WO2019039460A1 - Robot system and method for performing operation on workpiece being transferred - Google Patents

Robot system and method for performing operation on workpiece being transferred Download PDF

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Publication number
WO2019039460A1
WO2019039460A1 PCT/JP2018/030789 JP2018030789W WO2019039460A1 WO 2019039460 A1 WO2019039460 A1 WO 2019039460A1 JP 2018030789 W JP2018030789 W JP 2018030789W WO 2019039460 A1 WO2019039460 A1 WO 2019039460A1
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Prior art keywords
image information
workpiece
robot
work
imaging
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PCT/JP2018/030789
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French (fr)
Japanese (ja)
Inventor
誠太 大野
健太郎 笠井
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川崎重工業株式会社
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Priority to CN201880054877.5A priority Critical patent/CN111051014B/en
Publication of WO2019039460A1 publication Critical patent/WO2019039460A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a robot system and a method for performing work on a workpiece being transported.
  • Patent Document 1 describes that control of tracking processing and positioning processing of a robot is controlled using a detection result by an encoder provided on a conveyor.
  • This encoder typically employs a rotary encoder, and generates a pulse signal as it rotates.
  • the movement amount of the conveyor is calculated by counting the number of pulses of the generated pulse signal.
  • the conventional robot system for performing work on the workpiece conveyed in Patent Document 1 and the others is generally only the image processing apparatus 2 connected to the robot 1 and the robot control unit 1a.
  • the encoder 3 attached to the conveyor C ', the encoder value reading unit 4, and the wiring for connecting them to each other are required, the apparatus configuration becomes complicated. As a result, for example, there has been a problem that the introduction cost increases, or it becomes difficult to conform to a predetermined installation space.
  • a robot system is a robot system that performs work on a workpiece being transported, and is at least one of a workpiece being transported and a transport path during operation.
  • the imaging unit for imaging one side to acquire image information
  • the conveyance speed detection unit for detecting the conveyance speed of the work based on the image information
  • the work being conveyed based on the conveyance speed of the work
  • a robot for performing work on the robot.
  • a simple apparatus configuration is realized by performing an operation on the workpiece being conveyed based on the conveyance speed of the workpiece.
  • the robot system according to the present invention can solve various problems that may occur at the time of performing work on the workpiece being transported, at the preparation stage thereof, and the like.
  • the image information includes first image information and second image information, and the imaging unit acquires the first image information by the first imaging and a predetermined time has elapsed since the first imaging.
  • the second image information is further acquired by performing the second imaging later, and the conveyance speed detection unit detects the conveyance speed of the work based on the first image information and the second image information. It is also good.
  • the first image information and the second image information may be acquired by one imaging unit.
  • the imaging unit may include a first imaging unit and a second imaging unit, the first imaging unit may acquire the first image information, and the second imaging unit may acquire the second image information. .
  • the robot further includes an arrangement state detection unit that detects the arrangement state of the work based on the image information acquired by the imaging unit, and the robot is arranged in addition to the conveyance speed of the work detected by the conveyance speed detection unit.
  • the work may be performed on the workpiece being conveyed based on the arrangement state of the workpiece detected by the state detection unit.
  • the placement state detection unit may detect the placement state of the work based on the image information acquired to detect the transport speed of the work.
  • the image information includes arrangement state image information
  • the imaging unit acquires the arrangement state image information by imaging the workpiece being conveyed
  • the arrangement state detection unit detects the arrangement state image.
  • the arrangement state of the work may be detected based on information.
  • the image information acquired to detect the transport speed and the image information for arrangement state may be acquired by one imaging unit.
  • the robot may include a robot arm, and the imaging unit may be provided on the robot arm.
  • the robot may further include an end effector attached to the robot arm, and the imaging unit may be provided on a robot arm attached with the end effector.
  • the robot arm may include a first robot arm and a second robot arm, the end effector may be attached to the first robot arm, and the imaging unit may be provided to the second robot arm.
  • the first robot arm and the second robot arm may be included in one robot.
  • the method of performing work to the work which is conveyed concerning the present invention picturizes at least any one of the work which is conveyed and the conveyance way under operation, and it is image information Providing a step of acquiring a step of detecting the transport speed of the workpiece based on the image information, and performing a work on the workpiece being transported based on the transport speed of the workpiece. It features.
  • the method according to the present invention can solve various problems that may occur when performing work on a workpiece being transported or in the preparation stage thereof.
  • the present invention can solve various problems that may occur when carrying out work on a work being carried or in the preparation stage thereof, etc., and a robot system and a method for carrying out work on a work being carried Can be provided.
  • FIG. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied. It is a block diagram showing composition of a work field where a robot system concerning an embodiment of the present invention is applied, and (A) shows a case where a conveyance speed detection part and an arrangement state detection part are provided separately from a robot. B) shows the case where a conveyance speed detection unit and an arrangement state detection unit are provided in the robot. It is a front view of a robot with which a robot system concerning an embodiment of the present invention is provided.
  • FIG. 1 is a block diagram of a work site to which a conventional robot system is applied. It is the schematic which shows a mode that it tried trying to work with respect to the workpiece
  • FIG. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied.
  • FIG. 2 is a block diagram showing the configuration of a work site to which a robot system according to an embodiment of the present invention is applied, where (A) is a case where a transport speed detection unit and an arrangement state detection unit are provided separately from a robot. And (B) shows the case where the conveyance speed detection unit and the arrangement state detection unit are built in the robot.
  • the robot system 10 according to the present embodiment performs an operation on the workpiece W transported on the transport path C.
  • the robot system 10 includes an imaging unit 40 for capturing the workpiece W being transported and acquiring image information, a transport speed detection unit 70 for detecting the transport speed of the workpiece W based on the image information, and the image An arrangement state detection unit 80 that detects an arrangement state of the work W based on the information, and a robot 11 that performs work on the work W are provided.
  • FIG. 3 is a front view of the robot.
  • the robot 11 according to the present embodiment is disposed along the transport path C for transporting the workpiece W with the substantially upper right side as the upstream side and the substantially lower left side as the downstream side in FIG.
  • the robot 11 includes a base 12 fixed to a carriage, a pair of robot arms 13 a and 13 b (first robot arm 13 a and second robot arm 13 b) supported by the base 12, and robot control stored in the base 12. And a unit.
  • the robot 11 can be installed in a limited space (for example, 610 mm ⁇ 620 mm) equivalent to one person.
  • the direction in which the pair of robot arms 13a and 13b is expanded is referred to as the left and right direction
  • the direction parallel to the axial center of the basic axis is referred to as the vertical direction
  • the direction orthogonal to the horizontal direction and the vertical direction is referred to as the front and rear direction.
  • the first robot arm 13a (robot arm on the left side in the figure) and the second robot arm 13b (robot arm on the right side in the figure) are horizontally articulated type configured to be movable relative to the base 12 respectively.
  • the first robot arm 13 a includes an arm unit 15, a wrist unit 17, and an end effector 18.
  • the second robot arm 13 b includes an arm unit 15 and a wrist unit 17.
  • the arm portions 15 of the first robot arm 13a and the second robot arm 13b are configured by the first link 15a and the second link 15b.
  • the first link 15 a is connected to the base shaft 16 fixed to the upper surface of the base 12 by the rotary joint J 1, and is rotatable around a rotation axis L 1 passing through the axial center of the base shaft 16.
  • the second link 15b is connected to the tip of the first link 15a by the rotary joint J2 and is rotatable around a rotation axis L2 defined at the tip of the first link 15a.
  • the wrist unit 17 has a mechanical interface 19 to which an end effector 18 or an imaging unit 40 to be described later is attached, and is connected to the tip of the second link 15b through a linear joint J3 and a rotary joint J4.
  • the wrist unit 17 can move up and down with respect to the second link 15b by means of the linear motion joint J3.
  • the wrist unit 17 is rotatable about a rotation axis L3 perpendicular to the second link 15b by the rotary joint J4.
  • the end effector 18 is coupled to the mechanical interface 19 of the right wrist unit 17. That is, the end effector 18 is provided at the tip of the first robot arm 13a.
  • the pair of robot arms 13a and 13b configured as described above have joints J1 to J4, respectively.
  • a servomotor (not shown) for driving and an encoder (not shown) for detecting the rotation angle of the servomotor are arranged in the pair of robot arms 13a and 13b respectively so as to correspond to the joints J1 to J4. Etc. are provided.
  • the rotation axis L1 of the first link 15a of the first robot arm 13a and the rotation axis L1 of the first link 15a of the second robot arm 13b are on the same straight line, and the first link 15a of the first robot arm 13a And the first link 15a of the second robot arm 13b are arranged with a height difference at the top and bottom.
  • End effector 18 The end effector 18 which concerns on this embodiment hold
  • the structure of the end effector 18 and the manner of holding the work W are not limited to this case.
  • the work W may be held by chucking, or the work W is held by piercing the needle-like member. Alternatively, the work W may be held in another manner.
  • the robot control unit 14 is a robot based on the arrangement state of the work W detected by the arrangement state detection unit 80 described later, in addition to the conveyance speed of the workpiece W detected by the conveyance speed detection unit 70 described later. 11 controls the workpiece W to be transported.
  • the specific configuration of the robot control unit 14 is not particularly limited, and may be realized by, for example, a known processor (CPU or the like) operating according to a program stored in a storage unit (memory).
  • Imaging unit 40 The imaging unit 40 according to the present embodiment is provided to a second robot arm 13b disposed on the upstream side of the transport path C with respect to the first robot arm 13a.
  • the robot system 10 according to the present embodiment includes only one imaging unit 40.
  • the image information captured by the imaging unit 40 includes the first image information and the second image information. Then, the imaging unit 40 acquires the first image information by the first imaging, and further acquires the second image information by performing the second imaging after a predetermined time has elapsed from the first imaging.
  • FIG. 4 is a schematic view showing how a workpiece is imaged using an imaging unit provided in a robot system according to an embodiment of the present invention, and FIG. 4A is a diagram showing how a first imaging is performed; (B) is a figure which shows a mode that a 2nd imaging is performed.
  • the conveyance speed detection unit 70 detects the conveyance speed of the workpiece W based on the first image information and the second image information described above. Specifically, the transport speed detection unit 70 according to the present embodiment detects the movement distance of the work W based on the first image information and the second image information, and the movement distance of the work W is determined as the first image information. The conveyance speed of the workpiece W is detected by obtaining a quotient divided by a predetermined time that elapses from the imaging of the second image information to the imaging of the second image information.
