CN116635191A - Robot system, control method and driven arm - Google Patents

Abstract

A robot system (1) is provided with: a robotic arm (310A, 310B); a passive arm (100, 200) connected to the robot arm and capable of being disconnected from the robot arm and operated by the robot arm; and control means (500A, 500B) for controlling the first and second movements of the robot arm. The first operation is an operation of the robot arm acting on an object (VB), and the second operation is an operation of the robot arm causing the passive arm to act on the object. In the second operation, the control device executes the operations of connecting the robot arm to the driven arm, operating the driven arm by the robot arm to engage the driven arm with the object, and operating the driven arm engaged with the object by the robot arm to operate the object.

Description

Robot system, control method and driven arm

Cross-reference to related applications

The application claims priority and benefits of Japanese patent application Nos. 2020-211593 and 2020-211594 to Japanese patent application No. 12/21 in 2020, which are incorporated by reference in their entirety as part of the present application.

Technical Field

The invention relates to a robot system, a control method and a passive arm.

Background

In recent years, robots are used for various purposes. For example, japanese patent application laid-open No. 2013-31890 discloses a coating system for a vehicle body. The painting system includes a door opening/closing robot that opens and closes a door of a vehicle body and holds the door open, and a painting robot that can paint the inside of the door of the vehicle body.

Disclosure of Invention

In the coating system of japanese patent application laid-open No. 2013-31890, each of the coating robot and the door opening/closing robot includes a drive arm capable of operating by itself. Since the driving arms are provided for the two works, respectively, the cost increases.

The invention aims to provide a robot system, a control method and a driven arm, which can reduce cost.

A robot system according to an embodiment of the present invention includes: a robotic arm; a passive arm having two or more degrees of freedom, being connected to and disconnected from the robot arm, and having an engagement portion engageable with an object, the passive arm being operated by the robot arm connected to the passive arm; and a control device that controls a first operation and a second operation of the robot arm, the first operation being an operation of the robot arm in which the robot arm acts on the object, the second operation being an operation of the robot arm in which the robot arm acts on the object, the control device being configured to perform, in the second operation, a connection of the robot arm and the driven arm, an operation of the driven arm by the robot arm to engage the engagement portion with the object, and an operation of the driven arm by the robot arm to engage the object.

Drawings

Fig. 1 is a perspective view showing an example of the configuration of a robot system according to the embodiment.

Fig. 2 is a perspective view showing an example of the configuration of the robot system according to the embodiment.

Fig. 3 is a perspective view showing an example of the structure of the first painting robot according to the embodiment.

Fig. 4 is a perspective view showing an example of the structure of the second painting robot according to the embodiment.

Fig. 5 is a side view showing an example of the structure of the first passive arm.

Fig. 6 is a plan view showing an example of the structure of the first passive arm.

Fig. 7 is a front view showing an example of the structure of the second passive arm.

Fig. 8 is a side view showing an example of the structure of the second passive arm.

Fig. 9 is a block diagram showing an example of the first to third control devices and the configuration around the first to third control devices according to the embodiment.

Fig. 10 is a block diagram showing an example of the functional configuration of the first and second control devices according to the embodiment.

Fig. 11 is a flowchart showing an example of an opening operation of the robot system according to the embodiment.

Fig. 12 is a flowchart showing an example of the closing operation of the robot system according to the embodiment.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below each represent a general or specific example. Among the structural members in the following embodiments, structural members not described in the independent claims showing the uppermost concept will be described as arbitrary structural members. The drawings in the figures are schematic and are not necessarily strictly illustrated. In the drawings, substantially the same components are denoted by the same reference numerals, and overlapping description may be omitted or simplified. In the present specification and claims, "device" may refer not only to one device but also to a system composed of a plurality of devices.

[ Structure of robot System ]

An example of the configuration of the robot system 1 according to the exemplary embodiment will be described with reference to fig. 1 and 2. Fig. 1 and 2 are perspective views showing an example of the configuration of a robot system 1 according to the embodiment. In the present embodiment, the following description is made as a system for performing a painting operation of the vehicle body VB in a manufacturing factory of an automobile as the robot system 1. However, the application of the robot system 1 is not limited to the painting work. The body VB is an example of an object.

The robot system 1 is disposed in the coating area PA. The coating area PA is surrounded by a wall, a ceiling, or the like. A coating line device PL for conveying the body VB subjected to coating in the direction D1A is disposed in the coating area PA. The direction D1A is a direction along the floor surface of the painting area PA, and is, for example, a horizontal direction. The structure of the coating line device PL is not particularly limited, and may be a known structure. As examples of the coating line device PL, there are a device that conveys the body VB by a conveyor, a device that conveys the body VB along a rail, and the like.

The robot system 1 includes one or more first passive arms 100, one or more second passive arms 200, one or more first painting robots 300A, one or more second painting robots 300B, one or more moving devices 410 for each of the first passive arms 100, one or more moving devices 420 for each of the second passive arms 200, one or more moving devices 430 for each of the first painting robots 300A, one or more moving devices 440 for each of the second painting robots 300B, and control devices 500A to 500C.

The one or more first passive arms 100, the one or more second passive arms 200, the one or more first painting robots 300A, the one or more second painting robots 300B, and the moving devices 410 to 440 are arranged in the same painting area PA, and the painting-related work can be performed on the same vehicle body VB. For ease of illustration, the structural components described above are shown in fig. 1 and 2. In fig. 1, one or more first passive arms 100, one or more first painting robots 300A, and moving devices 410 and 430 are drawn, and in fig. 2, one or more second passive arms 200, one or more second painting robots 300B, and moving devices 420 and 440 are drawn. In the present embodiment, the structural members are arranged in the same space.

Although not shown in fig. 1, in the present embodiment, the two first passive arms 100 are disposed in the side directions D2A and D2B, respectively, with respect to the coating line device PL, and the two first coating robots 300A are disposed in the side directions D2A and D2B, respectively, with respect to the coating line device PL. The first boom 100 is disposed on the floor of the painting area PA, and the first painting robot 300A is disposed on the wall surface of the painting area PA. The first painting robot 300A can paint the door VD of the body VB and the portion inside the door VD using the first driven arm 100. The door VD is an example of the first shutter.

The directions D2A and D2B are directions opposite to each other. The directions D2A and D2B are perpendicular to the directions D1A and D1B, and are directions along the floor of the painting area PA, for example, horizontal directions. The directions D3A and D3B are directions opposite to each other. The directions D3A and D3B are directions perpendicular to the directions D1A, D1B, D a and D2B and perpendicular to the ground of the coating area PA, for example, vertical directions. The direction D3A is an upward direction, and the direction D3B is a downward direction.

In the present embodiment, one second boom 200 is disposed in the direction D2B with respect to the coating line device PL, and one second coating robot 300B is disposed in the direction D2A with respect to the coating line device PL. The second boom 200 is disposed on the wall surface of the painting area PA, and the second painting robot 300B is disposed on the floor surface of the painting area PA. The second painting robot 300B can paint the front hood VF of the body VB, the portion inside the front hood VF, the rear door VG, and the portion inside the rear door VG using the second passive arm 200. The back door VG may also include a trunk lid or the like. The front cover VF and the rear door VG are examples of the second opening/closing body.

The first painting robot 300A is mounted on the wall surface of the painting area PA via a moving device 430. The moving device 430 is mounted on the wall surface of the painting area PA, and extends in the direction D1A. The moving device 430 includes a support stand 431 for supporting the first coating robot 300A and a movement driving device 432 for moving the support stand 431. The moving device 430 can move the support table 431 in the directions D1A and D1B together with the first coating robot 300A.

The first driven arm 100 is mounted on the floor of the painting area PA via the moving device 410. The moving device 410 is installed on the floor of the painting area PA, extending in the direction D1A. The mobile device 410 is disposed below the mobile device 430. The moving device 410 includes a support table 411 that supports the first driven arm 100, and a movement driving device 412 that moves the support table 411. The moving device 410 can move the support table 411 in the directions D1A and D1B together with the first driven arm 100.

The second painting robot 300B is mounted on the floor of the painting area PA via a moving device 440. The moving device 440 is installed on the floor of the painting area PA to extend in the direction D1A. The moving device 440 includes a support table 441 that supports the second coating robot 300B, and a movement driving device 442 that moves the support table 441. The moving device 440 can move the support base 441 in the directions D1A and D1B together with the second coating robot 300B.

The second passive arm 200 is mounted on the wall surface of the painting area PA via the moving device 420. The moving device 420 is mounted on the wall surface of the painting area PA, and extends in the direction D1A. The mobile device 420 is disposed at a position in the direction D2B from the mobile device 440 so as to face the mobile device 440. The moving device 420 includes a support table 421 supporting the second driven arm 200 and a movement driving device 422 moving the support table 421. The moving device 420 can move the support table 421 in the directions D1A and D1B together with the second driven arm 200.

The structure of the moving devices 410 to 440 is not particularly limited, and may be a known structure, for example. Although not limited thereto, in the present embodiment, the moving devices 410 to 440 are rail-type moving devices that move the support bases 411 to 441 on two rails extending in the direction D1A, respectively. The movement driving devices 412 to 442 use electric power as a power source and include a servomotor as a motor. For example, the movement driving devices 412 to 442 may include rotating bodies that are rotationally driven by servo motors and move the support tables 411 to 441 by rotation. For example, the rotating body may be a roller or a gear that runs on a rail together with the support tables 411 to 441, a roller that drives a chain or a belt connected to the support tables 411 to 441, a ball screw connected to the support tables 411 to 441, or the like.

The first control device 500A is configured to control operations of the first painting robot 300A, the first boom 100, the moving devices 410 and 430, and the like. Although not limited thereto, in the present embodiment, the first control device 500A is configured to control a pair of the first painting robot 300A and the first driven arm 100 and the moving devices 410 and 430 thereof. A first control device 500A is provided on each of the above pairs. The second control device 500B is configured to control operations of the second painting robot 300B, the second boom 200, the moving devices 420 and 440, and the like. Although not limited thereto, in the present embodiment, the second control device 500B is configured to control a pair of the second painting robot 300B and the second passive arm 200 and the moving devices 420 and 440 thereof. The third control device 500C is configured to perform control to operate the first control device 500A, the second control device 500B, and the control device CPL of the coating line device PL in cooperation with each other.

[ Structure of coating robot ]

An example of the configuration of the painting robots 300A and 300B will be described with reference to fig. 3 and 4. Fig. 3 is a perspective view showing an example of the structure of the first painting robot 300A according to the embodiment. Fig. 4 is a perspective view showing an example of the structure of the second painting robot 300B according to the embodiment. The first painting robot 300A has a robot arm 310A and an end effector 320A mounted on the front end of the robot arm 310A. The second painting robot 300B has a robot arm 310B and an end effector 320B mounted on the front end of the robot arm 310B.

The robotic arms 310A and 310B may be free to move the position and pose of the end effectors 320A and 320B, respectively. The robot arms 310A and 310B are driving arms capable of driving themselves. The end effectors 320A and 320B have a structure capable of applying an action to an object, and in the present embodiment, paint can be sprayed to the object.

Although not limited, in the present embodiment, the robotic arms 310A and 310B are 6-axis vertical multi-joint arms having six degrees of freedom. In the present embodiment, the robotic arms 310A and 310B have different structures, but may be identical.

The robot arm 310A includes a base 317A, six links 311A to 316A, six rotary joints JTA1 to JTA6, and arm drives MA1 to MA6. The base 317A is fixed to a support stand 431 of the moving device 430. The rotary joints JTA1 to JTA6 connect the base 317A and the links 311A to 316A in a relatively rotatable manner. The front end of link 316A includes a mechanical interface that is capable of connecting with end effector 320A. Arm drives MA1 to MA6 rotationally drive rotary joints JTA1 to JTA6, respectively. The arm driving devices MA1 to MA6 use electric power as a power source, and in the present embodiment, include servo motors as motors. Arm drives MA1 to MA6 are shown in fig. 9.

