WO2020240940A1

WO2020240940A1 - Ceiling-travel manipulator and manipulation system

Info

Publication number: WO2020240940A1
Application number: PCT/JP2020/005265
Authority: WO
Inventors: 小田井　正樹; 馬場　淳史; 亨柴田; 有坂　寿洋
Original assignee: 株式会社日立製作所
Priority date: 2019-05-28
Filing date: 2020-02-12
Publication date: 2020-12-03
Also published as: JP2020192632A

Abstract

A ceiling-travel manipulator comprising a trolley, an arm, and an end effector. The trolley is arranged on an upper part of a work area and has a configuration that can move the end effector in the horizontal direction. The arm is arranged between the trolley and the end effector and has a configuration whereby the height of the end effector can be changed. The end effector has a configuration whereby the end effector can approach a target object from a substantially horizontal direction, capture the target object, and move the target object from a low section to a high section or from a high section to a low section of the work area. As a result, a manipulator can be provided that can perform work whereby an object is carried from a low section of a room to a high section or from a high section to a low section and, when not in use, can be stored in a compact manner. A manipulation system comprising the manipulator can also be provided.

Description

Ceiling-moving manipulator and manipulator system

The present invention relates to a ceiling-moving manipulator and a manipulation system.

Commercial robots are actually used in various fields such as factories and medical sites, and further improvements are being made.

Robots that perform relatively simple tasks such as cleaning are beginning to spread in homes and offices.

Conventional examples of robots and manipulators installed on the ceiling, etc. are as follows.

In Patent Document 1, a movable base, a turntable, and a three-legged articulated telescopic arm are provided on the lower surface of a bogie that can travel along a running rail laid in the upper space of a building, and the telescopic arm is a feed screw. An aerial traveling work robot that is configured to expand and contract up and down by a mechanism is disclosed.

In Patent Document 2, a medical manipulator is suspended and supported by a support mechanism having a flexible member, the support mechanism is installed on the ceiling surface of the operating room, and the upper end of the flexible member is provided near the ceiling of the operating room. The medical manipulator system is disclosed.

Japanese Patent Application Laid-Open No. 61-14871 Japanese Unexamined Patent Publication No. 2003-52716

The robot described in Patent Document 1 is an aerial traveling type, and is configured to expand and contract vertically. However, it does not have a configuration that enables an operation such as gripping an article placed in the lower part of the room from the horizontal direction, an operation such as moving an end effector from the horizontal direction to the lower surface of the article, and lifting the article. ..

The manipulator described in Patent Document 2 is for medical use and is a device used in a doctor's operation on an operating table in an operating room. For this reason, work at the top of the room is not considered.

An object of the present invention is to provide a manipulator capable of transporting articles from the lower part to the upper part and from the upper part to the lower part of a room, and which can be compactly stored when not in use, and a manipulator system including the manipulator. There is.

The ceiling-moving manipulator of the present invention includes a trolley, an arm, and an end effector. The trolley is arranged at the upper part of the work area and has a configuration in which the end effector can be moved in the horizontal direction. It is arranged between the trolley and the end effector, and has a configuration in which the height of the end effector can be changed, and the end effector has a configuration that can approach the object from substantially horizontal direction and capture the object. However, it is possible to move the object from the bottom to the top and from the top to the bottom in the work area.

According to the present invention, it is possible to provide a manipulator capable of transporting articles from the lower part to the upper part and from the upper part to the lower part of a room, and which can be compactly stored when not in use, and a manipulator system including the manipulator. it can.