  • the movement distance of the work W may be detected based on, for example, the distance traveled by a part of the work W positioned most downstream in the transport path C, or a mark previously attached to the surface of the work W is moved The detected distance may be detected.
  • the conveyance speed detection unit 70 is connected to the imaging unit 40 and the robot control unit 14 in a state in which electrical signals can be communicated.
  • the specific configuration of the conveyance speed detection unit 70 is not particularly limited, and may be realized by, for example, a known processor (CPU or the like) operating according to a program stored in a storage unit (memory). .
  • the arrangement state detection unit 80 is based on at least one of the first image information and the second image information described above (that is, image information acquired to detect the transport speed of the work W).
  • the arrangement state of the workpiece W is detected.
  • the arrangement state of the workpiece W may be only position information of the workpiece W, or may include posture information of the workpiece W in addition to the position information.
  • the arrangement state detection unit 80 is connected to the imaging unit 40 and the robot control unit 14 in a state in which electrical signals can be communicated.
  • the specific configuration of the placement state detection unit 80 is not particularly limited, and may be a configuration realized by, for example, a known processor (CPU or the like) operating according to a program stored in the storage unit (memory). .
  • the apparatus in which the conveyance speed detection part 70 and the arrangement state detection part 80 are provided is not specifically limited.
  • the transport speed detection unit 70 and the arrangement state detection unit 80 may be provided separately from the robot 11 as shown in FIG. 2 (A).
  • the conveyance speed detection unit 70 and the arrangement state detection unit 80 may be incorporated in a camera including the imaging unit 40.
  • the transfer speed detection unit 70 and the arrangement state detection unit 80 may be provided by being included in the robot control unit 14 as shown in FIG. 2 (B), or separately from the robot control unit 14. It may be built in and provided.
  • transport speed detection unit 70 and the arrangement state detection unit 80 may be provided in an apparatus provided separately from the camera including the imaging unit 40 and the robot 11. Furthermore, the conveyance speed detection unit 70 may be incorporated in the camera including the imaging unit 40, and the arrangement state detection unit 80 may be incorporated in the robot 11, or vice versa.
  • the robot system 10 according to the present embodiment realizes a simple device configuration by performing work on the workpiece W being conveyed based on the conveyance speed of the workpiece W.
  • the conventional robot system as disclosed in Patent Document 1 includes not only the image processing apparatus 2 connected to the robot 1 and the robot control unit 1a but also the encoder 3 attached to the conveyor C ′. Since the encoder value reading unit 4 and the wiring for connecting them to each other are required, the device configuration becomes complicated. As a result, for example, there has been a problem that the introduction cost increases, or it becomes difficult to conform to a predetermined installation space.
  • the robot system 10 according to the present embodiment can solve the problem by realizing the simple device configuration as described above.
  • some conventional robot systems do not include the encoder 3 and the configuration associated with the encoder 3 on the premise that the transport speed of the workpiece W is constant.
  • the work can be performed on the workpiece W being conveyed with a simple device configuration.
  • FIG. 7 when the transfer speed of the workpiece W ′ is changed, it can not cope with the change, so that the workpiece W ′ can not be held by the suction port 5 or the like. As a result, there has been a problem that the work W 'being transported can not be worked.
  • FIG. 5 is a schematic view showing how a work is carried out on a work being transported using a first end effector provided in a robot system according to an embodiment of the present invention
  • FIG. It is a figure which shows the mode of (B) is a figure which shows a mode that the workpiece
  • the robot system 10 according to the present invention can solve various problems that may occur when performing work on the workpiece W being transported or in the preparation stage thereof.
  • the conveyance speed detection unit 70 performs the second imaging after a predetermined time has elapsed from the first image information acquired by the first imaging and the first imaging.
  • the transport speed of the workpiece W is detected based on the acquired second image information.
  • the movement distance of the workpiece W can be accurately detected, so that the transport speed of the workpiece W can be detected with high accuracy.
  • the first image information and the second image information are acquired by one imaging unit 40. Therefore, the effects exerted by the present invention can be made remarkable.
  • the robot 11 moves the work W being transferred based on the arrangement state of the work W detected by the arrangement state detection unit 80. Work against As a result, it is possible to perform the work with high accuracy on the workpiece W being conveyed.
  • the arrangement state detection unit 80 is based on at least one of the first image information and the second image information (that is, the image information acquired to detect the transport speed of the workpiece W).
  • the arrangement state of the workpiece W is detected.
  • the amount of data to be handled is reduced by detecting the arrangement state of the work W based on only one of the first image information and the second image information, and the conveyance speed of the work W is detected more quickly. be able to.
  • the arrangement state of the work W can be accurately detected by detecting the arrangement state of the work W based on both the first image information and the second image information.
  • the robot 11 includes the first robot arm 13a (robot arm), and the imaging unit 40 is provided on the first robot arm 13a.
  • the effects exerted by the present invention can be made remarkable.
  • the robot 11 includes the first robot arm 13a and the second robot arm 13b, the end effector 18 is attached to the first robot arm 13a, and the imaging unit 40 is provided on the second robot arm 13b.
  • the first robot arm 13 a and the second robot arm 13 b are included in one robot 11. Thereby, the effect exerted by the present invention can be made more remarkable.
  • the first image information and the second image information are acquired by imaging the work W being conveyed by the imaging unit 40, and the conveyance speed detection unit 70 detects the work W based on these two pieces of image information.
  • the imaging unit 40 may acquire only one piece of image information, and the conveyance speed detection unit 70 may detect the conveyance speed of the workpiece W based on the one piece of image information.
  • the one piece of image information is, for example, image information capable of detecting a trace of the movement of the work W by imaging while keeping the shutter open for a predetermined time, and based on such image information
  • the transport speed detection unit 70 may detect the transport speed of the workpiece W.
  • the imaging unit 40 images at least one of the work W being conveyed and the conveyance path C in operation to acquire image information, and the conveyance speed detection unit 70 detects the work W based on the image information.
  • a mark is provided in advance on the conveyance path C, and the mark is conveyed in the above embodiment.
  • An image may be taken as a substitute for the existing workpiece W, and the transport speed of the workpiece W may be detected based on the image information.
  • the imaging unit 40 acquires image information by imaging the conveyance path C in operation, the image information is acquired by imaging a single conveyance path C before conveyance of the work W, and the image information is acquired The transport speed of the workpiece W may be detected based on the image information.
  • the imaging unit 40 continuously captures at least one of the workpiece W being transported and the transport path C during operation to obtain image information, thereby changing the transport speed of the workpiece W.
  • Image information may be acquired each time a work is carried out on the workpiece W being transported, or once it is picked up to acquire the image information, then a predetermined time may be obtained. It may be regarded that the transport speed of the work W is constant until the lapse of time, and imaging may be repeatedly performed at predetermined time intervals. Alternatively, once the image information is acquired by imaging, the image information may not be acquired after that, assuming that the transport speed of the workpiece W is constant.
  • the imaging unit 40 may capture three or more pieces of image information, and the conveyance speed detection unit 70 may detect the conveyance speed of the workpiece W based on the three or more pieces of image information.
  • the conveyance speed detection unit 70 may detect the conveyance speed of the work W based on, for example, a value obtained by averaging a plurality of movement distances of the work W detected by three or more pieces of image information. . This makes it possible to detect the transport speed of the workpiece W with high accuracy.
  • the transport speed of the workpiece W may be detected based on a value obtained by averaging a plurality of transport speeds of the workpiece W detected by three or more pieces of image information. This also makes it possible to accurately detect the transport speed of the workpiece W.
  • the timing of imaging the remaining image information is not particularly limited, and may be imaged at different timings from each other, or may be imaged at the same timing as each other. Further, for example, the conveyance speed detection unit 70 may control the imaging unit 40 to capture image information at an arbitrary timing.
  • the imaging unit 40 may include a first imaging unit and a second imaging unit, the first imaging unit may acquire the first image information, and the second imaging unit may acquire the second image information.
  • the imaging unit 40 may include a first imaging unit and a second imaging unit, the first imaging unit may acquire the first image information, and the second imaging unit may acquire the second image information.
  • the robot arm includes the first robot arm 13a and the second robot arm 13b, the end effector 18 is attached to the first robot arm 13a, and the imaging unit 40 is provided to the second robot arm 13b.
  • the present invention is not limited thereto. That is, the position at which the imaging unit 40 is provided is not particularly limited as long as it can capture at least one of the workpiece W being transported and the transport path C during operation.
  • the imaging unit 40 may be provided to the first robot arm 13a (to which the end effector 18 is attached) or may be provided above the transport path C.
  • the robot 11 may be a one-arm robot including only the first robot arm 13a without including the second robot arm 13b.
  • the imaging unit 40 may be provided to the second robot arm 13 b by attaching the end effector to the second robot arm 13 b and holding the end effector on the end effector.
  • the arrangement state detection unit 80 generates the work W based on at least one of the first image information and the second image information (ie, the image information acquired to detect the transport speed).
  • the image information includes the image information for arrangement state
  • the imaging unit 40 acquires the image information for arrangement state by imaging the workpiece W being conveyed
  • the arrangement state detection unit 80 determines the arrangement state.
  • the arrangement state of the workpiece may be detected based on the image information for image. As a result, the work can be performed on the workpiece W with higher accuracy.
  • positioning state may be imaged using the same imaging part 40 which imaged the image information acquired in order to detect conveyance speed (that is, it acquired in order to detect conveyance speed)
  • the image information and the image information for arrangement state may be acquired by one imaging unit), and when the robot system 10 includes a plurality of imaging units 40, the image information acquired to detect the transport speed is imaged
  • the imaging unit 40 may be imaged using a different imaging unit.
  • the arrangement state detection unit 80 may detect the arrangement state of the work W based on one piece of image information captured by the imaging unit 40, or detects the arrangement state of the work W based on a plurality of image information You may
  • the present invention is not limited to this. That is, in the robot system 10, for example, when it is premised that the plurality of works W are transported at a constant interval from one another and the postures of the works W on the transport path C are the same, The part 80 may not be included. Thus, the device configuration of the robot system 10 can be simplified.
  • the robot system 10 may include a plurality of robots 11.
  • one robot 11 provided on the upstream side of the transport path C among them includes the second robot arm 13 b provided with the imaging unit 40 and is provided on the downstream side of the transport path C
  • the first robot arm 13a may be attached with an end effector 18 that performs work on the workpiece W being transported by another robot 11.

