JP7342610B2 - Robot system and robot system control method - Google Patents

Description

The present disclosure relates to a robot system that includes a manipulator with a stand and a mobile carrier.

Patent Document 1 discloses a robot system that transports a robot between a plurality of work areas using a transport vehicle. In the following description, the conveyance vehicle is also referred to as a "mobile conveyance vehicle", and the robot conveyed by the mobile conveyance vehicle is also referred to as a "manipulator". In this robot system, the manipulator can be operated in multiple work areas, so it is possible to increase the operating rate of the manipulator.

Japanese Patent Application Laid-Open No. 60-242941

However, depending on the configuration of the manipulator, there is a problem in that if the manipulator is heavy or the object gripped by the manipulator is heavy, it becomes difficult to transport the manipulator by a mobile carrier.

According to a first aspect of the present disclosure, a robot system is provided. This robot system includes: a pedestal having legs and casters; a manipulator part having a manipulator installed on the pedestal; an elevating member capable of rising toward the pedestal from below the pedestal; The movable conveyance vehicle includes a drive unit that raises and lowers the elevating member. The movable conveyance vehicle is configured to convey the manipulator section in a conveyance state in which the elevating member is raised and comes into contact with the manipulator section. The manipulator section (i) supports the weight of the manipulator section by the legs in a non-transported state in which the elevating member is not in contact with the manipulator section, and (ii) supports the weight of the manipulator section by the casters in the transport state. support at least part of the weight of the part.

According to a second aspect of the present disclosure, a method of controlling the above-described robot system is provided. This method includes (a) supporting the weight of the manipulator part by the legs in a non-transported state in which the elevating member is not in contact with the manipulator part, and (ii) supporting the weight of the manipulator part by the casters in the transport state. supporting at least part of the weight of the manipulator section.

FIG. 1 is a conceptual diagram of a robot system according to a first embodiment. FIG. 3 is an explanatory diagram showing a non-conveyance state in the first embodiment. FIG. 2 is an explanatory diagram showing a conveyance state in the first embodiment. FIG. 7 is an explanatory diagram showing a non-conveyance state in the second embodiment. FIG. 7 is an explanatory diagram showing the conveyance state in the second embodiment. FIG. 7 is an explanatory diagram showing a non-conveyance state in the third embodiment. FIG. 7 is an explanatory diagram showing the conveyance state in the third embodiment. FIG. 7 is an explanatory diagram showing a non-conveyance state in the fourth embodiment. FIG. 7 is an explanatory diagram showing the conveyance state in the fourth embodiment.

A. First embodiment
FIG. 1 is a conceptual diagram of a robot system according to a first embodiment. This robot system includes a manipulator section 100 and a mobile carrier 200. Although not shown in FIG. 1, in this system, each of a plurality of manipulator sections 100 having different weights can be transported by a mobile transport vehicle 200. The mobile carrier 200 and the manipulator section 100 are preferably configured to be able to communicate with each other wirelessly or by wire.

The manipulator section 100 includes a manipulator 110 and a pedestal 120. The manipulator 110 includes a base 112 and an arm 114, and is installed on a pedestal 120. An end effector such as a hand is attached to the tip of the arm 114.

The pedestal 120 has legs 122. In the state shown in FIG. 1, the leg portions 122 are in contact with the floor surface FL and support the entire weight of the manipulator portion 100. The pedestal 120 further includes casters 130 and a link mechanism 140 that lowers the casters 130 toward the floor FL. In the state shown in FIG. 1, the casters 130 are in a floating state from the floor surface FL. Although two casters 130 are depicted in FIG. 1, the number of casters 130 can be set to any number greater than or equal to one.

The link mechanism 140 includes a lever member 144 and a holding portion 142. The caster 130 is held at the lower end of the holding part 142. One set of lever member 144 and holding portion 142 is provided for one caster 130. The lever member 144 is a straight bar-shaped member having a force point PE, a fulcrum FC, and a point of action PL. The fulcrum FC is fixed to the pedestal 120. The point of action PL is connected to the upper end of the holding part 142. The link mechanism 140 is configured such that when the point of effort PE is lifted upward, the point of action PL is lowered by the principle of leverage, and the caster 130 is lowered. In the example of Fig. 1, the distance between the point of effort PE and the fulcrum FC is shorter than the distance between the fulcrum FC and the point of action PL, but conversely, the distance between the point of effort PE and the fulcrum FC is shorter than the distance between the fulcrum FC and the point of action PL. It is preferable to make it long. In this way, a force larger than the force related to the point of effort PE can be applied to the point of application PL. Note that the number of lever members 144 for one caster 130 is not limited to one, and a plurality of lever members 144 may be connected and used. That is, it is possible to configure linkage mechanism 140 to lower one caster 130 using one or more lever members 144.

