Mobile manipulator system

Abstract

The present invention relates to a mobile manipulator system, and more specifically, to a mobile manipulator system in which a collaborative robot, a control unit, and a power and safety management module are integrally integrated on a trolley, allowing for movable placement at different work locations on a production line, and enabling safe shifting or parallel work in the same space as a worker, thereby allowing for the departure of a worker or the replacement of an existing automated robot. To this end, the present invention relates to a manipulator system configured to be movable and integrally mounted on a trolley, wherein a robot installation unit on which a collaborative robot is installed, a robot controller that controls the operation of said collaborative robot, a power and safety management module that supplies power to said collaborative robot, robot controller, and peripheral devices and performs emergency stop and safety control, and a PLC integrated control unit that controls the interface with external equipment and process sequence are integrated and configured on a single trolley, and wherein said trolley is configured to move along a monorail or the floor, allowing for selective placement at different work locations on a production line.

Description

Technology Field

[0001] The present invention relates to a mobile manipulator system, and more specifically, to a mobile manipulator system in which a collaborative robot, a control unit, a power supply, and a safety management module are integrally integrated on a trolley, allowing for mobile placement at different work positions on a production line, and enabling safe shifting or parallel work in the same space as a worker, thereby allowing for the departure of a worker or the replacement of an existing automated robot. Background Technology

[0002] Various robotic systems are being used in manufacturing industries to automate processes involving the repetitive handling of heavy objects.

[0003] However, most conventional industrial robot systems are structured to be fixedly installed at specific locations on a production line, which presented a problem in that reinstalling the robot and performing repetitive teaching tasks were essential whenever process changes, line rearrangements, or work position changes occurred.

[0004] In particular, industrial robots require separate physical barriers, such as fences and safety covers, due to the risk of collision with workers; consequently, shift work or parallel operations in the same space as workers have been virtually impossible. This structure has limitations in that it is not suitable for the small-batch, high-mix production environments frequently encountered in small and medium-sized manufacturing plants.

[0006] Meanwhile, although the adoption of collaborative robots is expanding due to the advantage of being usable in the same space as human workers, they are generally operated in fixed-installation configurations or in combination with autonomous robots. In these cases, the fixed installation location of the collaborative robot limits responsiveness to changes in the production line, while when combined with autonomous robots, issues such as working time constraints due to battery-based operation, increased equipment size, and higher costs arise.

[0007] In addition, even in the case of some mobile robot systems capable of moving between production lines, the process program had to be re-taught or the intervention of a skilled worker was often required as the robot coordinate system changed when the position was changed. As a result, despite being automated equipment, there was a problem where the burden of on-site application and operation actually increased.

[0009] Furthermore, manufacturing sites facing worsening worker shortages require automation systems capable of performing night shifts or long-duration continuous operations; however, existing robot systems have been unable to adequately address issues such as ensuring safety in the same space as workers, real-time monitoring of equipment status, and fault prediction and proactive maintenance. Prior art literature

[0010] Republic of Korea Registered Patent No. 10-2162756 (Registered September 28, 2020) Republic of Korea Registered Patent No. 10-2588812 (Registered October 10, 2023) The problem to be solved

[0011] The present invention is proposed to solve the above-mentioned problems and aims to provide a mobile manipulator system capable of continuous operation by receiving power from a power supply unit provided on the production line, and by integrating a collaborative robot and control, power, and safety-related components into a single unit on a trolley.

[0013] In addition, the present invention aims to provide a mobile manipulator system that enables safe shifting or parallel work in the same space as a worker, and allows the same process to be repeated without re-teaching through offline programming, field calibration, and automatic position correction functions even when the position of the trolley is changed.

[0015] In addition, the present invention aims to provide a mobile manipulator system with wide utility, which can be equipped with various tooling devices on a collaborative robot and applied to different processes such as transfer, exterior finishing, scanning, and inspection. means of solving the problem

[0016] To achieve the above objective, the present invention relates to a manipulator system configured to be movably mounted integrally on a bogie, wherein

[0017] A robot installation section where a collaborative robot is installed;

[0018] A robot controller that controls the operation of the above-mentioned collaborative robot;

[0019] A power and safety management module that supplies power to the above-mentioned collaborative robot, robot controller, and peripheral devices, and performs emergency stop and safety control;

[0020] A PLC integrated control unit that controls the interface with external equipment and the process sequence is configured by integrating it into a single trolley,

[0021] The above-mentioned trolley is configured to move along a monorail or the floor and is characterized by being selectively positioned at different work locations on a production line.

