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 a robot device as described above, 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-type hemming processing device is disclosed that hem-processes the periphery of a workpiece composed of a plurality of metal plates stacked, such as an automobile door panel, with 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 hem-processed 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 railway vehicle bogie, a large metal structure in which various metal members are integrated by welding is used as a workpiece, and the excess metal of the welded part is removed by a face mill or the like. However, in such a workpiece, the amount of deformation due to welding distortion is large, so it is difficult to perform satisfactory processing even if the robot device is operated according to the processing conditions set by prior teaching.

[0006] Furthermore, in the manufacturing process of motorboat decks and hulls, large resin molded parts, primarily made of FRP, are used as workpieces, and excess material is removed using end mills, circular saws, etc. However, because such workpieces undergo significant deformation due to thermal shrinkage, it is difficult to achieve satisfactory processing even when operating a robotic device according to processing conditions set through prior teaching.

[0007] Furthermore, for large workpieces like those mentioned above, it is difficult to accurately determine the position and orientation for each individual piece, and the position and orientation are often determined roughly. As a result, the position and orientation of the workpiece vary greatly from piece to piece, making processing by robotic equipment even more difficult. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2011-041972 [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] This disclosure is made to solve the above-mentioned problems, and its purpose is to enable robotic devices to satisfactorily process even large workpieces. [Means for solving the problem]

[0010] The robotic apparatus described herein processes a workpiece by moving a workpiece tool attached to the robot in three dimensions, and includes the following part measurement means and processing condition correction means. First, the part measurement means measures the state of the processing area on the workpiece while the position and orientation of the workpiece are determined before processing with the workpiece tool. Second, the processing condition correction means corrects the initial processing conditions, which are set in advance as processing conditions for processing the workpiece, based on the state of the processing area obtained by the part measurement means. The robotic device then controls the machining of the workpiece using the machining conditions corrected by the machining condition correction means. Furthermore, 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 after determining its position and orientation for machining with a machining tool. The measurement condition correction means corrects the initial measurement conditions, which are set in advance as measurement conditions for measuring the state of the machined area by the part measurement means, based on the position and orientation of the workpiece obtained by the overall measurement means. The part measurement means then measures the state of the processed part using the measurement conditions corrected by the measurement condition correction means. Furthermore, the robotic device includes the following part detection means: the part detection means is mounted on the robot, moves in three dimensions, and generates a signal corresponding to the state of the processing area. The part measurement means then measures the state of the processed area based on the signal generated by the part detection means. Furthermore, the part measurement means moves the part detection means according to the movement trajectory corrected by the measurement condition correction means, generates a signal corresponding to the profile of the cross-section of the workpiece, and acquires information about the profile, and the profile acquired by the part measurement means has sharp steps. The processing condition correction means then corrects the movement trajectory of the workpiece based on the profile of the stepped section acquired by the part measurement means.

[0011] As a result, the robotic device of this disclosure can potentially solve the problem of being able to satisfactorily process even large workpieces. [Brief explanation of the drawing]

[0012] [Figure 1] This is an overall diagram of the robotic device (Reference Example 1). [Figure 2] This is a plan view of the workpiece (Reference Example 1). [Figure 3] This is a diagram showing the main parts of how the part detection means detects the state of the processed area (Reference Example 1). [Figure 4] It is a main part view showing how the processing tool processes the processing part (Reference Example 1). [Figure 5] It is a flowchart showing the control method of the robot device (Reference Example 1). [Figure 6] It is a view of the workpiece in a plan view, and is an explanatory view showing the detection location by the overall detection means (Reference Example 2). [Figure 7] It is a cross-sectional view taken along the line VII-VII of FIG. 6 of the workpiece (Reference Example 2). [Figure 8] It is an overall configuration diagram of the robot device viewed from the side (Reference Example 2). [Figure 9] It is an overall configuration diagram of the robot device viewed from above (Reference Example 2). [Figure 10] It is a main part view showing how the part detection means detects the state of the processing part (Reference Example 2). [Figure 11] It is a main part view showing how the processing tool processes the processing part (Reference Example 2). [Figure 12] It is a flowchart showing the control method of the robot device (Reference Example 2). [Figure 13] It is a plan view showing the processing part (Example). [Figure 14] It is a main part view showing how the part detection means detects the state of the processing part as viewed from the side (Example). [Figure 15] It is a main part view showing how the part detection means detects the state of the processing part as viewed from the rear (Example).

