Robot device

Abstract

The purpose of the present invention is to provide a technology whereby it is possible to change at least one of the position and orientation of a robot without introducing large equipment such as an AGV. A robot device (10) according to one embodiment of the present disclosure includes a robot arm mechanism (20) mounted on a pedestal (50), and a control device (40) that controls the robot arm mechanism (20) to execute a predetermined task. The control device (40) controls the robot arm mechanism (20) so as to move the pedestal (50).

Description

Technical Field

[0001] The present invention relates to a robot device capable of changing at least one of a position and an orientation. Background Art

[0002] With the development of technology in recent years, robots are used in various environments. In addition to the conventional method of fixing robots to the ground, robots can also be mounted on carts or AGVs (Automated Guided Vehicles) to move robots to the required places at the required time to improve their safety (for example, Patent Document 1).

[0003] Prior art literature Patent Literature Patent Document 1: Japanese Patent Application Publication No. 2011-173218 Summary of the invention Problem that the invention aims to solve However, in the case of a moving method using a cart, an operator needs to move the cart. Therefore, in the case where the robot moves frequently, the operator needs to always be near the robot. Therefore, the effect of reducing the number of operators by introducing robots is low. On the other hand, in the case of a moving method using an AGV, there is no need for operator operation like a cart, but since a control device, a drive device, etc. are required to constitute the AGV, the entire device becomes expensive. In terms of the relationship between cost and effect, the operations that can introduce the AGV are limited.

[0004] Therefore, there is a need for a technology that can change at least one of the position and orientation of a robot without introducing large-scale equipment.

[0005] Means used to solve problems The robot device disclosed in the present invention comprises: a robot arm mechanism placed on a pedestal; and a control device controlling the robot arm mechanism to execute a predetermined task. The control device controls the robot arm mechanism to move the pedestal. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a diagram showing a robot system according to the first embodiment.

[0007] Figure 2 yes Figure 1 The hardware structure diagram of the control device.

[0008] Figure 3 yes Figure 1 Functional block diagram of the control device.

[0009] Figure 4It is a diagram showing a robot system according to a first modification example of the first embodiment.

[0010] Figure 5 It is a diagram showing a robot system according to a second modification example of the first embodiment.

[0011] Figure 6 It is a diagram showing a robot system according to a third modified example of the first embodiment.

[0012] Figure 7 It is a diagram showing a robot system according to a second embodiment.

[0013] Figure 8 It is a diagram showing a robot system according to a modified example of the second embodiment.

[0014] Fig. 9 It is a diagram showing a robot system according to a third embodiment.

[0015] Fig.10 It is a diagram showing a robot system according to a fourth embodiment. DETAILED DESCRIPTION

[0016] Hereinafter, the robot system of the present embodiment will be described with reference to the drawings. In the following description, components having substantially the same function and structure are denoted by the same reference numerals, and repeated description will be given only when necessary.

[0017] A feature of the robot system of this embodiment is that a robot arm mechanism is mounted on a movable pedestal, and the pedestal is moved by the action of the robot arm mechanism. The pedestal is mounted with the robot arm mechanism, so the robot arm mechanism moves together with the pedestal. Since the robot arm mechanism functions as a driving source for driving the movement of the pedestal, there is no need to separately provide a driving source for driving the movement of the pedestal. Furthermore, since the robot arm mechanism for performing a prescribed task is also used to move the pedestal, there is no need to install a dedicated hand for moving the pedestal, and it is also possible to suppress the enlargement of the fingers and suppress the cost.

[0018] like Figure 1As shown, the robot system 1 of the first embodiment includes a robot device 10 and a trolley 50. The robot device 10 includes a robot arm mechanism 20 and a control device 40 that controls the robot arm mechanism 20. The robot arm mechanism 20 can be mounted on the trolley 50 as a movable pedestal. The robot arm mechanism 20 includes a plurality of joints 21, 22, 23, 24, 25, and 26. For example, each of the joints 21, 22, 23, 24, 25, and 26 includes a motor as a driving source for driving the joints and an encoder that detects the rotation position of the motor. In addition, the robot arm mechanism 20 is equipped with a force sensor 29. For example, the force sensor 29 is provided on at least one of the plurality of joints 21, 22, 23, 24, 25, and 26. The output of the force sensor 29 is sequentially input to the control device 40. In the first embodiment, the output of the force sensor 29 is used for collision detection between the trolley 50 and an obstacle. Therefore, as long as the sensor output can be used for collision detection, the type of the sensor is not limited to the force sensor. For example, a torque sensor, an acceleration sensor, or the like may be used instead of the force sensor 29 .