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Abstract

A robot system 10 that performs operations with respect to a workpiece W being transferred is characterized by being provided with: an image pickup unit 40 for acquiring image information by picking up an image of the workpiece W being transferred and/or an image of a transfer path C being operated; a transfer speed detection unit 70 that detects the transfer speed of the workpiece W on the basis of the image information; and a robot 10 that performs, on the basis of the transfer speed of the workpiece W, the operations with respect to the workpiece being transferred.

Description

ロボットシステム及び搬送されているワークに対して作業を行う方法Robot system and method for performing work on a workpiece being transported
　本発明は、ロボットシステム及び搬送されているワークに対して作業を行う方法に関する。 The present invention relates to a robot system and a method for performing work on a workpiece being transported.
　従来から、搬送されているワークに対して作業を行うロボットシステムが知られている。このようなロボットシステムが、例えば、特許文献１に記載されている。 Conventionally, a robot system is known which performs work on a workpiece being transported. Such a robot system is described, for example, in Patent Document 1.
　特許文献１には、ロボットのトラッキング処理および位置決め処理について、コンベアに設けられたエンコーダによる検出結果を用いて制御することが記載されている。このエンコーダは、典型的にはロータリーエンコーダが採用され、回転に伴ってパルス信号を発生する。この発生するパルス信号のパルス数をカウントすることで、コンベアの移動量が算出される。 Patent Document 1 describes that control of tracking processing and positioning processing of a robot is controlled using a detection result by an encoder provided on a conveyor. This encoder typically employs a rotary encoder, and generates a pulse signal as it rotates. The movement amount of the conveyor is calculated by counting the number of pulses of the generated pulse signal.
特開２０１２－１６６３０８号公報JP 2012-166308 A
　しかしながら、特許文献１及びその他の搬送されているワークに対して作業を行う従来のロボットシステムは、一般に、図６に示すように、ロボット１及びロボット制御部１ａに接続される画像処理装置２だけでなく、コンベアＣ´に取り付けられるエンコーダ３、エンコーダ値読取部４、及びにこれらを互いに接続するための配線等が必要になるため、装置構成が複雑になってしまう。これにより、例えば、導入コストが増大してしまったり、予め定められた設置スペースに適合させることが困難になったりしてしまうという問題があった。 However, as shown in FIG. 6, the conventional robot system for performing work on the workpiece conveyed in Patent Document 1 and the others is generally only the image processing apparatus 2 connected to the robot 1 and the robot control unit 1a. However, since the encoder 3 attached to the conveyor C ', the encoder value reading unit 4, and the wiring for connecting them to each other are required, the apparatus configuration becomes complicated. As a result, for example, there has been a problem that the introduction cost increases, or it becomes difficult to conform to a predetermined installation space.
　そこで、本発明は、搬送されているワークに対して作業を行う際やその準備段階などにおいて生じ得る多様な問題を解決することが可能な、ロボットシステム及び搬送されているワークに対して作業を行う方法を提供することを目的とする。 Therefore, according to the present invention, it is possible to solve the various problems that may occur when carrying out the work on the work being carried or in the preparation stage thereof, and to carry out the work on the robot system and the work being carried. It aims to provide a way to do it.
　前記課題を解決するために、本発明に係るロボットシステムは、搬送されているワークに対して作業を行うロボットシステムであって、搬送されているワーク及び運転中の搬送路のうちの少なくとも何れか一方を撮像して画像情報を取得するための撮像部と、前記画像情報に基づいて前記ワークの搬送速度を検知する搬送速度検知部と、前記ワークの搬送速度に基づいて前記搬送されているワークに対して作業を行うロボットと、を備えることを特徴とする。 In order to solve the above problems, a robot system according to the present invention is a robot system that performs work on a workpiece being transported, and is at least one of a workpiece being transported and a transport path during operation. The imaging unit for imaging one side to acquire image information, the conveyance speed detection unit for detecting the conveyance speed of the work based on the image information, and the work being conveyed based on the conveyance speed of the work And a robot for performing work on the robot.
　上記構成によれば、ワークの搬送速度に基づいて搬送されているワークに対して作業を行うことで簡単な装置構成を実現している。これにより、本発明に係るロボットシステムは、搬送されているワークに対して作業を行う際やその準備段階などにおいて生じ得る多様な問題を解決することが可能となる。 According to the above configuration, a simple apparatus configuration is realized by performing an operation on the workpiece being conveyed based on the conveyance speed of the workpiece. As a result, the robot system according to the present invention can solve various problems that may occur at the time of performing work on the workpiece being transported, at the preparation stage thereof, and the like.
　前記画像情報が第１画像情報と第２画像情報とを含み、前記撮像部は、第１回目の撮像によって前記第１画像情報を取得し、且つ前記第１回目の撮像から所定の時間経過した後に第２回目の撮像を行うことで前記第２画像情報をさらに取得し、前記搬送速度検知部は、前記第１画像情報及び前記第２画像情報に基づいて前記ワークの搬送速度を検知してもよい。 The image information includes first image information and second image information, and the imaging unit acquires the first image information by the first imaging and a predetermined time has elapsed since the first imaging. The second image information is further acquired by performing the second imaging later, and the conveyance speed detection unit detects the conveyance speed of the work based on the first image information and the second image information. It is also good.
　上記構成によれば、ワークの搬送速度を精度良く検知することが可能となる。 According to the above configuration, it is possible to accurately detect the transport speed of the work.
　前記第１画像情報及び前記第２画像情報は１つの撮像部で取得されてもよい。 The first image information and the second image information may be acquired by one imaging unit.
　上記構成によれば、本発明が奏する効果を顕著にすることができる。 According to the above configuration, the effect exerted by the present invention can be made remarkable.
　前記撮像部が第１撮像部と第２撮像部とを含み、前記第１撮像部で前記第１画像情報を取得し、且つ前記第２撮像部で前記第２画像情報を取得してもよい。 The imaging unit may include a first imaging unit and a second imaging unit, the first imaging unit may acquire the first image information, and the second imaging unit may acquire the second image information. .
　上記構成によれば、ワークの搬送速度を一層精度良く検知することが可能となる。 According to the above configuration, it is possible to more accurately detect the transport speed of the work.
　前記撮像部で取得される画像情報に基づいて前記ワークの配置状態を検知する配置状態検知部をさらに備え、前記ロボットは、前記搬送速度検知部で検知した前記ワークの搬送速度に加えて前記配置状態検知部で検知した前記ワークの配置状態に基づいて前記搬送されているワークに対して作業を行ってもよい。 The robot further includes an arrangement state detection unit that detects the arrangement state of the work based on the image information acquired by the imaging unit, and the robot is arranged in addition to the conveyance speed of the work detected by the conveyance speed detection unit. The work may be performed on the workpiece being conveyed based on the arrangement state of the workpiece detected by the state detection unit.
　上記構成によれば、搬送されているワークに対して精度良く作業を行うことが可能となる。 According to the above configuration, it is possible to perform the work on the workpiece being conveyed with high accuracy.
　前記配置状態検知部は、前記ワークの搬送速度を検知するために取得した画像情報に基づいて前記ワークの配置状態を検知してもよい。 The placement state detection unit may detect the placement state of the work based on the image information acquired to detect the transport speed of the work.
　上記構成によれば、取り扱うデータ量を少なくすることでワークの搬送速度を迅速に検知しつつ、搬送されているワークに対して精度良く作業を行うことが可能となる。 According to the above configuration, by reducing the amount of data to be handled, it is possible to perform work with high accuracy on the workpiece being conveyed while quickly detecting the conveyance speed of the workpiece.
　前記画像情報が配置状態用画像情報を含み、前記撮像部は、前記搬送されているワークを撮像することで前記配置状態用画像情報を取得し、前記配置状態検知部は、前記配置状態用画像情報に基づいて前記ワークの配置状態を検知してもよい。 The image information includes arrangement state image information, the imaging unit acquires the arrangement state image information by imaging the workpiece being conveyed, and the arrangement state detection unit detects the arrangement state image. The arrangement state of the work may be detected based on information.
　上記構成によれば、搬送されているワークに対して一層精度良く作業を行うことが可能となる。 According to the above configuration, it is possible to carry out the work on the workpiece being conveyed with higher accuracy.
　前記搬送速度を検知するために取得した画像情報及び前記配置状態用画像情報は１つの撮像部で取得してもよい。 The image information acquired to detect the transport speed and the image information for arrangement state may be acquired by one imaging unit.
　上記構成によれば、搬送さているワークに対して精度良く作業を行いつつ、本発明が奏する効果を顕著にすることができる。 According to the above configuration, it is possible to make the effect exerted by the present invention remarkable while performing the work with high accuracy on the workpiece being conveyed.
　前記ロボットがロボットアームを含み、前記撮像部は前記ロボットアームに設けられてもよい。 The robot may include a robot arm, and the imaging unit may be provided on the robot arm.
　上記構成によれば、本発明が奏する効果を顕著にすることができる。 According to the above configuration, the effect exerted by the present invention can be made remarkable.
　前記ロボットが前記ロボットアームに取り付けられるエンドエフェクタをさらに含み、前記撮像部は前記エンドエフェクタが取り付けられたロボットアームに設けられてもよい。 The robot may further include an end effector attached to the robot arm, and the imaging unit may be provided on a robot arm attached with the end effector.
　上記構成によれば、搬送さているワークに対して精度良く作業を行いつつ、本発明が奏する効果を顕著にすることができる。 According to the above configuration, it is possible to make the effect exerted by the present invention remarkable while performing the work with high accuracy on the workpiece being conveyed.
　前記ロボットアームが第１ロボットアームと第２ロボットアームとを含み、前記第１ロボットアームに前記エンドエフェクタが取り付けられ、且つ前記第２ロボットアームに前記撮像部が設けられてもよい。 The robot arm may include a first robot arm and a second robot arm, the end effector may be attached to the first robot arm, and the imaging unit may be provided to the second robot arm.
　上記構成によれば、搬送さているワークに対して一層精度良く作業を行いつつ、本発明が奏する効果を顕著にすることができる。 According to the above configuration, it is possible to make the effect exerted by the present invention remarkable while performing the work on the workpiece being conveyed with higher accuracy.
　前記第１ロボットアーム及び前記第２ロボットアームは１台のロボットに含まれてもよい。 The first robot arm and the second robot arm may be included in one robot.