Mode for Carrying Out the Invention

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

Example

[0014] 〔Configuration of Reference Example 1〕 The configuration of the robot device 1 of Reference Example 1 will be described with reference to FIGS. 1 to 4. In Reference Example 1, the robot device 1, for example, in the manufacturing process of a railway vehicle bogie, uses a large metal structure 2 (see Figure 2) which is made by welding together cylindrical metal members at multiple points, as the workpiece, and removes excess material from the welded joints using a face mill, with the multiple welded joints being the processing areas 3.

[0015] Here, the robot 4 is a well-known 6-axis vertical articulated robot, with a face mill as the workpiece 5 attached to its tip. The robot device 1 also includes a control panel as a control unit 6 that controls the movements of the robot 4 and the workpiece 5. The control unit 6 commands various actuators attached to the robot 4 and the workpiece 5 to rotate the face mill as the workpiece 5 and move it three-dimensionally while removing excess material.

[0016] Furthermore, 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 processed part 3 on the workpiece 2 while the position and orientation of the workpiece 2 are determined before processing with the processing tool 5.

[0017] Furthermore, the robot device 1 is equipped with the following part detection means 7. Specifically, the part detection means 7 is, for example, attached to the tip of the robot 4 together with the workpiece 5 and moves three-dimensionally, generating a signal corresponding to the state of the workpiece 3. The part measurement means then measures the state of the workpiece 3 based on the signal generated by the part detection means 7.

[0018] Based on the above, the control unit 6 measures the state of the processed area 3 by scanning the processed area 3 of the workpiece 2, whose position and orientation have been determined, using the area detection means 7. More specifically, the control unit 6 operates the part detection means 7 while moving it according to the movement trajectory of the initial measurement conditions described later, outputting a signal corresponding to the shape of the welded part, and sequentially measuring the shapes of multiple welded parts.

[0019] The part detection means 7 is, for example, a well-known two-dimensional laser displacement meter. The part detection means 7 is moved while irradiating a linear laser beam toward the weld (see Figure 3), and generates a signal corresponding to the profile of the weld for each cross section perpendicular to the direction of movement.

[0020] Furthermore, 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 side of the mounting plate 9 opposite to the robot 4. Furthermore, according to the robot device 1 in Reference Example 1, a large number of workpieces 2 are processed one by one, but the position and orientation are precisely determined before processing each time in a specific processing space 10. Therefore, the variation in the position and orientation of each workpiece 2 is extremely small.

[0021] Here, the part measurement means measures the state of the processed part 3 according to the initial measurement conditions set in advance as measurement conditions for measuring the state of the processed part 3. For example, the control unit 6 measures the state of the processed part 3 while moving the part detection means 7 according to the movement trajectory set in the initial measurement conditions (see Figure 3).

[0022] The movement trajectory of the part detection means 7 under the initial measurement conditions is set based on the following assumptions, for example. In other words, the correct position where the workpiece 2 should be placed and the correct orientation that the workpiece 2 should assume when being processed by the machining tool 5 are set. Furthermore, the deviations from the correct position and orientation of the workpiece 2 when measured are within a predetermined range. In addition, the variations in the shape and dimensions of the workpiece 2 are within a predetermined range. Based on these premises, the movement trajectory of the part detection means 7 under the initial measurement conditions is set.

[0023] Given these premises, since the workpiece 2 in Reference Example 1 has its position and orientation precisely determined before processing, the control unit 6 can measure the state of the processed area 3 with high accuracy by moving the part detection means 7 according to the movement trajectory in the initial measurement conditions.