The mobile conveyance vehicle 200 includes a main body 210, wheels 220 provided at the bottom of the main body 210, a lifting member 230 provided at the top of the main body 210, and a drive unit 240 that moves the lifting member 230 up and down. The mobile conveyance vehicle 200 is configured to transport the manipulator section 100 in a state in which the elevating member 230 rises from below the manipulator section 100 and contacts the manipulator section 100.

FIG. 2 is an explanatory diagram showing a non-transported state in which the mobile carrier 200 reaches below the pedestal 120 of the manipulator section 100. In the non-transporting state, the elevating member 230 of the mobile carrier 200 is not in contact with the manipulator section 100. Furthermore, in this non-transported state, the legs 122 of the pedestal 120 support the entire weight of the manipulator section 100. In the example of FIG. 2, the casters 130 are not in contact with the floor surface FL, but the casters 130 may be in contact with the floor surface FL. Even in the latter case, in order to stabilize the manipulator part 100, it is preferable that the casters 130 do not support the weight of the manipulator part 100. This point also applies to other embodiments described later.

FIG. 3 is an explanatory diagram showing a conveyance state in which the elevating member 230 of the mobile conveyance vehicle 200 has risen and is in contact with the manipulator section 100. When the elevating member 230 rises, the point of effort PE of the link mechanism 140 is pushed up by the elevating member 230, and this pushing up causes the point of action PL to lower the caster 130 toward the floor FL according to the principle of leverage. As a result, the legs 122 of the pedestal 120 float off the floor FL, and the weight of the manipulator section 100 is no longer supported by the legs 122. In the first embodiment, the manipulator section 100 is pushed up by the lifting member 230 in the conveying state. That is, in the conveyance state, the weight of the manipulator section 100 is shared and supported by the casters 130 and the mobile conveyance vehicle 200.

In the conveyance state, the contact state of the casters 130 with the floor surface FL may be detected using a distance measurement sensor such as a laser sensor or a sensor such as a pressure sensor. These sensors are preferably provided in the manipulator section 100.

In the transport state, after the casters 130 are lowered, specific members of the link mechanism 140, such as the holding portion 142 and the lever member 144, may be held by a holding device such as a mechanical brake. In this way, the manipulator section 100 can be stably supported by the casters 130. Furthermore, after a specific member of the link mechanism 140 is held by the holding device, the lifting member 230 may be lowered a little so that the caster 130 supports the entire weight of the manipulator section 100. In this case, during transportation, the elevating member 230 moves the manipulator section 100 while being engaged with the manipulator section 100 in the horizontal direction without supporting the weight of the manipulator section 100. Such a configuration example is also applicable to other embodiments described later.

As described above, in the first embodiment, the weight of the manipulator section 100 is supported by the legs 122 in the non-transported state, and at least part of the weight of the manipulator section 100 is supported by the casters 130 in the transported state. . Therefore, even if the weight of the manipulator section 100 exceeds the maximum loading capacity of the mobile carrier 200, the manipulator section 100 can be transported by the mobile carrier 200. Furthermore, in the first embodiment, when the force point PE of the link mechanism 140 is pushed up by the lifting member 230 of the mobile carrier 200, the casters 130 descend toward the floor FL. It can be brought into contact with FL.

Although a so-called vertically articulated robot has been described as the manipulator 110, the present invention is not limited to this, and a horizontally articulated robot such as a SCARA robot is also applicable. Further, a configuration in which the pedestal has a wall surface perpendicular to the floor surface FL on the pedestal and the manipulator section 100 is attached to the wall surface is also applicable.