　上記構成によれば、本発明が奏する効果を一層顕著にすることができる。 According to the above configuration, the effect exerted by the present invention can be made more remarkable.
　前記課題を解決するために、本発明に係る搬送されているワークに対して作業を行う方法は、搬送されているワーク及び運転中の搬送路のうちの少なくとも何れか一方を撮像して画像情報を取得するステップと、前記画像情報に基づいて前記ワークの搬送速度を検知するステップと、前記ワークの搬送速度に基づいて前記搬送されているワークに対して作業を行うステップと、を備えることを特徴とする。 In order to solve the above-mentioned subject, the method of performing work to the work which is conveyed concerning the present invention picturizes at least any one of the work which is conveyed and the conveyance way under operation, and it is image information Providing a step of acquiring a step of detecting the transport speed of the workpiece based on the image information, and performing a work on the workpiece being transported based on the transport speed of the workpiece. It features.
　上記構成によれば、ワークの搬送速度に基づいて搬送されているワークに対して作業を行うことで簡単な装置構成によりそれを行うことができる。これにより、本発明に係る方法は、搬送されているワークに対して作業を行う際やその準備段階などにおいて生じ得る多様な問題を解決することが可能となる。 According to the above configuration, it is possible to perform the work with a simple device configuration by performing the work on the workpiece being conveyed based on the conveyance speed of the workpiece. As a result, the method according to the present invention can solve various problems that may occur when performing work on a workpiece being transported or in the preparation stage thereof.
　本発明は、搬送されているワークに対して作業を行う際やその準備段階などにおいて生じ得る多様な問題を解決することが可能な、ロボットシステム及び搬送されているワークに対して作業を行う方法を提供することができる。 The present invention can solve various problems that may occur when carrying out work on a work being carried or in the preparation stage thereof, etc., and a robot system and a method for carrying out work on a work being carried Can be provided.
本発明の実施形態に係るロボットシステムが適用される作業現場の外観斜視図である。FIG. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied. 本発明の実施形態に係るロボットシステムが適用される作業現場の構成を示すブロック図であり、（Ａ）が搬送速度検知部及び配置状態検知部がロボットと別個に設けられた場合を示し、（Ｂ）が搬送速度検知部及び配置状態検知部がロボットに内蔵して設けられた場合を示す。It is a block diagram showing composition of a work field where a robot system concerning an embodiment of the present invention is applied, and (A) shows a case where a conveyance speed detection part and an arrangement state detection part are provided separately from a robot. B) shows the case where a conveyance speed detection unit and an arrangement state detection unit are provided in the robot. 本発明の実施形態に係るロボットシステムが備えるロボットの正面図である。It is a front view of a robot with which a robot system concerning an embodiment of the present invention is provided. 本発明の実施形態に係るロボットシステムが備える撮像部を用いてワークを撮像する様子を示す概略図であり、（Ａ）が第１回目の撮像を行う様子を示す図であり、（Ｂ）が第２回目の撮像を行う様子を示す図である。It is the schematic which shows a mode that a workpiece | work is imaged using the imaging part with which the robot system which concerns on embodiment of this invention is equipped, (A) is a figure which shows a mode that 1st imaging is performed, (B) It is a figure which shows a mode that a 2nd imaging is performed. 本発明の実施形態に係るロボットシステムが備える第１エンドエフェクタを用いて搬送されているワークに対して作業を行う様子を示す概略図であり、（Ａ）がワークを保持する前の様子を示す図であり、（Ｂ）がワークを保持した様子を示す図である。It is a schematic diagram showing signs that work is carried out to a work conveyed using the 1st end effector with which a robot system concerning an embodiment of the present invention is provided, and a situation before holding a work is shown (A). It is a figure and (B) is a figure showing signs that a work was held. 従来からあるロボットシステムが適用される作業現場のブロック図である。FIG. 1 is a block diagram of a work site to which a conventional robot system is applied. 従来からあるロボットシステムが備えるエンドエフェクタを用いて搬送速度を変更したワークに対して作業を行うことを試みた様子を示す概略図である。It is the schematic which shows a mode that it tried trying to work with respect to the workpiece | work which changed conveyance speed using the end effector with which the robot system conventionally exists.
（全体構成）
　以下、本発明の実施形態に係るロボットシステムについて図面を参照して説明する。なお、本実施形態によって本発明が限定されるものではない。また、以下では、全ての図を通じて、同一又は相当する要素には同一の参照符号を付して、その重複する説明を省略する。 (overall structure)
Hereinafter, a robot system according to an embodiment of the present invention will be described with reference to the drawings. The present invention is not limited by the present embodiment. Also, in the following, the same or corresponding elements will be denoted by the same reference symbols throughout all the drawings, and redundant description will be omitted.
　図１は、本発明の実施形態に係るロボットシステムが適用される作業現場の外観斜視図である。図２は、本発明の実施形態に係るロボットシステムが適用される作業現場の構成を示すブロック図であり、（Ａ）が搬送速度検知部及び配置状態検知部がロボットと別個に設けられた場合を示し、（Ｂ）が搬送速度検知部及び配置状態検知部がロボットに内蔵して設けられた場合を示す。本実施形態に係るロボットシステム１０は、搬送路Ｃ上を搬送されているワークＷに対して作業を行う。ロボットシステム１０は、搬送されているワークＷを撮像して画像情報を取得するための撮像部４０と、当該画像情報に基づいてワークＷの搬送速度を検知する搬送速度検知部７０と、当該画像情報に基づいてワークＷの配置状態を検知する配置状態検知部８０と、ワークＷに対して作業を行うロボット１１と、を備える。 FIG. 1 is an external perspective view of a work site to which a robot system according to an embodiment of the present invention is applied. FIG. 2 is a block diagram showing the configuration of a work site to which a robot system according to an embodiment of the present invention is applied, where (A) is a case where a transport speed detection unit and an arrangement state detection unit are provided separately from a robot. And (B) shows the case where the conveyance speed detection unit and the arrangement state detection unit are built in the robot. The robot system 10 according to the present embodiment performs an operation on the workpiece W transported on the transport path C. The robot system 10 includes an imaging unit 40 for capturing the workpiece W being transported and acquiring image information, a transport speed detection unit 70 for detecting the transport speed of the workpiece W based on the image information, and the image An arrangement state detection unit 80 that detects an arrangement state of the work W based on the information, and a robot 11 that performs work on the work W are provided.
(ロボット１１)
　図３等に基づいて、本実施形態に係るロボットシステム１０が備えるロボット１１について説明する。図３は、同ロボットの正面図である。本実施形態に係るロボット１１は、図１において略右上側を上流側とし略左下側を下流側としてワークＷを搬送する搬送路Ｃに沿うように配置される。ロボット１１は、台車に固定されたベース１２と、ベース１２に支持された一対のロボットアーム１３ａ、１３ｂ（第１ロボットアーム１３ａ及び第２ロボットアーム１３ｂ）と、ベース１２内に収納されたロボット制御部１４と、を備えている。ロボット１１は、人一人分に相当する限られたスペース（例えば６１０ｍｍ×６２０ｍｍ）に設置することができる。 (Robot 11)
The robot 11 provided in the robot system 10 according to the present embodiment will be described based on FIG. FIG. 3 is a front view of the robot. The robot 11 according to the present embodiment is disposed along the transport path C for transporting the workpiece W with the substantially upper right side as the upstream side and the substantially lower left side as the downstream side in FIG. The robot 11 includes a base 12 fixed to a carriage, a pair of robot arms 13 a and 13 b (first robot arm 13 a and second robot arm 13 b) supported by the base 12, and robot control stored in the base 12. And a unit. The robot 11 can be installed in a limited space (for example, 610 mm × 620 mm) equivalent to one person.
　以下では、一対のロボットアーム１３ａ、１３ｂを広げた方向を左右方向と称し、基軸の軸心に平行な方向を上下方向と称し、左右方向および上下方向に直交する方向を前後方向と称する。 Hereinafter, the direction in which the pair of robot arms 13a and 13b is expanded is referred to as the left and right direction, the direction parallel to the axial center of the basic axis is referred to as the vertical direction, and the direction orthogonal to the horizontal direction and the vertical direction is referred to as the front and rear direction.
（一対のロボットアーム１３ａ、１３ｂ）
　第１ロボットアーム１３ａ（図中向かって左側のロボットアーム）及び第２ロボットアーム１３ｂ（図中向かって右側のロボットアーム）は、それぞれ、ベース１２に対して移動可能に構成された水平多関節型のロボットアームである。第１ロボットアーム１３ａは、アーム部１５とリスト部１７とエンドエフェクタ１８とを備えている。第２ロボットアーム１３ｂは、アーム部１５及びリスト部１７を備えている。 (A pair of robot arms 13a, 13b)
The first robot arm 13a (robot arm on the left side in the figure) and the second robot arm 13b (robot arm on the right side in the figure) are horizontally articulated type configured to be movable relative to the base 12 respectively. Robot arm. The first robot arm 13 a includes an arm unit 15, a wrist unit 17, and an end effector 18. The second robot arm 13 b includes an arm unit 15 and a wrist unit 17.
　第１ロボットアーム１３ａ及び第２ロボットアーム１３ｂそれぞれのアーム部１５は、本例では、第１リンク１５ａおよび第２リンク１５ｂとで構成されている。第１リンク１５ａは、ベース１２の上面に固定された基軸１６と回転関節Ｊ１により連結され、基軸１６の軸心を通る回転軸Ｌ１まわりに回動可能である。第２リンク１５ｂは、第１リンク１５ａの先端と回転関節Ｊ２により連結され、第１リンク１５ａの先端に規定された回転軸Ｌ２まわりに回動可能である。 In the present embodiment, the arm portions 15 of the first robot arm 13a and the second robot arm 13b are configured by the first link 15a and the second link 15b. The first link 15 a is connected to the base shaft 16 fixed to the upper surface of the base 12 by the rotary joint J 1, and is rotatable around a rotation axis L 1 passing through the axial center of the base shaft 16. The second link 15b is connected to the tip of the first link 15a by the rotary joint J2 and is rotatable around a rotation axis L2 defined at the tip of the first link 15a.