It is a schematic block diagram which shows the ceiling movement type manipulator of Example 1. FIG. It is a schematic block diagram which shows the specific example of the end effector of FIG. It is a schematic block diagram which shows the ceiling movement type manipulator of Example 2. It is a schematic block diagram which shows the ceiling movement type manipulator of Example 3. It is a schematic block diagram which shows the ceiling movement type manipulator of Example 4. It is a schematic block diagram which shows the ceiling movement type manipulator of Example 5. It is a schematic block diagram which shows the 1st example of the means for moving a carriage. It is a schematic block diagram which shows the 2nd example of the means for moving a carriage. It is a schematic block diagram which shows the 3rd example of the means for moving a carriage. It is a schematic block diagram which shows the 1st example of a stretch joint. It is a schematic block diagram which shows the 2nd example of a stretch joint. It is a schematic block diagram which shows the 3rd example of a stretch joint. It is a schematic block diagram which shows the 4th example of a stretch joint. It is a schematic block diagram which shows the 5th example of a stretch joint. It is a schematic block diagram which shows an example of the manipulation system of this invention. It is a schematic block diagram which shows an example of the transmission and reception of data in the manipulation system of this invention.

The present invention relates to a ceiling-moving manipulator and a manipulator system that can be applied to homes, offices, and the like.

Hereinafter, examples will be described with reference to the drawings.

FIG. 1 schematically shows the configuration of the ceiling-moving manipulator of this embodiment.

In this figure, the ceiling-moving manipulator 100 works in the work space 1 (work area), and is composed of a trolley 101, an arm 102, and an end effector 103. An arm 102 is connected to the lower part of the carriage 101, and an end effector 103 is connected to the lower end of the arm 102. The end effector 103 is also called a hand effector, and is a part that actually grips an object or the like. In other words, the end effector 103 is a portion that comes into direct contact with the object. The end effector 103 may be replaceable depending on the content of the work.

The carriage 101 is arranged in the upper part of the work space 1 and is configured to be movable in the horizontal direction. Here, the work space 1 is the whole or a part of one room. Further, the work space 1 may be the whole or a part of the plurality of rooms when the carriage 101 can move a plurality of rooms by using the moving means (for example, a rail or the like).

The arm 102 includes a torsion joint 1021, a retractable flexion joint 1022, an extension joint 1023, and a wrist flexion joint 1024, and is connected in this order. A link is provided between each joint. The link fixedly connects two adjacent joints.
In other words, the link portion is substantially not deformed, rotated, or the like. The joint is also referred to as a "joint portion".

Each joint has a structure that allows it to move in the direction indicated by the dashed double-ended arrows in the figure. In the following description, the ceiling surface, which is usually a horizontal plane, is defined as the XY plane by taking the X and Y axes, and the normal line of the ceiling surface is defined as the Z axis. That is, the X-axis and the Y-axis mean two horizontal coordinate axes, and the Z-axis means a vertical coordinate axis.

The twisting joint 1021 rotates in the circumferential direction (around the Z axis) of the link axis to perform a twisting motion of the arm 102. The retractable flexion joint 1022 and the wrist flexion joint 1024 rotate around any axis in the XY plane, respectively. In other words, the retractable flexion joint 1022 or the wrist flexion joint 1024 is rotated so that the angle formed by the two links provided above and below it is smaller than 180 degrees. As a result, the end effector 103 is moved three-dimensionally. That is, the retractable flexion joint 1022 and the wrist flexion joint 1024 have a function of changing the angle of the end effector 103 with respect to the Z axis.

The telescopic joint 1023 has a structure that expands and contracts, thereby changing the distance between the retractable flexion joint 1022 and the wrist flexion joint 1024.

According to the above configuration of the arm 102, the position and angle (position / posture) of the end effector 103 can be adjusted with any five degrees of freedom in the work space 1. In particular, by controlling the wrist flexion joint 1024, it is possible to perform lateral work of the end effector 103 (work in which a human bends the elbow to grab an object), and work other than directly under the trolley 101 is also possible. As a result, the work range of the end effector 103 can be expanded, and the work content can also be expanded.

Further, when not working, the arm 102 and the end effector 103 can be stored in the upper part of the work space 1 by at least bending the storage flexion joint 1022. As a result, interference within the same work space 1 can be reduced.

