JP6779484B2 - Mobile work robot support device and its operation method - Google Patents

Description

The present invention is provided in an automatic guided vehicle that automatically travels to a destination by an automatic driving unit and stops, a charging unit that charges a secondary battery mounted on the automatic guided vehicle at a specific location, and an automatic guided vehicle. The present invention relates to a mobile work robot support device having a pedestal on which a work robot can be attached and an operation method thereof.

For example, in Patent Document 1, a power receiving device (pressure receiving device) is provided to a traveling robot as a working system in which a traveling robot mounted on a traveling carriage is moved between a plurality of work places to perform a plurality of tasks. In addition to the provision, power supply equipment (pressure supply equipment) for attaching / detaching the power supply equipment (pressure supply equipment) corresponding to the power receiving equipment (pressure receiving equipment) of the traveling robot is provided in at least one work place, and the traveling robot is provided between work places. It is stated that it will be equipped with a battery that supplies power while on the move. Further, in Patent Document 1, a camera is provided on the work robot, and a work place identification display that can be photographed by the camera is provided on each work place, and the work place is identified based on the image of the work place identification display captured by the camera on the traveling robot. It is described that the traveling robot is positioned with respect to the work place, a work table is provided on the traveling carriage, and work requiring high positioning accuracy is performed using the work table.

JP 2015-211997

However, in the work system of Patent Document 1, since the traveling robot is positioned with respect to the work place, the positioning accuracy of the traveling robot affects the working accuracy of the working robot, and it becomes difficult to always perform the work with a constant accuracy. Has the problem. In addition, when the work robot starts work, the position of the center of gravity of the traveling robot fluctuates, so that the traveling carriage is slightly tilted or the traveling carriage gradually moves slightly, and the work accuracy of the working robot fluctuates. There is also the problem of doing so.
Furthermore, since the traveling trolley is always equipped with a workbench used for high-precision work, the size of the traveling trolley increases by the amount of the workbench, which increases the manufacturing cost, and in order for the traveling trolley to move. There is also the problem of having to secure a sufficiently large space.

The present invention has been made in view of such circumstances, and stable execution of high-precision work is performed using a workbench provided at a destination without being affected by the positioning accuracy of a stopped automatic guided vehicle. It is an object of the present invention to provide a mobile work robot support device capable of the above and a method of operating the same.

The mobile work robot support device according to the first invention according to the above object includes an automatic driving unit, and an automatic guided vehicle that automatically travels to and stops at a destination by the automatic driving unit, and a power supply installed at a specific place. A charging unit for non-contact transmission and reception of power between the device and the power receiving device provided on the automatic guided vehicle to charge the secondary battery mounted on the automatic guided vehicle, and a charging unit provided on the automatic guided vehicle. A mobile work robot support device having a pedestal capable of positioning and mounting a work robot to which power is supplied from the secondary battery or the charging unit.
The automatic guided vehicle
A posture holding unit that stabilizes the posture of the automatic guided vehicle after confirming that the automatic guided vehicle has stopped at the destination.
A tilt sensor provided on the pedestal that detects tilt angles in two different directions and outputs the pedestal tilt angle of the pedestal.
A horizontal maintenance means that receives the pedestal tilt angle output from the tilt sensor, moves the pedestal, and holds the pedestal within the allowable tilt horizontal angle of the work robot.
It has a position information notification means that detects the position of the pedestal at the destination by the position detection sensor and notifies the work robot as the pedestal position information.

In the mobile work robot support device according to the first invention, the position information notification means is provided with a height sensor for measuring the height of the pedestal in addition to the position detection sensor, and the pedestal is three-dimensionally provided. It is preferable to inform the working robot of the position.
As a result, more accurate three-dimensional pedestal position information can be notified to the working robot.
Here, the pedestal tilt angle measured by the tilt sensor provided on the pedestal or the work robot tilt angle measured by another tilt sensor (for example, a tilt sensor attached to the work robot) is notified to the work robot as tilt angle information. Inclination information notification means may be further provided.
This makes it possible for the work robot to perform work that requires higher positioning accuracy.

In the mobile work robot support device according to the first invention, the position detection sensor may have one or two cameras for capturing a specific object outside the automatic guided vehicle.
As a result, the relative position information of the pedestal with respect to the specific object can be obtained from the image of the specific object, and the pedestal position information can be obtained using the position information of the specific object known in advance.

In the mobile work robot support device according to the first invention, the horizontal maintenance means is (1) erected in the central portion of the unmanned transport trolley, and the upper end portion is placed on the lower surface of the pedestal via a self-aligning bearing. A central support mechanism attached to the central part, and (2) a tubular member erected in the central part in the left-right direction on the front side of the unmanned carrier, and an interior that can move up and down in the tubular member with at least the upper end side protruding. A connection that connects the movable member to be made and the central portion in the left-right direction on the front side of the lower surface of the pedestal to the upper end portion of the movable member so as to be movable in the front-rear direction and to be tiltable counterclockwise and clockwise. A first support mechanism provided with means (universal joints), (3) first and second electric cylinders erected on both left and right sides of the front side of the unmanned transport carriage, and the first and first electric cylinders, respectively. A second support mechanism provided with spherical bearings for connecting the tip of each piston rod of the electric cylinder 2 on both left and right sides on the front side of the lower surface of the pedestal, and (4) the rear side of the unmanned transport trolley. A third electric cylinder erected in the central portion in the left-right direction and a spherical bearing for connecting the tip of the piston rod of the third electric cylinder to the central portion in the left-right direction on the rear side of the lower surface of the pedestal are provided. It is preferable to have a configuration having a third support mechanism.

