JP5228784B2 - Manipulator system - Google Patents

Description

  The present invention relates to a manipulator system that can be used in an automatic production system or the like, and more specifically, moves to a predetermined access position, moves between a plurality of access positions, etc. for transferring a workpiece or processing a workpiece. It is related with the manipulator system which performs operation | movement of.

  When a manipulator accesses a workpiece in an automatic production system or the like, peripheral devices such as a workpiece, an assembly device, a component supply device, and a rack are disposed within the reach of the hand and tool at the tip of the manipulator (for example, Patent Document 1). , 2).

  In this case, the reach of the manipulator's hand and tool is limited by the reach of the manipulator, so in work that requires many peripheral devices or work that requires access to a wide range of large-sized workpieces, It is necessary to take a large reach. For this reason, the size of the manipulator is increased, and it is difficult to make the entire system compact.

  In general, the larger the manipulator size, the larger the manipulator's transportable weight, and the cost increases as the transportable weight increases. Therefore, the above-mentioned points can be solved by selecting a manipulator having an appropriate portable weight and using a movable manipulator that can move the manipulator with respect to the peripheral device. The simplest moving manipulator is of a linear movement type using a single-axis precision table (for example, Patent Document 3). When movement on the XY plane is required, an orthogonal two-axis precision table or gantry is used. (For example, Patent Document 4).

  The precision table and gantry described above have the advantage that it is not necessary to unnecessarily lengthen the manipulator when working the manipulator over a wide range.

  On the other hand, if the access range of the manipulator changes due to changes in the work to be transported or layout changes of peripheral devices, an additional precision table or gantry must be laid to connect to the existing part to further cover that range. I must. In this case, even if the access range of the manipulator is slightly changed, a space exceeding it must be secured for additional installation of a precision table and a gantry, which is a weak point in terms of downsizing the entire system.

  In precision tables and gantry, precision positioning mechanisms such as a rack and pinion mechanism and a slider mechanism using a screw shaft are used, but these mechanisms have a large occupation area and are carefully and precisely controlled so as not to impair their accuracy. Need to be laid. For this reason, it is a laying operation that requires much man-hours and labor. As a result of the above-mentioned changes, the work for additional laying of precision tables and gantry must be connected to the existing parts with high accuracy, so the man-hours and labor required for the work also increase for new laying work. And big.

  Therefore, instead of making the manipulator moveable with respect to the peripheral device by the track-type moving means such as the precision table or gantry described above, the manipulator can be mounted on the trackless self-propelled carriage to be movable. Attention has been focused on (for example, Patent Documents 5 and 6).

  As long as there are no obstacles, the self-propelled carriage can move over a wide range without any restrictions, and since it is a trackless system, it does not require a large fixed facility such as a precision table or a gantry. Therefore, the above-described method of mounting a manipulator on a self-propelled carriage is a method that can be called one ideal type in order to increase the degree of freedom of the access range of the manipulator and to make the entire system compact.

  However, since the position control of the self-propelled carriage is performed based on the amount of movement of the running mechanism such as the wheels, the accuracy of the self-propelled carriage is significantly deteriorated when the self-propelled carriage slips on the running surface. End up. In order to prevent such a situation from occurring, it is necessary to travel at a low speed to prevent slipping, etc., but doing so restricts the tact time of the work transfer and movement to the access position, and speeds up the work. This makes it difficult to use the camera in situations where it is required.

  In addition, since the position control of the self-propelled carriage based on the operation amount of the traveling mechanism portion is usually performed by accumulating the operation amount of the traveling mechanism portion instructed as the control amount, the control amount and the actual operation amount If there is an error between the two, the error is accumulated. When this error is accumulated, a large gap is generated between the control operation amount obtained by accumulating the control amount and the actual operation amount.

  When a manipulator is mounted on a self-propelled carriage and the workpiece is transported or moved to an access position, etc., it is necessary to take measures against the accumulation of errors described above in order for the manipulator to always approach the workpiece accurately. . Specifically, for example, the relative position of the hand with respect to a fixed position coordinate such as the moving area of the self-propelled carriage is detected by sensing, and the accurate position of the self-propelled carriage is grasped based on the result, and the following Processing such as correcting the control amount used for position control of the self-propelled carriage is required.

  Further, in some cases, it is necessary to detect the relative position of the hand with respect to the workpiece and to use a process for correcting the control amount used for the position control of the self-propelled carriage based on the result. . Such processing is extremely complicated, and high-spec hardware must be used for the control system hardware for realizing it.

  Use macro-micro systems used in the field of space work machines and aerial work machines as a means of realizing work transfer and movement to access positions in a trackless manner without using a self-propelled carriage. Can be considered. The macro-micro system is obtained by attaching a micro (small) manipulator with a narrow movable area to the tip of a macro (large) manipulator with a wide movable area (for example, Patent Documents 7 and 8).

  In this macro-micro system, rough position control is performed by a macro manipulator, and compensation of errors generated by the macro manipulator is performed by the micro manipulator, so that the manipulator is mounted on the self-propelled carriage and the work is transported. The control system hardware can be done with low-spec hardware.

In addition, since the macro-micro system is a trackless system, the number of man-hours and labor required for the installation work can be reduced and the entire system can be made compact compared to the case where the moving means of the manipulator is a track system. .
JP 2004-299053 A JP 2006-43844 A JP-A-6-106487 Japanese Patent No. 2569297 JP 2001-252883 A JP 2006-159399 A Japanese Patent No. 3302797 Japanese Patent No. 4005639

  However, in a macro-micro system in which a micromanipulator is attached to the tip of a macromanipulator, the total load of the macromanipulator and the micromanipulator constituting a series of manipulators is concentrated on the base end of the macromanipulator. Therefore, regardless of the field of spacecraft, where the influence of gravity can be basically ignored, in other fields, the base end of the macromanipulator is rotated by a high-power drive source that can handle the full load of the macromanipulator and micromanipulator. It is necessary to let

  In this case, in a special field such as an aerial work machine where the work area is far from the ground, even if it is not a problem because it is a prior decision to enable work, in the field of an automatic production system etc. In order to speed up the tact time for moving to the access position, the demand to drive the macro manipulator at high speed cannot be ignored.

