JPH0446780A - Self-travelling truck and stage for robot and its positioning method - Google Patents

Abstract

PURPOSE:To position and fix a working robot securely by providing a fixing means for sucking a stage surface and positioning a working robot at a working position thereof for fixation in a self-travelling truck of the working robot. CONSTITUTION:The output signal from position detecting sensors provided at three parts of a self-travelling truck 2 is received by a mark on a course surface 30a and a sensor 41 provided in a space under the course surface 30a through this mark. An original position of a working robot 1 is detected with this receiving to confirm a moving start of the working robot 1 and the conclusion of positioning at the original position. Thereafter, the working robot 1 is moved to near a mark part 39 of a working position, and the output signal of a sensor provided in the lower surface of the self-travelling truck 2 is received by the mark 39 on the course surface 30a and the sensor 41 provided in a space under the course surface 30a through this mark 39, and a working position is detected with this receiving to conclude a preparation for positioning the working robot 1 for fixation and positioning at a working position.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a robot that performs work by moving on a stage dedicated to robot work, and in particular, the present invention relates to a robot that works by moving on a stage dedicated to robot work. The present invention relates to a self-propelled cart and stage for a robot suitable for freely selectively moving and accurately detecting a plurality of arbitrarily set work positions, and a positioning method.

[Prior Art] Conventionally, an unmanned self-propelled trolley moves along a magnetic induction band provided on the floor surface on which the self-propelled trolley runs.

A self-propelled cart configured to detect with a magnetic detection sensor installed on a self-propelled cart and move along the magnetic induction zone while determining the deviation from the magnetic induction zone (for example, Japanese Patent Laid-Open No. 59-202512)
, and also part of the driving road surface.

A color line for guiding moving vehicles, which is formed by painting a predetermined width of paint with a color different from that of the road surface, is color-detected by an optical sensor installed in the moving vehicle while the vehicle is traveling, and based on the detected information, it is (For example, Japanese Patent Application Laid-Open No. 63-36409), which is configured to move along the traveling route so as not to deviate from the color line while passing the self-propelled trolley. The optical reflective tape is traveled while being imaged by an optical camera (TV camera) attached to the self-propelled cart, and the relative position of the self-propelled cart and the optical reflective tape is detected based on the imaging position while traveling along the tape. Those with a moving configuration (for example, Japanese Patent Application Laid-open No. 121507/1983) were common.

In addition, the drive system for self-propelled carts is generally two-wheel drive, in which driven wheels are provided at the front and rear of the self-propelled cart, and each driven wheel is attached via a suspension mechanism. .

On the other hand, in order to position the self-propelled cart at a predetermined position, a mechanical positioning mechanism in which both the self-propelled cart and the floor engage with each other is placed at a preset stop position of the self-propelled cart, and one of the positioning mechanisms is A self-propelled cart with the other side provided on the floor, and the positioning mechanism is actuated to fix the self-propelled cart (for example, Japanese Patent Application Laid-Open No. 58-43856;
8-43857) has been proposed.

In addition, the power source for running the self-propelled trolley may be loaded on the self-propelled trolley or not, but if it is not loaded, the self-propelled trolley may be placed on the floor, etc. It was connected to an external power source using a cable, and when the self-propelled trolley ran, it ran the power cable and signal cable on the floor.

[Problems to be Solved by the Invention] Among the above-mentioned conventional technologies, those having a structure of detecting a magnetic induction band and moving along the magnetic induction band while determining the deviation from the magnetic induction band (for example, Japanese Patent Laid-Open No. 59 -202512 Publication)
Or, a color line formed by painting a part of the driving road surface for guiding moving vehicles is detected by an optical sensor, and the vehicle moves along the color line (for example, Japanese Patent Laid-Open No. 6
3-36409), the magnetic induction band or color line may become dirty or damaged,
This problem not only limits its use in places where such a possibility exists, but also prevents it from traveling on a predetermined travel course because it becomes impossible to accurately detect these from the self-propelled trolley. It had a point. Furthermore, an optical reflective tape may be moved along the tape while being imaged by a TV camera (for example, JP-A-59
-121507 Publication), if the lighting conditions change or if there are moving objects (large objects or equipment) that cast shadows around the lighting, imaging may be incomplete and the specified movement may not be possible. The problem was that the course could not be accurately controlled.

