JP4820395B2 - Robot work position correction system and simple installation type robot equipped with the system - Google Patents

Description

  The present invention relates to a movable simple installation type robot including a plurality of image pickup means, a work arm, and a carriage for work, and more specifically, a work position when the work position of the simple installation type robot is greatly moved. It relates to the correction system.

  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, in order to cope with labor shortages due to the declining birthrate and aging of society and to further improve production efficiency, there is also a movement to change the production method to a computer-based comprehensive automation method and respond to changes in the social environment.

  Because of these market trends, assembly work that repeats simple and monotonous work in human-centered cell production systems (variable and variable production systems that meet demand) There is a growing need for autonomous industrial robots such as humanoid robots with dual arms that can be operated in a mixed manner.

Therefore, in the future, it is expected that more robots, such as the double-arm robot described in Patent Document 1, are planned to coexist and cooperate with humans.
JP 2005-238350 A

  Industrial robots having working arms mainly perform various operations by swinging the working arms. Target work includes palletizing work used for factory shipping processes and product transportation in warehouses, sealing work used for solvent application to workpieces, gate cutting work during plastic molding, combination with NC lathes, etc. Workpiece installation / removal work with machine tools, special work in special spaces such as in clean rooms, etc. can be mentioned, and the operation is difficult to predict at first glance.

  For this reason, regarding industrial robots, “labor accidents” such as “striking / striking” have occurred in the past, and work for handling industrial robots is designated as dangerous and harmful work. Therefore, it is necessary to teach (teaching) the operation related to the work process in advance, but the worker who engages in the work needs to complete "special education", and in managing and managing industrial robots It is required by law, such as the installation of “contact prevention devices such as fences”, the formulation and compliance of “work rules”, and thorough “display” and “inspection”.

  Therefore, when a robot is introduced into a cell production site where one or several workers make one product, it is difficult to introduce a conventional industrial robot as it is because of safety problems. Therefore, it is necessary to take measures to reduce the movable output of the robot and prevent harm to human contact and disturbance, and it is impossible to install and fix the robot to the gantry like conventional industrial robots. In other words, simple installation of the robot is not only a feature / advantage but also a necessary condition.

  In addition, when a robot is introduced into a cell production system site that utilizes such human abilities, the robot is required to respond to the same environment as the operator, and is frequently moved and installed. Therefore, it is desired to be a simple installation type robot that can be quickly installed and operated.

  However, because it is such a simple installation type robot, depending on the work environment at the cell production site, the operator and the work area may overlap, and contact with an adjacent worker or the target work may be changed. Thus, it is assumed that the robot installation position frequently changes, including both the robot joint angle (posture) deviation and the installation location (environment) deviation. In addition, depending on the work operation of the robot, a slight change in the installation position may proceed due to inertia generated during the operation, and the robot may eventually move to a position where the operation is impossible. Furthermore, it is expected that the robot installation position will change due to disasters such as earthquakes. It is not preferable to require the labor of the operator to manually correct the installation position each time because the work efficiency of cell production is reduced.

  Therefore, the present invention grasps the environment using vision (imaging means) with respect to movement of the robot's work position due to contact with a person or some disturbance, and if the movement of the work position is large, the movement means The purpose is to correct the working position.

The present invention aims to solve the above-mentioned problem advantageously, and the work position correction system of the present invention includes a work arm and can mainly perform various work by swinging the work arm. It is arranged with the worker in front of the work table so as to coexist and work together with the worker, and at the time of placement, the movable output is reduced and the contact with the worker and disturbance are not harmed. A movable autonomous type equipped with a plurality of working imaging means and carriages, which requires measures and requires simple installation so that it can be moved and installed frequently without being fixed. In a work position correcting system for a simple installation type robot, a mark provided in a predetermined work area is picked up from a plurality of directions different from each other by the plurality of image pickup means, and based on a plurality of directions in which the mark is picked up Position identifying means for repeatedly determining the relative position of the robot with respect to the work area; and movement detecting means for detecting movement of the robot based on a change in the relative position of the robot with respect to the work area, which is repeatedly determined by the position identifying means; The work position correction necessity judgment means for judging whether or not the movement position of the robot detected by the movement detection means exceeds a predetermined amount and the work position needs to be corrected, and the work position correction necessity judgment means Based on the relative position of the robot with respect to the work area, which is repeatedly obtained by the position identification means when it is determined that position correction is necessary, the work arm can perform work in the work area at a workable position. and a moving means for moving the robot, the moving means, the anchor hand be coupled detachably to the working area provided in the work arm As a result, the anchor means is connected to the work area by grasping an end of a work table having the work area by the hand when the robot is moved to the workable position. and it is characterized in Rukoto moved by the operation of the arm and.
In addition, the work position correction system of the present invention is a work position correction system for a movable simple installation type robot including a plurality of work imaging means, work arms, and a carriage, and a mark provided in a predetermined work area is provided. The position identification means for repeatedly obtaining the relative position of the robot with respect to the work area based on the plurality of directions in which the marks are picked up by the plurality of image pickup means and the position identification means repeatedly obtained. A movement detecting means for detecting the movement of the robot based on a change in the relative position of the robot with respect to the work area; and the movement position detected by the movement detecting means exceeds a predetermined amount and the work position needs to be corrected. The work position correction necessity determination means for determining whether or not the work position correction necessity determination means determines that the work position needs to be corrected. In addition, based on the relative position of the robot with respect to the work area repeatedly obtained by the position identification means, moving means for moving the robot to a workable position where the work arm can work in the work area; The moving means has anchor means provided on the work arm and separably connectable to the work area, and when the robot is moved to the workable position, the anchor means is moved to the work area. And is moved by the movement of the arm.