The first support mechanism prevents the pedestal from rotating about the central axis of the central support mechanism as a rotation axis, while the central support mechanism makes the pedestal tiltable in any direction with respect to the automatic guided vehicle. it can. Therefore, the pedestal can be kept in a horizontal state by advancing and retreating each piston rod of the second and third support mechanisms and inclining the pedestal in a desired direction.

In the mobile work robot support device according to the first invention, the automatic driving unit has a receiving means for receiving a guidance signal for guiding the unmanned transport carriage to the destination, and a lower surface of the carriage frame of the unmanned transport carriage. A pair of drive wheels provided in the middle of the left and right front and rear wheels arranged on the left and right sides of the lower surface of the bogie frame, and a pair of drive wheels arranged on both the front and rear left and right sides, respectively. It is preferable to have a servomotor for rotating the wheels and a control means for driving each of the servomotors based on the induction signal acquired via the receiving means.
As a result, the automatic guided vehicle can be arranged on the floor surface in a state where it can be moved in any direction.

In the mobile work robot support device according to the first invention, the automatic driving unit includes a pair of plate-shaped guide members provided on both left and right sides of the automatic guided vehicle so as to project downward along the front-rear direction. The automatic guided vehicle is provided in the stop area of the automatic guided vehicle set at the destination, and the plate-shaped guide members paired with the automatic guided vehicle entering the stop area are sandwiched from both sides in the thickness direction. It is preferable to further have an auxiliary guiding means provided with a cam follower guide provided with a plurality of cam followers for guiding the approach direction of the vehicle.
As a result, the automatic guided vehicle can be accurately guided toward the destination.

In the mobile work robot support device according to the first invention, the posture holding units are attached to the front, rear, left and right sides of the automatic guided vehicle, respectively, and are provided with rods that advance and retreat downward. It is preferable to have a pressing electric cylinder and a leg member having an upper end portion connected to the lower end portion of each rod via a spherical bearing and a floor surface contact portion at the lower end portion.
By adjusting the moving (protruding) length of each rod of the first to fourth pressing electric cylinders, the floor contact portion can be pressed against the floor surface to support the automatic guided vehicle, and the automatic guided vehicle can be supported. The posture can be stabilized.

In the mobile work robot support device according to the first invention, the power receivers of the power receiving device can be provided on the left and right sides of the automatic guided vehicle, or on the left and right sides of the front and rear sides, respectively.
This reduces the restrictions on installing the power supply device.

In the mobile work robot support device according to the first invention, the automatic guided vehicle is provided with a power conversion means for converting the output power of the secondary battery or the charging unit into the input power of the work robot. Is preferable.
As a result, it is not necessary to provide a power supply facility for the work robot at the destination location, and for example, it is possible to easily respond to a change in the destination location due to a review of the work process.

The method of operating the mobile work robot support device according to the second invention according to the above object is an automatic guided vehicle provided with an automatic driving unit, which automatically travels to and stops at a target location, and is installed at a specific location. A charging unit that performs non-contact transmission / reception of power between the power supply device and the power receiving device provided on the automatic guided vehicle to charge the secondary battery mounted on the automatic guided vehicle, and the automatic guided vehicle. A method of operating a mobile work robot support device provided on an automatic guided vehicle, which has a pedestal on which a work robot to be supplied with power from the secondary battery or the charging unit can be positioned and attached.
After confirming that the automatic guided vehicle has stopped at the destination and stabilizing the posture of the automatic guided vehicle at the destination by the posture holding unit provided on the automatic guided vehicle,
The tilt sensor provided on the pedestal detects the tilt angle of the pedestal in two different directions and outputs the tilt angle of the pedestal.
The horizontal maintenance means provided on the automatic guided vehicle moves the pedestal based on the pedestal tilt angle to hold the work robot within the allowable tilt horizontal angle.
The position information notification means provided on the automatic guided vehicle notifies the working robot of the position of the pedestal detected by using the position detection sensor provided on the automatic guided vehicle as pedestal position information.

In the operation method of the mobile work robot support device according to the first invention and the mobile work robot support device according to the second invention, the automatic guided vehicle is fixed to the stop position by the posture holding unit, and the horizontal maintenance means is used. Since the pedestal provided on the automatic guided vehicle can be held within the allowable tilt horizontal angle of the work robot, the posture of the work robot can be stabilized even if the center of gravity of the work robot moves as the work robot operates. Can be done.
In addition, the position of the pedestal of the automatic guided vehicle at the destination is notified to the work robot by the position information notification means, and the work robot is positioned and attached to the pedestal, so that the effect of the positioning accuracy of the automatic guided vehicle at the destination is affected. The position of the work robot at the destination can be accurately specified without receiving it.
As a result, it is possible to stably execute high-precision work (promote the multi-skilled work of one work robot) while moving the work robot between a plurality of destinations, and the work robot can be operated. It becomes possible to improve the rate.