On the other hand, there is a structure in which the self-propelled cart is fixed by a mechanical positioning mechanism in which the above-mentioned conventional self-propelled cart is provided on the floor and the two engage with each other (e.g., 43856. Japanese Unexamined Patent Publication No. 58-43857), since the movement of the self-propelled cart is restricted by the positioning mechanism, the operating range of the self-propelled cart is narrowed, and the mechanical mechanism on the floor is This poses a problem in that it becomes an obstacle when determining the travel course of a self-propelled trolley, and that the floor surface cannot be shared with other self-propelled trolleys.

It is also installed outside the self-propelled trolley. In conventional self-propelled carts that run by running cables connected to the power supply on the floor, the weight of the cables being routed and the frictional resistance with the floor create an imbalance in the running resistance of the active shaft. It travels obliquely, causing a deviation from the predetermined course of movement.

Although the occurrence of this deviation can be corrected by the various detection devices mentioned above, if the deviation is large, there is a high possibility that the target work position cannot be reached. Therefore, always check the tape and color line on the floor surface. The problem was that it had to be moved.

Furthermore, in the conventional self-propelled cart in which each driven wheel is attached via a suspension mechanism, the permissible load that can be placed on the self-propelled cart is limited to a small amount due to insufficient rigidity of the load support part due to the provision of the suspension mechanism. However, it was difficult to load the robot onto a self-propelled trolley.

In view of the above-mentioned problems of the prior art, the present invention provides for freely selecting and moving each of a plurality of work positions arbitrarily set in advance on a stage having a movement area of a certain size along an arbitrary route from the origin position. A self-propelled trolley for a work robot and its positioning method, which allows the work robot to be formed by loading the robot on the self-propelled trolley at a selected working position and work while reliably fixing the position. The purpose is to provide

[Means for Solving the Problems] In order to achieve the above object, the present invention includes a method of mounting a robot on a self-propelled cart to form a working robot, and attaching a stage to the self-propelled cart of the working robot. The construction is such that a fixing means is provided to fix the work robot at its work position, and on the one hand, the self-propelled stage of the work robot is made of a magnetic material and has a smooth running surface, and on the other hand, the robot's origin position and work position are fixed. For positioning, output signals from position detection sensors provided at three locations on the underside of the self-propelled cart are received by a mark on the running road surface and a sensor provided in the space below the running road surface via the mark, Upon this reception, the origin position of the work robot is detected, and the start of movement of the work robot and the completion of positioning at the origin position are confirmed, and after this confirmation, the work robot is moved to the vicinity of the mark of the work position and the self-propelled trolley is moved. The output signal from the sensor on the bottom surface is received by a mark on the track surface and a sensor provided in the space below the track surface via the mark, and the work position is detected by the reception, and the work position is prepared for fixing the work robot's position and the work position is performed. This positioning method is configured to complete the positioning in the following.

The self-propelled trolley is provided with driving wheels and its drive mechanism on the left and right sides of the center of the lower surface of the self-propelled trolley so as to be capable of forward and backward movement and steering, and on the other hand, driven wheels are provided on the lower surface of the self-propelled trolley with the front and drive mechanisms thereof in the direction of movement. They are respectively disposed at the rear, and the center of gravity of the robot on the self-propelled trolley when traveling is located within a triangle formed by connecting the grounding points of the left and right driving wheels and either driven wheel. It is preferable to load the robot on a self-propelled trolley so that it can turn via a bearing, absorb the inertia force when the robot turns, and automatically return the robot to the neutral position before turning. It is preferable to adopt a configuration in which a shock absorbing mechanism is provided. The means for fixing the self-propelled cart at the working position may be constituted by vertically movable electromagnets provided at a plurality of locations on the self-propelled cart that levitates and fixes each wheel of the working robot above the stage surface.

On the other hand, for the emergency stop of the robot, an emergency stop means is provided which consists of a pressure sensor provided on the entire circumference of the self-propelled cart and a signal circuit that stops the drive mechanism of the rotating wheels in conjunction with the activation signal of the pressure sensor. It is desirable to have a configuration.