[0023] In addition, the collaborative robot is characterized by being optionally equipped with a tool including a gripper, a deburring tool, a sealing tool, a vision camera, and a multi-finger gripper, and by being configured to allow the tool to be manually replaced according to the operator's needs or process requirements.

[0025] In addition, the mobile manipulator system further includes an edge computer, wherein the edge computer collects and analyzes at least one of the axis-specific load rate, tool drive current, cycle time, and number of abnormal stops of the collaborative robot, and predicts part wear or abnormal conditions by comparing the analysis results with reference values ​​and outputs a predictive maintenance alarm.

[0027] In addition, the above-mentioned trolley is equipped with a safety scanner or a 3D vision sensor that detects a worker approaching the work area of ​​the collaborative robot, and the PLC integrated control unit manages the work area by dividing it into a normal area, a deceleration area, and a stop area, and controls the operation speed of the collaborative robot to automatically decelerate or immediately stop when a worker enters the deceleration area or the stop area.

[0029] In addition, the PLC integrated control unit is characterized by being configured to enable the same process to be repeated without re-teaching by applying offline programming results generated in advance using a simulation program to the collaborative robot, correcting errors between the actual coordinate system and the virtual coordinate system through field calibration, and automatically resetting the robot coordinate system using an automatic position correction system when the position of the trolley is repeatedly changed. Effects of the invention

[0030] The present invention, as described above, integrates a collaborative robot, a robot controller, a power and safety management module, and a PLC integrated control unit into a single unit on a trolley, thereby enabling rapid movement and relocation to different work positions on a production line and providing the effect of providing process continuity.

[0032] In addition, by applying a safety scanner or 3D vision sensor to the work area of ​​the collaborative robot and controlling the work area by dividing it into a normal area, a deceleration area, and a stop area, it is possible to safely perform shift or parallel work in the same space as the worker.

[0034] Furthermore, by allowing various tooling tools to be selectively mounted on the collaborative robot and enabling manual replacement according to process requirements, it is possible to flexibly handle different processes such as transfer, deburring, sealing, and inspection with a single system.

[0036] In addition, by utilizing edge computers to collect and analyze data such as the load rate per axis, tool drive current, cycle time, and number of abnormal stops of the collaborative robot, and comparing this with reference values ​​to predict component wear or abnormal conditions, it is possible to prevent equipment failure in advance and optimize maintenance timing.

[0038] In addition, by integrating offline programming using a simulation program, on-site calibration, and an automatic position correction system, the same process can be repeated without re-teaching even when the trolley's position is repeatedly changed, thereby improving the operational efficiency of the automated equipment. Brief explanation of the drawing

[0039] FIG. 1 is an exemplary diagram illustrating a mobile manipulator system according to the present invention. FIG. 2 is an exemplary diagram illustrating a mobile manipulator system according to the present invention from a different angle. FIG. 3 is a block diagram illustrating the configuration of a mobile manipulator system according to the present invention. FIG. 4 is an exemplary diagram illustrating a pair of collaborative robots constituting the present invention. FIG. 5 is an exemplary diagram illustrating an embodiment in which an edge computer constituting the present invention is added. Specific details for implementing the invention

[0040] In addition to the above objectives, other objectives and features of the present invention will become apparent through the description of embodiments with reference to the accompanying drawings.

[0042] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0044] Hereinafter, a preferred embodiment of a mobile manipulator system according to the present invention will be examined in detail with reference to the attached drawings.

[0046] First, the mobile manipulator system (1) according to the present invention is a manipulator system configured to be movably mounted integrally on a trolley, wherein a robot installation unit (20) on which a collaborative robot is installed, a robot controller (30) for controlling the operation of the collaborative robot, a power and safety management module (40) for supplying power to the collaborative robot, the robot controller (30), and peripheral devices and performing emergency stop and safety control, and a PLC integrated control unit (50) for controlling the interface with external equipment and process sequence are integrated and configured on a single trolley, and the trolley is configured to be movable along a monorail or floor so as to be selectively positioned at different work locations on a production line.

