JP2011051056A - Hanging type cooperation working robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working robot capable of being arranged even if an obstacle is present on a floor near a working place when the working robot is thrown to the working place where it coexists and cooperates with a person, capable of securing the safety of a worker when the working robot is arranged, and not requiring not only positioning at high accuracy but also the alteration of a large scale of a work command. <P>SOLUTION: The hanging type working robot includes: an image-photographing means; at least one working arm having a joint for reversely driving a movable part so as to be input; a body for supporting the working arm; a support member fixed and hung down so as to attach and detach a base to/from a ceiling or a wall of the working place and supporting the body and the image-photographing means by a tip; an operation control means for recognizing a relative position of a workpiece and the working robot at the working place based on an image photographed by the image-photographing means and performing work relative to the workpiece by the working arm based on the relative position; and an output control means for reducing an output of a motor for operating the joint of the working arm when it is recognized that the work is performed while the working robot coexists and cooperates with the person. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a robot scheduled to coexist and cooperate with a person (hereinafter referred to as “cooperative work robot”), and in particular, it is necessary to secure a space for supporting the robot on the floor of the work place. It is not related to a hanging type collaborative robot.

  Many of today's industrial robots have been increased in speed and are used for moving and assembling heavy objects that cannot be done by humans, and working in adverse environments. On the other hand, autonomous robots such as humanoid robots are also progressing.

  Therefore, in the future, it is expected that more collaborative robots will be introduced to cell production sites where one or several workers create one product. In the past, like the double-arm robot described in Patent Document 1, for example, a lower body is provided with a carriage, and the carriage moves easily on the floor in the work place, so that the upper body with a work arm can be operated on the work table. There has been proposed one that can be positioned at a work position in the vicinity of the region.

JP 2007-118176 A

  However, on the floor in the vicinity of the work position, there may be other work tables used by the worker and obstacles such as a runway of the automatic guided vehicle. If the work robot that moves is used as a collaborative work robot, the obstacles prevent it from moving the upper body to the work position, and the work arm is extended from the work position to the work area to perform the work. May be difficult.

  For this reason, it is conceivable that a suspended work robot is arranged at the work position so that it is not necessary to secure the support position on the floor of the work place, and the work arm is extended from there to the work area. In conventional suspended fixed industrial robots that have not been designed for intrinsic safety to ensure safety without protective fences against interference, it is a safety problem for workers to put them in the work place as a collaborative work robot difficult.

  In addition, conventional work robots, including the above-described suspended and fixed industrial robots and mobile work robots, are programmed with work instructions on the premise that the robot is positioned with respect to the work area and workpiece with high accuracy. If an attempt is made to arrange the work position in a rough positioning state and perform the work, a large-scale modification of the work instruction is required, which is extremely difficult.

  By the way, for humanoid robots that have two arms on the left and right sides of the torso, like humans, and that are designed on the premise of coexistence and cooperation with humans, an external force is used from the viewpoint of intrinsic safety design and the teaching of operation. It is known to have a joint with a reverse input structure that can be moved by.

  Therefore, the present invention allows a work robot to be operated even if there is an obstacle on the floor near the work position in the work place when the work robot is put into a work place that coexists and cooperates with a person at the cell production site or the like. In view of the intrinsic safety design of the humanoid robot described above, it is possible to ensure the safety of the operator even if the work robot is placed at the work position without a protective fence. It is an object of the present invention to provide a collaborative work robot that does not require high-precision positioning and large-scale modification of work instructions when it is put into a work place.

  The present invention advantageously solves the above problems, and the suspended cooperative robot of the present invention includes an imaging means, at least one work arm having a joint for driving the movable portion so as to allow reverse input, A trunk portion that supports the working arm; a support member that is detachably fixed to a ceiling or wall of the work place; and a support member that supports the trunk portion and the imaging means at a tip portion; and the imaging means An operation control means for recognizing a relative position between the work object at the work place and the cooperative work robot based on the image captured by the work place and causing the work arm to perform work on the work object based on the relative position; Recognizing that the work co-exists with and cooperating with a person, output control means for reducing the output of the motor that operates the joint of the work arm within the limits necessary for the work. Than is.

  In such a suspended cooperative robot of the present invention, the support member that is suspended by the base part being detachably fixed to the ceiling or wall of the work place supports the body part and the imaging means at the tip part. The body portion supports at least one work arm having a joint for driving the movable portion so as to allow reverse input, and the operation control means and the work object at the work place based on the image picked up by the image pickup means. Recognize the relative position with the collaborative robot, let the work arm perform the work on the work object based on the relative position, and the output control means that the work is a work that co-exists and collaborates with people When recognized, the output of the motor that operates the joint of the work arm is reduced.

  Therefore, according to the suspension type cooperative work robot of the present invention, when the cooperative work robot is introduced into a work place that coexists and cooperates with a person at the cell production site or the like, the trunk portion is removed from the ceiling or wall via the support member. Because it is suspended and its trunk and work arm are placed at the work position in the work place, even if there are obstacles on the floor near the work position, the work arm of the cooperative work robot can work at the work position, If the work arm has a joint that drives the movable part so as to allow reverse input, and the output control means recognizes that the work is a work that coexists and cooperates with a person, a motor that operates the joint of the work arm Therefore, even if contact occurs between the work arm and the worker, the intrinsic safety design has been made. And control means , Based on the image picked up by the image pickup means, the relative position between the work target at the work place and the cooperative work robot is recognized, and the work arm is caused to work on the work target based on the relative position. In addition, the collaborative work robot can be operated without requiring high-precision positioning and large-scale modification of work instructions.

  In the suspended cooperative robot according to the present invention, the work arms may be provided on both sides of the body part. In this way, a double-arm robot having working arms on both sides of the body part can hold a workpiece with one arm and work with a tool held on the other arm, Since products can be assembled by holding the workpieces with their arms and combining them, the degree of freedom of work content can be increased.

  Further, in the suspended cooperative robot of the present invention, the imaging means may be provided at a lower end portion of the trunk portion and supported by the support member via the trunk portion. In this way, if the imaging means is provided at the lower end of the trunk, the imaging means is close to the work place when picking up the work, tools, etc. at the work place and identifying their position, type, etc. Since the support member and the body portion do not hinder the imaging, the workpiece, the tool, and the like can be imaged clearly and easily.

  Furthermore, in the suspended cooperative robot according to the present invention, the support member may be detachably mounted on an attachment member fixed in advance to a ceiling or a wall. In this way, if the mounting member is fixed to the ceiling or the wall in advance and the base portion of the supporting member is fixed thereto, the collaborative work robot can be used in the case where only the worker at the work place is short of manpower. If there is an extra manpower, the collaborative work robot can be easily removed and stored or moved to another work place.

  Furthermore, in the suspended cooperative robot according to the present invention, the support member may be detachably mounted on the base through a mounting tool in a mounting hole formed in advance in the ceiling. In this way, if a mounting hole is formed in the ceiling in advance and the base portion of the support member is fixed to the ceiling via the mounting tool, only the worker at the work place has insufficient manpower. The collaborative work robot can be easily inserted, and if there is a surplus of manpower, the collaborative work robot can be easily removed and stored or moved to another work place.

