Collaborative robot system

Abstract

This technology provides a way to precisely position a collaborative robot to a predetermined location. [Solution] The collaborative robot system includes a working robot mounted on a mobile platform, which can move with the user to a predetermined location. Furthermore, this collaborative robot system is equipped with an illumination unit that emits infrared light in a predetermined direction at a predetermined location. The collaborative robot comprises a control unit that controls the operation of the working robot, a light receiving unit that receives infrared light, and a notification unit that notifies the status of the mobile platform.

Description

Technical Field

[0001] This specification discloses a technology related to a collaborative robot system.

Background Art

[0002] Patent Document 1 discloses a robot system including a mobile robot that moves to a user in response to a call instruction from the user. In the robot system of Patent Document 1, when the mobile robot receives infrared rays irradiated from a calling device possessed by the user, the mobile robot calculates the direction of the calling device, changes its posture, and moves straight forward in the calling direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the field of robots, collaborative robots that work with users are known. It is necessary for the user to move the collaborative robot to a predetermined location. If the positioning accuracy of the collaborative robot with respect to the predetermined location is low, the collaborative robot cannot perform the work sufficiently. However, it is complicated and time-consuming for the user to position the collaborative robot with high precision with respect to the predetermined location. Therefore, there is a need for a technology that can easily position the collaborative robot with high precision with respect to the predetermined location. The purpose of this specification is to provide a technology for positioning a collaborative robot with high precision with respect to a predetermined location.

Means for Solving the Problems

[0005] The first technology disclosed herein is a collaborative robot system having a collaborative robot mounted on a mobile platform and capable of moving with a user to a predetermined location, wherein an illumination unit is provided at the predetermined location for emitting infrared rays in a predetermined direction, and the collaborative robot may include a control unit for controlling the operation of the work robot, a light receiving unit for receiving the infrared rays, and a notification unit for notifying the status of the mobile platform.

[0006] A second technology disclosed herein is a collaborative robot system of the first technology, wherein each predetermined location is assigned a different identification number, and the collaborative robot may move based on the identification number.

[0007] A third technology disclosed herein is a collaborative robot system of the first or second technology, wherein the control unit may stop the operation of the work robot if the light receiving unit is not receiving infrared light.

[0008] A fourth technology disclosed herein is a collaborative robot system of any of the first to third technologies described above, further comprising a solar cell, the solar cell may supply power to at least one of the light-receiving unit and the control unit. [Effects of the Invention]

[0009] According to the first technology, when the user moves the collaborative robot to a predetermined location, the notification unit notifies the user of the status of the mobile platform, so the user can recognize that the collaborative robot (mobile platform) has arrived at the predetermined location. This allows the collaborative robot to be positioned accurately relative to the predetermined location. Furthermore, by notifying the user when the notification unit receives infrared light, the user can easily ascertain the presence of the desired collaborative robot.

[0010] According to the second technology, the collaborative robot can be positioned appropriately for each predetermined location. For example, the distance between the first predetermined location and the collaborative robot when using the collaborative robot at the first predetermined location can be made different from the distance between the second predetermined location and the collaborative robot when using the collaborative robot at the second predetermined location.

[0011] According to the third technology, it is possible to determine if the collaborative robot is not located in a designated place, and the operation of the work robot will stop, thereby improving the safety of work using collaborative robots.

[0012] According to the fourth technology, the amount of commercial electricity used can be reduced. [Brief explanation of the drawing]

[0013] [Figure 1] A schematic diagram of a collaborative robot is shown. [Figure 2] A schematic diagram of the collaborative robot system is shown. [Modes for carrying out the invention]

[0014] Referring to Figure 1, the collaborative robot 20 will be described. The collaborative robot 20 constitutes a part of the collaborative robot system 10. The entire collaborative robot system 10 will be described later. The collaborative robot 20 can be used in factories and other facilities to move with the user, for example, to the manufacturing site (a designated location), to move products (workpieces), or to inspect products.