It is a top view which shows typically a part of the mobile pedestal equipment which concerns on one Embodiment of this invention, and the part of the workplace where the mobile pedestal equipment runs. It is the side view which showed typically by omitting a part of the mobile mount equipment. It is the front view which showed typically by omitting a part of the mobile mount equipment. It is the rear view which showed typically by omitting a part of the mobile mount equipment. FIG. 2 is a view taken along the line AA of FIG. It is a BB arrow view of FIG. It is a block diagram of the measurement and control system of the mobile gantry equipment.

Subsequently, an embodiment embodying the present invention will be described with reference to the attached drawings, and the present invention will be understood.
As shown in FIGS. 1 and 2, the mobile work robot support device 10 according to the embodiment of the present invention includes an automatic operation unit 11 and automatically travels to a destination designated by the automatic operation unit 11. The automatic guided vehicle 12 that stops, the power supply device 13 installed in the power supply area _PSA (an example of a specific location) provided at a location different from the destination location, and the power receiving device 14 provided on the automatic guided vehicle 12 (FIG. 4). The charging unit 15 (see FIG. 4) and the automatic guided vehicle 12 that perform non-contact transmission / reception of power to and from (see) to charge the secondary battery (not shown) mounted on the automatic guided vehicle 12. It has a pedestal 16 that is provided and can be mounted by positioning a working robot (not shown) to which power is supplied from a secondary battery on the mounting surface P.

In FIG. 1, reference numeral T indicates a work table used by the work robot when performing work at a destination, and reference numeral 17 indicates an automatic guided vehicle when the automatic guided vehicle 12 is automatically driven to the destination by the automatic driving unit 11. left and right paired moving direction guiding the magnetic tape to send the induction signal for moving toward a 12 in the desired direction where the automatic operation unit 11, reference numeral 17a is automatically induced signal to induce automatic guided trolley 12 in the feeding area P _SA A pair of left and right guide magnetic tapes for power supply to be transmitted to the operation unit 11, reference numeral 18 branches from the movement direction guidance magnetic tape 17, and an automatic operation unit sends an induction signal for moving the automatic guided vehicle 12 to a predetermined position at a destination. This is a pair of left and right destination guide magnetic tapes to be transmitted to 11.

As shown in FIGS. 2 to 4 and 6, the unmanned transport carriage 12 has a carriage frame 28 and an automatic operation unit 11, and the automatic operation units 11 are arranged on both left and right sides on the front side of the lower surface of the carriage frame 28, respectively. It has free wheels 29 and 30 and free wheels 31 and 32 arranged on both left and right sides on the rear side of the lower surface of the bogie frame 28, respectively. Further, the automatic driving unit 11 has a drive wheel 33 provided on the lower surface of the bogie frame 28 in the middle of the free wheels 29 and 31, and a drive provided on the lower surface of the bogie frame 28 in the middle of the free wheels 30 and 32. It has a wheel 34 and servomotors 35 and 36 that rotate a pair of left and right drive wheels 33 and 34, respectively.

With such a configuration, the automatic guided vehicle 12 can be movably arranged on the floor surface F via the free wheels 29, 30, 31, and 32. Then, the automatic guided vehicle 12 can be moved straight in the rotation direction by rotating the left and right drive wheels 33 and 34 at a constant speed. Further, by changing the rotation speeds of the left and right drive wheels 33 and 34, the traveling direction of the automatic guided vehicle 12 can be changed at a speed corresponding to the difference in the rotation speeds. As a result, the automatic guided vehicle 12 can be moved toward the destination and stopped.

As shown in FIGS. 2 to 4, the pedestal 16 is, for example, a rectangular flat plate in a plan view in which the mounting surface P of the work robot corresponds to the upper surface, and is a means for maintaining the level on the trolley frame 28 of the automatic guided vehicle 12. It is provided via 21. Therefore, for example, a three-dimensional structure having an x-axis and a y-axis in the mounting surface P and a z-axis perpendicular to the mounting surface P with the reference point used for positioning the work robot set on the mounting surface P as the origin. The pedestal coordinate system can be set.

As shown in FIGS. 2 to 6, the automatic operation unit 11 further guides the unmanned carrier 12 to a designated destination, and the magnetic signals emitted from the moving direction guide magnetic tape 17 and the destination guide magnetic tape 18. A magnetic guide sensor 37 (an example of a receiving means) that receives (an example of an induction signal), and paired spot sensors 38 and 39 that detect both ends of the moving direction guidance magnetic tape 17 and the destination location guidance magnetic tape 18, respectively. It has control means (not shown) for driving the servomotors 35 and 36 based on the magnetic signal acquired via the magnetic guide sensor 37.

Then, as shown in FIGS. 3 and 4, the automatic operation unit 11 is a pair of plate-shaped guide members provided on both left and right sides of the carriage frame 28 of the automatic guided vehicle 12 so as to project downward along the front-rear direction. 41, 42 and plate-shaped guide members 41, 42, which are provided along the stop area of the automatic guided vehicle 12 set at the destination and are paired with the automatic guided vehicle 12 entering the stop area, are provided from both sides in the thickness direction, respectively. Further, the auxiliary guiding means 45 is provided with a cam follower guide 44 provided with a plurality of cam followers 43 for correcting (guidance) the approach direction of the automatic guided vehicle 12 while sequentially holding the vehicle.