Furthermore, by detecting the origin position and each of a plurality of work positions, and by freely selecting any route between the origin position and each work position, the self-propelled dolly can be moved to The structure is such that sensors for detecting the origin position and work position are installed at three locations, including two located slightly away from the center of rotation.
In addition, the cable connected to the work robot is supported by multiple carriers with rollers and routed on the stage surface, and the cable that is routed moves back and forth between the work robot's origin position and the work position. In some cases, it may be preferable to have a configuration in which the vehicle is always positioned behind the self-propelled trolley and moves.

Further, it is preferable that the stage for the work robot has a structure in which a traveling area surrounded by a fence made of a plate-like member is set at a height that can contact a pressure sensor provided around the self-propelled cart, A double structure is formed between the running surface of the upper stage work robot and the lower stage surface through a space, and a mark indicating a preset origin position of the working robot is placed on the running track surface, and a mark is placed at an arbitrary position on the running track surface. Marks indicating the number of work positions are provided, and among the marks, a sensor is placed in the space at a mark position corresponding to a sensor provided on the work robot when the work robot is at the origin position or the work position. It is preferable to adopt a configuration in which a sensor for detecting the output signal is provided. In addition, a configuration in which a plurality of work robots are arranged on the same stage, each work robot is moved at different times by a controller that controls the movement and positioning of the work robot, and a work area and a running area on the floor are shared. It is better to make it .

[Operation] A mark at the center of rotation at the origin position provided on the stage is detected by a sensor provided at the center of rotation on the lower surface of the self-propelled cart of the work robot, and after this detection, the robot is moved onto the stage at a distance slightly from the mark. The provided direction detection mark is detected by a sensor provided on the underside of the self-propelled cart at a position corresponding to the mark, confirming completion of positioning of the work robot at its home position, and completion of preparations to start moving to the work position. Check.

To move from the origin position to the work position, the center of gravity of the robot on the self-propelled trolley during movement is determined by the drive wheels installed on the left and right sides of the center of the lower surface of the self-propelled trolley, and the follower wheels installed at the front and rear parts in the direction of movement. Because it is positioned within the triangle formed by connecting the grounding point of one of the driving wheels with the driven wheel, it is ensured that all three wheels are in contact with the stage surface and the stage surface is slightly inclined. It is possible to drive stably even when Furthermore, since there is only a small tape-shaped mark on the stage that displays the origin position and work position of the work robot and is detected by the handle sensor, the self-propelled trolley can not only travel, but also the cables connected to the work robot. The running of a carrier with multiple rollers that supports the
It becomes possible to travel with extremely low running resistance. When the working robot moves back and forth between the origin position and the working position, the routed cable is always positioned behind the self-propelled cart, so that the cable and the self-propelled cart are connected to each other. This eliminates tangles and makes it possible to freely travel along any route. In addition, in the event that the work robot attempts to escape from the inside of the stage while traveling, the pressure sensors installed on the entire circumference of the self-propelled cart will come into contact with the plate material installed around the stage. The emergency stop means operates in conjunction with the operation to stop the travel drive device of the self-propelled trolley, thereby preventing it from escaping to the outside.

The work robot that has moved to the vicinity of the marking part of the work position is placed on the lower surface of the self-propelled cart by placing a mark for the rotation center position at the work position on the stage and a mark for direction detection, in the same manner as the positioning at the origin position. The robot is detected by the sensor, and the positioning at the work position and the preparation for fixing the work robot at the position are completed.

To fix the work robot at the work position, a stage made of magnetic material and with a smooth surface is connected to a cylinder and electromagnets arranged at multiple locations that can move up and down are attached to the cylinder by extending the cylinder, and then the work robot is fixed at the work position. Press and fix the stage surface until each wheel of the robot rises above the stage surface.