Further, when not working, for example, the ceiling-movable manipulator 100 is placed in the wall surface of the room including the work space 1 or in the recess of the wall surface in the state shown in FIG. 1 (the state in which the flexion joint is extended and suspended downward). You may store it. In this case, it is desirable that the length of the telescopic joint 1023 is shortened because it is compact.

Note that the work space 1 is not a component of the ceiling-moving manipulator 100. Further, in FIG. 1, all the components of the ceiling-moving manipulator 100 are arranged inside the work space 1, but the present invention is not limited to this. Other components may be arranged inside or outside the work space 1 as long as the end effector 103 is arranged inside the work space 1 during work.

Further, a plurality of carriages may be arranged in one work space, or a plurality of arms may be arranged in one carriage. Further, a plurality of end effectors may be connected to one arm.

FIG. 2 shows a specific example of the end effector of FIG.

In this figure, the end effector 103 includes a working portion twisting joint 1031 and a working portion 1032. The working unit 1032 is a gripper and has a degree of freedom of driving for gripping work. The working portion torsion joint 1031 rotates the working portion 1032 in the circumferential direction of the shaft of the link. As a result, the gripping direction of the gripper (working unit 1032) can be changed.

The movable directions of the work unit torsion joint 1031 and the work unit 1032 are indicated by the arrows at both ends of the broken line in the figure.

Further, by appropriately controlling the work unit torsion joint 1031 and the carriage 101 and arm 102 of FIG. 1, the position and angle (position / posture) of the work unit 1032 can be adjusted with any 6 degrees of freedom in the work space 1. be able to. Then, for example, the object gripped by the work unit 1032 in the lower part of the work space 1 can be transported to the upper part of the work space 1. At that time, the object can be separated and placed in the upper part of the work space 1. That is, the work of cleaning up the work space 1 from the lower part to the upper part can be performed. Similarly, it is possible to perform work such as moving and transporting an object from the upper part to the lower part of the work space 1.

In the case of the configuration in which the suction pad is provided on the working portion 1032, it is easy to capture, grip, and detach the object even if the working portion twisting joint 1031 is not provided. Further, a plurality of types of end effectors 103 may be prepared and exchangeable, and may be selected and connected to the arm 102 as necessary.

Further, although FIG. 2 shows a case where the working portion 1032 is a gripper, the working portion of the present invention is not limited to this, and the end effector is provided on the lower surface of the object or the like from a substantially horizontal direction. The configuration may be such that a part of the working portion is inserted and an operation such as lifting an object is possible. With such a configuration, it is possible to carry the object on the working portion.

In the present specification, the "substantially horizontal direction" means not only a completely horizontal direction but also a direction when approaching an object from diagonally above or diagonally below.

Hereinafter, an example having a configuration in which the first embodiment is modified will be described. In the following examples, only the differences from the first embodiment will be described.

FIG. 3A schematically shows the configuration of the ceiling-moving manipulator of the second embodiment.

In this figure, the retractable flexion joint 1022, the torsional joint 1021, the telescopic joint 1023, and the wrist flexion joint 1024 constituting the arm 102 are connected in this order. That is, it is different from the first embodiment (FIG. 1) in that the retractable flexion joint 1022 and the torsion joint 1021 are interchanged.

According to this embodiment, since the storage flexion joint 1022 is arranged at the uppermost part of the arm 102, the storage direction of the arm 102 in the XY plane is defined, while the vertical size of the ceiling-moving manipulator 100 at the time of storage is defined. Can be made smaller than that of the first embodiment, the space under the housed arm 102 becomes wider, and the safety is improved.

FIG. 3B schematically shows the configuration of the ceiling-moving manipulator of the third embodiment.

In this figure, the torsion joint 1021 constituting the arm 102 is provided between the expansion joint 1023 and the wrist flexion joint 1024.

