JP5468367B2 - Robot control method and robot control system - Google Patents

Description

  The present invention relates to a robot control method and a robot control system, and more particularly, to a robot control system and a robot control method that enable prevention of so-called “choco stop” and automatic return from “choco stop”.

  Industrial robots generally have a robot arm that can be swiveled and moved up and down, a robot hand that is provided at the tip of the robot arm and has a chuck portion for gripping a workpiece (part), and a robot arm and a robot hand. And a control unit that controls driving according to the control program. The automatic assembling apparatus includes a plurality of component supply trays that are arranged at predetermined positions on the work table surface and accommodate a large number of components, and an assembly jig for assembling the components. .

  During operation of the automatic assembly apparatus, the robot arm is driven, the robot hand is moved to the position of a predetermined component supply tray, and the component is gripped by the tip chuck portion. From this state, the robot arm is driven, the robot hand is moved to the position of the assembly jig, and the part held by the chuck portion is assembled to the assembly jig. Thereafter, by repeating the same operation, a desired device is automatically assembled.

  In such an automatic assembling apparatus including an industrial robot, before starting an automatic operation, an operation called teaching for teaching the operation reference coordinates and the operation procedure to the robot is required. In conventional teaching work, an approximate coordinate position is obtained by computer simulation on a personal computer, etc., and then the operator manually operates the robot hand manually using a teaching pendant or teaching box. (See, for example, Patent Document 1 and Patent Document 2).

  In the teaching work described above, setting the detailed coordinate position is very complicated and requires a long time, so a technique that can simplify the teaching work and shorten the teaching time has been proposed. (For example, see Patent Document 3).

  The robot control system proposed in Patent Document 3 performs teaching input to the robot including a robot arm, a robot provided at the tip of the robot arm and having a workpiece gripping chuck portion, and the robot. And a camera unit that can photograph at least a workpiece, and a predetermined coordinate position input by teaching on the operation unit is corrected based on an image captured by the camera unit and moved to the corrected coordinate position. And a control unit that drives and controls the robot.

JP 2000-354919 A JP 2006-043844 A JP 2009-000782 A

  However, when performing teaching work using a teaching pendant or the like in the conventional technology as described above, it is necessary to repeat changing the position and orientation of the robot hand in a complicated manner at least for the first time. Therefore, the teaching work is still very complicated and takes a long time.

  Recently, with the increase in the number of robots introduced and the diversification of products, the required teaching man-hours are rapidly increasing. On the other hand, there is a chronic shortage of personnel at the manufacturing site, and in particular, there is an extremely shortage of skilled workers in teaching work. In addition, when teaching a robot that is actually used at a manufacturing site, the manufacturing line on which the robot is installed is stopped, so that the operating rate of the manufacturing line is lowered.

  In addition, there are errors due to individual differences between robots, errors that occur when installing various modules such as robot hands, component supply trays, and assembly jigs, and errors due to individual differences between chuck parts and assembly jigs themselves. Teaching had to be performed every time it was re-installed, and it took a long time for teaching work.

  In particular, in the case of small equipment assembly equipment, the operator may have to push the head into the equipment and perform teaching work in an unreasonable state, which is very safe and friendly for the operator. It couldn't be said.

  Furthermore, if automatic assembly of the robot is continued, the displacement of the robot arm itself and the displacement of the robot hand occur and accumulate, or the assembly of the workpiece cannot be continued during automatic operation due to the displacement of the workpiece. Therefore, a so-called “choco stop” (that is, a machine stop state caused by a temporary trouble, not a machine failure) has occurred.

  In the above Patent Document 3, a technique for preventing this “choco stop” has been proposed. However, there are factors that are difficult to prevent, such as material changes due to seasonal changes such as temperature and humidity, abnormal shapes of parts, and deterioration of equipment.

  In view of such a problem of the prior art, a first object of the present invention is to make it possible to prevent a “chocolate stop” caused mainly by misalignment of work target components mounted on a component supply tray or the like. A control method and a robot control system are provided.