Therefore, the working robot is reliably fixed at the determined working position without shifting. By forming the stage into a double structure with an upper and lower stage, and installing a sensor for detecting marks in the space between the upper and lower stages, it is possible to easily create a stage with a smooth surface made of magnetic material using an iron plate or the like on the upper stage. In addition, since there are no obstacles at all by simply placing the small tape-like mark on the stage, it is possible to move freely on the stage, and it is possible to move freely on the stage. communication can be performed reliably and easily, and the origin position and work position can be accurately detected. Therefore, by moving the work robots at different times, it becomes possible to arrange multiple work robots on the same stage, and furthermore, it is possible to arrange multiple work robots on the same stage, and also to set multiple origin positions and tasks corresponding to these multiple work robots. It is also possible to arrange the positions, and it becomes possible to move a plurality of work robots to arbitrary work positions and perform work.

A working robot that is fixed at a working position performs various operations including turning movements, but among these movements, the working robot is particularly likely to be displaced due to impact force at the time of starting and stopping the turning movement. However, by providing the self-propelled cart with a buffer mechanism that absorbs the inertial force when the robot on the self-propelled cart turns and automatically returns the robot to the neutral position before turning, this positional shift can be prevented. This makes it possible to maintain the initial fixed state of the working robot at its working position.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 12. FIG. 1 is an overall view of the self-propelled truck seen from below, and FIG. 2 is a sectional view taken along line nn in FIG.

FIG. 3 is a view taken along the line m-m in FIG. 1, showing the working robot fixed at the working position, and FIG.
5 is a diagram showing the relationship between the structure of the stage and working robots, FIG. 6 is a perspective view of FIG. 5, and FIG. 7 is a diagram showing the case where two working robots are placed on the same stage. Figure 8 is an illustration of the running state on an inclined stage, Figure 9 is an illustration of the center of gravity position of the robot loaded on a self-propelled cart, and Figure 10 is an illustration of marks provided on the stage and for position detection. Fig. 11 is an explanatory diagram of the relationship between the robot's origin position and the working position and the connection cable and the direction of the self-propelled cart, and Fig. 12 is a block diagram showing the overall system configuration. It is.

In Figures 1 to 3, 1 is a robot, 1a is a base of the robot 1, 3 is a swing base on which the base 1a is placed, and 4 is a trolley base to which the swing base 3 is rotatably attached via a bearing. , in this example, the base la
, the swing base 3 and the truck base 4 are both circular and coaxially arranged. Reference numeral 5 designates a pair of travel drive actuators provided on the left and right sides of the lower center of the bogie base 4. Steering is also possible by rotating the fixed drive wheels 9 and driving the pair of drive actuators 5, 5. Reference numerals 10 and 11 denote driven wheels arranged at the front and rear parts of the truck base 4 in the traveling direction M, respectively, and the driven wheels 10 are fixed frames 12 fixed to the truck base 4.
The fixed casters 13 are supported by the casters 13. 14 supports the driven wheel 11 at one end, and a pin 16 is attached to the caster frame 15 whose middle part is fixed to the lower surface of the truck base 4.
A movable frame 17 is supported between the driven wheel 11 side of the movable frame 14 and the lower surface of the trolley base 4, and is formed so that the other end faces and is close to the lower surface of the trolley base 4. The compressed spring constitutes a movable caster 18 together with the driven wheel 11 and numerals 14 to 16. When the running surface 30a is inclined, the movable caster 18 receives a push-up force, bends the compression spring 17, and can swing vertically about the pin 16 as a fulcrum. Reference numeral 2 denotes a self-propelled trolley constituted by reference numerals 3 to 18, and even if the movable casters 18 swing during running due to the slope of the running surface 30a as described above, the loaded robot can be moved as shown in FIG. The center of gravity 1b of 1 is driven @9
9 and the grounding point of the driven wheel 10 to the running road surface 30a.

As shown in FIGS. 1 and 3, the self-propelled cart 2 is provided with a fixing means for fixing the working robot at a working position. Reference numeral 20 indicates pneumatic cylinders (four in this embodiment) attached to the lower surface of the truck base 4 with the lower surface arranged equally, and 21 is connected to each pneumatic cylinder 20, respectively. The electromagnet 21 is an electromagnet that can be moved up and down by expansion and contraction, and when the pneumatic cylinder 20 expands, the electromagnet 21 is pressed against the running surface 30a of the stage 30 made of magnetic material, moving the driving wheels 9, 9 and the driven wheels 10 and 11 onto the running surface 30a.
The object is made to float further, and at the same time, the surface is attracted and fixed in position.

