JP7500191B2 - ROBOT SYSTEM, TRANSPORTATION VEHICLE, METHOD FOR CONTROLLING ROBOT SYSTEM, METHOD FOR MANUFACTURING ARTICLE, CONTROL PROGRAM, AND RECORDING MEDIUM - Google Patents

Description

The present invention relates to a robot system.

In production lines that manufacture products (parts), robot devices equipped with robot arms are used as production equipment. This type of robot arm manipulates workpieces using end effectors at the tip, such as fingers or hands as gripping devices, or other tools, to manufacture items such as industrial products and their parts. In recent years, robot systems equipped with robot arms mounted on transport vehicles such as automatic guided vehicles (AGVs) have been used. A robot system has been provided that automatically moves to a work position by an automatic guided vehicle and performs tasks such as assembly and processing on the workpieces placed at the work position.

In this case, the stopping position of the automated guided vehicle relative to the work position is an important issue in order to allow the robot arm to perform work with high precision. The technology described in Patent Document 1 discloses a method of improving the accuracy of the stopping position of the automated guided vehicle by providing an image input device to the robot arm attached to the automated guided vehicle, detecting a predetermined mark using the image input device, and performing feedback control.

Japanese Patent Application Laid-Open No. 5-80842

Depending on the task to be performed by the robot arm installed on the automated guided vehicle, the stopping position of the automated guided vehicle can be given a certain degree of leeway in terms of accuracy. For example, when processing a workpiece placed at a work position by a robot arm, the stopping position of the automated guided vehicle must be maintained with high accuracy because machining deviations due to deviations in the stopping position can cause product defects. However, if the task is merely to grip a workpiece placed at the work position using the robot arm installed on the automated guided vehicle, a certain degree of leeway can be given because failures that directly lead to product defects, such as the above-mentioned machining deviations, are unlikely to occur. In this way, if feedback control of the stop takes a long time for all tasks in order to maintain the accuracy of the stopping position, it will take unnecessary time even for tasks that do not require that much precision, resulting in poor work efficiency.

The present invention has been made in consideration of the above problems, and has an object to improve work efficiency.

In order to achieve the above-mentioned object, the present invention employs a robot system equipped with a transport vehicle, wherein the robot or the transport vehicle is equipped with a position detector that detects information regarding the position of the transport vehicle, and when the transport vehicle is stopped using the position detector, the stopping control for stopping the transport vehicle is changed depending on the work being performed by the robot.

The present invention can improve work efficiency.

FIG. 1 is a schematic diagram of a robot system 100 and a work table 700 according to an embodiment. FIG. 2 is a control block diagram of the robot system 100 according to the embodiment. FIG. 7 is a detailed view of the workbench 700 according to the embodiment. 3 is a control flowchart according to the embodiment. 11A and 11B are diagrams illustrating an allowable range Δ1Δ2 in the embodiment. 11A to 11C are diagrams illustrating an allowable range Δ1'Δ2' in an embodiment. 3 is a control flowchart according to the embodiment.

Below, a description will be given of a mode for carrying out the present invention with reference to the attached drawings. Note that the embodiment shown below is merely an example, and for example, those skilled in the art can modify the detailed configuration as appropriate without departing from the spirit of the present invention. Also, the numerical values used in this embodiment are for reference only and do not limit the present invention.

First Embodiment
1 is a plan view of a robot system 100 and a work table 700 in this embodiment as viewed from a certain direction of an XYZ coordinate system. In the following drawings, the arrows X, Y, and Z in the drawings indicate the coordinate system of the entire robot system 100. Generally, in a robot system using a robot device, in addition to the world coordinate system of the entire installation environment, a local coordinate system may be appropriately used for the robot hand, fingers, joints, etc. for convenience of control, etc. In this embodiment, the world coordinate system, which is the coordinate system of the entire robot device 100, is represented by XYZ, and the local coordinate system is represented by xyz.