  According to the above-described work position correction system of the present invention, when identifying the relative position of a movable robot having a plurality of work imaging means and work arms with respect to a predetermined work area, a mark provided in the predetermined work area The image is picked up from a plurality of different directions by a plurality of image pickup means, and the relative position is obtained based on the plurality of directions in which the mark is picked up. 3D position identification between the robot and the robot, and the given work movement of the robot can be corrected according to the environment, thereby enabling the robot to be operated with a simple installation method. Can quickly respond to changes in the environment.

Furthermore, according to the work position correction system of the present invention, a robot that is simply installed on the work line moves greatly with respect to a predetermined work area due to, for example, disturbance such as contact with the worker or inertia. and even when it becomes impossible to continue the work to detect the movement of the sole in the working position without borrow operator's hand, by the position identification means and the moving means comprising a plurality of image pickup means, its It is possible to return to work after correcting and adjusting the movement of the work position. In this way, the robot can rectify and adjust its work position independently, so that the operator must stop each time the robot work position moves and waste time adjusting the robot position. In addition, since the robot is not wasted time such that the work position is left moving and the work cannot be performed, the work efficiency can be greatly improved. Further, since the robot only needs to be brought to an approximate position with respect to the predetermined work area and fine adjustment of the position is not necessary, more robots can be introduced per worker.

  In the work position correcting system according to the present invention, the moving means has anchor means provided on the work arm and separably connectable to the work area. When the robot is moved to the workable position, the anchor means is provided. It is preferable to move to the work area by moving the arm. With this configuration, a technically simple and accurate position correction system is realized.

  In the work position correction system according to the present invention, the moving means has drive wheels provided on the carriage that can be driven by the drive means, and the drive means drives the drive wheels when moving the robot to the workable position. It is preferable to move it. With this configuration, on the one hand, even when the work arm tip anchor means moves beyond the work area, it is possible to return to the work position alone without helping the operator, Even when a point for connecting the anchor means to the work area is not provided, a work position correcting system for returning to the work position independently without helping the operator is realized.

  Further, in the work position correcting system according to the present invention, the anchor means is a hand of the work arm, and the moving means grips the end of the work table having the work area by the hand when the robot is moved to the workable position. It is preferable that By doing so, the moving means can be configured on the work bench side without particularly increasing the number of components other than the mark for position identification.

  Further, in the work position correcting system according to the present invention, the anchor means is a pin provided on the work arm, and the moving means moves the robot to the workable position by using the hand to attach the pin to a work table having a work area. It is also suitable for engaging with an attachment provided at the end. By doing so, for example, when it is difficult to grip the work table or when the hand is not a pinching type, it is possible to configure a moving means using a simple shape lock.

  Furthermore, in the work position correcting system according to the present invention, the anchor means is a hook provided on the work arm, and the moving means is used to move the robot to the workable position by using a hand to attach the hook to a work table having a work area. It is suitable also as what hooks on the hook part provided in the edge part. By doing so, even when the position accuracy of the hand is not so high, the hook can be engaged with the hook portion, and the robot can be moved reliably.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a perspective view showing the entire cell production site where two dual-arm robots each equipped with a first embodiment of the robot work position correcting system of the present invention work together with one worker M. FIGS. 2A and 2B are a front view and a side view showing the dual-arm robot shown in FIG. 1, and FIG. 3 is a plan view of the dual-arm robot shown in FIG. FIG. 4 is a diagram illustrating a state in which a mark placed on the (work) is recognized. FIG. 4 is a diagram illustrating a state where the dual-arm robot shown in FIG. 5 (a), (b), (c), (d), and (e) are flow charts showing the procedure for identifying the position of the two-arm robot shown in FIG. After that, it is determined that the work position correction is necessary by the work position correction necessity determination means. Perspective view showing a state before returning to the ability position, FIG. 6 is shown in FIG. 1 is a flow chart showing the procedure up movement of the double-arm robot to return to a working position from the occurrence.

