JP2024071172A - manipulator - Google Patents

Abstract

A manipulator capable of improving workability while ensuring safety is provided.
[Solution] The manipulator 1 includes a running body 2, an arm unit 3, a bumper 4, and a moving unit 41. The bumper 4 is configured to be movable relative to the running body 2, and is configured so that at least a portion of the bumper 4 can move outside the outer periphery of the running body 2 when viewed from the vertical direction Z. The moving unit 41 moves the bumper 4 relative to the running body 2. The arm unit 3 includes an end effector 31, and is configured so that the end effector 31 can be moved relative to the running body 2. The manipulator 1 controls at least a portion of the end effector 31 to be at least one of a position between at least a portion of the bumper 4 and the running body 2, and a position overlapping with the running body 2, when viewed from the vertical direction Z, while the running body 2 is running.
[Selected Figure] Figure 1

Description

The present invention relates to a manipulator.

For example, as disclosed in Patent Document 1, a mobile cart equipped with a work robot is known, which is configured to have the work robot perform various tasks on an object placed on a work platform while the mobile cart is moving. The mobile cart described in Patent Document 1 regulates the operating range of the work robot by controlling the amount by which the work robot protrudes from the planar projection range of the mobile cart and by providing a partition surrounding the work platform. This prevents collisions between the work robot and workers while the mobile cart is moving, ensuring safety.

JP 2018-111180 A

However, the mobile cart described in Patent Document 1 restricts the range of motion of the work robot by controlling the amount by which the mobile cart protrudes from the planar projection range of the work robot and by providing a partition surrounding the work platform, which tends to narrow the range of motion of the work robot. Therefore, it can be said that there is room for improvement in terms of workability with the mobile cart described in Patent Document 1.

The present invention was made in consideration of these problems, and aims to provide a manipulator that can improve workability while ensuring safety.

One aspect of the present invention is a vehicle comprising:
an arm portion (3) connected to the traveling body and performing work on a workpiece (10);
a bumper (4) configured to be movable relative to the running body and configured such that at least a portion of the bumper (4) is movable outside an outer periphery (22) of the running body when viewed from a vertical direction (Z);
A manipulator (1) including a moving part (41) for moving the bumper relative to the traveling body,
The arm portion is provided with an end effector (31) and is configured to be able to move the end effector relative to the traveling body,
The manipulator controls at least a part of the end effector to be in at least one of a position between at least a part of the bumper and the running body, and a position overlapping with the running body, when viewed from the top-bottom direction, while the running body is running.

The manipulator controls the end effector so that, when viewed from above and below, at least a portion of the end effector is in at least one of a position between at least a portion of the bumper and the running body, and a position overlapping the running body, while the running body is running. Therefore, while the running body is running, the end effector can be prevented from coming into contact with the outside, while the movable range of the end effector can be increased. As a result, workability can be improved while ensuring safety.

As described above, according to the above aspect, it is possible to provide a manipulator that can improve workability while ensuring safety.
In addition, the symbols in parentheses described in the claims and the means for solving the problems indicate a correspondence with the specific means described in the embodiments described below, and do not limit the technical scope of the present invention.

FIG. 2 is an external view of a manipulator according to the first embodiment. FIG. 4 is a diagram showing the manipulator according to the first embodiment as viewed from above. 5A and 5B are diagrams showing the movement directions of an end effector and a bumper in the first embodiment. FIG. 4 is a diagram showing the end effector and bumper in embodiment 1 after they have been moved from the positions shown in FIG. 3 . FIG. 4 is a diagram showing a projection area in the first embodiment. FIG. 13 is a top view of the manipulator in a comparative embodiment. FIG. 11 is an external view of a manipulator according to a second embodiment. FIG. 11 is an external view of a manipulator according to a third embodiment. FIG. 13 is an external view of a manipulator according to a fourth embodiment. FIG. 13 is an external view of a manipulator in a fifth embodiment. FIG. 13 is an external view of a manipulator in a sixth embodiment. FIG. 13 is an external view of a manipulator in a seventh embodiment. FIG. 23 is an external view of a manipulator in an eighth embodiment. 13 is a diagram showing the movement directions of an end effector and a bumper in the eighth embodiment. FIG. FIG. 15 is a diagram showing the end effector and bumper in embodiment 8 after they have been moved from the positions shown in FIG. 14 . FIG. 13 is an external view of a manipulator in a ninth embodiment. FIG. 23 is a diagram showing the movement direction of the bumper in the tenth embodiment. FIG. 18 is a diagram showing the bumper of embodiment 10 after it has been moved from the position shown in FIG. 17 . FIG. 23 is a diagram showing the bumper before it is accommodated in the accommodation portion in the eleventh embodiment. FIG. 23 is a diagram showing the bumper after it has been accommodated in the accommodation portion in the eleventh embodiment. FIG. 23 is a diagram of the manipulator after the bumper is accommodated in the accommodation portion in the eleventh embodiment, as viewed from above. A diagram showing the bumper and work before they are accommodated in the accommodation section in embodiment 12. A diagram showing the bumper and workpiece after they are accommodated in the accommodation section in embodiment 12. A diagram showing the bumper and replacement end effector before they are accommodated in the accommodating section in embodiment 12. A diagram showing the state after the bumper and replacement end effector have been accommodated in the accommodating section in embodiment 12. FIG. 23 is a diagram showing the movement directions of the end effector and the bumper in the thirteenth embodiment. FIG. 27 is a diagram showing the state after the bumper has been moved from the position shown in FIG. 26 and when the bumper has come into contact with the worker in the thirteenth embodiment. FIG. 23 is an external view of a manipulator according to a fourteenth embodiment, showing a projection area. 23A to 23C are diagrams showing the movement directions of the end effector and the bumper in the fifteenth embodiment. FIG. 23 is a diagram showing the movement directions of the end effector and the bumper in the fifteenth embodiment, the manipulator viewed from above. 31 is a diagram showing the end effector and bumper in embodiment 15 after they have been moved from the positions shown in FIGS. 29 and 30, when the bumper comes into contact with the worker. FIG. A diagram showing the state in which the workpiece is moved from the bumper to the destination shelf in a stopped state in embodiment 15. FIG. 23 is an external view of a manipulator in a sixteenth embodiment. FIG. 23 is an external view of a manipulator in embodiment 17. FIG. 23 is a diagram showing the movement direction of the end effector and the bumper in the seventeenth embodiment. A view of embodiment 17 after the end effector and bumper have been moved from the position in Figure 35. FIG. 23 is an external view of a manipulator in embodiment 18. FIG. 23 is a diagram showing the movement direction of the end effector and the bumper in the eighteenth embodiment. A view of embodiment 18 after the end effector and bumper have been moved from the position in Figure 38. FIG. 23 is an external view of a manipulator in embodiment 19. FIG. 23 is a diagram showing the movement direction of the end effector and the bumper in the nineteenth embodiment. A diagram showing the end effector and bumper in embodiment 19 after they have been moved from the position in Figure 41. FIG. 23 is an external view of a manipulator in embodiment 20. FIG. 23 is a diagram showing the movement direction of the end effector in embodiment 20. A diagram of embodiment 20 after the end effector has moved from the position in Figure 44.