In addition, as shown in FIGS. 1 and 4, the self-propelled cart 2 is equipped with a buffer that absorbs the inertial force when the robot 1 turns and automatically returns the robot 1 to the neutral position before turning. A mechanism is provided.

3a is a stopper fixed to the lower surface of the swing base 3;
22. 22 is a pair of blocks fixed to the lower surface of the truck base 4, 23 is a pin that is slidably inserted into a hole bored in the block 22, and the stopper 3a side of the pin 23 is inserted. A spring receiver 24 is attached to the end of the block 22, and a spring 25 fitted between the spring receiver 24 and the block 22 is arranged to pinch the stopper 3a from both sides via the spring receiver 24. . 26 is a nut screwed onto the other end of the pin 23.

1 and 2, reference numeral 27 denotes a sensor plate provided on the lower surface of the truck base 4 at a position along the traveling direction of the arrow M including the turning center IC.
7 is disposed to hang down from the truck base 4 to a level approaching the stage running surface 3a. Reference numeral 28 is a reflective optical sensor provided at the rotation center 1c of the sensor plate 27, and 29a and 29b are also the sensor plate 2.
A pair of reflective optical sensors 7 are provided at a position forward of the reflective optical sensor 28 in the traveling direction, and are arranged symmetrically with respect to the center line in the traveling direction.

In FIGS. 5 to 7, 30 is a magnetic material (made of iron plate in this example), and 2 has a smooth running surface 30a on the upper surface.
Stage 31 is in the upper stage of the double structure, 32 is the floor in the lower stage of the double structure.
3 is a stage frame that supports the stage 30, and 33 is a leveler for adjusting the height of the stage 30, and the levelers 33 are provided at a plurality of locations. Reference numeral 34 denotes a fence made of a plate material that surrounds the entire circumference of the stage 30, and the fence 34 is provided at a height such that it can come into contact with a pressure sensor 35 attached around the cart base 4. 36 is a space formed between the stage 30 and the floor 31. 37 is a tape-shaped circular mark that indicates the turning center position of the work robot's origin position that is preset on the running surface 30a; 38 is a mark 3;
7 is a triangular tape-shaped mark for detecting the direction of the working robot at the origin position, and 39 indicates the turning center position of the working robot at a working position arbitrarily set on the running surface 30a. The tape-shaped circular mark 4o is a triangular tape-shaped mark provided close to the mark 39 for detecting the direction of the working robot at the working position.

The shape of each of these marks is not limited to circular or triangular, but may be any other shape. Reference numeral 41 denotes a transmission type optical sensor attached to the lower surface of the stage 3o at a position corresponding to the marks 38 and 40. , are provided at positions corresponding to the reflective sensors 29a and 29b attached to the sensor plate 27, as shown in FIG. 42
A signal cable is connected to the optical sensor 41 and the encoder 7, and a controller 43 is installed outside the stage 30 to control movement and positioning of the working robot. 44 is a work table used by the work robot at the work position. Reference numeral 45 denotes a power and signal connection cable, which connects the controller 43 with connectors 46 and 47 provided at the rear of the truck base 4 shown in FIG. Reference numeral 48 denotes a carrier that supports the connection cable 45 to be routed around the work robot on the stage running surface 30a, ): The carrier 48 is made up of a roller 49 that can rotate freely in any direction and a cable holder 50 that clamps the connection cable 45. , are arranged at appropriate intervals. 51 is a hole provided in the stage 3o for pulling out the connection cable 45 from the space 36 below the stage 30, and 52 is a solenoid valve attached to the bottom surface of the trolley base 4 as shown in FIG. It is.

Next, the operation of the above embodiment will be explained.

First, in FIG. 7, by operating the controller 43, mark 3 is placed on the stage running surface 30a at the origin position.
7 is searched and detected by the optical sensor 28 provided at the center of rotation on the lower surface of the cart base 4 until the optical sensor 28 turns on, and after the detection, the pair of drive actuators 5 are moved while the work robot is rotating. The vehicle is driven to turn around tL11c, and the mark 38 is searched by the optical sensors 29a and 29b provided on the lower surface of the one-cart base 4, as shown in FIG. 10, until the optical sensors 29a and 29b turn on. Detect and align at the origin position.