In Examples 2 and 3, among the components of the arm 102, the storage flexion joint 1022 is arranged at the position closest to the carriage 101. Further, in Examples 1 to 3, the wrist flexion joint 1024 is arranged on the end effector 103 side of the torsion joint 1021.

FIG. 3C schematically shows the configuration of the ceiling-moving manipulator of the fourth embodiment.

In this figure, there is no storage flexion joint 1022 constituting the arm 102 of the first embodiment, and a flexion joint 1022'is provided instead of the wrist flexion joint 1024 of the first embodiment. Therefore, the torsion joint 1021 is arranged at the uppermost part of the arm 102.

In this case as well, any 5 degrees of freedom can be secured.

In this embodiment, since the flexion joint 1022'for storage is arranged closer to the end effector 103 than in the first embodiment, the vertical size at the time of storage tends to be large, but the number of constituent joints is small. Can be done and the configuration can be simplified.

FIG. 3D schematically shows the configuration of the ceiling-moving manipulator according to the fifth embodiment.

In this figure, as compared with Example 4 (FIG. 3C), the arrangement of the torsion joint 1021 and the telescopic joint 1023 constituting the arm 102 is different. That is, the telescopic joint 1023 is arranged at the uppermost part of the arm 102.

According to the above embodiment, it is possible to work in the upper part (high place) of the work space. It is also possible to carry objects in the lower part (lower part) of the work space to the upper part of the work space and put them away.
Further, since the unused manipulator can be stored compactly, it is possible to prevent the problem that the unused manipulator narrows the living space of a human being.

Although the above examples show specific examples of the present invention, the configuration of the ceiling-moving manipulator of the present invention is not limited to the configurations of these examples. The end effector can be arranged with the degree of freedom required for the operation of the ceiling-moving manipulator in the work space (5 degrees of freedom in the configuration of the above embodiment), and the arm and the end effector can be stored in the upper part of the work space. Any configuration may be sufficient.

As a configuration other than the above embodiment, the telescopic joint 1023 of FIG. 1 may be arranged on the most end effector 103 side of the arm 102. Further, it may be configured by using more joints than in the above embodiment, and the storage function may be realized by contraction of the telescopic joint 1023. In this case, it is not necessary to use the storage flexion joint 1022.

Next, the configuration of the bogie common to the above embodiments will be described with reference to the drawings.

FIG. 4A is a schematic configuration diagram showing a first example of means for moving the carriage.

In this figure, the carriage 101 is movably arranged on the X-axis guide 1011. Y-axis bogies 1012 are provided at both ends of the X-axis guide 1011. The Y-axis bogie 1012 is movably arranged on the Y-axis guide 1013.

The dolly 101 moves along the X-axis guide 1011 and also moves along the Y-axis guide 1013 in a direction orthogonal to the direction along the X-axis guide 1011. As a result, the dolly 101 can move in the XY plane.

In summary, the means shown in this figure has a configuration in which it is horizontally driven by a gantry type stage.

FIG. 4B is a schematic configuration diagram showing a second example of means for moving the carriage.

In this figure, the carriage 101 is movably arranged on the rail 1014. The rail 1014 has a straight portion and a portion having a curvature. In other words, it has a meandering shape. The carriage 101 moves along the rail 1014 having such a shape. As a result, the dolly 101 can move in the XY plane.

FIG. 4C is a schematic configuration diagram showing a third example of means for moving the carriage.

In this figure, the carriage 101 is movably arranged on the R-axis guide 1015. One end of the R-axis guide 1015 is connected to the θ-rotating shaft 1016. The R-axis guide 1015 rotates around the θ-rotation axis 1016 due to the rotation of the θ-rotation axis 1016. As a result, the dolly 101 can move in the XY plane.

In the examples of FIGS. 4A to 4C, the bogie 101, the Y-axis bogie 1012, etc. are suspended vertically below the X-axis guide 1011, the Y-axis guide 1013, etc., but for example, in FIG. 4A, the bogie 101 May be arranged on the lateral portion (side surface portion or the like) or the upper portion of the X-axis guide 1011. The same applies to FIGS. 4B and 4C.