  Furthermore, in the suspended cooperative robot of the present invention, the support member may be extendable. If the support member is configured to be extendable / contractible by a manual extension / contraction mechanism or an electric extension / contraction mechanism as described above, the work position height and horizontal position of the cooperative work robot can be easily changed according to the change of the work area. The degree of freedom of change can be increased.

  Further, in the suspended cooperative work robot of the present invention, the output control means is based on at least one of an image picked up by the image pickup means and an output signal of a worker detection sensor provided at the work place. You may recognize that the said operation | work is the operation | work which coexists and cooperates with a person. In this way, the output control means indicates that the work is to coexist and co-operate with a person in at least one of the image picked up by the image pickup means and the output signal of the worker detection sensor provided at the work place. If it is combined with a switch that instructs the output control means to recognize that the work is to co-exist with or co-operate with a person, the recognition can be performed automatically. Even when the operator forgets to operate the switch, the motor output is reduced, so that the safety of the operator can be ensured.

  In the suspended cooperative robot of the present invention, the output control means is based on at least one of an image picked up by the image pickup means and an output signal of a worker detection sensor provided at the work place. When it is recognized that at least a part of the human body is in a position where it may interfere with the work arm or an end effector provided on the work arm, the joint of the work arm is operated until the possibility of the interference disappears. The output of the motor to be controlled may be controlled to stop the operation of the joint. In this way, the output control means detects at least a part of the human body, for example, a worker's hand, based on at least one of the image picked up by the image pickup means and the output signal of the worker detection sensor provided at the work place. Recognize that it is in a position where there is a possibility of interference with the work arm or an end effector such as a hand provided on the work arm, and the power of the motor driver is turned off until the possibility of the interference disappears. Controls the output of the motor that operates the joint of the work arm by setting the controller to the rest state where the power is turned on, or temporarily stopping the operation of each joint (including the servo lock state of the motor). If the operation of the joint is stopped, the worker and the work arm, etc., such as the delivery of an object between the worker and the cooperative robot, while ensuring the safety of the worker, There is a possibility of interference can do work.

The front view which shows the whole cell production site where there are three suspension type cooperative work robots as one embodiment of the present invention, and one coworking robot and two workers coexist and work together It is. (A), (b), (c), and (d) are the front view, bottom view, side view, and perspective view which show the principal part of the suspension type cooperative work robot of the said Example. (A) And (b) is the disassembled perspective view which shows the base which fixes the support | pillar base of the suspension type cooperative work robot of the said Example to a ceiling or a wall surface, and the perspective view of an assembly state. It is a block diagram which shows one structural example of the control apparatus of the suspension type | mold cooperative work robot of the said Example. It is explanatory drawing which shows the method in which the suspension type cooperative work robot of the said Example recognizes the position of a work table etc. by a visual system. The entire cell production site where two suspended cooperative robots of the above embodiment (the other two are paused or temporarily stopped) coexist with two workers and assemble products in cooperation with each other. FIG. FIG. 7 is a front view showing a work situation in which four suspended cooperative robots of the above-described embodiment are coexisting and cooperating with one worker in the cell production site shown in FIG. 6. It is a front view which shows the operation | work condition at the time of adding one hanging-type cooperation work robot of the said Example instead of a cart type cooperation work robot to the cell production site shown in FIG. It is a front view which shows the operation | work condition in the case of performing an operation | work only with the four suspension type cooperative work robots of the said Example in the cell production site shown in FIG. It is a top view which shows the situation where one suspension type | mold cooperative work robot of the said Example, two trolley | bogie type cooperative work robots, and one worker work around a work table. FIG. 5 is a perspective view showing the entire cell production site where two suspended cooperative robots according to another embodiment of the present invention work together and work together with one worker. (A), (b), and (c) are sectional views of a ceiling, an example of a support structure of a support base of the suspended cooperative robot of the above embodiment, a partial cross-sectional view of the upper part of the support, and a perspective view of the upper part of the support It is. (A), (b), and (c) are sectional views of the ceiling showing another example of the support structure of the column base of the suspended cooperative robot of the above embodiment, a side view of the column upper portion, and a perspective view of the column upper portion. FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, FIG. 1 shows cell production in which three suspended cooperative robots as one embodiment of the present invention coexist and work together with one cart-type cooperative robot and two workers. Front view showing the entire site, FIGS. 2A, 2B, 2C, and 2D are a front view, a bottom view, and a side view showing the main part of the suspended cooperative robot of the above embodiment. FIGS. 3A and 3B are an exploded perspective view and a perspective view showing an assembled state of a pedestal for fixing the column base of the suspended cooperative robot of the embodiment to the ceiling or wall surface. .

  The cell production site shown in FIG. 1 includes three desks T1 to T3 arranged on a floor F in a work room as a work place, and two workers M1 and T3 on the left and right desks T1 and T3. M2 is respectively arranged. In addition, two suspended cooperative work robots R1 of the above-described embodiment are detachably fixed to the center of the ceiling C in the working chamber. Further, here, the lighting fixture L on the side of the ceiling C is avoided. Therefore, in FIG. 1 in this work room, one suspended cooperative work robot R1 of the above embodiment is detachably fixed to the right wall W, and in FIG. 1 in this work room, the side of the leftmost desk T1. On the floor surface F, a cart-type cooperative work robot R2 previously proposed by the present applicant in Japanese Patent Application Nos. 2008-131159 and 2008-233533 is disposed.

  The cart-type work robot R2 picks up a plurality of types of parts constituting the product G1 from an unillustrated automatic transport cart and transfers it to the work area on the desk T1, and also moves the inspected product G1 to the work area on the desk T1. The suspended collaborative work robot R1 that is transferred from the machine onto the automatic carriage and fixed to the wall surface W picks up a plurality of types of parts constituting another type of product G2 from the unillustrated automatic carriage. The product G2 that has been inspected is transferred from the work area on the desk T3 onto the automatic conveyance carriage while being transferred to the work area on T3. The worker M1 sets a plurality of types of parts constituting the product G1 at predetermined positions on a pallet (not shown) and supplies them to the work area on the center desk T2 in the work area on the desk T1, and is assembled. The product M1 is inspected, and the worker M2 sets a plurality of types of components constituting the product G2 on a pallet (not shown) in the work area on the desk T3 and supplies the set to the work area on the center desk T2. Then, the assembled product G2 is inspected. The two suspended work robots R1 suspended from the ceiling C combine the parts on the pallet supplied from the workers M1 and M2 in the work area on the desk T2, and combine the products G1 and G2. assemble.