(Embodiment 1)
An embodiment of a manipulator will be described with reference to FIGS.
1 and 2, the manipulator 1 of this embodiment includes a running body 2, an arm unit 3, a bumper 4, and a moving unit 41. The arm unit 3 is connected to the running body 2 and performs an operation on a workpiece 10. The bumper 4 is configured to be movable relative to the running body 2, and is configured such that at least a portion of the bumper 4 can move outside the outer periphery 22 of the running body 2 when viewed from the up-down direction Z as shown in FIG. 2. The moving unit 41 moves the bumper 4 relative to the running body 2.

The arm unit 3 also includes an end effector 31 and is configured to be able to move the end effector 31 relative to the running body 2.

As shown in Figs. 2 to 4, when the running body 2 is traveling, the manipulator 1 controls so that at least a part of the end effector 31 is located at least one of a position between at least a part of the bumper 4 and the running body 2, and a position overlapping with the running body 2, as viewed from the vertical direction Z. In this embodiment, when the running body 2 is traveling, the manipulator 1 controls so that the entire end effector 31 is located at least one of a position between at least a part of the bumper 4 and the running body 2, and a position overlapping with the running body 2, as viewed from the vertical direction Z.

The manipulator 1 of this embodiment can be used as a means for assembling, processing, transporting, etc. the workpiece 10 in, for example, a factory, a warehouse, etc.

In this specification, the direction parallel to the direction of gravity is referred to as the up-down direction Z. As shown in FIG. 1, in the up-down direction Z, the side of the floor 12 on which the traveling body 2 travels with respect to the manipulator 1 is referred to as the lower side Z1, and the opposite side is referred to as the upper side Z2.

The manipulator 1 is configured to be movable by a running body 2. As shown in FIG. 1, the running body 2 includes a housing 23 and a number of wheels 24 provided at the lower end of the housing 23. The running body 2 also includes a drive unit (not shown) inside the housing 23 that drives the wheels 24. The drive unit can be, for example, a motor. The manipulator 1 can move in any direction on the floor 12 by the running body 2.

The traveling body 2 also has a traveling body worktable 21 on which the workpiece 10 can be placed. The arm unit 3 is configured to be able to work on the workpiece 10 with the workpiece 10 placed on the traveling body worktable 21. In this embodiment, the traveling body worktable 21 is orthogonal to the vertical direction Z and has a work surface 211 formed in a flat shape. The arm unit 3 works on the workpiece 10 with the workpiece 10 placed on the work surface 211 of the traveling body worktable 21.

The arm section 3 is connected to the upper end of the running body 2. The arm section 3 has a base 32, a first arm section 33, a second arm section 34, a third arm section 35, a fourth arm section 36, and an end effector 31. The base 32 is connected to the upper end of the running body 2. One end of the first arm section 33 is connected to the base 32, and the other end of the first arm section 33 is connected to one end of the second arm section 34. The third arm section 35 is connected to the end of the second arm section 34 opposite to the side to which the first arm section 33 is connected. The fourth arm section 36 is connected to the end of the third arm section 35 opposite to the side to which the second arm section 34 is connected. The end effector 31 is connected to the end of the fourth arm section 36 opposite to the side to which the third arm section 35 is connected. In addition, as shown in FIG. 3, the base 32 is located at a position that does not overlap with the center 2C of the running body 2 when viewed from the vertical direction Z.

1, the joints 301, 302, 303, 304, and 307 are provided at the connection between the first arm 33 and the second arm 34, the connection between the second arm 34 and the third arm 35, the connection between the third arm 35 and the fourth arm 36, and the connection between the fourth arm 36 and the end effector 31. By providing the joint 301, the second arm 34 can rotate and bend in any direction relative to the first arm 33. The third arm 35 can rotate and bend in any direction relative to the second arm 34 by the joint 302. The fourth arm 36 can rotate and bend in any direction relative to the third arm 35 by the joint 303. The end effector 31 can rotate and bend in any direction relative to the fourth arm 36 by the joints 304 and 307. This allows the arm unit 3 to move the end effector 31 in any direction relative to the running body 2.

Each of the joints 301, 302, 303, 304, and 307 is provided with an actuator (not shown) for rotating and bending the second arm 34, the third arm 35, the fourth arm 36, and the end effector 31. The actuator is composed of a motor (not shown) or the like.

A connection portion 305 is provided between the base portion 32 and the first arm portion 33. The connection portion 305 is configured so that the first arm portion 33 can rotate with respect to the base portion 32. The connection portion 305 is provided with an actuator (not shown) that rotates the first arm portion 33 with respect to the base portion 32.

In this embodiment, the end effector 31 has a pair of fingers 311. The end effector 31 is configured to be able to grasp the workpiece 10, parts to be assembled to the workpiece 10, tools, etc., with the pair of fingers 311. In this embodiment, the arm unit 3 grasps parts (not shown) with the end effector 31 and assembles the parts to the workpiece 10.

In this embodiment, the bumper 4 and the moving part 41 are provided on the running body 2. The bumper 4 can be, for example, a member in which a cushioning material is provided on the surface of a base member made of synthetic resin. The cushioning material can be, for example, urethane sponge. In this embodiment, the moving part 41 is an actuator. The moving part 41 includes a motor (not shown) and a drive mechanism (not shown) such as gears.

As shown in FIG. 5, the bumper 4 has a bumper work table 42 on which the work 10 can be placed. The arm unit 3 is configured to be able to perform work on the work 10 while the work 10 is placed on the bumper work table 42. The arm unit 3 can also move the work 10 from the bumper work table 42 to the travelling body work table 21 or an external shelf (not shown), etc.