　リスト部１７は、エンドエフェクタ１８又は後述する撮像部４０が取り付けられるメカニカルインターフェイス１９を有し、第２リンク１５ｂの先端と直動関節Ｊ３及び回転関節Ｊ４を介して連結されている。リスト部１７は、直動関節Ｊ３によって、第２リンク１５ｂに対し昇降移動可能である。リスト部１７は、回転関節Ｊ４によって、第２リンク１５ｂに対し垂直な回転軸Ｌ３まわりに回動可能である。 The wrist unit 17 has a mechanical interface 19 to which an end effector 18 or an imaging unit 40 to be described later is attached, and is connected to the tip of the second link 15b through a linear joint J3 and a rotary joint J4. The wrist unit 17 can move up and down with respect to the second link 15b by means of the linear motion joint J3. The wrist unit 17 is rotatable about a rotation axis L3 perpendicular to the second link 15b by the rotary joint J4.
　エンドエフェクタ１８は、右のリスト部１７のメカニカルインターフェイス１９に連結されている。すなわち、エンドエフェクタ１８は、第１ロボットアーム１３ａの先端に設けられている。 The end effector 18 is coupled to the mechanical interface 19 of the right wrist unit 17. That is, the end effector 18 is provided at the tip of the first robot arm 13a.
　上記構成の一対のロボットアーム１３ａ、１３ｂは、それぞれ、関節Ｊ１～Ｊ４を有する。そして、一対のロボットアーム１３ａ、１３ｂには、それぞれ、関節Ｊ１～Ｊ４に対応付けられるように、駆動用のサーボモータ（図示せず）、及びそのサーボモータの回転角を検出するエンコーダ（図示せず）等が設けられている。また、第１ロボットアーム１３ａの第１リンク１５ａの回転軸Ｌ１と、第２ロボットアーム１３ｂの第１リンク１５ａの回転軸Ｌ１とは同一直線上にあり、第１ロボットアーム１３ａの第１リンク１５ａと第２ロボットアーム１３ｂの第１リンク１５ａとは上下に高低差を設けて配置されている。 The pair of robot arms 13a and 13b configured as described above have joints J1 to J4, respectively. A servomotor (not shown) for driving and an encoder (not shown) for detecting the rotation angle of the servomotor are arranged in the pair of robot arms 13a and 13b respectively so as to correspond to the joints J1 to J4. Etc. are provided. The rotation axis L1 of the first link 15a of the first robot arm 13a and the rotation axis L1 of the first link 15a of the second robot arm 13b are on the same straight line, and the first link 15a of the first robot arm 13a And the first link 15a of the second robot arm 13b are arranged with a height difference at the top and bottom.
　（エンドエフェクタ１８）
　本実施形態に係るエンドエフェクタ１８は、複数の吸着口２１に負圧を利用して吸着することでワークＷを保持する。なお、エンドエフェクタ１８の構造及びワークＷを保持する態様はこの場合に限定されず、例えば、チャックすることでワークＷを保持してもよいし、針状の部材を突き刺すことでワークＷを保持してもよいし、その他の態様でワークＷを保持してもよい。 (End effector 18)
The end effector 18 which concerns on this embodiment hold | maintains the workpiece | work W by adsorb | sucking to the some adsorption opening 21 using negative pressure. The structure of the end effector 18 and the manner of holding the work W are not limited to this case. For example, the work W may be held by chucking, or the work W is held by piercing the needle-like member. Alternatively, the work W may be held in another manner.
（ロボット制御部１４）
　本実施形態に係るロボット制御部１４は、後述する搬送速度検知部７０で検知したワークＷの搬送速度に加えて同じく後述する配置状態検知部８０で検知したワークＷの配置状態に基づいて、ロボット１１を制御して搬送されているワークＷに対して作業を行う。ロボット制御部１４の具体的な構成は特に限定されず、例えば、公知のプロセッサ（ＣＰＵ等）が記憶部（メモリ）に格納されるプログラムに従って動作することにより実現される構成であってもよい。 (Robot controller 14)
The robot control unit 14 according to the present embodiment is a robot based on the arrangement state of the work W detected by the arrangement state detection unit 80 described later, in addition to the conveyance speed of the workpiece W detected by the conveyance speed detection unit 70 described later. 11 controls the workpiece W to be transported. The specific configuration of the robot control unit 14 is not particularly limited, and may be realized by, for example, a known processor (CPU or the like) operating according to a program stored in a storage unit (memory).
（ワークＷの搬送速度等を検知するための構成）
　再び図２等に基づいて、本実施形態に係るロボットシステム１０が備える撮像部４０、搬送速度検知部７０及び配置状態検知部８０について説明する。 (Configuration for detecting the transport speed of the work W, etc.)
Referring again to FIG. 2 and the like, the imaging unit 40, the conveyance speed detection unit 70, and the arrangement state detection unit 80 provided in the robot system 10 according to the present embodiment will be described.
（撮像部４０）
　本実施形態に係る撮像部４０は、第１ロボットアーム１３ａよりも搬送路Ｃの上流側に配置される第２ロボットアーム１３ｂに設けられる。本実施形態に係るロボットシステム１０は、当該撮像部４０を１つのみ含む。また、本実施形態では、撮像部４０で撮像される画像情報が第１画像情報と第２画像情報とを含む。そして、撮像部４０は、第１回目の撮像によって第１画像情報を取得し、且つ第１回目の撮像から所定の時間経過した後に第２回目の撮像を行うことで第２画像情報をさらに取得する。図４は、本発明の実施形態に係るロボットシステムが備える撮像部を用いてワークを撮像する様子を示す概略図であり、（Ａ）が第１回目の撮像を行う様子を示す図であり、（Ｂ）が第２回目の撮像を行う様子を示す図である。 (Imaging unit 40)
The imaging unit 40 according to the present embodiment is provided to a second robot arm 13b disposed on the upstream side of the transport path C with respect to the first robot arm 13a. The robot system 10 according to the present embodiment includes only one imaging unit 40. Further, in the present embodiment, the image information captured by the imaging unit 40 includes the first image information and the second image information. Then, the imaging unit 40 acquires the first image information by the first imaging, and further acquires the second image information by performing the second imaging after a predetermined time has elapsed from the first imaging. Do. FIG. 4 is a schematic view showing how a workpiece is imaged using an imaging unit provided in a robot system according to an embodiment of the present invention, and FIG. 4A is a diagram showing how a first imaging is performed; (B) is a figure which shows a mode that a 2nd imaging is performed.
（搬送速度検知部７０）
　本実施形態に係る搬送速度検知部７０は、上記した第１画像情報及び第２画像情報に基づいてワークＷの搬送速度を検知する。具体的には、本実施形態に係る搬送速度検知部７０は、第１画像情報及び第２画像情報に基づいてワークＷの移動距離を検出し、当該ワークＷの移動距離を、第１画像情報を撮像してから第２画像情報を撮像するまでに経過する所定の時間で割った商を求めることで、ワークＷの搬送速度を検知する。ワークＷの移動距離は、例えば、搬送路Ｃにおいて最も下流側に位置するワークＷの一部が移動した距離に基づいて検出されてもよいし、ワークＷの表面に予め付された目印が移動した距離に基づいて検出されてもよい。搬送速度検知部７０は、撮像部４０及びロボット制御部１４に電気的な信号を通信可能な状態で接続される。搬送速度検知部７０の具体的な構成は特に限定されず、例えば、公知のプロセッサ（ＣＰＵ等）が記憶部（メモリ）に格納されるプログラムに従って動作することにより実現される構成であってもよい。 (Conveying speed detection unit 70)
The conveyance speed detection unit 70 according to the present embodiment detects the conveyance speed of the workpiece W based on the first image information and the second image information described above. Specifically, the transport speed detection unit 70 according to the present embodiment detects the movement distance of the work W based on the first image information and the second image information, and the movement distance of the work W is determined as the first image information. The conveyance speed of the workpiece W is detected by obtaining a quotient divided by a predetermined time that elapses from the imaging of the second image information to the imaging of the second image information. The movement distance of the work W may be detected based on, for example, the distance traveled by a part of the work W positioned most downstream in the transport path C, or a mark previously attached to the surface of the work W is moved The detected distance may be detected. The conveyance speed detection unit 70 is connected to the imaging unit 40 and the robot control unit 14 in a state in which electrical signals can be communicated. The specific configuration of the conveyance speed detection unit 70 is not particularly limited, and may be realized by, for example, a known processor (CPU or the like) operating according to a program stored in a storage unit (memory). .
（配置状態検知部８０）
　本実施形態に係る配置状態検知部８０は、上記した第１画像情報及び第２画像情報のうちの少なくとも何れか一方（すなわち、ワークＷの搬送速度を検知するために取得した画像情報）に基づいてワークＷの配置状態を検知する。なお、ワークＷの配置状態は、ワークＷの位置情報のみでもよいし、当該位置情報に加えてワークＷの姿勢情報を含んでもよい。配置状態検知部８０は、撮像部４０及びロボット制御部１４に電気的な信号を通信可能な状態で接続される。配置状態検知部８０の具体的な構成は特に限定されず、例えば、公知のプロセッサ（ＣＰＵ等）が記憶部（メモリ）に格納されるプログラムに従って動作することにより実現される構成であってもよい。 (Arrangement state detection unit 80)
The arrangement state detection unit 80 according to the present embodiment is based on at least one of the first image information and the second image information described above (that is, image information acquired to detect the transport speed of the work W). The arrangement state of the workpiece W is detected. The arrangement state of the workpiece W may be only position information of the workpiece W, or may include posture information of the workpiece W in addition to the position information. The arrangement state detection unit 80 is connected to the imaging unit 40 and the robot control unit 14 in a state in which electrical signals can be communicated. The specific configuration of the placement state detection unit 80 is not particularly limited, and may be a configuration realized by, for example, a known processor (CPU or the like) operating according to a program stored in the storage unit (memory). .