  Since the work coexists with and cooperates with the workers M1 and M2 as described above, each of the suspended work robots R1 of this embodiment has a head as shown in FIGS. 2 (a) to 2 (d). An upper body 1 in an inverted state having two television cameras 2 as imaging means positioned, two work arms 3, and a body part 4 that supports the work arms 3, and a body part 4 of the upper body 1 The support | pillar 5 as a supporting member extended upwards from the upper end part of this is provided. The two television cameras 2 are fixed to the support plate 6 together in the substantially same direction, and the support plate 6 includes a neck pitch axis drive mechanism that swings the support plate 6 around the horizontal pitch axis P1, and The neck pitch axis driving mechanism is attached to the lower end portion of the trunk section 4 via a neck joint 7 having two degrees of freedom having a neck yaw axis driving mechanism for rotating the neck pitch axis driving mechanism about the vertical yaw axis Y1. And the upper end part of the trunk | drum 4 is attached to the lower end part of the support | pillar 5 via the 1-degree-of-freedom trunk | drum joint 8 which has the trunk | drum yaw axis drive mechanism which rotates the trunk | drum 4 around the yaw axis Y1, and this Thus, the column 5 supports the body 4 and the two television cameras 2 at the lower end thereof.

  The two working arms 3 are provided on both the left and right sides of the trunk 4, and each working arm 3 includes a shoulder joint 10 between the trunk 4 and the upper arm 3 a of the working arm 3, an upper arm 3 a and a lower arm. It has an elbow joint 11 between the arm 3b and a wrist joint 12 between the lower arm 3b and an end effector such as a hand 9 or a tool shown in FIG. 2 (a) and 2 (d), the shoulder joint 10 is disposed on two substantially U-shaped shoulder brackets 13 projecting from the left and right of the trunk section 4, respectively. 4, a shoulder yaw axis drive mechanism that rotates the entire work arm 3 to the left and right relatively around the yaw axis Y <b> 2, and the work arm 3 around the pitch axis P <b> 2 orthogonal to the yaw axis Y <b> 2 with respect to the body 4. And a shoulder pitch axis drive mechanism for relatively tilting the entire body back and forth.

  Here, the shoulder yaw axis drive mechanism support surface of the shoulder bracket 13 is inclined 15 degrees obliquely downward with respect to the vertical yaw axis Y1, and therefore each yaw axis Y2 is in the vertical direction of the body 4 The pitch axis P2 perpendicular to each yaw axis Y2 is also tilted by 15 degrees with respect to the floor surface. . The upper arm 3a of the work arm 3 extends so as to be closer to the torso 4 as the portion closer to the elbow joint 11 is lowered. According to this configuration, the elbow joint 11 located beside the workers M1 and M2 is away from the workers M1 and M2 and does not move sideways, so that the workers M1 and M2 interfere with the work arm 3. The possibility can be reduced.

  Furthermore, each elbow joint 11 has an elbow pitch axis drive mechanism that tilts the lower arm 3b up and down around the pitch axis P3 parallel to the pitch axis P2 with respect to the upper arm 3a, and each wrist joint 12 has a lower arm 3b, a wrist pitch axis drive mechanism for tilting an end effector such as a hand 9 or a tool relatively up and down around the pitch axis P4, and the end effector around a yaw axis Y3 orthogonal to the pitch axis P4 A wrist yaw axis drive mechanism that rotates left and right, and a wrist roll axis drive that twists the wrist pitch axis drive mechanism and the wrist yaw axis drive mechanism around the roll axis R extending along the lower arm 3b with respect to the lower arm 3b. Mechanism. As a result, each work arm 3 has six degrees of freedom, and the two work arms 3 can be made free with no singularity by the arrangement of the pitch axis, yaw axis and roll axis drive mechanism. . As is well known, the shaft drive mechanisms of the pitch axis, yaw axis and roll axis of each joint described above decelerate and output the output rotation of a motor such as a servo motor, for example, using a reduction gear such as a brand name harmonic drive. The rotation mechanism is configured to allow reverse input.

  Further, each of the suspended working robots R1 of this embodiment has a pedestal 14 for fixing the base portion located on the upper end side of the column 5 to the ceiling C or the wall surface W as shown in FIGS. 3 (a) and 3 (b). The pedestal 14 has a cylindrical support portion 14a that supports the base portion of the support column 5 so as to be movable up and down and can be expanded and contracted with respect to the pedestal 14, and a base end portion of the cylindrical support portion 14a is integrally fixed. So that the bracket plate 14b and the upper body 1 can be easily moved up and down by hand, the base of the support column 5 is always upwardly attached with a force that is roughly balanced with the weight of the upper body 1 and the support column 5 so as to be moved up and down manually. A balancer spring (not shown), and a stopper (not shown) that fastens the base of the column 5 and fixes it to the cylindrical support portion 14a by manual operation of a screw member, for example, at any elevation position of the upper body 1; Four corners Close to the long hole 14c is formed, also in the central portion of the bracket plate 14b wiring routing hole (not shown) are formed.

  In order to removably fix the pedestal 14 to the ceiling C or the wall surface W, as shown in FIG. 1, a mounting plate 15 as an attachment member is fixed to the ceiling C or the wall surface W in advance with an anchor bolt or the like (not shown). Keep it. In the vicinity of the four corners of the mounting plate 15, screw holes 15a having internal threads are formed so as to align with the long holes 14c near the four corners of the bracket plate 14b, and in the center of the mounting plate 15, a wiring routing hole is formed. 15b is formed, and when the base 14 is fixed to the ceiling C or the wall surface W, as shown in FIG. 3A, the bolts 16 respectively inserted into the long holes 14c near the four corners of the bracket plate 14b are shown in FIG. As shown in (b), the base 14 is fastened to the screw holes 15a in the vicinity of the four corners of the mounting plate 15 so that the suspended work robot R1 is generally located at a position convenient for work. When the suspension type working robot R1 is mounted at an appropriate position and removed from the ceiling C or the wall surface W, the bolts 16 are loosened and the base 14 is removed from the mounting plate 15.

  Each of the three suspended cooperative work robots R1 includes two TV cameras 2, and a shaft drive mechanism for the neck joint 7, the trunk joint 8, the shoulder joint 10, the elbow joint 11, and the wrist joint 12. An electrical cable (not shown) is connected. The electrical cable passes through the column 5 and reaches the pedestal 14, and passes through the wiring routing hole at the center of the bracket plate 14 b and the wiring routing hole 15 b at the center of the mounting plate 15. C and the wall W are laid behind and connected to a control device (not shown) placed on the floor F or in another room, whereby the two TV cameras 2 and the shaft drive mechanism of each joint are controlled by the control device. Power supply and operation are controlled.

  The electric cable can be separated by a wiring routing hole in the center of the bracket plate 14b and a connector (not shown) located near the wiring routing hole 15b in the center of the mounting plate 15, and is a suspended cooperative robot. When R1 is attached to the ceiling C or the wall W, the robot side connector and the ceiling C or wall W side connector are connected first, while the suspended cooperative robot R1 is removed. It is preferable to place the connector on the ceiling C or the wall surface W side in the wiring routing hole 15b of the mounting plate 15 and cover the wiring routing hole 15b.

  FIG. 4 is a block diagram showing a configuration example of the above-described control device of the suspended cooperative robot R1 of this embodiment, and this control device is an operation control means each composed of a normal microcomputer. A work object recognition unit 21 and an operation control unit 22, and an operator control unit 23 and an output control unit 24 as output control means, each of which is composed of a normal microcomputer. Reference numeral 24 has a motor driver circuit (not shown) that drives a motor for each axis of each joint.