  In other words, in order to adopt a macro-micro system in fields such as automatic production systems, in addition to increasing the output of the drive source to handle loads, further increasing the output of the drive source to support high-speed driving. Must be realized. However, its realization is very difficult in practice.

  In the end, the macro-micro system proposed in the field of space work machines and special fields such as aerial work machines can be applied directly to the fields of automatic assembly systems and automatic loading / unloading systems. It is not practical to meet the original requirement of transport.

  The present invention has been made in view of the above circumstances, and the object of the present invention is to solve the problem of the tact time and the position of the work transport and access position such as a self-propelled carriage while being a trackless system suitable for downsizing. A manipulator that can avoid problems of control complexity and achieves a wide range of accurate and quick work transfer, movement to access positions, movement between access positions, etc. with low specifications that cannot be achieved with a manipulator alone. To provide a system.

  In order to achieve the above object, the manipulator system according to the first aspect of the present invention is configured such that the work is transported, moved to the access position, and the access position in an area where a work and a predetermined access position are arranged in the periphery. A manipulator system that moves between the base and a base that is fixedly arranged around the area, and a driven carriage that is arranged in the area and can be moved and moved on the floor in the area by applying an external force. And a macro manipulator that is installed between the base and the driven carriage and that moves the driven carriage on the floor surface by operating with the base as a starting point, and is installed on the driven carriage, the driven carriage And a micromanipulator that performs a transfer operation of the workpiece within a predetermined work range starting from.

  According to the manipulator system of the present invention described in claim 1, the operation of the micromanipulator mounted on the driven carriage is caused by moving the driven carriage on the floor surface of the area by the operation of the macromanipulator starting from the base. Thus, access to a workpiece, a predetermined access position, movement between access positions, and the like are performed.

  For this reason, a macro-micro system consisting of a macro manipulator and a micro manipulator is constructed, the manipulator is moved by a trackless moving means, and the manipulator is moved by a tracked moving means such as a precision table or a gantry. As a result, the entire system can be made compact.

  In addition, since the controlled object of the position control of a driven carriage equipped with a micromanipulator is not a driven carriage itself but a macromanipulator that operates from a fixed base, the driven carriage causes a slip or the like on the floor surface. Even if this is the case, a large error does not occur between the control amount of the macro manipulator to be controlled and the actual operation amount.

  For this reason, it is not necessary to drive the driven carriage at a low speed for accurate position control of the driven carriage, and the tact time such as movement of the workpiece, movement to the access position, movement between the access positions, etc. due to the traveling speed of the driven carriage. Since there is no restriction on the position, the driven carriage can be moved at high speed while maintaining the accuracy of the position control of the driven carriage, so that the workpiece can be transferred, moved to the access position, moved between the access positions, etc. quickly. be able to.

  In addition, since a macro manipulator that does not cause a large error between the control amount and the actual operation amount is to be controlled in the position control of the driven carriage, complicated processing based on sensing relative position with respect to a fixed position coordinate It is not necessary to perform the correction according to the position control of the driven carriage. For this reason, it is possible to use low-spec hardware for the control system.

  Furthermore, since the load of the driven carriage connected to the macromanipulator and the micromanipulator mounted on it is distributed to the floor of the area where the driven carriage travels and the macromanipulator, the total load of the driven carriage and the micromanipulator It is not necessary to use a drive source suitable for the macro manipulator. Therefore, high-speed operation of the macro manipulator can be realized in the category of high output of a realistic drive source.

  In summary of the above points, according to the manipulator system of the present invention described in claim 1, although it is a trackless system suitable for compactness, there is a problem of speeding up in wheel movement or the like such as a self-propelled carriage. It avoids the problems of position control complexity, and can realize a wide range of accurate and quick work transfer, movement to access positions, movement between access positions, etc. with low specifications that cannot be achieved with a manipulator alone. .

Further, the manipulator system of the present invention according to claim 1, before Symbol macro manipulator, the direction in which travel and move the driven carriage, to limit the orthogonal two directions along the floor surface including at least a predetermined direction Features.

According to the manipulator system of the present invention as set forth in claim 1, the traveling direction of movement of the driven carriage on the floor of the d rear is, by the operation of the macro manipulators, given that at least two orthogonal directions along the floor of the area Will be limited in direction.

  For this reason, the structure of the macro manipulator that moves the driven carriage on the floor surface of the area in order to allow the micro manipulator to access a work or a predetermined access position is set to 5 to 6 axes (or directions) like a general manipulator. It is not necessary to have a complicated structure having a degree of freedom, and it is sufficient to have a mechanism for moving in at least two orthogonal directions along the floor surface. Therefore, it is possible to reduce the cost of the macro manipulator and, consequently, the entire manipulator system.

Furthermore, the manipulator system of the present invention according to claim 1, before SL and macro manipulator has a parallel link mechanism, the parallel link mechanism, connected in parallel between the base and the driven carriage 1st to 3rd links, each of the first and third links being rotatable about a vertical axis with respect to the floor surface, one end with respect to the driven carriage and the other end with respect to the base And the second link is driven at one end with respect to the driven carriage and the other end with respect to the base. It is pivotally supported about a vertical axis with respect to the floor surface, and is driven so that the rotation angle of the other end with respect to the base changes, and is driven by the driving of the first and third links. By spacing the end and the other end of the second link is changed, and characterized in that for changing the orientation of the position and rotation uniaxial translation biaxially in the same plane.

According to the manipulator system of the present invention described in claim 1 , the first link, the second link, and the third link are independently driven, so that the position and posture of the driven carriage can be adjusted to three degrees of freedom (area). Therefore, the position of the driven carriage can be freely changed within the area.

  In order to drive the first link and the third link, a motor, a cylinder or the like for changing the distance between the one end and the other end is provided, and in order to drive the second link, A motor for rotating the second link relative to the base may be provided. Therefore, if a parallel link mechanism is used, it is not necessary to provide separate drive sources for driving in two orthogonal directions along the floor surface of the area.