As shown in FIG. 1, the robot system 100 includes an articulated robot arm body 200 and a robot hand body 300 as an end effector mounted on an automated guided vehicle 500. It also includes a control device 400 that controls the operation of the robot arm body 200 and the robot hand body 300 and the automated guided vehicle 500, and an imaging device 600.

In this embodiment, the end effector provided at the tip of the robot arm body 200 is the robot hand body 300, but this is not limited to this and may be replaced with a robot tool or the like as appropriate.

The link 201, which is the base end of the robot arm body 200, is attached to a base 210. The robot arm body 200 has multiple joints, for example, six joints (six axes). The robot arm body 200 has multiple (six) motors 211-216 (Figure 2) that rotate each of the joints J1-J6 around each rotation axis.

The robot arm body 200 is connected to multiple links 201-206 and the robot hand body 300 at joints J1-J6 so that they can rotate about axes A1-A6. Here, the links 201-206 are connected in series from the base end to the tip end of the robot arm body 200.

As shown in the figure, the base 210 of the robot arm main body 200 and the link 201 are connected by a joint J1 that rotates in the direction of the arrow around the A1 axis in the figure. The rotation of a transmission mechanism and a motor (not shown) is transmitted to the link 201, allowing it to rotate in the direction of the arrow around the A1 axis in the figure.

Link 201 and link 202 of robot arm body 200 are connected by joint J2, which rotates in the direction of the arrow around axis A2 in the figure. Rotation from a transmission mechanism and motor (not shown) is transmitted to link 202, allowing it to rotate in the direction of the arrow around axis A2 in the figure.

Link 202 and link 203 of robot arm body 200 are connected by joint J3, which rotates in the direction of the arrow around axis A3 in the figure. Rotation from a transmission mechanism and motor (not shown) is transmitted to link 203, allowing it to rotate in the direction of the arrow around axis A3 in the figure.

Link 203 and link 204 of the robot arm body 200 are connected by joint J4, which rotates in the direction of the arrow around axis A4 in the figure. Rotation from a transmission mechanism and a motor (not shown) is transmitted to link 204, allowing it to rotate in the direction of the arrow around axis A4 in the figure.

Link 204 and link 205 of the robot arm body 200 are connected by joint J5, which rotates in the direction of the arrow around the A5 axis in the figure. Rotation from a transmission mechanism and a motor (not shown) is transmitted to link 205, allowing it to rotate in the direction of the arrow around the A5 axis in the figure.

Link 205 and link 206 of the robot arm body 200 are connected by joint J6, which rotates in the direction of the arrow around axis A6 in the figure. The robot hand body 300 is connected to link 206, and the rotation of a transmission mechanism and a motor (not shown) is transmitted to it, allowing it to rotate together with link 206 in the direction of the arrow around axis A6 in the figure.

With the above configuration, the robot arm body 200 can be oriented in any three-dimensional position and in any three-direction posture within the movable range. The robot arm body 200 can then operate the robot hand body 300 to any position to perform a desired task. An example of the desired task is assembling objects together to manufacture an article.

The robot hand body 300 grasps objects such as parts and tools. In this embodiment, the robot hand body 300 opens and closes two fingers using a drive mechanism and motor 311 (Figure 2) (not shown) to grasp or release a workpiece. It is sufficient if the workpiece can be grasped without being displaced relative to the robot arm body 200. The robot hand body 300 also has a built-in hand motor driver 301 (Figure 2) for controlling the drive of the motor 311.

The base 210 of the robot arm body 200 is fixed to the automated guided vehicle 500. In this embodiment, the automated guided vehicle 500 is described as facing vertically upward, but the orientation may be changed depending on the use case. The automated guided vehicle 500 may be a guided automated guided vehicle that runs along a guide line installed on the ground, or an autonomous automated guided vehicle that can run without relying on a guide line.

The automated guided vehicle 500 in this embodiment is equipped with a control device 400 that is configured by a computer system mainly composed of a microcomputer. The control device 400 controls the operation of the tires 501 via a drive motor, a transmission mechanism, and a brake mechanism (not shown). This controls the steering and braking of the automated guided vehicle 500. Note that in this embodiment, an encoder is provided on the drive motor that drives the tires 501.