  Here, the work object recognizing unit 21 determines from the images captured by the two television cameras 2 the desks T1 to T3, the pallet P and the work table WT on the desks T1 to T3, and the pallet P and the work table WT. Products G1, G2 and their parts, and workers M1, M2 are recognized from their contours by image processing such as pattern matching, and their three-dimensional positions are measured by methods such as triangulation and photogrammetry. The operation control unit 22 is informed of the recognized types and measured positions of the two work arms 3 on the desks T1 to T3, the pallet P on the desks T1 to T3, the worktable WT, the products G1 and G2, and the parts thereof. The operation control unit appropriately operates the two work arms 3 in accordance with the type and position thereof, and outputs an operation command for performing the transfer and assembly described above to the output control unit 24.

  FIG. 5 identifies and recognizes the desks T1 to T3 as work objects, and the pallet P and work table WT on the desks T1 to T3, and measures the three-dimensional positions and postures of the work objects. Here, an example of the method is shown. Here, at least three of the desks T1 to T3 and near the four corners of the pallet P, the cross marks CM are placed between the desks T1 to T3 and between them and the pallet P. The combinations of the horizontal distance a and the vertical distance b illustrated in T3 are pasted so as to be different from each other, and are equally spaced in the circumferential direction on a circular worktable WT on a circle concentric with the worktable WT. Cross mark CMs are pasted in three places so that the radius of the circle is different between a plurality of worktables WT, and the cross marks CM of three or more places pasted so as to be uniquely arranged for each work target. Each pair For each of T1 to T3, each pallet P, and each work table WT, a set of coordinates of the cross mark CM is captured in advance from a predetermined position directly above by the two television cameras 2 of the suspended cooperative robot R1. Is taken into the database of the work object recognition unit 21 as a marker. For the products G1 and G2 and their parts as work objects, the products G1 and G2 and their parts are preliminarily moved from a predetermined position directly above by the two television cameras 2 of the suspended cooperative robot R1. An image is taken and the contour shape and dimensions are taken into the database of the work object recognition unit 21 by image processing.

  Then, in the actual work, the work object recognition unit 21 performs measurement by, for example, a triangulation method from the images of the cross marks CM captured by the two television cameras 2 of the suspended cooperative robot R1. The three-dimensional coordinates of each cross mark CM are combined with respect to three or more cross marks CM, and the set of coordinates is compared with the original coordinate set of the cross mark CM in the database, and the image is obtained by pattern matching and pattern deformation processing. The type of work object is identified by examining which work object is attached to the cross mark CM set and how it is deformed from the original cross mark CM set, and two television cameras Measure the distance and orientation of the work object with respect to 2, and in this way, 3D Cartesian coordinates of each work object showing 2D parts in X and Y in the figure Is converted into the three-dimensional rectangular coordinate system of the suspended cooperative robot R1 indicated by two dimensions X and Y in the figure and output to the operation control unit 22, which is given in advance. The work command is output by applying the position and posture determined by the measurement to the position and posture of the work object in the work command. For each product G1, G2 as a work object and its parts, the work object recognition unit 21 uses pattern matching and pattern from those images captured by the two television cameras 2 of the suspended cooperative robot R1. By the deformation process, the type and posture of the work object and the three-dimensional coordinates in the three-dimensional Cartesian coordinate system of the suspended cooperative robot R1 are measured and output to the operation control unit 22, and the operation control unit 22 The work command is output by applying the position and posture obtained by the measurement to the position and posture of the work object in the given work command.

  In addition, as shown in FIG. 4, the worker recognition unit 23 is connected to a cooperation instruction switch 25 that outputs a cooperation instruction signal when the operator performs an ON / OFF operation. Connected to at least one of the light curtain 26 and the pressure sensitive mat 27 (pressure sensitive mat not shown in the work place in FIG. 1) and the two television cameras 2 and executed as described later based on information from them. Recognizes whether the work to be performed is a work performed in cooperation with the worker M1 or the worker M2 (person), and at least a part of the human body of the worker M1 or the worker M2 interferes with the work arm 3 The worker M1 or the worker M2 is present at the predetermined work position, and the work to be performed coexists with the worker M1 or the worker M2 (person).・When it is recognized that the operation is performed in a coordinated manner, the output control unit 24 can limit the drive current for driving the motor M for each axis of each joint, and the operation command from the operation control unit 22 can be executed. If the output of the motor M is reduced within a range, and at least a part of the human body of the worker M1 or the worker M2, that is, an arm or a hand is in a position where there is a possibility of interference with the work arm 3 or the end effector, Until the arm or hand moves away from the work arm 3 and there is no possibility of interference, the output control unit 24 stops the drive current that drives the motor M for each axis of each joint, and the motor M Stop operation.

  Here, the light curtain 26 is laterally directed to one of the two pillars 26a and 26b standing between the suspended cooperative robot R1 and the worker M1 or M2. In addition, detection light from a number of light emitting elements embedded vertically and horizontally is received by a number of light receiving elements horizontally and vertically embedded in the other column 26b, and signals are output from these light receiving elements. If a predetermined number or more of the light receiving elements are blocked from detecting light and no longer outputs a signal, a part of the human body of the worker M1 or M2, that is, a hand or arm, or a suspended cooperative robot R1 between the columns 26a and 26b. It can be determined that the work arm 3 or the hand 9 or tool attached thereto has entered. Two light curtains 26 are arranged between the suspended cooperative robot R1 and the worker M1 or M2, and depending on which light receiving element of those light curtains 26 has previously blocked the detection light, You may make it identify whether the suspension type | mold cooperative work robot R1 entered between the curtains 26, or the worker M1 or M2 entered.

  The pressure sensitive mat 27 is laid at each work position of the worker M1 and the worker M2 on the floor F, detects the weight of the object on the pressure sensitive mat 27, and outputs a signal. If the weight obtained from the signal exceeds a value corresponding to the minimum body weight of a general worker, for example, 30 kgW, the worker M1 or the worker M2 is at a predetermined work position, and the work coexists and cooperates with the person. It can be determined that

  From the image information output by the two television cameras 2, the presence of the arms and hands of the worker M1 and the worker M2 can be detected by pattern matching and pattern deformation processing. By obtaining the coordinates in the coordinate system as described above, the distance between the arm or hand and the end effector such as the work arm 3 or the hand 9 can be measured. Based on the measurement result, the worker M1 or the worker M2 The operation of each motor M of the work arm 3 can be stopped when the distance between the arm or hand of the work arm 3 or the hand 9 or the like approaches a predetermined value or less. Alternatively, a combination of three or more cross marks CM is pasted on the arms or backs of the workers M1 and M2, the sleeves of the clothes, gloves, etc., and the work object recognition unit 21 recognizes them in the same manner. By making the worker recognition unit 23 recognize the distance, the distance between the worker's arm or hand and the end effector such as the work arm 3 or the hand 9 may be measured.