  Further, if the parallel link mechanism is used, an independent mechanism is used for the attitude (rotation angle) of the driven carriage in the rotation direction around the vertical axis perpendicular to the floor surface, depending on the driving state of the first to third links. Can be controlled.

  For this reason, the use of the parallel link mechanism makes it possible to reduce the size and weight of the macromanipulator mechanism that realizes three degrees of freedom in the plane, and as a result, it is possible to realize high-speed conveyance of the workpiece.

A manipulator system according to a second aspect of the present invention is the manipulator system according to the first aspect of the present invention, wherein the macro manipulator and the driven carriage are configured so that the base of the driven carriage is operated by the macro manipulator. It is characterized by being connected with a predetermined degree of freedom in a direction other than the direction in which relative movement is possible.

According to the manipulator system of the present invention described in claim 2 , in the manipulator system of the present invention described in claim 1 , when the driven carriage is moved relative to the base by the macro manipulator, the macro manipulator operates. Even if the floor surface of the actual area is not a precise parallel plane with respect to the virtual plane on which the driven carriage can be moved and moved, the position and posture deviation of the driven carriage relative to the macro manipulator caused by both of them will be reduced. Can be absorbed at the connecting portion.

  According to the manipulator system of the present invention, while it is a trackless system suitable for downsizing, it avoids the problem of speeding up in wheel movement and the like and the trouble of position control, such as a self-propelled carriage, and the manipulator alone Can achieve a wide range of accurate and quick work transfer, movement to access positions, movement between access positions, etc. with low specifications, which cannot be realized with.

  When described in detail with specific examples, for example, when the assembly cell is configured by applying the manipulator system of the present invention, it can be configured in a form that is completely the same as or very close to that of a human assembly cell. That is, when the assembly cell can be configured as such, the driven cart can be removed from the area of the assembly cell by removing the driven cart from the connecting portion with the macro manipulator and pushing by the worker.

  Therefore, if the manipulator stops due to a serious abnormality or failure, etc., or re-teaching to the manipulator that is necessary due to product change etc. is performed at night, etc. In some cases, since the area is a planar space, the driven carriage can be easily removed from the assembly cell. In addition, there is an advantage that the area after removal can be used as a human cell as it is, and the production plan can be flexibly handled.

  The above is a specific example when the present invention is applied to an assembly cell, and the same effect can be naturally obtained when the present invention is applied to a manipulator system other than the assembly cell.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a plan view showing a schematic configuration of a manipulator system according to an embodiment of the present invention. 2 is a cross-sectional view taken along line AA in FIG.

  The manipulator system of the present embodiment indicated by reference numeral 1 in FIG. 1 is applied to an assembly cell for assembling work-in-progress 5 (corresponding to a workpiece in claims) in area 3. This assembly cell has a work area 3. A driven carriage 11 that travels and moves on the floor surface 3A of the area 3, a macro manipulator 13 that travels and moves the driven carriage 11 on the floor surface 3A of the area 3, and a micromanipulator 15 that is installed on the driven carriage 11 are provided. ing.

  Five automatic devices 7A to 7E are sequentially arranged in the peripheral portion of the floor surface 3A of the area 3, and a tool changing table 7F and a work table 7G are arranged between the automatic devices 7C and 7D.

  The tool changing table 7F stores a tool replacement attachment that is attached to and detached from the tip of the micromanipulator 15. The work table 7G is a table for performing the work of changing the tool of the micromanipulator 15. The work table 7G also serves as a temporary placement table for temporarily placing the work-in-progress 5 being transferred while the micromanipulator 15 performs a tool replacement operation.

  Next to the automatic devices 7A, 7B, and 7D, component supply bases 7H to 7J that supply components to be assembled to the work-in-process 5 in the automatic devices 7A, 7B, and 7D to the micromanipulator 15 are arranged. Furthermore, in the peripheral part of area 3, a work-in-process carrying-in unit 8A for carrying in work-in-process 5 and a finished product after assembling and processing of parts to work-in-process 5 in each of the automatic devices 7A to 7E are carried out. A finished product unloading section 8B for performing the above is disposed.

  The automatic devices 7A to 7E, the work table 7G, the component supply tables 7H to 7J, the work-in-product carry-in unit 8A, and the finished product carry-out unit 8B described above correspond to predetermined access positions in the claims. And the base 9 is provided in the peripheral part of the area 3 so that the relative position with respect to these may be fixed.

  The driven carriage 11 includes a base 11 </ b> A and three omnidirectional wheels 11 </ b> B that support the base 11 </ b> A and come into contact with the floor 3 </ b> A of the area 3. The base 11A is formed in a columnar shape, and the three omnidirectional wheels 11B are respectively provided at locations shifted in phase by 120 degrees in the circumferential direction of the peripheral surface of the base 11A. As shown in FIG. 2, each omnidirectional wheel 11 </ b> B is configured to be able to move not only in the moving direction due to the rotation of the wheel, but also in the direction orthogonal thereto.

  As shown in FIG. 1, the macro manipulator 13 is installed between a base 11 </ b> A and a base 9 of the driven carriage 11. FIG. 3 is an enlarged plan view of the manipulator system of FIG.

  As shown in FIG. 3, the macro manipulator 13 has first to third links 13A to 13C arranged in parallel in the horizontal direction. One end of the first to third links 13A to 13C is attached to the peripheral surface of the base 11A of the driven carriage 11 and integrated with the output member 13D, and the first to third links 13A to 13C. The other end of each is pivotally supported with respect to the side surface of the base 9 via a vertical axis (Z axis) with respect to the floor surface 3A (XY plane). The pivot portions at the other ends of the first to third links 13A to 13C by the output member 13D and the base 9 are arranged at equal intervals in the extending direction of the floor surface 3A of the area 3.

  The first and third links 13A and 13C are expanded and contracted by first and third actuators 13F and 13H (see FIG. 4), which will be described later, and the second link 13B having no expansion and contraction drive source is the first and third links 13A and 13C. The third link 13A, 13C is expanded / contracted following the expansion / contraction drive. The other end of the second link 13B is rotationally driven with respect to the base 9 by a second actuator 13G (see FIG. 4), which will be described later, and does not have a drive source for rotation. Both ends and one end of the second link 13B are rotated with respect to the base 11A and the base 9 following the rotation of the second link 13B.