  7 (a), 7 (b), 7 (c), and 7 (d) show that the working arm of the double-arm robot shown in FIG. 1 and the pin as the anchor means provided at the tip thereof are connected to the attachment. A front view and a side view showing a state in which the pin is removed, a side view showing a state in which the pins are removed from the attachment, and a connection between the two is released, and a side view showing the hand that has been shifted to the workable state again by rotating the pins upward 8 (a), 8 (b) and 8 (c) show a working arm equipped with an anchor means of a double arm robot equipped with a second embodiment of the working position correcting system of the present invention and a hand provided at the tip of the working arm. FIG. 9 is a front view and a side view showing a state of being connected to a predetermined work area, a side view of a state where the connection is separated, and FIG. 9 is a diagram of a double-arm robot provided with a third embodiment of the work position correcting system of the present invention. Work after the move occurs FIG. 10 is a flow chart showing a procedure until returning to the active position, and FIG. 10 is a flowchart from the movement of the double-arm robot provided with the fourth embodiment of the work position correction system of the present invention to the return to the workable position. It is a flowchart which shows a procedure.

  The cell production site shown in FIG. 1 has five desks T1 to T5 as work tables arranged in a substantially U-shape, and an operator M is arranged in front of the central desk T3, and two intermediate machines are provided. Two dual-arm robots 1 are arranged in front of the two desks T2 and T4 so as to coexist and work together with the worker M. In this cell production site, when a pallet P on which workpieces (not shown) are placed is loaded onto the desks T1 and T5 at both ends, the two double-arm robots 1 place the pallets P on the desks T1 and T5 in the middle. Then, the workpiece is taken out from the pallet P, and the workpiece is assembled on the circular table RT. The assembled workpiece is placed on the empty pallet P, and the pallet P is placed on the central table T3. Move up. Then, the worker M takes out the workpieces assembled from the pallets P on the central desk T3, combines them on the circular table RT, assembles a product (not shown), and carries the products together with the pallet P from the desk T3. .

  In order to perform such cell production work, the two dual-arm robots 1 here have the same configuration, and each double-arm robot 1 is provided on the body 2 and the upper end of the body 2 as shown in FIG. And the two arms 4 positioned on the left and right sides when viewed from the robot itself of the torso 2, and a sandwiching hand 5 as an example of an end effector provided at the tip of the arms 4 And a carriage 6 for supporting the lower part 2a of the body 2 instead of the legs. Each double-arm robot 1 is equipped with two video cameras 7 as imaging means on the front surface of the head 3 and a neck joint 8 that supports the head 3. Has a neck pitch axis that tilts forward and backward around the axis P1 and a neck yaw axis that rotates the head 3 left and right around an axis Y1 that is a center line extending in the vertical direction of the body 2 as movable axes. Yes. Further, each double-arm robot 1 has a waist joint 9 between the lower part 2 a and the upper part 2 b of the body 2, and the waist joint 9 has an axis line with respect to the lower part 2 a and thus the carriage 6. A waist yaw axis that rotates left and right around Y1 is provided as a movable axis.

  Further, each double-arm robot 1 includes a shoulder joint 10 between the body 2 and the upper arm 4 a of each arm 4, an elbow joint 11 between the upper arm 4 a and the lower arm 4 b of each arm 4, and each arm 4. Each has a wrist joint 12 between the lower arm 4b and a hand 5 as a hand, and the shoulder joint 10 protrudes to the left and right of the body 2 as shown in FIG. A shoulder yaw axis that is arranged on the shoulder bracket 13 and pivots the entire arm 4 to the left and right relative to the body 2 about the axis Y2, and an axis P2 that is orthogonal to the axis Y2 of the shoulder yaw axis. In addition, the movable arm has a shoulder pitch axis that tilts the entire arm 4 relative to the body 2 in the front-rear direction around the axis P2. Here, since the upper surface of the shoulder bracket 13 is inclined 15 degrees obliquely downward with respect to the axis Y1, the axis Y2 of each shoulder yaw axis is inclined 15 degrees with respect to the vertical direction of the body 2. As it goes downward, it extends so as to be closer to the body 2, and accordingly, the axis P2 of each shoulder pitch axis orthogonal to the axis Y2 of each shoulder yaw axis is also inclined by 15 degrees with respect to the floor surface. ing. The upper arm 4a of the arm 4 extends so as to be closer to the body 2 as the portion closer to the elbow joint 11 is lowered.

  Further, each elbow joint 11 has an elbow pitch axis that tilts the lower arm 4b up and down around an axis P3 parallel to the axis P2 with respect to the upper arm 4a as a movable axis, and each wrist joint 12 has a lower arm 4b. A wrist pitch axis that tilts the hand 5 relatively up and down around the axis P4, a wrist yaw axis that rotates the hand 5 around the axis Y3 perpendicular to the axis P4, and a lower arm 4b has a wrist roll axis that twists the wrist pitch axis and the wrist yaw axis about the axis R as a movable axis. As a result, each arm 4 has a total of six movable axes, that is, six degrees of freedom. However, by the arrangement of these movable shafts, the two arms 4 can have a singular point and can be in a free posture. As is well known, each of these movable shafts is constituted by a rotation mechanism in which a motor such as a servo motor is combined with a speed reducer such as a brand name harmonic drive.