  Therefore, according to the suspended cooperative robot R1 of this embodiment, the upper body 1 is suspended from the ceiling 5 via the support column 5 when the cooperative robot is put into a work place where people coexist and cooperate with people on the cell production site. Alternatively, the body 4 and the work arm 3 are hung from the wall and placed at the work position in the work place. Therefore, even if there are obstacles such as desks T2 and T3 on the floor surface F near the work position, the cooperative work robot The work arm 3 of R1 can be operated at the work position, and the work arm 3 has joints 7, 8, 10, 11, and 12 that drive the movable part so that the reverse input is possible. When the person recognizing unit 23 recognizes that the work is a work that coexists and cooperates with a person, the output control unit 24 reduces the output of the motor M that operates the joint of the work arm 3. R1 is placed at work position without protective fence Even if contact occurs between the work arm 3 and the workers M1 and M2, an intrinsically safe design that can ensure the safety of the workers M1 and M2 has been made, and an operation object recognition unit as an operation control means. 21 and the operation control unit 22 are relative positions of the products G1 and G2 as work objects at the work place and the parts thereof and the cooperative work robot R2 based on images taken by the two television cameras 2 as image pickup means. Since the work arm 3 is made to work on the products G1 and G2 and its parts based on the relative positions, the collaborative work robot does not require high-precision positioning and large-scale modification of work instructions at the time of loading. Let R1 do the work.

  Further, according to the suspended cooperative robot R1 of this embodiment, the working arms 3 are provided on both sides of the trunk portion 4, respectively. Assembling the product by holding the product and parts as workpieces and holding the tool with the other work arm 3 for processing, or holding both parts as workpieces with both work arms 3 and combining them. Since it can be performed, the degree of freedom of work contents can be increased.

  Furthermore, according to the suspended cooperative robot R1 of this embodiment, the two television cameras 2 as the imaging means are provided at the lower end portion of the trunk portion 4 and supported by the support column 5 via the trunk portion 4. Therefore, when the workpieces and tools at the work place are imaged and their positions and types are recognized, the TV camera 2 is close to the work place, and the column 5 and the body 4 do not hinder the image pickup. A workpiece, a tool, or the like can be imaged clearly and easily.

  Furthermore, according to the suspended cooperative robot R1 of this embodiment, the column 5 is detachably mounted on the mounting plate 15 fixed in advance to the ceiling C or the wall W. The collaborative work robot R1 can be easily input when there is a shortage of manpower alone, and if there is a surplus, the collaborative work robot R1 can be easily removed and stored or moved to another work place.

  Furthermore, according to the suspended cooperative work robot R1 of this embodiment, since the support column 5 can be expanded and contracted by manual operation, the height and horizontal position of the work position of the cooperative work robot R1 according to the change of the work area. Therefore, the degree of freedom in changing the work content can be increased.

  Further, according to the suspended cooperative robot R1 of this embodiment, the worker recognition unit 23 captures an image captured by the two television cameras 2 and a light curtain 26 as a worker detection sensor provided at the work place. Since it recognizes that the work is a work that coexists with and co-operates with a person based on redundant means with the output signal of the pressure sensitive mat 27, the recognition can be performed automatically and reliably. Even if the workers M1 and M2 forget to operate the cooperation instruction switch 25 for instructing the worker recognition unit 23 to recognize that it is to coexist with and co-operate with the person, the output control unit 24 is connected to the motor M. The output can be reduced to ensure the safety of the workers M1 and M2.

  According to the suspended cooperative robot R1 of this embodiment, the worker recognition unit 23 captures an image captured by the two television cameras 2 and a light curtain 26 as a worker detection sensor provided at the work place. If it is recognized that at least a part of the human body is in a position where it may interfere with the end effector such as the work arm 3 or the hand 9 provided on the work arm 3 based on at least one of the output signals of The output control unit 24 stops the output of the motor M that operates the joint of the work arm 3 until the performance disappears, so that the workers M1, M2 and the cooperative work robot R1 are secured while ensuring the safety of the workers M1, M2. Thus, it is possible to perform work that may cause interference between the workers M1 and M2 and the work arm 3 or the like, such as delivery of an object between them.

  The cart-type collaborative work robot R2 erects the upper body 1 that is substantially the same as the upper body 1 of the suspended collaborative work robot R1 of this embodiment together with its left and right work arms 3, and the lower end of the trunk 4 thereof. Is supported by a hand-drawn cart 17 via a support column 5, and this cart-type cooperative work robot R2 cannot place the upper body 1 at any work place if there is an obstacle on the floor F. Except for the above, the same effect as that of the suspended cooperative robot R1 of this embodiment can be obtained. You can work safely.

  FIG. 6 shows the entire cell production site in which two suspended cooperative robots R1 of the above embodiment are used to assemble two kinds of products G1 and G2 in cooperation with two workers M1 and M2. FIG. 7 is a front view of the cell production site shown in FIG. 6, and there are four suspended cooperative robots R1 of the above embodiment in the co-existence and co-operation with one worker M1. FIG.

  That is, at this cell production site, as shown in FIG. 6, three suspended cooperative robots R1 of the above embodiment are suspended from the ceiling C of the work place, and the above-described implementation is performed from the left wall W of the work place. One suspension cooperative robot R1 in the example is suspended, and two of the suspension cooperative robots R1 in the center coexist and work together with two workers M1 and M2. The remaining two units close to the workers M1 and M2 are in a resting state in which the motor driver is turned off and only the control units 21 to 24 are turned on, or once the operation of each joint is guaranteed to stop. It is in a stopped state (including a servo lock state), and the operation of each joint is stopped.

  The worker M1 carries in a plurality of types of parts using a hand-drawn cart MW, and transfers a plurality of types of components PT from a pallet on the cart MW onto a belt conveyor V arranged on the floor surface F. . In addition, the worker M2 transfers the two types of products G1 and G2 assembled from these parts PT from the belt conveyor V onto the carriage MW, and carries out using the carriage MW. The left one of the two suspended cooperative robots R1 in the center of the work place is combined with the above-mentioned plural types of parts PT on the belt conveyor V in which the belt moves from left to right in the figure. Two types of products G1 and G2 are assembled, and one on the right side inspects these products G1 and G2. Then, during the assembly and inspection operations, each suspended cooperative robot R1 captures images of the two television cameras 2 that the arms and hands of the worker M1 or the worker M2 are within a predetermined distance. Then, the operation of the work arm 3 is stopped, and it waits for the arm and hand of the worker M2 to move away from the predetermined distance.

  When the worker M1 needs to move from the cell production state to another production site and needs to increase the production amount of the products G1 and G2, as shown in FIG. The remaining two suspended cooperative robots R1 that have been in the state are also in the working state. Here, the suspended cooperative robot R1 suspended from the wall surface W extends the column 5 horizontally before the worker M1 moves to another production site. The upper body 1 is brought close to the arranged belt conveyor V.

