Robot system

A robot system including: one or two robot arms which perform work on a target; a shape measurement device which is disposed on the robot arm and measures a shape of the target; and a controller which controls the robot arm based on the shape measurement device, in which the shape measurement device includes a projection device which projects striped pattern light onto the target, an image capturing unit which captures the image of the pattern light, and a processor which calculates the shape of the target based on the captured image by the image capturing device, and in which the projection device includes a light source device which emits linear laser, an optical scanner which generates the pattern light by reflecting the laser from the light source device and by scanning the target, and a scanner driver which outputs a driving signal to drive the optical scanner non-resonantly.

BACKGROUND

1. Technical Field

The present invention relates to a robot system.

2. Related Art

As a robot system which performs work with respect to a target using a robot having a robot arm, a system in which a device for measuring the shape of the target is attached to the robot arm, and the robot arm is operated using the measurement result of the device to perform the work is known.

A device for measuring the shape of the target projects a bright and dark pattern onto the target and measures the shape of the target by a phase shift method as described in JP-A-2014-89062. Here, the device described in JP-A-2014-89062 projects the bright and dark pattern onto the target by performing scanning with light from a laser light source by a MEMS mirror that swings in a resonance.

In general, a device to be attached to the robot arm limits a movable range of a robot or reduces a loading weight of the robot as the size becomes larger. Therefore, reduction in size is required for the device to be attached to the robot arm.

However, in the device described in JP-A-2014-89062, since the MEMS mirror is resonantly driven, when a resonance frequency of the MEMS mirror changes according to a change in environmental temperature or the like, according to this, a driving frequency of the MEMS mirror should be changed. Therefore, in the device described in JP-A-2014-89062, a circuit for controlling the driving frequency of the MEMS mirror according to the change in resonance frequency is required, the circuit configuration becomes complicated, and as a result, there is a problem that the size of the device increases.

SUMMARY

An advantage of some aspects of the invention is to provide a robot system in which a small device for measuring a shape of a target is provided in a robot arm.

The invention can be implemented as the following application examples or embodiments.

A robot system according to an application example includes: a robot arm which performs work with respect to a target; a shape measurement device which is disposed in the robot arm and measures a shape of the target; and a control unit which controls the robot arm based on a result measured by the shape measurement device, in which the shape measurement device includes a projection device which projects striped pattern light onto the target, a capturing device which captures the pattern light projected onto the target, and a calculation unit (processor) which calculates the shape of the target based on the result of the capturing by the image capturing device, and in which the projection device includes a light source device which emits linear laser, an optical scanner which generates the pattern light by reflecting the laser emitted from the light source device and by scanning the target, and a scanner driver which outputs a driving signal for non-resonantly driving the optical scanner.

According to the robot system, since the optical scanner is non-resonantly driven, even when a change in temperature occurs, it is possible to drive the optical scanner with a stable amplitude and frequency. Therefore, a circuit for reducing a change in characteristics due to the change in temperature is not required, and the size of the shape measurement device can be reduced.

In the robot system according to the application example of the invention, it is preferable that the waveform of the driving signal has a sinusoidal shape.

With this configuration, it becomes easy to generate the driving signal. Further, it is possible to reduce the number of cases where a frequency other than the driving frequency of the optical scanner is included in the frequency components of the driving signal, and to stably perform the non-resonance driving of the optical scanner.

In the robot system according to the application example of the invention, it is preferable that a light source driver which outputs a modulating signal for driving the light source device is further provided, striped pattern light projected onto the target is a stripe pattern that becomes sinusoidal with the brightness and darkness of a luminance value, and a waveform of the modulating signal has a shape different from the sinusoidal shape.

With this configuration, even when the waveform of the driving signal of the optical scanner has a sinusoidal shape, it is possible to project the striped pattern light representing a sinusoidal wave with brightness of darkness of the luminance value with high accuracy.

In the robot system according to the application example of the invention, it is preferable that an automatic transport device which has the robot arm mounted thereon and is movable without a track is further provided.

With this configuration, the robot arm can be moved, and work can be performed over a wide range. In addition, since the automatic transport device can move without a track, equipment, such as a rail for guiding the movement of the automatic transport device becomes unnecessary or simplified, the equipment cost can be reduced.

In the robot system according to the application example of the invention, it is preferable that an environment recognition sensor which recognizes environment in a direction in which the automatic transport device moves is further provided, and the automatic transport device is movable based on a recognition result of the environment recognition sensor.

With this configuration, since the equipment, such as a marker for guiding the movement of the automatic transport device becomes unnecessary or simplified, the equipment cost can be reduced.

In the robot system according to the application example of the invention, it is preferable that the scanner driver stops the output of the driving signal when the shape measurement device is being moved by an operation of the robot arm.

With this configuration, it is possible to reduce damage to the optical scanner due to an impact, such as collision during the operation of the robot arm.

In the robot system according to the application example of the invention, it is preferable that a failure detection unit which detects a failure of the optical scanner is further provided.

With this configuration, it is possible to grasp whether or not the optical scanner fails. Therefore, for example, in a case where the optical scanner fails, by stopping the driving of the light source device, it is possible to prevent high intensity light from the stopped optical scanner from hitting a person and to improve safety.

In the robot system according to the application example of the invention, it is preferable that the optical scanner includes a movable mirror unit, and a pair of shaft portions which support the movable mirror unit for swinging movement, and in which the failure detection sensor has a distortion sensor provided in the shaft portion.

The distortion sensor can be easily manufactured using a semiconductor manufacturing technology. Further, compared to a sensor for detecting other failures, such as an optical sensor, it is possible to reduce the size of the failure detection unit.

In the robot system according to the application example of the invention, it is preferable that the frequency of the driving signal is within a range of 100 Hz to 4 kHz.

With this configuration, it is possible to easily realize the non-resonance driving of the optical scanner while making the measurement accuracy of the shape measurement device excellent.

In the robot system according to the application example of the invention, it is preferable that the robot system which has two robot arms.

With this configuration, a work efficiency can be improved or more complicated work can be performed.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, a robot system according to the invention will be described in detail based on preferred embodiments illustrated in the attached drawings.

First Embodiment

FIG. 1is a perspective view schematically illustrating a robot system according to a first embodiment of the invention.FIG. 2is a block diagram illustrating a control system of the robot system illustrated inFIG. 1.FIG. 3is a schematic view of an object recognition sensor included in the robot system illustrated inFIG. 1.FIG. 4is a view illustrating a bright and dark state of a projection pattern (pattern light) generated by a projection device included in the object recognition sensor illustrated inFIG. 3.FIG. 5is a perspective view of an optical scanner included in the object recognition sensor illustrated inFIG. 3.FIG. 6is a view illustrating a waveform of a driving signal from a scanner driver included in the object recognition sensor illustrated inFIG. 3.FIG. 7is a view illustrating a waveform (lower part in the drawing) of a modulating signal output from a light source driver of the object recognition sensor illustrated inFIG. 3, and a deflection angle (upper part in the drawing) of a movable mirror unit.

