JPH11188545A - Movable robot and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a robot concurrently serve for a process requiring different tools with high efficiency. SOLUTION: A movable robot 1 moves between a plurality of work sites A and B, and performs operations in each work site. The movable robot 1 comprises a robot main unit part 10 having an arm 2 in which a tool 51 or a tool 52 is installed for operation, a cart part 3 on which the robot main unit part 10 is installed for moving it, and a control part for controlling the robot main unit part 10 and the cart part 3. A tool set area 35 on which a plurality types of tools 51 and 52 to be installed on the arm 2 are put is provided on the cart part 3. The movable robot 1 is provided with a tool changing means 4 so that tools can be changed during the movement of the movable robot 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot that performs various tasks while moving back and forth between a plurality of work sites, and a control method thereof.

[0002]

2. Description of the Related Art For example, in a product assembly line or a processing line, a robot may be used to improve work efficiency. In addition, not only a robot is simply used, but also assembling and processing are performed while moving the robot, as disclosed in Japanese Patent Application Laid-Open No. Sho 58-66637, to improve the working efficiency. If this conventional mobile robot is used, the work cycle time can be significantly reduced as compared with the case where the robot is fixedly used, and the work can be performed with extremely high efficiency.

[0003]

However, in actual assembling work and working work, there are cases where it is necessary to continuously carry out processes that cannot be performed by the same tool (tool or the like). In this case, it is necessary to arrange multiple robots with different tools side by side in a column, or to have the robots work while changing to the optimal tool placed in the tool area for each process. Required.

[0004] However, the method of connecting robots having different tools described above has a problem that extremely high equipment cost is required. Further, the method of exchanging the tool of the robot for each process has a problem that the cycle time of the operation becomes long. In Japanese Patent Application Laid-Open No. 58-66637, which shows the above-mentioned conventional mobile robot,
No means is described for efficiently associating one robot with a process requiring such different tools. For this reason, conventionally, there has been a demand for the development of a robot that can efficiently perform processes requiring different tools.

The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide a robot and a control method for the same, which can perform processes requiring different tools with high efficiency.

[0006]

According to a first aspect of the present invention, there is provided a mobile robot that moves between a plurality of work sites and performs work in each of the work sites, wherein the mobile robot has a robot body having an arm for mounting a tool and performing work. A plurality of types of tools, including a robot unit, a bogie unit for mounting and moving the robot main body unit, and a control unit for controlling the robot main body unit and the bogie unit, and mounted on the arm. A tool place on which the tool is placed is provided on the carriage, and the mobile robot is provided with tool exchange means for exchanging a tool mounted on the arm with a tool placed on the tool place. The mobile robot is characterized in that the tool can be exchanged while the mobile robot is moving.

The most remarkable point of the present invention is that the tool storage is provided in the carriage and the tool changing means is provided so that the tool can be changed while the mobile robot is moving. It is.

Next, the function and effect of the present invention will be described.
In the mobile robot according to the present invention, a plurality of types of tools mounted on the arm are mounted on a tool storage on the carriage. Therefore, tools necessary for the mobile robot are always held on the mobile robot.

Further, since the mobile robot has the tool changing means, the tool can be changed on the mobile robot. Therefore, the mobile robot can perform a tool changing operation regardless of whether the entire mobile robot is moving. Therefore, the mobile robot according to the present invention can exchange tools by using a dead time of moving time when a tool to be used moves between different workplaces.

Therefore, according to the present invention, it is possible to provide a robot capable of efficiently and simultaneously performing steps requiring different tools.

Next, as in the second aspect of the present invention, a dedicated storage space is provided for each tool in the tool storage space, and a tool detection sensor for detecting the presence or absence of a tool in each dedicated storage space is provided. Is preferred. In this case, the tool management can be surely performed by checking the presence or absence of each tool in the tool storage. For example,
If an empty dedicated storage area is detected in the tool storage area,
It can be confirmed that the tool placed in the empty dedicated storage is now mounted on the arm.

Further, in order to confirm the state of mounting the tool on the arm, it is preferable to provide a mounting completion sensor for confirming the completion of mounting the tool on the arm. This makes it possible to more reliably manage the type and mounting state of the tool in combination with the function of the tool detection sensor in the tool storage area.

According to a third aspect of the present invention, a position information providing means for providing position information is provided in a moving passage of the mobile robot, while the position information providing means is provided in the bogie unit. It is preferable to provide a recognition head for detecting the position by recognizing the position. In this case, the moving place of the mobile robot can be easily and accurately specified, and the matching between the working place (process) and the tool mounted on the arm can be easily determined.