As shown in FIG. 2, the bumper 4 protrudes radially outward from a portion of the circumference of the running body 2. The bumper 4 is configured to be able to move circumferentially around the running body 2 by the moving part 41. That is, in this embodiment, the moving direction 4M of the bumper 4 is the circumferential direction. Also, in the running state, the bumper 4 moves with at least a portion of the bumper 4 positioned radially outward from the outer periphery 22 of the running body 2. In this specification, the circumferential direction means the direction along the circumference of a circle centered on the center 2C of the running body 2 when the manipulator 1 is viewed from the vertical direction Z. Also, the radial direction means the radial direction of a circle centered on the center 2C of the running body 2 when the manipulator 1 is viewed from the vertical direction Z.

As shown in FIG. 1, the moving unit 41 is configured to move the bumper 4 below the connection 11 between the arm unit 3 and the running body 2 in the vertical direction Z at a position Z1 lower than a position 1 m above the floor 12 in the vertical direction Z. In this embodiment, the moving unit 41 moves the bumper 4 below the position Z1 1 m above the floor 12 in the vertical direction Z.

As shown in FIG. 5, the manipulator 1 controls the end effector 31 in the traveling state so that at least a part of the end effector 31 is located within a projection area R in which both the bumper 4 and the running body 2 are projected onto the upper side Z2 in the vertical direction Z. Specifically, the manipulator 1 controls the end effector 31 in the traveling state so that at least a part of the end effector 31 is located within at least one of the bumper projection area 4R in which the bumper 4 is projected onto the upper side Z2 and the running body projection area 2R in which the running body 2 is projected onto the upper side Z2. In this embodiment, the manipulator 1 controls the end effector 31 in its entirety in the traveling state so that it is located within the projection area R.

In addition, the manipulator 1 controls the end effector 31 so that at least a portion of the end effector 31 overlaps with at least one of the bumper 4 and the running body 2 when viewed from the vertical direction Z as shown in FIG. 4 in the traveling state. When viewed from the vertical direction Z, a virtual circle VC is defined as a circle that is centered on the center 2C of the running body 2 and passes through the part of the bumper 4 that is farthest from the center 2C of the running body 2. At this time, the manipulator 1 controls the end effector 31 so that at least a portion of the end effector 31 is located inside the virtual circle VC when viewed from the vertical direction Z in the traveling state. In this embodiment, the manipulator 1 controls the end effector 31 so that the entirety of the end effector 31 is located inside the virtual circle VC when viewed from the vertical direction Z in the traveling state.

The manipulator 1 is configured to autonomously perform operations on the workpiece 10 using the arm unit 3, movement of the manipulator 1 using the running body 2, and movement of the bumper 4. As shown in FIG. 1, the manipulator 1 has a control unit 14 that controls the operation of the manipulator 1, and an external detection sensor (not shown) such as a stereo camera. The manipulator 1 controls the operation of the arm unit 3, the movement of the manipulator 1 using the running body 2, and the movement of the bumper 4 using the control unit 14. The control unit 14 then controls the movement unit 41 so that the bumper 4 moves in accordance with the operation plan of the arm unit 3. The control unit 14 has a processor and a memory. The manipulator 1 also detects the workpiece 10, etc., using an external detection sensor.

Next, we will explain a specific example in which the manipulator 1 controls at least a part of the end effector 31 to be in at least one of a position between at least a part of the bumper 4 and the running body 2, and a position overlapping with the running body 2, when viewed from the vertical direction Z.

First, the manipulator 1 moves toward the target location by the running body 2. The manipulator 1 is configured so that the arm unit 3 can perform work on the workpiece 10 while in the running state. Therefore, while moving toward the target location by the running body 2, the manipulator 1 performs assembly work on the workpiece 10 by the arm unit 3.

In the traveling state, the arm unit 3 assembles the workpiece 10 while moving the end effector 31 relative to the traveling body 2. At this time, the bumper 4 moves so that at least a part of the end effector 31 is positioned between at least a part of the bumper 4 and the traveling body 2 when viewed from the vertical direction Z, as shown in Figures 2 to 4. Specifically, the control unit 14 controls the movement of the moving unit 41 to control the moving direction 4M of the bumper 4 in accordance with the moving direction 31M of the end effector 31, as shown in Figures 3 and 4.

In addition, when the manipulator 1 is in the traveling state, as shown in FIG. 2, if the movement range of the end effector 31 is inside the outer periphery 22 of the traveling body 2, the bumper 4 is protruded from the traveling body 2 in the movement direction 1M of the manipulator 1. In other words, when the movement range of the end effector 31 is inside the traveling body projection area 2R (see FIG. 5) in the traveling state, the manipulator 1 controls the position of the bumper 4 so that the bumper 4 protrudes from the traveling body 2 in the movement direction 1M. In addition, when the manipulator 1 is not performing work on the workpiece 10 in the traveling state, the manipulator 1 controls the position so that at least a part of the end effector 31 overlaps with the traveling body 2 in the vertical direction Z. In this embodiment, when the manipulator 1 is not performing work on the workpiece 10 in the traveling state, the manipulator 1 controls the position so that the entire end effector 31 overlaps with the traveling body 2 in the vertical direction Z.

Next, the effects of this embodiment will be described.
The manipulator 1 controls, in a traveling state, at least a part of the end effector 31 to be at least one of a position between at least a part of the bumper 4 and the running body 2 and a position overlapping with the running body 2, as viewed from the up-down direction Z. Therefore, in a traveling state, the movable range of the end effector 31 can be increased while preventing the end effector 31 from coming into contact with the outside. As a result, it is possible to improve workability while ensuring safety.

As shown in FIG. 6, a comparative manipulator 9 not having a bumper is assumed. In this case, when at least a part of the end effector 31 is controlled to be in a position overlapping the running body 2 as viewed from the vertical direction Z in the running state in order to ensure safety, the movable range of the end effector 31 is narrowed, and workability is likely to be reduced. In other words, the manipulator 9 controls at least a part of the end effector 31 to be inside the outer periphery 22 of the running body 2 as viewed from the vertical direction Z in the running state. Therefore, the end effector 31 cannot be moved far outward from the outer periphery 22 of the running body 2 as viewed from the vertical direction Z, and the movable range is narrowed, and workability is likely to be reduced. Therefore, the manipulator 1 of this embodiment is provided with a bumper 4. Therefore, as shown in FIG. 3, even if the end effector 31 is moved far outward from the outer periphery 22 of the running body 2 as viewed from the vertical direction Z, at least a part of the end effector 31 is located between a part of the bumper 4 and the running body 2, so safety can be ensured. In other words, when the manipulator 1 is traveling and performing work on the workpiece 10 using the arm unit 3, even if the manipulator 1 comes into contact with a nearby worker, the worker is likely to come into contact with the bumper 4 rather than the end effector 31 holding a tool or the workpiece 10. This reduces the risk of injury. As a result, workability can be improved while ensuring safety.