With such a configuration, the unmanned transport trolley 12 can be moved toward the destination by the magnetic signal emitted from the moving direction guiding magnetic tape 17, and the magnetic signal emitted from the destination guiding magnetic tape 18. Can be moved to a predetermined position at the destination. Then, by providing the auxiliary guiding means 45, when the automatic guided vehicle 12 approaches a predetermined position of the destination, the traveling direction of the automatic guided vehicle 12 and the horizontal position with respect to the traveling direction are forcibly corrected. Can be done. As a result, the automatic guided vehicle 12 can be accurately stopped at a predetermined position at the destination.

As shown in FIGS. 2 to 6, the automatic guided vehicle 12 has a posture holding unit 19 and a pedestal 16 that stabilize the posture of the automatic guided vehicle 12 after confirming that the automatic guided vehicle 12 has stopped at a destination. Two tilt sensors 20 and 20a and tilt sensors 20 and 20a, which are provided at different positions of the above and detect tilt angles in directions orthogonal to each other (an example of two different directions) and output the pedestal tilt angle of the pedestal 16. In response to the pedestal tilt angle output from, the pedestal 16 is moved (the tilt of the pedestal 16 is changed) to hold the pedestal 16 within the allowable tilt horizontal angle of the work robot, and the automatic guided vehicle. A plurality of non-circular markers provided before and after the automatic guided vehicle 12 and arranged around different positions of the destination, for example, the automatic guided vehicle 12 which is stopped at the destination and whose posture is stabilized by the posture holding unit 19. The position of the pedestal 16 at the destination, for example, the purpose of the reference point used for positioning the work robot by the cameras 23 and 24 (an example of the position detection sensor) that capture the image of 22 (an example of a specific object outside the automatic guided vehicle 12). It has a position information notification means 27 that detects a position (three-dimensional position) at a place and notifies the working robot as pedestal position information.

As shown in FIGS. 2 to 7, the posture holding unit 19 is attached to the left and right sides of the front side of the carriage frame 28 of the automatic guided vehicle 12, respectively, and includes rods 46 and 47 that advance and retreat downward. Second pressing The third and fourth pressings are provided with electric cylinders 48 and 49 and rods 50 and 51 which are attached to the left and right sides of the rear side of the carriage frame 28 of the automatic guided vehicle 12 and advance and retreat downward, respectively. A leg member having an electric cylinder 52, 53 and an upper end connected to the lower ends of the rods 46, 47, 50, 51 via a spherical bearing (not shown) and a floor contact portion 54 at the lower end. It has 55, 56, 58, 57 and first to fourth pressing electric cylinder controllers 48a, 49a, 52a, 53a for driving the first to fourth pressing electric cylinders 48, 49, 52, 53, respectively. ing.

Here, in response to the automatic guided vehicle 12 stopping at a predetermined position at the designated destination (for example, when the automatic operation unit 11 receives the arrival signal from the destination guide magnetic tape 18), the automatic guided vehicle 12 is automatically operated. A stop signal is output from the operation unit 11 to notify that the automatic guided vehicle 12 has stopped at a predetermined position at a designated destination, and the stop signals are the first to fourth pressing electric cylinder controllers 48a, 49a, If the inputs are input to 52a and 53a, the first to fourth pressing electric cylinders 48, 49, 52 and 53 can be driven respectively in conjunction with the stop at the destination of the automatic guided vehicle 12. ..

By providing the posture holding unit 19, after the automatic guided vehicle 12 has stopped at a predetermined position at the destination, the first to fourth pressing electric cylinders 48, 49, 52, 53 are driven to drive the rods 46, 47, 50. , 51 can be projected downward to press the floor surface contact portion 54 from the direction perpendicular to the floor surface F, and the automatic guided vehicle 12 can be pressed on the leg members 55, 56, 58, 57 at the destination. It can be fixed in place by using and supporting it. As a result, the posture of the automatic guided vehicle 12 can be stabilized.
Here, for example, a hard rubber plate is attached to the lower ends of the leg members 55, 56, 57, 58 (the portions that come into contact with the floor surface F). This makes it possible to prevent the leg members 55, 56, 57, and 58 from slipping on the floor surface F. A hard plastic plate or a metal plate (for example, a stainless steel plate) can be used instead of the hard rubber plate.

As shown in FIG. 2, when the tilt sensors 20 and 20a are attached to the pedestal 16 so that the detection directions of the tilt sensors 20 and 20a are parallel to the x-axis and the y-axis, respectively, the rotation angle of the pedestal 16 around the x-axis and Since the rotation angles around the y-axis are known, the tilted state of the pedestal 16 in the pedestal coordinate system can be known. When the rotation angle of the pedestal 16 around the x (y) axis is 0 degrees, the pedestal 16 rotates with the y (x) axis as the rotation axis, and the rotation angles of the pedestal 16 around the x-axis and the y-axis are eventually changed. If it is also 0 degrees, the pedestal 16 is horizontal.

As shown in FIGS. 2 to 6, the horizontal maintenance means 21 is erected at the center of the carriage frame 28 of the automatic guided vehicle 12, and the upper end thereof is central to the lower surface of the pedestal 16 via the self-aligning bearing 59. It has a central support mechanism 60 attached to the. Here, the central support mechanism 60 has a tubular member 61 erected in the central portion of the bogie frame 28 and an upper end portion connected to the self-aligning bearing 59, and is incorporated in the tubular member 61 so as to be vertically movable. It has a rod member 62 having a circular cross section. By providing the central support mechanism 60, the pedestal 16 can be tilted in any direction with respect to the carriage frame 28 (automated guided vehicle 12).