Further, as the position information providing means, for example, an ID tag can be used. Here, the ID tag is a tag (tag) storing an ID such as the position information.
On the other hand, the recognition head provided in the bogie unit can obtain position information by facing the position information providing means. For example, for the ID tag,
Tag reading heads can be used. Also, the combination of the position information providing means and the recognition head can be replaced with, for example, a wireless communication means or a dog detection means.

Next, as a control method of the mobile robot,
There are the following inventions. That is, as in the invention of claim 4, a method for controlling a mobile robot having tool exchange means for moving between a plurality of workplaces to perform work in each workplace and exchanging tools used for the work, After a work completion signal indicating that the work in the previous workplace has been completed is sent to the control device, the mobile robot starts moving to the next workplace and starts tool exchange by the tool exchange means. Sending an arrival signal notifying that the mobile robot has arrived at a predetermined work place and a tool mounting signal notifying that the mobile robot has mounted a tool used in the predetermined work place to a control device; Characterized in that the next operation is started on condition that the above two signals arrive at the mobile robot. There is.

In this control method, first, the work completion signal at the previous work site is sent to the control device. afterwards,
The movement of the mobile robot to the next workplace is started, and the tool exchange is started by the tool exchange means. Thus, the mobile robot can be started to move and the tool can be changed after the previous operation is surely completed, and safety can be ensured. Further, since the condition for starting the tool change operation is after the completion of the previous work, the tool change operation can be performed in parallel with the movement of the mobile robot, and the work efficiency can be improved.

Next, in the present control method, two signals, an arrival signal indicating that the mobile robot has arrived at the next work place and a tool mounting signal indicating that a predetermined tool has been mounted, are sent to the control device. The next work will be started later. Therefore, for example, even if the movement of the mobile robot is completed before the tool change work, it is possible to reliably prevent the trouble that the process work in the next workplace is started during the tool change work. it can.

The tool mounting signal is transmitted after confirming that the arm has mounted a tool corresponding to the work site. Therefore, troubles such as damaging the work using different tools can be reliably avoided. Therefore, if this control method is used, the mobile robot can be controlled efficiently and safely.

As described above, according to the present invention, it is possible to provide a method of controlling a robot that can efficiently and simultaneously perform steps requiring different tools.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 A mobile robot and a control method thereof according to an embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the mobile robot 1 of this embodiment includes a plurality of workplaces A and B.
It is a mobile robot that alternately moves between and performs work in each of the work places A and B.

As shown in FIG. 1, the mobile robot 1 has a robot main body 10 having an arm 2 on which a tool (51 or 52) is mounted for working, and the robot main body 10 is mounted and moved. It has a carriage unit 3 and a control unit that controls the robot body unit 10 and the carriage unit 3.

The mobile robot 1 is provided with a tool place 35 on which the two kinds of tools 51 and 52 to be mounted on the arm 2 are mounted, on the carriage unit 3. The mobile robot 1 has a tool 51 or 52 mounted on the arm 2.
The tool 52 or 51 placed on the tool storage 35
A tool exchange means 4 for exchanging tools is provided so that a tool exchange operation can be performed while the mobile robot 1 is moving.

As shown in FIG. 1, the tool storage 35 has dedicated storages 351 and 35 for the tools 51 and 52, respectively.
2 is provided. Further, each of the dedicated storage areas 351 and 352 is provided with tool detection sensors 61 and 62 for detecting the presence or absence of the tools 51 and 52. The detection signals of the tool detection sensors 61 and 62 are configured to be sent to the control device.

Further, as shown in FIG.
ID tags 91 and 92 as position information providing means for providing position information are provided in the moving passage 9 of the vehicle. The ID tag 91 is a tag for providing information on the workplace A, and the ID tag 92 is a tag for providing information on the workplace B. On the other hand, the bogie unit 3 is provided with an ID tag reading head 19 that detects the ID tags 91 and 92 to recognize the position. This ID tag reading head is an ID tag 9
When 1,92 is detected, the contents are recognized and an arrival signal is transmitted to the control device.

Further, the tool changing means 4 includes an arm 2
, And auto tool changers 41 and 42 provided on the tool 51 and 52 sides, respectively. The auto tool changers 41 and 42 have various structures. Further, the arm 2 is provided with a mounting completion sensor 29 for recognizing that the tool is securely mounted at the tip thereof.

The work place A in this example is a tool 5
1 is a place where the processing operation (process A) of the part 95 is performed. On the other hand, the workshop B uses the tool 52 to
This is the place where the processing work (process B) is performed. Then, the mobile robot 1 of the present embodiment alternately moves between the work place A and the work place B, and performs the work of processing the parts 95 and 96, that is, the A step and the B step alternately.