[0048] In the present invention, the trolley (10) is a basic structure in which each of the above components is installed and supported, and is formed to simultaneously ensure mobility and stability of the entire system, and includes an installation base (11) on which each of the above components is installed, and a plurality of casters (12) provided at a distance from each other on the bottom surface of the base (11), and a battery (14) is disposed on the base (11) to supply power required for the installed components even in situations where power is cut off, such as when the power is cut off, and may further be provided with a handle (13) that is grasped by a worker during movement and a stopper (not shown) to maintain the position after movement.

[0049] In the present invention, the size and shape of the base (11) constituting the bogie (10) can be changed in accordance with the size and shape of the installed configuration, and can be changed according to the installation location and the size of the space.

[0050] In addition, the above-mentioned trolley (10) is configured to move along a monorail or the floor and can be selectively positioned at different work locations on the production line, but is not limited thereto and various movement structures can be applied, such as a method of moving after releasing the floor fixation depending on site conditions.

[0051] With this type of trolley-based structure, it can be immediately deployed at the required location without being permanently installed on the automation equipment, which improves responsiveness to process changes or line reconfiguration and offers the advantage of enabling rapid response to operator departures or malfunctions in the installed automation equipment.

[0053] Meanwhile, a safety scanner or a 3D vision sensor is installed on the above-mentioned trolley (10) to detect a worker approaching the work area of ​​the collaborative robot, and the above-mentioned PLC integrated control unit (50) manages the work area by dividing it into a normal area, a deceleration area, and a stop area, and controls the operation speed of the collaborative robot to automatically decelerate or stop immediately when a worker enters the deceleration area or the stop area.

[0054] The above safety scanner or 3D vision sensor is a safety component that detects an operator's approach to the work area, which is the area where the collaborative robot described below works, and takes follow-up actions as necessary.

[0055] To this end, a safety scanner or 3D vision sensor may be installed on the trolley to monitor an area including the working radius of the collaborative robot, but is not limited thereto, and may be installed on the top, side, or structure around the collaborative robot depending on the working characteristics of the collaborative robot or the site layout.

[0056] To examine this in more detail, the safety scanner detects the approach of workers or obstacles within the collaborative robot's work area using a laser scanning method or an equivalent distance sensing method. For example, a pre-set monitoring area is divided into multiple zones for management, and the monitoring area is defined as a normal area, a deceleration area, and a stop area.

[0057] The above normal area is set as an area where the collaborative robot can operate normally at a set process speed.

[0058] The above deceleration area is an area that detects when a worker approaches the working radius of the collaborative robot. When a worker enters the area, the safety scanner detects this and outputs a detection signal to the PLC integrated control unit (50).

[0059] The above-mentioned stop area is a region that detects when a worker or obstacle approaches within a critical distance where there is a risk of collision with the collaborative robot, and is configured to output a stop signal immediately when a worker enters the area.

[0060] Accordingly, the PLC integrated control unit (50) described below controls the operation speed of the collaborative robot to automatically decrease or immediately stop the operation of the collaborative robot in accordance with the detection signal received from the safety scanner.

[0061] This allows for stepwise safety control based on the worker's access situation.

[0062] The above 3D vision sensor is configured to recognize the work area of ​​the collaborative robot in three dimensions and acquires 3D spatial information including depth information.

[0063] The above 3D vision sensor recognizes the location of a worker, object, or obstacle as 3D coordinates and transmits the location information to the PLC integrated control unit (50).

[0064] Accordingly, the PLC integrated control unit (50) manages the working area of ​​the collaborative robot by dividing it into a normal area, a deceleration area, and a stop area based on the position information received from the 3D vision sensor.

[0065] When the worker enters the deceleration zone, the PLC integrated control unit (50) automatically switches the operating speed of the collaborative robot to a preset safety speed, and when the worker enters the stop zone, controls the operation of the collaborative robot to stop immediately.

[0066] In this way, stable safety detection is possible using a 3D vision sensor even when changes in the worker's position are complex or the work environment changes frequently.

[0068] The above robot installation part (20) is for installing a collaborative robot, is formed to stably support the load and vibration occurring during the operation of the collaborative robot, and is firmly connected to the trolley.

[0069] Here, the collaborative robot is constructed with a multi-joint structure and has speed, force, and pressure limiting functions to enable it to operate in the same space as a worker or existing installed automation equipment.