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

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

[0026] Here, the movement trajectory of the workpiece 5 under the initial processing conditions is set based on the following assumptions, for example, similar to the movement trajectory of the part detection means 7 under the initial measurement conditions. In other words, the position and orientation of workpiece 2 during machining, as well as the deviation from the normal position and orientation, are within a predetermined range. Furthermore, the variations in the shape and dimensions of workpiece 2 are within a predetermined range. Based on these premises, the movement trajectory of the workpiece 5 under the initial processing conditions is set.

[0027] Given these premises, in Reference Example 1, workpiece 2 can be precisely positioned and oriented before processing, but the processing area 3 exhibits significant deformation due to welding distortion. Therefore, even if the processing tool 5 is moved according to the movement trajectory under the initial processing conditions, satisfactory processing is difficult. In contrast, the control unit 6 can correct the movement trajectory based on the shape of the weld obtained by the part measurement means, thereby obtaining a movement trajectory that matches the actual shape of the weld, and enabling the processing tool 5 to be moved appropriately according to the actual shape of the weld to achieve satisfactory processing.

[0028] [Control method for reference example 1] The control method for Reference Example 1 will be explained using the flowchart in Figure 5. Note that the flowchart in Figure 5 starts once 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 according to the movement trajectory of the initial measurement conditions, outputting a signal corresponding to the shape of the weld, and sequentially measuring the shapes of multiple welds.

[0029] Next, in step S2, the processing condition correction means is executed. In step S2, the control unit 6 corrects, for example, the movement trajectory of the workpiece 5, which is one of the processing conditions, based on the shape of the weld obtained by the part measurement means. Then, in step S3, the machining is performed. In step S3, the control unit 6 moves the machining tool 5 according to the movement trajectory corrected by the machining condition correction means, and successively removes the excess material from each of the multiple welded parts.

[0030] [Effects of Reference Example 1] The robot device 1 in Reference Example 1 processes a workpiece 2 by moving a processing tool 5 attached to a robot 4 in three dimensions, and includes the following part measurement means and processing condition correction means. First, the part measurement means measures the state of the processing area 3 on the workpiece 2 while the position and orientation of the workpiece 2 are determined before processing with the processing tool 5. The processing condition correction means corrects the initial processing conditions set in advance as processing conditions for processing the workpiece 2 based on the state of the processing area 3 obtained by the part measurement means. Then, the robot device 1 controls the processing of the workpiece 2 using the processing conditions corrected by the processing condition correction means.

[0031] In Reference Example 1, workpiece 2 is large in size, but its position and orientation can be precisely determined before processing. However, the processing area 3 exhibits significant deformation due to welding distortion. Therefore, combined with the large size of workpiece 2 itself, it is difficult to process satisfactorily even when the processing tool 5 is moved according to the movement trajectory under the initial processing conditions. In contrast, by correcting the movement trajectory based on the state of the processing area 3 obtained by the part measurement means, a movement trajectory that matches the actual state of the processing area 3 can be obtained, and satisfactory processing can be achieved by appropriately moving the processing tool 5 in accordance with the actual state of the processing area 3.

[0032] Furthermore, the robot device 1 of Reference Example 1 includes the following part detection means 7. Specifically, the part detection means 7 is mounted on the robot 4 and moves three-dimensionally, generating a signal corresponding to the state of the processing area 3. The part measurement means then measures the state of the processing area 3 based on the signal generated by the part detection means 7. This allows for appropriate measurement by the part measurement means by selecting the part detection means 7 according to the condition of the processed part 3 and the required measurement accuracy.

[0033] Specifically, in Reference Example 1, a two-dimensional laser displacement meter is used as the part detection means 7. By moving the meter while irradiating a linear laser beam toward the weld, a signal corresponding to the profile of the weld is generated for each cross-section perpendicular to the direction of movement. As a result, the control unit 6 can appropriately acquire the information necessary to understand the shape of the weld.

[0034] [Structure of Reference Example 2] Robot device 1 of Reference Example 2 will be explained using Figures 6 to 11, focusing on the differences from Reference Example 1. The robotic device 1 in Reference Example 2, 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 excess material with a circular saw.