Further, in the examples of FIGS. 4A to 4C, the carriage 101 is two-dimensionally movable in the XY plane, but for example, it may be configured to be one-dimensionally movable only in the X-axis direction. ..
In other words, the degree of freedom of movement of the carriage 101 in the horizontal direction may be one degree of freedom. In this case, the ceiling-moving manipulator 100 of FIG. 1 can adjust the position and angle (position / posture) of the end effector 103 with any four degrees of freedom in the work space 1.

Next, the configuration of the telescopic joint common to the above embodiments will be described with reference to the drawings.

FIG. 5A is a schematic configuration diagram showing a first example of a telescopic joint.

In this figure, the telescopic joint 1023 is composed of a fixed portion 10231, a movable portion 10232, and a stage 10233. The stage 10233 is movably arranged on the fixed portion 10231. The movable portion 10232 is fixed to the stage 10233. That is, the stage 10233 is configured to be movable along the fixed portion 10231.
As a result, the distance between the lower end of the fixed portion 10231 and the lower end of the movable portion 10232 in this figure increases or decreases. Here, the drive source of the stage 10233 may be, for example, a ball screw (not shown) by a rotary motor (not shown) or a linear motor (not shown).

FIG. 5B is a schematic configuration diagram showing a second example of the telescopic joint.

In this figure, the telescopic joint 1023 is composed of a fixed portion 10231, a movable portion 10232, and a force transmitting portion 10234. The fixed portion 10231 and the movable portion 10232 have a tubular link structure, and the movable portion 10232 is movably fitted inside the fixed portion 10231.

The force transmission unit 10234 is composed of, for example, a wire, and is connected to a rotary motor (not shown) provided in the fixed unit 10231. The length of the exposed portion of the wire is adjusted by the forward rotation and the reverse rotation of the rotary motor, and the position of the movable portion 10232 is changed. As a result, the distance between the fixed portion 10231 and the movable portion 10232 increases or decreases. That is, the total length of the telescopic joint 1023 fluctuates.

A tubular relay link may be provided to relay between the fixed portion 10231 and the movable portion 10232.

FIG. 5C is a schematic configuration diagram showing a third example of the telescopic joint.

In this figure, the telescopic joint 1023 is composed of a fixed portion 10231, a movable portion 10232, and an telescopic rotation motor 10235. The rotation of the telescopic rotation motor 10235 causes the movable portion 10232 to rotate with respect to the fixed portion 10231. As a result, the tip of the movable portion 10232 is moved up and down.

In addition to the telescopic rotation motor 10235, a relay link and a rotation shaft may be provided between the fixed portion 10231 and the movable portion 10232.

FIG. 5D is a schematic configuration diagram showing a fourth example of the telescopic joint.

In this figure, the telescopic joint 1023 is composed of a fixed portion 10231, a movable portion 10232, and a relay link mechanism 10236. The fixing portion 10231 is connected to the link

mechanism end points

1051 and 1052 of the relay link mechanism 10236. Ball screws (not shown) are provided at the

end points

1051 and 1052 of the link mechanism. A rotary motor (not shown) is attached to the ball screw. The relay link mechanism 10236 has a rotatable rotating portion 1056.

By driving the ball screw with a rotary motor, the distance between the link mechanism end point 1051 and the link mechanism end point 1052 can be changed. Thereby, the distance between the fixed portion 10231 and the movable portion 10232 can be changed. As a result, the shape of the relay link mechanism 10236 with the rotating portion 1056 as a fulcrum changes, and the distance between the fixed portion 10231 and the movable portion 10232 increases or decreases.

The drive method using a ball screw using a rotary motor is an example, and the present invention is not limited to this method. Other mechanisms may be adopted as long as the distance between the fixed portion 10231 and the movable portion 10232 can be increased or decreased.