  In the macro manipulator 13 configured as described above, the angle at which the other end of the second link 13B is rotated with respect to the base 9 by the second actuator 13G, and the first and third links 13A, 13C are the first and third links. The expansion / contraction length that is expanded and contracted by the third actuators 13F and 13H is set to an appropriate combination of values.

  Accordingly, the driven cart 11 is placed on the floor so that the micromanipulator 15 faces the target automatic devices 7A to 7E, the work table 7G, the parts supply tables 7H to 7J, the work-in-product carry-in unit 8A, or the finished product carry-out unit 8B. The driven carriage 11 can be rotated with respect to the macro manipulator 13 while traveling on the surface 3A.

  It should be noted that one end of the first to third links 13A to 13C and the output member 13D have a predetermined degree of freedom of freedom that allows a slight relative movement in the axial direction of the vertical axis (Z axis) that is the pivotal support shaft of both. Are connected.

  Further, one end of the first to third links 13A to 13C and the output member 13D are a central axis (X axis) in the expansion / contraction direction of the first to third links 13A to 13C along the floor surface 3A of the area 3, and It is connected to the Y axis along the floor surface 3A of the area 3 so as to be slightly rotatable relative to the Y axis along the floor 3A. That is, both are connected with a predetermined degree of freedom in the circumferential direction of the X axis and the circumferential direction of the Y axis.

  As described above, the connection portion between the output member 13D and the one end of the first to third links 13A to 13C having a predetermined degree of freedom of freedom in each of the Z-axis direction and the X-axis and Y-axis circumferential directions is a macromanipulator. 13 excludes the direction in which the driven carriage 11 is moved by 13 (traveling movement direction of the driven carriage 11 along the floor surface 3A = X-axis and Y-axis, and change direction of the posture with respect to the macro manipulator 13 = the circumferential direction of the Z-axis). An error absorbing mechanism 13E that absorbs a position error between the macro manipulator 13 and the driven carriage 11 in the other directions (the X axis circumferential direction, the Y axis circumferential direction, and the Z axis direction) is configured.

  The cylinder portion of the macro manipulator 13 and the base 9 are covered with a floor plate 23. As shown in FIG. 2, the floor plate 23 is disposed at the same height as the peripheral portion of the area 3 that is one step higher than the floor surface 3A. The upper surface of the floor plate 23 can be used as an arrangement space for arbitrary articles.

  The micromanipulator 15 is installed on the base 11 </ b> A of the driven carriage 11. This micromanipulator 15 has a flange 15C at the tip of an articulated arm 15A. A tool attachment 15B for transporting the work in process 5 is attached to and detached from the flange 15C. The tool attachment 15B can be exchanged with another tool attachment (not shown) of the tool changing table 7F as necessary.

  In the micromanipulator 15 configured as described above, an appropriate control value is given to a rotary actuator (not shown) built in the multi-joint arm 15A, so that the multi-joint arm 15A is appropriately attached to the base 11A. The posture.

  Thereby, the tool attachment 15B for conveyance attached to the flange 15C is relative to the target automatic devices 7A to 7E, the work table 7G, the component supply tables 7H to 7J, the work-in-product carry-in part 8A, or the finished product carry-out part 8B. As described above, the micromanipulator 15 can be operated on the driven carriage 11.

  As shown in FIG. 1, the manipulator system 1 of the present embodiment having the follower carriage 11, the macro manipulator 13, and the micro manipulator 15 described above transfers the work-in-process 5 from the work-in-product carrying-in part 8A to the automatic device 7A. It is sequentially conveyed to the automatic device 7B, the automatic device 7C, the work table 7G, the automatic device 7D, and the automatic device 7E. Then, after the parts are assembled and processed with respect to the work-in-progress 5 in each case to become a finished product, the finished product is carried out to the finished product unloading section 8B.

  Therefore, the macro manipulator 13 moves the driven cart 11 in the order of the work-in-product carry-in part 8A, the automatic device 7A, the automatic device 7B, the automatic device 7C, the work table 7G, the automatic device 7D, the automatic device 7E, and the finished product carry-out unit 8B. Let The micromanipulator 15 delivers the work-in-progress 5 to and from each destination of the driven carriage 11 (however, the work-in-product carrying-in part 8A receives only the work-in-process 5 and the finished product unloading part 8B receives the finished product. Delivery only).

  In order to enable such an operation, the manipulator system 1 of the present embodiment manages coordinate values indicating the current positions and orientations of the macro manipulator 13 and the micro manipulator 15. And based on this coordinate value, the target coordinate value which shows the next position and attitude | position of the macromanipulator 13 and the micromanipulator 15 is determined. When the macro manipulator 13 and the micro manipulator 15 actually move to the determined target coordinate values, the target coordinate values thereafter become the current coordinate values of the macro manipulator 13 and the micro manipulator 15.

  FIG. 4 is a block diagram showing a schematic electrical configuration of the manipulator system of FIG. For the operation control of the manipulator system 1 shown in FIG. 1, the controller 17, the macro manipulator control unit 19, and the micromanipulator control unit 21 shown in FIG. 4 are used.

  The controller 17 performs overall control regarding the position and posture of the manipulator system 1. For this purpose, the controller 17 manages the coordinate values of the four points of the manipulator system 1. These four points are the macro manipulator origin O1, the error absorbing mechanism origin O2, the micro manipulator origin O3 shown in FIG. 3, and the tool center point TCP shown in FIG.

  Among these, as shown in FIG. 3, the macro manipulator origin O1 includes the other end of the second link 13B and the pivot shaft (Z axis) of the base 9, and the central axis (X axis) of the cylinder rod of the second link 13B. Is the intersection of The error absorbing mechanism origin O2 is an intersection of the center axis (X axis) of the cylinder rod of the second link 13B and one end of the second link 13B and the pivot shaft (Z axis) of the output member 13D. Further, the micromanipulator origin O3 is an intersection of the central axis (Z axis) of the base 11A of the driven carriage 11 and the upper surface of the base 11A. Finally, the tool center point TCP is a representative point of the tool attachment 15B attached to the flange 15C of the micromanipulator 15, as shown in FIG. When the tool attachment attached to the flange 15C changes, the position of the tool center point TCP may change depending on the tool attachment.