[0070] In addition, one or more of the above-mentioned collaborative robots may be installed to operate independently, and the collaborative robots may be optionally equipped with tool tools including a gripper, a deburring tool, a sealing tool, a vision camera, and a multi-finger gripper, and these tool tools are configured to be manually replaceable according to the operator's needs or process requirements.

[0071] In addition, the robot installation part (20) is modularized and installed detachably on the base (11), thereby improving the convenience of installation, removal, and maintenance of the collaborative robot.

[0072] Meanwhile, the installed collaborative robot is constructed with a multi-joint structure to enable a variety of tasks.

[0074] The robot controller (30) is configured to control the operation of the collaborative robot and to control the collaborative robot to operate along a set trajectory according to a process program. It is linked with the PLC integrated control unit (50) described later to perform robot operation according to the process sequence, worker change signals, and operation control according to safety signals. Accordingly, control linked to the entire process flow of the system, beyond simple robot control, is possible.

[0075] This robot controller (30) is configured to load and execute offline programming results generated in advance using a simulation program, and the offline programming results include the movement trajectory, work sequence, speed conditions, and tool operation conditions of the collaborative robot, and the robot controller controls the operation of the actual collaborative robot based on this.

[0076] In addition, coordinate system information corrected through field calibration is applied to the robot controller, allowing the process to be performed with the error between the virtual coordinate system and the actual work coordinate system corrected.

[0077] And the robot controller (30) is linked with the PLC integrated control unit (50) described later through a communication interface, and the PLC integrated control unit (50) transmits safety signals input from the process sequence, worker shift status, safety scanner or 3D vision sensor to the robot controller, and the robot controller controls the operating state of the collaborative robot accordingly.

[0078] For example, when a signal to enter a deceleration zone is received from the PLC integrated control unit (50), the robot controller (30) controls the operation speed of the collaborative robot to switch to a preset safe speed, and when a signal to enter a stop zone is received, controls the operation of the collaborative robot to stop immediately.

[0079] And the robot controller (30) manages the user coordinate system or process coordinate system of the collaborative robot by applying coordinate correction values ​​calculated through field calibration, and automatically resets the coordinate system of the collaborative robot by reflecting correction values ​​calculated through the automatic position correction system when the position of the trolley is repeatedly changed.

[0080] Accordingly, even if the trolley is moved and repositioned, the process program stored in the robot controller (30) can be executed as is without re-teaching.

[0082] The above power and safety management module (40) stably supplies power to the collaborative robot, robot controller, and peripheral devices, and at the same time ensures the safety of the entire system in the event of an emergency. It is mounted on the above trolley (10) and operates in conjunction with the PLC integrated control unit (50) and robot controller (30) described later.

[0083] This power and safety management module (40) is configured to receive main power supplied from an external power source and distribute the power required for a collaborative robot, a robot controller (30), a safety scanner or 3D vision sensor, a tool tool, and other peripheral devices.

[0084] To this end, the power and safety management module (40) may include a power distribution unit, a voltage conversion unit, and an overcurrent protection unit, and since such a configuration is known, a detailed description of the configuration and operation will be omitted.

[0085] In addition, the power and safety management module (40) includes an emergency stop function and is configured to operate by an emergency stop button installed on the trolley (10), an emergency stop signal from an external facility, or an emergency stop command transmitted from the PLC integrated control unit (50).

[0086] That is, when an emergency stop signal is input, the power and safety management module (40) immediately cuts off the power supply to the collaborative robot and related drive unit or switches to a safe stop state.

[0088] The above PLC integrated control unit (50) controls the interface with external equipment and the process sequence, and is a control component that oversees the process flow, safety control, and control signal linkage of the entire system.

[0089] This PLC integrated control unit (50) is mounted on the trolley (10) and is configured as part of a mobile manipulator system, and operates in conjunction with a collaborative robot, a robot controller, a power and safety management module, a safety scanner, or a 3D vision sensor.

[0090] The PLC integrated control unit (50) for this purpose includes an input unit, an output unit, and a control operation unit. The configuration and operation of the input unit, output unit, and control operation unit are known and will be omitted from detailed description.

[0091] Meanwhile, the PLC integrated control unit (50) controls the process sequence of the present invention, and the process sequence can be defined by dividing it into a worker work step and a collaborative robot work step, and mutually exclusive interlock conditions are set so that the two steps are not activated simultaneously.