  In addition, the second object of the present invention is to perform a return operation automatically if possible even if a “chocolate stop” occurs that cannot be prevented by prevention alone, so that the entire robot or robot control system can be It is to provide a robot control method and a robot control system that do not stop the robot as much as possible.

In order to achieve the first object, the robot control method of the present invention is configured such that a tray on which a plurality of work objects of a robot hand capable of controlling work content is mounted is a position where the work should be performed by the robot hand. in the placed state, the whole of each and every are included and the work object is an imaging step of imaging the copy so that, for detecting the respective said work object from the image data captured by the imaging step together with an image processing step of determining position error relative to said detected workpiece respective normal positions whether within the allowable range with respect to the work object, respectively, the position error by the image processing step is the if it is determined within the allowable range and executes the normal operation, the position error does not execute the normal work if it is determined not to be within the allowable range Characterized in that it comprises a work performing step for performing a process of sequentially.

  Here, the work includes, for example, automatic assembly of parts, but is not limited thereto. Examples of the work object include, but are not limited to, various parts such as electric parts and mechanical parts.

  According to the robot control method having such a configuration, even if a position shift occurs in some of the plurality of work objects placed on the tray, the work object in which such a position shift occurs. The normal operation by the robot hand is not executed for As a result, it is possible to prevent so-called “choco stop” caused by the displacement of the work object, and the operating rate of the entire robot or robot control system is improved.

  In the robot control method of the present invention, when an abnormality occurs during execution of the normal operation in the operation execution step, the imaging step and the image processing step may be performed again in order. Examples of the abnormality include, but are not limited to, a malfunction (error) when the robot hand grips the work object.

  According to the robot control method having such a configuration, it is possible to recover from an abnormal state and prevent a similar error from recurring. As a result, it is possible to prevent “choco-stop” due to accidental factors, and the operating rate of the entire robot and robot control system is further improved.

Alternatively, in order to achieve the first object described above, the robot control method of the present invention includes a robot having a robot hand capable of controlling work contents, and a tray on which a plurality of work objects of the robot hand are mounted. in a state where the work by the robot hand is placed on the position to be performed, an imaging unit respective entireties all included and of the work object is imaged copy so that, an image captured by this image pickup unit For each of the work objects, an image processing unit that detects each of the work objects from data and determines whether a position error with respect to a normal position of each of the detected work objects is within an allowable range ; together with the position error by the image processing unit performs the normal tasks if it is determined that within the allowable range, when the position error is not within the allowable range Not perform the normal operations if it is constant, characterized in that it comprises a work execution control unit for controlling the execution of tasks of the robot hand to perform processing in the order named.

  According to the robot control system having such a configuration, even if a position shift occurs in some of the plurality of work objects placed on the tray, such a position shift occurs. The normal operation by the robot hand is not executed for As a result, it is possible to prevent so-called “choco stop” caused by the displacement of the work object, and the operating rate of the entire robot or robot control system is improved.

  According to the robot control method and the robot control system of the present invention, even if a position shift occurs in some of the plurality of work objects placed on the tray, the operation in which such a position shift occurs. The normal operation by the robot hand is not performed on the object. As a result, it is possible to prevent so-called “choco stop” caused by the displacement of the work object, and the operating rate of the entire robot or robot control system is improved.

  Alternatively, according to the robot control method and the robot control system of the present invention, even if a “choco stop” occurs that cannot be prevented only by various preventive measures, the return operation is automatically performed if possible. . As a result, the robot can be continuously operated over a long period of time without intervention of workers or maintenance factors, and the operating rate of the entire robot control system is further improved.