The manipulator 1 is configured so that the arm section 3 can perform work on the workpiece 10 while it is traveling. Therefore, work can be performed on the workpiece during the time spent transporting the workpiece 10. As a result, workability can be improved.

When in a traveling state, the manipulator 1 controls the end effector 31 so that at least a portion of the end effector 31 is located within the projection region R. Therefore, when in a traveling state, the range of motion of the end effector 31 can be increased while preventing the end effector 31 from coming into contact with the outside. As a result, workability can be improved while ensuring safety.

The manipulator 1 is equipped with a bumper 4 that moves in accordance with the movement direction 31M of the end effector 31. Therefore, even if the running body 2 is made compact, the movable range of the end effector 31 can be increased while preventing the end effector 31 from coming into contact with the outside. In other words, the movable range of the end effector 31 can be increased without increasing the outer diameter of the running body 2. As a result, the manipulator 1 can be made compact while ensuring safety and workability. Furthermore, by making the manipulator compact, it becomes possible to move and work even in a relatively narrow space, making it easier for the manipulator 1 to work together with people in factories, warehouses, etc.

The traveling body 2 has a traveling body worktable 21. The arm section 3 is configured to be able to work on the workpiece 10 while the workpiece 10 is placed on the traveling body worktable 21. Therefore, work can be performed on the workpiece 10 while the workpiece 10 is in a stable state. As a result, workability can be further improved.

In addition, by providing the manipulator 1 with the bumper 4, it is possible to access and work on the workpiece 10 placed on the traveling worktable 21 not only from the upper side Z2, but also from the side of the workpiece 10. This makes it easy to improve workability.

The bumper 4 has a bumper work table 42. The arm section 3 is configured to be able to work on the work 10 while the work 10 is placed on the bumper work table 42. Therefore, work can be performed on the work 10 while the work 10 is in a stable state.

The moving part 41 is configured to move the bumper 4 below the connecting part 11 in the vertical direction Z1. Therefore, even if the manipulator 1 comes into contact with the worker, the bumper 4 is likely to come into contact with the worker below Z1 from the worker's waist. As a result, the risk of injury can be further reduced and safety can be further ensured.

When the movement range of the end effector 31 is within the running body projection area 2R in the running state, the manipulator 1 controls the position of the bumper 4 so that the bumper 4 protrudes from the running body 2 in the moving direction 1M of the manipulator 1. Here, when the movement range of the end effector 31 is within the running body projection area 2R, the manipulator 1 can control the position of the bumper 4 regardless of the operation of the end effector 31. In such a case, the position of the bumper 4 is controlled so that the bumper 4 protrudes from the running body 2 in the moving direction 1M. As a result, even if the manipulator 1 comes into contact with a worker or the like in the running state, the worker or the like is likely to come into contact with the bumper 4 rather than the running body 2 or the arm part 3. As a result, safety can be further ensured.

As described above, this embodiment provides a manipulator 1 that can improve workability while ensuring safety.

In the first embodiment, the bumper 4 is a member in which a cushioning material is provided on the surface of a base member made of synthetic resin. However, the bumper can be made of various materials, including synthetic resin, as long as safety can be ensured.

(Embodiment 2)
As shown in FIG. 7, this embodiment is an embodiment in which the thickness of the bumper 4 is changed from that of the first embodiment.

In this embodiment, the bumper 4 is formed in a flat plate shape as shown in Fig. 7. For example, the thickness of the bumper 4 in the vertical direction Z can be set to be 1/10 or less of the length of the running body 2 in the vertical direction Z.
The rest is the same as in embodiment 1. Note that, among the reference symbols used in embodiment 2 and onwards, the reference symbols that are the same as those used in the above-mentioned embodiments represent the same components, etc. as those in the above-mentioned embodiments, unless otherwise specified.

The bumper 4 is formed in a flat plate shape, which makes it easy to reduce the weight of the bumper 4. As a result, the bumper 4 can be easily moved, and workability can be further improved.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 3)
As shown in FIG. 8, this embodiment is an embodiment in which the thickness of the bumper 4 is changed from that of the first embodiment.

8, the thickness of the bumper 4 in the vertical direction Z is equal to or greater than half the length of the running body 2 in the vertical direction Z. In addition, the thickness of the bumper 4 in the vertical direction Z is equal to or greater than two-thirds the length of the running body 2 in the vertical direction Z.
The rest is the same as in the first embodiment.

The thickness of the bumper 4 in the vertical direction Z is equal to or greater than half the length of the traveling body 2 in the vertical direction Z. Therefore, even if the manipulator 1 comes into contact with a worker or the like while traveling, the bumper 4 is more likely to come into contact with the worker or the like. As a result, safety can be further ensured.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 4)
As shown in FIG. 9, in this embodiment, the bumper 4 is disposed on a lower side Z1 compared to the first embodiment.

9, the bumper 4 is installed on a lower side Z1 than the center in the vertical direction Z of the running body 2. The moving unit 41 moves the bumper 4 to a lower side Z1 than the center in the vertical direction Z of the running body 2.
The rest is the same as in the first embodiment.

The moving part 41 moves the bumper 4 on the lower side Z1 of the center in the up-down direction Z of the traveling body 2. Therefore, even if the manipulator 1 comes into contact with the worker, the bumper 4 is likely to come into contact with the worker on the lower side Z1 of the worker's waist. As a result, safety can be further ensured.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 5)
As shown in FIG. 10, in this embodiment, the arm portion 3 is connected to the upper side Z2 in comparison with the first embodiment.

As shown in FIG. 10, the manipulator 1 includes a pillar portion 15 and a beam portion 16. The pillar portion 15 is connected to the upper end of the running body 2 and extends from the upper end of the running body 2 toward the upper side Z2. The beam portion 16 is connected to the upper end of the pillar portion 15 and extends from the upper end of the pillar portion 15 in a direction perpendicular to the vertical direction Z.

The arm portion 3 is connected to the beam portion 16. That is, the arm portion 3 is connected to the traveling body 2 via the beam portion 16 and the pillar portion 15.
The other configurations and effects are the same as those of the first embodiment.

(Embodiment 6)
In this embodiment, as shown in FIG. 11, the arm portion 3 is connected to the side surface of the body portion 17 .

As shown in FIG. 11, the manipulator 1 is connected to the upper end of the running body 2 and includes a body section 17 that extends from the upper end of the running body 2 toward the upper side Z2. The arm section 3 is connected to the upper end of the body section 17.