A robot system100illustrated inFIG. 1is a system in which a robot1performs work for detaching each type of a plurality of components C1, C2, and C3different from each other from a component storage unit200(component supply unit), creating a component kit CK configured with the plurality of types of components C1, C2, and C3, and supplying the component kit CK to a workbench300(next process unit).

The component storage unit200is a component shelf having twelve storage spaces by being divided into four stages in a vertical direction and three rows (a left side, the center, and a right side) in a horizontal direction, and in each of the storage spaces, containers201are stored. Here, each of the containers201has a tray shape or a box shape opened upward. In addition, the plurality of components C1are stored in each of the containers201in a row on the left side of the component storage unit200. The plurality of components C2are stored in each of the containers201in a row at the center of the component storage unit200. The plurality of components C3are stored in each of the containers201in a row on the right side of the component storage unit200. In addition, each of the containers201is disposed so as to be capable of being withdrawn from the component storage unit200. Accordingly, it is possible to easily detach the components C1, C2, and C3from each of the containers201.

In addition, the component storage unit200is not limited to the number, configuration, disposition, and the like of the illustrated storage spaces, and the component storage unit200may be configured with a plurality of independent shelves for each type of components, for example, and in this case, the plurality of shelves may be disposed in any manner. Further, when the components C1, C2, and C3can be placed in a state where the robot1can work, the container201may be omitted.

The components C1, C2, and C3are different types of components. Each of the components C1, C2, and C3is not particularly limited, but various components can be employed, for example. The component kit CK is configured to include the components C1, C2, and C3one by one. In addition, the component kit CK may include components other than the components C1, C2, and C3, or may include a plurality of components of the same type.

The workbench300is a table for performing work using the component kit CK. The illustrated workbench300has a placing unit301on which a plurality of component kits CK can be placed. Work on the workbench300is not particularly limited, but examples of assembly of component groups including the component kit CK, include painting, surface treatment, arrangement, transport, and the like.

In addition, the workbench300is not limited to the configuration and disposition illustrated in the drawing as long as the plurality of component kits CK or trays TR can be placed thereon, and for example, the workbench300may be a device, such as a belt conveyor.

The robot system100includes: an automatic transport device2; a robot main body3which includes a robot arm10mounted on the automatic transport device2; an environment recognition sensor4which is disposed in the automatic transport device2; an object recognition sensor5(shape measurement device) which is disposed in the robot arm10; a control device6(control unit) which controls operations of the automatic transport device2and the robot arm10; and a placing unit7which is disposed on the automatic transport device2, and configures the robot1on which the members can travel. In addition, the robot system100can also be said to be a system including the robot1, the component storage unit200, and the workbench300.

Here, based on the recognition result (measurement result) of the environment recognition sensor4, the control device6can move the automatic transport device2such that the robot arm10is in a position at which the work is possible with respect to the component storage unit200or the workbench300. Further, when the robot main body3is in the position at which the work is possible with respect to the component storage unit200, the control device6can drive the robot main body3to create the plurality of component kits CK on the placing unit7based on the recognition result of the object recognition sensor5. Further, when the robot main body3is in the position at which the work is possible with respect to the workbench300, the control device6can drive the robot main body3to replace the plurality of component kits CK onto the workbench300from above the placing unit7based on the recognition result of the object recognition sensor5.

In this manner, the robot1can replace the plurality of component kits CK onto the workbench300after creating the component kits CK on the placing unit7. Accordingly, it is possible to reduce the number of times of reciprocation of the automatic transport device2between the component storage unit200and the workbench300, and to improve a work efficiency. In the embodiment, the plurality of trays TR are placed on the placing unit7before creating the component kit CK, and the component kit CK is created on the tray TR. In addition, the component kit CK is replaced onto the workbench300from above the placing unit7for each tray TR. Accordingly, it is possible to simplify replacement work.

Hereinafter, each portion which configures the robot system100(robot1) will be sequentially described below.

Automatic Transport Device

The automatic transport device2illustrated inFIG. 1is an unmanned transport vehicle which can travel (move) without a track. Here, the phrase of “capable of traveling (moving) without a track” means that it is possible to control the traveling (moving) so as to be oriented to an indicated target position without equipment, such as a rail that becomes a track for traveling (moving) of the automatic transport device2or a guide line for guiding the automatic transport device2.

As illustrated inFIGS. 1 and 2, the automatic transport device2includes: a vehicle body21; a pair of front wheels22which are attached to the vehicle body21and are on the front side that is normally on the forward direction side; a pair of rear wheels23on the rear side; a steering mechanism24which is capable of changing a steering angle of the pair of front wheels22; and a driver25which is capable of driving the pair of rear wheels23.

As illustrated inFIG. 1, a placing unit7which is capable of placing the plurality (three in the drawing) of component kits CK including the plurality of components C1, C2, and C3are provided on the upper portion of the vehicle body21. The placing unit7is configured to be placed in a state where the component kit CK placed on the tray TR. Here, one component kit CK is placed on one tray TR. Therefore, the placing unit7is configured to be capable of placing the plurality (three in the drawing) of trays TR. In addition, the number of trays TR which can be placed on the placing unit7is equal to the number of component kits CK that can be placed on the placing unit7. The trays TR are placed on the placing unit7using the robot main body3before creating the component kit CK, or are manually placed on the placing unit7.

In addition, the number of the component kits CK and the number of the trays TR which can be placed on the placing unit7are respectively not limited to the illustrated number, but are any number. In addition, the number of trays TR that can be placed on the placing unit7may be different from the number of component kits CK that can be placed in the placing unit7, and for example, the plurality of component kits CK may be placed on one tray TR.

Meanwhile, at the lower part of the vehicle body21, the pair of left and right front wheels22are provided on the front side and the pair of left and right rear wheels23are provided on the rear side.

The pair of front wheels22are steering wheels and are attached to the vehicle body21via the steering mechanism24illustrated inFIG. 2. By changing the steering angle of the pair of front wheels22by the steering mechanism24, steering of the automatic transport device2is performed. Accordingly, a traveling direction of the vehicle body21can be changed. In addition, the pair of rear wheels23may be steerable, or all of the pair of front wheels22and one pair of rear wheels23may be steerable.

Further, the pair of rear wheels23are driving wheels, and are attached to the vehicle body21via the driver25. The driver25has a driving source (not illustrated), such as a motor, and transmits the driving force of the driving source to the pair of rear wheels23. Accordingly, the vehicle body21can be made to travel forward or rearward. In addition, the pair of front wheels22may be steerable, or all of one pair of front wheels22and one pair of rear wheels23may be steerable.