The imaging device 600 is attached to the robot hand body 300, and the imaging direction can be changed according to the posture of the robot arm body 200. By having the imaging device 600 capture an image of a marker described later, it is possible to calculate the position of the automatic guided vehicle 500 by image matching. The imaging device 600 functions as a position detector. In this embodiment, the imaging device 600 is described as the imaging device 600, but depending on the use case, a sensor using another position detection method using radio waves, radar, etc. may be used as a method for detecting the position of the automatic guided vehicle 500. In addition, the mounting position of the device for detecting the position is not limited to the robot hand body 300. It may be provided on the robot arm body 200 or the automatic guided vehicle 500.

The above configuration makes it possible to stop the automated guided vehicle 500 at a predetermined position near the worktable 700 in order to perform a predetermined task on various workpieces placed on the worktable 700. The worktable 700 and the various workpieces will be described later.

Figure 2 is a block diagram showing the configuration of the robot system 100 in this embodiment. The control device 400 is configured as a computer and has a CPU (Central Processing Unit) 401 as a control unit (processing unit).

The control device 400 also includes a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, and a HDD (Hard Disk Drive) 404 as storage units. The control device 400 also includes a recording disk drive 405, and various interfaces 406-409, 411-413.

The CPU 401 is connected to the ROM 402, RAM 403, HDD 404, recording disk drive 405, and various interfaces 406-409, 411-413 via a bus 410.

The ROM 402 stores a program 430 for causing the CPU 401 to execute calculation processing. The CPU 401 executes each step of the robot control method based on the program 430 recorded (stored) in the ROM 402.

RAM 403 is a storage device that temporarily stores various data such as the results of calculations performed by CPU 401. HDD 404 is a storage device that stores the results of calculations performed by CPU 401 and various data acquired from the outside.

The recording disk drive 405 can read various data, programs, etc. recorded on the recording disk 431.

The external input device 800 is connected to the interface 413. The CPU 401 receives input of teaching data from the external input device 800 via the interface 413 and the bus 410. Although the external input device 800 is not shown in FIG. 1, it is used as appropriate in teaching the robot arm body 200, the robot hand body 300, and the automated guided vehicle 500.

The arm motor driver 230 is connected to the interface 409. The CPU 401 outputs command value data for each of the joints J1 to J6 to the arm motor driver 230 via the bus 410 and the interface 409 at predetermined time intervals. The arm motor driver 230 then outputs command values to the motors 211 to 216 of each of the joints J1 to J6.

Each motor 211-216 has a sensor unit 221-226, respectively. Here, the sensor unit is an angle sensor that detects the angle of each joint J1, and a torque sensor that detects the torque of each joint. Examples of angle sensors include magnetic encoders and optical encoders, and examples of torque sensors include strain detection types that detect strain in a specified elastic body, and displacement detection types that detect deformation as displacement.

The encoder of the angle sensor has an absolute encoder function and an incremental encoder function. An incremental encoder detects the angle of the motor in one rotation, but an absolute encoder can count the number of rotations of the motor after multiple rotations. This embodiment uses an absolute encoder because there are joints that rotate multiple times. Information from these sensors 221 to 226 is also sent to the CPU 401 via the interface 409 and bus 410. The CPU 401 can feedback control the position of each link 201 to 206 using the detection values from the angle sensors and torque sensors provided in each motor.

The hand motor driver 312, which controls the drive of the motor 311 for the robot hand, is also connected to the interface 411 and is capable of communicating with the CPU 401 via the bus 410. The CPU 401 outputs command value data for each finger of the robot hand body 300 to the hand motor driver 312 via the bus 410 and the interface 411 at predetermined time intervals.

A monitor 421 is connected to the interface 407, and various images are displayed on the monitor 421 under the control of the CPU 401. The interface 408 is configured to be connectable to an external storage device 422, which is a storage unit such as a rewritable non-volatile memory or an external HDD. The monitor 421 and the external storage device 422 are not shown in FIG. 1, but are assumed to be installed in predetermined positions on the automated guided vehicle 500.