The arm unit 3 is connected to the side of the body unit 17. In other words, the arm unit 3 is connected to the running body 2 via the body unit 17.

A joint 306 is provided at the connection between the body 17 and the arm 3. By providing the joint 306, the arm 3 can rotate and bend in any direction relative to the body 17.
The other configurations and effects are the same as those of the first embodiment.

(Embodiment 7)
In this embodiment, as shown in FIG. 12, a plurality of arms 3 are connected to the side of a body 17.

12, the manipulator 1 includes two arms 3. Each arm 3 is connected to a side of a body 17. That is, each of the two arms 3 is connected to the running body 2 via the body 17.
The rest is the same as in the sixth embodiment.

In this embodiment, the manipulator 1 includes a plurality of arms 3. This can further improve the operability.
In addition, it has the same effects as in the sixth embodiment.

(Embodiment 8)
As shown in Figs. 13 to 15, this embodiment is an embodiment in which the shape of the bumper 4 is modified from that of the first embodiment.

In this embodiment, the bumper 4 has a partition portion 47 that extends from the bumper workbench 42 toward the upper side Z2, as shown in Figures 13 to 15. The partition portion 47 is formed over the entire width direction Y of the bumper 4, as shown in Figure 14. In this embodiment, the width direction Y of the bumper 4 is a direction that is perpendicular to both the protruding direction of the bumper 4 from the running body 2 and the up-down direction Z.

The partition section 47 is formed at the end of the bumper work table 42 opposite the running body 2. As shown in FIG. 13, the partition section 47 extends to a position Z2 above the running body work table 21 and the workpiece 10 placed on the running body work table 21.

14 and 15, the manipulator 1 controls the moving direction 4M of the bumper 4 in accordance with the moving direction 31M of the end effector 31. The manipulator 1 controls the position of the bumper 4 so that the end effector 31 does not go out beyond the partition 47 when viewed from the vertical direction Z in the traveling state. The manipulator 1 also controls the bumper 4 so that at least a part of the end effector 31 is positioned below the upper end of the partition 47 in the vertical direction Z (not shown) when performing work on the workpiece 10 in the traveling state.
The rest is the same as in the first embodiment.

In this embodiment, the manipulator 1 controls the position of the bumper 4 in a traveling state so that the end effector 31 does not extend beyond the partition portion 47 when viewed from the up-down direction Z. This makes it easier for the worker to come into contact with the bumper 4 rather than the end effector 31, even if the manipulator 1 comes into contact with a nearby worker. As a result, safety can be further improved.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 9)
In this embodiment, as shown in FIG. 16, a plurality of bumpers 4 are provided.

In this embodiment, the manipulator 1 includes two bumpers 4 as shown in Fig. 16. The bumpers 4 are provided so that their positions in the vertical direction Z are equal to each other.
The rest is the same as in the first embodiment.

The manipulator 1 includes a plurality of bumpers 4. Therefore, for example, even if the moving speed of the end effector 31 is faster than the moving speed of the bumpers 4, it is easy to control the position of the bumpers 4 so that at least a part of the end effector 31 is located between at least a part of the bumpers 4 and the traveling body 2 when viewed from the up-down direction Z. As a result, it is possible to further improve the workability.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 10)
In this embodiment, as shown in Figs. 17 and 18, the bumper 4 is configured to be able to move in the vertical direction Z as well.

In this embodiment, the bumper 4 can move in the circumferential direction, and also in the vertical direction Z, as shown in Fig. 17 and Fig. 18. In other words, by including the vertical direction Z in the moving direction 4M of the bumper 4, the position of the bumper 4 in the vertical direction Z can be adjusted.
The rest is the same as in the first embodiment.

The bumper 4 can also move in the vertical direction Z. Therefore, the bumper 4 can be easily disposed at an appropriate position in consideration of workability and safety. As a result, it is possible to improve both workability and safety.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 11)
In this embodiment, as shown in FIGS. 19 to 21, the bumper 4 can be accommodated inside the running body 2. As shown in FIG.

In this embodiment, the moving unit 41 moves the bumper 4 so as to change the size of the projected area of the bumper 4 in the vertical direction Z, which is the area of the bumper 4 outside the outer periphery 22 of the running body 2 when viewed from the vertical direction Z, as shown in FIG. 21 . In other words, the moving unit 41 moves the bumper 4 so as to change the size of the area of the part of the bumper 4 radially outside the outer periphery 22 of the running body 2 when viewed from the vertical direction Z.

As shown in Figures 19 to 21, the running body 2 has a storage section 25 that stores the bumper 4. The storage section 25 is a recess formed by recessing a part of the outer circumferential surface 221 of the running body 2 toward the inside of the running body 2.

The bumper 4 is configured to be able to move in the radial direction. As shown in FIG. 19, the movement direction 4M of the bumper 4 includes the radial direction, so that the bumper 4 can be moved toward the inside of the running body 2 by a moving part (not shown). This allows at least a part of the bumper 4 to be accommodated inside the accommodation part 25.

By storing the bumper 4 inside the storage portion 25, the portion of the bumper 4 disposed outside the outer periphery 22 of the running body 2 is reduced when viewed from the vertical direction Z. As a result, the manipulator 1 changes the size of the projected area of the bumper 4 outside the outer periphery 22 of the running body 2 when viewed from the vertical direction Z, as shown in FIG.
The rest is the same as in the first embodiment.

The moving unit 41 moves the bumper 4 so as to change the size of the projected area of the bumper 4 in the vertical direction Z, which is the area outside the outer periphery 22 of the running body 2 as viewed from the vertical direction Z. Therefore, the amount of protrusion of the bumper 4 from the outer periphery 221 of the running body 2 can be adjusted as necessary. As a result, the manipulator 1 can be made smaller as necessary.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 12)
This embodiment is configured so that the workpiece 10 and the like can be housed inside the traveling body 2, as shown in FIGS.

In this embodiment, the storage section 25 has a storage space 251 that can store the workpiece 10, etc., inside the traveling body 2, as shown in Figures 22 to 25. In other words, the storage section 25 can store the workpiece 10, etc., in addition to the bumper 4.

In this embodiment, the height of the storage section 25 in the vertical direction Z is at least twice the thickness of the bumper 4 in the vertical direction Z. In addition, the height of the storage space 251 in the vertical direction Z is equal to or greater than the thickness of the bumper in the vertical direction Z.

As shown in Fig. 22, the manipulator 1 places the workpiece 10 on the bumper worktable 42 by the arm unit 3. Thereafter, the bumper 4 is moved toward the inside of the traveling body 2 by setting the moving direction 4M of the bumper 4 to the radially inward direction. As a result, the bumper 4 and the workpiece 10 are accommodated in the accommodation section 25 as shown in Fig. 23.
The rest is the same as in embodiment 11.