[0015] The collaborative robot 20 is mounted on a mobile platform 12. The mobile platform 12 is equipped with casters 14. By moving the mobile platform 12, the collaborative robot 20 can be moved to a predetermined location. The collaborative robot 20 comprises a control unit 18, a work robot 4, a light receiving unit 6, a notification unit 8, and a solar cell 2.

[0016] The control unit 18 controls the operation of the work robot 4. The control unit 18 prohibits the operation of the work robot 4 when the collaborative robot 20 is not located in a predetermined location, and allows the operation of the work robot 4 when the collaborative robot 20 is located in a predetermined location. The work robot 4 performs predetermined tasks according to a program stored in the control unit 18 or according to the user's operation. For example, the work robot 4 can move a workpiece or assemble parts onto a workpiece in a predetermined location.

[0017] The light-receiving unit 6 receives infrared light emitted from the irradiation units 30a and 30b, which will be described later. The light-receiving unit 6 measures the distance between the collaborative robot 20 and the predetermined location, and the positional relationship between the collaborative robot 20 and the predetermined location can be determined. When the collaborative robot 20 arrives at the predetermined location, a signal is transmitted from the light-receiving unit 6 to the notification unit 8, and the notification unit 8 notifies that the robot has arrived at the predetermined location. Notification means of the notification unit 8 include, for example, a monitor display, a buzzer sound, or a lamp light. Also, when the collaborative robot 20 arrives at the predetermined location, a signal is transmitted from the light-receiving unit 6 to the control unit 18, and the control unit 18 permits the operation of the work robot 4.

[0018] The solar cell 2 is mounted on the top of the collaborative robot 20. The solar cell 2 supplies power to the light receiving unit 6 and the control unit 18. That is, the light receiving unit 6 and the control unit 18 operate using the power generated by the solar cell 2, or using the power generated by the solar cell 2 as a supplement. The work robot 4 and the notification unit 8 are powered by a battery (not shown) mounted on the collaborative robot 20. The battery also supplies power to the light receiving unit 6 and the control unit 18 as needed.

[0019] Referring to FIG. 2, the collaborative robot system 10 will be described. The collaborative robot 20 may move to a predetermined location 30 (workbench A) to perform work, or may move to a predetermined location 32 (workbench B) to perform work. An irradiation unit 30a is provided at the predetermined location 30, and an irradiation unit 32a is provided at the predetermined location 32. The irradiation units 30a and 32a can irradiate infrared rays toward the collaborative robot 20. Incidentally, different identification numbers are assigned to the predetermined location 30 and the predetermined location 32, and the irradiation units 30a and 32a irradiate infrared rays corresponding to the identification numbers.

[0020] When the light receiving unit 6 of the collaborative robot 20 receives infrared rays, the notification unit 8 notifies that infrared rays have been received (see also FIG. 1). Thereby, the user can grasp the position of the collaborative robot 20. Further, the notification unit 8 also notifies from which of the predetermined location 30 and the predetermined location 32 the infrared rays have been received. The user can grasp which predetermined location 30 to move the collaborative robot 20 to.

[0021] When the user moves the collaborative robot 20 to a predetermined location (predetermined location 30 or 32) and reaches an appropriate position with respect to the collaborative robot 20 and the predetermined location, the notification unit 8 notifies that the target position has been reached. As described above, different identification numbers are assigned to the predetermined location 30 and the predetermined location 32. Therefore, even when the appropriate positions of the collaborative robot 20 with respect to the predetermined location 30 and the appropriate position of the collaborative robot 20 with respect to the predetermined location 32 are different, the notification unit 8 can notify that the target position has been reached at an appropriate position corresponding to the predetermined locations 30 and 32.

[0022] In the collaborative robot system 10, while the work robot 4 is operating at the predetermined locations 30 and 32, the irradiation units 30a and 32a always irradiate infrared rays to the light receiving unit 6. The control unit 18 permits the operation of the work robot 4 only while the light receiving unit 6 is receiving infrared rays, and stops the operation of the work robot 4 when the light receiving unit 6 is not receiving infrared rays (such as when the reception is interrupted).