  As a result, the single suspended cooperative robot R1 suspended from the wall surface W easily transfers a plurality of types of parts PT from the unillustrated automatic conveyance carriage onto the belt conveyor V instead of the worker M1. . The worker M2 carries out two types of products G1 and G2 assembled from these parts PT using a hand-drawn cart MW. The left one of the two suspended cooperative robots R1 in the center of the work place is combined with the above-mentioned plural types of parts PT on the belt conveyor V in which the belt moves from left to right in the figure. Two types of products G1 and G2 are assembled, and one on the right side inspects these products G1 and G2. Further, one suspended cooperative robot R1 at the right end of the work place is reached by the worker M2 as shown in FIG. 6 before starting work, and the column 5 is extended downward as shown in FIG. Therefore, the products G1 and G2 are easily transferred from the belt conveyor V to the carriage MW at an operation position close to the belt conveyor V. In the transfer operation, the suspended cooperative robot R1 recognizes that the arm and hand of the worker M2 are within a predetermined distance from the images captured by the two television cameras 2, and then the work arm 3 Is stopped and the operator waits for the arm and hand of the worker M2 to move away from the predetermined distance.

  Therefore, according to the suspended cooperative work robot R1 of this embodiment, at the cell production site as shown in FIGS. 6 and 7, coexistence and cooperation with the workers, increase / decrease in the number of workers and increase / decrease in the production amount. The cell production work can be performed in response to the above.

  FIG. 8 is a front view showing a work situation when one suspended cooperative robot R1 of the above embodiment is added to the cell production site shown in FIG. 1 instead of the cart-type cooperative robot, and FIG. FIG. 9 is a front view showing a work situation when the assembly work is performed only by the four suspended cooperative robots R1 of the embodiment in the cell production site shown in FIG.

  That is, at this cell production site, as shown in FIG. 8, two suspended cooperative robots R1 of the above embodiment are suspended from the ceiling C of the work place, and from the left and right wall surfaces W of the work place. The suspended cooperative robot R1 of the above embodiment is suspended one by one, and the central two of the suspended cooperative robots R1 and the right one are two workers M1. , M2 coexist and work in a coordinated manner, and the one on the left side is in the above-described rest state or temporarily stopped state. Further, here, the desk T1 is removed from the state shown in FIG. 1, and a parts shelf S is provided along the wall surface W on the left side.

  The worker M1 takes out a plurality of types of parts PT constituting the product G1 from the parts shelf S, sets them at a predetermined position on a pallet (not shown), transfers the pallet to a work area on the center desk T2, and performs an inspection. The suspended product cooperative work robot R1 that transfers the finished product G1 from the work area on the table T2 onto an automatic conveyance carriage (not shown) and is fixed to the right wall W constitutes another type of product G2. A plurality of types of parts are picked up from an unillustrated automatic conveyance carriage and transferred to the work area on the desk T3, and the inspected product G2 is transferred from the work area on the desk T3 to the automatic conveyance carriage. The worker M1 sets a plurality of types of parts constituting the product G1 at predetermined positions on a pallet (not shown) in the work area on the desk T2, and inspects the assembled product G1, and the worker M2 In the work area on the desk T3, a plurality of types of parts constituting the product G2 are set on a pallet (not shown) and the assembled product G2 is inspected. Of the two suspended working robots R1 suspended from the ceiling C, one on the right side transfers the pallet from the desk T3 to the desk T2, and one on the left side is the worker M1. The products G1 and G2 are assembled by combining the parts on the pallet supplied from the suspended work robot R1 on the right side in the work area on the desk T2. With this arrangement, it is possible to form a passage for the worker M3, an automatic transport carriage, or the like on the left side portion on the floor surface F of the work place.

  When both workers M1 and M2 need to move from this cell production state to another production site, as shown in FIG. 9, the desk T1 is returned to the same position as in FIG. The remaining one suspended cooperative robot R1 that has been in the paused state or once stopped is also put in the working state. Here, the suspended cooperative robot R1 suspended from the left wall W, which has been in a paused state or temporarily stopped, is supported by the column 5 before the worker M1 moves to another production site. The upper body 1 is brought closer to the returned desk T1.

  As a result, one suspended cooperative robot R1 suspended from the left wall W takes out a plurality of types of parts PT constituting the product G1 from the parts shelf S instead of the worker M1, The plurality of types of parts PT are set at predetermined positions on a pallet (not shown) in the work area on T1, and the pallet is transferred to the work area on the central desk T2 and from the work area on the desk T2 to the desk T1. The assembled product G1 is transferred to the work area, the product G1 is inspected, and the inspected product G1 is transferred from the work area on the desk T2 onto an automatic conveyance carriage (not shown). The suspended cooperative robot R1 fixed to the right wall W picks up a plurality of types of parts constituting another type of product G2 from an unillustrated automatic conveyance carriage and transfers them to a work area on the desk T3. At the same time, the assembled product G2 is inspected, and the inspected product G2 is transferred from the work area on the desk T3 onto the automatic conveyance carriage. The right one of the two suspended work robots R1 suspended from the ceiling C is a work area on the desk T3, and a plurality of types of parts constituting the product G2 are placed on a pallet (not shown). Set and transfer the pallet from the desk T3 to the desk T2, and the left one is from two suspended cooperative robots R1 suspended from the left wall W and the right ceiling C, respectively. The products G1 and G2 are assembled by combining the parts on the supplied pallet in the work area on the desk T2.

  Therefore, according to the suspended cooperative robot R1 of this embodiment, in the cell production site as shown in FIGS. 8 and 9, while coexisting and cooperating with the workers, the number of workers and the layout of the work equipment are increased. The cell production work can be carried out in response to the change. As shown in FIG. 9, there is no worker at the work place, and the worker recognition unit 23 recognizes that it is not the case where the work coexists with and cooperates with the worker, and the work is performed only by the suspended cooperative robot R1. When the worker recognition unit 23 does not limit the motor output to the output control unit 24, the suspended cooperative robot R1 coexists with and cooperates with the worker. It is possible to increase the work speed and handle heavier objects than when the motor output is limited.

  FIG. 10 shows a situation where one suspended cooperative robot R1 of the above-described embodiment, the two cart-type cooperative robots R2 described above, and one worker M4 surround the work table T4. Even when the work table T4 is arranged in contact with the wall surface W in this way and there is no work robot placement space between the work table T4 and the wall surface W on the floor surface F, According to the suspended cooperative robot R1 of this embodiment, two work arms 3 are arranged in the work area on the work table T4, and coexist with other cart-type cooperative work robot R2 and the worker M4. It is possible to collaborate and efficiently perform work that requires man-hours, or to perform collective work on one work object.

  FIG. 11 is a perspective view showing the entire cell production site in which two suspended cooperative robots R1 according to another embodiment of the present invention coexist and work together with the worker M5, and FIG. a), (b), and (c) are a cross-sectional view of the ceiling C, an example of a support structure of the support column 5 of the two suspended cooperative robots R1 of the above embodiment, a partial cross-sectional view of the upper part of the support column, and the support column FIGS. 13A, 13B, and 13C are cross-sectional views of a ceiling C showing another example of the support structure of the support column 5 of the suspended cooperative robot R1 of the above embodiment, It is the side view of a support | pillar upper part, and the perspective view of a support | pillar upper part. In the figure, the same parts as those in the previous embodiment are denoted by the same reference numerals.