Then, the output light of the optical sensors 29a and 29b is transmitted to an optical sensor 4 provided on the lower surface of the stage 30 corresponding to the position.
1, the positioning of the self-propelled cart 2 at the origin position and preparation for movement to the work position are completed, and the signal is transmitted to the controller 43 via the signal cable 42.

Next, the working robot is moved to the working position by a movement command from the controller 43. During the movement, as shown in FIGS. 5 to 7, the connecting cable 45 is connected to the running surface 30a.
However, since it has to be routed upwards when traveling, it will experience running resistance accordingly.

The running surface 30a is smooth, and in the present invention, as shown in FIG.
Triangle 1 formed by connecting the grounding points of 9 and the driven wheel 10
9, and the connection cable 45 is supported by a plurality of carriers 48 equipped with rollers 49 that can freely rotate in any direction, and the marks 37 to 40 are tape-shaped small-area marks. Therefore, when running on the running road surface 30a, at least three wheels are securely in contact with the running road surface 30a, and the running is possible with extremely low running resistance, so even if the running road surface 30a is somewhat inclined, the running is stable. You can run with it.

On the other hand, if the running surface 30a is inclined.

Generally, one of the wheels does not touch the ground, but in the present invention, as shown in FIG. Since the robot 1 can be swung upward and the center of gravity 1b of the robot 1 can be kept within the triangle 19 as shown in FIG. It is possible,
It is possible to run stably.

Furthermore, the behavior of the working robot and the connecting cable 45 when the working robot moves back and forth between the origin position and the working position is as shown in FIG. 11(a)! (Original position), the self-propelled cart 2 is rotated in the direction of the arrow, the connection cable 45 is positioned behind the self-propelled cart 2, and the self-propelled cart 2 is directed toward the target work table 44. Next, as shown in FIG. 11(b), the self-propelled cart 2 is moved in the direction of arrow B to a predetermined position 1 (work position) near the work table 44. After the work at this position is completed, as shown in FIG. 11(c), the self-propelled trolley 2 is rotated in the direction of arrow C to direct the self-propelled trolley 2 toward the origin position, and the connection cable 45 is moved to the self-propelled position. It is positioned at the rear of the trolley 2 and moved in the direction of the arrow to the original origin position, as shown in FIG. 11(d). By moving the work robot in this manner, the connection cable 45 always follows the rear of the self-propelled cart 2.

During reciprocating movement between the origin position and the work position, the connection cable 45 and the self-propelled trolley 2 are no longer entangled, and it becomes possible to freely travel along any travel route. In addition, in the event that the working robot attempts to escape from the inside of the stage 30 to the outside during the above-mentioned movement, the pressure sensor 35 provided around the self-propelled cart 2 will be activated by the fence 34 surrounding the entire circumference of the stage 30. It is activated by contact, and an activation signal is transmitted to the controller 43 via the connection cable 45 to stop the drive actuator 5 and bring the self-propelled cart 2 to an emergency stop, thereby preventing it from running away.

The work robot that has moved to the vicinity of the work position mark first rotates the work position mark 39 provided on the running track surface 30a shown in FIG. The optical sensor 28 provided at the center searches and detects the optical sensor 28 until it turns on, and after the detection, the pair of drive actuators 5 are driven so that the work robot rotates around the rotation center 1c. The marks 40 are detected by the optical sensors 29a, 29b provided on the lower surface of the truck base 4.
Search and detect until b turns on, and perform positioning at the origin position. And optical sensors 29a, 29
The output light b is detected by the optical sensor 41 provided corresponding to the position, and the positioning and fixing preparation of the self-propelled cart 2 at the working position are completed.

Positioning at the origin position and the work position is achieved by forming the stage 30 into a double structure with upper and lower stages, and by providing an optical sensor 41 for position detection in the space 36 between the upper and lower stages. 43 can be performed reliably and easily, and the positioning can be performed accurately. Further, the double structure of the stage 30 allows the upper running surface 30a to be easily made of a magnetic material such as an iron plate, and furthermore, the width of the stage 30 can be increased arbitrarily, so that the same stage 30 can be used. It is now possible to arrange multiple work robots and share the work area and running area.