（搬送速度検知部７０及び配置状態検知部８０）
　なお、搬送速度検知部７０及び配置状態検知部８０が設けられる装置は特に限定されない。搬送速度検知部７０及び配置状態検知部８０は、図２（Ａ）に示すようにロボット１１と別個に設けられてもよい。このような場合、搬送速度検知部７０及び配置状態検知部８０は、撮像部４０を含むカメラに内蔵して設けられてもよい。また、搬送速度検知部７０及び配置状態検知部８０は、図２（Ｂ）に示すようにロボット制御部１４に含まれて設けられてもよいし、ロボット制御部１４とは別個にロボット１１に内蔵されて設けられてもよい。また、搬送速度検知部７０及び配置状態検知部８０は、撮像部４０を含むカメラ及びロボット１１とは別個に設けられた装置に備えられてもよい。さらに、搬送速度検知部７０が撮像部４０を含むカメラに内蔵して設けられ、且つ配置状態検知部８０がロボット１１に内蔵して設けられてもよいし、この逆であってもよい。 (Conveying speed detection unit 70 and arrangement state detection unit 80)
In addition, the apparatus in which the conveyance speed detection part 70 and the arrangement state detection part 80 are provided is not specifically limited. The transport speed detection unit 70 and the arrangement state detection unit 80 may be provided separately from the robot 11 as shown in FIG. 2 (A). In such a case, the conveyance speed detection unit 70 and the arrangement state detection unit 80 may be incorporated in a camera including the imaging unit 40. Further, the transfer speed detection unit 70 and the arrangement state detection unit 80 may be provided by being included in the robot control unit 14 as shown in FIG. 2 (B), or separately from the robot control unit 14. It may be built in and provided. Further, the transport speed detection unit 70 and the arrangement state detection unit 80 may be provided in an apparatus provided separately from the camera including the imaging unit 40 and the robot 11. Furthermore, the conveyance speed detection unit 70 may be incorporated in the camera including the imaging unit 40, and the arrangement state detection unit 80 may be incorporated in the robot 11, or vice versa.
（効果）
　本実施形態に係るロボットシステム１０は、ワークＷの搬送速度に基づいて搬送されているワークＷに対して作業を行うことで簡単な装置構成を実現している。ここで、例えば特許文献１のような従来のロボットシステムは、図６に示すように、ロボット１及びロボット制御部１ａに接続される画像処理装置２だけでなく、コンベアＣ´に取り付けられるエンコーダ３、エンコーダ値読取部４、及びにこれらを互いに接続するための配線等が必要になるため、装置構成が複雑になってしまう。これにより、例えば、導入コストが増大してしまったり、予め定められた設置スペースに適合させることが困難になったりしてしまうという問題があった。しかしながら、本実施形態に係るロボットシステム１０は、上記のように簡単な装置構成を実現することで、前記問題を解消することができる。また、従来のロボットシステムでは、例えばワークＷの搬送速度が一定であることを前提としてエンコーダ３及びそれに付随する構成等を備えていないものがある。このようなロボットシステムでは、簡単な装置構成で搬送されているワークＷに対して作業を行い得る。しかしながら、図７に示すように、ワークＷ´の搬送速度が変化した場合にそれに対応することができないため、吸着口５でワークＷ´を保持し損ねる等してしまう。これにより、搬送されているワークＷ´に対して作業を行うことができなくなってしまうという問題があった。しかしながら、本実施形態に係るロボットシステム１０は、搬送速度検知部７０で検知したワークＷの搬送速度に基づいて、ロボット１１を制御して搬送されているワークＷに対して作業を行うため、図５に示すように前記問題についても解消することができる。図５は、本発明の実施形態に係るロボットシステムが備える第１エンドエフェクタを用いて搬送されているワークに対して作業を行う様子を示す概略図であり、（Ａ）がワークを保持する前の様子を示す図であり、（Ｂ）がワークを保持した様子を示す図である。以上の通りであるため、本発明に係るロボットシステム１０は、搬送されているワークＷに対して作業を行う際やその準備段階などにおいて生じ得る多様な問題を解決することが可能である。 (effect)
The robot system 10 according to the present embodiment realizes a simple device configuration by performing work on the workpiece W being conveyed based on the conveyance speed of the workpiece W. Here, for example, as shown in FIG. 6, the conventional robot system as disclosed in Patent Document 1 includes not only the image processing apparatus 2 connected to the robot 1 and the robot control unit 1a but also the encoder 3 attached to the conveyor C ′. Since the encoder value reading unit 4 and the wiring for connecting them to each other are required, the device configuration becomes complicated. As a result, for example, there has been a problem that the introduction cost increases, or it becomes difficult to conform to a predetermined installation space. However, the robot system 10 according to the present embodiment can solve the problem by realizing the simple device configuration as described above. In addition, some conventional robot systems do not include the encoder 3 and the configuration associated with the encoder 3 on the premise that the transport speed of the workpiece W is constant. In such a robot system, the work can be performed on the workpiece W being conveyed with a simple device configuration. However, as shown in FIG. 7, when the transfer speed of the workpiece W ′ is changed, it can not cope with the change, so that the workpiece W ′ can not be held by the suction port 5 or the like. As a result, there has been a problem that the work W 'being transported can not be worked. However, the robot system 10 according to the present embodiment controls the robot 11 to perform work on the workpiece W being conveyed based on the conveyance speed of the workpiece W detected by the conveyance speed detection unit 70, as shown in FIG. As shown in 5, the above problem can also be solved. FIG. 5 is a schematic view showing how a work is carried out on a work being transported using a first end effector provided in a robot system according to an embodiment of the present invention, and FIG. It is a figure which shows the mode of (B) is a figure which shows a mode that the workpiece | work was hold | maintained. As described above, the robot system 10 according to the present invention can solve various problems that may occur when performing work on the workpiece W being transported or in the preparation stage thereof.
　また、本実施形態では、搬送速度検知部７０は、第１回目の撮像によって取得される第１画像情報、及び第１回目の撮像から所定の時間経過した後に第２回目の撮像を行うことで取得される第２画像情報に基づいてワークＷの搬送速度を検知する。これにより、例えばワークＷの移動距離を正確に検知することができるため、ワークＷの搬送速度を精度良く検知することが可能となる。 Further, in the present embodiment, the conveyance speed detection unit 70 performs the second imaging after a predetermined time has elapsed from the first image information acquired by the first imaging and the first imaging. The transport speed of the workpiece W is detected based on the acquired second image information. As a result, for example, the movement distance of the workpiece W can be accurately detected, so that the transport speed of the workpiece W can be detected with high accuracy.
　さらに、本実施形態では、第１画像情報及び第２画像情報は１つの撮像部４０で取得される。これにより、上記本発明が奏する効果を顕著にすることができる。 Furthermore, in the present embodiment, the first image information and the second image information are acquired by one imaging unit 40. Thereby, the effects exerted by the present invention can be made remarkable.
　そして、本実施形態では、ロボット１１は、搬送速度検知部７０で検知したワークＷの搬送速度に加えて配置状態検知部８０で検知したワークＷの配置状態に基づいて搬送されているワークＷに対して作業を行う。これにより、搬送されているワークＷに対して精度良く作業を行うことが可能となる。 Then, in the present embodiment, in addition to the transfer speed of the work W detected by the transfer speed detection unit 70, the robot 11 moves the work W being transferred based on the arrangement state of the work W detected by the arrangement state detection unit 80. Work against As a result, it is possible to perform the work with high accuracy on the workpiece W being conveyed.
　また、本実施形態では、配置状態検知部８０は、第１画像情報及び第２画像情報のうちの少なくとも何れか一方（すなわち、ワークＷの搬送速度を検知するために取得した画像情報）に基づいてワークＷの配置状態を検知する。取り扱うデータ量を少なくすることでワークＷの搬送速度を迅速に検知しつつ、搬送されているワークＷに対して精度良く作業を行うことが可能となる。なお、第１画像情報又は第２画像情報のうちの何れか一方のみに基づいてワークＷの配置状態を検知することで、取り扱うデータ量を少なくしてワークＷの搬送速度を一層迅速に検知することができる。他方、第１画像情報及び第２画像情報の両方に基づいてワークＷの配置状態を検知することで、ワークＷの配置状態を正確に検知することができる。 Further, in the present embodiment, the arrangement state detection unit 80 is based on at least one of the first image information and the second image information (that is, the image information acquired to detect the transport speed of the workpiece W). The arrangement state of the workpiece W is detected. By reducing the amount of data to be handled, it is possible to accurately perform the work on the workpiece W being conveyed while detecting the conveyance speed of the workpiece W quickly. In addition, the amount of data to be handled is reduced by detecting the arrangement state of the work W based on only one of the first image information and the second image information, and the conveyance speed of the work W is detected more quickly. be able to. On the other hand, the arrangement state of the work W can be accurately detected by detecting the arrangement state of the work W based on both the first image information and the second image information.
　さらに、本実施形態では、ロボット１１が第１ロボットアーム１３ａ（ロボットアーム）を含み、撮像部４０は第１ロボットアーム１３ａに設けられる。これにより、本発明が奏する効果を顕著にすることができる。 Furthermore, in the present embodiment, the robot 11 includes the first robot arm 13a (robot arm), and the imaging unit 40 is provided on the first robot arm 13a. Thereby, the effects exerted by the present invention can be made remarkable.
　そして、本実施形態では、ロボット１１が第１ロボットアーム１３ａと第２ロボットアーム１３ｂとを含み、第１ロボットアーム１３ａにエンドエフェクタ１８が取り付けられ、且つ第２ロボットアーム１３ｂに撮像部４０が設けられる。これにより、搬送さているワークＷに対して一層精度良く作業を行いつつ、本発明が奏する効果を顕著にすることができる。 In the present embodiment, the robot 11 includes the first robot arm 13a and the second robot arm 13b, the end effector 18 is attached to the first robot arm 13a, and the imaging unit 40 is provided on the second robot arm 13b. Be As a result, the effect exerted by the present invention can be made remarkable while performing the work on the workpiece W being conveyed with higher accuracy.
　また、本実施形態では、第１ロボットアーム１３ａ及び第２ロボットアーム１３ｂは１台のロボット１１に含まれる。これにより、本発明が奏する効果を一層顕著にすることができる。 Further, in the present embodiment, the first robot arm 13 a and the second robot arm 13 b are included in one robot 11. Thereby, the effect exerted by the present invention can be made more remarkable.
