Robot system and robot

Abstract

In this robot system (100), a control device (40) performs at least one of: a control in which a robot body (20) is attached to a top plate (10) on the basis of the position of the top plate (10) detected by a position detection unit (30); and separating the top plate (10) from the robot main body part (20) on the basis of the position of the moving trolley (300) detected by the position detection part (30).

Description

Technical Field

[0001] The present disclosure relates to a robotic system and a robot. Background Art

[0002] In the past, a robot system having a top plate for placing a patient has been disclosed. For example, Japanese Patent Publication No. 2012-5557 discloses a medical robot system having a surgical robot, a movable bed, and an image diagnostic device. In Japanese Patent Publication No. 2012-5557, the movable bed is fixed to a station supporting the movable bed in a manner that cannot be loaded or unloaded. The movable bed can change its position, orientation, and posture at the station. The image diagnostic device is arranged at a position separated from the surgical robot. When using the medical robot system to treat a patient, first, the patient is placed on the movable bed. Then, the movable bed is moved to the imaging area of ​​the image diagnostic device. Then, the image diagnostic device images the patient. Thereafter, the movable bed is moved to the vicinity of the surgical robot. Then, the surgical robot treats the patient.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2012-5557

[0004] In the medical robot system described in Japanese Patent Publication No. 2012-5557, when photographing a patient through an image diagnostic device, the patient needs to be positioned on the top board of a movable bed in advance. In Japanese Patent Publication No. 2012-5557, the movable bed is fixed to the workstation in a manner that cannot be loaded or unloaded, so the patient to be treated next can only be positioned on the top board after the treatment of the patient currently positioned on the top board is completed and the patient is detached from the top board. In addition, it takes a long time to position the patient on the top board. Therefore, the processing capacity (throughput) of the medical robot system is reduced. Therefore, it is expected to improve the processing capacity of the medical robot system. In addition, processing capacity refers to the amount of processing per unit time. Summary of the invention

[0005] The present disclosure is made to solve the above-mentioned problems, and one object of the present disclosure is to provide a robot system and a robot capable of improving processing capabilities.

[0006] The robot system of the first aspect of the present disclosure comprises: a top plate, on which a patient is placed, and which is arranged on a mobile trolley; a robot main body, including a robot arm that is loaded and unloaded from the top plate; a position detection unit, which detects at least one of the position of the top plate arranged on the mobile trolley and the position of the mobile trolley in a state where the top plate is not arranged, and the above-mentioned position detection unit is arranged on the robot main body; and a control device, which performs at least one of the following controls: based on the position of the top plate arranged on the mobile trolley detected by the position detection unit, the robot main body is moved to install the robot main body on the top plate; and based on the position of the mobile trolley in a state where the top plate is not arranged detected by the position detection unit, the robot main body is moved to install the top plate installed on the robot main body on the mobile trolley, so that the top plate is detached from the robot main body.

[0007] The robot system of the first aspect of the present disclosure is as described above, and the control device performs at least one of the following controls: based on the position of the top plate arranged on the mobile trolley detected by the position detection unit, the robot main body is moved to install the robot main body on the top plate; and based on the position of the mobile trolley in a state where the top plate is not arranged detected by the position detection unit, the robot main body is moved to arrange the top plate installed on the robot main body on the mobile trolley, so that the top plate is detached from the robot main body. As a result, the top plate is loaded and unloaded from the robot main body, so that during the treatment of the patient already placed on the top plate already installed on the robot main body, the patient to be treated next can be positioned on the top plate placed on another mobile trolley. As a result, the processing capacity of the robot system can be improved. In addition, the control device performs control to move the robot main body based on the position of the top plate arranged on the mobile trolley detected by the position detection unit, so that even if the position of the top plate arranged on the mobile trolley is offset from the position previously taught to the robot main body, the movement amount of the robot main body can be corrected. As a result, the robot main body can be appropriately installed on the top plate. In addition, the control device controls the movement of the robot main body based on the position of the mobile trolley detected by the position detection unit, so that even if the position of the mobile trolley is offset from the position previously taught to the robot main body, the movement amount of the robot main body can be corrected. As a result, the top plate installed on the robot main body can be appropriately configured on the mobile trolley. In addition, the position detection unit is configured on the robot main body, so the position detection unit moves together with the robot main body. Therefore, unlike the case where the position detection unit is fixed at a position away from the robot main body, it is possible to suppress the inability to detect the detection object by the position detection unit due to the top plate, the mobile trolley and other detection objects being blocked by the robot main body. As a result, at least one of the control of installing the robot main body on the top plate and the control of detaching the top plate from the robot main body can be performed with high precision.

[0008] The robot according to the second aspect of the present disclosure comprises: a robot main body, including a robot arm that is loaded and unloaded on a top plate, the top plate carrying a patient and arranged on a moving trolley; a position detection unit, which is arranged on the robot main body and detects the position of the top plate arranged on the moving trolley, or the position of the moving trolley in a state where the top plate is not arranged; and a control device, which performs at least one of the following controls: based on the position of the top plate arranged on the moving trolley detected by the position detection unit, the robot main body is moved to install the robot main body on the top plate arranged on the moving trolley; and based on the position of the moving trolley in a state where the top plate is not arranged detected by the position detection unit, the robot main body is moved to arrange the top plate installed on the robot main body on the moving trolley, so that the top plate is detached from the robot main body.

[0009] The robot of the second aspect of the present disclosure is as described above, and the control device performs at least one of the following controls: based on the position of the top plate arranged on the mobile trolley detected by the position detection unit, the robot body moves and the robot body is installed on the top plate; and based on the position of the mobile trolley in a state where the top plate is not arranged detected by the position detection unit, the robot body moves, the top plate installed on the robot body is arranged on the mobile trolley, and the top plate is detached from the robot body. As a result, the top plate can be loaded and unloaded from the robot body, so that during the treatment of the patient already placed on the top plate already installed on the robot body, the patient to be treated next can be positioned on the top plate placed on another mobile trolley. As a result, the processing capacity of the robot system can be improved. In addition, the control device performs control to move the robot body based on the position of the top plate arranged on the mobile trolley detected by the position detection unit, so that even if the position of the top plate arranged on the mobile trolley is offset from the position previously taught to the robot body, the movement amount of the robot body can be corrected. As a result, the robot body can be properly installed on the top plate. In addition, the control device controls the movement of the robot main body based on the position of the mobile trolley detected by the position detection unit, so that even if the position of the mobile trolley is offset from the position previously taught to the robot main body, the movement amount of the robot main body can be corrected. As a result, the top plate installed on the robot main body can be appropriately configured on the mobile trolley. In addition, the position detection unit is configured on the robot main body, so the position detection unit moves together with the robot main body. Therefore, unlike the case where the position detection unit is fixed at a position away from the robot main body, it is possible to suppress the inability to detect the detection object by the position detection unit due to the top plate, the mobile trolley and other detection objects being blocked by the robot main body. As a result, it is possible to provide a robot that can perform at least one of the control of installing the robot main body on the top plate and the control of detaching the top plate from the robot main body with high precision.

[0010] According to the present disclosure, the processing capability of a robot system or a robot can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a block diagram showing the structure of a robot system according to one embodiment.

[0012] Figure 2 It is a perspective view showing the structure of a robot system according to one embodiment.

[0013] Figure 3 This is a diagram showing the lower surface of a top plate according to one embodiment.

[0014] Figure 4This is a side view of the moving carriage as seen from the Y2 side.

[0015] Figure 5 This is a top view of the mobile trolley.

[0016] Figure 6 This is a side view of the transport carriage as seen from the Y1 side.

[0017] Figure 7 It is a perspective view showing the structure of a robot main body according to one embodiment.

[0018] Figure 8 It is a side view showing a base member, a position detection unit, a top plate, and an automatic tool changer.

[0019] Fig. 9 It is a top view showing a base member, a position detection unit, and an automatic tool changing device.

[0020] Fig.10 This is a flowchart of the operation of the robot system when installing a top plate according to one embodiment.

[0021] Fig.11 It is a diagram for explaining the detection operation of the level sensor on the first detection member.