FIG. 5E is a schematic configuration diagram showing a fifth example of the telescopic joint.

In this figure, the telescopic joint 1023 is composed of a fixed portion 10231, a movable portion 10232, a force transmission portion 10234, and a pulley 10237. The pulley 10237 is provided on, for example, a fixed portion 10231 and a movable portion 10232. The movable portion 10232 is provided with a wire end fixing portion 1061. The wire fixed to the wire end fixing portion 1061 constitutes a force transmitting portion 10234 together with the fixing portion 10231 and the pulley 10237 of the movable portion 10232. Further, for example, the wire is wound by a motor (not shown) installed in the fixed portion 10231.

As a result, the wire of the force transmission unit 10234 can be wound up using the motor, and the distance between the fixed unit 10231 and the movable unit 10232 can be increased or decreased. Here, the telescopic joint 1023 may have a relay link provided with a pulley 10237 that relays between the fixed portion 10231 and the movable portion 10232.

FIG. 6 is a schematic configuration diagram showing an example of the manipulation system of the present invention.

In this figure, the manipulation system 200 includes two ceiling-moving

manipulators

100a and 100b, a control device 201, a communication device 202, a driver 203, an environment sensor 204a, a work sensor 204b, and an operation terminal 205. , Consists of. The environment sensor 204a is fixed to the wall surface of a room or the like which is the work space 1. Further, the work sensor 204b is fixed to the ceiling movable manipulator 100.

The work space 1 has an object 2 and an obstacle 3. The ceiling-moving manipulator 100 moves the object 2 and the like. The work space 1, the object 2, and the obstacle 3 are not components of the manipulation system 200.

The environment sensor 204a and the work sensor 204b can observe at least the inside of the work space 1. For example, the environment sensor 204a and the work sensor 204b have a camera, obtain image information, and observe the inside of the work space 1. The environment sensor 204a may be movable in the work space 1. In addition to the environment sensor 204a and the work sensor 204b, an environment sensor (not shown) that can move in the work space 1 may be provided.

The control device 201 operates the ceiling-moving manipulator 100 by using data obtained from sensors such as the environment sensor 204a and the work sensor 204b, an operation command input to the operation terminal 205, and information sent from the communication device 202. Data related to the above, that is, data such as the amount of movement and the rotation angle of each part of the ceiling-moving manipulator 100 are generated.

For example, the control device 201 detects the position, shape, and the like of the obstacle 3 and the object 2 by using the information detected by the sensors such as the environment sensor 204a and the work sensor 204b. As a result, the ceiling-moving manipulator 100a can automatically approach the object 2 while avoiding interference (collision) with the obstacle 3.

Further, when the control device 201 determines that the work of the ceiling-moving manipulator 100b is not necessary, or when a human invades the work space 1 and determines that the ceiling-moving manipulator 100b should be evacuated, etc. , The ceiling movable manipulator 100b may be housed in the upper part of the work space 1 to generate a signal for the storage work. For example, a signal that moves in the horizontal direction may be generated in an infrequently used area in the work space 1. In this case, the ceiling-moving manipulator 100b is in the state shown in this figure.

Furthermore, signals for both storage and movement operations may be generated. As a result, the area in the work space 1 occupied by the ceiling-moving manipulator 100b can be reduced.

The communication device 202 can communicate with an external system 4 (described later) other than the manipulation system 200. Here, the external system 4 is, for example, the Internet, a cloud, another device or another system in the same work space 1.

The driver 203 has a specific value (motor, etc.) related to the operation of the ceiling movable manipulator 100 based on the data related to the operation generated by the control device 201, the encoder information of the movable degree of freedom of each part of the ceiling movable manipulator 100, and the like. (Voltage, current, frequency, etc.) for driving For example, when each joint of the carriage 101, the arm 102, and the end effector 103 of the ceiling-moving manipulator 100 is driven by a motor, the driver 203 outputs a current for driving these motors. Here, the movement of the carriage 101 and each joint is not necessarily due to the motor. For example, it may be driven by hydraulic pressure or pneumatic pressure.