In addition, a battery (not illustrated) for supplying the electric power to the above-described driving source is disposed in the vehicle body21, and the battery is also used for driving the robot arm10, the environment recognition sensor4, the object recognition sensor5, and the like.

Robot Main Body

The robot main body3illustrated inFIG. 1is a so-called single 6-axis vertical articulated robot. The robot main body3includes a base30and a robot arm10which is rotatably connected to the base30. In addition, a hand12is attached to the robot arm10via a force detection sensor11.

The base30is fixed to the upper portion of the vehicle body21of the above-described automatic transport device2by bolts or the like (not illustrated). In addition, the installation position of the base30with respect to the automatic transport device2may be any position as long as the robot main body3can place each of the plurality of components C1, C2, and C3on the placing unit7of the above-described automatic transport device2. Further, the base30may be configured integrally with the automatic transport device2.

The robot arm10includes: an arm31(first arm) which is rotatably connected to the base30; an arm32(second arm) which is rotatably connected to the arm31; an arm33(third arm) which is rotatably connected to the arm32; an arm34(fourth arm) which is rotatably connected to the arm33; an arm35(fifth arm) which is rotatably connected to the arm34; and an arm36(sixth arm) which is rotatably connected to the arm35.

In each of joint portions of the arms31to36, an arm driving unit13illustrated inFIG. 2is provided, and each of the arms31to36rotates by the driving of each of the arm driving units13. Here, each of the arm driving units13includes a motor and a speed reducer (not illustrated). As the motor, for example, an AC servo motor, a servo motor, such as a DC servo motor, a piezoelectric motor, or the like can be used. As the speed reducer, for example, a planetary gear type speed reducer, a wave gear type device, or the like can be used. In addition, an angle sensor14, such as a rotary encoder (refer toFIG. 2) is provided in each of the arm driving units13, and the angle sensor14detects the rotation angle or the rotation axis of the motor or the speed reduction of the arm driving unit13.

In addition, as illustrated inFIG. 1, the hand12is attached to the arm36positioned at a distal end portion of the robot arm10via the force detection sensor11.

The force detection sensor11is, for example, a six-axis force sensor which is capable of detecting the six-axis component of the external force applied to the force detection sensor11. Here, the six-axis component is a translational force (shearing force) component in each direction of three mutually orthogonal axes, and a rotational force (moment) component around the axes of each of the three axes. In addition, the number of detection axes of the force detection sensor11is not limited to six, and may be, for example, one or more and five or less.

The hand12has two fingers capable of gripping each of the components C1, C2, and C3which are targets of work of the robot system100. In addition, the number of fingers of the hand12is not limited to two, and may be three or more. In addition, depending on the type of the components C1, C2, and C3, an end effector which holds the components C1, C2, and C3by suction or the like may be used instead of the hand12.

Environment Recognition Sensor

The environment recognition sensors4are respectively provided at the front portion and the rear portion of the vehicle body21of the above-described automatic transport device2. The environment recognition sensor4(4a) provided in the front portion of the vehicle body21has a function of outputting a signal that corresponds to the existence (distance) of the object (for example, the target, such as the component storage unit200or the workbench300, a wall which is not illustrated, or an obstacle which is not illustrated which becomes an obstacle to traveling or transporting) or the shape of the object which is on the front side with respect to the vehicle body21. In addition, the environment recognition sensor4(4b) provided in the rear portion of the vehicle body21has a function of outputting a signal that corresponds to the existence (distance) of the object (for example, the target, such as the component storage unit200or the workbench300, a wall which is not illustrated, or an obstacle which is not illustrated which becomes an obstacle to traveling or transporting) or the shape of the object which is on the rear side with respect to the vehicle body21.

In addition, the installation positions and the number of installations of the environment recognition sensors4are not limited to the positions and the number described above as long as the environment recognition sensor4can recognize the range necessary for the traveling and the work of the robot1, and for example, the recognition sensor4bmay be omitted or the environment recognition sensor4may be provided in at least one of the right side portion and the left side portion of the vehicle body21in addition to the environment recognition sensors4aand4b.

The environment recognition sensor4is not particularly limited as long as the environment recognition sensor4has the above-described function, and it is possible to use various three-dimensional measuring machines using a time of flight (TOF) method or the like. Further, the environment recognition sensor4can be configured in the same manner as the object recognition sensor5which will be described later. However, it is preferable that the environment recognition sensor4has a wider measurement range (range of measurable region) than the object recognition sensor5. Accordingly, it is possible to recognize the environment surrounding the robot1over a wide range. Therefore, the robot1can improve the safety by reducing the required number of installations of the environment recognition sensors4, and by reducing the dead angle of the environment recognition sensor4.

In the environment recognition sensor4, a three-dimensional orthogonal coordinate system for representing the recognition result is set, and the environment recognition sensor4can output the coordinate information of the object in the coordinate system as a recognition result. Here, the coordinate system set in the environment recognition sensor4can be formed being correlated with a robot coordinate system (a coordinate system used by the control device6for drive control of the robot1) set in the robot1in the control device6.

Object Recognition Sensor

The object recognition sensor5is provided in the distal end portion of the robot arm10of the above-described robot main body3. In the drawing, the object recognition sensor5is attached to the arm36on the most distal end side among the arms31to36of the robot arm10. The object recognition sensor5has a function of outputting a signal that corresponds to the shape of the object (for example, a target, such as the components C1, C2, and C3, the component storage unit200, the workbench300, and the placing unit7) around or near the distal end portion of the robot arm10.

In addition, the installation position of the object recognition sensor5may be the other arms31to35, the base30, or the vehicle body21of the automatic transport device2. Further, the number of installations of the object recognition sensors5may be two or more.

The object recognition sensor5is configured to measure the shape of the object (target) around or near the distal end portion of the robot arm10, for example, by using a phase shift method. In other words, the target to which the shape measurement is performed by the object recognition sensor5is the target on which the robot arm10operates. In addition, in the object recognition sensor5, a three-dimensional orthogonal coordinate system for representing the recognition result is set, and the object recognition sensor5outputs the coordinate information of the object in the coordinate system as a recognition result. Here, the coordinate system set in the object recognition sensor5can be formed being correlated with the robot coordinate system (a coordinate system used by the control device6for drive control of the robot1) set in the robot1in the control device6.

Specifically, as illustrated inFIG. 3, the object recognition sensor5includes a projection device51which projects pattern light LP in a measurement range, an image device52which captures the measurement range, and a circuit unit53which is electrically connected to each of the projection device51and the image capturing device52.

The projection device51has a function of projecting the pattern light LP which is video light of a stripe pattern representing a sinusoidal wave with brightness and darkness of the luminance value in the measurement range. As illustrated inFIG. 4, the pattern light LP divides the measurement range into n sections (preferably within a range of 5 to 50, and is divided into 5 sections inFIG. 4) in a predetermined direction, and the luminance value changes along the sinusoidal wave in the predetermined direction (X direction illustrated inFIG. 4) considering the range of each region as one cycle.