[0022] Fig.12 It is a diagram for explaining the pitch angle of the top plate.

[0023] Fig.13 This is a top view of the appropriately configured transport trolley.

[0024] Fig.14 It is a diagram for explaining the yaw angle of the moving carriage.

[0025] Fig.15 This is a diagram showing the robot main body moved below the top plate.

[0026] Fig.16 This is a diagram showing a state where the top plate is mounted on the robot body.

[0027] Fig.17 This is a diagram showing a state where the robot main body lifts up the top plate.

[0028] Fig.18 This is a flowchart showing the operation of the robot system when the top plate is detached according to one embodiment.

[0029] Fig.19 This is a diagram showing the robot main body moved above the top plate.

[0030] Fig. 20 This is a diagram showing a state where the top plate is placed on the moving carriage.

[0031] Fig.21 It is a diagram showing a state where the top plate is detached from the robot main body.

[0032] Fig. 22 This is a block diagram showing the structure of a robot according to a modified example. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments in which the present disclosure is embodied will be described based on the drawings.

[0034] The structure of the robot system 100 of the present embodiment is described. In addition, in the present application specification, the up-down direction is referred to as the Z direction. The upper direction is referred to as the Z1 direction, and the lower direction is referred to as the Z2 direction. The direction perpendicular to the Z direction is referred to as the X direction. One side of the X direction is referred to as the X1 side, and the other side is referred to as the X2 side. The direction perpendicular to the Z direction and the X direction is referred to as the Y direction. One side of the Y direction is referred to as the Y1 side, and the other side is referred to as the Y2 side.

[0035] (Robotic System)

[0036] like Figure 1 As shown, the robot system 100 includes a top plate 10, a robot body 20, a position detection unit 30, a control device 40, an automatic tool changer 50, and a torque sensor 60. Figure 2 As shown, the robot system 100 is arranged near the inspection device 200. The robot system 100 moves the top plate 10 which is already placed on the moving carriage 300 with the patient P placed thereon to the inspection device 200. In addition, after the inspection is completed, the robot system 100 moves the top plate 10 which is already placed on the moving carriage 300 with the patient P placed thereon from the inspection device 200 to the moving carriage 300.

[0037] like Figure 2 As shown, the patient P is positioned on the top plate 10 of the mounting table 301 of the mobile trolley 300. The operator moves the mobile trolley 300 to the vicinity of the robot system 100 while the patient P is positioned. A plurality of circles C are drawn on the ground where the robot system 100 is arranged. A plurality of chains 309 are hung down from the mobile trolley 300 to the ground. The operator moves the mobile trolley 300 so that the chains 309 of the mobile trolley 300 are located inside the circle C.

[0038] (roof)

[0039] The patient P is placed on the top plate 10. The top plate 10 is arranged on the mobile carriage 300. Specifically, the top plate 10 has a rectangular shape. Figure 2 In the diagram, the long side direction of the top plate 10 is defined as the X direction, and the short side direction of the top plate 10 is defined as the Y direction. The top plate 10 is disposed on the moving carriage 300 .

[0040] In this embodiment, if Figure 3 As shown, the top plate 10 includes a first mark 11. The first mark 11 is arranged on the lower surface 10a of the top plate 10. Specifically, a plurality of first marks 11 are arranged.

[0041] (Mobile trolley)

[0042] like Figure 4 As shown in FIG. 3 , the mobile vehicle 300 includes a mounting platform 301, a lifting unit 302, a base unit 303, and wheels 304. Figure 5 As shown, the moving carriage 300 includes a cutout portion 305, a second mark 306, and a first detected component 307. Figure 6 As shown, the moving carriage 300 includes a second detected component 308. The top plate 10 is placed on the mounting platform 301. A pair of lifting units 302 are provided. The lifting units 302 support both ends of the mounting platform 301 in the X direction. The lifting unit 302 lifts and lowers the mounting platform 301. For example, the lifting unit 302 includes a cylinder, and the mounting platform 301 is lifted and lowered by the cylinder. The base 303 supports the lifting unit 302. A plurality of wheels 304 are provided. For example, four wheels 304 are provided. The wheels 304 are mounted on the base 303.

[0043] like Figure 5 As shown, a cutout portion 305 is formed in the mounting table 301. The cutout portion 305 has a rectangular shape when viewed from the Z1 side. The robot arm 21 passes through the cutout portion 305 when moving from the Z2 side to the Z1 side of the mounting table 301.

[0044] In this embodiment, the second mark 306 is arranged on the upper surface 300a of the moving carriage 300. The second mark 306 is arranged at a position that can be visually confirmed from the Z1 side of the moving carriage 300. For example, the second mark 306 is arranged on the upper surface 300a of the base 303. When viewed from the Z1 side, the second mark 306 is exposed from the cutout 305.

[0045] like Figure 4 As shown in FIG. 1 , a pair of first detection components 307 are provided. The first detection components 307 are respectively provided at both ends of the cutout portion 305. The pair of first detection components 307 are respectively referred to as first detection components 307a and first detection components 307b. The first detection component 307a is provided at the end of the cutout portion 305 on the X1 side, and the first detection component 307b is provided at the end of the cutout portion 305 on the X2 side. Figure 5 As shown in FIG. 1 , the first detected component 307a and the first detected component 307b are arranged at the end of the Y2 side of the mounting table 301. The first detected component 307a and the first detected component 307b are, for example, rectangular and flat. Figure 4As shown, when the mounting table 301 is arranged along a horizontal plane, a height h1 of a lower end A1 of the first detection member 307a and a height h2 of a lower end A2 of the first detection member 307b are the same.

[0046] like Figure 6 As shown in FIG. 1 , for example, one second detection component 308 is provided. The second detection component 308 is provided at the end of the mounting table 301 on the Y2 side. Figure 5 As shown, when viewed from the Y1 side, the second detected component 308 is arranged between a pair of first detected components 307.

[0047] (Robot body)

[0048] like Figure 7 As shown, the robot body 20 includes a robot arm 21 and a base member 22. Figure 8 As shown, the robot body 20 includes a housing 23. The robot arm 21 is attached to and detached from the top plate 10. The robot arm 21 is a multi-joint robot arm. The robot arm 21 has a plurality of arm portions 21a. The robot arm 21 has a plurality of rotation axes JT.

[0049] like Figure 8 As shown, the base member 22 is mounted on the front end of the robot arm 21. The base member 22 is fixed to the robot arm 21. The base member 22 rotates around the rotation axis JT of the front end of the robot arm 21. The base member 22 is arranged in the housing 23. The housing 23 is formed with a hole 23a for passing the detection light emitted from the level sensor 33 described later.

[0050] (Position detection unit)

[0051] In the present embodiment, the position detection unit 30 detects at least one of the position of the top plate 10 disposed on the moving carriage 300 and the position of the moving carriage 300 in a state where the top plate 10 is not disposed. The position detection unit 30 is disposed on the robot body 20. The position detection unit 30 includes a first imaging unit 31, a second imaging unit 32, a horizontal sensor 33, and a vertical sensor 34.

[0052] The first imaging unit 31 captures the first mark 11 disposed on the top plate 10 of the moving carriage 300. The first imaging unit 31 is, for example, a two-dimensional camera. The first imaging unit 31 is disposed on the base member 22. The first imaging unit 31 is disposed on the base member 22 so as to face the Z1 side. The first imaging unit 31 captures the first mark 11 disposed on the lower surface 10a of the top plate 10 from the Z2 side of the top plate 10.

[0053] The second imaging unit 32 captures the second mark 306 of the movable carriage 300 in a state where the top plate 10 is not disposed. The second imaging unit 32 is, for example, a two-dimensional camera. The second imaging unit 32 is disposed on the base member 22. The second imaging unit 32 is disposed on the base member 22 so as to face the Z2 side. The second imaging unit 32 captures the second mark 306 disposed on the upper surface 300a of the movable carriage 300 from the Z1 side of the movable carriage 300.