1 is a schematic plan view of a robot control system 1 according to a first embodiment of the present invention. 2 is a side perspective view of a robot 3 controlled by the robot control system 1. FIG. 3 is an enlarged perspective view of a robot hand 31 provided at the tip of a robot arm 30 included in the robot 3. FIG. 2 is an enlarged front view of a teaching pendant 10 used for teaching of the robot control system 1. FIG. 2 is a block configuration diagram of a control unit 100 of the robot control system 1. FIG. 6 is a diagram illustrating an example in which an image captured by a small camera and showing all work target parts P is displayed on a screen of a personal computer 110. FIG. FIG. 6 is a diagram illustrating an example in which current image data obtained by imaging a location where a “choco stop” has occurred and its periphery are displayed on a screen of a personal computer 110;

  Embodiments of the present invention will be described below with reference to the drawings.

<<<< first embodiment >>
<Configuration of robot control system 1>
FIG. 1 is a schematic plan view of a robot control system 1 according to the first embodiment of the present invention. FIG. 2 is a side perspective view of the robot 3 controlled by the robot control system 1. FIG. 3 is an enlarged perspective view of the robot hand 31 provided at the tip of the robot arm 30 of the robot 3. FIG. 4 is an enlarged front view of the teaching pendant 10 used for teaching of the robot control system 1.

  As shown in FIG. 1, the robot control system 1 includes two assembly robots 3 and 4 that are spaced apart from each other on a work table 2. The robots 3 and 4 are all articulated robots and have a plurality of robot arms 30 and 40, respectively. Robot hands 31 and 41 are provided at the distal ends of the robot arms 30 and 40 on the distal end side, respectively.

  On one side of the work table 2, a plurality of component supply trays 5 and 6 that accommodate a large number of components (work pieces) (not shown) are arranged and arranged. These component supply trays 5 and 6 are carried onto the work table 2 by a carry-in device (not shown). On the worktable surface 2, an assembly jig 7 for assembling parts by the robots 3 and 4 is attached at a substantially central position. Below the work table 2, there are provided controllers A and B for driving and controlling the robots 3 and 4, respectively. A portable camera 8 for photographing the entire movable range of the robot arms 30 and 40 is disposed on one side of the work table 2. The portable camera 8 preferably has a wide-angle lens and has a zoom function and a pan function.

  As shown in FIG. 2, the robot 3 has a detachable robot hand 31 at the tip of a robot arm 30 on the tip side. The robot hand 31 is provided with a plurality of workpiece gripping chuck portions 32.

  As shown in FIG. 3, the chuck portion 32 is supported by a support base 33. The support 33 has a built-in drive mechanism for driving the chuck portion 32. The robot hand 31 has a base plate 31A. One of the four support bases 33 shown in the figure is provided on the base plate 31A so as to be movable in the direction of the arrow shown in the figure, and the tip of the chuck portion 32 is photographed on the side surface of the movable support base 33. A small camera (for example, a vision camera or a CCD camera) 34 is attached.

  Since the robot hand 41 of the robot 4 has the same configuration, the description thereof is omitted here.

  The robot control system 1 includes a teaching pendant (operation unit) 10 as shown in FIG. The teaching pendant 10 includes an LCD (liquid crystal) display 11 for displaying an image photographed by the camera 34 of the robot hand 31, left and right grips 12 and 13 for an operator to hold, and an emergency stop switch 14. ing.

  The display 11 is a touch panel display. In addition, a plurality of push button switches 11 a for operating the robot such as starting, stopping, and teaching are provided on both the left and right sides of the display 11. On the back surface of the grip 12, a three-position enable switch 15 (see FIG. 5) is provided for the operator to avoid danger during unsteady work such as teaching or trial operation.

  Next, the control unit of the robot control system 1 will be described with reference to FIG. FIG. 5 is a block diagram of the control unit 100 of the robot control system 1.

  The control unit 100 includes a storage unit and a computer. The storage unit stores a computer program for executing the robot control method described below, and the computer executes the program. Specifically, the control unit 100 includes a controller A of the robot 3, a controller B of the robot 4, and a personal computer 110. The controllers A and B are configured to be able to communicate with each other.