By providing a plurality of origin positions and work positions corresponding to these plurality of work robots, it becomes possible to make each of the plurality of work robots travel to arbitrary work positions and perform work.

To fix the working robot in the working position, the solenoid valve 52 is activated, each pneumatic cylinder 2o is extended as shown in FIG. Then, the driving wheels 9, 9 and the driven wheels 10, 11 are all pressed until they float above the running road surface 30a to complete the fixation. By fixing in this way, the working robot can be reliably fixed at the determined working position without shifting.

The work robot fixed at the work position is placed on the work table 4.
4 is used to perform various operations including a turning operation in the direction of arrow R shown in FIG. 4 to perform predetermined work. In this case, the turning operation of the robot 1 tends to cause the self-propelled cart 2 to shift position due to the inertial force at the time of starting and stopping. 2
4 in the turning direction and deflecting the spring 25, the impact force due to the turning operation is prevented from acting on the self-propelled cart 2. After absorbing the inertial force, the compressed spring 25
The restoring force allows the robot 1 to automatically return to the neutral position before turning. Therefore, the fixed state of the working robot at the working position can be maintained as is, and the orientation of the robot 1 can always be automatically maintained in a fixed direction (in the case of this embodiment, toward the direction of movement M).

[Effects of the Invention] Since the present invention is configured as described above, each of a plurality of work positions arbitrarily set in advance on a stage forming a moving area of a certain size can be moved arbitrarily from the origin position. This has the effect that a working robot formed by freely selecting and moving a route and accurately detecting it, and loading the robot on a self-propelled cart at a selected working position can be reliably fixed in position and work.

[Brief explanation of the drawing]

Fig. 1 is an overall view of a self-propelled trolley according to an embodiment of the present invention viewed from below, Fig. 2 is a sectional view taken along the line ■-■ in Fig. 1, and Fig. 3 is a view taken along the -■ arrow in Fig. 1. FIG. 4 is a view taken along the rV-IV arrow in FIG. 1, FIG. 5 is a diagram showing the relationship between the stage configuration and the working robot, and FIG. is a perspective view of FIG. 5, FIG. 7 is an explanatory diagram of two working robots arranged on the same stage, FIG. 8 is an explanatory diagram of running state on an inclined stage, and FIG. 9 is an illustration of a robot on a self-propelled cart. Illustration of the center of gravity position of the robot loaded on the
Figure 0 is an explanatory diagram of the relationship between the mark provided on the stage and the sensor for position detection, and Figure 11 is an explanatory diagram of the relationship between the orientation of the self-propelled cart and the connection cable between the origin position of the working robot and the working position. , FIG. 12 is a block diagram showing the overall system configuration. DESCRIPTION OF SYMBOLS 1... Robot, 2... Self-propelled trolley, 3... Swivel base, 3a... Stopper, 4... Dolly base, 5...
...Opening actuator, 9...Drive wheel, 10.1
1... Driven wheel, 13... Fixed caster, 18... Movable caster, 21... Electromagnet, 28. 29a, 29b.
... Reflective optical sensor, 30... Stage, 30a.
...Running surface, 34...Fence, 35...Pressure sensor, 3
6...Space part, 37,38.39.40...Mark, 41...Transmissive optical sensor, 43...Controller, 45...Connection cable, 48...Carrier, 52... ·solenoid valve. Agent Patent Attorney Masami Akimoto 1st Review: ・÷qv L－伽■・f8－1 1st time at night @2 Figure A 3 Figure B 35--Reaction force 4 Figure 3a-11 Stozuha 1 24---+Main Selection 25--11゛Ne 15 Fig. 36-4 Edges completed Fig. 39--Zook 40-1-Mark No.?Fig. Figure 1b-heavy 1υ゛bu C-tE middle 1υ L-7 direction center Suesaka M-3; LK ellipse arrow Figure 10 Figure 11 Figure 12

Claims (1)