The robot arm 310B has a base 317B, six links 311B to 316B, six rotary joints JTB1 to JTB6, and arm drives MB1 to MB6. The base 317B is fixed to a support table 441 of the moving device 440. The rotary joints JTB1 to JTB6 connect the base 317B and the links 311B to 316B in a relatively rotatable manner. The front end of link 316B includes a mechanical interface that is capable of connecting with end effector 320B. The arm driving devices MB1 to MB6 rotationally drive the rotary joints JTB1 to JTB6, respectively. The arm driving devices MB1 to MB6 use electric power as a power source, and in the present embodiment, a servomotor is included as a motor. The arm driving devices MB1 to MB6 are shown in fig. 9.

The end effectors 320A and 320B include paint guns 321A and 321B, respectively, that can spray paint. The coating guns 321A and 321B are connected to a plurality of pipes extending along the robot arm 310A or 310B, respectively, and the plurality of pipes are connected to the coating tank and the air supply device 600. The air supply device 600 may be a device capable of generating pressurized air, and may be an air compressor or the like that compresses and discharges air. The air supply device 600 is shown in fig. 9.

An on-off valve 601A for communicating and shutting off the pipe is disposed in the pipe for communicating the coating gun 321A and the air supply device 600. In the present embodiment, the on-off valve 601A is disposed on the end effector 320A, but may be disposed elsewhere. An on-off valve 601B for communicating and shutting off the pipe is disposed in the pipe for communicating the coating gun 321B and the air supply device 600. In the present embodiment, the on-off valve 601B is disposed on the end effector 320B, but may be disposed elsewhere. As shown in fig. 9, the opening/closing valves 601A and 601B may be, for example, solenoid valves. The operation of the on-off valve 601A is controlled by the first control device 500A, and the operation of the on-off valve 601B is controlled by the second control device 500B. The paint in the paint tank is sent to the paint guns 321A and 321B by the pressurized air generated by the air supply device 600, and is sprayed from the paint guns 321A and 321B. The coating tank and air supply 600 are disposed separately from the robot arms 310A and 310B.

End effectors 320A and 320B also include robotic links 322A and 322B, respectively. The robot connecting body 322A can be connected to the distal end portion of the first driven arm 100. Although not limited thereto, in the present embodiment, the robot connecting body 322A is a curved rod-shaped body. The robot connecting body 322A extends so as to protrude laterally from the end effector 320A, is bent, and then extends along the opening direction of the spray hole of the coating gun 321A.

The robot connecting body 322B can be connected to the distal end portion of the second boom 200. Although not limited thereto, in the present embodiment, the robot connecting body 322B is a rod-shaped body and extends so as to protrude laterally from the end effector 320B.

The configuration of the painting robots 300A and 300B is not limited to the above configuration. For example, the number of joints of the robot arms 310A and 310B is not limited to six, but may be five or less or seven or more. The types of robotic arms 310A and 310B are not limited to the vertical multi-joint type, but may be other types. The robot arms 310A and 310B may be configured to connect the robot connecting bodies 322A and 322B to the distal ends of the driven arms 100 and 200, respectively, so that the driven arms 100 and 200 can be operated.

[ Structure of first driven arm ]

An example of the structure of the first driven arm 100 will be described with reference to fig. 5 and 6. Fig. 5 and 6 are a side view and a plan view, respectively, showing an example of the structure of the first driven arm 100. In fig. 5 and 6, elements disposed inside the component are also indicated by solid lines for convenience of illustration.

The first passive arm 100 includes an arm main body 110 and an end effector 120 coupled to a distal end of the arm main body 110. The arm main body 110 can operate with two or more degrees of freedom, and in the present embodiment, can operate with three degrees of freedom. The end effector 120 has a structure capable of exerting an effect on a subject. The end effector 120 is one example of an engagement portion.

The arm main body 110 includes four links 111a to 111d and three passive movable portions 112a to 112c. The link 111a is an example of the base of the arm main body 110, and is fixed to the support table 411 of the moving device 410. The links 111b to 111d have a columnar shape, respectively. The number of links in the arm body 110 may be three or less, or five or more, and the number of passive movable portions may be two or less, or four or more.

The passive movable portion 112a connects the base ends of the link 111a and the link 111b to be rotatable relative to each other. The passive movable portion 112a includes: a rotation shaft 112aa integrally rotatably connected to the base end portion of the link 111 b; a bearing 112ab fixed to the link 111a and rotatably supporting the rotation shaft 112 aa. The link 111b is rotatable about the axis S11 of the rotation shaft 112 aa. Although not limited thereto, in the present embodiment, the link 111b extends in a direction perpendicular to the axis S11. The passive movable portion 112a can function as a rotary joint. The passive movable portion 112a is an example of the first rotation movable portion.

In the present specification and claims, "vertical", "horizontal" and "parallel" may include the case of being entirely vertical, horizontal or parallel, and the approximation including being entirely vertical, horizontal or parallel, respectively, may be considered as being substantially vertical, horizontal or parallel.

The passive movable portion 112b connects the distal end portion of the link 111b and the proximal end portion of the link 111c to be rotatable relative to each other. The link 111b connects the passive movable portion 112a and the passive movable portion 112b. The passive movable portion 112b includes a rotation shaft 112ba integrally rotatably connected to the base end portion of the link 111c, and a bearing 112bb fixed to the link 111b and rotatably supporting the rotation shaft 112 ba. The link 111c is rotatable about the axis S12 of the rotation shaft 112 ba. Although not limited thereto, in the present embodiment, the link 111c extends in a direction perpendicular to the axis S12. The axis S12 extends in the same direction as the axis S11, for example, parallel to the axis S11. The passive movable portion 112b can function as a rotary joint. The passive movable portion 112b is an example of the second rotation movable portion.

The link 111c includes a first portion 111ca extending from the rotation shaft 112ba in a direction perpendicular to the axis S12 and a second portion 111cb extending from a front end portion of the first portion 111 ca. The second portion 111cb extends in a direction D4A away from the first portion 111 ca. Although not limited thereto, in the present embodiment, the second portion 111cb extends parallel to the axis S12 and has a cylindrical shape. Therefore, the axial center S12 extends in the direction D4A.

The passive movable portion 112c connects the distal end portion of the second portion 111cb of the link 111c and the link 111d so as to be capable of a relative advancing and retreating operation. The link 111c connects the passive movable portion 112b and the passive movable portion 112c. The passive movable portion 112c is an example of the advancing and retreating movable portion.

The link 111d is slidably disposed on the second portion 111cb along the second portion 111 cb. The link 111D is slidable in the directions D4A and D4B. The direction D4B is the opposite direction of the direction D4A. For example, the link 111d has a cylindrical shape, and the tip end portion of the second portion 111cb may be inserted into the base end portion of the link 111 d. The base end of the link 111d forms a free end, and the tip end of the link 111d is connected to the end effector 120.

The passive movable portion 112c includes a shaft portion 112ca and an engagement body 112cb. The locking body 112cb is disposed in the second portion 111 cb. The shaft portion 112ca extends through the link 111d and the second portion 111cb, and penetrates the locking body 112cb. One end of the shaft 112ca is connected to the distal end portion of the link 111d or the end effector 120. The other end of the shaft portion 112ca is enlarged to form an enlarged end portion.

The shaft portion 112ca is slidably movable in the directions D4A and D4B with respect to the second portion 111cb along with the link 111D. For example, the shaft portion 112ca and the link 111D may be moved in the direction D4B until the front end portion of the link 111D or the end effector 120 abuts against the front end portion of the second portion 111 cb. The shaft portion 112ca and the link 111D are movable in the direction D4A until the enlarged end portion of the shaft portion 112ca abuts against the locking body 112cb. The locking body 112cb can prevent the shaft portion 112ca from coming out of the second portion 111 cb.

The arm body 110 also has a biasing member 113. The biasing member 113 biases the link 111D in a direction away from the locking body 112cb, specifically, in the direction D4A. Thus, when the link 111D is not subjected to an external force in the direction D4B, the link 111D and the second portion 111cb can maintain the state of extension in the direction D4A. For example, in the above state, the urging member 113 may have an urging force that brings the enlarged end portion of the shaft portion 112ca into contact with the locking body 112 cb. Although not limited thereto, in the present embodiment, the urging member 113 is a coil spring. The biasing member 113 is disposed at the distal end of the link 111d or between the end effector 120 and the locking body 112cb, and is wound around the shaft 112 ca.

Although not limited thereto, in the present embodiment, the end effector 120 is connected to the distal end portion of the link 111d so as not to move relative to the link 111 d. The end effector 120 is a rod-like body. End effector 120 includes an extension 121 and a protrusion 122. The extension 121 extends in a direction intersecting the directions D4A and D4B, for example, in a vertical direction. The protruding portion 122 protrudes from one end of the extending portion 121 in the direction D4B. The projection 122 can engage with the gap VDa located at the upper portion of the door VD of the body VB, and specifically can be inserted into the gap VDa. The gap VDa is shown in fig. 1. The gap VDa is formed between the outer plate and the inner plate of the door VD, and is a gap allowing the entrance and exit of the window. The gap VDa is an example of a recess of the object.

The end effector 120 integrally includes an arm coupling 130. The arm connecting portion 130 is disposed at the other end of the extension portion 121. The arm connecting portion 130 has an engagement hole 131 penetrating the arm connecting portion 130 in the directions D4A and D4B. The engagement hole 131 is a hole into which the robot connecting body 322A of the first painting robot 300A can be inserted. The arm connecting portion 130 is an example of an engaging portion.

Directions D4A and D4B of the first driven arm 100 are arranged along directions D3A and D3B, respectively. The first driven arm 100 can move the end effector 120 by three degrees of freedom, that is, two degrees of freedom of rotation in the horizontal direction and one degree of freedom of advancing and retreating movement in the vertical direction. The robot arm 310A of the first painting robot 300A can insert the robot link 322A into the engagement hole 131 from above.

The first passive arm 100 includes sensors 141 and 142. The first sensor 141 is disposed on the arm connecting portion 130, and detects the presence of the inorganic robot connecting body 322A in the engagement hole 131. The second sensor 142 is disposed on the protruding portion 122 of the end effector 120, and detects whether or not an object is present in the protruding direction D4B, which is the protruding direction of the protruding portion 122. The second sensor 142 may detect a distance from the second sensor 142 to an object within the detection target area. The sensors 141 and 142 output the detection results to the first control device 500A. The first sensor 141 may be disposed on the robot connecting body 322A, or may be disposed on both the arm connecting portion 130 and the robot connecting body 322A.

The structure of the sensors 141 and 142 is not particularly limited as long as it has the above-described functions. For example, the sensors 141 and 142 may be configured to perform detection operation using physical contact, optical waves, laser light, magnetism, electric waves, electromagnetic waves, ultrasonic waves, a combination of two or more thereof, or the like. Examples of the first sensor 141 are a contact sensor, a proximity sensor, a photoelectric sensor, a laser sensor, an electric wave sensor, an electromagnetic wave sensor, an ultrasonic sensor, a combination of two or more thereof, or the like. Examples of the second sensor 142 are a photoelectric sensor, a laser sensor, an electric wave sensor, an electromagnetic wave sensor, an ultrasonic sensor, various laser radars (LiDAR), a combination of two or more thereof, or the like.

The first passive arm 100 includes locking devices 151 to 153 capable of locking the respective operations of the passive movable portions 112a to 112 c. The locking devices 151 and 152 lock the rotation of the passive movable portions 112a and 112b, respectively. The locking device 153 locks the forward and backward movement of the passive movable portion 112 c. Although not limited thereto, in the present embodiment, the locking devices 151 to 153 are locked by using friction force. The locking devices 151 to 153 may be configured to be locked by other methods such as engagement and fitting.

In the present embodiment, each of the locking devices 151 and 152 has the same structure as the disc brake device of the wheel. The locking device 151 includes a disk 151a integrally connected to the rotation shaft 112aa, a friction member 151b, and a locking drive device 151c that operates to press the friction member 151b against the disk 151 a. The disc 151a rotates integrally with the rotation shaft 112aa connecting the disc 151 a. Similarly, the locking device 152 includes a disk 152a integrally connected to the rotation shaft 112ba, a friction member 152b, and a locking driving device 152c. For example, the locking driving means 151c and 152c may include pistons pressing the friction members 151b and 152b, respectively. The locking devices 151 and 152 are disposed in the links 111a and 111b, respectively.