[0019] The robot arm mechanism 20 has a hand 30 suitable for performing a predetermined task. In the first embodiment, the robot arm mechanism 20 is equipped with a hand 30 suitable for picking up a workpiece and having a pair of fingers 31 that can be opened and closed freely.

[0020] The trolley 50 has four wheels 51 installed at the front, back, left, and right sides of the lower part of a base frame 52 formed into a rectangular parallelepiped. The trolley 50 is not self-propelled and does not have a drive device for driving the wheels 51 or a control device for controlling the movement of the wheels. The robot mechanism 20 is fixed to the upper surface of the base frame 52. The control device 40 for controlling the robot mechanism 20 is accommodated inside the base frame 52 of the trolley 50.

[0021] like Figure 2 As shown, the control device 40 is configured as hardware such as a communication device 42 and a storage device 43 connected to a processor 41 such as a CPU. The communication device 42 controls the transmission and reception of data with the robot device 10. The storage device 43 is provided by a HDD (Hard Disk Drive), an SSD (Solid State Drive), etc. The storage device 43 stores a task program for causing the robot arm mechanism 20 to perform a specified task and a movement program for causing the trolley 50 equipped with the robot arm mechanism 20 to move to a specified position and direction. In the task program and the movement program, the teaching position of the finger reference point, the teaching posture, the action instructions, etc. are recorded in sequence.

[0022] By executing the movement program stored in the storage device 43 with the processor 41 , the control device 40 functions as a robot control unit 45 , a data receiving unit 46 , a storage unit 47 , and a collision detection unit 48 , and controls the robot mechanism 20 to move the carriage 50 .

[0023] The robot control unit 45 supplies current to the servo motors that drive the joints 21, 22, 23, 24, 25, and 26 of the robot mechanism 20 and the servo motor that drives the hand 30 based on the movement position instruction specified by the movement program and the opening and closing action instruction of the hand 30. The servo motor is driven to rotate by the current supplied from the control device 40. As a result, the robot mechanism 20 performs the action specified by the movement program. Specifically, each joint 21, 22, 23, 24, 25, and 26 is driven to move the hand 30 to the gripping position where the wheel 51 is arranged between a pair of fingers 31. Next, the hand 30 is driven to grip the wheel 51 by the pair of fingers 31. Then, each joint 21, 22, 23, 24, 25, and 26 is driven to move the hand 30 from the gripping position along the circumferential direction of the wheel 51 while the wheel 51 is gripped by the pair of fingers 31. By causing the robot mechanism 20 to repeatedly perform these operations, the robot mechanism 20 can be moved together with the carriage 50 .

[0024] The data receiving unit 46 receives output data of the force sensor 29 mounted on the robot mechanism 20. The output data of the force sensor received by the data receiving unit 46 is stored in the storage unit 47.

[0025] The collision detection unit 48 detects that the carriage 50 has collided with an obstacle based on the output of the force sensor 29 installed on the robot mechanism 20. For example, the collision detection unit 48 calculates the load based on the output of the force sensor 29 when the carriage 50 is moved without an obstacle and holds it as a reference load, calculates the difference between the load based on the output of the force sensor 29 when the carriage 50 is actually moved and the reference load, and detects that the carriage 50 has collided with the obstacle when the difference is greater than a threshold value. Since the existing force sensor 29 of the robot mechanism 20 can be used to detect the collision of the carriage 50, there is no need to provide a sensor for collision detection on the carriage 50, so the existing carriage 50 can be used, which helps to suppress costs.

[0026] According to reference Figures 1 to 3The robot system 1 of the first embodiment described above can rotate the wheels 51 of the trolley 50 by mounting the robot mechanism 20 on the movable trolley 50, and directly holding the wheels 51 of the trolley 50 by a pair of fingers 31 of the robot mechanism 20 to move it in a circumferential direction. Thus, the robot mechanism 20 can move together with the trolley 50. The movement of the trolley 50 is driven by the robot mechanism 20, so the trolley 50 does not need to be self-propelled, and an existing trolley can be used.

[0027] In addition, if the robot arm mechanism 20 has a hand 30 that can grasp the wheel 51, it is not necessary to install a special device or mechanism just for moving the trolley 50, and it is sufficient to prepare a movement program for moving the trolley 50. In this way, the existing trolley 50 can be used, and the robot arm mechanism 20 does not need to install dedicated hardware for moving the trolley 50.