  The controller 17 supplies target values for controlling the macro manipulator 13 and the micro manipulator 15 to the macro manipulator control unit 19 and the micro manipulator control unit 21 based on the coordinate values of the four points described above. The target values of the macro manipulator 13 are the respective target coordinate values of the error absorbing mechanism origin O2, which is a representative point of the macro manipulator 13, and the macro manipulator origin O1 which is the prerequisite. The target value of the micromanipulator 15 is a target coordinate value between the tool center point TCP that is a representative point of the micromanipulator 15 and the micromanipulator origin O3 that is the premise thereof.

  And in order to perform management and supply mentioned above, the controller 17 shown in FIG. 4 is comprised by the computer which has CPU, RAM, and ROM. A macro manipulator control unit 19 and a micro manipulator control unit 21 are connected to the controller 17.

  Therefore, in the present embodiment, the controller 17 transfers the work-in-process 5 from the work-in-product carrying-in part 8A to the automatic device 7A, from the automatic device 7A to the automatic device 7B, and from the automatic device 7B to the automatic device 7C. Transfer from the automatic device 7C to the work table 7G, transfer from the work table 7G to the automatic device 7D, transfer from the automatic device 7D to the automatic device 7E, and transfer from the automatic device 7E to the finished product unloading section 8B. As one operation unit, the operation of the manipulator system 1 is divided and controlled for each unit.

  The macro manipulator control unit 19 controls the operation of the macro manipulator 13 in the manipulator system 1. For this purpose, the macro manipulator control unit 19 manages the coordinate value of the error absorbing mechanism origin O2, which is a representative point of the macro manipulator 13, and the coordinate value of the macro manipulator origin O1, which is the premise thereof.

  Further, the macro manipulator control unit 19 is based on the target coordinate values of the error absorbing mechanism origin O2 supplied as a target value on the control of the macro manipulator 13 from the controller 17 and the macro manipulator origin O1 which is the premise thereof. The macro manipulator 13 is driven. The macro manipulator control unit 19 manages the actual coordinate values of the macro manipulator origin O1 and the error absorbing mechanism origin O2 after driving the macro manipulator 13.

  Furthermore, the macro manipulator control unit 19 supplies the actual coordinate values of the micromanipulator origin O3 and the tool center point TCP after driving the micromanipulator 15 supplied from the micromanipulator control unit 21 as described later, The actual coordinate values of the macro manipulator origin O1 and the error absorbing mechanism origin O2 managed by are supplied to the controller 17 as actual measurement values regarding the position and orientation of the manipulator system 1. The actual coordinate values of the micromanipulator origin O3 and the tool center point TCP may be directly supplied from the micromanipulator control unit 21 to the controller 17.

  In order to perform the management and supply described above, the macro manipulator control unit 19 is configured by a computer having a CPU, a RAM, and a ROM. A controller 17 and a micromanipulator control unit 21 are connected to the macro manipulator control unit 19.

  The macro manipulator control unit 19 includes first and third links by the drive circuits 13I to 13K of the stroke type first to third actuators 13F to 13H of the macro manipulator 13, and the first and third actuators 13F and 13H. Stroke sensors 13L and 13N that detect the expansion / contraction lengths of 13A and 13C are connected to a rotary sensor 13M that detects a rotation angle of the second link 13B with respect to the base 9 by the rotary type second actuator 13G.

  Further, the macro manipulator control unit 19 detects the position error between the macro manipulator 13 and the driven carriage 11 absorbed by the error absorbing mechanism 13E in the X axis circumferential direction, the Y axis circumferential direction, and the Z axis direction. Therefore, the two rotary sensors 13O and 13P provided in the error absorbing mechanism 13E and one stroke sensor 13Q are connected.

  The stroke sensors 13L and 13N include optical distance measuring means provided with a light emitting side and a light receiving side on the cylinder side and rod side of the first and third links 13A and 13C, respectively, and the first and third actuators 13F, It can be configured by an encoder or the like provided in 13H. The rotary sensor 13M can be configured by a rotary encoder or the like provided in the second actuator 13G. The two rotary sensors 13O and 13P and one stroke sensor 13Q provided in the error absorbing mechanism 13E can also have the same configuration as the stroke sensors 13L and 13N and the rotary sensor 13M, respectively.

  The micromanipulator control unit 21 controls the operation of the micromanipulator 15 in the manipulator system 1. For this purpose, the micromanipulator control unit 21 manages the coordinate value of the tool center point TCP, which is a representative point of the micromanipulator 15, and the coordinate value of the micromanipulator origin O3 that is the premise thereof.

  In addition, the micromanipulator control unit 21 performs micro-manipulator control based on the target coordinate values of the tool center point TCP supplied from the controller 17 as a target value for control of the micromanipulator 15 and the micromanipulator origin O3 as a premise thereof. The manipulator 15 is driven. The micromanipulator control unit 21 manages the actual coordinate values of the micromanipulator origin O3 and the tool center point TCP after the micromanipulator 15 is driven.

  Furthermore, the micromanipulator control unit 21 supplies the actual coordinate values of the micromanipulator origin O3 and the tool center point TCP managed by the micromanipulator control unit 19 to the macromanipulator control unit 19 as measured values regarding the position and orientation of the micromanipulator 15. Instead of being supplied to the macro manipulator control unit 19, it may be supplied to the controller 17.

  And in order to perform management and supply mentioned above, the micromanipulator control unit 21 is comprised by the computer which has CPU, RAM, and ROM. A controller 17 and a macro manipulator control unit 19 are connected to the micromanipulator control unit 21.

  The micromanipulator control unit 21 includes drive circuits 15J to 15O of the first to sixth rotary actuators 15D to 15I for driving the articulated arm 15A of the micromanipulator 15, and the first to sixth rotary actuators 15D. Are connected to rotary sensors 15P to 15U that detect the posture of the articulated arm 15A and flange 15C driven by -15I with respect to the base 11A.