In this embodiment, the computer-readable recording medium is HDD 404, and the program 430 is stored in HDD 404, but the present invention is not limited to this. The program 430 may be recorded in any recording medium as long as it is a computer-readable recording medium.

For example, the recording medium for supplying the program 430 may be a ROM 402, a recording disk 431, an external storage device 422, etc. Specific examples of the recording medium that may be used include a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory, a ROM, etc.

Next, the worktable 700 will be described with reference to FIG. 3. FIG. 3(a) is a diagram showing the worktable 700 when gripping the workpiece W1. FIG. 3(b) is a diagram showing the worktable 700 when assembling the workpiece W2 into the hole H. The robot system 100 performs two types of work on the worktable 700: transporting the workpiece W1 and assembling the workpiece W1 and the workpiece W2. Note that in this embodiment, the transport of the workpiece W1 will be described as an example, but the workpiece W2 may also be transported. Also, the assembling of the workpiece W1 and the workpiece W2 will be described as an example, but instead of the robot hand body 300, a workpiece such as a screwdriver or a grinding tool may be attached, and the end effector may be brought into contact with the workpiece to perform processing.

As shown in FIG. 3(a), a case 701 is placed on a workbench 700, and workpieces W1 are placed randomly inside the case 701. In FIG. 3(b), a holder 702 is provided on the workbench 700, and workpieces W2 are positioned and placed on the holder 702.

3(a) and (b), marks 703 (characteristic parts 703a and 703b) are printed on the surface of the workbench 700. The marks 703 indicate a reference position on the workbench 700. The robot system 100 is positioned at a predetermined position near the workbench 700, and when teaching the robot arm body 200 and the robot hand body 300 to execute a predetermined operation, the marks 703 are imaged by the imaging device 600 to obtain a reference image that serves as a reference value.

When an actual task is to be performed, the automated guided vehicle 500 is brought close to the work platform 700, an image of the mark 703 is captured by the imaging device 600, and the captured image is compared with characteristic parts of a reference image at the time of teaching to detect the relative position between the automated guided vehicle 500 and the work platform 700. Then, based on the detected relative position, the automated guided vehicle 500 is stopped at the specified position where it was stopped at the time of teaching. The automated guided vehicle 500 travels between multiple work platforms 700 configured in this way and performs tasks according to each work platform (Figures 3(a) and (b)).

In this embodiment, the imaging device 600 is used, and the relative positions of the automated guided vehicle 500 and the work platform 700 are detected using the image of the mark 703. However, depending on the use case, a method other than the mark 703 may be used.

Next, the operation of the robot system 100 in this embodiment will be described with reference to the flowchart in FIG. 4. The CPU 401 of the control device 400 executes the program 430, causing the robot system 100 to start operating.

In this embodiment, an allowable range is set for the stopping position of the automated guided vehicle when gripping the workpiece W1 or assembling the workpiece W1 as described in FIG. 3. FIG. 5 is a diagram showing the allowable range in this embodiment. The allowable range in this embodiment is the range of deviation from the specified position where the automated guided vehicle 500 is stopped during the operation teaching of the robot system 100, and if the automated guided vehicle 500 can be stopped within this allowable range, it is determined that the automated guided vehicle 500 has stopped completely. In other words, the allowable range is the range of relative positions that trigger the execution of a specified task after the automated guided vehicle 500 is stopped by locking the tires 501 with a brake mechanism (not shown) when stopping the automated guided vehicle.

In Fig. 5(a) and (b), the target teaching stop position is shown as stop position C. In Fig. 5(a), an allowable range Δ1 is set for stop position C, and in Fig. 5(b), an allowable range Δ2 is set. As can be seen from the figure, the allowable range Δ1 is set larger than the allowable range Δ2. This allows the feedback control of the tire 501 to converge quickly when completing the stop in gripping the workpiece W1, making it possible to quickly determine whether the unmanned guided vehicle 500 has stopped. Note that stop position C is set based on the worktable 700, and the image capture device 600 detects the relative position between the unmanned guided vehicle 500 and the worktable 700, making it possible to stop the unmanned guided vehicle 500 at stop position C.