  Further, each double-arm robot 1 supports the lower part 2a of the body 2 to be movable up and down at the upper end of the carriage 6, and tightens and fixes the lower part 2a by rotating a screw member (not shown) by operating the lever 14a. Two trunk brackets 14 which are partly cut out, and the body 2 is inserted between the lower part 2a of the body 2 and the lower part of the carriage 6 so that the body bracket 14 can be moved up and down by the body brackets 14. For example, a normal ball screw type electric actuator 15, each movable shaft drive circuit housed in the upper part 2 b of the body 2, and each of the above-mentioned two-arm robot 1 mounted on the lower part of the carriage 6. Based on images (visual information) from a control box 16 having a normal computer for controlling the operation of the drive circuit for the movable shaft and two video cameras 7 mounted on the front surface of the head 3, which will be described later. In this way, the desks T1 to T5 and the three-dimensional coordinates and orientation of the workpiece are recognized and transmitted to the control box 16, which is also provided with a visual control box 17 having a normal computer.

  The carriage 6 here has four fixed legs 18, two casters 19 </ b> A that can be swung on the rear side of the carriage 6, and front and rear sides of the carriage 6. The caster 19A and the drive wheel 19B are attached to a movable frame 20 supported by a lower part of the carriage 6 through a parallel link so as to be movable up and down. The movable frame 20 can be moved up and down together with the movable frame 20, and the movable frame 20 is lowered by depressing the pedal 21 that is folded outward and stepping down, and the casters 19 </ b> A and the drive wheels 19 </ b> B are lowered below the fixed legs 18. 6 can be fixed to a lower position (not shown) that supports the vehicle so as to be able to run on the floor surface F, and the lock is released by stepping down the pedal 22 on the opposite side to release the lock (not shown). Ring, can raise caster 19A and the drive wheel 19B is raised than the fixed leg 18 to the retracted position illustrated carriage 6 is fixedly supported by the fixing leg 18. Further, the movable frame 20 can be moved up and down between the storage position and the lowered position by a clutch drive motor (not shown) connected to the control box 16. The two drive wheels 19B are connected to a travel drive motor with a clutch (not shown) as drive means, and these travel drive motors are controlled by the control box 16 to move the two drive wheels 19B to each other. By independently rotating and driving, the carriage 6 can be moved in any direction.

  Further, the carriage 6 here is provided with a handle 23 at the rear thereof so that it can be pushed and pulled by hand, and a switch box 24 is detachably attached to the handle 23. An emergency stop switch 24a and a protective stop switch 24b of the arm robot 1 and an ascending switch 24c and a descending switch 24d of the body 2 by the electric actuator 15 are provided. An indicator lamp 25 is erected on the neck joint 8 of each double-arm robot 1 so as not to be buffered with the head 3. The indicator lamp 25 has a plurality of colors that are color-coded according to the display contents such as the operating state. A lamp is provided.

  In each double-arm robot 1 having such a configuration, the visual control box 17 includes two video cameras 7 mounted on the front surface of the head 3, as shown in FIG. A cross mark CM as a mark provided with a width direction interval a and a depth direction interval b at the four corners or three corners on the upper side, or a circle of a predetermined radius r from, for example, the center point of the circular platform RT. Cross marks CM as marks provided at equal intervals or at the center point thereof (see FIG. 1), and four or three corners on the pallet P are spaced at predetermined intervals in the width direction and the depth direction, respectively. The cross mark CM as the provided mark is imaged, and the position of the image of the cross mark CM, that is, the direction in which the two video cameras 7 are imaging the cross mark CM is obtained. The direction, and as shown in FIG. 4, performs the localization of the robot and the position identification object.

  FIG. 4 shows a procedure in which the dual-arm robot 1 shown in FIG. 1 performs position identification between the dual-arm robot and the desks T1 to T5 (represented by the symbol T) as position identification objects by the position identification means. Here, first, in step S1, for example, calibration is performed to image a region where the coordinates of the double-arm robot 1 are known, and the three-dimensional coordinate system of the video camera 7 and the three-dimensional coordinate system of the robot. Then, in step S2, each cross mark CM attached to the position identification target is imaged. In subsequent step S3, the robot 3 of the center point (intersection of intersecting lines) of each cross mark CM is captured. Point coordinates in the dimensional coordinate system are obtained by image processing. Such image processing is performed by, for example, recognizing the same four-point or three-point cross mark CMs in two images from two video cameras 7 from the closeness of the mutual positional relationship between the cross marks CM, and then the four points. A three-dimensional coordinate system of the robot is obtained by identifying the same one cross mark CM from the mutual positional relationship among the three or three cross mark CMs and determining the direction in which the single cross mark CM can be seen in both images. This can be done by repeating the process of geometrically calculating the point coordinates of the cross mark CM at the point according to the principle of triangulation. Next, in step S4, the arrangement of a plurality of cross marks CM in the three-dimensional coordinate system of the robot is calculated, and is recognized as a position identification object meaning the arrangement of the cross marks CM by pattern matching. In S5, the posture of the position identification target in the robot's three-dimensional coordinate system is calculated and recognized from the arrangement of the plurality of cross marks CM. Finally, in step S6, this position in the robot's three-dimensional coordinate system. The position and orientation of the identification object are transmitted to the control box 16 to complete the position identification.