  FIG. 5 is a functional block diagram showing the contents of processing executed in the manipulator system 1 of the present embodiment. In addition, the block described in the dashed-dotted line frame of the reference numeral 17 in FIG. 5 indicates processing executed in the controller 17. Further, the block described in the frame of the alternate long and short dash line of the reference numeral 19 indicates processing executed in the macro manipulator control unit 19. Further, a block described within a dashed-dotted line frame of the reference numeral 21 indicates processing executed in the micromanipulator control unit 21.

  First, when the target coordinate values of the macro manipulator origin O1 and the error absorbing mechanism origin O2 are supplied from the controller 17 to the macro manipulator control unit 19 as target values (target positions / postures) for controlling the macro manipulator 13, By the inverse kinematics calculation a, the expansion / contraction driving amounts of the first and third links 13A and 13C of the macro manipulator 13 and the rotational driving amount with respect to the base 9 at the other end of the second link 13B are respectively calculated.

  Then, in the macro manipulator drive b, a drive signal for driving the first and third links 13A and 13 to expand and contract with the calculated extension drive amount and to rotate the second link 13B with the calculated rotation drive amount. Is output from the macro manipulator control unit 19 to the corresponding drive circuits 13I to 13K, and the corresponding first to third actuators 13F to 13H are driven in accordance with the calculated extension drive amount and rotation drive amount. Thereby, the macro manipulator 13 is driven so as to be displaced to a position and posture corresponding to the target coordinate value.

  Further, while the macro manipulator 13 is driven so as to be displaced to the position and posture corresponding to the target coordinate value, forward motion is performed based on the input signals from the stroke sensors 13L and 13N and the rotary sensor 13M to the macro manipulator control unit 19. The actual amount of expansion / contraction of the first and third links 13A and 13C and the actual amount of rotation of the second link 13B with respect to the base 9 are respectively calculated by the mathematical calculation c. Further, based on the calculated expansion / contraction amount and rotation amount and the coordinate value before driving of the macro manipulator 13 managed in the macro manipulator control unit 19, each of the actual values of the macro manipulator origin O1 and the error absorbing mechanism origin O2 is shown. Each coordinate value is calculated.

  Then, in the difference calculation d, the calculated actual coordinate values of the macro manipulator origin O1 and the error absorbing mechanism origin O2 and the target coordinate values of the macro manipulator origin O1 and the error absorbing mechanism origin O2 supplied from the controller 17 are calculated. The difference is calculated as a position / posture error of the macro manipulator 13.

  In parallel with these processes, in the macro / manipulator relative position acquisition e, as the relative positions of the macro manipulator 13 and the micro manipulator 15, the error absorbing mechanism origin O2 and the micro manipulator origin managed in the macro manipulator control unit 19 are used. The relative position coordinate with O3 is acquired.

  Further, in the forward kinematics calculation f, the difference between the coordinate values of the error absorbing mechanism origin O2 and the micromanipulator origin O3 is calculated from the acquired relative position coordinates.

  Then, in the micromanipulator origin position / posture error calculation g, the difference between the coordinate values of the error absorbing mechanism origin O2 and the micromanipulator origin O3 calculated in the forward kinematics calculation f is calculated by the macro manipulator 13 calculated in the difference calculation d. The value increased or decreased according to the position / posture error is calculated as the correction amount of the coordinate value of the micromanipulator origin O3.

  Inverse kinematic calculation a, macromanipulator drive b, forward kinematic calculation c, difference calculation d, macro / micromanipulator relative position acquisition e, forward kinematic calculation f, and micromanipulator origin position / posture error calculation described above Each process of g is executed by the macro manipulator control unit 19.

  Further, when the target coordinate values of the micromanipulator origin O3 and the tool center point TCP are supplied from the controller 17 to the micromanipulator control unit 21 as target values (target positions / orientations) for controlling the micromanipulator 15, the micromanipulator 15 In the manipulator correction target position / posture calculation h, correction values of the target coordinate values of the micromanipulator origin O3 and the tool center point TCP are calculated according to the correction amount calculated in the micromanipulator origin position / posture error calculation g. The

  This micromanipulator origin position / posture error calculation g is absorbed by the error absorbing mechanism 13E based on the input signals to the macro manipulator control unit 19 from the rotary sensors 13O, 13P and the stroke sensor 13Q provided in the error absorbing mechanism 13E. Position errors between the macro manipulator 13 and the follower carriage 11 are calculated for the X-axis circumferential direction, the Y-axis circumferential direction, and the Z-axis direction, respectively. Then, the correction amount calculated in the micromanipulator origin position / posture error calculation g is corrected by the calculated amount of absorption of the position error between the macro manipulator 13 and the driven carriage 11 by the error absorption mechanism 13E.

  Therefore, in the micromanipulator origin position / posture error calculation g, the correction amount calculated in the micromanipulator origin position / posture error calculation g after being corrected by the position error absorption amount by the reabsorption mechanism 13E is used. A correction value of each target coordinate value between the micromanipulator origin O3 and the tool center point TCP is calculated.

  In addition, the rotational drive amounts of the first and second arm elements 15A and 15B and the flange 15C of the micromanipulator 15 are calculated by inverse kinematics calculation i.

  Then, in the micromanipulator drive j, a drive signal for rotating the first and second arm elements 15A, 15B and the flange 15C with the calculated rotational drive amount is supplied from the micromanipulator control unit 21 to the corresponding drive circuit 15J. The corresponding first to sixth rotary actuators 15D to 15I are driven according to the calculated rotational drive amount. Thereby, the micromanipulator 15 is driven so as to be displaced to a position and posture corresponding to the target coordinate value.

  Further, while the micromanipulator 15 is driven so as to be displaced to the position and posture corresponding to the target coordinate value, the forward kinematics calculation is performed based on the input signals from the rotary sensors 15K, 15L, 15M to the micromanipulator control unit 21. The actual rotation amounts of the first and second arm elements 15A and 15B and the flange 15C are calculated by k. Further, based on the calculated rotation amount and the coordinate value before driving the micromanipulator 15 managed in the micromanipulator control unit 21, the actual coordinate values of the micromanipulator origin O3 and the tool center point TCP are as follows: Each is calculated.