The locking device 153 includes a gripping device 153a, and the gripping device 153a can grip or grip the outer peripheral surface of the shaft portion 112 ca. For example, the gripping device 153a may have a structure for pressing the friction material against the shaft 112ca, similarly to the locking driving devices 151c and 152c. The locking device 153 is disposed in the second portion 111cb of the link 111c, specifically, between the locking body 112cb and the enlarged end of the shaft portion 112 ca.

Although not limited thereto, in the present embodiment, the locking driving devices 151c, 152c and the gripping device 153a each have a structure to receive the supply of the working fluid and to perform locking and unlocking by the supply and stop of the working fluid. In the present embodiment, the working fluid is pressurized air supplied from the air supply device 600, but may be a liquid such as working oil. The locking driving devices 151c, 152c and the holding device 153A are connected to the air supply device 600 via pipes and the opening/closing valves 602A, 603A and 604A, respectively. The opening/closing valves 602A, 603A, and 604A electrically operate to allow communication and blocking of the piping. As shown in fig. 9, the opening/closing valves 602A, 603A, and 604A may be, for example, solenoid valves. In the present embodiment, the opening/closing valves 602A, 603A, and 604A are disposed on the first boom 100, but may be disposed outside the first boom 100. The operations of opening/closing valves 602A, 603A, and 604A are controlled by first control device 500A. The locking driving devices 151c and 152c and the gripping device 153A receive the supply of the pressurized air in the open state of the opening/closing valves 602A, 603A and 604A, and receive the supply of the pressurized air in the closed state of the opening/closing valves 602A, 603A and 604A, respectively.

For example, the locking driving devices 151c and 152c are each provided with a biasing member such as a spring, and are configured to bias the friction members 151b and 152b against the disks 151a and 152a by the biasing member, and the friction members 151b and 152b are separated from the disks 151a and 152a by the supplied pressurized air. The locking driving devices 151c and 152c perform locking in the closed state of the opening/closing valves 602A and 603A, respectively, and release locking in the open state of the opening/closing valves 602A and 603A. The relationship between the locking and locking release of the locking drive devices 151c and 152c and the closed state and the open state of the opening/closing valves 602A and 603A may be reversed.

For example, the gripping device 153a includes a biasing member such as a spring, and is configured to bias the outer peripheral surface of the gripping shaft 112ca by the biasing member and release the gripping of the shaft 112ca by the supplied pressurized air. The gripping device 153a performs gripping-based locking in the closed state of the opening/closing valve 604A, and releases the gripping-based locking in the open state of the opening/closing valve 604A. The relationship between the locking and locking release by the gripping device 153a and the closed state and the open state of the opening/closing valve 604A may be reversed.

[ Structure of second driven arm ]

An example of the structure of the second passive arm 200 is described with reference to fig. 7 and 8. Fig. 7 and 8 are a front view and a side view, respectively, showing an example of the structure of the second passive arm 200. In fig. 7 and 8, for convenience of illustration, the components disposed inside the components are also indicated by solid lines.

The second passive arm 200 includes an arm body 210 and an end effector 220 coupled to a front end of the arm body 210. The arm body 210 can operate with two or more degrees of freedom, and in the present embodiment, can operate with three degrees of freedom. The end effector 220 has a structure capable of exerting an effect on a subject. The end effector 220 is one example of an engagement portion.

The arm body 210 includes four links 211a to 211d, three passive movable portions 212a to 212c, and a load body 213. The link 211a is an example of the base of the arm body 210, and is fixed to the support stand 421 of the moving device 420. The link 211a has a rectangular plate shape with a longitudinal direction of the direction D5A. The number of links in the arm body 210 may be three or less, or five or more, and the number of passive movable portions may be two or less, or four or more.

The passive movable portion 212a connects the link 211a and the link 211b so as to be capable of a relative advancing and retreating operation. The passive movable portion 212a is an example of a movable portion that moves forward and backward. The link 211b has a rectangular plate shape, and is disposed opposite to the link 211 a.

The passive movable portion 212a includes two guide portions 212aa and two or more engagement portions 212ab. Each guide 212aa is disposed on the surface of the link 211 a. Each guide 212aa protrudes from the surface of the link 211a and extends in a band shape in the direction D5A. The two guide portions 212aa extend parallel to each other. The two guide portions 212aa form a track for guiding the movement of the link 211b, and may be guide rails.

Two or more engaging portions 212ab are disposed on the link 211b and slidably engage with the guide portions 212 aa. The engaging portion 212ab can slide along the guide portion 212aa while maintaining engagement without being separated from the guide portion 212 aa. Although not limited thereto, in the present embodiment, four engaging portions 212ab are arranged, and two engaging portions 212ab are engaged with one guide portion 212aa, and the other two engaging portions 212ab are engaged with the other guide portion 212 aa. The link 211B is movable along the guide 212aa in the directions D5A and D5B. The direction D5B is the opposite direction of the direction D5A.

The passive movable portion 212b connects the link 211b and the base end portion of the link 211c to be rotatable relative to each other. The link 211b connects the passive movable portion 212a and the passive movable portion 212b. The passive movable portion 212b includes a rotation shaft 212ba integrally connected to the link 211b, and a bearing 212bb fixed to a base end portion of the link 211c and rotatably supporting the rotation shaft 212 ba. The link 211c is rotatable about the axis S21 of the rotation shaft 212 ba. Although not limited thereto, in the present embodiment, the link 211c extends in a direction perpendicular to the axis S21. The axis S21 extends in a direction perpendicular to the directions D5A and D5B. The axis S21 extends in a direction intersecting the links 211a and 211b, for example, in a vertical direction. The passive movable portion 212b can function as a rotary joint. The passive movable portion 212b is an example of a rotation movable portion.

The passive movable portion 212c connects the distal end portion of the link 211c and the proximal end portion of the link 211d to be rotatable relative to each other. The link 211c connects the passive movable portion 212b and the passive movable portion 212c. The passive movable portion 212c includes: a rotation shaft 212ca integrally connected to a base end portion of the link 211d, and a bearing 212cb fixed to a tip end portion of the link 211c and rotatably supporting the rotation shaft 212 ca. The link 211d is rotatable about the axis S22 of the rotation shaft 212 ca. Although not limited thereto, in the present embodiment, the axial center S22 extends in the same direction as the axial center S21, for example, parallel to the axial center S21. The passive movable portion 212c is an example of a rotation movable portion.

The link 211c has a parallel link structure. The link 211c includes a first member 211ca, a second member 211cb, and a third member 211cc. The first member 211ca, the second member 211cb, and the third member 211cc are columnar members.

The first member 211ca links the passive movable portions 212b and 212c. Specifically, one end of the first member 211ca is rotatably connected to the link 211b via the passive movable portion 212b, and the other end of the first member 211ca is rotatably connected to the base end portion of the link 211d via the passive movable portion 212c.

The second member 211cb extends along the first member 211ca and is rotatably coupled to the link 211b at one end. Specifically, one end of the second member 211cb is connected to the link 211b at a position distant from the first member 211 ca. The other end of the second member 211cb is rotatably connected to one end of the third member 211 cc. The third member 211cc is rotatably coupled to the other end of the second member 211cb at one end and coupled to the passive movable portion 212c at the other end.

The distance of the two connection portions in the first member 211ca is equal to the distance of the two connection portions in the second member 211 cb. The distance between the connecting portion of the link 211b and the first member 211ca and the connecting portion of the link 211b and the second member 211cb are equal to the distance between the two connecting portions of the third member 211 cc. Thus, when the first member 211ca rotates, the third member 211cc moves in parallel.

Although not limited thereto, in the present embodiment, the other end of the third member 211cc is coupled to the base end portion of the link 211d so as to integrally rotate with the link 211 d. Thus, when the first member 211ca rotates, the link 211d moves in parallel with the third member 211 cc. Therefore, the posture of the link 211d can be maintained.

The link 211d has a columnar shape. The link 211D includes a first portion 211da extending from the passive movable portion 212c in the direction D6A of the shaft center S22 and a second portion 211db extending from a front end portion of the first portion 211 da. The second portion 211db extends in a direction D7A away from the first portion 211 da. Although not limited, in the present embodiment, the first portion 211da extends parallel to the axis S22, and the direction D6A is perpendicular to the directions D5A and D5B and is a direction away from the links 211a and 211B. The second portion 211db extends perpendicular to the first portion 211da, and the direction D7A is perpendicular to the direction D6A and is a direction away from the links 211a and 211 b. The distal end of the link 211d is connected to the end effector 220.

Although not limited thereto, in the present embodiment, the end effector 220 is connected to the link 211d so as not to move relative to the link 211 d. The end effector 220 is a rod. End effector 220 includes an extension 221 and a protrusion 222. The extension 221 extends in a direction intersecting the direction D7A, for example, in a perpendicular direction. Both ends of the extension 221 protrude in the directions D5A and D5B than the link 211D. The protruding portions 222 protrude from both ends of the extension portion 221 in the direction D7B, respectively. The direction D7B is the opposite direction to the direction D7A. The protruding portion 222 is engageable with openings of the holders Va attached to the front cover VF and the rear door VG of the body VB, and specifically, can be inserted into the openings. The retainer Va is shown in fig. 2. The retainer Va is a metal member that is held when the front cover VF and the rear door VG are opened and closed.

The arm connecting portion 230 is integrally disposed at the distal end portion of the link 211 d. The arm connecting portion 230 has an engagement hole 231 that opens in the direction D6A. The engagement hole 231 is a hole into which the robot connecting body 322B of the second painting robot 300B can be inserted. The arm connecting portion 230 is an example of an engaging portion.

The load body 213 is an object having a predetermined mass or more. Is coupled to the link 211c so as to move integrally with the link 211 c. The load body 213 is disposed on the opposite side of the link 211c via the passive movable portion 212b. The load body 213 is integrally coupled to the first member 211ca by a coupling member 213 a. The coupling member 213a positions the load body 213 away from the first member 211ca and the passive movable portion 212b. The load body 213 can generate a downward rotational moment M1 around the passive movable portion 212b on the first member 211 ca. The load body 213 is not limited to the above-described one, as long as a rotational moment can be applied to the first member 211 ca. For example, the load body 213 may be a biasing member such as a coil spring that applies the rotational moment M1 to the first member 211 ca.

The second driven arm 200 is disposed in such a manner that the directions D5A and D5B are along the directions D1A and D1B, the direction D6A is along the direction D2A, and the directions D7A and D7B are along the directions D3B and D3A, respectively. The second passive arm 200 can move the end effector 220 by three degrees of freedom, that is, two degrees of freedom of rotation in the vertical direction and one degree of freedom of advancing and retreating movement in the horizontal direction. The robot arm 310B of the painting robot 300B can insert the robot connecting body 322B into the engagement hole 231 from the side.

The second passive arm 200 includes a first sensor 241 identical to the first sensor 141 of the first passive arm 100 and a second sensor 242 identical to the second sensor 142. The first sensor 241 is disposed on the arm coupling portion 230, and the second sensor 242 is disposed on either or both of the protruding portions 222 of the end effector 220. The sensors 241 and 242 are configured to output the detection result to the second controller 500B. The first sensor 241 may be disposed on the robot link 322B or on both the arm link 230 and the robot link 322B.

The second passive arm 200 includes locking devices 251 and 252 capable of locking the respective operations of the passive movable portions 212a and 212 b. Although not limited thereto, in the present embodiment, the locking devices 251 and 252 are locked by friction force. The locking device 251 locks the forward and backward movement of the passive movable portion 212 a. The locking device 252 has the same structure as the locking devices 151 and 152 of the first driven arm 100, and locks the turning operation of the passive movable portion 212 b.

The locking device 252 is disposed in the first member 211 ca. The locking device 252 includes a disk 252a, a friction material 252b, and a locking driving device 252c, which are integrally attached to the rotation shaft 212 ba.