In this embodiment, the accommodation section 25 includes an accommodation space 251. Therefore, the workpiece 10 and the like can be accommodated inside the traveling body 2. Therefore, the accommodation space 251 can be used as a temporary storage area for the workpiece 10 and the like. That is, the workpiece 10 can be accommodated in the accommodation space 251 or removed from the accommodation space 251 as necessary. Also, as in the case of the workpiece 10, as shown in FIG. 24 and FIG. 25, a replacement end effector 310 can also be accommodated in the accommodation space 251. This allows efficient changeover of the work of the arm section 3. As a result, the workability can be further improved.
In addition, it has the same effects as in the eleventh embodiment.

(Embodiment 13)
As shown in Figs. 26 and 27, this embodiment is capable of detecting contact between the bumper 4 and the outside.

As shown in Figures 26 and 27, the manipulator 1 is provided with a contact detection sensor 43 that detects that the bumper 4 has come into contact with an external object 18. The manipulator 1 is configured to stop at least a portion of the movement of the manipulator 1 when the contact detection sensor 43 detects that the bumper 4 has come into contact with an external object 18.

In this embodiment, the contact detection sensor 43 is installed on the outer periphery of the bumper 4. The contact detection sensor 43 detects contact with the external object 18, for example, by detecting pressure or strain when the contact detection sensor 43 and the external object 18 come into contact with each other.

In this embodiment, the manipulator 1 is configured to stop the movement of the entire manipulator 1 when the contact detection sensor 43 detects that the bumper 4 has come into contact with an external object 18. In other words, when the contact detection sensor 43 detects that the bumper 4 has come into contact with an external object 18, the control unit 14 stops the movement of the running body 2, the arm unit 3, and the bumper 4.

26 and 27, in the traveling state, the control unit 14 controls the moving unit 41 so that the bumper 4 moves in accordance with the moving direction 31M of the end effector 31. Then, as shown in Fig. 27, when the contact detection sensor 43 detects that the moved bumper 4 has come into contact with an external object 18 such as a worker, the control unit 14 receives a detection signal from the contact detection sensor 43 and stops the movement of the entire manipulator 1.
The rest is the same as in the first embodiment.

The manipulator 1 is configured to stop at least a part of the movement of the manipulator 1 when the contact detection sensor 43 detects that the bumper 4 has come into contact with an external object 18. This can further reduce the risk of injury, and as a result, can further ensure safety.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 14)
This embodiment is capable of detecting the intrusion of an external object 18, as shown in FIG.

In this embodiment, as shown in FIG. 28, an intrusion detection sensor 19 is installed on the manipulator 1. The intrusion detection sensor 19 detects the intrusion of an external object 18 into the projection area R. The manipulator 1 is configured to stop at least a portion of its movement when the intrusion detection sensor 19 detects the intrusion of the external object 18.

In this embodiment, the intrusion detection sensor 19 detects the intrusion of an external object 18 when the external object 18 enters the movable range of the end effector 31. In this embodiment, the intrusion detection sensor 19 is installed on both the upper end of the bumper 4 and the upper end of the running body 2. The intrusion detection sensor 19 can be, for example, a light curtain, a LiDAR sensor, a camera, etc.

In this embodiment, the manipulator 1 is configured to stop the movement of the entire manipulator 1 when the intrusion detection sensor 19 detects that an external object 18 has intruded into the projection area R. Specifically, when the intrusion detection sensor 19 detects that an external object 18 has intruded into the projection area R, the control unit 14 stops the movements of the running body 2, the arm unit 3, and the bumper 4.
The rest is the same as in the first embodiment.

The manipulator 1 is configured to stop at least a portion of its movement when the intrusion detection sensor 19 detects that an external object 18, such as a worker, has intruded into the projection area R. This makes it possible to further reduce the risk of injury. As a result, safety can be further ensured.

In addition, in this embodiment, in order to prevent contact between the end effector 31 and the worker, the intrusion detection sensor 19 does not need to detect the intrusion of the external object 18 on the lower side Z1 of the bumper 4 and the lower side Z1 of the traveling body 2. This makes it possible to narrow the detection range of the intrusion detection sensor 19. This makes it possible to simplify the intrusion detection sensor 19 and reduce the installation cost of the intrusion detection sensor 19.
In addition, the second embodiment has the same effects as the first embodiment.

(Embodiment 15)
In this embodiment, as shown in FIGS. 29 to 32, the arm portion 3 serves as a moving portion 41. In FIG.

As shown in Figures 29 to 32, the manipulator 1 has two or more arm units 3. At least one arm unit 3 also serves as a moving unit 41.

In this embodiment, the manipulator 1 has two arms 3, one of which serves as a moving part 41. In other words, a bumper 4 is connected to the tip of one of the arms 3.

As shown in FIG. 30, the arm unit 3, which is also the moving unit 41, moves the bumper 4 in accordance with the movement of the end effector 31 of the other arm unit 3. In this embodiment, the arm unit 3, which is also the moving unit 41, can move the bumper 4 while sliding the bumper 4 on the work surface 211 of the traveling body work platform 21. The arm unit 3, which is also the moving unit 41, can also move the bumper 4 when the bumper 4 is separated from the traveling body work platform 21.

As shown in FIG. 32, the manipulator 1 of this embodiment moves the workpiece 10 from the bumper 4 to the shelf, which is the destination 101, in a stopped state in which the traveling body 2 is stopped. At this time, the manipulator 1 controls so that at least a part of the end effector 31 overlaps with at least one of the projection areas R and the destination projection area 101R in which the shelf, which is the destination 101, is projected onto the upper side Z2. The manipulator 1 also performs similar control when moving the workpiece 10 from the destination 101 to the bumper 4 or the traveling body 2 in a stopped state.

29, a head 171 is provided at the upper end of the body 17 to which the arm 3 is connected. An external detection sensor 172 such as a stereo camera is provided at the head 171. The manipulator 1 detects the bumper 4, the workpiece 10, etc. by the external detection sensor 172.
The rest is the same as in the seventh embodiment.

The manipulator 1 has two or more arm sections 3. At least one arm section 3 also serves as a moving section 41. This improves the degree of freedom of movement of the bumper 4. As a result, workability can be further improved.

As shown in FIG. 31, when the bumper 4 is moved by the arm unit 3, as in the first embodiment, even if the manipulator 1 comes into contact with the worker W while traveling, the bumper 4 is likely to come into contact with the worker W. As a result, safety can be ensured.