[0028] Furthermore, according to the robot system 1 of the first embodiment, it is possible to detect that the trolley 50 has collided with an obstacle based on the output of the force sensor 29 installed in the robot arm mechanism 20. Since the collision of the trolley 50 can be detected using the sensor mounted on the robot arm mechanism 20, there is no need to install a sensor for collision detection on the trolley 50, and there is no need to install a new device for collision detection on the robot arm mechanism. In this way, according to the robot system 1 of the first embodiment, a system that moves the robot arm mechanism 20 can be constructed at a reduced cost compared to a system including an AGV.

[0029] In addition, in the first embodiment, the robot mechanism 20 only performs the action of holding the wheel 51 of the trolley 50 to rotate it, but the action of the robot mechanism 20 is not limited to this. For example, if the trolley 50 has a mechanism for locking the rotation of the wheel 51, the robot mechanism 20 can also be controlled to perform the action of releasing the locking mechanism and the action of locking when the control device 40 starts to move the trolley 50 and stops the movement of the trolley 50.

[0030] In addition, the robot system 1 of the first embodiment may also have a detection device such as a sensor for detecting the position of the trolley 50, and the control device 40 controls the robot mechanism 20 based on the output of the sensor. For example, a camera, a light sensor, etc. can be used as the detection device. If a wrist camera or the like is installed on the robot mechanism 20, the output of the camera can be used as a sensor for detecting the position of the trolley 50.

[0031] Figure 4 A robot system 2 according to a first modification of the first embodiment is shown. In the second modification, the structure of the carriage mounted on the robot arm mechanism 20 is different from that of the first embodiment. Accordingly, the motion control of the robot arm mechanism 20 for moving the carriage is also different from that of the first embodiment.

[0032] like Figure 4 As shown, the trolley 60 is based on the trolley 50 and has a rotating member 54, a handle 53 for rotating the rotating member 54, and a transmission mechanism 55 for transmitting the rotational force of the rotating member 54 to the wheel 51. The control device 40 controls the robot mechanism 20 to rotate the handle 53. The robot mechanism 20 rotates the handle 53, so that its rotational force is transmitted to the wheel 51 via the transmission mechanism 55, thereby rotating the wheel 51 of the trolley 60, and the robot mechanism 20 moves together with the trolley 50.

[0033] according to Figure 1 In the robot system 1 of the first embodiment shown in FIG. 1 , the wheels 51 rotating on the ground are directly held by the robot arm mechanism 20. Figure 4 In the robot system 2 of the first modified example shown, the dedicated handle 53 for operating the wheel 51 is held by the robot arm mechanism 20. Therefore, from the viewpoint of hygiene, Figure 4 The robot system 2 of the first modified example shown in FIG. Figure 1 In addition, only the handle 53, the rotating member 54, and the transmission mechanism 55 are added to the existing trolley 50. Therefore, considering the modification cost of the existing trolley 50, the robot system 2 of the first modified example can constitute a system that moves the robot arm mechanism 20 at a suppressed cost compared to the system including the AGV.

[0034] Figure 5 A robot system 3 according to a second modified example of the first embodiment is shown. Figure 5 As shown, the robot system 3 of the second variant adopts a two-arm robot mechanism 70 as the robot mechanism carried by the trolley 50. The two-arm robot mechanism 70 has a pair of arms 71 and 72 that can be independently controlled. The pair of arms 71 and 72 are both equipped with a hand 30 with a pair of fingers 31. The control device 40 controls the robot mechanism 70 to rotate the pair of wheels 51 of the trolley 50 through the pair of arms 71 and 72. As a result, the robot mechanism 70 can be moved together with the trolley 50. In addition, by controlling the robot mechanism 70 so that the pair of wheels 51 of the trolley 50 rotate at different rotation speeds, the trolley 50 can be moved in a curve. This is a great advantage of moving the trolley 50 by the two-arm robot mechanism 70. Therefore, from the perspective of expanding the range of movement, the robot system 3 of the second variant has an advantage over the robot system 1 of the first embodiment.