[0054] like Figure 8 As shown, the horizontal sensor 33 detects the horizontal position of the object to be measured. For example, the horizontal sensor 33 detects the distance to the object to be measured along the horizontal direction. The horizontal sensor 33 detects the horizontal position of the first detection component 307. The horizontal sensor 33 detects the horizontal position of the second detection component 308. The horizontal sensor 33 is, for example, a displacement sensor. The horizontal sensor 33 emits detection light in the horizontal direction and detects reflected light reflected from the object to be measured. The horizontal sensor 33 is arranged on the base component 22. The horizontal sensor 33 is arranged on the base component 22 in a manner facing the horizontal direction. As shown in FIG. Fig. 9 As shown, the level sensor 33 is disposed on the upper surface 22 a of the base member 22 .

[0055] like Figure 8 As shown, the vertical sensor 34 detects the distance to the object to be measured along the vertical direction. The vertical sensor 34 detects the distance to the top plate 10 along the vertical direction. The vertical sensor 34 is, for example, a reflection type distance sensor. The vertical sensor 34 is arranged on the base member 22. The horizontal sensor 33 is arranged on the base member 22 so as to face the Z1 side. When the vertical sensor 34 is a reflection type distance sensor, the detection light is emitted from the vertical sensor 34 along the Z1 side. Fig. 9 As shown, the vertical sensor 34 is disposed on the upper surface 22 a of the base member 22 .

[0056] (Automatic tool changer)

[0057] like Figure 8 As shown, the automatic tool changing device 50 loads and removes the top plate 10 from the robot body 20. The automatic tool changing device 50 includes a master side device 51 and a slave side device 52. The master side device 51 is configured on the base member 22. Specifically, the master side device 51 is configured on the upper surface 22a of the base member 22. The slave side device 52 is configured on the top plate 10. Specifically, the slave side device 52 is configured on the lower surface 10a of the top plate 10. The automatic tool changing device 50 is configured in plurality. For example, the automatic tool changing device 50 is configured in two.

[0058] (Torque sensor)

[0059] The torque sensor 60 is disposed in the robot body 20 . The torque sensor 60 detects a force acting on the robot body 20 according to a load when the robot body 20 is mounted on the top plate 10 . Specifically, the torque sensor 60 is disposed between the robot arm 21 and the base member 22 .

[0060] The control device 40 controls the entire robot system 100. In the present embodiment, the control device 40 performs control such that the robot main body 20 is moved and the robot main body 20 is mounted on the top plate 10 based on the position of the top plate 10 arranged on the moving carriage 300 detected by the position detection unit 30. The control device 40 performs control such that the robot main body 20 is moved and the top plate 10 mounted on the robot main body 20 is arranged on the moving carriage 300 based on the position of the moving carriage 300 in a state where the top plate 10 is not arranged, and the top plate 10 is separated from the robot main body 20. That is, the control device 40 performs both control such that the robot main body 20 is mounted on the top plate 10 and control such that the top plate 10 is separated from the robot main body 20 based on the detection result of the position detection unit 30. The control device 40 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory).

[0061] (Robot system operation when installing the top plate)

[0062] The operation of the robot system 100 when installing the top plate will be described. The transport cart 300 in which the patient P is positioned is moved in advance by an operator to the vicinity of the robot system 100 .

[0063] In this embodiment, if Fig.10 As shown, in step S1, the control device 40 controls the horizontal sensor 33 in such a manner as to detect the horizontal position of the first detected component 307a. The control device 40 detects the height h1 of the lower end A1 of the first detected component 307a based on the detection result of the horizontal sensor 33. Fig.11As shown, the control device 40 moves the robot arm 21 from the Z2 side to the Z1 side. The detection light is emitted from the horizontal sensor 33 along the Y1 direction. If the height of the horizontal sensor 33 is consistent with the height h1 of the lower end A1 of the first detection component 307, the detection light emitted from the horizontal sensor 33 is reflected by the first detection component 307a. The horizontal sensor 33 detects the reflected light from the first detection component 307a. In addition, the control device 40 detects the height h1 of the lower end A1 of the first detection component 307a based on the reflected light detected by the horizontal sensor 33. The control device 40 detects the distance to the first detection component 307a along the Y direction based on the reflected light detected by the horizontal sensor 33.

[0064] In step S2, the control device 40 moves the robot arm 21 in the horizontal direction toward the X2 side. The control device 40 detects the position of the side end B1 on the X2 side of the first detected component 307a based on the fact that the detection light emitted from the level sensor 33 is no longer reflected by the first detected component 307a and the reflected light from the first detected component 307a is no longer detected. In addition, the position of the side end B1 on the X2 side of the first detected component 307a coincides with the position of the end of the cutout 305 on the X1 side.

[0065] In step S3, similarly to step S1, the control device 40 controls the horizontal sensor 33 in a manner to detect the position of the first detected component 307b in the horizontal direction. The control device 40 detects the height h2 of the lower end A2 of the first detected component 307b based on the detection result of the horizontal sensor 33. Specifically, the control device 40 moves the robot arm 21 from the Z2 side to the Z1 side. The control device 40 detects the height h2 of the lower end A2 of the first detected component 307b based on the reflected light from the lower end A2 of the first detected component 307 detected by the horizontal sensor 33. The control device 40 detects the distance to the first detected component 307b along the Y direction based on the reflected light detected by the horizontal sensor 33.

[0066] In step S4, similarly to step S2, the control device 40 moves the robot arm 21 in the horizontal direction toward the X1 side. The control device 40 detects the position of the side end B2 on the X1 side of the first detected component 307b based on the fact that the reflected light from the first detected component 307b is no longer detected. In addition, the position of the side end B2 on the X1 side of the first detected component 307b coincides with the position of the end of the cutout 305 on the X2 side.

[0067] In step S5, in the present embodiment, the control device 40 detects the inclination angle θ1 of the top plate 10 placed on the movable dolly 300 relative to the horizontal plane based on the detected height h1 of the lower end A1 of the first detected component 307a and the detected height h2 of the lower end A2 of the first detected component 307b. The inclination angle θ1 relative to the horizontal plane is called the pitch angle. Specifically, the control device 40 detects the inclination angle θ1 of the mounting platform 301 of the movable dolly 300 based on the difference between the detected height h1 of the lower end A1 of the first detected component 307a and the detected height h2 of the lower end A2 of the first detected component 307b. When the mounting platform 301 is along the horizontal plane, the difference between the height h1 and the height h2 is zero. Fig.12 As shown, if the stage 301 is tilted relative to the horizontal plane, the difference between the height h1 and the height h2 is no longer zero. According to the size of the difference between the height h1 and the height h2, the tilt angle θ1 of the stage 301 changes. The control device 40 detects the tilt angle θ1 of the stage 301 based on the difference between the height h1 and the height h2. In addition, the tilt angle θ1 of the stage 301 is the same as the tilt angle θ1 of the top plate 10.

[0068] In step S6, in this embodiment, the control device 40 detects the interval L1 between the pair of first detection components 307a and the first detection component 307b based on the detection result of the horizontal sensor 33. Then, the control device 40 detects the rotation angle θ2 of the top plate 10 on the horizontal plane based on the detected interval L1. Fig.13 As shown in FIG. 1 , when the moving carriage 300 is arranged along the X direction, the interval L1 detected by the control device 40 is large. Fig.14 As shown, when the moving carriage 300 rotates around the axis along the Z direction, the interval L1 detected by the control device 40 becomes smaller. The rotation angle θ2 of the moving carriage 300 around the axis along the Z direction is called the yaw angle. The interval L1 changes according to the size of the yaw angle. The control device 40 detects the rotation angle θ2 of the mounting table 301 of the moving carriage 300 around the axis along the Z direction based on the interval L1. In addition, the rotation angle θ2 of the mounting table 301 around the axis along the Z direction is the same as the rotation angle θ2 of the top plate 10 around the axis along the Z direction.