  According to the position identification means in this embodiment, the visual control box 17 determines the desk T and the anchor point of the movable double-arm robot 1 having the two video cameras 7 for work and the two arms 4. When identifying the relative position with respect to the position identification target object, the cross marks CM provided on the position identification target objects are imaged from two different directions by the two video cameras 7, and the two directions in which the cross mark CM is imaged Since the relative position is obtained based on the above, even in a simple installation method in which the double-arm robot 1 is not precisely positioned, three-dimensional position identification between the coordinates of the double-arm robot 1 and each position identification object is performed. The given work movement of the robot 1 can be corrected according to the environment, thereby enabling the operation of the double-arm robot 1 with a simple installation method and the double-arm robot. 1 can correspond quickly to changes in the environment.

  According to the working position correction system of this embodiment, the function of the position identification means, the anchor point provided in the position identification object and the arms of the double-arm robot 1 configured to be detachable from each other are provided. The robot can correct the working position of the carriage by itself by the connection of the anchor means, the movement of the arm, and the operation of the moving means as described below.

  FIGS. 5A to 5E show position identification means from a state in which the double-arm robot 1 equipped with the work position correcting system of this embodiment is at a work position greatly moved from a predetermined work area by external force or inertia or the like. FIG. 5 is a perspective view showing, in chronological order, how a work position is corrected using a movement detection means, a work position correction necessity determination means, and a movement means.

  As shown in FIGS. 5A to 5E, the double-arm robot 1 (FIG. 5A) that has detected the movement of the work position by the movement detection means described below recognizes the movement amount, and the work position described later. When it is determined that the work position needs to be corrected by the correction necessity determination means, the movable frame 20 is lowered to the lowered position by the lifting drive motor, and the fixed position of the robot is relatively retracted to release the fixed position of the robot. To do. Next, the posture and distance of the robot with respect to the predetermined work area are corrected by driving the driving wheel 19B as the moving means with the travel drive motor and moving the carriage (FIG. 5 (b)). The pin 25 which is the anchor means provided at the tip of the double arm is engaged with the anchor point 26 provided on the desk which is the position identification object (FIG. 5C). When the pin 25 engages with the anchor point 26, the clutch of the traveling drive motor is disengaged so that the drive wheel 19B can freely rotate, and the arm 4 extended to engage the anchor means with the anchor point 26 is extended by the robot itself. Then, the carriage is moved to a desired work position by the operation of the arm 4 as a further moving means (FIG. 5D). After that, the movable frame 20 is raised to the storage position by the lifting drive motor, so that the fixed leg 18 is relatively lowered again, the pin 25 is pulled up from the anchor point 26, and the wrist and thus the pin 25 is rotated upward. Return to possible state.

  FIG. 6 shows an example in which the double-arm robot 1 uses the operation of the arm 4 as a moving means by connecting the anchor means and the anchor point 26 and the drive wheel 19B as a moving means having a traveling drive motor. 7 shows a control flowchart for performing the work position correction shown in FIG.

  Here, when the control box 16 first detects the movement of the double-arm robot 1 as a movement detection means based on a change in the relative position of the double-arm robot 1 with respect to the work area, which is repeatedly obtained by the position identification means during work ( Next, based on the change of the relative position, the amount of movement of the double-arm robot 1 is recognized (step S12). If this is excessive, that is, the operation is normally performed only by correcting the movement of the arm 4 by position identification. It is determined as a work position correction necessity determination means whether or not it has moved to a position where it cannot be performed (step S13). If the amount of movement is excessive, for example if it is a distance that one or both anchor means do not reach the anchor point, or if the rotation of the carriage 6 is recognized, the control box 16 needs to be corrected for the working position. In order to release the fixation of the double-arm robot 1 as described above, the fixed leg 18 is retracted, and the caster 19A and the driving wheel 19B as moving means are brought into contact with the floor (step S14). Then, the control box 16 drives the drive wheels 19B by a travel drive motor (not shown) to correct the posture and distance of the double-arm robot 1 with respect to a predetermined work area (step S15).