As illustrated inFIG. 3, the projection device51includes a light source device511which emits linear light LL, and an optical scanner512which generates the pattern light LP by performing the scanning while reflecting the light LL from the light source device511.

The light source device511includes alight source5111and lenses5112and5113. Here, the light source5111is, for example, a semiconductor laser. In addition, the lens5112is a collimating lens, and makes the light transmitted through the lens5112parallel light. The lens5113is a line generator lens (Powell lens), a cylindrical lens, or a rod lens, extends the light from the light source5111in a linear shape along the predetermined direction (Y direction illustrated inFIG. 4), and generates the light LL. In addition, the lens5112may be provided as necessary, and may be omitted. Instead of the lens5113, light from the light source5111may linearly extend using a concave cylindrical mirror or an optical scanner. Further, in a case where the light from the light source5111is in a linear shape, the lens5113can be omitted.

The optical scanner512is a moving magnet type optical scanner, and generates the pattern light LP by reflecting the linear light LL from the light source device511and by performing the scanning in the predetermined direction (X direction illustrated inFIG. 4). As illustrated inFIG. 5, the optical scanner512includes a movable mirror unit5121, a pair of shaft portions5122, a support unit5123, a permanent magnet5124, a coil5125, and a distortion sensor5126.

The movable mirror unit5121is supported so as to be swingable around a swing axis “as” with respect to the support unit5123via the pair of shaft portions5122(torsion bars). The movable mirror unit5121, the shaft portion5122, and the support unit5123are integrally configured of silicon or the like, and can be obtained by, for example, etching a silicon substrate or a silicon on insulator (SOI) substrate.

In addition, one surface (mirror surface) of the movable mirror unit5121has light reflectivity and is a part which reflects the light LL from the light source device511. Here, a metal film may be provided on the one surface as necessary. Further, the movable mirror unit5121has an elongated shape along the swing axis as. Accordingly, it is possible to perform the scanning with the linear light LL while reducing the size of the movable mirror unit5121. In addition, the shape in a plan view of the movable mirror unit5121is a quadrangle (rectangle) in the drawing, but not being limited thereto, and the shape may be, for example, an elliptical shape. In addition, the shapes of the shaft portion5122and the support unit5123are not limited to the illustrated shapes either.

The permanent magnet5124is bonded (fixed) to the surface opposite to the mirror surface of the movable mirror unit5121by an adhesive or the like. The permanent magnet5124is, for example, a neodymium magnet, a ferritemagnet, a samarium cobalt magnet, an alnico magnet, or a bonded magnet.

A coil5125is disposed immediately below the permanent magnet5124(a side opposite to the movable mirror unit5121). The coil5125generates a magnetic field which interacts with the permanent magnet5124so as to allow the movable mirror unit5121to swing around the swing axis as according to the energization (driving signal) from a scanner driver532(refer toFIG. 3) which will be described later. In addition, the disposition or the like of the permanent magnet5124and the coil5125is not limited to the illustrated disposition or the like as long as the movable mirror unit5121can be swung around the swing axis as.

The distortion sensor5126is a piezoresistive element provided in a boundary portion between the shaft portion5122and the support unit5123, and a resistance value changes in accordance with the distortion of the shaft portion5122. When the movable mirror unit5121swings (rotates) around the swing axis as, since torsional deformation of the shaft portion5122is caused, the distortion generated by the torsional deformation in the shaft portion5122can be detected by the distortion sensor5126, and the movement of the movable mirror unit5121can be grasped. The distortion sensor5126is obtained by doping silicon which configures the boundary portion between the shaft portion5122and the support unit5123with an impurity, such as phosphorus or boron.

An emission direction (the direction of a center axis a1) of the pattern light LP of the projection device51as described above is inclined with respect to the direction of the optical axis a2of the image capturing device52. Accordingly, it is possible to measure the three-dimensional shape with high accuracy. An inclination angle is preferably within the range of 20° to 40°, and more preferably within the range of 25° to 350°. Accordingly, it is possible to measure the three-dimensional shape with high accuracy while widening the measurable range. When the inclination angle is extremely small, the measurable range widens, but the measurement accuracy in the height direction is lowered. Meanwhile, when the inclination angle is extremely large, the measurement accuracy in the height direction can be enhanced, but the measurable range narrows.

The image capturing device52includes an image capturing element521having a plurality of pixels and an imaging optical system522, and the image capturing element521captures the pattern light LP projected within the measurement range via the imaging optical system522.

The image capturing element521converts a captured image into electric signals for each pixel and outputs the electric signals. The image capturing element521is not particularly limited, but for example, charge coupled devices (CCD) or a complementary metal oxide semiconductor (CMOS) can be employed.

The imaging optical system522includes two lenses5221and5222, and forms an image of the pattern light on the object surface within the measurement range on a light receiving surface (sensor surface) of the image capturing element521. In addition, the number of lenses included in the imaging optical system522is not limited to the illustrated number as long as the image capturing element521can capture the pattern light, and is any number.

The capturing direction (the direction of the optical axis a2) of the image capturing device52is parallel to the central axis a (refer toFIG. 1) of the distal end portion of the robot arm10. Accordingly, the direction in which the distal end portion of the robot arm10is oriented can be set as the measurement range.

As illustrated inFIG. 3, the circuit unit53includes: a light source driver531which drives the light source device511of the projection device51; a scanner driver532which drives the optical scanner512of the projection device51; a failure determination unit533which determines whether or not the optical scanner512fails; and a calculation unit (processor)534which calculates the shape of the object (target) within the measurement range based on a signal from the image capturing element521of the capturing device52. In addition, any one of the circuit unit53, the light source driver531, the scanner driver532, and the failure determination unit533is not necessarily provided in the distal end portion of the robot arm10as long as the units are connected to be electrically conductible, and for example, may be included in the control device6which will be described later or may be disposed in the base30of the robot main body3, outside the vehicle body21, or the like.

The scanner driver532illustrated inFIG. 3is electrically connected to the coil5125of the optical scanner512. The scanner driver532is configured to include the driving circuit for driving the coil5125, and as illustrated inFIG. 6, the scanner driver532generates the driving signal (a driving current obtained by superimposing a modulation current on a bias current) of which the current value changes periodically (period T), and the driving signal is supplied to the coil5125. The frequency (driving frequency) of the driving signal is deviated from the resonance frequency of a vibration system configured with the movable mirror unit5121and the pair of shaft portions5122described above. Since the object recognition sensor5(circuit unit53) does not have a circuit for controlling the frequency of the driving signal that corresponds to the resonance frequency of the vibration system described above, the movable mirror unit5121is non-resonantly driven. In other words, a circuit for reducing a change in characteristics due to the change in temperature is not required, and the size of the shape measurement device can be reduced. In addition, in a case where the movable mirror unit5121is non-resonantly driven, compared to a case where the movable mirror unit5121is resonantly driven, there is also an advantage that the activation time of the optical scanner512(time required for the movable mirror unit5121to have a desired amplitude and frequency from the stopped state) can be shortened.