B. Second embodiment
FIG. 4 is an explanatory diagram showing a non-transfer state of the robot system in the second embodiment. This robot system differs from the robot system of the first embodiment in the following points, and the other configurations are the same as the robot system of the first embodiment.
(1) The casters 130 are fixed below the pedestal 120a of the manipulator section 100a.
(2) The movable leg portion 150 is held at the lower end of the holding portion 142 of the link mechanism 140a.
(3) In the link mechanism 140a, two lever members 144a and 144b are provided for one holding portion 142.

The first lever member 144a of the link mechanism 140a is a straight bar-shaped member having a force point PE, a first fulcrum FC1, and a connection point CP. The second lever member 144b is a straight bar-shaped member having a connection point CP, a second fulcrum FC2, and a point of action PL. The two lever members 144a, 144b are connected to each other at a connection point CP. The fulcrums FC1 and FC2 are fixed to the pedestal 120a. The point of action PL is connected to the upper end of the holding part 142. The movable leg portion 150 provided at the lower end of the holding portion 142 is also simply referred to as a “leg portion”. In addition, the distance between the point of effort PE, the first fulcrum FC1, the connection point CP, the second fulcrum FC2, and the point of action PL is set so that a force larger than the force applied to the point of effort PE is applied to the point of action PL. It is preferable to set

In the non-transported state shown in FIG. 4, the casters 130 and movable leg portions 150 of the gantry 120a support the weight of the manipulator portion 100a. The link mechanism 140a is configured such that when the point of effort PE is lifted upward, the point of action PL is raised by the principle of leverage, and the movable leg portion 150 is raised. Note that the number of lever members 144a, 144b for one movable leg portion 150 is not limited to two, and any number of lever members may be used. That is, it is possible to configure the link mechanism 140a to raise one movable leg portion 150 using a plurality of lever members.

FIG. 5 is an explanatory diagram showing the conveyance state in the second embodiment. When the elevating member 230 rises, the point of force PE of the link mechanism 140a is pushed up by the elevating member 230, and this pushing up causes the point of action PL to raise the movable leg portion 150 from the floor FL according to the principle of leverage. As a result, the movable leg portion 150 floats off the floor FL, and the casters 130 come into contact with the floor FL. In the second embodiment as well, the point of effort PE is pushed up by the elevating member 230 in the conveyance state. Furthermore, the manipulator section 100a may be pushed up by the lifting member 230 at the same time as the point of effort PE is pushed up by the lifting member 230. That is, in the conveyance state, the weight of the manipulator section 100a is not supported by the movable leg section 150, but is supported by the casters 130 and the mobile conveyance vehicle 200. However, as described in the first embodiment, the entire weight of the manipulator section 100a may be supported by the casters 130 in the conveyance state.

As described above, in the second embodiment, the weight of the manipulator section 100a is supported by the legs 150 in the non-transported state, and at least part of the weight of the manipulator section 100a is supported by the casters 130 in the transported state. . Therefore, even when the weight of the manipulator section 100a exceeds the maximum loading capacity of the mobile carrier 200, the manipulator section 100a can be transported by the mobile carrier 200. Furthermore, in the second embodiment, when the point of effort PE of the link mechanism 140a is lifted by the elevating member 230 of the mobile carrier 200, the leg portion 150 rises from the floor FL. The casters 130 can be brought into contact with the floor surface FL.

C. Third embodiment
FIG. 6 is an explanatory diagram showing a non-transfer state of the robot system in the third embodiment. This robot system differs from the robot system of the first embodiment in the following points, and the other configurations are the same as the robot system of the first embodiment.
(1) A gear mechanism 140b is provided on the pedestal 120b of the manipulator section 100b instead of the link mechanism 140.
(2) A gear 232 is provided on the elevating member 230 of the mobile carrier 200b.
(3) The gear 232 is configured to be driven and rotated by the drive unit 240.
(4) When the elevating member 230 rises and reaches the manipulator section 100b, the gear 232 and the gear mechanism 140b are configured to mesh with each other.

The gear mechanism 140b includes a first gear 146 that meshes with the gear 232 of the elevating member 230, a second gear 147 that meshes with the first gear, and a nut portion 148 that meshes with the second gear 147. The nut portion 148 is fixed to the pedestal 120b. The second gear 147 and the nut portion 148 function as a ball screw mechanism, and when the second gear 147 rotates, the second gear 147 moves up or down accordingly. A holding portion 142 that holds the caster 130 is connected to the lower end of the second gear 147 .