  The cell production site shown in FIG. 11 includes a desk T5 arranged on the floor F along the belt conveyor V, and an operator M5 is arranged on the desk T5. The product G1 is assembled by combining a plurality of types of parts PT above, and the product G1 is arranged in a box B and packed.

  At the work positions above the belt conveyor V and above the automatic transport carriage AW, the two suspended cooperative robots R1 of this embodiment are arranged so as to coexist and work together with the worker M5. Here, the suspended cooperative robot R1 on the right side in the figure transfers the part PT carried on the belt conveyor V onto the desk T5, and the suspended cooperative robot R1 on the left side in the figure is The box B packed with the product G1 is transferred from the desk T5 to the automatic conveyance cart AW.

  The two suspended collaborative robots R1 of this embodiment that perform such work are each two television cameras 2 and two working arms 3 in the same manner as the suspended collaborative robot R1 of the previous embodiment. In addition, the upper body 1 having the body 4 and the column 5 are provided, and the output of the motor is reduced and the operation is performed by recognizing the worker M5 using the two television cameras 2 and the light curtain 26 (not shown). Here, a control device (not shown) that secures the safety of the worker M5 by stopping is provided, and only the configuration for removably fixing the column 5 to the ceiling C is different from the suspended cooperative robot R1 of the previous embodiment. Therefore, here, only the structure for fixing the column 5 to the ceiling C will be mainly described.

  That is, as shown in FIG. 12A, the ceiling C of this work place is arranged on the upper side of the lower plate 31 facing the floor surface F and the upper side of the ceiling C which are spaced apart from each other and joined by a beam material (not shown). As shown in FIG. 11, a plurality of circular mounting holes 33 are formed in the lower plate 31, and the mounting holes 33 of the lower plate 31 are formed in the upper plate 32. A circular recess 34 is formed so as to be aligned vertically. In addition, positioning pin holes 35 are formed in the lower plate 31 adjacent to the mounting holes 33 as shown in FIG.

  On the other hand, as shown in FIGS. 12 (b) and 12 (c), there are an outer peripheral flange 5a and a boss adjacent to the upper side of the support 5 of the two suspended cooperative robots R1 of this embodiment. 5b is formed, and the upper end portion of the column 5 ahead of the boss portion 5b is formed to have a diameter smaller than that of the boss portion 5b. The boss portion 5b is closely connected to the mounting hole 33 of the lower plate 31 of the ceiling panel C. The outer diameters are set so that the upper end of the boss 5b is closely fitted with the recess 34 of the upper plate 32 of the ceiling panel C.

  Further, as shown in FIGS. 12B and 12C, two lock claws 5c that are supported on the upper side of the boss portion 5b so as to be movable back and forth in the radial direction and project outward in the radial direction are further provided on the upper portion of the support column 5. And two lock release buttons 5d that are integrally formed with the lock claws 5c and that are supported so as to be movable back and forth in the radial direction below the outer peripheral flange 5a and project outward in the radial direction, and the lock claws 5c and A spring 5e that constantly urges the unlocking button 5d in the protruding direction is provided. In addition, as shown in FIGS. 12B and 12C, a positioning pin 5f protrudes from the upper surface of the outer peripheral flange 5a. It is installed.

  The two suspended cooperative robots R1 of this embodiment are arranged so that the upper part of the support column 5 is located above the belt conveyor V and the automatic conveyance carriage AW among the many mounting holes 33 of the lower plate 31 of the ceiling panel C. The lock release button 5d is selectively pushed into each of the mounting holes 33 positioned above, and the lock claw 5c is retracted, and the boss portion 5b of the column 5 is closely fitted to the mounting hole 33 of the lower plate 31. In addition, the upper end of the support column 5 is closely fitted into the recess 34 of the upper plate 32 to prevent the inclination of the support column 5, and the upper surface of the outer peripheral flange 5a is brought into contact with the lower surface of the lower plate 31 to perform vertical positioning. Then, the positioning pin 5f is closely fitted in the positioning pin hole 35 to prevent the support column 5 from rotating, and in that state, the lock release button 5d is released to allow the lock claw 5c to protrude, and the upper surface of the lower plate 31 is locked. Engage claw 5c In Rukoto, it is fixedly supported to the ceiling panel C.

  Further, the power supply and control for the two suspended cooperative robots R1 of this embodiment are performed by the control device (not shown) provided on the floor F from the control device to the wall surface as in the previous embodiment. This is performed through an electric cable (not shown) laid through the back side to the back side of the ceiling panel C and a connector (not shown) at the end thereof.

  Then, when removing the suspended cooperative robot R1 from the cell production site, the lock claw 5c is pushed by pressing the lock release button 5d while supporting the suspended cooperative robot R1 manually from below. If retracted, the suspended cooperative work robot R1 can be easily detached from the ceiling panel C by pulling out the upper portion of the column 5 from the mounting hole 33.

  As a result, the two suspended cooperative robots R1 of this embodiment are fixedly supported by the ceiling C so that the upper part of the support column 5 is detachable, and the upper body 1 and the trunk portion 4 are suspended via the support column 5. The work arm 3 can be placed at the work place, and the two work arms 3 can operate in cooperation with each other to lift the product G1 and the box B and carry the product G1 and the box B. As in the previous embodiment, each suspended cooperative robot R1 recognizes the type of the product G1, the box B, and the like from the images captured by the two television cameras 2 by image processing such as pattern matching, and those products G1. The three-dimensional position of the box B or the like is measured by triangulation, photogrammetry, etc., and the two work arms 3 are appropriately operated according to the recognized type and the measured position of the product G1 or box B, etc. G1 and box B Serial transport, etc. can be performed.

  Therefore, when the suspended cooperative robot R1 of this embodiment is also put into a working place where it coexists and cooperates with an operator such as a cell production site as in the suspended cooperative robot R1 of the previous embodiment. In addition, since the body 4 is suspended through the support column 5 and the work arm 3 is disposed at the work position, there are obstacles such as the belt conveyor V and the automatic transport carriage AW on the floor surface F near the work place. In addition, the work arm 3 can be placed at the work position and work can be performed, and since the safety measures for the worker M5 are provided in the function of the control device as described above, the worker M5 can perform the suspended cooperative work. Since the collaborative work with the robot R1 can be performed safely, and the column 5 can be attached to and detached from the mounting hole 33 by operating the lock release button 5d, the suspended collaborative work robot R1 can be operated at any work position in the work place. Easy to place It is possible.

  In the above example, the upper portion of the column 5 is fixedly supported to the ceiling C so as to be detachable using the lock claw 5c. Instead, it is exemplified in FIGS. 13 (a), (b) and (c). In this support structure, a screw portion 36 that protrudes from the lower surface of the lower plate 31 so as to surround each mounting hole 33 and has an external thread on the outer peripheral surface is formed on the lower plate 31 of the ceiling C. Then, a key groove 37 extending in the axial direction is formed between the screw portion 36 and the mounting hole 33, while an inner peripheral flange 5 g is provided at the upper end of the support column 5 and a female screw 5 h is provided on the inner peripheral surface. An annular nut 5i is inserted from below, and its inner peripheral flange 5g is engaged with the outer peripheral flange 5a at the top of the support column 5, and further, the boss portion 5b of the support column 5 adjacent to the upper side of the outer peripheral flange 5a extends in the axial direction. Projecting existing key 5j To have.