（変形例）
　上記実施形態では、撮像部４０が搬送されているワークＷを撮像することで第１画像情報及び第２画像情報を取得し、これら２つの画像情報に基づいて搬送速度検知部７０がワークＷの搬送速度を検知する場合について説明したが、これに限定されない。例えば、撮像部４０が１つの画像情報のみを取得し、当該１つの画像情報に基づいて搬送速度検知部７０がワークＷの搬送速度を検知してもよい。このような場合、当該１つの画像情報は、例えば、所定の時間シャッターを開いたままにして撮像することでワークＷの移動した軌跡を検知可能な画像情報であり、このような画像情報に基づいて搬送速度検知部７０がワークＷの搬送速度を検知してもよい。或いは、撮像部４０は搬送されているワークＷ及び運転中の搬送路Ｃのうちの少なくとも何れか一方を撮像して画像情報を取得し、当該画像情報に基づいて搬送速度検知部７０がワークＷの搬送速度を検知してもよい。 (Modification)
In the above embodiment, the first image information and the second image information are acquired by imaging the work W being conveyed by the imaging unit 40, and the conveyance speed detection unit 70 detects the work W based on these two pieces of image information. Although the case of detecting the transport speed has been described, the present invention is not limited to this. For example, the imaging unit 40 may acquire only one piece of image information, and the conveyance speed detection unit 70 may detect the conveyance speed of the workpiece W based on the one piece of image information. In such a case, the one piece of image information is, for example, image information capable of detecting a trace of the movement of the work W by imaging while keeping the shutter open for a predetermined time, and based on such image information The transport speed detection unit 70 may detect the transport speed of the workpiece W. Alternatively, the imaging unit 40 images at least one of the work W being conveyed and the conveyance path C in operation to acquire image information, and the conveyance speed detection unit 70 detects the work W based on the image information. The conveyance speed of
　ここで、撮像部４０が運転中の搬送路Ｃを撮像することで画像情報を取得する場合、例えば、搬送路Ｃ上に予め目印を付しておき、当該目印を上記実施形態における搬送されているワークＷの代わりとして撮像し、この画像情報に基づいてワークＷの搬送速度を検知するようにしてもよい。また、同じく撮像部４０が運転中の搬送路Ｃを撮像することで画像情報を取得する場合、ワークＷを搬送する以前の単独の搬送路Ｃを撮像することで画像情報を取得して、当該画像情報に基づいてワークＷの搬送速度を検知するようにしてもよい。 Here, when acquiring the image information by imaging the conveyance path C in operation by the imaging unit 40, for example, a mark is provided in advance on the conveyance path C, and the mark is conveyed in the above embodiment. An image may be taken as a substitute for the existing workpiece W, and the transport speed of the workpiece W may be detected based on the image information. Similarly, in the case where the imaging unit 40 acquires image information by imaging the conveyance path C in operation, the image information is acquired by imaging a single conveyance path C before conveyance of the work W, and the image information is acquired The transport speed of the workpiece W may be detected based on the image information.
　なお、撮像部４０は、搬送されているワークＷ及び運転中の搬送路Ｃのうちの少なくとも何れか一方を連続的に撮像し続けて画像情報を取得することで、ワークＷの搬送速度の変化に常時対応できるようにしてもよいし、搬送されているワークＷに対して作業を行うごとに画像情報を取得してもよいし、一度撮像して画像情報を取得したら、それから所定の時間が経過するまではワークＷの搬送速度が一定であるものとみなして、所定の時間間隔を空けて繰り返し撮像を行うようにしてもよい。或いは、一度撮像して画像情報を取得したら、それ以降はワークＷの搬送速度が一定であるものとみなして画像情報を取得しないようにしてもよい。 Note that the imaging unit 40 continuously captures at least one of the workpiece W being transported and the transport path C during operation to obtain image information, thereby changing the transport speed of the workpiece W. Image information may be acquired each time a work is carried out on the workpiece W being transported, or once it is picked up to acquire the image information, then a predetermined time may be obtained. It may be regarded that the transport speed of the work W is constant until the lapse of time, and imaging may be repeatedly performed at predetermined time intervals. Alternatively, once the image information is acquired by imaging, the image information may not be acquired after that, assuming that the transport speed of the workpiece W is constant.
　また、撮像部４０が３つ以上の画像情報を撮像し、当該３つ以上の画像情報に基づいて搬送速度検知部７０がワークＷの搬送速度を検知するようにしてもよい。このとき、搬送速度検知部７０は、例えば、３つ以上の画像情報によって検知されるワークＷの複数の移動距離を平均化した値に基づいてワークＷの搬送速度を検知するようにしてもよい。これにより、ワークＷの搬送速度を精度良く検知することが可能となる。また、３つ以上の画像情報によって検知されるワークＷの複数の搬送速度を平均化した値に基づいてワークＷの搬送速度を検知するようにしてもよい。これによっても、ワークＷの搬送速度を精度良く検知することが可能となる。なお、上記のように３つ以上の画像情報に基づいてワークＷの搬送速度を検知する場合、所定の時間間隔を空けて撮像された少なくとも２つの画像情報（例えば、上記した第１画像情報及び第２画像情報）さえあれば、残りの画像情報を撮像するタイミングは特に限定されず、互いに異なるタイミングで撮像されてもよいし、互いに同じタイミングで撮像されてもよい。また、例えば搬送速度検知部７０が撮像部４０を制御することで、任意のタイミングで画像情報を撮像するようにしてもよい。 Alternatively, the imaging unit 40 may capture three or more pieces of image information, and the conveyance speed detection unit 70 may detect the conveyance speed of the workpiece W based on the three or more pieces of image information. At this time, the conveyance speed detection unit 70 may detect the conveyance speed of the work W based on, for example, a value obtained by averaging a plurality of movement distances of the work W detected by three or more pieces of image information. . This makes it possible to detect the transport speed of the workpiece W with high accuracy. Further, the transport speed of the workpiece W may be detected based on a value obtained by averaging a plurality of transport speeds of the workpiece W detected by three or more pieces of image information. This also makes it possible to accurately detect the transport speed of the workpiece W. When the transport speed of the workpiece W is detected based on three or more pieces of image information as described above, at least two pieces of image information captured at predetermined time intervals (for example, the first image information described above and If there is only the second image information), the timing of imaging the remaining image information is not particularly limited, and may be imaged at different timings from each other, or may be imaged at the same timing as each other. Further, for example, the conveyance speed detection unit 70 may control the imaging unit 40 to capture image information at an arbitrary timing.
　上記実施形態では、ロボットシステム１０が撮像部４０を１つのみ含む場合について説明したが、これに限定されない。例えば、撮像部４０が第１撮像部と第２撮像部を含み、第１撮像部で第１画像情報を取得し、且つ第２撮像部で第２画像情報を取得してもよい。これにより、互いに離間した位置から第１画像情報と第２画像情報とを撮像することができるため、１つの撮像部４０で撮像する場合と比較して、ワークＷの搬送速度を一層精度良く検知することが可能となる。なお、上記実施形態において、第１画像情報を撮像した後で第２ロボットアーム１３ｂにより撮像部４０を移動させてから第２画像情報を撮像することで、装置構成を変更せずに同様の効果を得ることができる。 Although the case where the robot system 10 includes only one imaging unit 40 has been described in the above embodiment, the present invention is not limited to this. For example, the imaging unit 40 may include a first imaging unit and a second imaging unit, the first imaging unit may acquire the first image information, and the second imaging unit may acquire the second image information. As a result, since the first image information and the second image information can be imaged from positions separated from each other, the transport speed of the workpiece W can be detected more accurately than in the case of imaging by one imaging unit 40. It is possible to In the above embodiment, the same effect can be obtained without changing the device configuration by moving the imaging unit 40 by the second robot arm 13b after capturing the first image information and capturing the second image information. You can get
　上記実施形態では、ロボットアームが第１ロボットアーム１３ａと第２ロボットアーム１３ｂとを含み、第１ロボットアーム１３ａにエンドエフェクタ１８が取り付けられ、且つ第２ロボットアーム１３ｂに撮像部４０が設けられる場合について説明したが、これに限定されない。すなわち、撮像部４０が設けられる位置は、搬送されているワークＷ及び運転中の搬送路Ｃのうちの少なくとも何れか一方を撮像可能な位置であれば特に限定されない。例えば、撮像部４０は、（エンドエフェクタ１８が取り付けられた）第１ロボットアーム１３ａに設けられてもよいし、搬送路Ｃの上方に吊り下げられた状態で設けられてもよい。このような場合、例えばロボット１１は、第２ロボットアーム１３ｂを含まずに第１ロボットアーム１３ａのみを含む片腕のロボットであってもよい。また、撮像部４０は、第２ロボットアーム１３ｂにエンドエフェクタを取り付け当該エンドエフェクタに保持させることで、第２ロボットアーム１３ｂに設けられてもよい。 In the above embodiment, the robot arm includes the first robot arm 13a and the second robot arm 13b, the end effector 18 is attached to the first robot arm 13a, and the imaging unit 40 is provided to the second robot arm 13b. However, the present invention is not limited thereto. That is, the position at which the imaging unit 40 is provided is not particularly limited as long as it can capture at least one of the workpiece W being transported and the transport path C during operation. For example, the imaging unit 40 may be provided to the first robot arm 13a (to which the end effector 18 is attached) or may be provided above the transport path C. In such a case, for example, the robot 11 may be a one-arm robot including only the first robot arm 13a without including the second robot arm 13b. Further, the imaging unit 40 may be provided to the second robot arm 13 b by attaching the end effector to the second robot arm 13 b and holding the end effector on the end effector.
　上記実施形態では、配置状態検知部８０は、第１画像情報及び第２画像情報のうちの少なくとも何れか一方（すなわち、搬送速度を検知するために取得した画像情報）に基づいて、ワークＷの配置状態を検知する場合について説明したが、これに限定されない。すなわち、前記画像情報が配置状態用画像情報を含み、撮像部４０は、搬送されているワークＷを撮像することで当該配置状態用画像情報を取得し、配置状態検知部８０は、当該配置状態用画像情報に基づいてワークの配置状態を検知してもよい。これにより、ワークＷに対して一層精度良く作業を行うことができる。なお、配置状態用画像情報は、搬送速度を検知するために取得した画像情報を撮像したのと同じ撮像部４０を用いて撮像されてもよいし（すなわち、搬送速度を検知するために取得した画像情報及び配置状態用画像情報は１つの撮像部で取得されてもよいし）、ロボットシステム１０が複数の撮像部４０を備える場合、搬送速度を検知するために取得した画像情報を撮像したのとは異なる撮像部４０を用いて撮像されてもよい。なお、配置状態検知部８０は、撮像部４０で撮像された１つの画像情報に基づいてワークＷの配置状態を検知してもよいし、複数の画像情報に基づいてワークＷの配置状態を検知してもよい。 In the above-described embodiment, the arrangement state detection unit 80 generates the work W based on at least one of the first image information and the second image information (ie, the image information acquired to detect the transport speed). Although the case of detecting the arrangement state has been described, the present invention is not limited to this. That is, the image information includes the image information for arrangement state, and the imaging unit 40 acquires the image information for arrangement state by imaging the workpiece W being conveyed, and the arrangement state detection unit 80 determines the arrangement state. The arrangement state of the workpiece may be detected based on the image information for image. As a result, the work can be performed on the workpiece W with higher accuracy. In addition, the image information for arrangement | positioning state may be imaged using the same imaging part 40 which imaged the image information acquired in order to detect conveyance speed (that is, it acquired in order to detect conveyance speed) The image information and the image information for arrangement state may be acquired by one imaging unit), and when the robot system 10 includes a plurality of imaging units 40, the image information acquired to detect the transport speed is imaged The imaging unit 40 may be imaged using a different imaging unit. Note that the arrangement state detection unit 80 may detect the arrangement state of the work W based on one piece of image information captured by the imaging unit 40, or detects the arrangement state of the work W based on a plurality of image information You may
　上記実施形態では、ロボットシステム１０が配置状態検知部８０を含む場合について説明したが、これに限定されない。すなわち、ロボットシステム１０は、例えば複数のワークＷが互いに一定の間隔を空けて搬送され、且つ搬送路Ｃ上でのワークＷの姿勢が同じであることが前提であるような場合、配置状態検知部８０を含まなくてもよい。これにより、ロボットシステム１０の装置構成をより簡単にすることが可能となる。 Although the above embodiment has described the case where the robot system 10 includes the placement state detection unit 80, the present invention is not limited to this. That is, in the robot system 10, for example, when it is premised that the plurality of works W are transported at a constant interval from one another and the postures of the works W on the transport path C are the same, The part 80 may not be included. Thus, the device configuration of the robot system 10 can be simplified.