In the non-conveying state of the third embodiment, similarly to the non-conveying state of the first embodiment shown in FIG. It is not in contact with 100b. Furthermore, in this non-transported state, the legs 122 of the pedestal 120b support the entire weight of the manipulator section 100b.

FIG. 7 is an explanatory diagram showing the conveyance state in the third embodiment. When the elevating member 230 rises and reaches the manipulator section 100b, the gear 232 of the elevating member 230 and the gear mechanism 140b of the manipulator section 100b mesh with each other. The gear mechanism 140b lowers the caster 130 toward the floor FL according to the rotation of the gear 232. Also in the third embodiment, the manipulator section 100b is pushed up by the lifting member 230 in the conveying state. That is, in the conveyance state, the weight of the manipulator section 100b is not supported by the legs 122, but is supported by the casters 130 and the mobile conveyance vehicle 200. However, as described in the first embodiment, the entire weight of the manipulator section 100b may be supported by the casters 130 in the conveyance state.

As described above, in the third embodiment, the weight of the manipulator section 100b is supported by the legs 122 in the non-transported state, and at least part of the weight of the manipulator section 100b is supported by the casters 130 in the transported state. . Therefore, even if the weight of the manipulator section 100b exceeds the maximum loading capacity of the mobile carrier vehicle 200b, the manipulator section 100b can be transported by the mobile carrier vehicle 200b. Further, in the third embodiment, when the gear 232 provided on the elevating member 230 is rotated in a state where it is engaged with the gear mechanism 140b, the gear mechanism 140b lowers the caster 130 toward the floor FL. The casters 130 can be lowered by a mechanism.

The casters 130 may be changed to movable legs, and the legs 122 may be changed to casters. In this case, when the gear 232 provided on the elevating member 230 is engaged with the gear mechanism 140b and the gear 232 rotates, the gear mechanism 140b raises the movable leg part from the floor FL, so that a simple mechanism can be used. The movable legs can be raised with .

D. Fourth embodiment
FIG. 8 is an explanatory diagram showing a non-transferring state of the robot system in the fourth embodiment. This robot system differs from the robot system of the third embodiment in the following points, and the other configurations are the same as the robot system of the third embodiment.
(1) The pedestal 120c of the manipulator section 100c is provided with a drive mechanism 140c instead of the gear mechanism 140b of the third embodiment.
(2) In addition to the configuration of the gear mechanism 140b of the third embodiment, the drive mechanism 140c is provided with a drive gear 149 that meshes with the first gear 146 and a drive section 141 that rotates the drive gear 149. .
(3) The gear 232 is not provided on the elevating member 230 of the mobile carrier 200c.
(4) The mobile carrier 200c is provided with an instruction generating section 250 that generates an instruction toward the manipulator section 100c.

The driving section 141 has a receiving section (not shown) that receives instructions from the instruction generating section 250. When the drive unit 141 of the drive mechanism 140c receives an instruction from the instruction generating unit 250 of the mobile carrier 200c, it rotates the drive gear 149 in accordance with the instruction, thereby raising and lowering the casters 130 toward the floor FL. When the instruction generating section 250 and the receiving section can communicate with each other, the instruction is an electrical signal. Further, when the instruction is by sound or light, the instruction generating section 250 is a speaker or a light emitting body such as an LED light or a light bulb, and the receiving section is a light receiving body such as a microphone or a diode.

In the non-conveying state of the fourth embodiment, similarly to the non-conveying state of the third embodiment shown in FIG. Not in contact. Furthermore, in this non-transported state, the legs 122 of the pedestal 120c support the entire weight of the manipulator section 100c.

FIG. 9 is an explanatory diagram showing the conveyance state in the fourth embodiment. When the elevating member 230 ascends, an instruction is transmitted from the instruction generation section 250 of the mobile carrier 200c to the drive section 141 of the manipulator section 100c. The drive unit 141 rotates the drive gear 149 in response to this instruction, thereby lowering the casters 130 toward the floor FL.