[0035] More specifically, in Reference Example 2, the robot device 1 uses, for example, a large resin molded product that forms the main body of the hull as the workpiece 2, and further, the area near the upper end of the resin molded product is designated as the processing area 3. The excess material that has grown around the upper end so as to extend upward is cut off with a circular saw (see Figures 6 and 7). In Reference Example 2, the robot device 1 also processes multiple workpieces 2 one by one, determining their position and orientation in the processing space 10.

[0036] Furthermore, according to the robot device 1 of Reference Example 2, since it processes a larger workpiece 2 than that of Reference Example 1, the robot 4 is provided to be movable in one axis direction parallel to the horizontal plane, thus expanding the range of motion. Specifically, the robot device 1 is equipped with the following moving means 12 (see Figures 8 and 9). That is, the moving means 12 allows the robot 4 to move freely in one direction parallel to the horizontal plane, and is a well-known configuration having a travel path 13 for the robot 4 and an actuator 14 that drives the robot 4.

[0037] Furthermore, according to the robot device 1 of Reference Example 2, since it is difficult to directly transport the workpiece 2 into the processing space 10 due to its size, each workpiece is lifted, for example, by a crane and placed on a predetermined trolley 15, and then transported into the processing space 10 together with the trolley 15 (see Figure 8). In addition, the workpiece 2 is transported into the processing space 10 such that the orientation of its longitudinal direction approximately coincides with, for example, the direction in which the robot 4 can move.

[0038] Furthermore, a circular saw, which serves as a processing tool 5, is attached to the tip of the robot 4. The control unit 6 then commands the robot 4, the processing tool 5, and various actuators attached to the moving means 12 to rotate the circular saw, which serves as the processing tool 5, and move it in three dimensions while cutting off the excess material.

[0039] By the way, since workpiece 2 in Reference Example 2 is a large resin molded product, it undergoes significant deformation due to thermal shrinkage. Therefore, similar to the robot device 1 in Reference Example 1, it is necessary to correct the initial processing conditions using a part measurement means and a processing condition correction means.

[0040] Furthermore, Workpiece 2 in Reference Example 2 is even larger than Workpiece 2 in Reference Example 1, and therefore undergoes a greater overall deformation. Furthermore, not only is the placement of the workpiece 2 on the trolley 15 rough, but there is also no means of positioning the trolley 15 in the processing space 10. Therefore, in Reference Example 2, the position and orientation of the workpiece 2 in the processing space 10 are determined roughly to begin with, resulting in large variations in the position and orientation of each workpiece 2.

[0041] Therefore, even if one attempts to measure the state of the processed area 3 according to the initial measurement conditions described above, it is difficult to obtain satisfactory measurements. Therefore, the robot device 1 in Reference Example 2 includes, as a function of the control unit 6, the following overall measurement means and measurement condition correction means, in addition to the same part measurement means and processing condition correction means as in Reference Example 1.

[0042] First, the overall measurement device measures the position and inclination of the workpiece 2 set at the machining position. Furthermore, the robot device 1 is equipped with the following overall detection means 16 (see Figure 8). Specifically, the overall detection means 16 is, for example, mounted on the robot 4 and moves in three dimensions, generating signals corresponding to the position and inclination of the workpiece 2. The overall measurement means then measures the position and inclination of the workpiece 2 based on the signals 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 three points within the machining area 3 of the workpiece 2: for example, the front end 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13 (see Figure 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 workpiece 5 and the part detection means 7. The overall detection means 16 irradiates the tip 2a, the rear end 2b, and the center 2c of the side edge on the travel path 13 side of the workpiece 2 with point-shaped laser light and generates a signal corresponding to each position.

[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 processed part 3 using the measurement conditions corrected by the measurement condition correction means. The part detection means 7 in Reference Example 2 is also a two-dimensional laser displacement meter, similar to that in Reference Example 1. The part detection means 7 is moved while irradiating a linear laser beam toward the upper end of the workpiece 2 (see Figure 10), generating a signal corresponding to the profile of the excess material for each cross section perpendicular to the direction of movement.