Here, it is preferable that the frequency of the driving signal has a difference from the resonance frequency of the vibration system including the movable mirror unit5121and the pair of shaft portions5122such that the gain falls within the range of 0.8 to 1.2. In addition, although the specific frequency of the driving signal is not particularly limited, it is preferable that the frequency is, for example, within the range of 100 Hz to 4 kHz. Accordingly, it is possible to easily realize the non-resonance driving of the optical scanner512while making the measurement accuracy of the object recognition sensor5(shape measurement device) excellent.

In particular, the driving signal output by the scanner driver532has a sinusoidal waveform (refer toFIG. 6). Accordingly, since the frequency component of the driving signal becomes single (driving frequency only), the generation of the driving signal (forming of the waveform) can be simplified. In addition, since the driving signal does not include other frequency components other than the driving frequency, it is possible to reduce the resonance driving of the movable mirror unit5121by the other frequency components. As a result, it is possible to stably non-resonantly drive the movable mirror unit5121.

The light source driver531illustrated inFIG. 3is electrically connected to the light source5111of the light source device511. The light source driver531is configured to include the driving circuit for driving the light source5111, generates the modulating signal (the driving current obtained by superimposing the modulation current on the bias current) of which the current value changes periodically, and supplies the modulating signal to the light source5111. The modulating signal generated by the light source driver531is a signal having a waveform that is substantially a sinusoidal wave.

However, as described above, the driving signal output by the scanner driver532is a sinusoidal wave signal (a signal forming a sinusoidal waveform). Therefore, the scanning speed on a projection plane55(a plane perpendicular to a line segment connecting the optical scanner512and the target of the measurement projection to each other) of the light LL scanned by the optical scanner512changes by a swing angle thereof as the movable mirror unit5121swings, and is not constant. Therefore, when the modulating signal generated by the light source driver531is the sinusoidal wave signal, the projected pattern light LP does not become an intended stripe pattern. Here, in order to correct this, the waveform of the modulating signal generated by the light source driver531is deviated from the sinusoidal waveform as illustrated at the lower part ofFIG. 7. Accordingly, it is possible to draw the pattern light LP of density (stripe pattern indicating the sinusoidal wave with the brightness and darkness of the luminance value) as illustrated inFIG. 4described above by the light LL from the optical scanner512.

In addition, the light source driver531is capable of outputting the driving signal of which the phase is deviated by π/2. Accordingly, it is possible to generate the striped pattern light LP of which the phase is deviated by π/2.

The failure determination unit533illustrated inFIG. 3is electrically connected to the distortion sensor5126(refer toFIG. 5) of the optical scanner512. Based on the resistance value of the distortion sensor5126, the failure determination unit533determines whether or not the optical scanner512fails (not operating normally). For example, the failure determination unit533measures the resistance value of the distortion sensor5126, and when the change (frequency) of the resistance value is not synchronized with the frequency of the driving signal, the failure determination unit533determines that the optical scanner512fails. Here, the distortion sensor5126and the failure determination unit533configure a failure detection sensor54which detects a failure of the optical scanner512.

Although not illustrated, the calculation unit534illustrated inFIG. 3includes a processor, such as a central processing unit (CPU), and a memory, such as a read only memory (ROM) and a random access memory (RAM). In addition, the calculation unit (processor)534calculates the shape of the target based on a capturing result of the image capturing device52by executing a measurement program stored in the memory by a processor.

The object recognition sensor5described above projects the pattern light LP from the projection unit51toward the measurement range and captures the projected pattern light LP by the image capturing device52. At this time, for example, the light source driver531outputs four driving signals of which the phases are deviated by π/2, the pattern light LP projected with a phase deviated by π/2 is projected four times, and for each time, the image capturing device52captures the projected pattern light LP. In the luminance values at the same coordinates of the four captured images obtained by the four times of capturing, even when an absolute value changes by a surface state or color of a measurement target at the coordinates, a relative value changes only by a phase difference of the pattern light LP. Accordingly, it is possible to obtain a phase value of the stripe pattern at the coordinates while reducing the influence of ambient light, surface state of the measurement target, or the like.

Here, the phase value is not a continuous value in the captured image, and is first obtained in the range of −π to +π for each strip of the stripe pattern. In addition, the phase value is phase-linked (phase-connected) so as to have continuous values in the captured image. Accordingly, the shape of the measurement target can be measured based on the phase value.

Control Device

The control device6(control unit) illustrated inFIG. 2has a function of controlling the driving of the automatic transport device2and the robot arm10based on the recognition results of the environment recognition sensor4and the object recognition sensor5.

The control device6includes a processor61, such as a central processing unit (CPU), and a memory62(storage unit), such as a read only memory (ROM) and a random access memory (RAM). In addition, although the control device6is disposed in the vehicle body21of the automatic transport device2, not being limited thereto, the control device6may be disposed in the base30of the robot main body3, outside the vehicle body21, or the like.

The memory62stores programs for driving and controlling the automatic transport device2and the robot arm10, component shape information on the components C1, C2, and C3which are targets of the work, and map information of the environment (the environment around the robot1) in which the robot system100is used, therein. Here, the map information includes positional information and shape information of the objects (the component storage unit200, the workbench300, and the like) in an environment in which the robot1is used.

The processor61performs drive control of the automatic transport device2and the robot arm10by appropriately reading and executing the program and various types of information which are stored in the memory62.

In the control device6, the robot coordinate system is set as a coordinate system used by the control device6for the drive control of the automatic transport device2and the robot arm10. The robot coordinate system is associated with the coordinate system set in the distal end portion (for example, tool center point) of the robot arm10. Accordingly, the control device6can set the distal end portion of the robot arm10or the hand12to a desired position and posture. In addition, as described above, the robot coordinate system is also associated with the coordinate system set in the environment recognition sensor4and the object recognition sensor5, and based on the recognition result of the sensors, the desired operations of the automatic transport device2and the robot arm10can be performed. In addition, the above-described circuit unit53may be included or may not be included in the control device6.

Hereinafter, the drive control of the automatic transport device2and the drive control of the robot arm10by the control device6will be described.