  The teaching pendant 10 is connected to the input side of the controller A wirelessly. As described above, the touch panel display 11, the emergency stop switch 14, and the enable switch 15 are connected to the teaching pendant 10. A small camera 34 and a portable camera 8 are connected to the input side of the controller A.

The output side of the controller A, the motor ma ₁ to Ma _n for driving the robot arm 30 and the robot hand 31 is connected. Further, a removal device 105 is connected to the output side of the controller A for removing work in process from the work table 2 when a “chocolate stop” occurs during automatic operation. The removal device 105 is provided in the robot hand 31, and preferably any one of the chuck portions 32 in the robot hand 31 functions as the removal device 105. Note that an air nozzle for ejecting the compressed air toward the work table 2 may be provided in the removal device 105, or the air nozzle may be provided in the robot hand 31.

  A personal computer 110 is further connected to the output side of the controller A. The personal computer 110 is used not only to perform simulation during teaching, but also to monitor an image during automatic driving taken by the portable camera 8. The personal computer 110 is connected to the controller A via a wireless LAN. Note that an image during automatic operation may be displayed on the teaching pendant 10.

On the other hand, on the input side of the controller B, similarly, in the robot 4, a small camera 44 provided on the support base of the chuck portion of the robot hand 41 is connected. Further, motors mb _{1 to} mb _n for driving the robot arm 40 and the robot hand 41 and a removal device 106 similar to the removal device 105 are connected to the output side of the controller B.

<Processing flow of robot control system 1>
In the robot control system 1 according to the first embodiment, the flow of processing performed by the robot 3 is generally as follows.

(1) Capturing a work target component mounted on the component supply tray 5 with the small camera 34 First, the component supply tray 5 on which a plurality of work target components P are mounted is to be operated at a predetermined position by the robot hand 31. The robot hand 31 is moved so that the small camera 34 attached to the robot hand 31 is directly above the center of the component supply tray 5.

  From there, the small camera 34 is taken to look directly down so that all work target parts P are included. In this way, the surroundings of each work target part P are not distorted or missing in the imaging data, and it is easy to detect each work target part P by image processing, and the positional accuracy is increased. In order to increase the position accuracy of the work target part P that can be detected from the captured image data, it is preferable to pick up images from a close distance so that the magnification becomes as large as possible as long as all the work target parts P are included.

  FIG. 6 shows an example in which an image captured in this way and showing all the work target parts P is displayed on the screen of the personal computer 110. In this display example, 30 identical work target parts P are arranged at equal intervals in 5 rows × 6 columns on the part supply tray 5.

  In addition, in the following description, when it is necessary to identify any of these work target parts P, a number (1 to 30) is added to the reference sign P for distinction. As shown in FIG. 6, the number is set to 1 at the top of the leftmost column, 2, 3, 4, 5 in order below the column, and next to 6 at the top of the right column, The order is defined as 7, 8, 9, and 10 in the lower part of the row. For example, the upper left work target part is P1, the right work target part is P6, and the lower right work target part is P30.

(2) Calculating the position error of the work target component from the captured image The image captured by the small camera 34 is image-processed by the personal computer 110 to detect each work target component P from the image data. Then, an actual accurate position of each detected work target part P is calculated, and a position error of each work target part P is calculated by comparison with each normal position data.

  If the calculated position error is within an allowable range (for example, smaller than a predetermined value), it is determined that the position deviation of the work target component P has not occurred. On the other hand, if the calculated position error exceeds the allowable range, it is determined that the work target part P is misaligned. The determination result for each work target component P is stored so that it can be referred to in the next (3).

  In the example shown in FIG. 6, for example, it is understood that there is no positional deviation in the upper left work target part P1, but there is a positional deviation in the right work target part P6.

(3) Execute work for each work target part P in order Next, normal work by the robot hand 31 is sequentially executed for each work target part P mounted on the part supply tray 5.