Also in the fourth embodiment, the manipulator section 100b is pushed up by the lifting member 230 in the conveying state. That is, in the conveyance state, the weight of the manipulator section 100b is not supported by the legs 122, but is supported by the casters 130 and the mobile conveyance vehicle 200. However, as described in the first embodiment, the entire weight of the manipulator section 100c may be supported by the casters 130 in the conveyance state.

In the fourth embodiment described above, the instruction generation section 250 notifies the manipulator section 100c of instructions to operate the drive mechanism 140c, but it is also possible to issue instructions to the manipulator section 100c using means other than the instruction generation section 250. The robot system may be configured to transmit the signal to operate the drive mechanism 140c. For example, the robot system may be configured such that a switch circuit (not shown) of the manipulator section 100c is turned on in response to the elevation of the elevating member 230, and the drive mechanism 140c operates accordingly. In this case, the operation of the lifting member 230 to turn on the switch circuit corresponds to an instruction from the mobile carrier 200c to the manipulator section 100c. In this way, the manipulator unit 100c is preferably configured to operate the drive mechanism 140c in response to instructions given from the mobile carrier 200c to lower the casters 130 toward the floor FL.

As described above, in the fourth embodiment, the weight of the manipulator section 100c is supported by the legs 122 in the non-transported state, and at least part of the weight of the manipulator section 100c is supported by the casters 130 in the transported state. . Therefore, even if the weight of the manipulator section 100c exceeds the maximum loading capacity of the mobile carrier 200c, the manipulator section 100c can be transported by the mobile carrier 200c. Furthermore, in the fourth embodiment, the drive mechanism 140c lowers the casters 130 toward the floor FL in response to instructions from the mobile carrier 200c, so the casters 130 can be lowered with a simple mechanism.

The casters 130 may be changed to movable legs, and the legs 122 may be changed to casters. In this case, the drive mechanism 140c raises the movable leg from the floor FL in response to an instruction from the mobile carrier 200c, so the movable leg can be raised with a simple mechanism.

Note that the configurations of the various mechanisms described in the first to fourth embodiments described above are merely examples, and mechanisms with other configurations having similar functions may be employed.

E. Other embodiments
The present disclosure is not limited to the embodiments described above, and can be realized in various forms without departing from the spirit thereof. For example, the present disclosure can also be realized in the following aspects. The technical features in the above embodiments that correspond to the technical features in each form described below are used to solve some or all of the problems of the present disclosure, or to achieve some or all of the effects of the present disclosure. In order to achieve this, it is possible to replace or combine them as appropriate. Further, unless the technical feature is described as essential in this specification, it can be deleted as appropriate.

(1) According to the first embodiment of the present disclosure, a robot system is provided. This robot system includes a pedestal having legs and casters, a manipulator part having a manipulator installed on the pedestal, an elevating member capable of rising toward the pedestal from below the pedestal, and It includes a drive unit that raises and lowers the member, and a mobile conveyance vehicle. The movable conveyance vehicle is configured to convey the manipulator section in a conveyance state in which the elevating member is raised and comes into contact with the manipulator section. The manipulator section (i) supports the weight of the manipulator section by the legs in a non-transported state in which the elevating member is not in contact with the manipulator section, and (ii) supports the weight of the manipulator section by the casters in the transport state. support at least part of the weight of the part.
According to this robot system, at least part of the weight of the manipulator part is supported by the casters in the transport state, so even if the weight of the manipulator part exceeds the maximum loading capacity of the mobile transport vehicle, the manipulator part can be supported by the mobile transport vehicle. can be transported.

(2) In the robot system, the manipulator section has a link mechanism that lowers the caster toward the floor in accordance with the rise of the elevating member, and the link mechanism has a point of force and a point of action. When the point of force is pushed up by the elevating member, the point of action may lower the caster toward the floor surface.
According to this robot system, when the point of force of the link mechanism is pushed up by the elevating member of the mobile conveyance vehicle, the casters descend toward the floor surface, so that the casters can be brought into contact with the floor surface with a simple mechanism.

(3) In the robot system, the manipulator section has a link mechanism that raises the leg section from the floor surface in accordance with the rise of the elevating member, and the link mechanism has a point of force and a point of action; When the point of force is pushed up by the elevating member, the point of action may raise the leg from the floor surface.
According to this robot system, when the point of force of the link mechanism is lifted by the elevating member of the mobile carrier, the legs rise from the floor surface.

