066] Furthermore, in this embodiment, as described above, the signal output unit 22 outputs a plurality of signals corresponding to each of the relative movements of each of the plurality of positions of the work unit 30. This makes it possible to obtain the amount of relative movement of the plurality of positions of the work unit 30, and thus the operation of the work unit 30 can be controlled based on the relative movement of the plurality of positions of the work unit 30.
[0067] Furthermore, in this embodiment, as described above, the work unit 30 includes at least one of the following: a line camera, an area camera, a laser profile sensor, a distance measuring sensor, a coating unit, an adhesive unit, a spray unit, and a welding unit. This allows the line camera, area camera, laser profile sensor, or distance measuring sensor to be moved relative to the workpiece 200, and the workpiece 200 to be imaged or measured with each relative movement, thereby enabling accurate acquisition of the shape and condition of the workpiece 200. Additionally, the coating unit, adhesive unit, spray unit, or welding unit can be moved relative to the workpiece 200, and coating, adhesive, spraying, or welding can be performed on the workpiece 200 with each relative movement, thus suppressing uneven coating, adhesive, spraying, or welding on the workpiece 200.
[0068] (modified version) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and includes all modifications within the meaning and scope equivalent to the claims.
[0069] For example, the above embodiment shows an example of a configuration in which a work unit is provided at the tip of an articulated robot arm, and the work unit is moved relative to the workpiece by the articulated robot arm, but the disclosure is not limited to this. In the disclosure, as shown in the example in Figure 8, a workpiece 200 may be provided at the tip of an articulated robot arm 10, and the work unit 30 may be moved relative to the workpiece 200 by the articulated robot arm 10. In this case, the work unit 30 may perform work on the workpiece 200 at predetermined movement amounts L3. Also, when a workpiece 200 is provided at the tip of an articulated robot arm 10, an end effector may be provided at the tip of the articulated robot arm 10, and the workpiece 200 may be held by the end effector by gripping or the like.
[0070] Alternatively, a work unit and a workpiece may be provided at the tip of each of several articulated robots, and the work unit and workpiece may be moved by the articulated robot arm, thereby moving the work unit relative to the workpiece.
[0071] Furthermore, although the above embodiment shows an example of a configuration in which the robot control unit, signal output unit, and work control unit are provided separately, the present invention is not limited to this. In the present invention, the robot control unit, signal output unit, and work control unit may be provided in a common control device. In this case, the common control device may provide separate processing units such as CPUs as the robot control unit, signal output unit, and work control unit, or it may provide a common processing unit such as a CPU.
[0072] Furthermore, while the above embodiments illustrate an example of a multi-joint robot arm with six vertical joints, the disclosure is not limited thereto. In this disclosure, a multi-joint robot arm may include five or fewer joints, or seven or more joints.
[0073] Furthermore, while the above embodiment shows an example of a configuration in which the relative movement amount of the work unit with respect to the workpiece is obtained based on the movement of the control point of the articulated robot arm, the disclosure is not limited thereto. In this disclosure, the relative movement amount of the work unit with respect to the workpiece may be obtained based on the movement of any position of the articulated robot arm.
[0074] Furthermore, although the above embodiment shows an example configuration in which the robot control unit and the signal output unit are provided in a common control device, the disclosure is not limited thereto. In this disclosure, the robot control unit and the signal output unit may be provided in separate control devices. Also, the signal output unit may be provided in a common control device with the robot control unit by adding hardware, or by adding software.
[0075] Furthermore, while the above embodiment shows an example of a configuration that outputs a signal based on the relative movement of the workpiece in accordance with the relative movement of the workpiece to the workpiece, the present disclosure is not limited thereto. In this disclosure, the relative position of the workpiece to the workpiece may be output in real time based on the movement of the workpiece or workpiece provided at the tip of the articulated robot arm. In this case, the position coordinates of the tip of the articulated robot arm may be output. In this case, the articulated robot arm may be moved at a low speed in advance to obtain the position coordinates of the tip of the articulated robot arm, and then, when moving the articulated robot arm along the same path, a signal based on the relative movement of the workpiece may be output in accordance with the relative movement of the workpiece, linked to the position coordinates of the tip of the articulated robot arm. [Explanation of symbols]
[0076] 10. Multi-joint robotic arm 21 Robot Control Unit 22 Signal output section 30 Work Unit 40 Work Control Unit 100 Robot Systems 200 work
Claims
1. A method for operating a robot comprising a multi-joint robot arm that includes five or more joints, has an imaging unit at its tip for performing imaging operations on a workpiece or the workpiece, and moves the workpiece or the imaging unit, A step of outputting a signal based on the relative movement of the imaging unit with respect to the workpiece, for each relative movement of the imaging unit with respect to the workpiece, due to the movement of the workpiece or the imaging unit provided at the tip of the articulated robot arm. A robot operation method comprising the step of controlling the imaging operation on the workpiece by the imaging unit based on the output signal.
2. The robot operation method according to claim 1, wherein in the step of outputting a signal based on the relative movement amount of the imaging unit with respect to the workpiece, a signal based on the relative movement amount of the imaging unit is output as a variable frequency pulse signal for each relative movement amount of the imaging unit with respect to the workpiece.
3. The robot operation method according to claim 2, wherein in the step of outputting a signal based on the relative movement amount of the imaging unit, a predetermined pulse signal is output for each relative movement amount of the imaging unit with respect to the workpiece.
4. The robot operation method according to any one of claims 1 to 3, wherein in the step of controlling the imaging operation on the workpiece, the imaging operation on the workpiece by the imaging unit is controlled using a signal output from the signal output unit as a trigger.
5. The robot operation method according to any one of claims 1 to 4, wherein in the step of controlling the imaging operation on the workpiece, the imaging unit is made to take images at regular intervals based on the signal output from the signal output unit.
6. The robot operation method according to any one of claims 1 to 5, wherein in the step of controlling the imaging operation on the workpiece, the imaging unit is moved relative to the workpiece in a curved manner by the articulated robot arm along the surface of the workpiece.
7. The robot operation method according to any one of claims 1 to 6, wherein the step of outputting a signal based on the relative movement amount of the imaging unit outputs a plurality of signals corresponding to each of the relative movements of each of the plurality of positions of the imaging unit.
8. The robot operation method according to any one of claims 1 to 7, wherein the imaging unit includes at least one of a line camera and an area camera.
9. A program for causing a computer to execute a method of operating a robot comprising a multi-joint robot arm that includes five or more joints, has an imaging unit at its tip for performing imaging operations on a workpiece or the workpiece, and moves the workpiece or the imaging unit, The robot's operation method is as follows: A step of outputting a signal based on the relative movement of the imaging unit with respect to the workpiece, for each relative movement of the imaging unit with respect to the workpiece, due to the movement of the workpiece or the imaging unit provided at the tip of the articulated robot arm. A program comprising the steps of controlling the imaging operation on the workpiece by the imaging unit based on the output signal.