[0069] In addition, the control device 40 may also detect the rotation angle θ2 of the top plate 10 mounted on the moving carriage 300 around the axis along the Z direction based on the difference between the distance to the first detected component 307a along the Y direction detected in step S1 and the distance to the first detected component 307b along the Y direction detected in step S3. Specifically, Fig.13As shown in FIG. 1 , when the moving carriage 300 is arranged along the X direction, the difference between the distance to the first detection component 307a and the distance to the first detection component 307b is zero. Fig.14 As shown, when the moving carriage 300 rotates around the axis along the Z direction, the difference between the distance to the first detected component 307a and the distance to the first detected component 307b is no longer zero. The difference between the distance to the first detected component 307a and the distance to the first detected component 307b changes according to the size of the yaw angle.

[0070] In step S7, Fig.13 As shown in FIG. 1 , the control device 40 controls the robot body 20 to move toward the Z2 side of the cutout 305 of the moving carriage 300 on which the top plate 10 is placed. Specifically, Fig.15 As shown, the control device 40 performs the following control: based on the inclination angle θ1 of the mounting table 301 and the rotation angle θ2 of the mounting table 301 around the axis along the Z direction, the robot body 20 is moved to the Z2 side of the cutout portion 305 of the mounting table 301. The movement path of the robot body 20 to the Z2 side of the cutout portion 305 is pre-stored in the storage unit 41 of the control device 40. The control device 40 corrects the movement path of the robot body 20 based on the inclination angle θ1 of the mounting table 301 and the rotation angle θ2 of the mounting table 301 around the axis along the Z direction so that the robot body 20 does not contact the moving carriage 300.

[0071] In step S8, the control device 40 controls the first imaging unit 31 in such a manner as to image the first mark 11 disposed on the top plate 10 of the moving carriage 300. Then, the control device 40 corrects the position of the robot body 20 relative to the top plate 10 based on the information captured by the first imaging unit 31. Specifically, the position of the robot body 20 relative to the top plate 10 is pre-stored in the storage unit 41 of the control device 40. The control device 40 corrects the position to which the robot body 20 actually moves based on the image of the first mark 11 captured by the first imaging unit 31. The control device 40 corrects the position of the robot body 20 in the X direction and the Y direction based on the image of the first mark 11. The control device 40 detects the first mark 11 from the image captured by the first imaging unit 31 by image processing.

[0072] Furthermore, the control device 40 performs control such that the position of the robot main body 20 relative to the top plate 10 is corrected based on the image of the first mark 11 captured by the first imaging unit 31 and at least one of the detected inclination angle θ1 of the top plate 10 and the rotation angle θ2 of the top plate 10 around the axis along the Z direction. In addition, in the present embodiment, the position of the robot main body 20 is corrected based on all of the image of the first mark 11, the inclination angle θ1 of the top plate 10, and the rotation angle θ2 of the top plate 10 around the axis along the Z direction. Specifically, the position of the robot main body 20 is corrected so that the top plate 10 and the base member 22 become parallel to each other. The position of the robot main body 20 is corrected so that the rotation angle θ2 of the top plate 10 around the axis along the Z direction and the rotation angle θ2 of the base member 22 around the axis along the Z direction coincide with each other.

[0073] In step S9, the control device 40 controls the robot body 20 to be mounted on the top plate 10. Specifically, the control is performed such that the robot body 20 is mounted on the top plate 10 disposed on the moving carriage 300 while detecting the distance to the top plate 10 in the vertical direction by the vertical sensor 34. For example, the control device 40 controls the moving speed of the robot body 20 according to the distance to the top plate 10 in the vertical direction by the vertical sensor 34, while moving the robot body 20 to the Z1 side.

[0074] In addition, the control device 40 performs control as follows: while determining whether the relative position of the robot body 20 and the moving carriage 300 on the horizontal plane is normal based on the detection result of the second detection member 308 by the horizontal sensor 33, and while detecting the distance to the top plate 10 in the vertical direction by the vertical sensor 34, the robot body 20 is mounted on the top plate 10 arranged on the moving carriage 300. Specifically, the control device 40 determines that the inclination angle θ1 of the top plate 10 and the rotation angle θ2 of the top plate 10 around the axis along the Z direction are within the allowable range based on the detection of the reflected light from the second detection member 308 by the horizontal sensor 33. When the inclination angle θ1 of the top plate 10 and the rotation angle θ2 of the top plate 10 are within the allowable range, the control device 40 performs control to mount the robot body 20 on the top plate 10. In addition, while the robot body 20 is being moved toward the Z1 side, the control device 40 determines that the height at which the robot body 20 is mounted on the top plate 10 is normal based on the detection of the lower end A3 of the second detected member 308 by the level sensor 33. If the height at which the robot body 20 is mounted on the top plate 10 is not normal, the control device 40 stops the control of mounting the robot body 20 on the top plate 10.

[0075] like Fig.16As shown, the control device 40 controls the automatic tool changer 50 to mount the robot body 20 on the top plate 10 . The control device 40 controls the master device 51 disposed on the base member 22 to connect to the slave device 52 disposed on the top plate 10 .

[0076] The control device 40 performs control such that, in a state where the robot body 20 and the top plate 10 are in contact, the position of the robot body 20 is adjusted based on the force acting on the robot body 20 detected by the torque sensor 60, and the robot body 20 is mounted on the top plate 10 disposed on the moving carriage 300. That is, the control device 40 performs control to finely adjust the position of the robot body 20 based on the force acting on the robot body 20 detected by the torque sensor 60.

[0077] In step S10, Fig.17 As shown, the control device 40 moves the top plate 10 attached to the robot body 20 to the Z1 side and moves it to the inspection device 200 .

[0078] (Robot system's action when the top plate is detached)

[0079] The operation of the robot system 100 when the top plate is detached will be described. The top plate 10 is attached to the robot main body 20. The moving carriage 300 in a state where the top plate 10 is not placed is arranged in advance near the robot system 100.

[0080] exist Fig.18 In step S11 shown in FIG. Fig.19 As shown, the control device 40 performs control to move the robot body 20 to which the top plate 10 is attached to the Z1 side of the cutout portion 305 of the moving carriage 300 .

[0081] In step S12 , the control device 40 performs control to cause the second imaging unit 32 to image the second mark 306 of the moving vehicle 300 .

[0082] In step S13, the control device 40 performs control to correct the position of the robot body 20 relative to the moving vehicle 300 based on the image of the second marker 306 captured by the second imaging unit 32. Specifically, the control device 40 corrects the position of the robot body 20 relative to the moving vehicle 300 in the X direction and the Y direction based on the image of the second marker 306 captured by the second imaging unit 32. The control device 40 detects the second marker 306 from the image captured by the second imaging unit 32 by image processing.

[0083] In step S14, Fig. 20As shown, the control device 40 performs the following control: the top plate 10 installed on the robot body 20 is arranged on the moving carriage 300, as shown in FIG. Fig.21 As shown, the top plate 10 is separated from the robot body 20. Specifically, the control device 40 controls the robot body 20 to descend from the Z1 side of the cutout portion 305 of the mobile trolley 300 toward the Z2 side. In addition, the control device 40 controls the robot body 20 to descend while determining whether the relative position of the robot body 20 and the mobile trolley 300 on the horizontal plane is normal based on the detection result of the horizontal sensor 33 on the second detected component 308. The control device 40 controls the automatic tool changer 50 to separate the master side device 51 arranged on the base member 22 from the slave side device 52 arranged on the top plate 10 when the top plate 10 is already placed on the mounting table 301 of the mobile trolley 300. The control device 40 moves the robot body 20 to a position separated from the mobile trolley 300. Thereafter, the operator moves the mobile trolley 300 to a predetermined location. Then, the operator moves another transport cart 300 on which the patient P to be examined next is placed to the vicinity of the robot system 100 . Then, the control device 40 controls the mounting of the table 10 on the robot main body 20 .