Then, the horizontal maintenance means 21 is vertically attached to the tubular member 63, which is erected at the center of the front side of the carriage frame 28 provided on the unmanned transport carriage 12 in the left-right direction, and at least the upper end side is projected. A rod-shaped movable member 64 having a circular cross section, which is movably installed, and an upper end portion of the movable member 64 are located at the center of the lower surface of the pedestal 16 in the left-right direction, and the pedestal 16 is movable in the front-rear direction and the pedestal of the pedestal 16. It has a first support mechanism 66 provided with a connecting means (universal joint, the same applies hereinafter) 65 that is rotatably connected around a central axis. By providing the first support mechanism 66, it is possible to prevent the pedestal 16 from rotating about the central axis of the central support mechanism 60 as a rotation axis, and it is possible to reduce the degree of freedom of the pedestal 16 attached to the automatic guided vehicle 12. ..

Here, the connecting means 65 is, for example, on the upper end side of the movable member 64 via a connecting pin 67 whose axial direction is orthogonal to the axial direction (vertical direction) of the movable member 64 and is oriented in the left-right direction. A ball retainer 68 that is slidably mounted and is held below the pedestal 16 via a mounting member 69 that is slidably inserted into the ball retainer 68 and has both ends hanging downward from the lower surface of the pedestal 16, respectively. It is configured by using a sliding rod 70 having a circular cross section. By providing the connecting means 65, the pedestal 16 is oriented in an arbitrary direction with respect to the trolley frame 28 (automated guided vehicle 12) while preventing the pedestal 16 from rotating around the central axis of the central support mechanism 60. It becomes possible to incline.

Further, the horizontal maintaining means 21 is provided on the front side of the trolley frame 28 of the unmanned transport trolley 12, for example, on both sides of the intermediate portion between the central support mechanism 60 and the first support mechanism 66 in the left-right direction, respectively. The lower surfaces of the pedestal 16 are the tips of the electric cylinders 71 and 72 of 2, the first and second electric cylinder controllers 73 and 74, and the piston rods 75 and 76 of the first and second electric cylinders 71 and 72. It has a second support mechanism 79 provided with spherical bearings 77 and 78 connected to both sides in the left-right direction on the front side of the above.

Further, the horizontal maintenance means 21 includes a third electric cylinder 80, a third electric cylinder controller 81, and a third electric cylinder controller 81 erected in the central portion in the left-right direction on the rear side of the trolley frame 28 of the unmanned transport trolley 12. The electric cylinder 80 has a third support mechanism 84 having a spherical bearing 83 for connecting the tip of the piston rod 82 to the central portion in the left-right direction on the rear side of the lower surface of the pedestal 16.

Then, as shown in FIG. 7, the horizontal maintenance means 21 is in a state of tilting the pedestal 16 in the Cartesian coordinate system detected by the tilt sensors 20 and 20a (the rotation angle of the pedestal 16 around the x-axis and the y-axis). The horizontal movement of the piston rods 75, 76, 82 of the first to third electric cylinders 71, 72, 80 via the first to third electric cylinder controllers 73, 74, 81 based on the rotation angle). A degree adjuster 85 is provided.
As a result, the pedestal 16 is prevented from rotating around the central axis of the central support mechanism 60 by the first support mechanism 66, and the pedestal 16 is moved in an arbitrary direction with respect to the unmanned transport trolley 12 by the central support mechanism 60. The pedestal can be tilted in a desired direction by moving the piston rods 75, 76, and 82 of the second and third support mechanisms 79 and 84 forward and backward to tilt the pedestal 16 in a desired direction. 16 (mounting surface P) can be kept horizontal.

As shown in FIGS. 2 to 7, the position information notification means 27 is a three-dimensional image set at a destination from the images of the markers 22 captured by either the cameras 23 or 24 or the cameras 23 or 24. Using the three-dimensional coordinates of each marker 22 displayed in the work space coordinate system of, the coordinates in the work space coordinate system of the cameras 23 and 24 that imaged each marker 22 are obtained, and the reference point in the pedestal coordinate system and the cameras 23 and 24 are obtained. From the relationship between each of the three-dimensional coordinates, the position detection calculator 25 that detects (calculates) the coordinates of the reference point in the work space coordinate system, that is, the three-dimensional position coordinates at the destination of the reference point, and the three-dimensional position of the reference point. It has a pedestal position information output device 26 that notifies the working robot of the coordinates as pedestal position information. Here, a height sensor (not shown) for measuring the height of the reference point with respect to the floor surface F is provided at the lower part of the pedestal 16, and the position detection calculator 25 is a tertiary of the reference point calculated by the position detection calculator 25. In the original position coordinates, the value of the height coordinate may be replaced with the value of the height of the reference point obtained by the height sensor.
Further, the automatic guided vehicle 12 includes an inclination information notification means 27a that informs the working robot of the inclination direction and inclination angle of the pedestal 16 measured by the inclination sensors 20 and 20a, that is, the pedestal inclination information).