Returning to FIG. 4, first, in S101, it is determined whether the operation to be performed by the robot system 100 is to grasp the workpiece W1. If it is to grasp the workpiece W1, the process proceeds to S102.

In S102, the allowable range Δ1 (FIG. 5(a)) of the stopping position of the automated guided vehicle 500 when gripping the workpiece W1 is obtained.

Then, the process proceeds to S103, where the control device 400 operates the automated guided vehicle 500 based on the detection results of the imaging device 600. The imaging device 600 captures an image of the mark 703, and moves the automated guided vehicle 500 closer to the stop position C based on the reference image at the time of teaching.

Then, in S104, it is determined whether the position of the automated guided vehicle 500 is within the allowable range Δ1. If it is not within Δ1, S104: NO is executed, and the process returns to just before S103, and the image capturing device 600 is used again to move the automated guided vehicle 500 closer to the stop position C.

If the automated guided vehicle 500 can be positioned within Δ1, the process proceeds from S104: YES to S105, where the tires 501 are locked using a brake mechanism (not shown) provided on the automated guided vehicle 500, and the automated guided vehicle 500 is stopped.

Then, in S106, the robot arm body 200 is operated to grip the workpiece W1 with the robot hand body 300. At this time, the imaging device 600 detects the placement position of the workpiece W1, and grips the workpiece W1. In this way, by using the imaging device as a device for detecting the relative position between the automated guided vehicle 500 and the workbench 700, it is preferable that the imaging device can also be used to detect the placement position of the workpiece.

Next, if the operation to be executed by the robot system 100 is the assembly of the workpiece W1 from S101: NO, the process proceeds to S107. In S107, the allowable range Δ2 (FIG. 5(b)) of the stopping position of the automated guided vehicle 500 when assembling the workpiece W2 is obtained.

Then, the process proceeds to S108, where the control device 400 operates the automated guided vehicle 500 based on the imaging device 600. The imaging device 600 captures an image of the mark 703, and the automated guided vehicle 500 approaches the stop position C based on the reference image at the time of teaching.

Then, in S109, it is determined whether the position of the automated guided vehicle 500 is within the allowable range Δ2. If it is not within Δ2, S109: NO is executed, and the process returns to just before S108, and the image capturing device 600 is used again to move the automated guided vehicle 500 closer to the stop position C.

If the automated guided vehicle 500 can be positioned within Δ2, the process proceeds to S110 via S109: YES, and the automated guided vehicle 500 is stopped using a brake mechanism (not shown) provided on the automated guided vehicle 500.

Then proceed to S111 and obtain the difference between stop position C and the current stop position determined in S110.

Then, the process proceeds to S112, where the operation of the robot hand body 300 in assembling the workpiece W1 is corrected by the difference in the stop position obtained in S111. One method of correction is to offset each teaching point taught to the robot hand body 300 in a direction that cancels the difference obtained in S111.

Then, in S113, the workpiece W1 is assembled based on the teaching points corrected in S112. This allows the operation to be performed with corrections made to any slight deviations in the stop position, further improving the accuracy of the operation.

According to this embodiment, the tolerance range for determining when the automated guided vehicle has stopped is set according to the operation to be executed by the robot system. This allows the automated guided vehicle to stop quickly for tasks that do not require high-precision operations, thereby improving the efficiency of production operations.

In addition, for operations that require high accuracy, not only is the tolerance for the completion of stopping the automated guided vehicle strictly set, but the difference between the target stopping position and the current stopping position is detected, and the teaching point of the part to be controlled (the robot hand body 300) is corrected based on the difference. This makes it possible to reduce the impact of the automated guided vehicle's operating accuracy, and to further improve operating accuracy.