  However, referring to the determination result stored in the above (2) prior to the execution of the normal work, the normal work is not executed for the work target component P that has been determined to have a positional deviation. Skip to. And it transfers to the process about the following work object component P. FIG. That is, the normal work by the robot hand 31 is sequentially executed only on the work target component P that has been determined not to have a positional shift.

  It should be noted that there is an abnormality due to some accidental factor such as an error that occurs when trying to grip the work target component P mounted on the component supply tray 5 with the robot hand 31 during the normal work. In such a case, there is a possibility that there is a problem in the imaging of the work target part P in (1) above, or that the position error of each work target part P in (2) is not accurately calculated. In such a case, it is preferable to perform the above (1) and (2) again in order after temporarily stopping the normal operation by the robot hand 31. This is because there is a possibility that a similar error can be prevented from recurring by recovering from an abnormal state.

  According to the first embodiment described above, even if a position shift occurs in some of the plurality of work target parts P placed on the component supply tray 5, such a position shift occurs. The normal work by the robot hand 31 is not executed on the work target component P. As a result, it is possible to prevent so-called “choco stop” caused by the displacement of the work target component P, and the operating rate of the robot 3 and the entire robot control system 1 is improved.

  The processes (1) and (2) may be performed immediately before each work target component on the tray 5 is gripped by the robot hand 31, but as described above, the component supply tray 5 When all the work target parts on the tray 5 are collectively processed at the time when they are arranged at predetermined positions on the work table 2, it is possible to prevent the tact time for processing the entire assembly process from being affected and lengthened. In particular, the image processing as described in (2) above may take a certain amount of time, but in the normal case, the parts supply tray 5 is placed at a predetermined position where the robot hand 31 should perform the work. It is only executed once later. Since the robot hand 31 does not perform image processing every time it grips each work target part P, the assembly process is performed smoothly and the overall tact time is prevented from being significantly affected. it can.

  If there is any abnormality during the execution of normal work, if the above steps (1) and (2) are performed again in order, it is possible to recover from the abnormal state and prevent the occurrence of similar errors. There is. As a result, it is possible to prevent “choco-stop” due to accidental factors, and the operating rate of the robot 3 and the robot control system 1 as a whole is further improved.

  Although the small camera 34 provided on the robot hand 31 of the robot 3 is used, a portable camera 8 may be used instead. In this case, it is desirable that the portable camera 8 be installed so as to be able to take a picture looking down at the component supply tray 5.

<<< Second Embodiment >>
The present invention is not limited to the first embodiment and the prior art, and even if various measures are taken to prevent “choco stop”, the occurrence of “choco stop” cannot be completely prevented. For example, there are factors that are difficult to prevent, such as material changes due to seasonal changes such as temperature and humidity, abnormal shapes of parts, and deterioration of equipment, and the risk of “choco stop” inevitably remains.

  Therefore, a second robot control method and a robot control system configured to automatically perform a return operation if possible even when a “chocolate stop” that cannot be prevented by various preventive measures alone occurs. An embodiment will be described below with a focus on differences from the first embodiment.

  In the second embodiment, the portable camera 8 is arranged so that the entire robot control system 1 can be looked down from the vicinity of the ceiling, rather than the position shown in FIG. Are also preferably used as appropriate. In addition, an image captured by the portable camera 8 is displayed on the screen of the personal computer 110. A dedicated camera different from the portable camera 8 may be used, or a small camera 34 provided on the robot hand 31 of the robot 3 may be used. In this case, the robot hand 31 is moved so that the small camera 34 can capture an image including the occurrence location detected in (1) described below and its periphery.

  First, it is necessary to perform prior learning (preliminary preparation) such as the following (a) to (c) and to record (save) the result as a database or the like in the personal computer 110.

<Pre-learning>
(A) Pre-learning of the ideal shape of the target area in each process In each process of various operations of the robot 3 and the robot 4 controlled by the robot control system 1, the target area where the process is performed should be originally The figure is imaged by the portable camera 8, and the image data is stored in the personal computer 110 (such as a hard disk) and registered so that it can be easily searched. That is, the normal time image data of each process is stored and registered.