Here, when the automatic guided vehicle 12 stops at a predetermined position at the designated destination, the automatic operation unit 11 outputs a stop signal. Further, since the installation position of the marker 22 can be determined in advance for each destination location, the position information notification means 27 can image the marker 22 in the cameras 23 and 24 in response to the output of the stop signal. The camera located at the position can be activated.
The image of the marker 22 is identified by applying, for example, the method described in Japanese Patent No. 4683395, Japanese Patent No. 5105379, or Japanese Patent No. 5105381 to the images captured by the cameras 23 and 24. ..

As described above, when the automatic guided vehicle 12 arrives at the destination, the posture holding unit 19 stabilizes the posture of the automatic guided vehicle 12, and the horizontal maintenance means 21 tilts the pedestal 16 to allow the work robot to tilt. Since it is held within a horizontal angle, the position of the work robot can be fixed and operated at the target location.
At this time, since the position information notification means 27 notifies the working robot of the three-dimensional position of the reference point at the destination, the working robot can recognize the three-dimensional position at its own destination. Further, since the inclination information notification means 27a notifies the work robot of the inclination of the pedestal 16, that is, the inclination of the work robot, the work robot can recognize the inclination at its own destination.
As a result, based on the relationship between the work space coordinate system and the pedestal coordinate system, the work robot can be operated so that the movement distance required for the work robot is realized at the destination location (work space coordinate system). Work that requires high positioning accuracy becomes possible.

The charging unit 15 is provided in the power supply area _PSA , the power supply device 13 for non-contact power transmission, the automatic guided vehicle 12, the power receiving device 14 for non-contact power reception, and the automatic guided vehicle 12. It has a charger (not shown) that charges the secondary battery using the output power from the power receiving device 14. Here, as shown in FIGS. 1 and 4, the power receiving devices 86 of the power receiving device 14 are provided on the front, rear, left and right sides of the automatic guided vehicle 12, for example.

As shown in FIG. 1, on the floor F, in order to move to the feeding area P _SA provided in a different location than the object location automatic guided trolley 12 by automatic operation unit 11, for example, the moving direction guidance magnetic tape 17 A power feeding guide magnetic tape 17a that branches from the power source, passes through the power feeding area _PSA , and joins the moving direction guide magnetic tape 17 again is arranged.
Here, a region that passes through the feeding area P _SA of the feeding guide magnetic tape 17a, for example, on one side feeding device 13 along a feeding guide magnetic tape 17a is provided in line plurality. It should be noted that each power feeding device 13 is provided with two power feeding devices 87 at intervals.

By providing each of the power receiver 86 to the left and right front and rear of the automatic guided trolley 12, also enters from an arbitrary direction to the feeding area P _SA automatic guided carriage 12 along the feeding guide magnetic tape 17a, the power supply device 13 The power receiver 86 of the power receiving device 14 can be aligned with the power supply 87. Further, by providing the power feeding device 13 with two power feeding devices 87, the positioning of the power feeding device 87 and the power receiving device 86 becomes easier.

The unmanned carrier 12 has a power conversion means (an example of a power supply for a working robot) that converts a 24 volt or 48 volt DC output (an example of the output power of a secondary battery) into a three-phase AC 200 volt output (an example of an input power supply for a work robot). (Not shown) is provided. As a result, the work robot can be driven by using the electric power supplied from the secondary battery.
Further, since a three-phase AC 200 volt output can be obtained from the secondary battery by the power conversion means, for example, if a hydraulic device or an air compressor is mounted on the automatic guided vehicle 12, a hydraulic source or an air pressure source is prepared at the destination. You don't even have to. Therefore, the work environment at the destination can be easily and inexpensively constructed, and the production line can be flexibly changed according to the review of the work process.

Subsequently, an operation method of the mobile work robot support device 10 according to the embodiment of the present invention will be described.
The automatic guided vehicle 12 is automatically driven to a destination designated by the automatic driving unit 11 and stopped. Next, after confirming that the automatic guided vehicle 12 has stopped at the destination, the first to fourth pressing electric cylinders 48, 49, 52, and 53 of the posture holding unit 19 provided on the automatic guided vehicle 12 are operated, respectively. Then, the rods 46, 47, 50, 51 are projected downward by a certain length, and the floor surface F is pressed by the leg members 55, 56, 58, 57, so that the free wheels attached to the carriage frame 28 are attached. The 29, 30, 31, 32 and the drive wheels 33, 34 are lifted from the floor surface F. As a result, the automatic guided vehicle 12 is supported at the destination location via the leg members 55, 56, 57, 58, and the posture of the automatic guided vehicle 12 is stabilized at the destination location.

After the rods 46, 47, 50, 51 of the first to fourth pressing electric cylinders 48, 49, 52, 53 are projected downward by a certain length, the first to fourth pressing electric cylinders 48 , 49, 52, 53 Even if the posture of the automatic guided vehicle 12 is stabilized by adjusting the protrusion amount of each rod 46, 47, 50, 51 so that the load current values of the motors are the same. Good. As a result, when the automatic guided vehicle 12 is supported at the destination via the leg members 55, 56, 57, 58, the pressing force of the leg members 55, 56, 57, 58 on the floor surface F can be made the same value. it can.