When the manipulator 1 moves the workpiece 10 to the destination 101 in a stopped state, the manipulator 1 controls the end effector 31 so that at least a part of the end effector 31 overlaps with at least one of the projection area R and the destination projection area 101R. This makes it possible to further prevent the end effector 31 from coming into contact with the outside. As a result, it is possible to further improve safety.
In addition, it has the same effects as those of the seventh embodiment.

(Embodiment 16)
In this embodiment, as shown in FIG. 33, the presence of the manipulator 1 can be notified to a notification target 13.

As shown in FIG. 33, the manipulator 1 is equipped with a presence notification unit 45 that notifies the notification target 13 of the presence of the manipulator 1. In this embodiment, the presence notification unit 45 is provided on the bumper 4. Specifically, the presence notification unit 45 has a speaker 452. The speaker notifies the notification targets 13 around the manipulator 1 of the presence of the manipulator 1. The notification targets 13 are, for example, workers who work together with the manipulator 1.

The presence notification unit 45 also includes a direction notification unit 451 that notifies the notification target 13 of the moving direction of the bumper 4. In this embodiment, the direction notification unit 451 is provided on the bumper 4. The direction notification unit 451 can be, for example, a display that indicates the moving direction of the bumper 4 with an arrow.
The rest is the same as in the seventh embodiment.

The manipulator 1 is equipped with a presence notification unit 45. Therefore, the target 13 can be notified of the approach of the manipulator 1, the operation of the manipulator 1, etc. Therefore, the worker working with the manipulator 1, which is the target 13, can easily take action to ensure safety. As a result, the risk of injury to the worker can be further reduced.

The presence notification unit 45 includes a direction notification unit 451. Therefore, the worker working with the manipulator 1, which is the notification target 13, can easily grasp the moving direction of the bumper 4 and can more easily take action to ensure safety. As a result, the risk of injury to the worker can be further reduced.
In addition, it has the same effects as in the seventh embodiment.

In the sixteenth embodiment, the presence notification unit 45 notifies the notification target 13 by sound from the speaker 452 and by displaying on the display. The direction notification unit 451 is a display showing an arrow. However, the presence notification unit can also notify by, for example, vibration of the bumper, temperature due to heat dissipation and cooling, smell, etc. that can be recognized by the worker. The presence notification unit can also notify by, for example, displaying letters, numbers, icons, images, etc. The contents notified by the presence notification unit can also be, for example, the work content, work range, work danger, work time, movement speed of the arm unit or the running body, movement direction of the arm unit or the running body, etc., in the manipulator.

(Embodiment 17)
As shown in Figs. 34 to 36, this embodiment is an embodiment in which the shape of the bumper 4 is modified from that of the sixteenth embodiment.

In this embodiment, as shown in Figures 34 and 35, a part of the moving part 41 is provided so as to protrude radially outward from the outer circumferential surface 221 of the running body 2. The bumper 4 is connected to the radially outer end of the moving part 41.

In this embodiment, the bumper 4 is formed along the circumferential direction. Also, as shown in FIG. 36, when viewed from the vertical direction Z, the bumper 4 is formed so that the further away from the connection portion 411 between the bumper 4 and the moving portion 41, the closer it is to the running body 2. The entire bumper 4 is located radially outward from the running body 2.

The bumper 4 has an inner curved surface 441 that faces inward in the radial direction and is formed as a convex curved surface that is convex toward the outside in the radial direction when viewed from the up-down direction Z. The bumper 4 also has an outer curved surface 442 that faces outward in the radial direction and is formed as a convex curved surface that is convex toward the outside in the radial direction when viewed from the up-down direction Z. The inner curved surface 441 and the outer curved surface 442 are each formed to follow the circumferential direction.

In addition, in this embodiment, the upper end of the bumper 4 is located above the traveling body worktable 21 and the workpiece 10 placed on the traveling body worktable 21, Z2, as shown in FIG. 34.

As shown in Figures 35 and 36, the manipulator 1 has an inner space 40, which is a space sandwiched between the running body 2 and the bumper 4 when viewed from the vertical direction Z. In this embodiment, the manipulator 1 controls the position of the bumper 4 in a running state so that at least a portion of the end effector 31 overlaps with the inner space 40 when viewed from the vertical direction Z.

The moving part 41 moves the bumper 4 in accordance with the moving direction 31M of the end effector 31. Therefore, even if the end effector 31 moves from the position shown in FIG. 35 to the position shown in FIG. 36, at least a portion of the end effector 31 will be in a position overlapping with the inner space 40 when viewed from the vertical direction Z.

In this embodiment, the presence notification unit 45 is a speaker 452. The presence notification unit 45 is provided on the bumper 4. The presence notification unit 45 is provided at a position radially opposed to the moving unit 41 when viewed from the up-down direction Z.
The rest is the same as in embodiment 16.

In this embodiment, the bumper 4 is formed along the circumferential direction. The upper end of the bumper 4 is located on the upper side Z2 of the traveling body work platform 21 and the workpiece 10 placed on the traveling body work platform 21. The manipulator 1 controls the position of the bumper 4 so that at least a part of the end effector 31 overlaps with the inner space 40 when viewed from the up-down direction Z in the traveling state. Therefore, the end effector 31 can be prevented from moving radially outward from the bumper 4. As a result, safety can be further improved.
In addition, it has the same effects as in the sixteenth embodiment.

(Embodiment 18)
In this embodiment, as shown in Figs. 37 to 39, a plurality of bumpers 4 are provided on the running body along the circumferential direction when viewed from the up-down direction Z.

As shown in Figures 37 to 39, in this embodiment, multiple bumpers 4 are provided around the entire circumferential direction of the running body 2. In other words, as shown in Figure 38, eight bumpers 4 are installed on the running body 2 so as to surround the entire outer periphery 22 of the running body 2 when viewed from the vertical direction Z.

The running body 2 is formed with a number of storage sections 25 (see Figs. 19 to 21) corresponding to the number of bumpers 4 (not shown). Each bumper 4 is configured to move in a radial direction with respect to the running body 2, without moving in a circumferential direction. In this embodiment, each bumper 4 moves in a radial direction with respect to the running body 2 by a linear actuator (not shown) which is a moving section 41. By moving each bumper 4 in the radial direction by the linear actuator, the area of the portion located radially outward from the outer periphery 22 of the running body 2 when viewed from the up-down direction Z is changed. In other words, by moving each bumper 4 in the radial direction by the linear actuator, the range of the projection region R (see Figs. 4 and 5) is changed.