FIG. 8is a flowchart for describing the operation of the robot system illustrated inFIG. 1.FIG. 9is a flowchart for describing the operation of a component kit creation mode illustrated inFIG. 8.FIG. 10is a flowchart for describing the operation of detachment work illustrated inFIG. 9.FIG. 11is a view for describing a case where the component is in a state of not being capable of working.FIG. 12is a view for describing step S34illustrated inFIG. 10.FIG. 13is a view for describing detachment work of a first type of the component.FIG. 14is a view for describing detachment work of a second type of the component.FIG. 15is a view for describing detachment work of a third type of the component.FIG. 16is a flowchart for describing the operation of a component kit replacement mode illustrated inFIG. 8.FIG. 17is a view illustrating a state of the workbench when replacement is completed.

As illustrated inFIG. 8, the control device6includes the component kit creation mode (step S1) and the component kit replacement mode (step S2), and sequentially executes the modes. Here, the component kit creation mode is a mode in which the plurality of component kits CK are created on the placing unit7by detaching the components C1, C2, and C3from the component storage unit200. The component kit replacement mode is a mode in which the plurality of component kits CK are replaced onto workbench300from above the placing unit7. Hereinafter, each mode will be described in detail.

Component Kit Creation Mode

In the component kit creation mode, as illustrated inFIG. 9, first, a target component is set (step S11). The target component is one of the components C1, C2, and C3, and for example, the component C1is set as a target component.

Next, it is determined whether or not the position of the robot1(more specifically, the automatic transport device2) is a stop position based on the recognition result of the environment recognition sensor4(step S12). At this time, a current position of the automatic transport device2is grasped by collating the map information (particularly, the positional information of the component storage unit200) stored in the memory62with the recognition result of the environment recognition sensor4. In addition, the current position is compared with the position of the component storage unit200in the map information, and it is determined whether or not the current position is the stop position. The stop position is a position at which the robot arm10can work with respect to the target component (working position) or a position at which the object recognition sensor5can recognize the target position (a position at which the target component exists) of the component storage unit200.

In a case where the current position of the automatic transport device2based on the recognition result of the environment recognition sensor4is not the stop position (NO in step S12), the automatic transport device2is moved to the stop position based on the recognition result of the environment recognition sensor4(step S13). At this time, by using the comparison result in the above-described step S12, a traveling route to the stop position of the automatic transport device2may be determined and the driving of the automatic transport device2may be controlled based on the traveling route, and the driving of the automatic transport device2may be controlled such that the current position of the automatic transport device2matches the stop position while collating the map information stored in the memory62with the recognition result of the environment recognition sensor4. After the step S13, the process proceeds to step S14which will be described later. In addition, it is preferable that the driving of the robot arm10is stopped while the automatic transport device2is being driven (moving) (the same also during the movement in other steps). Accordingly, for example, it is possible to reduce damage of the object recognition sensor5attached to the robot arm10due to an impact or the like.

Meanwhile, in a case where the current position of the automatic transport device2is the stop position based on the recognition result of the environment recognition sensor4(YES in step S12), it is determined whether or not the robot1(more specifically, the automatic transport device2) is the stop position based on the recognition result of the object recognition sensor5(step S14). At this time, the current position of the automatic transport device2is grasped by collating the map information (particularly, the shape information of the component storage unit200) stored in the memory62with the recognition result of the object recognition sensor5. In addition, the current position is compared with a work position (for example, a position of the container201to be a target of the work) of the component storage unit200in the map information, and it is determined whether or not the current position is the stop position. The stop position is a position at which the robot arm10can work with respect to the target component.

In a case where the current position of the automatic transport device2based on the recognition result of the object recognition sensor5is not the stop position (NO in step S14), the automatic transport device2is moved to the stop position based on the recognition result of the object recognition sensor5(step S15). Accordingly, fine adjustment of the position of the automatic transport device2can be performed. At this time, by using the comparison result in the above-described step S14, the traveling route to the stop position of the automatic transport device2may be determined and the driving of the automatic transport device2may be controlled based on the traveling route, and the driving of the automatic transport device2may be controlled such that the current position of the automatic transport device2matches the stop position while collating the map information stored in the memory62with the recognition result of the object recognition sensor5. After the step S15, the process proceeds to step S16which will be described later.

Meanwhile, in a case where the current position of the automatic transport device2based on the recognition result of the object recognition sensor5is the stop position (YES in step S14), the target component is recognized based on the recognition result of the object recognition sensor5(step S16). At this time, the target container201is withdrawn using the hand12. In addition, by collating the shape information stored in the memory62(the shape information of the target component among the components C1, C2, and C3) with the recognition result of the object recognition sensor5, the position and the posture of the target component in the container201are grasped.

Next, the detachment work of the target component is performed (step S17). At this time, as illustrated inFIG. 10, first, one component to be detached among the plurality of target components in the container201is specified (step S32). In addition, it is determined whether or not the work is possible (step S33). At this time, as illustrated inFIG. 11, in a case where all of the plurality of target components (component C1illustrated in the drawing) overlap each other, it is determined that the work is not possible.

In a case where it is determined that the work is not possible (NO in step S33), the state of the target component changes (step S34). At this time, as illustrated inFIG. 12, by using the hand12, the states of the plurality of target components change such that the plurality of target components do not overlap each other. Here, for example, by moving the hand12in at least one of a center axis direction b1and a width direction b2, the work, such as pecking, rolling, and leveling, is performed with respect to at least one target component. The step S34is repeated until it is determined that the work is possible (NO in step S35).

In a case where it is determined that the work is possible (YES in steps S33and S35), the work for detaching the target component is executed (step S36). At this time, by collating the shape information stored in the memory62(the shape information of the target component among the components C1, C2, and C3) with the recognition result of the object recognition sensor5, the position and the posture of one specified target component are grasped. In addition, based on the position and the posture, the robot arm10and the hand12are operated, and the target component is gripped by the hand12and placed on the placing unit7. Further, it is preferable that the driving of the automatic transport device2is stopped while the robot arm10is being driven (working) (the same also during the replacement work which will be described later). Accordingly, it is possible to improve working accuracy.

The detachment work is repeated until the number of detached components reaches a set number (three in a case of the embodiment) (NO in step S18). By repeating the detachment work in this manner, as illustrated inFIG. 13, the target components (component C1in the drawing) are placed on each of the trays TR on the placing unit7. In addition, in a case where the number of detached components reaches the set number, it is determined whether or not the creation of the component kit CK is completed (step S19). At this time, when the component mounted on each of the trays TR is one (refer toFIG. 13) or two (refer toFIG. 14) among the components C1, C2, and C3, it is determined that the creation of the component kit CK is not completed (NO in step S19), the target component changes (step S20). At this time, for example, in a case illustrated inFIG. 13, the target component changes to the component C2, and in a case illustrated inFIG. 14, the target component changes to C3. In addition, the process proceeds to the above-described step S12.

When all of the components C1, C2, and C3are mounted on each of the trays TR as illustrated inFIG. 15, it is determined that the creation of the component kit CK has been completed (YES in step S19), the component kit creation mode (step S1illustrated inFIG. 8), and the process proceeds to the component kit replacement mode (step S2illustrated inFIG. 8).