Next, the tilt sensors 20 and 20a provided on the pedestal 16 detect the tilt angles of the pedestal 16 in two different directions and output the pedestal tilt angle. Then, the horizontal maintenance means 21 provided on the automatic guided vehicle 12 moves and holds the pedestal 16 (adjusting the tilt angle of the pedestal 16) so that the pedestal tilt angle is within the allowable tilt horizontal angle of the work robot. ..

Subsequently, using either one of the cameras 23 and 24 of the position information notification means 27 provided on the automatic guided vehicle 12, a plurality of markers 22 arranged around the stopped unmanned vehicle 12 are imaged and positioned. The detection calculator 25 detects the three-dimensional position of the reference point at the destination, and notifies the working robot of the three-dimensional position of the reference point as the pedestal position information via the pedestal position information output device 26.
Further, the pedestal inclination angle measured by the inclination sensors 20 and 20a provided on the pedestal 16 is notified to the working robot as pedestal inclination information via the inclination information notification means 27a.

Since the three-dimensional position coordinates of the reference point set on the pedestal 16 of the unmanned transport trolley 12 at the destination location are notified to the work robot by the position information notification means 27, the work is positioned with respect to the reference point set on the pedestal 16. The robot can accurately grasp the position (three-dimensional coordinates) at the destination location (work space coordinate system) without being affected by the positioning accuracy of the unmanned transport carriage 12 at the destination location. This makes it possible to accurately operate the work robot at the destination.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the configuration described in the above-described embodiments, and the matters described in the claims. It also includes other embodiments and variations that may be considered within the scope.
Further, the present invention also includes a combination of the components included in the present embodiment and other embodiments and modifications.
For example, the tilt of the pedestal measured by the tilt sensor of the horizontal maintenance means is notified to the working robot as tilt angle information, but instead of the tilt sensor of the horizontal maintenance means, another tilt sensor, for example, a tilt sensor attached to the work robot The measured working robot tilt angle may be notified to the working robot as tilt angle information.

Further, the power supply area _PSA and the destination location may be set to the same location, and a power supply device may be provided at the destination location. When a power supply device is installed at the destination, the output from the secondary battery is converted to a three-phase AC 200 volt output via a power conversion means to operate the work robot, and in addition, from the charging unit (charger). It is also possible to operate the work robot by converting the output of the above into a 200 volt output of three-phase AC via a power conversion means.
Furthermore, although the power receivers of the power receiving device are provided on the front, rear, left and right sides of the automatic guided vehicle, the power receiving device of the power receiving device can be changed to the automatic guided vehicle according to the arrangement of the power supply device of the power supply device installed in a specific place. It may be provided on the left and right sides of the front or rear, or may be provided on either the left or right side of the front or rear of the automatic guided vehicle.

10: Mobile work robot support device, 11: Automatic operation unit, 12: Unmanned transport trolley, 13: Power supply device, 14: Power receiving device, 15: Charging unit, 16: Pedestal, 17: Moving direction guidance magnetic tape, 17a: Power supply guidance magnetic tape, 18: Destination guidance magnetic tape, 19: Attitude holding unit, 20, 20a: Tilt sensor, 21: Horizontal maintenance means, 22: Marker, 23, 24: Camera, 25: Position detection calculator, 26: Pedestal position information output device, 27: Position information notification means, 27a: Tilt information notification means, 28: Cylinder frame, 29, 30, 31, 32: Flexible wheels, 33, 34: Drive wheels, 35, 36: Servo Motor, 37: magnetic guide sensor, 38, 39: spot sensor, 41, 42: plate-shaped guide member, 43: cam follower, 44: cam follower guide, 45: auxiliary guiding means, 46, 47: rod, 48: first Pressing electric cylinder, 48a: 1st pressing electric cylinder controller, 49: 2nd pressing electric cylinder, 49a: 2nd pressing electric cylinder controller, 50, 51: rod, 52: 3rd pressing electric cylinder, 52a: 3rd pressing electric cylinder controller, 53: 4th pressing electric cylinder, 53a: 4th pressing electric cylinder controller, 54: Floor contact portion, 55, 56, 57, 58: Leg member, 59: Self-aligning bearing, 60: Central support mechanism, 61: Cylindrical member, 62: Rod member, 63: Cylindrical member, 64: Movable member, 65: Connecting means, 66: First support mechanism, 67: Connecting pin, 68: Ball retainer, 69: Mounting member, 70: Sliding rod, 71: First electric cylinder, 72: Second electric cylinder, 73: First electric cylinder controller, 74: Second Electric cylinder controller, 75, 76: Piston rod, 77, 78: Spherical bearing, 79: Second support mechanism, 80: Third electric cylinder, 81: Third electric cylinder controller, 82: Piston rod, 83: Spherical bearing, 84: Third support mechanism, 85: Level adjuster, 86: Power receiver, 87: Feeder

Claims (10)