(B) Prior learning of abnormal condition to be restored There are various factors in “choco stop”, but if there is an abnormal condition that can be automatically restored, automatic restoration is impossible in principle because it is impossible by the operator. There are some abnormal conditions that require recovery work. Therefore, abnormal states that can be automatically restored are pre-learned as restoration targets and registered in the personal computer 110.

  Examples of abnormal states that can be automatically restored include the following.

・ The robot hand 31 holds the work-in-process. ・ Parts that have not been assembled remain. ・ The work-in-process is scattered. (C) Pre-learning of the return operation from the abnormal condition to be restored. Some may have only one return operation, while others may assume a plurality of return operations. Therefore, one or more return operations that can be selected for each of the abnormal states to be returned are learned in advance and registered in the personal computer 110. In addition, when a plurality of return operations can be selected, it is preferable to register the criteria for selection.

<Flow of automatic return processing from “Choco stop”>
The automatic return from the “choco stop” according to the second embodiment is performed exclusively by the following steps (1) to (6).

(1) Detection of occurrence location of “choco stop” When “choco stop” occurs during the process of assembly by the robot 3 or the robot 4, the operation location of the robots 3, 4 is determined as the occurrence location where the process was performed. Detection is based on error information from processes and various sensors. This is because the process / location where the “choco stop” has occurred can be roughly determined from the progress of the process of the robot control system 1, the result of abnormality detection, and the timing.

(2) Imaging of the occurrence location of “choco stop” and its periphery The image is taken by the portable camera 8 so that the occurrence location and its periphery detected in the above (1) are included, and after the “choco stop” occurs Current image data (current image data) of the occurrence location is acquired.

  The current image data picked up in this way may be displayed on the screen of the personal computer 110 so that an operator or the like can easily see it.

(3) Abnormal area search Comparison between current image data captured in (2) above and corresponding image data selected from normal image data registered in advance by learning in (a) above I do. As a result of the comparison, it is searched whether there is a part having a relatively large difference. If such a part exists, it is detected as an abnormal area.

  For example, if a specific part is damaged and greatly different from the shape of a normal product, the position of the specific part is detected.

(4) Abnormal area identification It is identified whether the abnormality in the abnormal area detected in (3) corresponds to any of the abnormal states that are registered in advance by learning in (b) above. .

  For example, if the position of the specific part is detected in (3) above, the state of the abnormal part is identified.

(5) Determination of return operation One or more corresponding return operations registered in advance by learning in advance in (c) the return operation corresponding to the abnormal state identified as applicable in (4) above. Decide what is best for you.

(6) Abnormal area measurement In the abnormal area detected in (3) above, measurement is performed for the abnormal state identified as corresponding in (4) above.

  For example, if the position of the specific part is detected in (3) above, the accurate coordinate position, orientation, and the like are measured for the state of the abnormal part.

(7) Execution of return operation Based on the result measured in (6) above, the optimal return operation determined in (5) above is executed. Thereby, the abnormal state in the abnormal area detected in the above (3) is resolved.

  Thereafter, the process returns to the above (2), and the subsequent steps are repeated in order until there is no abnormal area. In this way, when all the factors causing the “choco stop” are eliminated, various operations of the robot 3 and the robot 4 can be resumed.

<Specific example of automatic return processing from “choco stop”>
For example, it is assumed that “chocolate stop” occurs due to failure in gripping the work target component P from the component supply tray 5, and the work target component P falls and is turned over. As a return operation, a vacuum device for sucking the work target component P is attached to the robot hand 31.

  FIG. 7 shows an example in which the current image data captured in (2) above is displayed on the screen of the personal computer 110 in such a case. In FIG. 7, the back side of the component is schematically shown by hatching, and the detailed shape and the like are not shown.