[0023] Summarize the advantages of the collaborative robot system 10. In the collaborative robot system 10, the irradiation units 30a and 32a are arranged at each of the predetermined locations 30 and 32, and the infrared rays irradiated from the irradiation units 30a and 32a are received by the light receiving unit 6. Then, the information received by the light receiving unit 6 is notified by the notification unit 8. Also, different identification numbers are assigned to the predetermined locations 30 and 32 respectively. Therefore, the distances between the predetermined locations 30 and 32 and the collaborative robot 20 can be accurately grasped, and the collaborative robot 20 can be arranged at appropriate positions with respect to each of the predetermined locations 30 and 32.

[0024] Moreover, by providing the notification unit 8, when using the collaborative robot 20, the collaborative robot 20 can be easily found. Furthermore, the predetermined locations 30 and 32 to which the collaborative robot 20 should be moved can also be easily grasped. Also, since the operation of the work robot 4 is stopped when the infrared communication is interrupted, the safety in an emergency can be ensured, such as when the position of the collaborative robot 20 (the moving base 12) changes. In addition, since the power of the solar cell 2 is used, the consumption of commercial power can also be reduced.

[0025] (Other embodiments) In the above embodiment, the collaborative robot system having two predetermined locations has been described. However, the number of predetermined locations is arbitrary and may be one, or may be three or more. Also, in the above embodiment, an example in which different identification numbers are assigned to each predetermined location has been shown. However, the same identification number may be assigned to two or more of the three or more predetermined locations. For example, the identification number X may be assigned to two predetermined locations, the identification number Y may be assigned to one predetermined location, and the identification number Z may be assigned to three predetermined locations. Note that in the collaborative robot system disclosed in this specification, assigning an identification number to a predetermined location is not an essential configuration, and the predetermined location may not have an identification number assigned thereto.

[0026] In the above embodiment, an example was described in which infrared rays are continuously irradiated from the irradiating unit to the light receiving unit while the work robot is operating. However, the irradiation of infrared rays may be stopped after the collaborative robot arrives at the predetermined location (i.e., while the work robot is operating).

[0027] Furthermore, although the above embodiment describes an example in which the power of the solar cell is supplied to the light receiving unit and the control unit, the power of the solar cell may also be supplied to other devices (for example, a work robot, a notification unit). Alternatively, the power of the solar cell may be supplied only to the light receiving unit, or only to the control unit.

[0028] Although embodiments of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples illustrated above. Furthermore, the technical elements described in this specification or drawings exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technologies illustrated in this specification or drawings achieve multiple objectives simultaneously, and achieving even one of these objectives constitutes technical usefulness in itself. [Explanation of symbols]

[0029] 4: Work robots 6: Light receiving part 8: Hochi Department 10: Collaborative robot systems 12: Mobile platform 18: Control Unit 20: Collaborative robots 30,32: Designated location 30a, 32a: Irradiation section

Claims

1. A collaborative robot system having a working robot mounted on a mobile platform and a collaborative robot that can move with the user to a designated location, An irradiation unit is provided at the aforementioned predetermined location that irradiates infrared rays in a predetermined direction, The collaborative robot system comprises a control unit for controlling the operation of the work robot, a light receiving unit for receiving infrared rays, and a notification unit for notifying the status of the mobile platform.

2. A collaborative robot system according to claim 1, Each of the aforementioned designated locations is assigned a different identification number. The aforementioned collaborative robot is a collaborative robot system that moves based on the aforementioned identification number.

3. A collaborative robot system according to claim 1, The control unit stops the operation of the work robot if the light receiving unit is not receiving infrared light, in a collaborative robot system.

4. A collaborative robot system according to any one of claims 1 to 3, Furthermore, it is equipped with solar panels. The aforementioned solar cell supplies power to at least one of the light-receiving unit and the control unit in a collaborative robot system.

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