[0035] Figure 6A robot system 4 according to a third modification of the first embodiment is shown. In the third modification, the motion control of the robot arm mechanism 20 for moving the carriage is different from that in the first embodiment. Figure 6 As shown, according to the robot system 4 of the third modified example, a storage portion 81 for accommodating a rod member 82 is provided on the trolley 80, and a plurality of recessed portions 85 capable of inserting the rod member are provided on the ground on which the trolley 80 travels along the moving route of the trolley. The control device 40 controls the robot arm mechanism 20 to move the trolley 80. Specifically, the joints 21, 22, 23, 24, 25, 26 and the hand 30 are driven to grasp and take out the rod member 82 accommodated in the storage portion 81 of the trolley 80 by a pair of fingers 31 (see Figure 6 Next, the joints 21, 22, 23, 24, 25, and 26 are driven to insert the rod member 82 into the recessed portion 85 opened on the ground while the rod member 82 is held by a pair of fingers 31 (see Figure 6 (b) in the figure). Next, the joints 21, 22, 23, 24, 25, and 26 are driven to move the hand 30 to the side of the carriage 80. At this time, the rod member 82 held by the robot mechanism 20 is inserted into the recessed portion 85, so that the hand side of the robot mechanism 20 is fixed relative to the ground, and the carriage 80 fixed to the base side of the robot mechanism 20 can move freely. Therefore, the carriage 80 is pulled toward the hand 30 of the robot mechanism 20 (refer to Figure 6 In this way, by driving the joints 21, 22, 23, 24, 25, and 26 of the robot arm mechanism 20 while the rod member 82 held by the robot arm mechanism 20 is inserted into the recessed portion 85 formed on the ground, the trolley 80 can be pulled toward the recessed portion 85, so that the robot arm mechanism 20 can move together with the trolley.

[0036] according to Figure 6 The robot system 4 of the third modified example shown in FIG. 1 can move the robot arm mechanism 20 and the carriage 80 toward the recessed portion 85 together, so the moving track is not limited to a linear track. Figure 6 The structure shown is not used even if Figure 4 In the case of the double-arm type robot mechanism 70 as shown, the robot mechanism 20 can also be moved in a curved shape together with the carriage 80 .

[0037] In addition, since the rod member 82 can be inserted into the recessed portion 85, the rod member 82 can be formed integrally with the robot arm mechanism 20 or mounted on the robot arm mechanism 20 instead of being held by the robot arm mechanism 20. That is, even if the robot arm mechanism 20 does not have a holding function or an adsorption function and cannot hold or adsorb the rod member 82, it can be adsorbed by simply providing a rod-shaped protrusion on the robot arm mechanism 20. Figure 6The motion control of the robot arm mechanism 20 shown in the figure makes the robot arm mechanism 20 move together with the carriage 80. Figure 6 In the robot system 4 of the third modified example shown, the type of the hand 30 is not limited, so the applicable range is wider than Figure 1 , Figure 4 , Figure 5 The robotic system shown is large.

[0038] In addition, the arrangement of the storage portion 81 for accommodating the rod member 82 on the carriage 80 or the arrangement of the rod-shaped protrusion on the robot mechanism 20 does not require a large device, and thus increases in cost are suppressed. When the rod-shaped protrusion is arranged on the robot mechanism 20, the protrusion can be arranged at a position that does not affect the general movement of the robot mechanism 20. Figure 6 In the embodiment, a recessed portion 85 is provided on the ground where the carriage 80 travels, but it is not necessary to provide the recessed portion 85 on the ground, and it is sufficient as long as a recessed portion 85 for inserting the rod member 82 is provided on the moving route of the carriage 80 or around it. Compared with the case where the recessed portion 85 is provided on the ground, providing the recessed portion 85 on a structure fixed to the ground is advantageous in terms of safety and cost, and from the viewpoint of safety, the robot system 4 of the third modified example is equivalent to the robot system 1 of the first embodiment.

[0039] Figure 1 , Figure 4 , Figure 5 , Figure 6 In the first embodiment shown, the wheel 51, the handle 53, or the rod member 82 is grasped by the opening and closing motion of the hand 30. However, the motion of the hand 30 used is not limited to the opening and closing motion. For example, the suction motion of the hand 30 can be used. Figure 1 , Figure 4 When the robot device 10 shown uses the suction action, the wheel 51 can be rotated by driving the joints 21, 22, 23, 24, 25, and 26 of the robot mechanism 20 while the hand 30 is sucking a part of the frame of the wheel 51, so that the robot mechanism 20 and the carriage 50 can be moved together. Figure 6 When the robot device 10 shown uses the suction operation, the sucked rod member 82 is inserted into the recessed portion 85 , and the robot arm mechanism 20 can be moved together with the carriage 80 .

[0040] Thus, according to the reference Figure 1 , Figure 4 , Figure 5 , Figure 6The robot systems 1, 2, 3, and 4 described above can use the movements of a robotic arm mechanism and the widely used existing grasping or suction movements of a hand to move the trolley. Therefore, there is no need to have a large device or structure that is only used to move the trolley. The movement of the robotic arm mechanism 20 can be achieved in the same way as an AGV, while the robot system including the trolley can be constructed at a reduced cost compared to a system including an AGV.