The locking device 251 is disposed on the engagement portion 212ab of the link 211 b. Specifically, the locking device 251 is disposed on the engaging portion 212ab of each of the two guide portions 212 aa. The locking device 251 includes a holding device 251a for holding the outer surface of the guide 212 aa. The gripping device 251a may have the same structure as the gripping device 153a of the first driven arm 100.

The holding device 251a and the locking driving device 252c perform and release locking by the supply and stop of the pressurized air supplied from the air supply device 600, respectively. The holding device 251a and the locking drive device 252c are connected to the air supply device 600 via pipes and the on-off valves 602B and 603B, respectively. The on-off valves 602B and 603B have a structure that operates electrically, and the respective operations are controlled by the second control device 500B. The on-off valves 602B and 603B are shown in fig. 9 and may be, for example, solenoid valves. In the present embodiment, the on-off valves 602B and 603B are disposed on the second boom 200, but may be disposed outside the second boom 200. The holding device 251a and the locking drive device 252c are configured to release the locking when the pressurized air is supplied and to perform the locking when the supply of the pressurized air is cut off. The relationship between the engagement and disengagement of the holding device 251a and the engagement driving device 252c and the supply and interruption of the pressurized air may be reversed from that described above.

[ Structure of control device ]

An example of the configuration of the control devices 500A to 500C and the periphery thereof according to the embodiment will be described with reference to fig. 9. Fig. 9 is a block diagram showing an example of the structure of the control devices 500A to 500C and the periphery thereof according to the embodiment.

The third control device 500C is connected to each other via wired communication, wireless communication, or a combination thereof, so that the first control device 500A, the second control device 500B, the line control device CPL of the coating line device PL, and the input/output device 700 can transmit and receive signals to and from each other. Any wired communication and wireless communication may be used.

The third control device 500C receives the command, information, data, and the like input to the input/output device 700 from the input/output device 700, and performs control based on the command, information, data, and the like. The third control device 500C outputs various information, data, and the like of the robot system 1 to the input/output device 700. The third control device 500C may receive information indicating the operation states of the respective control-target components from the first control device 500A, the second control device 500B, and the line control device CPL, and may control the respective control-target components based on the information so as to transmit instructions of the operation timings of the respective control-target components to the first control device 500A, the second control device 500B, and the line control device CPL. The action timing is timing at which actions are performed. The third control device 500C may be connected to the air supply device 600 to control the operation of the air supply device 600. Information indicating the operation state of the paint line device PL from the line control device CPL is an example of information of the object.

The third control device 500C may include a computer device, or may be configured to transmit a signal to another control device or the like through I/O communication or the like, and to control the operation of the other control device or the like based on the signal. In fig. 9, the third control device 500C is connected to one first control device 500A and one second control device 500B, but the number of first control devices 500A and second control devices 500B that are control targets of the third control device 500C may be any number.

The first control device 500A controls the operations of the first painting robot 300A, the first boom 100, the moving devices 410 and 430, and the like, based on the instruction or the like of the operation sequence received from the third control device 500C. For example, the first control device 500A may be configured to control the operations of the servo motors of the arm driving devices MA1 to MA6, the on-off valves 601A to 604A, the sensors 141 and 142, and the servo motors of the moving devices 410 and 430. Although not limited thereto, in the present embodiment, the first control device 500A controls the operation of each control object by the automatic operation according to the control program. The first control device 500A includes a computer device, and may further include a drive circuit for an electrical component such as a servo motor.

The second control device 500B controls the operations of the second painting robot 300B, the second passive arm 200, the moving devices 420 and 440, and the like, based on the instructions and the like of the operation sequence received from the third control device 500C. For example, the second control device 500B may be configured to control the operations of the servo motors of the arm driving devices MB1 to MB6, the on-off valves 601B to 603B, the sensors 241 and 242, and the servo motors of the moving devices 420 and 440. Although not limited thereto, in the present embodiment, the second control device 500B controls the operation of each control object by the automatic operation according to the control program. The second control device 500B may include a computer device, and may further include a drive circuit for an electric component such as a servo motor.

The control devices 500A and 500B may be configured to servo-control the respective servomotors. The control devices 500A and 500B may acquire the detection result of the rotation sensor provided in each of the servomotors, acquire the current value supplied to the servomotor from the drive circuit of the servomotor, and determine the command value of the current supplied to the servomotor using the detection result of the rotation sensor and the current value as feedback information. The supply current value may be a command value of a current supplied from the drive circuit to the servomotor, or may be a detection result of a current sensor that can be provided in the servomotor.

The line control device CPL controls the operation of the coating line device PL. The line control device CPL may include a control panel such as a line controller. The line controller is also referred to as a "process control board" or "line control board".

The input/output device 700 receives input of instructions, information, data, and the like from a user such as an operator, and outputs the received input to the third control device 500C. The input/output device 700 receives information, data, and the like transmitted from the third control device 500C and the like, and presents the information, data, and the like to the user. The input/output device 700 includes an input device, a display, and other presentation devices. The input device may be any known input device and the prompting device may be any known device that provides user perceivable information by visual and audible means or the like.

For example, the control devices 500A to 500C may be smart devices such as an electronic circuit board, an electronic control unit, a microcomputer, a personal computer, a workstation, a smart phone, and a tablet computer, and other electronic devices. The control devices 500A to 500C include circuits, which may include a processor and a memory. The circuitry may include processing circuitry. The circuit includes a CPU (central processing unit) Central Processing Unit and the like as a processor, and as a Memory, a nonvolatile semiconductor Memory such as a ROM (Read Only Memory) and a volatile semiconductor Memory such as a RAM (random access Memory) Random Access Memory and the like can be included. For example, a program for operating the CPU is held in advance in a ROM or the like. The CPU reads out the program from the ROM to the RAM for expansion. The CPU executes each of the encoded instructions in the program developed in the RAM. The control devices 500A to 500C may include a storage device in addition to a memory. The storage devices may include storage devices such as semiconductor memories, hard Disk Drives (HDDs), and solid state drives (SSDs: solid State Drive).

Some or all of the functions of the control devices 500A to 500C may be implemented by a computer system including a processor, a memory, or the like, or by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or by a combination of the computer system and the hardware circuit. The control devices 500A to 500C may be configured to execute the respective processes by centralized control of a single device, or may be configured to execute the respective processes by cooperative distributed control of a plurality of devices.

Although not limited, the processor may include, for example, a CPU, an MPU (Micro Processing Unit), GPU (Graphics Processing Unit), a microprocessor (microprocessor), a processor core (processor core), a multiprocessor (multiprocessor), an ASIC (Application-Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or the like, each process being implemented by a logic circuit or a dedicated circuit formed in an IC (integrated circuit) chip, LSI (Large Scale Integration), or the like. The processes may be implemented by one or more integrated circuits or by one integrated circuit.

[ functional Structure of control device ]

An example of the functional configuration of the first control device 500A and the second control device 500B according to the embodiment will be described with reference to fig. 10. Fig. 10 is a block diagram showing an example of the functional configuration of the first control device 500A and the second control device 500B according to the embodiment. The first control device 500A and the second control device 500B have the same functional structure.

The first control device 500A includes an information processing unit 501A, a first signal processing unit 502A, a second signal processing unit 503A, a first movement control unit 504A, a second movement control unit 505A, an arm control unit 506A, a coating valve control unit 507A, a locking valve control unit 508A, and a storage unit 509A as functional components. The function of the storage unit 509A may be realized by a memory or the like. The functions of the functional components other than the storage unit 509A may be realized by a processor or the like. All of the functional structural components described above are not necessary.

The storage unit 509A stores various information, data, and the like, and can read the stored information, data, and the like. For example, the storage unit 509A stores a control program, various data, and the like.

The information processing unit 501A processes instructions, information, signals, and the like received from the third control device 500C, and outputs the processed instructions, information, signals, and the like to the corresponding functional components in the first control device 500A. For example, the instructions may include action timings, and the like. The information processing unit 501A processes information, signals, and the like output from the functional components of the first control device 500A, and transmits the processed information to the third control device 500C.

The first signal processing section 502A receives a signal from the first sensor 141 and processes the signal. The first signal processing unit 502A detects whether or not the robot link body 322A of the first painting robot 300A is inserted into the engagement hole 131 of the arm link 130 of the first boom 100 based on the signal of the first sensor 141, and outputs the detection result to the arm control unit 506A or the like.

The second signal processing unit 503A receives a signal from the second sensor 142 and processes the signal. The second signal processing unit 503A detects whether or not an object is present in the protruding direction D4B from the protruding portion 122 of the end effector 120 of the first passive arm 100 based on the signal of the second sensor 142, and outputs the detection result to the arm control unit 506A or the like. For example, when the projection 122 is located directly above and toward the gap VDa of the door VD of the body VB, the second signal processing portion 503A can detect the absence of an object because the second sensor 142 does not detect an object, thereby detecting the presence of the gap VDa. When the protruding portion 122 is inserted into the gap VDa by a predetermined amount or more, the second sensor 142 detects the inner surface of the outer panel of the door VD, and thus the second signal processing section 503A detects the presence of an object, thereby detecting that the insertion of the protruding portion 122 into the gap VDa is completed.

The first movement control unit 504A controls the movement of the mobile device 410 according to instructions and control programs such as the movement sequence from the third control device 500C. For example, the first movement control unit 504A calculates a target value such as a position and a speed of the support table 411 of the movement device 410, and outputs a command value for moving the support table 411 according to the target value to the movement driving device 412. The command value may be a command value of a current supplied to the servo motor. For example, the first movement control unit 504A may move the support table 411 to the movement driving device 412 in synchronization with the movement of the body VB of the coating line device PL,

The second movement control unit 505A controls the movement of the movement device 430 according to instructions and control programs such as the operation sequence from the third control device 500C. For example, the second movement control unit 505A calculates a target value such as a position and a speed of the support table 431 of the movement device 430, and outputs a command value for moving the support table 431 to the movement driving device 432 based on the target value. The command value may be a command value of a current supplied to the servo motor. For example, the second movement control unit 505A may move the support stand 431 to the movement driving device 432 in synchronization with the movement of the body VB of the coating line device PL.

The arm control unit 506A controls the operation of the robot arm 310A based on instructions such as the operation sequence from the third control device 500C and a control program. For example, the arm control unit 506A calculates target values such as the position, posture, movement speed of the position, movement speed of the posture, and the like of the end effector 320A, and outputs command values for moving the end effector 320A to the arm driving devices MA1 to MA6 based on the target values. The command value may be a command value of a current supplied to the servomotor. Further, the arm control unit 506A controls the operation of the robot arm 310A for positioning the end effector 320A, using the detection results received from the signal processing units 502A and 503A.

The coating valve control unit 507A controls the operation of the on-off valve 601A according to a control program. That is, the coating valve control unit 507A controls the injection of the coating material from the coating gun 321A of the end effector 320A.

The locking valve control unit 508A controls the operations of the opening/closing valves 602A to 604A of the locking devices 151 to 153 of the first boom 100 according to the control program. That is, the locking valve control unit 508A controls the locking operation of the locking devices 151 to 153. The locking valve control unit 508A may use the detection results received from the signal processing units 502A and 503A for control.

As with the first control device 500A, the second control device 500B includes an information processing unit 501B, a first signal processing unit 502B, a second signal processing unit 503B, a first movement control unit 504B, a second movement control unit 505B, an arm control unit 506B, a coating valve control unit 507B, a locking valve control unit 508B, and a storage unit 509B as functional components. The function of the storage unit 509B may be realized by a memory or the like. The functions of the functional components other than the storage unit 509B may be realized by a processor or the like. Since the functions of the functional components of the second control device 500B are the same as those of the first control device 500A, the functional components of the second control device 500B will be mainly described with respect to the differences from the first control device 500A, and description of similar points will be omitted. All of the above-described functional structural components of the second control device 500B are not necessary.

The first signal processing section 502B processes the signal received from the first sensor 241, and outputs the processing result to the arm control section 506B or the like. The first signal processing unit 502B detects whether or not the robot link body 322B of the second painting robot 300B is inserted into the engagement hole 231 of the arm link portion 230 of the second passive arm 200, based on the signal.