Component Kit Replacement Mode

In the component kit replacement mode, as illustrated inFIG. 16, first, a replacement destination is set (step S21). The replacement destination is the workbench300.

Next, it is determined whether or not the position of the robot1(more specifically, the automatic transport device2) is the stop position based on the recognition result of the environment recognition sensor4(step S22). At this time, the current position of the automatic transport device2is grasped by collating the map information (particularly, the positional information of the workbench300) stored in the memory62with the recognition result of the environment recognition sensor4. In addition, the current position is compared with the position of the workbench300in the map information, and it is determined whether or not the current position is the stop position. The stop position is a position (work position) at which the robot arm10can place the component kit CK on the placing unit301or a position at which the object recognition sensor5can recognize the placing unit301of the workbench300.

In a case where the current position of the automatic transport device2is not the stop position based on the recognition result of the environment recognition sensor4(NO in step S22), the automatic transport device2is moved to the stop position based on the recognition result of the environment recognition sensor4(step S23). At this time, by using the comparison result in the above-described step S22, the traveling route to the stop position of the automatic transport device2may be determined and the driving of the automatic transport device2may be controlled based on the traveling route, and the driving of the automatic transport device2may be controlled such that the current position of the automatic transport device2matches the stop position while collating the map information stored in the memory62with the recognition result of the environment recognition sensor4. After the step S23, the process proceeds to step S24which will be described later.

Meanwhile, in a case where the current position of the automatic transport device2is the stop position based on the recognition result of the environment recognition sensor4(YES in step S22), it is determined whether or not the robot1(more specifically, the automatic transport device2) is the stop position based on the recognition result of the object recognition sensor5(step S24). At this time, the current position of the automatic transport device2is grasped by collating the map information (particularly, the shape information of the workbench300) stored in the memory62with the recognition result of the object recognition sensor5. In addition, the current position is compared with a work position (for example, a position of the placing unit301) of the workbench300in the map information, and it is determined whether or not the current position is the stop position. The stop position is a position at which the robot arm10can place the component kit CK on the placing unit301.

In a case where the current position of the automatic transport device2is not the stop position based on the recognition result of the object recognition sensor5(NO in step S24), the automatic transport device2is moved to the stop position based on the recognition result of the object recognition sensor5(step S25). Accordingly, fine adjustment of the position of the automatic transport device2can be performed. At this time, by using the comparison result in the above-described step S24, the traveling route to the stop position of the automatic transport device2may be determined and the driving of the automatic transport device2may be controlled based on the traveling route, and the driving of the automatic transport device2may be controlled such that the current position of the automatic transport device2matches the stop position while collating the map information stored in the memory62with the recognition result of the object recognition sensor5. After the step S25, the process proceeds to step S26which will be described later.

Meanwhile, in a case where the current position of the automatic transport device2based on the recognition result of the object recognition sensor5is the stop position (YES in step S24), the placing unit301which is at the replacement destination is recognized based on the recognition result of the object recognition sensor5(step S26). At this time, the position and the posture of the placing unit301are grasped by collating the information (the shape information of the workbench300) stored in the memory62with the recognition result of the object recognition sensor5.

Next, the replacement work of the component kit CK is performed (step S27). At this time, the tray TR is gripped with the hand12and the component kit CK is replaced onto the placing unit301from the placing unit7for each tray TR. In addition, it is determined whether or not the replacement of the component kit CK has been completed (step S28). It is determined that the replacement of the component kit CK has not been completed (NO in step S28), and the replacement destination changes as necessary (step S29). In addition, the process proceeds to the above-described step S22. Accordingly, as illustrated inFIG. 17, all of the component kits CK can be replaced on the placing unit301.

It is determined that the replacement of the component kit CK has been completed (YES in step S28), and the component kit replacement mode (step S2illustrated inFIG. 8) is terminated.

The robot system100described above includes: one robot arm10which performs the work with respect to the target (components C1, C2, C3, and the like); the object recognition sensor5which is disposed in the robot arm10and measures the shape of the target; and the control device6which is a control unit that controls the robot arm10based on the result measured (recognized) by the object recognition sensor5. The object recognition sensor5includes: the projection unit51which projects the striped pattern light LP to the target; the image capturing device52which captures the pattern light LP; and the calculation unit (processor)534which calculates the shape of the target based on the result captured by the image capturing device52. The projection unit51includes: the light source device511which emits the light LL that is a linear laser; the optical scanner512which generates the patterned light LP by reflecting the light LL from the light source device511toward the target and by scanning the target; and the scanner driver532which outputs the driving signal for non-resonantly driving the optical scanner512.

According to the robot system100, since the optical scanner512is non-resonantly driven, even when a change in temperature occurs, it is possible to drive the optical scanner512with a stable amplitude and frequency. Therefore, a circuit for reducing a change in characteristics due to the change in temperature is not required, and the size of the object recognition sensor5can be reduced. Furthermore, in general, the resonance driving is more power-saving, but in the robot system100, since the power supply to the object recognition sensor5can be received from the robot arm10, the automatic transport device2, or the control device6, while the optical scanner512is non-resonantly driven, it is not necessary to have a battery, and thus, this substantially contributes to reducing the size.

Here, the waveform of the driving signal output by the scanner driver532is the sinusoidal waveform (refer toFIG. 6). Accordingly, it becomes easy to generate the driving signal. Further, it is possible to reduce the number of cases where the frequency other than the driving frequency of the optical scanner512is included in the frequency components of the driving signal, and to stably perform the non-resonance driving of the optical scanner512.

In addition, it is preferable that the frequency of the driving signal output by the scanner driver532is within a range of 100 Hz to 4 kHz. Accordingly, it is possible to easily realize the non-resonance driving of the optical scanner512while making the measurement accuracy of the object recognition sensor5excellent.

Furthermore, the robot system100(more specifically, the object recognition sensor5) includes the light source driver531which outputs the modulating signal for driving the light source device511, and the waveform of the modulating signal is a waveform (the shape illustrated at the lower part ofFIG. 7) different from the sinusoidal waveform (the shape illustrated at the upper part ofFIG. 7). Specifically, when the deflection angle of the movable mirror unit5121is θ, the driving frequency is f, the maximum amplitude (mechanical angle) is θmax, the distance between the MEMS mirror and the projection surface is h, the time is t, the luminance range is A, and the luminance offset is B, the laser luminance is expressed by the following equation (1).

Accordingly, even when the speed of the deflection angle of the optical scanner512is not constant, it is possible to draw the striped pattern light LP representing the sinusoidal wave with brightness and darkness of the luminance value without luminance nonuniformity within the drawing range.