[0046] As a result, the control unit 6 can obtain measurement conditions that correspond to the actual position and inclination of the workpiece 2, and can also appropriately operate the robot 4, part detection means 7, and moving means 12 in accordance with the actual position and inclination of the workpiece 2 to perform satisfactory measurements. Then, based on the state of the processed area 3 obtained in this way, that is, the shape of the excess material, the processing condition correction means corrects the movement trajectory of the processing tool 5, for example. The control unit 6 then removes the excess material while moving the processing tool 5 according to the movement trajectory corrected by the processing condition correction means (see Figure 11).

[0047] [Control method for reference example 2] The control method for Reference Example 2 will be explained using the flowchart in Figure 12. Note that the flowchart in Figure 12 starts when the workpiece 2 is brought into the processing space 10 and comes to a stop. 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 on the upper edge of the workpiece 2: the tip 2a, the rear end 2b, and the center 2c of the side edge on the side of the travel path 13. By measuring these three points, 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 the movement trajectory 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 the part detection means 7 while moving it according to the movement trajectory corrected by the measurement condition correction means, outputting a signal corresponding to the shape of the leftover material, and measuring the shape of the leftover 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 trajectory of the processing tool 5, which is one of the processing conditions, based on the shape of the excess material obtained by the part measurement means. Then, in step S15, the machining is performed. In step S15, the control unit 6 moves the machining tool 5 according to the movement trajectory corrected by the machining condition correction means, and cuts off the excess material.

[0050] [Effects of Reference Example 2] The robot device 1 in Reference Example 2 includes the following overall measurement means and measurement condition correction means. First, the overall measurement means measures the position and orientation of the workpiece 2 after determining its position and orientation for processing with the processing tool 5. The measurement condition correction means corrects the pre-set initial 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 processed part 3 using the measurement conditions corrected by the measurement condition correction means.

[0051] This allows for satisfactory measurement of the machining area 3 of workpiece 2, even when the position and orientation of workpiece 2 are roughly determined. Therefore, even with large workpieces 2, the machining conditions can be appropriately corrected, resulting in satisfactory machining.

[0052] Furthermore, according to the robot device 1 in Reference Example 2, the overall measurement means measures the position and inclination of the workpiece 2 by measuring at three points. This allows for easy and highly accurate measurement of the position and inclination of workpiece 2.

[0053] Furthermore, the robot device 1 of Reference Example 2 includes the following overall detection means 16. Specifically, the overall detection means 16 is mounted on the robot 4 and moves in three dimensions, generating signals corresponding to the position and inclination of the workpiece 2. The overall measurement means then measures the position and inclination of the workpiece 2 based on the signals generated by the overall detection means 16. This allows for the selection of the overall detection means 16 according to the overall shape of workpiece 2 and the required measurement accuracy, thereby enabling appropriate measurement by the overall measurement means.

[0054] Specifically, in Reference Example 2, a one-dimensional laser displacement meter is used as the overall detection means 16, and point-shaped laser beams are irradiated around 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 area 3, generating signals corresponding to each position. As a result, the control unit 6 can appropriately acquire the information necessary for three-point measurement when measuring the position and inclination of the workpiece 2.

[0055] [Examples] The robot device 1 of the embodiment will be described using Figures 13 to 15, focusing on the differences from Reference Example 2. In the embodiment, the robot device 1 uses an end mill as a processing tool 5 and a resin molded product that forms the main body of the hull as a workpiece 2, and performs a process to drill holes 18 in the workpiece 2.

[0056] Here, the hole 18 is provided on a roughly square plane 19 located towards the front of the inside of the workpiece 2, in the center from left to right in a plan view (see Figure 13). The front and both sides of the plane 19 are surrounded by steps 20a, 20b, and 20c that rise upwards, respectively, while the rear is steeply sloped by a step 20d that sinks downwards. The shape of the hole 18 is rectangular, and its dimensions are La and Lb in the front-to-back and left-to-right directions, respectively.