The second signal processing unit 503B processes the signal received from the second sensor 242, and outputs the processing result to the arm control unit 506B or the like. For example, the second signal processing unit 503B can detect that the protruding portion 222 of the end effector 220 of the second passive arm 200 is located directly below the opening of the retainer Va of the front hood VF or the rear door VG of the body VB and faces the opening.

The first movement control unit 504B controls the operation of the movement device 420 according to the instruction and the control program from the third control device 500C.

The second movement control unit 505B controls the operation of the movement device 440 according to the command and the control program from the third control device 500C.

The arm control unit 506B controls the operation of the robot arm 310B according to the instruction and the control program from the third control device 500C. Further, the arm control unit 506B controls the operation of the robot arm 310B for positioning the end effector 320B, using the detection results received from the signal processing units 502B and 503B.

The coating valve control unit 507B controls the operation of the on-off valve 601B according to a control program, and controls the injection of the coating material from the coating gun 321B of the end effector 320B.

The locking valve control unit 508B controls the operation of the opening/closing valves 602B and 603B of the locking devices 251 and 252 of the second boom 200 and controls the locking operation of the locking devices 251 and 253 according to the control program. The locking valve control unit 508B may use the detection results received from the signal processing units 502B and 503B for control.

[ action of robot System ]

An example of the operation of the robot system 1 according to the embodiment will be described below. First, an example of the operation of the robot system 1 when the door VD of the body VB is opened using the first painting robot 300A and the first driven arm 100 will be described with reference to fig. 1 and 11. Fig. 11 is a flowchart showing an example of the opening operation of the robot system 1 according to the embodiment.

In step S101, the first control device 500A causes the moving devices 410 and 430 to move the first painting robot 300A and the first passive arm 100, respectively, to initial positions for the opening operation. For example, the initial position may be a position set in advance with respect to the body VB. The initial position may be a position where the first coating robot 300A can insert the robot link 322A into the engagement hole 131 of the arm link 130 of the first driven arm 100. The first passive arm 100 is maintained in an initial state in advance. In the initial state, the arm main body 110 is held in a predetermined posture with respect to the support table 411 of the moving device 410, and the end effector 120 is held in a predetermined position and posture with respect to the support table 411. The air supply device 600 is operated, and the locking devices 151 to 153 are in a locked state.

Next, in step S102, the first control device 500A operates the robot arm 310A of the first painting robot 300A, inserts the robot link body 322A into the engagement hole 131, and connects the robot link body 322A and the arm link portion 130. That is, the first control device 500A connects the robot arm 310A and the first passive arm 100.

Next, in step S103, the first control device 500A detects completion of insertion of the robot connecting body 322A into the engagement hole 131, that is, completion of connection, based on the signal of the first sensor 141.

Next, in step S104, the first control device 500A operates the opening/closing valves 602A to 604A from the closed state to the open state, and releases all of the locking devices 151 to 153 from locking.

Next, in step S105, the first control device 500A operates the robot arm 310A to move the end effector 120 of the first passive arm 100 above the gap VDa of the door VD in the closed state of the vehicle body VB.

Next, in step S106, the first control device 500A moves the end effector 120 to the robot arm 310A in the horizontal direction while causing the second sensor 142 to sense.

When the first control device 500A detects the gap VDa based on the signal of the second sensor 142 (yes in step S107), the flow proceeds to step S108, and when the gap VDa is not detected (no in step S107), the flow proceeds to step S106. The detection of the gap VDa refers to the detection of the gap VDa being located in a direction in which the protruding portion 122 of the end effector 120 protrudes downward.

In step S108, the first control device 500A moves the end effector 120 in the downward direction D3B to the robot arm 310A while causing the second sensor 142 to sense, and inserts the protruding portion 122 into the gap VDa.

When the first control device 500A detects that the insertion of the protruding portion 122 into the gap VDa is completed based on the signal of the second sensor 142 (yes in step S109), the robot arm 310A is stopped from moving the end effector 120 downward D3B, and the flow proceeds to step S110. If not detected (no in step S109), the first control device 500A repeats step S108. Thereby, the extension 121 of the end effector 120 can be prevented from colliding with the door VD.

In step S110, the first control device 500A moves the end effector 120 to the robot arm 310A in the horizontal direction, and opens the door VD of the body VB.

Next, in step S111, when the first control device 500A opens the door VD of the body VB to a predetermined position, the opening/closing valves 602A to 604A are actuated from the open state to the closed state, and all of the locking devices 151 to 153 are locked. Thereby, the first passive arm 100 maintains the door VD in an open state.

Next, in step S112, the first control device 500A operates the robot arm 310A, pulls out the robot connecting body 322A from the engagement hole 131, and releases the connection between the robot connecting body 322A and the engagement hole 131.

Next, in step S113, the first control device 500A detects completion of the extraction of the robot connecting body 322A from the engagement hole 131, that is, completion of the disconnection of the robot connecting body 322A and the engagement hole 131, based on the signal from the first sensor 141.

Next, in step S114, the first control device 500A moves the on-off valve 601A from the closed state to the open state, and causes the robot arm 310A to perform the painting operation. Thus, the first painting robot 300A can perform the painting operation inside the body VB.

The second control device 500B can open the front hood VF and the rear door VG of the body VB using the second painting robot 300B and the second boom 200, respectively, by performing the same processing as the processing described above for the first control device 500A. In the same process as in steps S105 to S108, the second control device 500B causes one of the protruding portions 222 of the end effector 220 of the second passive arm 200 to be inserted into the opening of the holder Va of the robot arm 310B from below. The same process as in step S109 may be omitted.

Next, an example of the operation of the robot system 1 when the door VD of the body VB is closed by using the first painting robot 300A and the first driven arm 100 will be described with reference to fig. 1 and 12. Fig. 12 is a flowchart showing an example of the closing operation of the robot system 1 according to the embodiment.

In step S201, after the predetermined coating operation of the first coating robot 300A is completed, the first control device 500A activates the on-off valve 601A from the open state to the closed state, and ends the coating operation.

Next, in step S202, the first control device 500A operates the first coating robot 300A and the robot arm 310A, and inserts the robot link body 322A into the engagement hole 131 of the arm link portion 130 of the first driven arm 100 to link the robot arm 310A and the first driven arm 100.

Next, in step S203, the first control device 500A detects completion of insertion of the robot connecting body 322A into the engagement hole 131, that is, completion of connection, based on the signal of the first sensor 141.

Next, in step S204, the first control device 500A operates the opening/closing valves 602A to 604A from the closed state to the open state, and releases all of the locking devices 151 to 153 from locking.

Next, in step S205, the first control device 500A moves the robot arm 310A in the horizontal direction to move the end effector 120, and closes the door VD of the body VB.

Next, in step S206, the first control device 500A moves the end effector 120 to the robot arm 310A, and sets the first passive arm 100 in the initial state. The initial state is the same as the initial state in step S101 in the action of opening the gate VD. For example, the initial state may be a state in which the first passive arm 100 does not interfere with the body VB conveyed in the direction D1A, and the first passive arm 100 does not interfere with the coating robots 300A and 300B performing other coating operations.

Next, in step S207, after the first passive arm 100 is shifted to the initial state, the first control device 500A causes the opening/closing valves 602A to 604A to be operated from the open state to the closed state, and causes all of the locking devices 151 to 153 to be locked. Thereby, the first passive arm 100 maintains the initial state.

Next, in step S208, the first control device 500A operates the robot arm 310A, pulls the robot link body 322A out of the engagement hole 131, and releases the connection between the robot link body 322A and the engagement hole 131.

Next, in step S209, the first control device 500A detects completion of the extraction of the robot connecting body 322A from the engagement hole 131, that is, completion of the disconnection of the robot connecting body 322A and the engagement hole 131, based on the signal from the first sensor 141.

Next, in step S210, the first control device 500A operates the on-off valve 601A from the closed state to the open state, and causes the robot arm 310A to perform coating operations on other parts.

The second control device 500B can close the front hood VF and the rear door VG of the body VB using the second painting robot 300B and the second boom 200, respectively, by performing the same processing as the processing described above for the first control device 500A.

(other embodiments)

The examples of the embodiments of the present disclosure have been described above, but the present disclosure is not limited to the above-described embodiments. That is, various modifications and improvements may be made within the scope of the disclosure. For example, a mode in which various modifications are performed in the embodiments and a mode in which structural members in different embodiments are combined are also included in the scope of the present disclosure.

For example, in the robot system 1 of the embodiment, the coating robots 300A and 300B and the driven arms 100 and 200 as active robots are used, and the objects to be operated are the openable and closable doors VD, the front hood VF, and the rear door VG of the vehicle body VB. However, the object of the robot system 1 to operate is not limited to this. The robotic system 1 may be used for any object that is operable or movable. For example, the robot system 1 may be used for an object that passively moves or moves by applying an external force. The robot system 1 can be used in various situations, for example, by operating or moving an object using an active robot and a passive arm 100 or 200, and by causing the active robot to perform a work on the object while maintaining the object in a state after the object has been operated or moved by the passive arm 100 or 200.

In the embodiment, the robot system 1 includes the painting robots 300A and 300B as industrial robots, and performs an operation related to the industry, but is not limited thereto. For example, the robot system 1 may be provided with a service robot and configured to provide services to a person. The service may be various services such as nursing, medical, cleaning, police, guidance, rescue, cooking, and commodity provision.

In the embodiment, the control devices 500A to 500C of the robot system 1 are configured to operate the control objects such as the coating robots 300A and 300B, the moving devices 410 to 440, and the locking devices 151 to 153, 251 and 252 of the driven arms 100 and 200 by the automatic operation control, but the present invention is not limited thereto. For example, the control devices 500A to 500C may be configured to operate one or more control objects by manual operation control, or by a combination of automatic operation control and manual operation control. For example, the manual operation control may be control to sequentially operate the control object according to the operation content input to the operation device by the operator. For example, in the manual operation control, the control object may execute an action corresponding to an action of an operator operating the operation device.

In the embodiment, the locking devices 151 to 153, 251 and 252 perform and release locking by supplying and stopping the working fluid using the working fluid of gas or liquid as a power source, but the present invention is not limited thereto. The power source of the locking devices 151 to 153, 251 and 252 may be any power source. For example, the locking devices 151 to 153, 251 and 252 may be provided with electric actuators for performing and releasing locking operations using electric power as a power source.

In the embodiment, the control devices 500A and 500B detect the connection and disconnection of the robot connecting bodies 322A and 322B and the arm connecting portions 130 and 230 by using the detection signals of the first sensors 141 and 241, but are not limited thereto. For example, the control devices 500A and 500B may be configured to detect the above-described connection and disconnection based on a change in the current value of the servo motor of the robot arms 310A and 310B. The control devices 500A and 500B detect the completion of the detection of the insertion target such as the opening of the gap VDa and the holder Va and the insertion of the protruding portions 122 and 222 into the insertion target using the detection signals of the second sensors 142 and 242, but are not limited thereto. For example, the controllers 500A and 500B may be configured to detect the insertion object and contact and non-contact with the surroundings thereof based on a change in the current value of the servo motors of the robot arms 310A and 310B, thereby detecting the insertion object and completion of insertion into the insertion object. In either case, the control devices 500A and 500B may control the control devices in such a manner that, when the robot links 322A and 322B or the contact with the protrusions 122 and 222 is detected based on the change in the current values of the servo motors of the robot arms 310A and 310B, the gains of the servo motors are reduced to alleviate the impact on the object.

Examples of the modes of the technology of the present disclosure may be exemplified as follows. A robot system according to an embodiment of the present invention includes: a robotic arm; a passive arm having two or more degrees of freedom, being connected to and disconnected from the robot arm, and having an engagement portion engageable with an object, the passive arm being operated by the robot arm connected to the passive arm; and a control device that controls a first operation and a second operation of the robot arm, the first operation being an operation of the robot arm in which the robot arm acts on the object, the second operation being an operation of the robot arm in which the robot arm acts on the object, the control device being configured to perform, in the second operation, a connection of the robot arm and the driven arm, an operation of the driven arm by the robot arm to engage the engagement portion with the object, and an operation of the driven arm by the robot arm to engage the object.