In the robot system100, it is preferable that the scanner driver532stops the output of the driving signal when the position or pose of the scanner is being moved by an operation of the robot arm10. Accordingly, it is possible to reduce damage to the optical scanner512due to an impact, such as collision during the operation of the robot arm10.

Further, the object recognition sensor5includes the failure detection sensor54for detecting a failure of the optical scanner512. Accordingly, it is possible to grasp whether or not the optical scanner512fails. Therefore, for example, in a case where the optical scanner512fails, by stopping the driving of the light source device511, it is possible to prevent high intensity light from the stopped optical scanner512from hitting a person and to improve safety.

Here, the optical scanner512includes the movable mirror unit5121, and the pair of shaft portions5122which support the movable mirror unit5121for swinging movement, and the failure detection sensor54has the distortion sensor5126provided in the shaft portion5122. The distortion sensor5126can be easily manufactured using a semiconductor manufacturing technology. Further, compared to a sensor for detecting other failures, such as an optical sensor, it is possible to reduce the size of the failure detection sensor54.

In addition, the robot system100includes the automatic transport device2which is mounted on the robot arm10and can travel without a track. Accordingly, the robot arm10can be moved, and the work can be performed over a wide range. In addition, since the automatic transport device2can travel without a track, equipment, such as a rail for guiding the traveling of the automatic transport device2becomes unnecessary or simplified, the equipment cost can be reduced.

Furthermore, the robot system100includes the environment recognition sensor4which recognizes the environment in the direction in which the automatic transport device2moves, and the automatic transport device2can travel based on the recognition result of the environment recognition sensor4. Accordingly, since equipment, such as a marker for guiding the traveling of the automatic transport device2becomes unnecessary or simplified, the equipment cost can be reduced. In addition, in a case where the working range is within the movable range of the robot arm10, the automatic transport device2can be omitted. In this case, the base30of the robot main body3may be fixed to the floor or the like.

Second Embodiment

FIG. 18is a perspective view illustrating a robot used in a robot system according to a second embodiment of the invention.

The embodiment is the same as the above-described first embodiment except that the invention is applied to a dual arm robot. Hereinafter, the second embodiment will be described focusing on differences from the above-described embodiments, and the description of similar matters will be omitted.

The robot system100A includes: an automatic transport device2A; a robot main body3A which has two robot arms10A mounted on the automatic transport device2A; the environment recognition sensor4which is disposed in the automatic transport device2A; the object recognition sensors5(shape measurement devices) which are disposed respectively in the automatic transport device2A and each of the robot arms10A; a control device6A (control unit) which controls operations of the automatic transport device2A and each of the robot arms10A; and a placing unit7A disposed in the automatic transport device2A, and configures a robot1A on which the members can travel.

The automatic transport device2A includes: the vehicle body211; a pair of front wheels22A and a pair of rear wheels23A attached to the vehicle body211; a pillar portion212which stands on the vehicle body211; a steering mechanism (not illustrated) which can change a steering angle of a pair of front wheels21A; and a driving unit (not illustrated) which is capable of driving the pair of rear wheels23A. Here, the placing unit7A which is capable of placing the plurality of component kits CK according to the above-described first embodiment is attached to the pillar portion212.

The robot main body3A is a multi-arm robot, and includes a base30A (body portion) which is connected to the upper portion of the pillar portion212of the automatic transport device2A and two robot arms10A which are rotatably connected to the left and right sides of the base30A. In addition, a hand12A is connected to each of the robot arms10A via a force detection sensor11A. Here, on the base30A, the environment recognition sensor4and the object recognition sensor5are disposed. In addition, the base30A is fixedly installed to the automatic transport device2A and can be said to be a part of the automatic transport device2A.

Each of the robot arms10A includes an arm31A (first arm), an arm32A (second arm), an arm33A (third arm), an arm34A (fourth arm), an arm35A (fifth arm), an arm36A (sixth arm), and an arm37A (seven arm). The arms31A to37A are linked to each other in this order from the base end side to the distal end side. In each of the arms31A to37A, two adjacent arms are rotatable with each other. Here, the object recognition sensor5is disposed in the arm37A of each of the robot arms10A.

The control device6A (control unit) has a function of controlling the driving of the automatic transport device2A and the robot arm10A based on the recognition results of the environment recognition sensor4and the object recognition sensor5.

More specifically, based on the recognition result of the environment recognition sensor4, the control device6A can move the automatic transport device2A such that each of the robot arms10A is in the position at which the work is possible with respect to the component storage unit200or the workbench300according to the above-described first embodiment. Further, when the robot main body3A (robot arm10A) is in the position at which the work is possible with respect to the component storage unit200, the control device6A can drive the robot main body3A to create the plurality of component kits CK on the placing unit7A based on the recognition result of the object recognition sensor5. Further, when the robot main body3A is in the position at which the work is possible with respect to the workbench300, the control device6A can drive the robot main body3A to replace the plurality of component kits CK onto the workbench300from above the placing unit7A based on the recognition result of the object recognition sensor5. In addition, the object recognition sensor5may not be disposed in the base30A and all of the robot arms10A, and may be disposed in any one or two of the robot arms.

According to the second embodiment described above, the same effects as those of the above-described first embodiment can be achieved. Further, in the robot system100A of the embodiment, the number of robot arms10A is two. Accordingly, a work efficiency can be improved and more complicated work can be performed. In addition, it is possible not only to create the component kit CK on the placing unit7A, and but also to perform work, such as assembly of the component kits CK on placing unit7A.

Above, the robot system of the invention is described based on the illustrated embodiments, but the invention is not limited thereto, and the configurations of each part can be replaced with any configuration having similar functions. In addition, any other configurations may be added to the invention.

Further, the invention may be a combination of any two or more configurations (features) of the above-described embodiments.

In the above-described embodiments, a case where the component kit CK including three types of component C1, C2, and C3one by one is created has been described as an example, but the number and the type of the components which configure the component kit CK are not limited thereto, and for example, the number of components included in the component kit CK may be two, four or more, and the component kit CK may include the plurality of components of the same type.

In addition, the number of arms (the number of joints) included in the robot arm is not limited to the number (6 or 7) of the above-described embodiments, and may be 1 to 5, or 8 or more.

Further, in the above-described embodiments, a case where the optical scanner used for the object recognition sensor is a moving magnet type has been described as an example, but the driving method of the optical scanner is not limited thereto, and a moving coil method, an electrostatic driving method, and a piezoelectric drive system or the like, may be employed.

In the above-described embodiments, a case where the automatic transport device having the robot arm mounted thereon travels based on the recognition result of the environment recognition sensor or the like has been described as an example, but the traveling of the automatic transport device is not limited thereto, and may be performed in accordance with a preset program or may be performed by remote control by an operator.

The entire disclosure of Japanese Patent Application No. 2017-186529, filed Sep. 27, 2017 is expressly incorporated by reference herein.