Second Embodiment
In the first embodiment described above, the allowable range for the target stop position for completing the stopping of the automated guided vehicle 500 is set for each task performed by the robot arm body 200, but this is not limited thereto. For example, the allowable range for the speed of the automated guided vehicle 500 during normal driving when approaching the work platform 700 may be set for each task performed by the robot arm body 200.

In the first embodiment described above, the completion of stopping of the automated guided vehicle 500 is achieved by comparing the target stopping position with the current stopping position. However, since the robot arm body 200 is provided on the self-propelled automated guided vehicle 500, when moving from a traveling state to a stopped state, inertia comes into play and vibrations occur in the robot arm body 200. For this reason, it is common to wait a predetermined time after stopping the automated guided vehicle 500, to allow the vibrations of the robot arm body 200 to converge to a certain extent, before allowing the robot arm body 200 to perform its task.

However, as in the first embodiment described above, depending on the task to be performed by the robot arm body 200, from the standpoint of the required accuracy, the task may be able to be performed even if the robot arm body 200 is vibrating to a certain extent.

In this embodiment, the normal driving speed of the automated guided vehicle 500 when approaching the work platform 700 is calculated by an encoder attached to the drive motor that drives the tires 501. Then, based on that speed, it is determined whether to wait a predetermined time after the automated guided vehicle 500 has been stopped.

The following describes the hardware and control system configurations that are different from those of the first embodiment. In addition, the same parts as those of the first embodiment are assumed to have the same configuration and function as those described above, and detailed descriptions thereof will be omitted.

Figure 6 is a diagram showing the allowable range in this embodiment. The allowable range in this embodiment is the range for determining whether to wait for a specified time for the robot system 100 at the normal driving speed when the automated guided vehicle 500 approaches the work platform 700. If the speed of the automated guided vehicle 500 falls within this allowable range, the work is performed without waiting for the specified time. In other words, the allowable range is the speed range that triggers the execution of control to wait for a specified time regarding the stopping of the automated guided vehicle 500.

In Figures 6(a) and (b), the target speed when approaching the worktable 700 by the robot system 100 is indicated by the target speed V. In Figure 6(a), an allowable range of +Δ1' is set for the target speed V, while in Figure 5(b), an allowable range of +Δ2' is set. As can be seen from the figure, the allowable range Δ1' is set to be larger than the allowable range Δ2'. This makes it possible to have the robot arm body 200 perform the task of grasping the workpiece W1 without waiting a specified time, even if the speed of the automated guided vehicle 500 is somewhat high.

Next, the operation of the robot system 100 in this embodiment will be described with reference to the flowchart in FIG. 7. Note that in this embodiment, the control related to the execution of the stop is the same as that described in the first embodiment, so the description will be omitted. The CPU 401 of the control device 400 executes the program 430, causing the robot system 100 to start operating.

As shown in FIG. 7, first, in S201, it is determined whether the operation performed by the robot system 100 is to grasp the workpiece W1. If it is to grasp the workpiece W1, the process proceeds to S202.

In S202, the speed tolerance range +Δ1' (Figure 6(a)) during normal driving when the automated guided vehicle 500 approaches the worktable 700 to grasp the workpiece W1 is obtained.

Then, the process proceeds to S203, where the speed during normal driving when the automated guided vehicle 500 approaches the work platform 700 is calculated based on the encoder attached to the tire 501.

Then, in S204, it is determined whether the speed of the automated guided vehicle 500 is within V+Δ1', which includes the allowable range Δ1'. If the calculated speed is not within V+Δ1', the process proceeds to S206 from S204: NO.

In S206, the automated guided vehicle 500 is stopped using the control method described in the first embodiment, and in S207, a predetermined time is waited until the vibration of the robot arm main body 200 subsides. If the calculated speed in S204 is within V+Δ1', the process proceeds to S205 via S204: YES, and the automated guided vehicle 500 is stopped using the control method described in the first embodiment, and control ends.