The operation terminal 205 is operated by an operator (human), and sends an operation command of the ceiling-moving manipulator 100 input by the operator (human) to the control device 201. Here, the operation command input to the operation terminal 205 may be, for example, a position / posture of the end effector 103 or a work command, and is directly for each drive degree of freedom of the trolley 101, arm 102, end effector 103, or the like. Command may be used. Further, the operation command may be a comprehensive instruction such as cleaning the room or cleaning the room, and the instruction is embodied in the control device 201 and inside the work space 1 detected by the environment sensor 204a, the work sensor 204b, or the like. In order to reflect the situation of the above in the actual work contents, the control device 201 may automatically perform the calculation.

Note that the control device 201, the communication device 202, the driver 203, and the operation terminal 205 may integrate some or all of their functions into one device. For example, the control device 201 may have the functions of the communication device 202 and the driver 203.

FIG. 7 is a schematic configuration diagram showing an example of data transmission / reception in the manipulation system of the present invention.

In this figure, the manipulator system 200 is composed of a ceiling-moving manipulator 100, a control device 201, a communication device 202, a driver 203, a sensor 204, and an operation terminal 205. The control device 201 includes a communication unit 2011, a storage unit 2012, and a calculation unit 2013. The communication device 202 can send and receive data to and from the external system 4. Here, the external system 4 may not be a component of the manipulation system 200, but may be a device such as a server adjacent to the work space 1. Further, for example, it may be the Internet, the cloud, or the like.

The information obtained by the sensor 204 is sent to the communication unit 2011 of the control device 201. Here, the area observed by the sensor 204 may be changed according to the command of the control device 201.

The information input to the operation terminal 205 is sent to the communication unit 2011 of the control device 201. Here, it is desirable that the operation terminal 205 has a display function. Here, the display function refers to a function in which the operation terminal 205 has a display unit (screen), or an image is projected from the operation terminal 205 onto a wall surface or a screen and displayed. With the display function, a part or all of the information possessed by the control device 201, such as the observation information of the sensor 204, can be sent to the operation terminal 205 for display, and the operation of the operator can be assisted.

The communication device 202 sends a part or all of the information held by the control device 201 to the external system 4, and sends at least a part of the information held by the external system 4 to the communication unit 2011 of the control device 201. For example, the communication device 202 sends the observation information of the object 2 by the sensor 204 to the external system 4, and the external system 4 inquires to identify the article of the object 2. The control device 201 can perform the work by determining the work conditions such as extracting the gripping position based on the article information of the specified object 2. Here, the working conditions are not limited to those determined by the control device 201, and may be determined by the external system 4. Further, when the communication device 202 communicates with another system in the same work space 1, the operation and purpose of the other system are detected by the control device 201, and the work of the ceiling movable manipulator 100 is coordinated accordingly. It can also be controlled to do so.

The communication unit 2011 transmits / receives data to / from the communication device 202, the sensor 204, and the operation terminal 205, and also transmits / receives data to / from the storage unit 2012 and the calculation unit 2013. For example, information to be sent to the external system 4 is extracted and sent to the communication device 202 to select and distribute the information.

The storage unit 2012 stores at least a part of the information collected by the communication unit 2011, the destination of each information, the parameters used for the calculation of the calculation unit 2013, and the like. As a result, the manipulator system 200 exercises the ceiling-moving manipulator 100 based on not only the latest collected information collected by the communication unit 2011 but also past history information and learning results (experience value by work) related to the work. Can be done. Here, a part or all of the functions of the storage unit 2012 may be arranged in the external system 4.

The calculation unit 2013 generates an operation command for the ceiling-moving manipulator 100 based on the storage information stored in the storage unit 2012, the collection information collected by the communication unit 2011, and the like, and sends the operation command to the driver 203. Here, the calculation unit 2013 may also generate an operation command for changing the position and orientation of the sensor 204 and send it to the communication unit 2011. By changing the position and orientation of the sensor 204, highly accurate sensing can be performed.