  The micromanipulator correction target position / posture calculation h, inverse kinematics calculation i, micromanipulator drive j, and forward kinematics calculation k described above are executed by the micromanipulator control unit 21.

  Then, in the macro / micromanipulator target position / orientation calculation l, the actual coordinate values of the macromanipulator origin O1 and the error absorbing mechanism origin O2 calculated in the forward kinematics calculation c, and the microcoordinates calculated in the forward kinematics calculation k. Based on the actual coordinate values of the manipulator origin O3 and the tool center point TCP, the macro manipulator origin O1 and the error absorbing mechanism are used as target values (target positions / postures) for the next macro manipulator 13 and micromanipulator 15 in control. Each target coordinate value with the origin O2 and each target coordinate value with the micromanipulator origin O3 and the tool center point TCP are calculated. The processing of the macro / micromanipulator target position / orientation calculation 1 is executed by the controller 17.

  In the manipulator system 1 of the present embodiment configured as described above, the driven carriage 11 is caused to travel on the floor surface 3 </ b> A of the area 3 by the operation of the macro manipulator 13 starting from the base 9, and is mounted on the driven carriage 11. By the operation of the micromanipulator 15 thus made, the driven cart 11 is moved in the order of the work-in-product carrying-in part 8A, the automatic device 7A, the automatic device 7B, the automatic device 7C, the work table 7G, the automatic device 7D, the automatic device 7E, and the finished product carry-out unit 8B Move. Then, the micromanipulator 15 delivers the work-in-process 5 to / from each destination of the driven carriage 11.

  Therefore, when a macro-micro system is constructed by the macro manipulator 13 and the micro manipulator 15, the work-in-process 5 is transported by the track-free method, and the manipulator is moved by a track-type moving means such as a precision table or a gantry. Compared to the above, the entire manipulator system 1 can be made compact.

  In addition, the control target of the position control of the driven carriage 11 on which the micromanipulator 15 is mounted is not the driven carriage 11 itself but the automatic devices 7A to 7E, the work table 7G, the work-in-product carry-in section 8A, and the finished product carry-out section 8B. Since the macro manipulator 13 operates with the base 9 having a fixed relative position as a starting point, even if the driven carriage 11 causes a slip or the like on the floor surface 3A of the area 3, the control of the macro manipulator 13 to be controlled is performed. There is no significant error between the quantity and the actual movement quantity.

  For this reason, it is not necessary to drive the driven carriage 11 at a low speed for accurate position control of the driven carriage 11, and there is no restriction on the tact time of the work in process 5 due to the traveling speed of the driven carriage 11. The driven carriage 11 can be moved at high speed while maintaining the accuracy of position control of the driven carriage 11, and the work-in-progress 5 can be conveyed quickly.

  In addition, since the macro manipulator 13 that does not cause a large error between the control amount and the actual operation amount is set as a control target in the position control of the driven carriage 11, the macro manipulator origin O1 with respect to the base 9 whose position coordinates are fixed. The position control of the driven carriage 11 is performed by correcting the relative positions of the error absorbing mechanism origin O2, the micromanipulator origin O3, and the tool center point TCP by complicated processing based on the detection results of the various sensors 13L to 13N and 15K to 15M. There is no need to do this.

  For this reason, the controller 17, the macro manipulator control unit 19, and the micro manipulator control unit 21 which are the hardware of the control system can be completed with low specifications.

  Further, since the load of the follower carriage 11 connected to the macro manipulator 13 and the micromanipulator 15 mounted on the follower 11 is distributed and applied to the floor 3A of the area 3 where the follower carriage 11 travels and the macro manipulator 13, the follower is driven. It is not necessary to use a drive source corresponding to the total load of the carriage 11 and the micromanipulator 15 for the first to third actuators 13F to 13H of the macromanipulator 13. For this reason, the high-speed conveyance of the work-in-progress 5 by the high-speed operation of the macro manipulator 13 can be realized in the category of high output of the practical first to third actuators 13F to 13H.

  That is, according to the manipulator system 1 of the present embodiment, although it is a trackless system suitable for downsizing, the problem of the tact time of the transfer of the work in process 5 such as a self-propelled carriage and the problem of the complexity of the position control of the manipulator This makes it possible to achieve the conveyance of the work-in-progress 5 with low specifications and high accuracy and speed.

  The configuration for rotating the driven carriage 11 relative to the macro manipulator 13 as well as moving the driven carriage 11 on the floor surface 3A of the area 3 may be omitted.

  However, if this structure is provided, the driven carriage 11 is rotated with respect to the macro manipulator 13, and the micromanipulator 15 for the automatic devices 7A to 7E, the work table 7G, the work-in-product carry-in part 8A, and the finished product carry-out part 8B. This is advantageous because the movement range of the micromanipulator 15 can be expanded by that amount, and the movable range of the work-in-process 5 by the micromanipulator 15 can be expanded accordingly.

  In the present embodiment, the macro manipulator 13 is configured by a parallel link mechanism including first to third links 13A to 13C. For this reason, by the first to third actuators 13F to 13H corresponding to the first to third links 13A to 13C, two orthogonal directions (X-axis direction and Y-axis direction) along the floor surface 3A of the area 3 and the floor The driven carriage 11 and the micromanipulator 15 can be moved and rotated in each direction with the circumferential direction of the vertical axis (Z axis) with respect to the surface 3A (XY plane).

  Therefore, the driven carriage 11 and the micromanipulator 15 can be configured as a moving body having three degrees of freedom in a plane with a small number of driving sources, and the manipulator system 1 can be reduced in size and weight, and the driven carriage 11 and the micromanipulator 15 can be moved at high speed. Therefore, high-speed conveyance of the work-in-process 5 can be realized.

As a reference example of the present invention, the case where the macro manipulator 13 is configured not by a parallel link mechanism but by a serial link mechanism will be described below.