[0084] [Effects of this embodiment]

[0085] The control device 40 performs at least one of the following controls: based on the position of the top plate 10 arranged on the moving carriage 300 detected by the position detection unit 30, the robot main body 20 is moved to attach the robot main body 20 to the top plate 10; and based on the position of the moving carriage 300 in a state where the top plate 10 is not arranged detected by the position detection unit 30, the robot main body 20 is moved to arrange the top plate 10 already installed on the robot main body 20 on the moving carriage 300, and the top plate 10 is detached from the robot main body 20. Thus, the top plate 10 is attached to and detached from the robot main body 20, so that while the patient P placed on the top plate 10 already attached to the robot main body 20 is being treated, the patient P to be treated next can be positioned on the top plate 10 placed on another moving carriage 300. As a result, the processing capability of the robot system 100 can be improved. In addition, the control device 40 controls the robot body 20 to move based on the position of the top plate 10 arranged on the moving carriage 300 detected by the position detection unit 30, so that even if the position of the top plate 10 arranged on the moving carriage 300 deviates from the position previously taught to the robot body 20, the movement amount of the robot body 20 can be corrected. As a result, the robot body 20 can be properly attached to the top plate 10. In addition, the control device 40 controls the robot body 20 to move based on the position of the moving carriage 300 detected by the position detection unit 30, so that even if the position of the moving carriage 300 deviates from the position previously taught to the robot body 20, the movement amount of the robot body 20 can be corrected. As a result, the top plate 10 already attached to the robot body 20 can be properly arranged on the moving carriage 300. In addition, since the position detection unit 30 is arranged on the robot body 20, the position detection unit 30 moves together with the robot body 20. Therefore, unlike a case where the position detection unit 30 is fixed at a position separated from the robot main body 20, it is possible to prevent the position detection unit 30 from being unable to detect the detection object due to the top plate 10, the moving carriage 300, or the like being blocked by the robot main body 20. As a result, at least one of the control of attaching the robot main body 20 to the top plate 10 and the control of detaching the top plate 10 from the robot main body 20 can be performed with high accuracy.

[0086] The control device 40 performs the following two controls: mounting the robot body 20 on the top plate 10 based on the position of the top plate 10 detected by the position detection unit 30; and detaching the top plate 10 from the robot body 20 based on the position of the moving carriage 300 detected by the position detection unit 30. Thus, the robot body 20 can be properly mounted on the top plate 10, and the top plate 10 mounted on the robot body 20 can be properly arranged on the moving carriage 300.

[0087] The position detection unit 30 includes a first imaging unit 31, which captures the top plate 10 disposed on the moving carriage 300, and the control device 40 performs control as follows: based on the information captured by the first imaging unit 31, the position of the robot main body 20 relative to the top plate 10 is corrected, and the robot main body 20 is installed. Thus, based on the information captured by the first imaging unit 31, the position deviation of the top plate 10 can be detected. As a result, based on the detected position deviation of the top plate 10, the movement amount of the robot main body 20 is corrected, so that the robot main body 20 can be properly installed.

[0088] The top plate 10 includes a first mark 11, and the moving carriage 300 includes a cutout portion 305. The top plate 10 is placed on the Z1 side of the cutout portion 305 of the moving carriage 300. The first mark 11 is arranged on the lower surface 10a of the top plate 10. The control device 40 controls as follows: the robot body 20 is moved to the Z2 side of the cutout portion 305 of the moving carriage 300 on which the top plate 10 is placed, the first mark 11 arranged on the lower surface 10a of the top plate 10 is photographed by the first imaging unit 31, the position of the robot body 20 relative to the top plate 10 is corrected based on the image of the first mark 11 photographed by the first imaging unit 31, and the robot body 20 is mounted on the top plate 10 arranged on the moving carriage 300. Thus, when the robot body 20 is attached to the top plate 10 from the Z2 side of the top plate 10 , the first imaging unit 31 disposed in the robot body 20 can easily image the first mark 11 disposed on the lower surface 10 a of the top plate 10 .

[0089] The position detection unit 30 includes a horizontal sensor 33 that detects the position of the object to be measured in the horizontal direction. The control device 40 performs the following control: based on the detection result of the horizontal sensor 33, at least one of the inclination angle θ1 of the top plate 10 relative to the horizontal plane and the rotation angle θ2 of the top plate 10 on the horizontal plane is detected, based on the image of the first mark 11 captured by the first imaging unit 31 and at least one of the inclination angle θ1 and the rotation angle θ2 of the top plate 10, the position of the robot body 20 relative to the top plate 10 is corrected, and the robot body 20 is mounted on the top plate 10 arranged on the moving carriage 300. Here, the robot body 20 moves toward the moving carriage 300 along the path taught in advance for mounting the top plate 10. On the other hand, there is a case where the moving carriage 300 is arranged offset from a predetermined position. In addition, there is a case where the portion of the moving carriage 300 on which the top plate 10 is mounted is tilted. In this case, there is a case where the robot main body 20 moved to install the top plate 10 interferes with the moving carriage 300 or the top plate 10. Therefore, based on the inclination angle θ1 of the top plate 10 relative to the horizontal plane and the rotation angle θ2 of the top plate 10 on the horizontal plane, the position of the robot main body 20 relative to the top plate 10 is corrected, thereby suppressing the interference between the moving carriage 300 or the top plate 10 and the robot main body 20.

[0090] The moving carriage 300 includes: a cutout portion 305; and a pair of first detection members 307a and 307b, which are respectively arranged at both ends of the cutout portion 305. The horizontal sensor 33 detects the horizontal positions of the first detection members 307a and 307b. The control device 40 detects the height h1 of the lower end A1 and the height h2 of the lower end A2 of the pair of first detection members 307a and 307b, respectively, based on the detection result of the horizontal sensor 33, and detects the inclination angle θ1 of the top plate 10 placed on the moving carriage 300 relative to the horizontal plane based on the detected heights h1 and h2. Here, since the portion of the moving carriage 300 on which the top plate 10 is placed is inclined, a difference occurs between the height h1 of the lower end A1 and the height h2 of the lower end A2. Therefore, by detecting the height h1 of the lower end A1 and the height h2 of the lower end A2 based on the detection result of the level sensor 33 , the tilt angle θ1 of the top plate 10 placed on the moving carriage 300 with respect to the horizontal plane can be easily detected.

[0091] The moving carriage 300 includes a pair of first detected parts 307a and 307b, which are respectively arranged at both ends of the cutout portion 305. The horizontal sensor 33 detects the horizontal positions of the first detected parts 307a and 307b. The control device 40 detects the interval L1 between the pair of first detected parts 307a and 307b based on the detection result of the horizontal sensor 33, and detects the rotation angle θ2 of the top plate 10 on the horizontal plane based on the detected interval L1. Here, the interval L1 between the pair of first detected parts 307a and 307b observed from the horizontal sensor 33 changes according to the rotation angle θ2 of the moving carriage 300 on the horizontal plane. Therefore, the interval L1 between the pair of first detected parts 307a and 307b is detected based on the detection result of the horizontal sensor 33, so that the rotation angle θ2 of the top plate 10 on the horizontal plane can be easily detected.

[0092] The position detection unit 30 includes a vertical sensor 34 that detects the distance to the top plate 10 in the vertical direction. The control device 40 performs control such that the robot main body 20 is mounted on the top plate 10 disposed on the moving carriage 300 while the distance to the top plate 10 in the vertical direction is detected by the vertical sensor 34. Thus, the robot main body 20 is moved while the distance to the top plate 10 in the vertical direction is detected by the vertical sensor 34, so that interference between the robot main body 20 and the top plate 10 can be easily suppressed.

[0093] The moving carriage 300 includes a second detected component 308. The position detection unit 30 also includes a horizontal sensor 33, which detects the position of the second detected component 308 in the horizontal direction. The control device 40 performs the following control: based on the detection result of the second detected component 308 by the horizontal sensor 33, it is determined whether the relative position of the robot body 20 and the moving carriage 300 on the horizontal plane is normal, and while the vertical sensor 34 detects the distance to the top plate 10 in the vertical direction, the robot body 20 is mounted on the top plate 10 arranged on the moving carriage 300. Thereby, it is possible to suppress the operation of mounting the robot body 20 on the top plate 10 arranged on the moving carriage 300 in a state where the relative position of the robot body 20 and the moving carriage 300 on the horizontal plane is abnormal.

