Control device, robot, and robot system

A robot comprising:

• an arm;
• a tool attached on the arm, the tool having a nozzle, a light emitter, and a light receiver, the nozzle being sandwiched between the light emitter and the light receiver when viewed along a first direction in a Z-axis;
• a memory configured to store computer-executable instructions;
• and
• a processor that is configured to execute the computer-executable instructions so as to control the arm,
• wherein the tool has a bottom surface in a first XY plane extending along an X-axis and a Y-axis orthogonal to each other, each of the X axis and the Y axis being orthogonal to the Z-axis, the nozzle projects from the bottom surface and has a first length along the first direction, the light emitter projects from the bottom surface and has a second length along the first direction, and the light receiver projects from the bottom surface and has a third length along the first direction,
• wherein the nozzle is configured to discharge a substance on a discharge position on a target along the first direction, the discharged substance having a first radius, a discharge port of the nozzle having a second radius,
• the light emitter is configured to emit a light to a first position on the target, and the light receiver is configured to receive a reflected light from the first position,
• wherein the processor is further configured to:
• cause the light emitter to emit the light to the first position on the target;
• cause the light receiver to receive the reflected light from the first position;
• measure a measurement value according to a relative distance between the tool and the first position on the target based on the received reflected light;
• and
• cause the nozzle to discharge the substance on the discharge position on the target using the measurement value while the processor is configured to move the arm along a predetermined trajectory on a second XY plane extending along the X-axis and the Y-axis,
• the discharge position and the first position are spaced apart from each other on the target for a first distance, and the first distance is equal to or more than a sum of the first radius and the second radius,
• wherein the first position and the discharge position are overlapped with the tool when viewed along the first direction, and
• the second length and the third length are substantially the same, and the first length is longer than each of the second length and the third length.

A robot system comprising:

• a robot that includes an arm;
• a tool is attached on the arm, the tool having a nozzle, a light emitter, and a light receiver, the nozzle being sandwiched between the light emitter and the light receiver when viewed along a first direction in a Z-axis;
• and
• a control device that includes:
• a memory configured to store computer-executable instructions;
• and
• a processor configured to execute the computer-executable instructions so as to control the arm,
• wherein the tool has a bottom surface in a first XY plane extending along an X-axis and a Y-axis orthogonal to each other, each of the X axis and the Y axis being orthogonal to the Z-axis, the nozzle projects from the bottom surface and has a first length along the first direction, the light emitter projects from the bottom surface and has a second length along the first direction, and the light receiver projects from the bottom surface and has a third length along the first direction,
• wherein the nozzle is configured to discharge a substance on a discharge position on a target along the first direction, the discharged substance having a first radius, a discharge port of the nozzle having a second radius,
• the light emitter is configured to emit a light to a first position on the target, and the light receiver is configured to receive a reflected light from the first position,
• wherein the processor is further configured to:
• cause the light emitter to emit the light to the first position on the target;
• cause the light receiver to receive the reflected light from the first position;
• measure a measurement value according to a relative distance between the tool and the first position on the target based on the received reflected light;
• and
• cause the nozzle to discharge the substance on the discharge position on the target using the measurement value while the processor is configured to move the arm along a predetermined trajectory on a second XY plane extending along the X-axis and the Y-axis,
• the discharge position and the first position are spaced apart from each other on the target for a first distance, and the first distance is equal to or more than a sum of the first radius and the second radius,
• wherein the first position and the discharge position are overlapped with the tool when viewed along the first direction, and
• the second length and the third length are substantially the same, and the first length is longer than each of the second length and the third length.