[Scope of Claims] 1. In a self-propelled cart for a robot that can self-propel on a stage, a robot is loaded on the self-propelled cart to form a working robot, and the self-propelled cart of the working robot has the above-mentioned A self-propelled trolley for a robot, characterized in that it is provided with a fixing means for fixing the working robot at its working position by adsorbing the stage surface. 2. Driving wheels and their drive mechanisms are provided on the left and right sides of the center of the lower surface of the self-propelled trolley to enable forward and backward movement and steering, while driven wheels are arranged on the lower surface of the self-propelled trolley at the front and rear portions in the direction of movement, respectively. one of the driven wheels is supported so as to be able to swing up and down using a pin placed perpendicular to the traveling direction as a fulcrum, and the center of gravity of the robot on the self-propelled trolley is aligned with the supported driven wheel when traveling. 2. The self-propelled cart for a robot according to claim 1, wherein the self-propelled cart for a robot is configured to be positioned within a triangle formed by connecting the grounding points of the left and right driving wheels and the other driven wheel other than the driving wheel. 3. On the underside of the robot, the robot is loaded on the self-propelled cart so that it can turn via a bearing, absorbs the inertial force when the robot turns, and automatically returns the robot to the neutral position before turning. 3. The self-propelled cart for a robot according to claim 1, further comprising a buffer mechanism comprising a fixed stopper and a spring mechanism provided on both sides of the stopper on the lower surface of the self-propelled cart. 4. The fixing means for fixing the working robot at a working position by adsorbing the stage surface includes electromagnets arranged at a plurality of locations connected to a cylinder and movable up and down. 4. The self-propelled cart for a robot according to claim 1, wherein the self-propelled cart for a robot is configured to be fixed by pressing against the stage surface until each wheel floats above the stage surface. 5. Claim 1, further comprising an emergency stop means comprising a pressure sensor provided on the entire circumferential surface of the self-propelled trolley, and a signal circuit that stops the drive mechanism of the drive wheels in conjunction with the activation signal of the pressure sensor. A self-propelled trolley for the robot described in 2 or 3. 6. Position detection sensors are provided at three locations in total: a center of rotation on the lower surface of the self-propelled trolley and two points located slightly away from the center of rotation and opposed to each other. A self-propelled trolley for the robot according to 1, 2 or 3. 7. Claim 1, 2 or 3, wherein the cable connecting the controller for controlling the movement and positioning of the working robot and the working robot is supported by a plurality of carriers with rollers and routed around the stage. A self-propelled trolley for the robot described. 8. When the cable routed on the stage moves back and forth between the origin position and the work position of the work robot, the cable is always positioned behind the work robot in combination with the movement direction posture of the work robot. Claim 1 is configured to
, 2, 3 or 7. 9. A stage for a robot, characterized in that the self-propelled stage of the working robot is made of magnetic material and has a smooth running surface. 10. The robot stage according to claim 9, wherein a running area surrounded by a fence made of a plate-like member is set at a height that allows contact with a pressure sensor provided around the self-propelled cart. A stage for robots. 11. The stage for the working robot is formed into a double structure with a running surface for the upper working robot and a lower running surface via a space, and a preset origin position of the working robot is displayed on the running track surface. A mark indicating an arbitrary number of work positions is provided at an arbitrary position, and among the marks, a mark position corresponding to a sensor installed on the work robot when the work robot is at the origin position or the work position is provided. 10. The stage for a robot according to claim 9, wherein a sensor for detecting an output signal of the sensor is provided in the space. 12. A configuration in which a plurality of work robots are placed on the same stage, each work robot is moved at different times by a controller that controls the movement and positioning of the work robot, and the work area and travel area of the stage are shared. The stage for a robot according to claim 9. 13. Output signals from position detection sensors provided at three locations on the underside of the self-propelled vehicle are received by marks on the running road surface and sensors provided in the space below the running road surface via the marks, and Upon reception, the origin position of the work robot is detected, and the start of movement of the work robot and the completion of positioning at the origin position are confirmed, and after this confirmation, the work robot is moved to the vicinity of the mark of the work position, and the work robot is moved to the lower surface of the self-propelled cart. The output signal of the sensor is received by a mark on the track surface and a sensor provided in the space below the track surface via the mark, and the working position is detected by the reception, and the work position is prepared for fixing the work robot's position and the work position is adjusted. How to position the robot's home position and work position to complete positioning.