[0092] And as described above, the PLC integrated control unit (50) manages the working area of ​​the collaborative robot by dividing it into a normal area, a deceleration area, and a stop area based on signals received from a safety scanner or a 3D vision sensor, and controls the operation of the collaborative robot according to the approach of the worker.

[0093] In addition, the PLC integrated control unit (50) performs the role of a higher-level control unit that oversees the process sequence and safety logic, and the robot controller is responsible for the actual operation control of the collaborative robot.

[0095] And the PLC integrated control unit (50) is configured to apply the offline programming results generated in advance using a simulation program to the collaborative robot, correct the error between the actual coordinate system and the virtual coordinate system through field calibration, and automatically reset the robot coordinate system using an automatic position correction system when there is a repetitive change in position due to the movement and repositioning of the trolley, thereby enabling the same process to be repeated without re-teaching.

[0096] Meanwhile, the PLC integrated control unit (50) provides an interface with external production facilities, inspection equipment, or a higher-level management system, through which it can transmit process progress status, alarm information, and system status to the outside, or receive process start and completion signals from external facilities.

[0098] The present invention, as described above, integrates a configuration including a collaborative robot and a robot controller onto a trolley, allowing it to be rapidly deployed in place of a worker or pre-configured process equipment, and enables the installation of various tooling devices to perform tasks required in the process, thereby minimizing process stoppages and improving process efficiency.

[0100] Meanwhile, the mobile manipulator system according to the present invention further includes an edge computer (60), and the edge computer (60) collects and analyzes at least one of the axis-by-axis load rate, tool drive current, cycle time, and number of abnormal stops of the collaborative robot, and compares the analysis result with a reference value to predict part wear or abnormal condition and outputs a predictive maintenance alarm.

[0101] These edge computers (60) are configured to include a data collection unit, a computation processing unit, and a storage unit, and the data collection unit collects at least one of the following operation data from the collaborative robot and related devices: load rate per axis, tool drive current, cycle time, and number of abnormal stops.

[0102] The computation processing unit performs state analysis operations based on collected data, and the storage unit stores reference values ​​for analysis, historical data, and analysis results.

[0103] Through this, the edge computer (60) is enabled to process data in real time at the field level and periodically receives operation data from the robot controller or PLC integrated control unit (50) of the collaborative robot.

[0104] The received data is sorted by time and undergoes preprocessing steps such as noise removal, moving average calculation, or fluctuation range calculation, ensuring that continuous state changes rather than temporary fluctuations are reflected in the analysis.

[0105] In addition, the edge computer (60) performs a state analysis by comparing the preprocessed operation data with a reference value. For example, if the load rate of a specific axis continuously exceeds the reference value, it can be determined that there is a possibility of wear or misalignment of the axis, and if the cycle time is maintained for a long time outside the set range, it can be determined that there is tool wear or a process abnormality.

[0106] The edge computer (60) can determine the equipment status by classifying it into multiple stages based on the analysis results. For example, it determines the status by classifying it into a normal state, a caution state, and a warning state, and generates a predictive maintenance alarm when a caution or warning state is detected.

[0107] The above predictive maintenance alarm is transmitted to the PLC integrated control unit (50) or an external monitoring device, allowing a worker or manager to recognize the maintenance time in advance, thereby preventing sudden equipment failures and enabling planned maintenance.

[0108] As described above, through the configuration and operation of the edge computer (60), the mobile manipulator system of the present invention can continuously manage the equipment status even in an environment where the trolley is moved and relocated, and can ensure stability even when operating continuously for a long time in the same space as the worker by analyzing the status of the collaborative robot and the tool in real time.

[0110] Meanwhile, the edge computer (60) may include an artificial intelligence algorithm, and preferably, a deep learning-based learning model may be applied.

[0111] The above artificial intelligence algorithm can be configured to automatically classify the state of a process product by using shape information, surface information, or position information of the process product obtained from a 3D vision sensor or 3D vision as training data.

[0112] For example, by learning the external appearance, defect location, shape deviation, or surface condition of a process product, a judgment model can be formed to distinguish between good and defective products, and this is not limited to this, and various classification criteria can be applied depending on process characteristics.

[0113] In particular, the artificial intelligence algorithm is linked with a 3D vision sensor or 3D vision to continuously accumulate actual product data acquired during process execution as training data, and based on an initially trained reference model, can update or correct the training model by reflecting changes in product data occurring during the repetitive process.