  Next, the control box 16 is provided with the pin 25 which is the anchor means provided on the arm tip of the arm 4 shown in FIG. 7 on the desk T which is the work table shown in FIG. The anchor point 26 is connected (step S16). In this state, the driving wheel 19B, which is the moving means, is separated from the traveling drive motor and is freely operated, and the caster 19A and the driving wheel 19B are driven by operating the two arms 4 in a coordinated manner to correct the working position (step) S17). Thereafter, the control box 16 again determines whether or not it is a workable position as a position adjustment necessity determination means (step S18). If it is determined that further work position correction is necessary, the control box 16 again determines the position of the double arm 4. The work position is corrected by operation. If it is determined that the work position is correct and the work position correction is not necessary, the caster 19A and the drive wheel 19B, which are moving means, are accommodated, the fixed leg 18 is brought into contact with the floor surface, and the double-arm robot 1 is fixed again. (Step S19), the work is resumed.

  As described above, since the driving wheel 19B can be driven by the travel drive motor as the moving means, for example, even when the amount of movement is so large that the anchor means provided on the arm tip of the arm 4 does not reach the anchor point. The arm robot 1 can independently correct the work position and return to the workable position. Further, even when the cart 6 does not face the work table T in parallel, it can be easily corrected when the movement range of the worker M is infringed. At this time, the movement of the arm 4 is also used for correcting the work position, and after the rough position is adjusted by the driving wheel 19B as the driving means, fine position adjustment is performed by the movement of the arm 4 as the further driving means. And the number of times of position identification can be reduced.

  7 (a), (b), (c), and (d) show that the double-arm robot 1 having the system of the present embodiment is an anchor means provided in the hand 5 as the hand of the arm tip. These are details of the anchor point 26 provided on the work desk T and the left arm 4 when viewed from the robot itself in a state where the pin 25 is connected to the anchor point 26 and in a state where the connection is released. The anchor point 26 has a fitting portion for fitting into the desk T and an anchor portion provided with a receiving hole 26a for anchor means. The pin 25 as the anchor means is formed in a rocket shape, and its free end has a guide surface inclined toward the axis. For this reason, even if the position where the pin 25 is lowered is not strict, if the receiving hole 26a engages with the guide surface, it is guided by applying a force downward, and the pin 25 is fitted and connected to the receiving hole 26a. When the work position adjustment is completed, the double-arm robot 1 lifts the hand (arm tip) 5 provided with the pin 25 as the anchor means to cancel the connection between the pin 25 and the anchor point 26. As shown in FIG. 7 (b), the pin 25 is provided on the opposite side of the hand 5 from the pinching finger portion 5a used for work. By rotating the R axis, the pin 25 faces downward as shown in FIG. 7 (c), and when returning to work, the pin 25 is again raised as shown in FIG. 7 (d). Try to face.

  FIGS. 8A, 8B and 8C show a hand (as an anchor means) provided at the tip of the work arm 4 by the double-arm robot 1 having the second embodiment of the work position correction system of the present invention. A front view and a side view showing a state in which the hand is gripped by an end of the work desk T having a predetermined work area as an anchor point with the finger part 5a of the hand 5 and a state in which the connection is released. FIG. 3 is a side view showing details of the left arm 4 when viewed from the robot itself. Here, the work desk T as an anchor point is provided with a cross mark (not shown) in the vicinity of the position held by the finger portion 5a of the hand 5, and the double-arm robot 1 is placed at a predetermined position with respect to the cross mark. The end of T is gripped by the finger part 5a of the hand 5, and the carriage 6 is pulled to the work desk T by the work arm 4 to return to the predetermined workable position. Further, unlike the pin 25 as the anchor means shown in FIG. 7, the hand 5 as the anchor means in the second embodiment uses the working means used for the work as it is, so that rotation on the R axis is unnecessary. .

  FIG. 9 shows a control flowchart of the system in the third embodiment of the present invention in which the work position is corrected using only the moving means driven by the driving means without using the arm motion. The system according to the third embodiment is configured in the same manner as in the previous embodiment except that the double-arm robot 1 does not include anchor means. For example, it is difficult to provide anchor points on the desk T which is a work table. The present invention can be suitably applied to cases where it is difficult to provide anchor means at the arm tips of the double-arm robot 1.

  Here, when the control box 16 first detects the movement of the double-arm robot 1 as a movement detection means based on a change in the relative position of the double-arm robot 1 with respect to the work area, which is repeatedly obtained by the position identification means during work ( Next, based on the change in the relative position, the amount of movement of the double-arm robot 1 is recognized (step S22). If this is excessive, that is, the operation is normally performed only by correcting the movement of the arm 4 by position identification. It is determined as a work position correction necessity determination means whether or not it has moved to a position where it cannot be performed (step S23). If the amount of movement is excessive and it is determined that the work position needs to be corrected, the control box 16 retracts the fixed leg 18 to release the fixation of the double-arm robot 1 and moves the caster 19A and the drive wheel 19B as moving means. Contact the floor (step S24). In addition, the control box 16 drives the drive wheels 19B by a travel drive motor (not shown) to correct the work position of the double-arm robot 1 with respect to a predetermined work area (step S25).