Next, a control method of the mobile robot 1 will be described. In the control method of the mobile robot 1 according to the present embodiment, first, a work completion signal notifying that the work in the previous work place (work place A) is completed is sent to the control device, and then the work place B next to the mobile robot 1 is sent. To the tool 5 and the tool 5
Start exchange of 1,52.

Next, the mobile robot 1 moves to a predetermined work place A
Or, an arrival signal notifying that the robot has arrived at B and a tool mounting signal notifying that the mobile robot 1 is mounting the tool 51 or 52 used in the predetermined work area A or B are sent to the control device. The control device must
The next operation is started by the mobile robot 1 on condition that two signals arrive.

This will be described in detail with reference to the flowchart shown in FIG. In FIG. 2, the state is shown as having arrived at the work place A. First, at step 71, the mobile robot 1 has arrived at the work place A, that is, the mobile robot 1
ID of the ID tag 95 that the current location of the
Check from the information. Specifically, the ID tag reading head 19
Detects the ID tag 95 and recognizes the information,
To the controller.

Next, at step 72, it is confirmed whether or not the mobile robot 1 is wearing any tool. This confirmation is performed by the mounting completion sensor 29 provided on the arm 2. Next, after confirming that the tool is mounted, in step 73, it is determined whether or not the mounted tool is the tool 51 for the process A by the tool detection sensor 61,
Confirm by 62.

If the mounted tool is not the tool 51 for the process A but the tool 52 for the process B, the operation of mounting the tool 51 for the process A is performed again in step 74. Do. Then, after the attachment of the tool 51 for the process A is confirmed, the operation of the process A is started in step 75.

Next, after the work of the process A is completed in step 76, a completion signal is sent from the tool body 10 to the control device. Then, in step 77, the movement of the mobile robot 1 from the work place A to the work place B is started, and in steps 78 and 79, the operation of removing the tool 51 for the process A and the operation of mounting the tool 52 for the process B are performed.

Next, at step 82, the ID tag 96 indicates that the current location of the mobile robot 1 is the work place B.
Confirm from the ID information. Then, steps 82 to 89
The above operations are performed in the same manner as in steps 72 to 79. Thereby, the mobile robot 1 finishes the operation of the process B, moves to the work place A again, and repeats the above operation.

Next, the operation of this embodiment will be described. In this example, the mobile robot 1 has two types of tools 51 and 52 mounted on the arm 2 mounted on the tool storage 35 on the bogie unit 3. Therefore, the mobile robot 1 can move while always holding the tools 51 and 52 required in the processes A and B on the mobile robot 1.

Further, since the mobile robot 1 is provided with the tool changing means 4, it is possible to perform the work of changing the tool mounted on the arm 2 on the mobile robot 1. Therefore, as shown in FIG. 2, the mobile robot 1 can perform a tool changing operation in parallel with the movement. Therefore, when the mobile robot 1 moves between the workplaces A and B where the tools to be used are different, the mobile robot 1 can perform the tool exchange using the dead time of the moving time.

In the present embodiment, the tool storage 35 has dedicated storages 351 and 352 for tools 51 and 52, and tool detection sensors 61 and 62. Further, the arm 2 is provided with a tool detection sensor 29. Therefore, it is possible to reliably manage the type of the tool mounted on the mobile robot 1, the mounting state, and the like.

Further, the ID tags 91 and 92 are provided in each work place as described above, while the bogie section 3 of the mobile robot 1 is provided with the ID tag reading head 19. Therefore, the current position of the mobile robot 1 can be easily and reliably recognized. Then, these sensors 61, 62,
25, ID tags 91 and 92, ID tag reading head 19
The control method described above can be reliably executed.

In the above control method, as described above, the work of exchanging the tools 51 and 52 can be performed while the mobile robot 1 is moving between the work places A and B. Therefore, the work efficiency of repeating steps A and B can be greatly improved.

As shown in steps 71 to 73 in FIG. 2, the start of the work in each work place is determined by an arrival signal indicating that the mobile robot 1 has arrived at the next work place and a tool mounting indicating that a predetermined tool has been mounted. After the two signals are sent to the controller, the next operation is started.

Therefore, for example, when the movement of the mobile robot 1 is completed before the tool changing operation, the operations in steps 72 to 74 and 82 to 84 are performed until the proper tool is securely mounted. The start is awaited.
Therefore, it is possible to reliably prevent the trouble of starting the process work in the next work place during the tool change work.

Therefore, in this embodiment, it is possible to obtain the mobile robot 1 which can perform the processes A and B which require different tools 51 and 52 with high efficiency. In this example, the case where two processes are performed in two workplaces has been described as an example. However, similar effects can be obtained when two or more works are performed in three or more workplaces. it can.