  According to this support structure, the suspended cooperative robot R1 has an upper portion of the support column 5 above the belt conveyor V and the automatic conveyance carriage AW among the many mounting holes 33 of the lower plate 31 of the ceiling C. Are selectively inserted into the mounting holes 33 located at the respective positions, and the bosses 5 b of the support columns 5 are closely fitted to the mounting holes 33 of the lower plate 31, and the upper ends of the support columns 5 are formed in the recesses 34 of the upper plate 32. The support 5 is closely fitted to prevent the column 5 from tilting, the upper surface of the outer peripheral flange 5a is brought into contact with the lower surface of the threaded portion 36 around the mounting hole 33 of the lower plate 31, and the key 5j is positioned in the vertical direction. The column 5 is tightly fitted in the key groove 37 to prevent the column 5 from rotating, and in this state, the female screw 5h of the nut 5i is screwed into the male screw of the screw portion 36 and the nut 5i is tightened, thereby being fixedly supported on the ceiling C. The

  Then, when removing the suspended cooperative robot R1 from the cell production site, if the nut 5i is loosened in a state where the suspended cooperative robot R1 is supported by the hand or the like from below, The suspended cooperative working robot R1 can be easily detached from the ceiling panel C by pulling out the upper portion from the mounting hole 33.

  Although the present invention has been described based on the illustrated examples, the present invention is not limited to the above-described embodiments, and can be appropriately changed within the scope of the claims. Although the suspended cooperative robot R1 is a double-arm robot, the suspended cooperative robot to which the present invention is applied may be a one-arm robot. In the suspended cooperative robot R1 of the above embodiment, the axis of the shoulder yaw axis is inclined, but in the suspended cooperative robot to which the present invention is applied, the axis of the shoulder yaw axis extends in the vertical direction. A robot that works.

  Furthermore, power supply and control for the suspended cooperative robot is performed via an electric cable from the control device provided on the floor surface in the above embodiment. You may make it carry out with the battery and control apparatus which were provided in. In the above embodiment, the support column 5 is supported by the pedestal 14 so as to be extendable / contractable via a spring. It may be a supporting column or something other than a supporting column. The imaging means is provided at the lower end portion of the body portion 4 in the above embodiment, but may be provided at the front surface, upper end portion, etc. of the body portion, or includes the lower end portion, front surface, upper end portion, etc. It may be provided in more than one place. Further, an imaging unit may be installed on the hand so that a desk or a work table is recognized by the imaging unit provided on the body, while a part or product is recognized by the imaging unit provided on the hand.

  Thus, according to the suspended cooperative work robot of the present invention, when the cooperative work robot is introduced into a work place that coexists and cooperates with a person at the cell production site or the like, the trunk is removed from the ceiling or wall via the support member. Because it is suspended and its trunk and work arm are placed at the work position in the work place, even if there are obstacles on the floor near the work position, the work arm of the cooperative work robot can work at the work position, If the work arm has a joint that drives the movable part so as to allow reverse input, and the output control means recognizes that the work is a work that coexists and cooperates with a person, a motor that operates the joint of the work arm Therefore, even if contact occurs between the work arm and the worker, the intrinsic safety design has been made. And control hand However, the relative position between the work object at the work place and the cooperative work robot is recognized based on the image picked up by the image pickup means, and the work arm performs work on the work object based on the relative position. In this case, it is possible to cause the cooperative work robot to perform work without requiring high-precision positioning and large-scale modification of work instructions.

DESCRIPTION OF SYMBOLS 1 Upper body 2 Television camera 3 Working arm 3a Upper arm 3b Lower arm 4 Trunk part 5 Support | pillar 5a Outer flange 5b Boss part 5c Lock claw 5d Lock release button 5e Spring 5f Positioning pin 5g Inner flange 5h Female screw 5i Nut 5j Key 6 Support plate 7 Neck joint 8 Torso joint 9 Hand 10 Shoulder joint 11 Elbow joint 12 Wrist joint 13 Shoulder bracket 14 Base 14a Cylindrical support portion 14b Bracket plate 14c Long hole 15 Mounting plate 15a Screw hole 15b Wiring hole 16 Bolt 17 Cart 21 Work target Object recognition unit 22 Operation control unit 23 Worker recognition unit 24 Output control unit 25 Coordination instruction switch 26 Light curtain 26a, 26b Pillar 27 Pressure sensitive mat 31 Lower plate 32 Upper plate 33 Mounting hole 34 Recess 35 Pin hole 36 Screw portion 37 Key Groove AW Automatic conveyance cart B Box C Ceiling CM Cross mark F Floor G1, G2 Product L Lighting fixture M Motor M1-M5 Worker MW Hand-operated cart P Pallet P1-P4 Pitch axis PT Parts R Roll axis R1 Suspended collaborative robot R2 Cart Work robot S Parts shelf T1-T5 Desk W Wall WT Work table Y1-Y3 Yaw axis V Belt conveyor

Claims (8)

Imaging means;
At least one working arm having a joint that drives the movable part so as to allow reverse input;
A torso for supporting the working arm;
A support member that is fixedly detachably fixed to the ceiling or wall of the work place, and that supports the trunk and the imaging means at the tip,
Operation control for recognizing the relative position of the work object at the work place and the cooperative work robot based on the image picked up by the image pickup means and causing the work arm to perform work on the work object based on the relative position. Means,
Recognizing that the work is a work that coexists and co-exists with a person, output control means for reducing the output of the motor that operates the joint of the work arm;
A hanging-type cooperative work robot.   The suspended cooperative robot according to claim 1, wherein the work arms are provided on both sides of the body part.   The hanging type cooperative work robot according to claim 1 or 2, wherein the imaging unit is provided at a lower end portion of the trunk portion and supported by the support member via the trunk portion.   The suspended cooperative robot according to any one of claims 1 to 3, wherein the support member is detachably attached to an attachment member fixed in advance to a ceiling or a wall.   The suspension-type cooperative work according to any one of claims 1 to 3, wherein the support member is detachably mounted on a mounting hole formed in advance in a ceiling via a mounting tool. robot.   The suspension type cooperative work robot according to any one of claims 1 to 5, wherein the support member is extendable and contractible.   The output control means is an operation in which the work coexists and cooperates with a person based on at least one of an image picked up by the image pickup means and an output signal of a worker detection sensor provided at the work place. The suspended cooperative robot according to any one of claims 1 to 6, which recognizes this.   The output control means, based on at least one of an image picked up by the image pickup means and an output signal of a worker detection sensor provided at the work place, at least a part of a human body is attached to the work arm or the work arm. When it recognizes that it is in a position where it can interfere with the provided end effector, it stops the operation of the joint by controlling the output of the motor that operates the joint of the work arm until the possibility of the interference disappears The suspended collaborative work robot according to any one of claims 1 to 7, wherein

Images