For example, in the reference example shown in FIG. 6, a parallel link mechanism 13a having a rotary actuator provided at one joint of each node is employed, and in the reference example shown in FIG. 7, a multi-joint scalar having a rotary actuator provided at each joint. In the reference example shown in FIG. 8, a polar coordinate link mechanism 13c is used which is similar to the first to third links 13A to 13C and joints each having a rotary actuator at both ends thereof. Thus , the macro manipulator 13 is configured .

Thus, the macro manipulator 13 having three degrees of freedom in the plane (X-axis direction, Y-axis direction, z-axis circumferential direction) is used by the parallel link mechanism 13a, the scalar-type link mechanism 13b, or the polar-coordinate type link mechanism 13c. Even according to the reference example, the configuration of the macro manipulator 13 is not a complicated configuration having degrees of freedom in 5 to 6 axes (or directions) like a general manipulator, but a mechanism for realizing three degrees of freedom in a plane. If it has, it can be made simple enough. Therefore, the cost of the macro manipulator 13 and by extension, the entire manipulator system 1 can be reduced.

  Also, the micromanipulator 15 may be configured to use an orthogonal coordinate type manipulator 15 a as the micromanipulator 15, for example, as shown in FIG. 9 instead of the articulated manipulator as in the present embodiment.

  Further, in the present embodiment, an error absorbing mechanism 13E is provided at a connecting portion between the output member 13D and one end of the first to third links 13A to 13C, which is a connecting portion between the macro manipulator 13 and the driven carriage 11. . Then, by this error absorbing mechanism 13E, the direction in which the follower carriage 11 is moved by the macromanipulator 13 (the travel movement direction of the follower carriage 11 along the floor surface 3A = the X axis and the Y axis, and the attitude of the macromanipulator 13) A configuration that absorbs position errors between the macro manipulator 13 and the driven carriage 11 in other directions (circumferential direction of the X axis, circumferential direction of the Y axis, and Z axis direction) except for the change direction = the circumferential direction of the Z axis) did.

  The error absorbing mechanism 13E described above is not necessarily provided, but if this configuration is provided as in the present embodiment, the macro manipulator 13 is moved when the driven carriage 11 is moved relative to the base 9 by the macro manipulator 13. Even if the floor surface 3A of the actual area 3 is not a precise parallel surface with respect to a virtual plane on which the driven carriage 11 can be moved and moved by the above operation, the macromanipulator 13 of the driven carriage 11 generated thereby This is advantageous because a shift in position and posture can be absorbed at the connecting portion between the two.

  Further, the omnidirectional wheel 11B of the driven carriage 11 can be replaced with a free wheel having another configuration such as a free caster as long as there is no problem in traveling movement of the driven carriage 11.

It is a top view showing a schematic structure of a manipulator system concerning a 1st embodiment of the present invention. It is the sectional view on the AA line of FIG. It is an enlarged plan view of the manipulator system of FIG. It is a block diagram which shows the electrical schematic structure of the manipulator system of FIG. It is a functional block diagram which shows the content of the process performed in the manipulator system of FIG. It is explanatory drawing which shows the structural example of the macro manipulator in the manipulator system which concerns on the reference example of this invention . It is explanatory drawing which shows the structural example of the macro manipulator in the manipulator system which concerns on the reference example of this invention . It is explanatory drawing which shows the structural example of the macro manipulator in the manipulator system which concerns on the reference example of this invention . It is explanatory drawing which shows the modification of the micromanipulator in the manipulator system of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Manipulator system 3 Area 3A Floor surface 5 Work-in-progress 7A-7E Automatic device 7F Tool change stand 7G Worktable 7H-7J Parts supply stand 8A Work-in-product carry-in part 8B Completed product take-out part 9 Base 11 Driven carriage 11A Base 11B All directions Wheel 13 Macro manipulator 13A First link 13B Second link 13C Third link 13D Output member 13E Error absorbing mechanism 13F First actuator 13G Second actuator 13H Third actuator 13I-13K Drive circuit 13L, 13N, 13Q Stroke sensor 13M, 13O , 13P Rotary sensor 13a Parallel link mechanism 13b Scalar link mechanism 13c Polar coordinate link mechanism 15 Micromanipulator 15A-15 Articulated arm 15B Tool attachment 15C Hula 15D 1st rotary actuator 15E 2nd rotary actuator 15F 3rd rotary actuator 15G 4th rotary actuator 15H 5th rotary actuator 15I 6th rotary actuator 15J-15O Drive circuit 15P-15U Rotary sensor 15a Manipulator 17 Controller 19 Macromanipulator control unit 21 Micromanipulator control unit 23 Base plate O1 Macromanipulator origin O2 Error absorption mechanism origin O3 Micromanipulator origin TCP Tool center point

Claims (2)

A manipulator system that moves to and between the access positions in an area where predetermined access positions are arranged in the periphery,
A base arranged fixed around the area;
A follower truck arranged in the area and capable of traveling on the floor in the area by applying external force;
A macro manipulator that is installed between the base and the driven carriage and moves the driven carriage on the floor surface by operating with the base as a starting point;
A micromanipulator that is installed in the driven carriage and that carries the workpiece in a predetermined working range starting from the driven carriage ;
The macro manipulator restricts the direction in which the driven carriage travels to a predetermined direction including at least two orthogonal directions along the floor surface, and has a parallel link mechanism,
The parallel link mechanism has first to third links connected in parallel between the driven carriage and the base;
Each of the first and third links is pivotally supported around a vertical axis with respect to the floor surface with one end relative to the driven carriage and the other end relative to the base. It is driven so that the distance between the ends changes,
Each of the second links is pivotally supported around a vertical axis with respect to the floor surface with one end relative to the driven carriage and the other end relative to the base, and a rotation angle of the other end relative to the base. And the distance between the one end and the other end of the second link is changed in accordance with the driving of the first and third links. The position and the posture of the rotation 1 axis are changed.
A manipulator system characterized by this. The macro manipulator and the driven carriage are coupled with a predetermined degree of freedom in a direction other than a direction in which the driven carriage can move relative to the base by the operation of the macro manipulator. The manipulator system according to claim 1.

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