Embodiment 2 In this embodiment, as shown in FIGS. 3 to 6, a detailed specific example of the mobile robot 1 shown in Embodiment 1 will be described. The mobile robot 1 according to the present embodiment includes a robot main body 10, a carriage 3 on which the robot main body 10 is mounted and moved, and a controller 15 provided below the robot main body 10.

As shown in FIGS. 3 and 4, a so-called automatic guided vehicle (AGV) is used as the carriage unit 3, and an ID tag reading head 19 is provided on a side surface thereof. An ID tag (not shown) detected by the ID tag reading head 19 is provided at a position corresponding to a mobile robot stop position in each work place.

As shown in FIGS. 3 and 4, the robot main body 10 is provided with an arm 2 on a base 11 so as to be capable of turning horizontally. In addition, the arm 2 is configured by sequentially connecting links 23 to 25 via pivot points 221 to 223 on the turning section 21 so that the arm 2 can freely expand, contract, and turn.

An auto tool changer 41 for mounting a tool is rotatably disposed on the end side surface of the link 25, that is, on the end side surface of the arm 2. The auto tool changer 41 functions together with the auto tool changer 42 provided at the upper end of each of the tools 51 and 52, and is configured to automatically attach and detach the tools 51 and 52. The auto tool changer 41 at the end of the arm 2 is provided with a mounting completion sensor 29 for confirming the completion of mounting the tool.

As shown in FIG. 3 and FIG.
A tool place 35 for placing two tools 51 and 52 is provided next to the robot body 10 on the robot 5. The tool storage 35 has a dedicated storage 351 for mounting the tool 51 and a dedicated storage 352 for mounting the tool 52. In addition, each exclusive storage 35
1, 352 are provided with tool detection sensors 61 and 62 for detecting the presence or absence of each tool.

As shown in FIGS. 5 and 6, the tool 5
1 is a tool for performing the work in the process A,
The tool 52 is a tool for performing an operation in the process B. For this reason, the mobile robot 1 of the present example is provided so as to be able to perform two processes, the A process and the B process.

If the mobile robot 1 having such a configuration is used, the tool can be easily changed while the mobile robot 1 is moving by using the above-mentioned auto tool changers 41 and 42. Two processes can be easily combined. The other effects are the same as those of the first embodiment.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a mobile robot according to a first embodiment.

FIG. 2 is a flowchart showing a control method of the mobile robot in the first embodiment.

FIG. 3 is a side view of a mobile robot according to a second embodiment.

FIG. 4 is a front view of a mobile robot according to a second embodiment.

FIG. 5 is an explanatory diagram showing a configuration of a tool according to a second embodiment.

FIG. 6 is an explanatory diagram showing a configuration of another tool according to the second embodiment.

[Explanation of symbols]

 1. . . Mobile robot, 2. . . Arm, 3. . . Bogie part, 35. . . Tool storage area, 351, 352. . . 3. Dedicated storage area, . . Tool exchange means, 51, 52. . . tool,

Claims (4)

[Claims] 1. A mobile robot that moves between a plurality of workplaces and performs work in each workplace. The mobile robot includes a robot body having an arm for performing a work by mounting a tool, and a robot body. A tool section for mounting and moving the tool section, and a control section for controlling the robot main body section and the cart section, and a tool place on which a plurality of types of tools to be mounted on the arm are placed; The mobile robot is provided with a tool exchanging means for exchanging a tool mounted on the arm with a tool mounted on the tool yard. A mobile robot characterized in that the tool can be exchanged during the operation. 2. The tool storage space according to claim 1, wherein a dedicated storage space is provided for each of the tools, and a tool detection sensor for detecting the presence or absence of a tool in each dedicated storage space is provided. Mobile robot. 3. The mobile robot according to claim 1, further comprising a position information providing means for providing position information in a moving path of the mobile robot, while detecting the position information providing means in the bogie unit. A mobile robot comprising a recognition head for recognizing a position of a mobile robot. 4. A method for controlling a mobile robot having tool exchange means for moving between a plurality of workplaces and performing work in each workplace, and exchanging tools used in the work, wherein the work in the previous workplace is performed. After a work completion signal indicating completion has been sent to the controller,
The movement of the mobile robot to the next workplace is started and the tool exchange is started by the tool changing means. Then, an arrival signal indicating that the mobile robot has arrived at a predetermined workplace, and A tool mounting signal notifying that a tool to be used in a predetermined workplace is mounted is sent to the control device, and the next operation is started on condition that the two signals arrive at the control device. How to control a mobile robot.