  Next, the control box 16 again determines whether or not the position is a workable position as a position adjustment necessity determination means (step S26). If it is determined that further work position correction is necessary, the drive of the drive wheel 19B is again performed. To correct the working position. If it is determined that it is possible to work and no further work position correction is necessary, the caster 19A and the drive wheel 19B are accommodated, the fixed leg 18 is brought into contact with the floor surface, and the double-arm robot 1 is fixed again ( Step S27), the work is resumed.

  FIG. 10 shows a control flowchart of the system in the fourth embodiment of the present invention in which the work position is adjusted using only the movement of the arm 4 by connecting the anchor means and the anchor point. The system of the fourth embodiment is configured in the same manner as in the previous embodiment except that the double-arm robot 1 does not have any special driving means or driving wheels as moving means. Four casters 19A that rotate according to the movement of the arm 4 are used.

  Here, when the control box 16 first detects the movement of the double-arm robot 1 as a movement detection means based on a change in the relative position of the double-arm robot 1 with respect to the work area, which is repeatedly obtained by the position identification means during work ( Next, based on the change of the relative position, the amount of movement of the double-arm robot 1 is recognized (step S32). If this is excessive, that is, the operation is normally performed only by correcting the movement of the arm 4 by position identification. It is determined as a work position correction necessity determination means whether or not it has moved to a position where it cannot be performed (step S33). If it is determined that the movement position is excessive and the work position needs to be corrected, then the control box 16 uses the position identification means to place the pin 25 as the anchor means provided on the arm tip of the arm 4 as a work table T. (Step S34), the fixed legs 18 are retracted to release the fixation of the dual-arm robot 1, and the four casters 19A are brought into contact with the floor surface (step S35). In this state, by operating both arms 4 in a coordinated manner, the caster 19A is rotated to correct the work position (step S36).

  Thereafter, the control box 16 again determines whether or not it is a workable position as a position adjustment necessity determination means (step S37). If it is determined that further work position correction is necessary, the operation of the double arm 4 is performed again. To correct the working position. If it is determined that it is a workable position and the work position correction is not necessary, the four casters 19A are housed, the fixed legs 18 are brought into contact with the floor surface, and the double-arm robot 1 is fixed again (step S38). Resume work.

  The examples described above with the drawings are merely examples of the embodiments of the present invention, and those skilled in the art will be able to consider various modifications within the scope of the claims of the present invention. For example, in detecting movement, an acceleration sensor or a proximity sensor may be used effectively, and the form of the anchor means and anchor point may be any suitable engagement other than those described above. For example, the anchor means may be configured as a hook and the anchor point may be configured as a hook portion such as a ring.

  Thus, according to the robot working position correction system of the present invention, when identifying the relative position of the movable robot having a plurality of working imaging means and working arms to the position identification object including at least the work table, Since the mark provided on the position identification object is imaged from a plurality of directions different from each other by a plurality of imaging means, and the relative position is obtained based on the plurality of directions of imaging the mark, even a simple installation method that does not accurately position the robot 3D position identification between the robot coordinates and the position identification object including at least the workbench can be performed, and the given work movement of the robot can be corrected according to the environment. The robot can be operated by the installation method, and the robot can be quickly adapted to changes in the environment.

  Furthermore, according to the work position correction system of the present invention, a robot that is simply installed on the work line moves greatly with respect to a predetermined work area due to, for example, disturbance such as contact with the worker or inertia. Even if it becomes impossible to continue the work, the movement of the work position is detected independently without the help of the worker, and the position identification means and the movement means provided with a plurality of imaging means It becomes possible to return to work by correcting and adjusting the movement of the work position. In this way, the robot can rectify and adjust its work position independently, so that the operator must stop each time the robot work position moves and waste time adjusting the robot position. In addition, since the robot is not wasted time such that the work position is left moving and the work cannot be performed, the work efficiency can be greatly improved. Further, since the robot only needs to be brought to an approximate position with respect to the predetermined work area and fine adjustment of the position is not necessary, more robots can be introduced per worker.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an entire cell production site in which two dual-arm robots each equipped with a first embodiment of the robot work position correcting system of the present invention work together with one worker M. It is a figure which shows the double-arm robot shown in FIG. 1, (a) is a front view, (b) is a side view. It is explanatory drawing which shows the state which recognized the mark attached | subjected on the work table (desk) and the work target object (work) by the double-arm robot shown in FIG. FIG. 3 is a flowchart showing a procedure for the position identification unit to perform position identification between the double-arm robot and a general position identification target by the position identification means. FIG. 1 shows a series of states from when the double-arm robot shown in FIG. 1 detects movement by the movement detection means to when it is determined that the work position correction necessity determination means needs to correct the work position and returns to the workable position. It is a perspective view. It is a flowchart which shows the procedure after the movement of a double-arm robot shown in FIG. 1 returns to a workable position. FIG. 1A is a front view and FIG. 2B is a side view showing a state in which the working arm of the double-arm robot shown in FIG. 1 and a pin as anchor means provided at the tip thereof are connected to the attachment. Further, (c) is a side view showing a state in which the pin is pulled out of the attachment and the connection between the two is released, and a side view showing the hand that has been shifted to the workable state again after the pin is rotated upward (d). ). The front view which shows the state which the working arm provided with the anchor means of the double arm robot provided with 2nd Example of this invention working position correction system, and the hand provided in the front-end | tip is connected with the predetermined work area | region (a) ), The side view is (b), and the side view showing the state where the connection is separated is (c). It is a flowchart which shows the procedure after a movement generate | occur | produces until it returns to a workable position of the double-arm robot provided with 3rd Example of this invention work position correction system. It is a flowchart which shows the procedure until it returns to a workable position after a movement generate | occur | produces of the double arm robot provided with 4th Example of this invention work position correction system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Two-arm robot 2 Body 2a Lower part 2b Upper part 3 Head 4 Arm 4a Upper arm 4b Lower arm 5 Hand 5a Finger part 6 Cart 7 Video camera 8 Neck joint 9 Waist joint 10 Shoulder joint 11 Elbow joint 12 Wrist joint 13 Shoulder bracket 14 Body bracket 14a lever 15 electric actuator 16 control box 17 visual control box 18 fixed leg 19A caster 19B drive wheel 20 movable frame 21, 22 pedal 23 handle 24 switch box 24a emergency stop switch 24b protection stop switch 24c ascent switch 24d descend switch 25 pin 26 Anchor point 26a Receiving hole CM Cross mark M Worker P Pallet RT Round base T, T1-T5 Desk