[0094] The moving carriage 300 includes a second mark 306. The position detection unit 30 includes a second imaging unit 32, and the second imaging unit 32 captures the second mark 306 of the moving carriage 300 in a state where the top plate 10 is not arranged. The control device 40 performs control as follows: based on the image of the second mark 306 captured by the second imaging unit 32, the position of the robot body 20 relative to the top plate 10 is corrected, and the top plate 10 mounted on the robot body 20 is arranged on the moving carriage 300, so that the top plate 10 is separated from the robot body 20. Thus, the positional deviation of the moving carriage 300 can be detected based on the positional deviation on the image of the second mark 306 captured by the second imaging unit 32. As a result, the movement amount of the robot body 20 is corrected based on the detected positional deviation of the moving carriage 300, so that the top plate 10 mounted on the robot body 20 can be appropriately arranged on the moving carriage 300.

[0095] The moving carriage 300 includes a cutout 305. The second mark 306 is arranged on the upper surface 300a of the moving carriage 300. The control device 40 controls as follows: the robot body 20 on which the top plate 10 is mounted is moved to the Z1 side of the cutout 305 of the moving carriage 300, the second mark 306 of the moving carriage 300 is photographed by the second imaging unit 32, the position of the robot body 20 relative to the moving carriage 300 is corrected based on the image of the second mark 306 photographed by the second imaging unit 32, and the top plate 10 mounted on the robot body 20 is arranged on the moving carriage 300, so that the top plate 10 is detached from the robot body 20. Thus, when the top plate 10 is placed on the moving carriage 300 from the Z1 side of the moving carriage 300, the second mark 306 arranged on the upper surface 300a of the moving carriage 300 can be easily photographed by the second imaging unit 32 arranged on the robot body 20.

[0096] The robot system 100 further includes an automatic tool changer 50, which attaches and detaches the top plate 10 to the robot body 20. The control device 40 controls the automatic tool changer 50 to at least one of attach the robot body 20 to the top plate 10 and detach the top plate 10 from the robot body 20. Thus, the automatic tool changer 50 can easily attach and detach the top plate 10 to the robot body 20.

[0097] The robot body 20 also includes a base member 22, which is mounted on the front end of the robot arm 21. The automatic tool changing device 50 and the position detection unit 30 are arranged on the base member 22. As a result, compared with the case where the position detection unit 30 is directly mounted on the robot arm 21, the configuration freedom of the position detection unit 30 can be improved. In addition, in the case where the position detection unit 30 is directly mounted on the robot arm 21, there is a case where the robot arm 21 itself enters the detection range of the position detection unit 30, and a blind spot is generated in the detection range of the position detection unit 30. Therefore, by configuring the position detection unit 30 on the base member 22 mounted on the front end of the robot arm 21, the generation of a blind spot in the detection range of the position detection unit 30 can be suppressed.

[0098] The robot system 100 further includes a torque sensor 60, which is disposed on the robot body 20 and detects a force acting on the robot body 20 according to a load when the robot body 20 is mounted on the top plate 10. The control device 40 performs the following control: based on the position of the top plate 10 arranged on the moving carriage 300 detected by the position detection unit 30, the robot body 20 is moved, and in a state where the robot body 20 and the top plate 10 are in contact, the position of the robot body 20 is adjusted based on the force acting on the robot body 20 detected by the torque sensor 60, and the robot body 20 is mounted on the top plate 10 arranged on the moving carriage 300. Therefore, in the correction of the movement amount of the robot main body 20 based on the detection result of the position detection unit 30, even if the top plate 10 cannot be properly loaded and unloaded on the robot main body 20, the position of the robot main body 20 is adjusted based on the force acting on the robot main body 20 detected by the torque sensor 60, so that the top plate 10 can be properly loaded and unloaded on the robot main body 20.

[0099] [Modifications]

[0100] The embodiments disclosed this time should be considered in all respects as illustrative rather than restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the embodiments described above, and includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0101] In the above embodiment, an example is shown in which the control device 40 corrects the position of the robot body 20 based on the detection result of the position detection unit 30 in both the control of attaching the robot body 20 to the top plate 10 and the control of detaching the top plate 10 from the robot body 20, but the present disclosure is not limited to this. For example, the control device 40 may correct the position of the robot body 20 based on the detection result of the position detection unit 30 in only one of the control of attaching the robot body 20 to the top plate 10 and the control of detaching the top plate 10 from the robot body 20.

[0102] In the above embodiment, the first imaging unit 31 and the second imaging unit 32 are two-dimensional cameras, but the present disclosure is not limited thereto. For example, the first imaging unit 31 and the second imaging unit 32 may be three-dimensional cameras.

[0103] In the above embodiment, the control device 40 detects the tilt angle θ1 of the mounting table 301 of the moving carriage 300 and the rotation angle θ2 of the mounting table 301 around the axis along the Z direction based on the detection result of the horizontal sensor 33, but the present disclosure is not limited to this. For example, the control device 40 may also perform control to correct the position of the robot body 20 relative to the top plate 10 based only on the image of the first mark 11 captured by the first imaging unit 31 without using the detection result of the horizontal sensor 33.

[0104] In the above embodiment, the control device 40 performs control to attach the robot body 20 to the top plate 10 disposed on the moving carriage 300 while detecting the distance along the vertical direction to the top plate 10 by the vertical sensor 34, but the present disclosure is not limited to this. For example, the control device 40 may also perform control to attach the robot body 20 to the top plate 10 based only on the image of the first mark 11 captured by the first imaging unit 31, without using the detection result of the vertical sensor 34.

[0105] In the above embodiment, the control device 40 determines whether the relative position of the robot body 20 and the moving carriage 300 on the horizontal plane is normal based on the detection result of the second detection component 308 by the level sensor 33, but the present disclosure is not limited to this. For example, the control device 40 may also perform control to mount the robot body 20 on the top plate 10 based only on the image of the first mark 11 captured by the first imaging unit 31, without using the detection result of the second detection component 308 by the level sensor 33.

[0106] In the above embodiment, the automatic tool changer 50 and the position detection unit 30 are arranged on the base member 22 , but the present disclosure is not limited thereto. For example, the automatic tool changer 50 and the position detection unit 30 may be directly arranged on the robot arm 21 .

[0107] In the above embodiment, an example is shown in which the present disclosure is applied to the robot system 100 including the top plate 10, the robot body 20, the control device 40, and the position detection unit 30, but the present disclosure is not limited thereto. Fig. 22 As shown in the modified example of , the present disclosure may also be applied to a robot 400 including a robot body 20 , a control device 40 , and a position detection unit 30 .

[0108] In the above-mentioned embodiment, an example in which a plurality of first marks 11 are arranged is shown, but the present disclosure is not limited to this. For example, three first marks 11 are arranged. The first mark 11 has, for example, a circular shape. The shapes of the plurality of first marks 11 may be the same as or different from each other. In addition, the colors of the plurality of first marks 11 may be the same as or different from each other. In addition, text or the like may be recorded on each of the plurality of first marks 11. In addition, the arrangement position of the first mark 11 on the top plate 10 is, for example, a portion of the lower surface 10a of the top plate 10 that can be visually confirmed from the cutout portion 305 described later of the mobile trolley 300 when the top plate 10 is arranged on the mobile trolley 300.

[0109] In the above embodiment, an example is shown in which the control device 40 detects the tilt angle θ1 of the mounting table 301 based on the difference between the height h1 and the height h2, but the present disclosure is not limited to this. For example, the height h1 of the lower end A1 of the first detected component 307a and the height h2 of the lower end A2 of the first detected component 307b may be pre-deviation, and the control device 40 detects the tilt angle θ1 of the mounting table 301 based on the change in the deviation.

[0110] In the above embodiment, an example is shown in which the position detection unit 30 includes a vertical sensor 34 that detects the distance to the top plate 10 along the vertical direction, but the present disclosure is not limited to this. For example, the position detection unit 30 may also include a sensor that detects the distance along the direction intersecting the vertical direction. Therefore, the control device 40 performs the following control: while detecting the distance to the top plate 10 by the sensor that detects the distance along the direction intersecting the vertical direction, the robot body 20 is installed on the top plate 10 configured on the moving carriage 300.