According to the above aspect, since the passive arm has two or more degrees of freedom, an operation for engaging with the object and an operation for operating the object can be performed. In the second operation, the control device operates the robot arm connected to the passive arm, thereby engaging the passive arm with the object to perform the operation of the object. The control device can release the robot arm from the connection with the passive arm in a state where the passive arm is engaged with the object, and can cause the robot arm to perform a first operation on the object. Thus, even when the engagement with the object needs to be maintained, the robot arm can perform the first operation on the object. Since the passive arm is configured to be operated by the robot arm, a driving device is not required for the movable portion thereof, thereby achieving simplification of the structure. Therefore, in the robot system, when it is difficult for the robot arm to work on the object alone, the robot arm can be made to assist the work by the passive arm. The plurality of arms included in the robot system are constituted not only by the robot arm as the driving arm but also by the robot arm and the driven arm, and therefore, the cost can be reduced.

In the robot system according to an aspect of the present invention, the passive arm may include: two or more passive movable parts forming the two or more degrees of freedom and operating by applying an external force to the passive arm; and two or more locking devices for locking the operation of the passive movable portion by the action of the working fluid, wherein the locking devices hold and release the posture of the passive arm by executing and releasing the locking of the operation of the passive movable portion, the locking devices release the locking during the period when the working fluid is supplied, and the locking is executed during the period when the supply of the working fluid is stopped, and the control device is configured to control the supply and the stop of the supply of the working fluid to the locking devices.

According to the above aspect, the control device can hold the passive arm in the posture by engaging each of the passive movable portions with each of the engaging devices. For example, the control device may release the locking devices from the locking operation when the driven arm is caused to perform the operation of the object, and may cause the locking devices to perform the locking operation after the operation. Thus, the passive arm can hold the object in the actuated state, and the control device can cause the robot arm to perform the first actuation of the object held in the actuated state. In the first operation, contact between the robot arm and the object due to an unintentional operation of the object can be prevented. The control device may perform the locking operation of each locking device after the passive arm is returned to the original state after the first operation is completed. This can prevent the passive arm from being brought into contact with the object or the robot arm due to an unintentional operation of the passive arm.

Further, the driven arm may not have a driving device such as a motor for driving the locking device, and the structure thereof may be simplified. For example, the passive arm may be provided with only a pipe for supplying the working fluid to the locking device. The control device may be configured to control the operation of a fluid control mechanism such as a valve that controls the supply and stop of the working fluid. The control system of the control device can be simplified.

Further, the working fluid is supplied during the release of the locking device, and the supply of the working fluid is stopped during the locking operation of the locking device. For example, in a use environment in which the period of the locking operation is longer than the period of the release of the locking, the load on the piping or the like for supplying the working fluid is suppressed to be low. When the supply of the working fluid is stopped at an unintended timing due to an abnormality in the supply source of the working fluid or the like, the locking device performs the locking operation, so that the unintended operation of the passive arm can be prevented.

The robot system according to an embodiment of the present invention may further include: a first sensor that is disposed on one or both of the passive arm and the robot arm and detects the connection between the passive arm and the robot arm; and a second sensor that is disposed on the driven arm and detects an object that is present in a predetermined direction, wherein the control device controls the operation of the robot arm for connecting and disconnecting the robot arm to and from the driven arm based on a detection signal received from the first sensor, and wherein the control device controls the operation of the robot arm for engaging the engagement target portion of the engagement portion with the engagement portion based on a detection signal received from the second sensor.

According to the above aspect, the control device can reliably control the connection between the passive arm and the robot arm and reliably control the disconnection between the passive arm and the robot arm. The control device does not need to perform complicated position control on the robot arm to connect and disconnect the passive arm to and from the robot arm. Further, the control device can perform control to reliably engage the engagement portion with the engagement target portion. The control device does not need to perform complex position control on the robot arm to perform the engagement. Therefore, the control of the control device can be simplified.

The robot system according to an embodiment of the present invention may further include: an arm moving device that moves a position of the passive arm; and a robot moving device that moves the position of the robot arm, wherein the control device is configured to control operations of the arm moving device and the robot moving device, and the control device controls operations of the arm moving device so as to move the passive arm to a position corresponding to the object based on the information of the object, and controls operations of the robot moving device so as to move the robot arm to a position corresponding to the object.

According to the above aspect, the control device can change the position of the driven arm according to the object. For example, when the object moves through the production line, the control device can determine the position of the driven arm based on information such as the position and speed of the object included in the information of the object, and move the driven arm to the determined position. For example, the control device can move the driven arm to follow a moving object.

Further, the control device can change the position of the robot arm according to the object. For example, when the object moves through the production line, the control device can determine the position of the robot arm based on information such as the position and the speed of the object included in the information of the object, and move the robot arm to the determined position. For example, the control device can move the robot arm to follow a moving object.

In the robot system according to one aspect of the present invention, the object may include an openable and closable body, and the engagement portion may be engageable with the openable and closable body. According to the above aspect, the control device can open and close the opening/closing body by using the robot arm.

In the robot system according to an embodiment of the present invention, the robot system may further include: a first passive arm for switching the passive arm as a first opening/closing body of the opening/closing body; a second passive arm for switching a second opening/closing body as the opening/closing body; a first arm moving device that moves a position of the first passive arm; and a second arm moving device that moves the position of the second driven arm, wherein the first opening/closing body is openable and closable laterally, the second opening/closing body is openable and closable vertically, and the control device controls the operations of the first arm moving device and the second arm moving device so that the first driven arm and the second arm moving device move to positions corresponding to the object based on the information of the object.

According to the above aspect, the control device can change the positions of the first and second passive arms according to the position of the opening/closing body of the object. For example, when the first passive arm is to be operated by two or more opening/closing bodies, the control device can move the first passive arm to a position of the opening/closing body to be operated according to the progress of the operation of the robot arm.

In the robot system according to one aspect of the present disclosure, the two or more passive movable portions may include one or more advancing/retreating movable portions capable of advancing/retreating operations and one or more rotating movable portions capable of rotating operations. According to the above-described aspect, degrees of freedom of the passive arm are diversified. Thus, the passive arm can be miniaturized and the area through which the passive arm passes during operation can be made compact.

In the robot system according to one aspect of the present disclosure, the arm connecting portion of the passive arm connected to the robot arm may be configured to allow the passive arm and the robot arm to rotate relative to each other while being connected to the robot connecting portion of the robot arm connected to the passive arm. According to the above aspect, since the robot arm and the passive arm in the coupled state can be rotated relative to each other at the robot coupling portion, the structure for operating the passive arm to follow the operation of the robot arm is simplified. The robot connecting part and the arm connecting part may be configured to be rotatable with respect to each other, the robot connecting part may be configured to be rotatable itself, and the arm connecting part may be configured to be rotatable itself.

In the robot system according to one aspect of the present invention, the passive arm may include two or more passive movable portions that form the two or more degrees of freedom and that are operated by applying an external force to the passive arm, and the two or more passive movable portions may include one or more rotationally movable portions that are capable of rotational movement, and the robot arm in the robot connecting portion connected to the robot arm of the passive arm may be oriented along a rotational axis direction of the rotationally movable portion with respect to a rotational axis direction of the passive arm. According to the above aspect, the area through which the driven arm passes when operating can be made compact in the direction intersecting the rotation axis of the robot arm in the robot connecting part and the rotation axis of the rotation movable part. For example, the rotation direction of the robot arm in the robot connecting part and the movement direction of the passive arm in the rotation movable part may be directions along the same plane.

In the robot system according to an aspect of the present invention, the passive arm may include: two or more passive movable parts that form the two or more degrees of freedom and that operate by applying an external force to the passive arm; three or more links connected to each other via the two or more passive movable portions; and an end effector disposed at a distal end of the driven arm and configured to act on the object, wherein an arm connecting portion of the driven arm connected to the robot arm is disposed on the end effector.

According to the above manner, the front end of the passive arm can be moved to the target position, the target posture, or a combination thereof by the robot arm. The tip of the passive arm moves following the motion of the robot arm. Specifically, the end effector of the front end of the passive arm may be moved to a target position, a target pose, or a combination thereof by the robotic arm. The end effector follows the motion of the robotic arm. Therefore, control of the operation of the passive arm by the robot arm is facilitated.

In the robot system according to one aspect of the present invention, the driven arm may include an end effector that is disposed at a distal end of the driven arm and that acts on the object, and the end effector may be engageable with an openable/closable opening/closing body of the object. According to the above aspect, the passive arm can be operated by the robot arm to engage the end effector with the opening/closing body to open or close the opening/closing body. The robot arm can perform a first operation on the object in a state where the opening/closing body is opened or closed by the driven arm.

In the robot system according to one aspect of the present invention, the passive arm may include two or more passive movable portions that are movable by applying an external force to the passive arm while forming the two or more degrees of freedom, the two or more passive movable portions may include a first rotatable movable portion and a second rotatable movable portion that are rotatable, and a forward/backward movable portion that is movable forward/backward, and the rotational axis direction of the first rotatable movable portion, the rotational axis direction of the second rotatable movable portion, and the forward/backward direction of the forward/backward movable portion may be the same, and the passive arm may include: a first link coupled to the first rotation movable portion; a second link connecting the first and second rotationally movable portions; a third link connecting the second rotation movable portion and the advance and retreat movable portion; a fourth link coupled to the advancing and retreating movable part; an end effector coupled to a distal end of the fourth link and configured to act on the object; and a biasing member that biases the fourth link in a direction away from the advancing and retreating movable part in the advancing and retreating direction, the first link being located on a base end side of the driven arm, the fourth link being located on a tip end side of the driven arm, an arm connecting portion of the driven arm connected to the robot arm being disposed on the end effector or the fourth link, the end effector including: an extension portion extending in a direction intersecting the advancing and retreating direction; and a protruding portion protruding from a distal end of the extending portion in the advancing and retreating direction toward the advancing and retreating movable portion and engageable with a recess or an opening of the object.

According to the above aspect, the driven arm can rotate the second link and the third link in the direction perpendicular to the rotation axis direction of the first rotation movable portion and the second rotation movable portion. The driven arm is capable of moving the fourth link relative to the third link in the rotation axis direction which is the advancing and retreating direction of the advancing and retreating movable part. Therefore, the driven arm can move the fourth link in the three-dimensional direction.

When no external force is applied, the fourth link is moved to a predetermined position in a direction away from the advancing/retreating movable part by the urging member. Since the passive arm is configured to act on the object by the end effector, the operation of the passive arm by the robot arm can be easily controlled.

Further, the robot arm is coupled to the passive arm at or near the end effector. The end effector follows the motion of the robotic arm. Therefore, the motion of the robotic arm for moving the end effector to a target position, a target pose, or a combination thereof is easily controlled.

Further, the end effector can move in the protruding direction of the protruding portion, and the protruding portion can be engaged with the recess or the opening of the object by this movement. Further, since the protruding portion is disposed at the tip of the extension portion, the contact between the end effector and the object can be reduced. Therefore, the operation of the robot arm for engaging the end effector with the recess of the object can be easily controlled.

In the robot system according to one aspect of the present invention, the passive arm may include two or more passive movable portions that form the two or more degrees of freedom and that are operated by applying an external force to the passive arm, the two or more passive movable portions may include a forward/backward movable portion capable of advancing/retreating movement, and a first rotation movable portion and a second rotation movable portion capable of rotation movement, and the passive arm may include: a first link coupled to the advancing and retreating movable part; a second link connecting the forward and backward movable portion and the first rotation movable portion; a third link connecting the first and second rotationally movable portions; and a fourth link coupled to the second pivotable portion, the first link being located on a base end side of the driven arm, the fourth link being located on a tip end side of the driven arm, a direction of a pivot axis of the first pivotable portion and a direction of a pivot axis of the second pivotable portion being in a same direction, and a direction of advance and retreat of the advancing and retreating movable portion being a direction intersecting the direction of the pivot axis of the first pivotable portion and the direction of the pivot axis of the second pivotable portion.