(4) In the robot system, the movable carrier has a gear provided on the elevating member, the gear is driven and rotated by the drive section, and the manipulator section is configured to move the elevating member upward. The caster may include a gear mechanism that meshes with the gear when the gear reaches the manipulator part, and the gear mechanism lowers the caster toward a floor surface in accordance with rotation of the gear.
According to this robot system, when the gear provided on the elevating member is engaged with the gear mechanism and the gear rotates, the gear mechanism lowers the caster toward the floor surface, so the caster can be lowered with a simple mechanism. I can do it.

(5) In the robot system, the manipulator section may include a drive mechanism that lowers the casters toward a floor surface in response to instructions given from the mobile carrier.
According to this robot system, the drive mechanism lowers the casters toward the floor in response to instructions from the mobile carrier, so the casters can be lowered with a simple mechanism.

(6) According to the second aspect of the present disclosure, a method for controlling the above-described robot system is provided. This method includes (a) supporting the weight of the manipulator part by the legs in a non-transported state in which the elevating member is not in contact with the manipulator part, and (b) supporting the weight of the manipulator part by the casters in the transporting state. supporting at least part of the weight of the manipulator section.
According to this method, at least part of the weight of the manipulator part is supported by the casters in the transport state, so even if the weight of the manipulator part exceeds the maximum loading capacity of the mobile transport vehicle, the manipulator part can be carried by the mobile transport vehicle. Can be transported.

100, 100a, 100b, 100c... Manipulator part, 110... Manipulator, 112... Base, 114... Arm, 120, 120a, 120b, 120c... Frame, 122... Leg part, 130... Caster, 140, 140a... Link mechanism, 140b...Gear mechanism, 140c...Drive mechanism, 141...Drive part, 142...Holding part, 144, 144a, 144b...Lever member, 146...First gear, 147...Second gear, 148...Nut part, 149...Driving gear , 150... Movable leg part, 152... Holding part, 200, 200b, 200c... Mobile conveyance vehicle, 210... Main body, 220... Wheel, 230... Lifting member, 232... Gear, 240... Drive part, 250... Instruction generating part

Claims (6)

A robot system,
a manipulator unit having a pedestal having legs and casters, and a manipulator installed on the pedestal;
a moving conveyance vehicle having an elevating member that can be raised from below the pedestal toward the pedestal; and a drive unit that raises and lowers the elevating member;
Equipped with
The mobile conveyance vehicle is configured to convey the manipulator section in a conveyance state in which the elevating member is raised and comes into contact with the manipulator section,
The manipulator section includes:
(i) in a non-transported state in which the elevating member is not in contact with the manipulator section, the weight of the manipulator section is supported by the leg sections;
(ii) in the conveyance state, at least part of the weight of the manipulator section is supported by the casters;
robot system. The robot system according to claim 1,
The manipulator section has a link mechanism that lowers the casters toward the floor in accordance with the rise of the elevating member,
The link mechanism has a point of force and a point of action, and when the point of force is pushed up by the elevating member, the point of action lowers the caster toward the floor surface. The robot system according to claim 1,
The manipulator section has a link mechanism that raises the leg section from the floor surface in response to the elevation of the elevating member,
The link mechanism has a point of force and a point of action, and when the point of force is pushed up by the elevating member, the point of action raises the leg from the floor surface. The robot system according to claim 1,
The moving conveyance vehicle has a gear provided on the elevating member, and the gear is driven and rotated by the drive unit,
The manipulator section has a gear mechanism that meshes with the gear when the elevating member ascends and reaches the manipulator section, and the gear mechanism lowers the caster toward the floor according to rotation of the gear. , robotic systems. The robot system according to claim 1,
The manipulator unit is a robot system having a drive mechanism that lowers the casters toward a floor surface in accordance with instructions given from the mobile carrier. A method for controlling a robot system according to any one of claims 1 to 5, comprising:
(a) supporting the weight of the manipulator part by the legs in a non-transported state in which the elevating member is not in contact with the manipulator part;
(b) supporting at least part of the weight of the manipulator part by the casters in the conveyance state;
including methods.

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