Next, from S201: NO, if the operation to be executed by the robot system 100 is the assembly of the workpiece W1, the process proceeds to S208. In S208, the allowable range of speed +Δ2' (FIG. 5(b)) when approaching the automatic guided vehicle 500 to the worktable 700 in the assembly of the workpiece W2 is obtained.

Then, the process proceeds to S209, where the speed of the automated guided vehicle 500 just before it stops is calculated based on the encoder attached to the tire 501.

Then, in S210, it is determined whether the speed of the automated guided vehicle 500 is within V+Δ2', which includes the allowable range Δ2'. If the calculated speed is not within V+Δ2', the process proceeds to S212 via S210: NO.

In S212, the automated guided vehicle 500 is stopped using the control method described in the first embodiment, and in S213, a predetermined time is waited until the vibration of the robot arm main body 200 subsides. If the calculated speed in S210 is within V+Δ2', the process proceeds to S211 via S210: YES, and the automated guided vehicle 500 is stopped using the control method described in the first embodiment, and control ends.

As described above, according to this embodiment, a determination is made as to whether to wait a predetermined time depending on the speed of the automated guided vehicle 500 just before it stops, and the automated guided vehicle 500 waits for only the necessary amount of time, thereby improving work efficiency. Furthermore, the speed range that triggers execution of control to wait a predetermined time regarding the stopping of the automated guided vehicle 500 is changed depending on the work being performed by the robot arm main body 200. This allows the control to wait a predetermined time to be effectively executed from the perspective of the required accuracy of the work, thereby further improving work efficiency.

In this embodiment, the speed of the automated guided vehicle 500 is used, but the acceleration of the automated guided vehicle 500 may also be used. Also, in this embodiment, there is an allowable range for the speed when the automated guided vehicle 500 approaches the worktable 700, but the magnitude of the target speed V of the automated guided vehicle 500 when approaching may also be changed. For example, the target speed V may be set to be large when gripping the workpiece W1, and may be set to be smaller than the target speed V when gripping the workpiece W1 when assembling the workpiece W1.

The processing procedures of the various embodiments described above have been specifically described as being executed by the control device 400. However, the functions described above may also be executed by installing a software control program capable of executing the functions described above and a recording medium on which the program is recorded in the external input device 500 or the measurement condition setting device 700.

Therefore, the present invention includes a software control program capable of executing the above-mentioned functions, a recording medium on which the program is recorded, and a communication device.

In addition, in the above embodiment, the computer-readable recording medium is a ROM or a RAM, and the control program is stored in the ROM or the RAM, but the present invention is not limited to this form.

The control program for implementing the present invention may be recorded on any computer-readable recording medium. For example, a HDD, an external storage device, a recording disk, etc. may be used as a recording medium for supplying the control program.

Other Embodiments
In the various embodiments described above, the robot arm body 200 is an articulated robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, a configuration equivalent to the above can be implemented with a different type of joint, such as a parallel link type.

The various embodiments described above can also be applied to machines that can automatically perform movements such as stretching, bending, moving up and down, moving left and right, or rotating, or a combination of these movements, based on information stored in a storage device provided in the control device.

The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical concept of the present invention. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most favorable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

100 Robot system 200 Robot arm body 201, 202, 203, 204, 205, 206 Link 210 Base 211, 212, 213, 214, 215, 216, 311 Motor 221, 222, 223, 224, 225, 226 Sensor unit 300 Robot hand body 400 Control device 500 Automatic guided vehicle 501 Tire 600 Imaging device 700 Work table 701 Case 702 Holder 703 Marker 703a, 703b Feature unit W1, W2 Work H Hole C Stop position Δ1, Δ2, Δ1', Δ2' Allowable range

Claims (21)