According to the above aspect, the driven arm can move the entirety of the second to fourth links with respect to the first link in the advancing and retreating direction of the advancing and retreating movable part. The driven arm is capable of rotating the third link and the fourth link in a direction perpendicular to the rotation axis direction of the first rotation movable portion and the second rotation movable portion. Therefore, the driven arm can move in a wide range including the advancing and retreating movement of the second link and the rotational movement of the third link and the fourth link by the fourth link.

In the robot system according to an aspect of the present invention, the third link may be a parallel link, and the third link may include: a first member that connects the first rotationally movable portion and the second rotationally movable portion; a second member extending along the first member and rotatably coupled at one end to the second link; and a third member rotatably coupled to the other end of the second member at one end and coupled to the second rotation movable portion at the other end so as to integrally rotate with the fourth link. According to the above aspect, the driven arm can maintain the posture of the fourth link relative to the second link fixed when the first member and the second member are rotated.

In the robot system according to one aspect of the present invention, the driven arm further includes a load body coupled to the third link so as to move integrally with the third link, and the load body is disposed on an opposite side of the third link with respect to the first rotationally movable portion.

According to the above aspect, the load body can apply a load in the rotational direction about the first rotational movable portion to the third link. For example, when the rotation axis direction of the first rotation movable portion is the horizontal direction, the third link receives a rotation direction in which the second rotation movable portion is moved downward by gravity, but the load is able to apply a load to the third link in a direction opposite to the rotation direction. Accordingly, the force applied to the driven arm by the robot arm to rotate the third link is reduced, and the robot arm can be reduced in size and output. For example, the load body may be a mass body such as a weight having a predetermined mass or more, or may be a biasing member such as a spring that biases the third link.

In the robot system according to an aspect of the present invention, the passive arm may further include an end effector that is coupled to a distal end of the fourth link and is configured to apply an action to the object, and an arm coupling portion of the passive arm coupled to the robot arm may be disposed on the end effector or the fourth link, the end effector including: an extension portion extending in a direction intersecting the fourth link extending direction; and a protruding portion that protrudes from a distal end of the extension portion in a direction from the end effector toward the fourth link and is capable of engaging with a recess or an opening of the object.

According to the above aspect, the robot arm is coupled to the passive arm at or near the end effector. The end effector moves following the motion of the robotic arm. Thus, the motion of the robotic arm is easily controlled to move the end effector to a target position, target pose, or combination thereof.

Further, the end effector can be moved in the protruding direction of the protruding portion to couple the protruding portion to the recess or opening of the object. Since the protruding portion is disposed at the tip of the extension portion, contact between the end effector and the object can be reduced. Therefore, the operation of the robot arm can be easily controlled so that the end effector engages with the recess or opening of the object.

The control method according to one embodiment of the present disclosure is a control method for a robot system including a robot arm and a passive arm, including: enabling the self-driven robot arm to act, and enabling the robot arm to approach the driven arm; according to the detection signal of a first sensor which is arranged on one or both of the robot arm and the driven arm and detects the connection of the robot arm and the driven arm, the robot arm is operated, the robot arm is connected with the driven arm, and two or more locking devices which are arranged on two or more movable parts of the driven arm with more than two degrees of freedom are operated to release the locking; the robot arm operates the driven arm, and detects an engagement target portion of an object to be engaged by an engagement portion of the driven arm based on a detection signal of a second sensor that detects an object disposed on the driven arm and present in a predetermined direction; the robot arm operates the passive arm to engage the engagement portion with the engagement target portion; the robot arm operates the passive arm engaged with the engagement target portion, thereby operating the target object; the locking device causes the movable portion of the driven arm to perform locking operation; and operating the robot arm according to the detection signal of the first sensor, and releasing the connection between the robot arm and the passive arm.

According to the above-described manner, the same effects as those of the robot system of the present disclosure can be obtained. For example, the control method may be implemented by a circuit such as a CPU or LSI, an IC card, or a single module. The technology of the present disclosure may be a program for executing the above-described control method, or may be a non-transitory computer-readable storage medium storing the above-described program. Of course, the program may be distributed via a transmission medium such as the internet.

The passive arm according to one embodiment of the present disclosure includes: an arm main body; and an arm coupling portion that is disposed in the arm main body and is coupled to a robot coupling portion of a robot arm that can be driven by itself, wherein the arm main body includes two or more passive movable portions that impart two or more degrees of freedom to the arm main body and that are operated by applying an external force to the arm main body, and the arm coupling portion is capable of relatively rotating the arm main body and the robot arm in a state of being coupled to the robot coupling portion.

According to the above aspect, the robot arm can operate in a state of being coupled to the arm body, and thereby the arm body can be operated with two or more degrees of freedom. The passive movable portion of the arm body does not require a driving device for operating the passive movable portion. Further, the robot arm can be connected to and disconnected from the arm body. Therefore, with the simplified configuration, when the robot arm alone is difficult to work on the object, the robot arm can be used to assist the work as needed.

Further, since the robot arm and the arm main body in the mutually coupled state can be rotated relative to each other at the robot coupling portion, the structure for operating the arm main body to follow the operation of the robot arm becomes simple. The robot connecting part and the arm connecting part may be configured to be rotatable with respect to each other, the robot connecting part may be configured to be rotatable itself, and the arm connecting part may be configured to be rotatable itself.

The functions of the components disclosed herein may be performed using circuits or processing circuits that comprise general purpose processors, special purpose processors, integrated circuits, ASICs, conventional circuits, and/or combinations thereof, which are configured or programmed to perform the disclosed functions. A processor is considered to be a processing circuit or circuits, as including transistors, other circuits. In the present invention, a circuit, unit, or device is hardware that performs the recited function or is hardware programmed to perform the recited function. The hardware may be the hardware disclosed in this specification, or may be other known hardware programmed or configured to perform the illustrated functions. If the hardware is a processor that is considered to be one of the circuits, the circuit, device or unit is a combination of hardware and software, the software being used for the hardware and/or the structure of the processor.

The numbers, amounts, etc. used above are all exemplified for the purpose of specifically explaining the technology of the present disclosure, and the present disclosure is not limited to the exemplified numbers. The connection relationship between the structural members is exemplified for the purpose of specifically explaining the technology of the present disclosure, and the connection relationship realizing the functions of the present disclosure is not limited thereto.

The division of blocks in the functional block diagram is one example, and a plurality of blocks may be implemented as one block, one block may be divided into a plurality of blocks, a part of functions may be transferred to other blocks, or two or more of them may be combined. The functions of the blocks having similar functions may be processed in parallel or time-division by a single hardware or software.

As the scope of the present disclosure is defined by the appended claims rather than the description of the specification, the present disclosure may be embodied in various forms without departing from the spirit of essential characteristics thereof, and therefore, exemplary embodiments and variations are illustrative and not restrictive. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claim (modification according to treaty 19)

1. A robot system, comprising:

a robot arm including a robot end effector that acts on an object and a robot connecting unit;

A passive arm including an arm connecting portion having two or more degrees of freedom and connected to and disconnected from the robot connecting portion, the passive arm including an engaging portion capable of engaging with the object, the passive arm being operated by the robot arm connected to the arm connecting portion; and

a control device for controlling the first and second movements of the robot arm,

the first operation is an operation of the robot arm in which the robot end effector acts on the object,

the second operation is an operation of the robot arm in which the robot arm causes the passive arm to act on the object,

the control device is configured to perform, in the second operation, the connection of the robot connecting unit and the arm connecting unit to the robot arm, the engagement of the engagement unit with the object by the robot arm operating the passive arm, and the operation of the object by the robot arm operating the passive arm engaged with the object.

2. The robotic system as set forth in claim 1 wherein,

the passive arm includes:

two or more passive movable parts forming the two or more degrees of freedom and operating by applying an external force to the passive arm; and

Two or more locking devices for locking the operation of the passive movable part by the action of the working fluid,

the locking device makes the passive arm maintain and release the posture by executing and releasing the locking of the action of the passive movable part,

the locking device releases the locking during the period when the working fluid is supplied, performs the locking during the period when the supply of the working fluid is stopped,

the control device is configured to control the supply and stop of the working fluid to and from the locking device.

3. The robot system according to claim 1 or 2, further comprising:

a first sensor which is disposed on one or both of the driven arm and the robot arm and detects the connection between the arm connection unit and the robot connection unit; and

a second sensor which is disposed on the driven arm and detects an object existing in a predetermined direction,

the control device controls the operation of the robot arm for connecting and disconnecting the robot connecting part and the arm connecting part according to the detection signal received from the first sensor,

and controlling the operation of the robot arm to engage the engagement target portion of the engagement portion with the engagement portion based on the detection signal received from the second sensor.

4. The robot system according to any one of claims 1 to 3, further comprising:

an arm moving device that moves a position of the passive arm; and

a robot moving device for moving the position of the robot arm,

the control device is configured to control the operation of the arm moving device and the robot moving device,

the control device controls the operation of the arm moving device according to the information of the object so as to move the passive arm to a position corresponding to the object, and controls the operation of the robot moving device so as to move the robot arm to a position corresponding to the object.

5. The robot system according to any one of claims 1 to 4, further comprising:

a first passive arm that is used for switching a first opening/closing body that is included in the object and is capable of opening/closing in a lateral direction;

a second driven arm for opening and closing a second opening/closing body included in the object and capable of opening and closing in the up-down direction;

a first arm moving device that moves a position of the first passive arm; and

A second arm moving device for moving the position of the second driven arm,

the engagement portion of the first driven arm is engageable with the first opening/closing body,

the engagement portion of the second driven arm is engageable with the second opening/closing body,

the control device controls the operations of the first arm moving device and the second arm moving device according to the information of the object so that the first passive arm and the second arm moving device move to positions corresponding to the object.

6. The robot system according to any of the claims 1 to 5, characterized in that,

the arm connecting portion and the robot connecting portion are connected to be rotatable relative to each other.

7. The robotic system as set forth in claim 6 wherein,

the passive arm includes two or more passive movable parts which form the two or more degrees of freedom and are operated by applying an external force to the passive arm,

the two or more passive movable parts include one or more rotation movable parts capable of performing rotation motion,

the rotation axis direction of the arm coupling portion and the robot coupling portion in a state where the arm coupling portion is coupled to the robot coupling portion is a direction along the rotation axis direction of the rotation movable portion.

8. The robotic system as claimed in any one of claims 1-7,

the passive arm includes:

two or more passive movable parts that form the two or more degrees of freedom and that operate by applying an external force to the passive arm;

three or more links connected to each other via the two or more passive movable portions; and

an arm end effector disposed at a distal end of the driven arm and configured to apply an action to the object,

the arm coupling portion is disposed on the arm end effector.

9. The robotic system as claimed in any one of claims 1-8,

the driven arm includes an arm end effector disposed at a front end of the driven arm and configured to apply an action to the object,

the arm end effector is engageable with an openable/closable opening/closing body of the object.

10. The robotic system as claimed in any one of claims 1-9,

the passive arm includes two or more passive movable parts which form the two or more degrees of freedom and are operated by applying an external force to the passive arm,

the two or more passive movable parts comprise a first rotary movable part and a second rotary movable part which can perform rotary motion and a forward and backward movable part which can perform forward and backward motion,

The rotation axis direction of the first rotation movable part, the rotation axis direction of the second rotation movable part and the advancing and retreating direction of the advancing and retreating movable part are the same direction,

the passive arm includes:

a first link coupled to the first rotation movable portion;

a second link connecting the first rotationally movable portion and the second rotationally movable portion;

a third link connecting the second rotation movable portion and the advance and retreat movable portion;

a fourth link coupled to the advancing and retreating movable part;

an arm end effector coupled to a distal end of the fourth link and configured to act on the object; and

a biasing member for biasing the fourth link in a direction away from the advancing/retreating movable part in the advancing/retreating direction,

the first link is located at a base end side of the driven arm,

the fourth link is located at the front end side of the driven arm,

the arm connecting portion is disposed on the arm end effector or the fourth link,

the arm end effector includes:

an extension portion extending in a direction intersecting the advancing and retreating direction; and

and a protruding portion protruding from a distal end of the extending portion in the advancing and retreating direction in a direction toward the advancing and retreating movable portion and capable of engaging with a recess or an opening of the object.