38 and 39 , the moving unit 41 moves the bumper 4 in the radial direction so that at least a part of the end effector 31 is disposed between at least a part of the bumper 4 and the running body 2 as viewed from the vertical direction Z. That is, in order to dispose at least a part of the end effector 31 between a part of the bumper 4 and the running body 2 as viewed from the vertical direction Z, the bumper 4 that needs to protrude is moved radially outward, and the bumper 4 that does not need to protrude is accommodated inside the running body 2.
The rest is the same as in embodiment 11.

In this embodiment, a plurality of bumpers 4 are provided on the running body 2 along the circumferential direction. Moreover, each bumper 4 is configured to move along the radial direction with respect to the running body 2 without moving along the circumferential direction. Therefore, the range of the projection region R (see Figs. 4 and 5) can be changed flexibly and quickly. As a result, it is possible to further improve workability while further ensuring safety.
In addition, it has the same effects as in the eleventh embodiment.

(Embodiment 19)
As shown in FIGS. 40 to 42, this embodiment is different from the eighteenth embodiment in that a plurality of arm portions 3 are provided.

40 to 42, the manipulator 1 has two arms 3. Each arm 3 is connected to a side of the body 17.
The rest is the same as in embodiment 18.

The manipulator 1 includes a plurality of arm portions 3 and a plurality of bumpers 4. Therefore, as shown in Figures 41 and 42, it is easy to quickly move the bumpers 4 in accordance with the respective moving directions 31M of the plurality of end effectors 31. As a result, it is possible to further improve operability while further ensuring safety.
In addition, it has the same effects as embodiment 18.

(Embodiment 20)
As shown in Figs. 43 to 45, this embodiment is provided with a bumper 4 formed in an annular shape.

As shown in Figures 44 and 45, the bumper 4 is formed in an annular shape so as to surround the entire circumferential direction of the running body 2 when viewed from the vertical direction Z. The bumper 4 has elasticity. The bumper 4 can be made of, for example, an elastomer having rubber elasticity.

In this embodiment, the moving section 41 includes a plurality of linear actuators 412. The plurality of linear actuators 412 are evenly spaced along the circumferential direction. Each linear actuator 412 is configured to move along the radial direction without moving along the circumferential direction. The linear actuators 412 protrude outward in the radial direction, thereby stretching a portion of the annular bumper 4 outward in the radial direction.

As shown in Figures 44 and 45, the manipulator 1 operates the linear actuator 412 in accordance with the moving direction 31M of the end effector 31. As a result, the manipulator 1 controls the shape of the bumper 4 so that at least a part of the end effector 31 is located between the bumper 4 and the running body 2 as viewed from the up-down direction Z. In other words, the linear actuator 412 required to position at least a part of the end effector 31 between the bumper 4 and the running body 2 as viewed from the up-down direction Z is protruded radially outward. As a result, a part of the annular bumper 4 is stretched radially outward, and the bumper 4 is deformed. In addition, the linear actuator 412 that does not need to be protruded radially outward is moved radially inward.
The rest is the same as in embodiment 18.

The bumper 4 is formed in an annular shape so as to surround the entire circumferential direction of the running body 2 as viewed from the vertical direction Z. Furthermore, the manipulator 1 deforms the annular bumper 4 in the radial direction by the multiple linear actuators 412. Therefore, the manipulator 1 can easily flexibly and quickly control the shape of the bumper 4 so that at least a part of the end effector 31 is positioned between at least a part of the bumper 4 and the running body 2 as viewed from the vertical direction Z. As a result, it is possible to further improve workability while further ensuring safety.
In addition, it has the same effects as embodiment 18.

In the above embodiments 1 to 20, the running body 2 is provided with a running body worktable 21. However, the running body may be configured not to have a running body worktable. In this case, the running body can be made even more compact.

In the above embodiments 1 to 20, the end effector 31 has a pair of fingers 311. However, the end effector can have any configuration depending on the work to be performed on the workpiece. For example, the end effector can be configured to perform welding, screwing, etc. on the workpiece. The end effector can also be configured to have three or more fingers.

The present invention is not limited to the above-described embodiments, and can be applied to various embodiments without departing from the spirit of the present invention.

1...manipulator, 2...traveling body, 3...arm section, 4...bumper, 10...workpiece, 22...periphery, 31...end effector, 41...moving section, Z...up and down direction

Claims (9)

A running body (2),
an arm portion (3) connected to the traveling body and performing work on a workpiece (10);
a bumper (4) configured to be movable relative to the running body and configured such that at least a portion of the bumper (4) is movable outside an outer periphery (22) of the running body when viewed from a vertical direction (Z);
A manipulator (1) including a moving part (41) for moving the bumper relative to the traveling body,
The arm portion is provided with an end effector (31) and is configured to be able to move the end effector relative to the traveling body,
A manipulator that controls, when the running body is running, at least a portion of the end effector to be in at least one of a position between at least a portion of the bumper and the running body, and a position overlapping with the running body, when viewed from the vertical direction. The manipulator according to claim 1, which controls at least a portion of the end effector to be located within a projection area (R) in which both the bumper and the running body are projected upward (Z2) in the vertical direction while the running body is running. The manipulator according to claim 1 or 2, wherein the traveling body has a traveling body worktable (21) on which the workpiece can be placed, and the arm section is configured to be able to perform operations on the workpiece while the workpiece is placed on the traveling body worktable. The manipulator according to claim 1 or 2, wherein the moving part is configured to move the bumper below (Z1) in the vertical direction from the connection part (11) between the arm part and the running body. The manipulator according to claim 1 or 2, wherein the moving unit moves the bumper so as to change the size of the vertical projection area of the bumper, which is outside the outer periphery of the traveling body as viewed from the vertical direction. The manipulator according to claim 1 or 2, wherein the bumper has a bumper worktable (42) on which the workpiece can be placed, and the arm is configured to perform work on the workpiece while the workpiece is placed on the bumper worktable. The manipulator according to claim 1 or 2, further comprising a contact detection sensor (43) for detecting that the bumper has come into contact with an external object (18), and configured to stop at least a portion of the manipulator from moving when the contact detection sensor detects that the bumper has come into contact with the external object. The manipulator according to claim 1 or 2, further comprising an intrusion detection sensor (19) for detecting an intrusion of an external object (18) into a projection area (R) in which both the bumper and the vehicle are projected upward (Z2) in the vertical direction, and configured to stop at least a part of the movement of the manipulator when the intrusion detection sensor detects the intrusion of the external object. The manipulator according to claim 1 or 2, which has two or more arm parts, at least one of which is also the moving part.

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