[0114] Accordingly, 3D vision recognition accuracy can be maintained or improved even with changes in lighting conditions, product deviations, or working environment.

[0115] An edge computer (60) including such an artificial intelligence algorithm can, for example, classify the state of a process product as good or defective based on the artificial intelligence learning results, and the judgment result is transmitted to a PLC integrated control unit (50), and the PLC integrated control unit (50) controls the subsequent operation of the collaborative robot according to the judgment result.

[0116] In other words, if the product is determined to be good, the collaborative robot can be controlled to move it to the next process or transfer location, and if it is determined to be defective, to separate and transfer it to a separate defective loading location.

[0117] Of course, this is not limited to this, and the judgment results can be used for process stoppage, alarm output, or quality control data.

[0118] And the edge computer (60) performs predictive maintenance judgment by analyzing the operation data of the collaborative robot and tool together with an artificial intelligence-based product condition learning function.

[0119] In other words, by analyzing the correlation between the increase in the frequency of product defects and changes in specific axis load rates or tool currents, abnormal equipment conditions can be predicted more precisely.

[0120] In addition, by automatically distinguishing between good and defective products, it minimizes operator intervention and simultaneously improves process reliability and quality control efficiency.

[0121] In addition, when combined with predictive maintenance functions, it offers the effects of reduced equipment downtime, lowered defect rates, and the ability to operate unmanned for extended periods.

[0123] As described above, the present invention has been explained by specific details such as specific components, limited embodiments, and drawings; however, this is provided merely to aid in a more comprehensive understanding of the invention, and the invention is not limited to the above embodiments. A person skilled in the art can make various modifications and variations from this description.

[0125] Accordingly, the scope of the present invention should not be limited to the described embodiments, and all things equivalent to or having equivalent variations to the claims set forth below, as well as the claims set forth below, shall be considered to fall within the scope of the concept of the present invention. Explanation of the symbols

[0127] 1 : Mobile Manipulator System 10 : Debit 11 : Bass 12 : Caster 13: Handle 14: Battery 20 : Robot Installation Section 30: Robot Controller 40: Power and Safety Management Module 50 : PLC Integrated Control Unit 60: Edge computer

Claims

Claim 1 In a manipulator system configured to be movably mounted integrally on a trolley, the system comprises: a robot mounting unit (20) on which a collaborative robot is installed; a robot controller (30) for controlling the operation of the collaborative robot; a power and safety management module (40) for supplying power to the collaborative robot, the robot controller (30), and peripheral devices, and for performing emergency stop and safety control; and a PLC integrated control unit (50) for controlling the interface with external equipment and process sequence. The system is configured such that the trolley is movable along a monorail or floor, allowing for selective placement at different work positions on a production line. The movable manipulator system further includes an edge computer (60). The edge computer (60) collects and analyzes data regarding the load rate per axis of the collaborative robot, tool drive current, cycle time, and the number of abnormal stops. It predicts the condition of a component wear by comparing the analysis results with reference values ​​and outputs a predictive maintenance alarm. The edge computer (60) determines the condition of a component wear by classifying it into a normal state, a caution state, and a warning state. When a caution or warning state is detected A mobile manipulator system characterized by generating a predictive maintenance alarm in the event of a case, and the PLC integrated control unit (50) applies a pre-generated offline programming result to the collaborative robot using a simulation program, corrects the error between the actual coordinate system and the virtual coordinate system through field calibration, and automatically resets the robot coordinate system using an automatic position correction system when there is a repetitive change in position due to the movement and placement of the trolley, thereby enabling the same process to be repeated without re-teaching. Claim 2 A mobile manipulator system according to claim 1, characterized in that the collaborative robot can optionally be equipped with a tool including a gripper, a deburring tool, a sealing tool, a vision camera, and a multi-finger gripper, and is configured to allow the tool to be manually replaced according to the needs of the operator or process requirements. Claim 3 delete Claim 4 A mobile manipulator system according to claim 1, wherein the trolley is equipped with a safety scanner or a 3D vision sensor that detects a worker approaching the work area of ​​the collaborative robot, and the PLC integrated control unit (50) manages the work area by dividing it into a normal area, a deceleration area, and a stop area, and controls the operation speed of the collaborative robot to automatically decelerate or immediately stop when a worker enters the deceleration area or the stop area. Claim 5 delete

Images