11. The robotic system as claimed in any one of claims 1-9,

the passive arm includes two or more passive movable parts which form the two or more degrees of freedom and are operated by applying an external force to the passive arm,

the two or more passive movable parts include a forward/backward movable part capable of advancing/retreating, a first rotary movable part and a second rotary movable part capable of rotating,

the passive arm includes:

a first link coupled to the advancing and retreating movable part;

a second link connecting the advancing and retreating movable part and the first rotating movable part;

a third link connecting the first and second rotationally movable portions; and

a fourth link coupled to the second rotation movable portion,

the first link is located at a base end side of the driven arm,

the fourth link is located at the front end side of the driven arm,

the rotation axis direction of the first rotation movable part and the rotation axis direction of the second rotation movable part are the same direction,

the advancing and retreating direction of the advancing and retreating movable part is a direction intersecting the rotation axis direction of the first rotation movable part and the rotation axis direction of the second rotation movable part.

12. The robotic system as set forth in claim 11 wherein,

the third connecting rod is a parallel connecting rod,

the third link includes:

a first member that connects the first rotationally movable portion and the second rotationally movable portion;

a second member extending along the first member and rotatably coupled at one end to the second link; and

and a third member rotatably coupled to the other end of the second member at one end and coupled to the second rotation movable portion at the other end so as to integrally rotate with the fourth link.

13. The robotic system as claimed in claim 11 or 12, wherein,

the passive arm further includes an arm end effector coupled to a distal end of the fourth link and configured to apply an action to the object,

the arm connecting portion is disposed on the arm end effector or the fourth link,

the arm end effector includes:

an extension portion extending in a direction intersecting a direction in which the fourth link extends; and

and a protruding portion that protrudes from a distal end of the extension portion in a direction from the arm end effector toward the fourth link and is engageable with a recess or an opening of the object.

14. A control method for a robot system including a robot arm and a driven arm, comprising:

enabling the robot arm which can be driven by itself and comprises a robot end effector and a robot connecting part for applying action to an object to act, and enabling the robot arm to approach the passive arm comprising an arm connecting part for connecting and disconnecting with the robot connecting part;

the robot arm is operated based on a detection signal of a first sensor which is disposed on one or both of the robot arm and the driven arm and detects the connection between the robot connecting unit and the arm connecting unit, and the robot connecting unit and the arm connecting unit are connected;

the method includes the steps of performing an engagement releasing operation by two or more engagement devices disposed on two or more movable portions of the driven arm having two or more degrees of freedom;

the robot arm operates the driven arm, and detects an engagement target portion of the object to be engaged by an engagement portion of the driven arm based on a detection signal of a second sensor that detects an object disposed on the driven arm and present in a predetermined direction;

The robot arm operates the passive arm to engage the engagement portion with the engagement target portion;

the robot arm operates the passive arm engaged with the engagement target portion, thereby operating the target object;

the locking device causes the movable portion of the driven arm to perform locking operation; and

and operating the robot arm according to the detection signal of the first sensor, and releasing the connection between the robot connection part and the arm connection part.

15. A passive arm, comprising:

an arm main body; and

an arm connecting portion which is disposed on the arm main body, is capable of self-driving, is connected to the robot connecting portion of a robot arm including a robot end effector which acts on an object and the robot connecting portion,

the arm body includes two or more passive movable parts which impart two or more degrees of freedom to the arm body and which are operated by applying an external force to the arm body,

the arm connecting portion is capable of relatively rotating the arm main body and the robot arm in a state of being connected to the robot connecting portion.

Claims (16)

1. A robot system, comprising:

A robotic arm;

a passive arm having two or more degrees of freedom, being connected to and disconnected from the robot arm, and having an engagement portion engageable with an object, the passive arm being operated by the robot arm connected to the passive arm; and

a control device for controlling the first and second movements of the robot arm,

the first motion is a motion of the robot arm acting on the object,

the second operation is an operation of the robot arm in which the robot arm causes the passive arm to act on the object,

the control device is configured to perform, in the second operation, the connection of the robot arm and the driven arm, the operation of the driven arm by the robot arm to engage the engagement portion with the object, and the operation of the driven arm engaged with the object by the robot arm to operate the object.

2. The robotic system as set forth in claim 1 wherein,

the passive arm includes:

two or more passive movable parts forming the two or more degrees of freedom and operating by applying an external force to the passive arm; and

Two or more locking devices for locking the operation of the passive movable part by the action of the working fluid,

the locking device makes the passive arm maintain and release the posture by executing and releasing the locking of the action of the passive movable part,

the locking device releases the locking during the period when the working fluid is supplied, performs the locking during the period when the supply of the working fluid is stopped,

the control device is configured to control the supply and stop of the working fluid to and from the locking device.

3. The robot system according to claim 1 or 2, further comprising:

a first sensor that is disposed on one or both of the passive arm and the robot arm and detects the connection between the passive arm and the robot arm; and

a second sensor which is disposed on the driven arm and detects an object existing in a predetermined direction,

the control device controls the operation of the robot arm for connecting and disconnecting the robot arm and the driven arm according to the detection signal received from the first sensor,

and controlling the operation of the robot arm to engage the engagement target portion of the engagement portion with the engagement portion based on the detection signal received from the second sensor.

4. The robot system according to any one of claims 1 to 3, further comprising:

an arm moving device that moves a position of the passive arm; and

a robot moving device for moving the position of the robot arm,

the control device is configured to control the operation of the arm moving device and the robot moving device,

the control device controls the operation of the arm moving device according to the information of the object so as to move the passive arm to a position corresponding to the object, and controls the operation of the robot moving device so as to move the robot arm to a position corresponding to the object.

5. The robot system according to any of the claims 1 to 4, characterized in that,

the object includes an openable and closable body,

the engaging portion is engageable with the opening/closing body.

6. The robot system according to claim 5, further comprising:

a first passive arm for switching the passive arm as a first opening/closing body of the opening/closing body;

a second passive arm for switching a second opening/closing body as the opening/closing body;

A first arm moving device that moves a position of the first passive arm; and

a second arm moving device for moving the position of the second driven arm,

the first opening/closing body can be opened and closed laterally,

the second opening/closing body can be opened and closed in the up-down direction,

the control device controls the operations of the first arm moving device and the second arm moving device according to the information of the object so that the first passive arm and the second arm moving device move to positions corresponding to the object.

7. The robot system according to any of the claims 1 to 6, characterized in that,

the arm connecting portion of the passive arm connected to the robot arm enables the passive arm and the robot arm to rotate relatively in a state of being connected to the robot connecting portion of the robot arm connected to the passive arm.

8. The robotic system as set forth in claim 7 wherein,

the passive arm includes two or more passive movable parts which form the two or more degrees of freedom and are operated by applying an external force to the passive arm,

the two or more passive movable parts include one or more rotation movable parts capable of performing rotation motion,

The robot arm in the robot coupling part coupled to the robot arm of the passive arm is a direction along a rotation axis direction of the rotation movable part with respect to a rotation axis direction of the passive arm.

9. The robotic system as claimed in any one of claims 1-8,

the passive arm includes:

two or more passive movable parts that form the two or more degrees of freedom and that operate by applying an external force to the passive arm;

three or more links connected to each other via the two or more passive movable portions; and

an end effector disposed at a distal end of the driven arm and configured to apply an action to the object,

an arm coupling portion of the passive arm coupled to the robot arm is disposed on the end effector.

10. The robotic system as claimed in any one of claims 1-9,

the passive arm includes an end effector disposed at a front end of the passive arm and configured to apply an action to the object,

the end effector is engageable with an openable/closable opening/closing body of the object.

11. The robotic system as claimed in any one of claims 1-10,

The passive arm includes two or more passive movable parts which form the two or more degrees of freedom and are operated by applying an external force to the passive arm,

the two or more passive movable parts comprise a first rotary movable part and a second rotary movable part which can perform rotary motion and a forward and backward movable part which can perform forward and backward motion,

the rotation axis direction of the first rotation movable part, the rotation axis direction of the second rotation movable part and the advancing and retreating direction of the advancing and retreating movable part are the same direction,

the passive arm includes:

a first link coupled to the first rotation movable portion;

a second link connecting the first rotationally movable portion and the second rotationally movable portion;

a third link connecting the second rotation movable portion and the advance and retreat movable portion;

a fourth link coupled to the advancing and retreating movable part;

an end effector coupled to a distal end of the fourth link and configured to act on the object; and

a biasing member for biasing the fourth link in a direction away from the advancing/retreating movable part in the advancing/retreating direction,

the first link is located at a base end side of the driven arm,

The fourth link is located at the front end side of the driven arm,

an arm coupling portion of the passive arm coupled to the robot arm is disposed on the end effector or the fourth link,

the end effector includes:

an extension portion extending in a direction intersecting the advancing and retreating direction; and

and a protruding portion protruding from a distal end of the extending portion in the advancing and retreating direction in a direction toward the advancing and retreating movable portion and capable of engaging with a recess or an opening of the object.

12. The robotic system as claimed in any one of claims 1-10,

the passive arm includes two or more passive movable parts which form the two or more degrees of freedom and are operated by applying an external force to the passive arm,

the two or more passive movable parts include a forward/backward movable part capable of advancing/retreating, a first rotary movable part and a second rotary movable part capable of rotating,

the passive arm includes:

a first link coupled to the advancing and retreating movable part;

a second link connecting the advancing and retreating movable part and the first rotating movable part;

a third link connecting the first and second rotationally movable portions; and

A fourth link coupled to the second rotation movable portion,

the first link is located at a base end side of the driven arm,

the fourth link is located at the front end side of the driven arm,

the rotation axis direction of the first rotation movable part and the rotation axis direction of the second rotation movable part are the same direction,

the advancing and retreating direction of the advancing and retreating movable part is a direction intersecting the rotation axis direction of the first rotation movable part and the rotation axis direction of the second rotation movable part.

13. The robotic system as set forth in claim 12 wherein,

the third connecting rod is a parallel connecting rod,

the third link includes:

a first member that connects the first rotationally movable portion and the second rotationally movable portion;

a second member extending along the first member and rotatably coupled at one end to the second link; and

and a third member rotatably coupled to the other end of the second member at one end and coupled to the second rotation movable portion at the other end so as to integrally rotate with the fourth link.

14. The robotic system as claimed in claim 12 or 13, wherein,

the passive arm further includes an end effector coupled to a distal end of the fourth link and configured to apply an action to the object,

An arm coupling portion of the passive arm coupled to the robot arm is disposed on the end effector or the fourth link,

the end effector includes:

an extension portion extending in a direction intersecting a direction in which the fourth link extends; and

and a protruding portion that protrudes from a distal end of the extension portion in a direction from the end effector toward the fourth link and is capable of engaging with a recess or an opening of the object.

15. A control method for a robot system including a robot arm and a driven arm, comprising:

enabling the self-driven robot arm to act, and enabling the robot arm to approach the driven arm;

the robot arm is operated based on a detection signal of a first sensor which is disposed on one or both of the robot arm and the driven arm and detects the connection between the robot arm and the driven arm, and the robot arm and the driven arm are connected;

the method includes the steps of performing an engagement releasing operation by two or more engagement devices disposed on two or more movable portions of the driven arm having two or more degrees of freedom;

The robot arm operates the driven arm, and detects an engagement target portion of an object to be engaged by an engagement portion of the driven arm based on a detection signal of a second sensor that detects an object disposed on the driven arm and present in a predetermined direction;

the robot arm operates the passive arm to engage the engagement portion with the engagement target portion;

the robot arm operates the passive arm engaged with the engagement target portion, thereby operating the target object;

the locking device causes the movable portion of the driven arm to perform locking operation; and

and operating the robot arm according to the detection signal of the first sensor, and releasing the connection between the robot arm and the passive arm.

16. A passive arm, comprising:

an arm main body; and

an arm connecting portion which is disposed on the arm main body and is connected to a robot connecting portion of a robot arm capable of self-driving,

the arm body includes two or more passive movable parts which impart two or more degrees of freedom to the arm body and which are operated by applying an external force to the arm body,

the arm connecting portion is capable of relatively rotating the arm main body and the robot arm in a state of being connected to the robot connecting portion.