Work robot and work system
A work robot sequentially holds multiple workpieces supplied to a supply area and moves the held workpieces to a work area. The work robot includes an image-capturing device configured to capture images of the multiple workpieces supplied to the supply area in random orientations and positions, an image processing device configured to recognize multiple workpiece regions from the images captured by the image-capturing device, obtain an area and a position of each of the recognized multiple workpiece regions, and obtain a distance between each workpiece region and the work area or the work robot, and a control device configured to determine a holding order of the workpiece based on the areas of the multiple workpiece regions and the distance between each workpiece region and the work area or the work robot as obtained by the image processing device.
1. A work robot for sequentially holding multiple workpieces supplied to a supply area and moving the held workpieces to a work area, the work robot comprising:
an image-capturing device configured to capture images of the multiple workpieces supplied to the supply area in random orientations and positions;
an image processing device configured to
recognize multiple workpiece regions from the images captured by the image-capturing device,
obtain an area and a position of each of the recognized multiple workpiece regions,
determine the number of workpieces existing inside the workpiece region based on the area of the workpiece region,
obtain a distance between each workpiece region and the work area or the work robot,
determine a priority for each workpiece region based on the number of workpieces existing inside the multiple workpiece regions and the distance between each workpiece region and the work area or the work robot as obtained by the image processing device, the priority being set so that a workpiece located in a region where the number of existing workpieces is smaller among the multiple workpiece regions is held with a higher priority, and when the number of existing workpieces is the same among the multiple workpiece regions, a workpiece located in a region having a shorter distance to the work area or the work robot is held with a higher priority,
perform precise positioning of each workpiece in the region by applying pattern matching to the image, and counting a number of workpieces recognized by the precise positioning,
perform an interference check of each workpiece to determine whether the workpiece interferes with a peripheral workpiece when the workpiece is held by a tool mounted on a distal end of the work robot, and
determine a gripping order for each workpiece so that the workpiece determined to be grippable by the interference check is gripped in order from the workpiece having the highest priority; and
a control device configured to set a gripping target workpiece according to the gripping order, and control the work robot to grip to gripping target workpiece.
2. The work robot according to claim 1 ,
wherein the work robot mounts multiple types of tools, and
the image processing device sets an interference area in accordance with the tool mounted on the articulated arm, and performs the interference check based on whether the peripheral workpiece is present in the set interference area.
3. The work robot according to claim 2 ,
wherein the work robot mounts an electromagnetic chuck configured to grip a bolt-shaped workpiece, a mechanical chuck configured to grip a cylindrical workpiece, and a suction nozzle configured to grip the cylindrical workpiece.
4. A work system comprising:
the work robot according to claim 1 ; and
a loosening device configured to loosen a lump of the multiple workpieces supplied to the supply area,
wherein the control device drives and controls the loosening device when it is determined that the workpiece remains in the supply area and none of the remaining workpieces is held by the work robot.