[0111] In the above embodiment, an example is shown in which the control device 40 corrects the position of the robot body 20 relative to the top plate 10 based on the image of the first mark 11 captured by the first imaging unit 31, but the present disclosure is not limited to this. For example, the control device 40 may also correct the position of the robot body 20 relative to the top plate 10 based on information other than the image of the first mark 11 captured by the first imaging unit 31.

[0112] In the above embodiment, an example in which the inspection device 200 is an X-ray inspection device is shown, but the present disclosure is not limited to this. For example, the robot system 100 may be arranged near a treatment device instead of the inspection device 200 .

[0113] In the above embodiment, the example in which the mounting table 301 is supported by the lifting unit 302 is shown, but the present disclosure is not limited thereto. For example, the mounting table 301 may be supported by a supporting unit that does not have a lifting function instead of the lifting unit 302 .

[0114] In the above embodiment, the cutout portion 305 of the mounting table 301 has an example of a rectangular shape, but the present disclosure is not limited thereto. For example, the cutout portion 305 may have a shape other than a rectangular shape.

[0115] In the above embodiment, an example is shown in which only one second detection component 308 is provided, but the present disclosure is not limited thereto. For example, a plurality of second detection components 308 may also be provided.

[0116] The functions of the elements disclosed in this specification can be performed using circuits or processing circuits including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), existing circuits, and / or combinations thereof that are configured or programmed to perform the disclosed functions. The processor includes transistors and other circuits, so it is considered a processing circuit or circuit. In the present disclosure, a circuit, unit, or mechanism is hardware that performs the listed functions, or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or configured to perform the listed functions. In the case where the hardware is a processor that is considered to be a type of circuit, the circuit, mechanism, or unit is a combination of hardware and software, and the software is used to constitute the hardware and / or processor.

[0117] [form]

[0118] It will be understood by those skilled in the art that the above-mentioned exemplary embodiments are specific examples of the following aspects.

[0119] (Item 1)

[0120] A robot system, comprising:

[0121] A top plate, which carries the patient and is arranged on a mobile trolley;

[0122] The robot body includes a robot arm that is mounted on and removed from the top plate;

[0123] a position detection unit configured to detect at least one of a position of the top plate disposed on the moving carriage and a position of the moving carriage in a state where the top plate is not disposed, and the position detection unit is configured on the robot main body; and

[0124] Control device,

[0125] The control device performs at least one of the following controls:

[0126] Based on the position of the top plate disposed on the moving carriage detected by the position detection unit, the robot main body is moved to attach the robot main body to the top plate; and

[0127] Based on the position of the moving carriage detected by the position detection unit in a state where the top plate is not arranged, the robot body is moved, the top plate mounted on the robot body is arranged on the moving carriage, and the top plate is detached from the robot body.

[0128] (Item 2)

[0129] A robot system according to item 1, wherein:

[0130] The control device performs the following two controls: mounting the robot body on the top plate based on the position of the top plate detected by the position detection unit; and detaching the top plate from the robot body based on the position of the moving carriage detected by the position detection unit.

[0131] (Item 3)

[0132] A robot system according to item 1 or 2, wherein:

[0133] The position detection unit includes a first imaging unit configured to image the top plate disposed on the moving carriage.

[0134] The control device performs control to correct the position of the robot main body relative to the top plate and to install the robot main body based on information captured by the first imaging unit.

[0135] (Item 4)

[0136] A robot system according to item 3, wherein:

[0137] The top plate includes a first mark,

[0138] The above-mentioned moving trolley includes a cutout portion,

[0139] The top plate is placed above the cutout portion of the moving carriage.

[0140] The first mark is arranged on the lower surface of the top plate.

[0141] The above control device performs the following control:

[0142] The robot main body is moved to below the cutout portion of the moving carriage on which the top plate is placed,

[0143] The first imaging unit captures the first mark disposed on the lower surface of the top plate.

[0144] The position of the robot main body relative to the top plate is corrected based on the image of the first marker captured by the first imaging unit, and the robot main body is mounted on the top plate disposed on the moving carriage.

[0145] (Item 5)

[0146] A robot system according to item 3 or 4, wherein:

[0147] The position detection unit includes a horizontal sensor, and the horizontal sensor detects the position of the object to be measured in the horizontal direction.

[0148] The above control device performs the following control:

[0149] Based on the detection result of the horizontal sensor, at least one of the inclination angle of the top plate relative to the horizontal plane and the rotation angle of the top plate on the horizontal plane is detected,

[0150] Based on the image of the first mark captured by the first imaging unit and at least one of the inclination angle and the rotation angle of the top plate, the position of the robot body relative to the top plate is corrected, and the robot body is mounted on the top plate arranged on the moving carriage.

[0151] (Item 6)

[0152] A robot system according to item 5, wherein:

[0153] The above-mentioned mobile trolley includes:

[0154] incision; and

[0155] A pair of first detection components are respectively arranged at both ends of the cutout portion.

[0156] The horizontal sensor detects the horizontal position of the first detected component.

[0157] The control device detects the height of the lower end of each of the pair of first detection members based on the detection result of the level sensor, and detects the inclination angle of the top plate placed on the moving carriage relative to the horizontal plane based on the detected height.

[0158] (Item 7)

[0159] A robot system according to item 6, wherein:

[0160] The moving carriage includes a pair of first detected components, and the pair of first detected components are respectively arranged at both ends of the cutout portion.

[0161] The horizontal sensor detects the horizontal position of the first detected component.

[0162] The control device detects a distance between the pair of first detected members based on a detection result of the horizontal sensor, and detects a rotation angle of the top plate on the horizontal plane based on the detected distance.

[0163] (Item 8)

[0164] The robot system according to any one of items 1 to 7, wherein:

[0165] The position detection unit includes a vertical sensor, and the vertical sensor detects the distance to the top plate along the vertical direction.

[0166] The above control device performs the following control:

[0167] The robot main body is mounted on the top plate disposed on the moving carriage while detecting the distance to the top plate in the vertical direction by the vertical sensor.

[0168] (Item 9)

[0169] A robot system according to item 8, wherein:

[0170] The above-mentioned moving trolley includes a second detected component,

[0171] The position detection unit further includes a horizontal sensor, and the horizontal sensor detects the horizontal position of the second detected component.

[0172] The above control device performs the following control:

[0173] On the one hand, based on the detection result of the second detection member by the horizontal sensor, it is determined whether the relative position of the robot body and the moving carriage on the horizontal plane is normal, and

[0174] The robot main body is mounted on the top plate disposed on the moving carriage while detecting the distance to the top plate in the vertical direction by the vertical sensor.

[0175] (Item 10)

[0176] A robot system according to any one of items 1 to 9, wherein:

[0177] The moving trolley includes a second marker,

[0178] The position detection unit includes a second imaging unit configured to image the second mark of the moving carriage in a state where the top plate is not disposed.

[0179] The above control device performs the following control:

[0180] Based on the image of the second mark captured by the second imaging unit, the position of the robot body relative to the top plate is corrected, and the top plate mounted on the robot body is disposed on the moving carriage to detach the top plate from the robot body.

[0181] (Item 11)

[0182] A robot system according to item 10, wherein:

[0183] The above-mentioned moving trolley includes a cutout portion,

[0184] The second mark is arranged on the upper surface of the moving trolley.

[0185] The above control device performs the following control:

[0186] The robot main body with the top plate mounted thereon is moved to above the cutout portion of the moving carriage,

[0187] The second imaging unit captures the second mark of the moving vehicle.

[0188] Based on the image of the second mark captured by the second imaging unit, the position of the robot body relative to the moving carriage is corrected, and the top plate mounted on the robot body is arranged on the moving carriage to detach the top plate from the robot body.

[0189] (Item 12)

[0190] A robot system according to any one of items 1 to 11, wherein:

[0191] The robot also includes an automatic tool changing device, which is used to attach and detach the top plate from the robot body.

[0192] The control device controls the automatic tool changer to perform at least one of control of attaching the robot main body to the top plate and control of detaching the top plate from the robot main body.

[0193] (Item 13)

[0194] A robot system according to item 12, wherein:

[0195] The robot body also includes a base component, which is mounted on the front end of the robot arm.