Claims (6)

It is equipped with a work arm, and can perform various work mainly by swinging the work arm, and is arranged with the worker in front of the work table so as to coexist and work together with the worker. It is necessary to take measures to reduce the movable output and to prevent harm to contact and disturbance with the above-mentioned workers, and it is necessary to install easily so that it can be moved and installed frequently without being fixed. In a working position correction system for a movable autonomous simple installation type robot equipped with a plurality of working imaging means and a carriage as a condition,
Position identification means for imaging a mark provided in a predetermined work area from a plurality of directions different from each other by the plurality of imaging means, and repeatedly determining a relative position of the robot with respect to the work area based on the plurality of directions of imaging the mark;
A movement detecting means for detecting movement of the robot based on a change in a relative position of the robot with respect to the work area, which is repeatedly obtained by the position identifying means;
A work position correction necessity judgment means for judging whether or not the movement position of the robot detected by the movement detection means exceeds a predetermined amount and the work position needs to be corrected;
When the work position correction necessity determination means determines that the work position needs to be corrected, the position identification means repeatedly calculates the position within the work area by the work arm based on the relative position of the robot with respect to the work area. Moving means for moving the robot to a workable position where work can be performed at
The moving means has a hand of the working arm as an anchor means provided on the working arm and detachably connectable to the work area, and the hand moves the robot to the workable position by the hand. by grasping the platform end with a working area, said anchor means coupled to said working area, characterized in Rukoto moved by the operation of said arm, working position correction system simple installation robot. In a work position correcting system for a movable simple installation type robot having a plurality of working imaging means, work arms, and a carriage,
Position identification means for imaging a mark provided in a predetermined work area from a plurality of directions different from each other by the plurality of imaging means, and repeatedly determining a relative position of the robot with respect to the work area based on the plurality of directions of imaging the mark;
A movement detecting means for detecting movement of the robot based on a change in a relative position of the robot with respect to the work area, which is repeatedly obtained by the position identifying means;
A work position correction necessity judgment means for judging whether or not the movement position of the robot detected by the movement detection means exceeds a predetermined amount and the work position needs to be corrected;
When the work position correction necessity determination means determines that the work position needs to be corrected, the position identification means repeatedly calculates the position within the work area by the work arm based on the relative position of the robot with respect to the work area. Moving means for moving the robot to a workable position where work can be performed at
The moving means includes anchor means provided on the work arm and separably connectable to the work area, and connects the anchor means to the work area when the robot is moved to the workable position. A system for correcting the work position of a simple installation type robot, wherein the system is moved by movement of the arm. The moving means has driving wheels provided on the carriage, which can be driven by driving means, and when the robot is moved to the workable position, the driving means drives and moves the driving wheels. The work position correcting system for a simple installation type robot according to claim 1 or 2 . The anchor means is a pin provided on the working arm,
Said moving means, said pin by the hand when moving the robot to the workable position, to engage the attachment provided at the end of the workbench with the working area, of claims 1-3 The work position correction system for a simple installation type robot according to any one of the preceding claims. The anchor means is a hook provided on the working arm,
Said moving means, said hook by the hand when moving the robot to the workable position, to engage the hook portion provided on a workbench end with the working area, according to claim 1 to 3 The working position correction system for a simple installation type robot according to any one of the above. The simple installation type robot provided with the working position correction system of any one of Claims 1-5 .

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