[0057] For such a plane 19, the control unit 6, in the part measurement means, generates a signal, for example, as follows, to the part detection means 7 to determine the position of the plane 19. Specifically, the part detection means 7 generates a signal corresponding to the profile of a cross-section perpendicular to the left-right direction, including the steps 20a, 20d and the plane 19, by irradiating a linear laser beam toward the plane 19 so as to include the front and rear steps 20a, 20d (see Figure 14). In addition, the part detection means 7 generates a signal corresponding to the profile of a cross-section perpendicular to the front and rear direction, including the steps 20b, 20c and the plane 19, by irradiating a linear laser beam toward the plane 19 so as to include the left and right steps 20b, 20c (see Figure 15).

[0058] The control unit 6 then uses these signals to determine the position of the plane 19 and corrects the movement trajectory of the workpiece 5. Specifically, the control unit 6 corrects the movement trajectory of the workpiece 5 so that the lines extending La / 2 forward and backward from the midpoint of the distance Lc between steps 20a and 20d, and Lb / 2 to the left and right from the midpoint of the distance Ld between steps 20b and 20c, become the opening edges of the hole 18.

[0059] [Variation] The examples provided are for illustrative purposes only, and it goes without saying that the present invention is not limited to these examples. For example, in the robot device 1 of the embodiment, the part detection means 7 was a two-dimensional laser displacement meter and the overall detection means 16 was a one-dimensional laser displacement meter, but the part detection means 7 and the overall detection means 16 are not limited to these configurations. For example, a camera may be used as the part detection means 7 and the overall detection means 16, and measurements may be performed by the part measurement means and the overall measurement means based on the image information acquired by the camera.

[0060] Furthermore, in this embodiment, a two-dimensional laser displacement sensor as a part detection means 7 and a one-dimensional laser displacement sensor as an overall detection means 16 were individually mounted on the robot 4. However, for example, only the two-dimensional laser displacement sensor may be mounted on the robot 4 and function as both the part detection means 7 and the overall detection means 16.

[0061] 1. Robot device 2. Workpiece 3. Machining area 4. Robot 5. Machining tool 6. Control unit (area measurement means, machining condition correction means, overall measurement means, measurement condition correction means) 7. Area detection means

Claims

1. In a robotic device that processes a workpiece while moving a processing tool attached to the robot in three dimensions, In processing with the aforementioned processing tool, a part measuring means for measuring the state of the processed part on the workpiece while the position and orientation of the workpiece are determined, The system includes a processing condition correction means that corrects the initial processing conditions set in advance as processing conditions for processing the workpiece based on the state of the processed area obtained by the part measurement means, The machining of the workpiece is controlled using the machining conditions corrected by this machining condition correction means. Furthermore, the robotic device is In processing with the aforementioned processing tool, an overall measuring means for measuring the position and orientation of the workpiece while the position and orientation of the workpiece are determined, The system includes a measurement condition correction means that corrects the initial measurement conditions, which are set in advance as measurement conditions for measuring the state of the processed part by the part measurement means, based on the position and orientation of the workpiece obtained by the overall measurement means, The aforementioned part measurement means measures the state of the processed part using the measurement conditions corrected by the measurement condition correction means. Furthermore, the robotic device is The robot is equipped with a part detection means that moves three-dimensionally and generates a signal corresponding to the state of the processing area, The aforementioned part measurement means measures the state of the processed part based on the signal generated by the part detection means, Furthermore, the part measurement means moves the part detection means according to the movement trajectory corrected by the measurement condition correction means, generates a signal corresponding to the profile of the cross-section of the workpiece, and acquires information regarding this profile. The profile obtained by the aforementioned part measurement means has sharp steps, The robotic apparatus is characterized in that the processing condition correction means corrects the movement trajectory of the processing tool based on the profile of the stepped section acquired by the part measurement means.

2. In the robot device according to claim 1, The robotic device is characterized in that the overall measurement means measures the position and orientation of the workpiece by three-point measurement.

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