[0196] The automatic tool changing device and the position detecting unit are disposed on the base member.

[0197] (Item 14)

[0198] A robot system according to any one of items 1 to 13, wherein:

[0199] A torque sensor is further provided, the torque sensor being disposed on the robot body and detecting a force acting on the robot body according to a load when the robot body is mounted on the top plate.

[0200] The above control device performs the following control:

[0201] Based on the position of the top plate disposed on the moving carriage detected by the position detection unit, the robot main body is moved;

[0202] In a state where the robot main body is in contact with the top plate, the position of the robot main body is adjusted based on the force acting on the robot main body detected by the torque sensor.

[0203] The robot main body is mounted on the top plate disposed on the moving carriage.

[0204] (Item 15)

[0205] A robot, comprising:

[0206] The robot body includes a robot arm that is mounted on and removed from a top plate, the top plate carries a patient and is arranged on a mobile trolley;

[0207] a position detection unit configured to detect the position of the top plate disposed on the moving carriage or the position of the moving carriage in a state where the top plate is not disposed, and the position detection unit is configured on the robot main body; and

[0208] Control device,

[0209] The control device performs at least one of the following controls:

[0210] Based on the position of the top plate disposed on the moving carriage detected by the position detection unit, the robot main body is moved to attach the robot main body to the top plate disposed on the moving carriage; and

[0211] Based on the position of the moving carriage detected by the position detection unit in a state where the top plate is not arranged, the robot body is moved, the top plate mounted on the robot body is arranged on the moving carriage, and the top plate is detached from the robot body.

Claims

1. A robot system, characterized in that: have: A top plate, which carries the patient and is arranged on a mobile trolley; A robot main body, including a robot arm mounted on and unmounted from the top plate; a position detection unit configured to detect at least one of a position of the top plate disposed on the moving carriage and a position of the moving carriage in a state where the top plate is not disposed, and the position detection unit is configured on the robot main body; as well as Control device, The control device performs at least one of the following controls: Based on the position of the top plate arranged on the moving carriage detected by the position detection unit, the robot main body is moved to attach the robot main body to the top plate; and Based on the position of the moving carriage detected by the position detection unit in a state where the top plate is not arranged, the robot body is moved, the top plate attached to the robot body is arranged on the moving carriage, and the top plate is detached from the robot body.

2. The robot system according to claim 1, characterized in that: The control device performs the following two controls: mounting the robot main body on the top plate based on the position of the top plate detected by the position detection unit; and detaching the top plate from the robot main body based on the position of the moving carriage detected by the position detection unit.

3. The robot system according to claim 1, characterized in that: The position detection unit includes a first imaging unit configured to image the top plate disposed on the moving carriage. The control device performs control to correct the position of the robot main body relative to the top plate and to install the robot main body based on information captured by the first imaging unit.

4. The robot system according to claim 3, characterized in that: The top plate includes a first marking, The moving trolley includes a cutout portion, The top plate is placed above the cutout portion of the moving carriage. The first mark is arranged on the lower surface of the top plate, The control device performs the following control: The robot body is moved to a position below the cutout portion of the moving carriage on which the top plate is placed. photographing the first mark disposed on the lower surface of the top plate by the first photographing unit, Based on the image of the first mark captured by the first imaging unit, the position of the robot main body relative to the top plate is corrected, and the robot main body is mounted on the top plate disposed on the moving carriage.

5. The robot system according to claim 3, characterized in that: The position detection unit includes a horizontal sensor that detects the position of the object to be measured in the horizontal direction. The control device performs the following control: Based on the detection result of the horizontal sensor, at least one of the inclination angle of the top plate relative to the horizontal plane and the rotation angle of the top plate on the horizontal plane is detected, Based on the image of the first mark captured by the first imaging unit and at least one of the inclination angle and the rotation angle of the top plate, the position of the robot body relative to the top plate is corrected, and the robot body is mounted on the top plate arranged on the moving carriage.

6. The robot system according to claim 5, characterized in that: The mobile trolley comprises: incision; and A pair of first detection components are respectively arranged at two ends of the cutout portion, The horizontal sensor detects the horizontal position of the first detected component. The control device detects the height of the lower end of each of the pair of first detection members based on the detection result of the level sensor, and detects the inclination angle of the top plate placed on the moving carriage with respect to the horizontal plane based on the detected height.

7. The robot system according to claim 6, characterized in that: The moving carriage includes a pair of first detection components, and the pair of first detection components are respectively arranged at both ends of the cutout portion. The horizontal sensor detects the horizontal position of the first detected component. The control device detects a distance between the pair of first detected members based on a detection result of the horizontal sensor, and detects a rotation angle of the top plate on the horizontal plane based on the detected distance.

8. The robot system according to claim 1, characterized in that: The position detection unit includes a vertical sensor, and the vertical sensor detects the distance to the top plate along the vertical direction. The control device performs the following control: The robot main body is mounted on the top plate disposed on the moving carriage while detecting the distance to the top plate in the vertical direction by the vertical sensor.

9. The robot system according to claim 8, characterized in that: The mobile trolley includes a second detected component, The position detection unit further includes a horizontal sensor, which detects the horizontal position of the second detected component. The control device performs the following control: On the one hand, based on the detection result of the second detection member by the horizontal sensor, it is determined whether the relative position of the robot main body and the moving carriage on the horizontal plane is normal, and The robot main body is mounted on the top plate disposed on the moving carriage while detecting the distance to the top plate in the vertical direction by the vertical sensor.

10. The robot system according to claim 1, characterized in that: The moving trolley includes a second marker, The position detection unit includes a second imaging unit configured to image the second mark of the moving carriage in a state where the top plate is not disposed. The control device performs the following control: Based on the image of the second mark captured by the second imaging unit, the position of the robot body relative to the top plate is corrected, and the top plate mounted on the robot body is disposed on the moving carriage to be detached from the robot body.

11. The robot system according to claim 10, characterized in that: The moving trolley includes a cutout portion, The second mark is arranged on the upper surface of the moving carriage, The control device performs the following control: The robot main body with the top plate mounted thereon is moved to above the cutout portion of the moving carriage, photographing the second mark of the moving carriage by the second photographing unit, Based on the image of the second mark captured by the second imaging unit, the position of the robot body relative to the moving carriage is corrected, and the top plate mounted on the robot body is arranged on the moving carriage to be detached from the robot body.

12. The robot system according to claim 1, characterized in that: The robot also includes an automatic tool changing device for attaching and detaching the top plate to and from the robot body. The control device controls the automatic tool changer to perform at least one of control of attaching the robot main body to the top plate and control of detaching the top plate from the robot main body.

13. The robot system according to claim 12, characterized in that: The robot body also includes a base component, which is mounted on the front end of the robot arm. The automatic tool changing device and the position detecting unit are disposed on the base member.

14. The robot system according to claim 1, characterized in that: A torque sensor is further provided, the torque sensor being arranged on the robot body and detecting a force acting on the robot body according to a load when the robot body is mounted on the top plate. The control device performs the following control: The robot main body is moved based on the position of the top plate disposed on the moving carriage detected by the position detection unit, In a state where the robot main body and the top plate are in contact, the position of the robot main body is adjusted based on the force acting on the robot main body detected by the torque sensor, The robot main body is mounted on the top plate disposed on the moving carriage.

15. A robot, characterized in that: have: The robot body includes a robot arm that is mounted on and removed from a top plate, the top plate carrying a patient and arranged on a moving trolley; a position detection unit configured to detect the position of the top plate arranged on the moving carriage or the position of the moving carriage in a state where the top plate is not arranged, and the position detection unit is configured on the robot main body; as well as Control device, The control device performs at least one of the following controls: Based on the position of the top plate arranged on the moving carriage detected by the position detection unit, the robot main body is moved to attach the robot main body to the top plate arranged on the moving carriage; and Based on the position of the moving carriage detected by the position detection unit in a state where the top plate is not arranged, the robot body is moved, the top plate attached to the robot body is arranged on the moving carriage, and the top plate is detached from the robot body.

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