　上記実施形態では、第１ロボットアーム１３ａ及び第２ロボットアーム１３ｂは１台のロボット１１に含まれる場合について説明したが、これに限定されない。すなわち、ロボットシステム１０は複数台のロボット１１を備えてもよい。このような場合、例えば、そのうちの搬送路Ｃの上流側に設けられた１台のロボット１１が撮像部４０を設けられる第２ロボットアーム１３ｂを含み、且つ搬送路Ｃの下流側に設けられた他の１台のロボット１１が搬送されているワークＷに対して作業を行うエンドエフェクタ１８が取り付けられた第１ロボットアーム１３ａを含んでもよい。 Although the said embodiment demonstrated the case where the 1st robot arm 13a and the 2nd robot arm 13b were contained in one robot 11, it is not limited to this. That is, the robot system 10 may include a plurality of robots 11. In such a case, for example, one robot 11 provided on the upstream side of the transport path C among them includes the second robot arm 13 b provided with the imaging unit 40 and is provided on the downstream side of the transport path C The first robot arm 13a may be attached with an end effector 18 that performs work on the workpiece W being transported by another robot 11.
　上記説明から、当業者にとっては、本発明の多くの改良や他の実施形態が明らかである。したがって、上記説明は、例示としてのみ解釈されるべきであり、本発明を実行する最良の態様を当業者に教示する目的で提供されたものである。本発明の精神を逸脱することなく、その構造及び／又は機能の詳細を実質的に変更できる。 From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Accordingly, the above description should be taken as exemplary only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present invention. The structural and / or functional details may be substantially altered without departing from the spirit of the present invention.
　１０　ロボットシステム
　１１　ロボット
　１２　ベース
　１３ａ　第１ロボットアーム
　１３ｂ　第２ロボットアーム
　１４　ロボット制御部
　１５　アーム部
　１５ａ　第１リンク
　１５ｂ　第２リンク
　１６　基軸
　１７　リスト部
　１８　エンドエフェクタ
　１９　メカニカルインターフェイス
　２１　吸着口
　４０　撮像部
　７０　搬送速度検知部
　８０　配置状態検知部
　Ｃ　搬送路
　Ｌ１～Ｌ３　回転軸
　Ｊ１～Ｊ４　関節
　Ｗ　ワーク DESCRIPTION OF SYMBOLS 10 robot system 11 robot 12 base 13a 1st robot arm 13b 2nd robot arm 14 robot control part 15 arm part 15a 1st link 15b 2nd link 16 basic axis 17 list part 18 end effector 19 mechanical interface 21 suction port 40 imaging part 70 Conveying speed detection unit 80 Arrangement state detection unit C Conveying path L1 to L3 Rotation axis J1 to J4 Joint W Work

Claims (13)

  1. 　搬送されているワークに対して作業を行うロボットシステムであって、
    　搬送されているワーク及び運転中の搬送路のうちの少なくとも何れか一方を撮像して画像情報を取得するための撮像部と、
    　前記画像情報に基づいて前記ワークの搬送速度を検知する搬送速度検知部と、
    　前記ワークの搬送速度に基づいて前記搬送されているワークに対して作業を行うロボットと、
    　を備えることを特徴とする、ロボットシステム。     A robot system that performs work on a workpiece being transported,
    An imaging unit for capturing image information by imaging at least one of a workpiece being transported and a transport path during operation;
    A conveyance speed detection unit that detects the conveyance speed of the workpiece based on the image information;
    A robot that performs work on the workpiece being conveyed based on the conveyance speed of the workpiece;
    A robot system comprising:
  2. 　前記画像情報が第１画像情報と第２画像情報とを含み、
    　前記撮像部は、第１回目の撮像によって前記第１画像情報を取得し、且つ前記第１回目の撮像から所定の時間経過した後に第２回目の撮像を行うことで前記第２画像情報をさらに取得し、
    　前記搬送速度検知部は、前記第１画像情報及び前記第２画像情報に基づいて前記ワークの搬送速度を検知する、請求項１に記載のロボットシステム。     The image information includes first image information and second image information;
    The imaging unit further acquires the second image information by acquiring the first image information by the first imaging and performing the second imaging after a predetermined time has elapsed from the first imaging. Acquired,
    The robot system according to claim 1, wherein the transport speed detection unit detects the transport speed of the work based on the first image information and the second image information.
  3. 　前記第１画像情報及び前記第２画像情報は１つの撮像部で取得される、請求項２に記載のロボットシステム。 The robot system according to claim 2, wherein the first image information and the second image information are acquired by one imaging unit.
  4. 　前記撮像部が第１撮像部と第２撮像部とを含み、
    　前記第１撮像部で前記第１画像情報を取得し、且つ前記第２撮像部で前記第２画像情報を取得する、請求項２に記載のロボットシステム。     The imaging unit includes a first imaging unit and a second imaging unit;
    The robot system according to claim 2, wherein the first imaging unit acquires the first image information, and the second imaging unit acquires the second image information.
  5. 　前記撮像部で取得される画像情報に基づいて前記ワークの配置状態を検知する配置状態検知部をさらに備え、
    　前記ロボットは、前記搬送速度検知部で検知した前記ワークの搬送速度に加えて前記配置状態検知部で検知した前記ワークの配置状態に基づいて前記搬送されているワークに対して作業を行う、請求項１乃至４のいずれかに記載のロボットシステム。     The apparatus further comprises an arrangement state detection unit that detects the arrangement state of the work based on the image information acquired by the imaging unit.
    The robot performs an operation on the workpiece being conveyed based on the arrangement state of the workpiece detected by the arrangement state detection unit in addition to the conveyance speed of the workpiece detected by the conveyance speed detection unit. The robot system according to any one of Items 1 to 4.
  6. 　前記配置状態検知部は、前記ワークの搬送速度を検知するために取得した画像情報に基づいて前記ワークの配置状態を検知する、請求項５に記載のロボットシステム。 The robot system according to claim 5, wherein the placement state detection unit detects the placement state of the work based on the image information acquired to detect the transport speed of the work.
  7. 　前記画像情報が配置状態用画像情報を含み、
    　前記撮像部は、前記搬送されているワークを撮像することで前記配置状態用画像情報を取得し、
    　前記配置状態検知部は、前記配置状態用画像情報に基づいて前記ワークの配置状態を検知する、請求項５に記載のロボットシステム。     The image information includes arrangement state image information,
    The imaging unit acquires the image information for arrangement state by imaging the work being conveyed.
    The robot system according to claim 5, wherein the placement state detection unit detects the placement state of the work based on the placement state image information.
  8. 　前記搬送速度を検知するために取得した画像情報及び前記配置状態用画像情報は１つの撮像部で取得される、請求項７に記載のロボットシステム。 The robot system according to claim 7, wherein the image information acquired to detect the transport speed and the image information for arrangement state are acquired by one imaging unit.
  9. 　前記ロボットがロボットアームを含み、前記撮像部は前記ロボットアームに設けられている、請求項１乃至８のいずれかに記載のロボットシステム。 The robot system according to any one of claims 1 to 8, wherein the robot includes a robot arm, and the imaging unit is provided on the robot arm.
  10. 　前記ロボットが前記ロボットアームに取り付けられるエンドエフェクタをさらに含み、前記撮像部は前記エンドエフェクタが取り付けられたロボットアームに設けられている、請求項９に記載のロボットシステム。 The robot system according to claim 9, wherein the robot further includes an end effector attached to the robot arm, and the imaging unit is provided on the robot arm attached with the end effector.
  11. 　前記ロボットアームが第１ロボットアームと第２ロボットアームとを含み、　前記第１ロボットアームに前記エンドエフェクタが取り付けられ、且つ前記第２ロボットアームに前記撮像部が設けられている、請求項９に記載のロボットシステム。 The robot arm according to claim 9, wherein the robot arm includes a first robot arm and a second robot arm, the end effector is attached to the first robot arm, and the imaging unit is provided in the second robot arm. Robot system described.
  12. 　前記第１ロボットアーム及び前記第２ロボットアームは１台のロボットに含まれる、請求項１１に記載のロボットシステム。 The robot system according to claim 11, wherein the first robot arm and the second robot arm are included in one robot.
  13. 　搬送されているワークに対して作業を行う方法であって、
    　搬送されているワーク及び運転中の搬送路のうちの少なくとも何れか一方を撮像して画像情報を取得するステップと、
    　前記画像情報に基づいて前記ワークの搬送速度を検知するステップと、
    　前記ワークの搬送速度に基づいて前記搬送されているワークに対して作業を行うステップと、
    　を備えることを特徴とする、搬送されているワークに対して作業を行う方法。     A method of performing work on a workpiece being conveyed,
    Imaging at least one of the workpiece being transported and the transport path during operation to obtain image information;
    Detecting the transport speed of the workpiece based on the image information;
    Performing a work on the workpiece being conveyed based on the conveyance speed of the workpiece;
    A method of performing work on a workpiece being conveyed.
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