  In this display example, of the 5 rows × 6 columns of equidistant recesses provided in the component supply tray 5, a total of 23 pieces are removed from all five places in the left end row and the upper two places in the right row. The same work target parts P are respectively mounted. However, the work target part P in the center of the second row from the left is turned over, and the position shift is slightly caused.

  The position of the work part P which is turned over is detected by the abnormal area search (3) described above. Based on the abnormal area identification in (4) above, it is identified that the work target component P corresponds to an abnormal state that is turned over. The return operation corresponding to the abnormal state identified in this way is determined to be the most appropriate “vacuum removal” by determining the return operation in (5) above. By the abnormal area measurement of (6) above, the accurate coordinate position and orientation of the work target part P turned upside down are measured. Based on this measurement result, as the return operation of (7) above is performed, the work target part P that is turned over is picked up by the vacuum device, and then the robot hand 31 is moved slightly to remove the work target part P from the defective part. Discard into storage container.

  In this way, the cause of the “chocolate stop” caused by accidentally turning over the work target part P is removed, and the abnormal state is resolved. Therefore, the work by the robot hand 31 can be resumed.

  When resuming the work, preferably, the first embodiment is executed, and the normal work by the robot hand 31 is not performed on the work target part P in which the positional deviation has occurred. As a result, it is possible to prevent so-called “choco stop” caused by the displacement of the work target component P, and the operating rate of the robot 3 and the entire robot control system 1 is improved.

  According to the second embodiment described above, even if a “choco stop” occurs that cannot be prevented only by various preventive measures, the return operation is automatically performed if possible. As a result, the robot 3 and the robot 4 can be continuously operated for a long time without intervention of workers and maintenance factors, and the operation rate of the entire robot control system 1 is further improved.

  The present invention can be implemented in various other forms without departing from the gist or main features thereof. For this reason, the above-described embodiments and examples are merely examples in all respects and should not be interpreted in a limited manner. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Robot control system 2 Work table 3 Robot 30 Robot arm 31 Robot hand 32 Chuck part 33 Support stand 34 Small camera 4 Robot 40 Robot arm 41 Robot hand 44 Small camera 5 Parts supply tray 6 Parts supply tray 7 Assembly jig 8 Possible Portable camera 10 Teaching pendant 11 Touch panel display 12 Grip 13 Grip 14 Emergency stop button 15 Enable switch 100 Control unit 105 Removal device 106 Removal device 110 Personal computer A, B Controller P Work target component Pn Next work target component W Workpiece

Claims (4)

A tray on which a plurality of work objects of a robot hand capable of controlling work contents are mounted is placed at a position where the work should be performed by the robot hand, and all of the work objects are included and each an imaging step of the whole is captured copy so that,
An image processing step of detecting each of the work objects from the image data imaged in the imaging step and determining whether a position error with respect to a normal position of each of the detected work objects is within an allowable range;
The relative work object, respectively, with the position error by the image processing step performs the normal tasks if it is determined that within the allowable range, the position error is determined not to be within the allowable range Care And a work execution step of sequentially performing the process of not executing the normal work. The robot control method according to claim 1,
A robot control method characterized by performing the imaging step and the image processing step again in order when an abnormality occurs during the normal operation in the work execution step. The robot control method according to claim 2,
The abnormality is a malfunction when the robot hand grips the work object. A robot having a robot hand capable of controlling the work content;
Trays plurality of workpieces of the robot hand is mounted, in a state where the work by the robot hand is placed on the position to be performed, their respective entireties all and include the work object is Ru shooting An imaging unit for imaging,
An image processing unit that detects each of the work objects from image data captured by the imaging unit, and determines whether a position error with respect to a normal position of each detected work object is within an allowable range;
The relative work object, respectively, with the position error by the image processing unit performs the normal tasks if it is determined that within the allowable range, the position error is determined not to be within the allowable range Care And a work execution control unit that controls execution of the work of the robot hand so as to sequentially perform the process of not executing the normal work.

Images