Further, the calculation unit 2013 may perform a calculation using information on the experience value of the work such as success or failure and send it to the communication unit 2011. As a result, the work content, environmental information, movement information, work results, etc. are accumulated in the storage unit 2012 as an experience value data set, and machine learning is performed to increase the work success rate of the movement control of the ceiling-moving manipulator 100. it can.

As described above, the control device 201 can transmit / receive, store, and calculate information for the work of the ceiling-moving manipulator 100.

According to the present invention, it is possible to prevent interference (collision) with humans and structures in the work space in manipulation work in a wide work space, and it is possible to reduce the risk of the robot falling. In addition, the space occupied by the ceiling-moving manipulator when the ceiling-moving manipulator is not working can be reduced, and the working range of other robots and manipulators can be expanded.

1: Work space, 2: Object, 3: Obstacle, 4: External system, 100: Ceiling movable manipulator, 101: Cart, 102 :: Arm, 103: End effector, 200: Manipulator system, 201: Control device , 202: Communication device, 203: Driver, 204: Sensor, 205: Operation terminal, 1011: X-axis guide, 1012: Y-axis carriage, 1013: Y-axis guide, 1014: Rail, 1015: R-axis guide, 1016: θ Rotating shaft, 1021: Twisting joint, 1022: Storage flexion joint, 1022': Flexion joint, 1023: Telescopic joint, 1024: Wrist flexion joint, 1031: Working part twisting joint, 1032: Working part, 1051, 1052: Link mechanism end point 1056: Rotating unit, 2011: Communication unit, 2012: Storage unit, 2013: Calculation unit, 10231: Fixed unit, 10232: Movable unit, 10233: Stage, 10234: Power transmission unit, 10235: Telescopic rotary motor, 10236: Relay Linkage, 10237: Slider.

Claims

Equipped with a dolly, an arm, and an end effector,
The trolley is located at the top of the work area and has a configuration in which the end effector can be moved in the horizontal direction.
The arm is arranged between the carriage and the end effector, and has a configuration in which the height of the end effector can be changed.
The end effector has a configuration capable of approaching an object from a substantially horizontal direction and capturing the object.
A ceiling-moving manipulator capable of moving the object from bottom to top and from top to bottom in the work area.
The ceiling-movable manipulator according to claim 1, wherein the arm and the end effector have a configuration that can be stored at a position higher than a predetermined height.
The ceiling-moving manipulator according to claim 1, wherein the arm has a joint capable of changing at least one of the angle and height of the end effector.
The ceiling-moving manipulator according to claim 1, wherein the arm has a torsion joint, a flexion joint, and an expansion joint.
The ceiling-moving manipulator according to claim 1, further comprising one or more arms in addition to the above-mentioned arm.
The ceiling-moving manipulator according to claim 1, further comprising one or more end effectors in addition to the end effector.
The ceiling-moving manipulator according to claim 1, wherein the end effector has a gripper.
The ceiling-moving manipulator according to claim 1, wherein the end effector has a suction pad.
The ceiling-moving manipulator according to claim 1, wherein the trolley is horizontally driven by a gantry type stage.
The ceiling-moving manipulator according to claim 1, wherein the trolley is movably arranged on rails.
A manipulator system including the ceiling-moving manipulator according to claim 1, a control device, and a sensor for detecting the state of the work area.
The manipulation system according to claim 11, wherein the control device has a configuration capable of communicating with an external system.
The manipulation system according to claim 11, wherein the sensor includes a camera.
The manipulation system according to claim 11, wherein at least one of the position and the posture of the sensor can be changed by a command of the control device.
The manipulation system according to claim 11, further provided with an operation terminal.
The manipulation system according to claim 15, wherein the operation terminal has a display function.