A robot system equipped with a robot on a transport vehicle,
The robot or the transport vehicle is provided with a position detector that detects information regarding a position of the transport vehicle,
When the transport vehicle is stopped using the position detector, a stop control for stopping the transport vehicle is changed depending on the task performed by the robot.
A robot system comprising: 2. The robot system according to claim 1,
a tolerance range for a target stop position of the transport vehicle varies depending on the task, and when information regarding the position of the transport vehicle detected by the position detector is within the tolerance range, the robot is caused to perform the task .
A robot system comprising: 2. The robot system according to claim 1 ,
the position detector is an encoder;
an allowable range for a target speed of the transport vehicle varies depending on the task, and when information on the speed of the transport vehicle detected by the encoder is outside the allowable range, the robot is made to wait for a predetermined time before performing the task .
A robot system comprising: The robot system according to claim 3 ,
The target speed of the transport vehicle varies depending on the task.
A robot system comprising: 3. The robot system according to claim 2 ,
As the work, a first work and a second work requiring higher accuracy than the first work are executed;
A predetermined device for bringing the transport vehicle closer to the vehicle is provided.
When the transport vehicle is stopped and the robot is caused to perform the second task, a difference between information about the position of the transport vehicle detected by the position detector and the target stop position is acquired;
Controlling an operation of the robot based on the difference.
A robot system comprising: 6. The robot system according to claim 5 ,
When controlling the operation of the robot based on the difference, a teaching point taught to the robot is corrected so as to cancel the difference.
A robot system comprising: 7. The robot system according to claim 5 ,
The information regarding the position of the transport vehicle detected by the position detector is a relative position of the transport vehicle with respect to the specified device, and the target stop position is a stop position of the transport vehicle with respect to the specified device at the time of teaching.
A robot system comprising: 3. The robot system according to claim 2 ,
As the work, a first work and a second work requiring higher accuracy than the first work are executed;
an allowable range for the target stop position corresponding to the first task is larger than an allowable range for the target stop position corresponding to the second task;
A robot system comprising: 5. The robot system according to claim 3 ,
As the work, a first work and a second work requiring higher accuracy than the first work are executed;
an allowable range for the target speed corresponding to the first task is larger than an allowable range for the target speed corresponding to the second task;
A robot system comprising: 10. The robot system according to claim 8 ,
The robot includes an end effector on a robot arm,
the first operation is an operation of gripping a workpiece by the end effector,
The second operation is an operation of bringing the end effector or the workpiece gripped by the end effector into contact with another workpiece.
A robot system comprising: The robot system according to claim 10 ,
The second operation is an operation of bringing the workpiece into contact with the other workpiece and assembling the workpiece to the other workpiece.
A robot system comprising: The robot system according to claim 10 ,
The second operation is an operation of machining the other workpiece by the workpiece held by the end effector.
A robot system comprising: The robot system according to claim 12 ,
The workpiece includes at least one of a driver and a grinding tool.
A robot system comprising: The robot system according to any one of claims 1 to 13 ,
The transport vehicle is equipped with a brake,
Stopping the transport vehicle using the brake;
A robot system comprising: 3. The robot system according to claim 1,
the position detector is an imaging device;
A robot system comprising: A method for manufacturing an article, comprising the steps of: manufacturing the article by using the robot system according to any one of claims 1 to 15 . A control method for a robot system having a robot on a transport vehicle, comprising:
The robot or the transport vehicle is provided with a position detector that detects information regarding a position of the transport vehicle,
When the transport vehicle is stopped using the position detector, a stop control for stopping the transport vehicle is changed depending on the task performed by the robot.
A control method comprising: A transport vehicle equipped with a robot,
The robot or the transport vehicle is provided with a position detector that detects information regarding a position of the transport vehicle,
When the transport vehicle is stopped using the position detector, a stop control for stopping the transport vehicle is changed depending on the task performed by the robot.
A transport vehicle characterized by the above. A method for controlling a transport vehicle equipped with a robot, comprising the steps of:
The robot or the transport vehicle is provided with a position detector that detects information regarding a position of the transport vehicle,
When the transport vehicle is stopped using the position detector, a stop control for stopping the transport vehicle is changed depending on the task performed by the robot.
A control method comprising: A control program capable of executing the control method according to claim 17 or 19 by a computer. A computer-readable recording medium storing the control program according to claim 20 .

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