An automatic guided vehicle equipped with an automatic driving unit that automatically travels to a destination and stops, and a power supply device installed at a specific location and a power receiving device provided on the automatic guided vehicle. A charging unit that performs non-contact power transmission / reception to charge the secondary battery mounted on the automatic guided vehicle, and a work of supplying power from the secondary battery or the charging unit provided on the automatic guided vehicle. A mobile work robot support device having a pedestal on which the robot can be positioned and mounted.
The automatic guided vehicle
A posture holding unit that stabilizes the posture of the automatic guided vehicle after confirming that the automatic guided vehicle has stopped at the destination.
A tilt sensor provided on the pedestal that detects tilt angles in two different directions and outputs the pedestal tilt angle of the pedestal.
A horizontal maintenance means that receives the pedestal tilt angle output from the tilt sensor, moves the pedestal, and holds the pedestal within the allowable tilt horizontal angle of the work robot.
A mobile work robot support device characterized by having a position information notification means that detects the position of the pedestal at the target location by a position detection sensor and notifies the work robot as pedestal position information. In the mobile work robot support device according to claim 1, the position information notification means is provided with a height sensor for measuring the height of the pedestal in addition to the position detection sensor, and the three-dimensional position of the pedestal is provided. A mobile work robot support device, characterized in that the work robot is notified of the above. In the mobile work robot support device according to claim 1 or 2, the position detection sensor has one or two cameras that image a specific object outside the automatic guided vehicle. Mobile work robot support device. In the mobile work robot support device according to any one of claims 1 to 3, the horizontal maintenance means is (1) erected at a central portion of the unmanned transport carriage, and an upper end portion has a self-aligning bearing. A central support mechanism attached to the central portion of the lower surface of the pedestal via the pedestal, and (2) a tubular member erected in the central portion in the left-right direction on the front side of the unmanned transport trolley, the tubular shape with at least the upper end side protruding. A movable member built into the member so as to be movable up and down, and a central portion in the left-right direction on the front side of the lower surface of the pedestal with respect to the upper end portion of the movable member, and the pedestal can be moved counterclockwise and clockwise. A first support mechanism provided with a connecting means for slantably connecting to the unmanned transport trolley, and (3) first and second electric cylinders erected on both left and right sides of the front side of the unmanned transport trolley, respectively. A second support mechanism having spherical bearings for connecting the tip of each piston rod of the first and second electric cylinders to both sides of the lower surface of the pedestal on the front side in the left-right direction, and (4) the unmanned transport trolley. A spherical surface that connects the third electric cylinder erected in the central portion in the left-right direction on the rear side and the tip portion of the piston rod of the third electric cylinder to the central portion in the left-right direction on the rear side of the lower surface of the pedestal. A mobile work robot support device characterized by having a third support mechanism provided with a bearing. In the mobile work robot support device according to any one of claims 1 to 4, the automatic driving unit has a receiving means for receiving a guidance signal for guiding the unmanned transport carriage to the destination, and the unmanned transport. A pair of drive wheels provided in the middle of the front and rear left and right sides of the lower surface of the bogie frame of the bogie and the left and right front and rear sides of the lower surface of the bogie frame. A mobile type having a servomotor for rotating each of the paired drive wheels and a control means for driving each of the servomotors based on the induction signal acquired via the receiving means. Work robot support device. In the mobile work robot support device according to claim 5, the automatic driving unit includes a pair of plate-shaped guide members provided on both left and right sides of the automatic guided vehicle so as to project downward along the front-rear direction. The plate-shaped guide members provided in the stop area of the automatic guided vehicle set at the destination and paired with the automatic guided vehicle entering the stop area are sandwiched from both sides in the thickness direction of the automatic guided vehicle. A mobile work robot support device further comprising an auxiliary guiding means including a cam follower guide provided with a plurality of cam followers for guiding an approach direction. In the mobile work robot support device according to any one of claims 1 to 6, the posture holding unit is attached to both front and rear left and right sides of the automatic guided vehicle, and includes rods that advance and retreat downward. It is characterized by having a first to fourth pressing electric cylinder and a leg member having an upper end portion connected to the lower end portion of each rod via a spherical bearing and a floor surface contact portion at the lower end portion. Mobile work robot support device. In the mobile work robot support device according to any one of claims 1 to 7, the power receivers of the power receiving device are provided on the left and right sides of the automatic guided vehicle, or on the left and right sides of the front and back, respectively. A featured mobile work robot support device. In the mobile work robot support device according to any one of claims 1 to 8, the automatic guided vehicle converts the output power of the secondary battery or the charging unit into the input power source of the work robot. A mobile work robot support device characterized in that means are provided. An automatic guided vehicle equipped with an automatic driving unit that automatically travels to a destination and stops, and a power supply device installed at a specific location and a power receiving device provided on the automatic guided vehicle. A charging unit that performs non-contact power transmission / reception to charge the secondary battery mounted on the automatic guided vehicle, and a work of supplying power from the secondary battery or the charging unit provided on the automatic guided vehicle. A method of operating a mobile work robot support device having a pedestal on which the robot can be positioned and mounted.
After confirming that the automatic guided vehicle has stopped at the destination and stabilizing the posture of the automatic guided vehicle at the destination by the posture holding unit provided on the automatic guided vehicle,
The tilt sensor provided on the pedestal detects the tilt angle of the pedestal in two different directions and outputs the tilt angle of the pedestal.
The horizontal maintenance means provided on the automatic guided vehicle moves the pedestal based on the pedestal tilt angle to hold the work robot within the allowable tilt horizontal angle.
The movement is characterized in that the position of the pedestal detected by the position detection sensor provided on the automatic guided vehicle is notified to the work robot as pedestal position information by the position information notification means provided on the automatic guided vehicle. How to operate the type work robot support device.

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