[0041] In the first embodiment, the robot mechanism 20 is mounted on the carriage 50 , but the mechanism on which the robot mechanism 20 is mounted is not limited to the carriage 50 as long as the robot mechanism 20 can be moved.

[0042] Figure 7 FIG. 5 shows a robot system 5 according to a second embodiment. In the second embodiment, the robot arm mechanism 20 is mounted on the sliding mechanism. Specifically, Figure 7 As shown, a guide rail 91 is laid within the moving range of the robot mechanism 20, and the robot mechanism 20 is mounted on a pedestal 92 that can move freely relative to the guide rail 91. The guide rail 91 and the pedestal 92 together constitute a sliding mechanism. A rod-shaped or plate-shaped gear, i.e., a rack 93, is installed on the guide rail 91. The rack 93 meshes with a pinion 94 that is a circular gear. A handle 95 for rotating the pinion 94 is installed on the pinion 94. The control device 40 controls the robot mechanism 20 to rotate the handle 95. By the rotation operation of the handle 95 by the robot mechanism 20, the pinion 94 rotates in one direction on the rack 93. At this time, the hand 30 side of the robot mechanism 20 is fixed relative to the pinion 94, and the pedestal 92 fixed on the base side of the robot mechanism 20 can move freely along the guide rail 91. In addition, the rack 93 is installed to be parallel to the guide rail 91. That is, by rotating the handle 95 through the robot mechanism 20 , the pinion 94 moves in one direction along the rack 93 , and the movement of the pinion 94 allows the robot mechanism 20 to move in one direction along the guide rail 91 together with the pedestal 92 .

[0043] Thus, according to the robot system of the second embodiment, the same effect as that of the first embodiment is achieved. That is, the movement of the pedestal 92 is driven by the rotation operation of the pinion 94 by the robot mechanism 20, so a driving source for driving the movement of the pedestal 92 and a control device for controlling the movement of the pedestal 92 are not required. In addition, the rotation operation of the pinion 94 by the robot mechanism 20 is realized by the opening and closing action of the hand 30 and the rotation action of each joint part of the existing robot mechanism 20, so there is no need to install a special mechanism or device only for moving the pedestal 92, and only a rotation program for rotating the pinion 94 is required. The existing sliding mechanism can be used, and the robot mechanism 20 does not need to install a dedicated mechanism or device for moving the pedestal 92 of the sliding mechanism, so the robot system 5 of the second embodiment can constitute a system for moving the robot mechanism 20 at a suppressed cost compared with a system including an AGV.

[0044] Figure 8 A robot system 6 according to a modified example of the second embodiment is shown. Figure 8 As shown, in a modified example of the second embodiment, a wall 96 is provided as a structure at a position close to the guide rail 91 instead of the rack 93 and the pinion 94 in the second embodiment. Typically, the wall 96 is arranged in a direction orthogonal to the guide rail 91 within the movable range of the finger reference point (for example, the opening and closing center position of a pair of fingers) of the hand 30 of the robot mechanism 20, and the robot mechanism 20 is mounted on a pedestal 92 that is at least freely movably provided on the guide rail 91. The control device 40 controls the robot mechanism 20 to move the pedestal 92 using the wall 96. Specifically, each joint 21, 22, 23, 24, 25, 26 is driven so that the hand 30 of the robot mechanism 20 abuts against the wall 96. Then, each joint 21, 22, 23, 24, 25, 26 is driven so that the hand 30 moves along the guide rail 91 in a direction toward the wall 96. At this time, the hand 30 side of the robot mechanism 20 is fixed relative to the wall 96, and the base side of the robot mechanism 20, that is, the pedestal 92 on which the robot mechanism 20 is mounted, can move freely along the guide rail 91. Therefore, by driving each joint 21, 22, 23, 24, 25, 26 to move the hand 30 along the guide rail 91 toward the wall 96, the robot mechanism 20 and the pedestal 92 can be moved together in the direction away from the wall 96. Of course, the structure is not limited to the wall 96, and can be any structure that is fixed relative to the installation surface and can be pressed by the robot mechanism 20. In addition, there may be multiple structures, and they may be structures of the same type.

[0045] Thus, according to the robot system 6 of the modified example of the second embodiment, the same effect as that of the second embodiment is achieved. That is, it is sufficient to arrange the structure 96 fixed to the ground near the guide rail 91, and the existing sliding mechanism can be used, and the robot device does not need to install a dedicated mechanism or device for moving the base 92 of the sliding mechanism. Therefore, the robot system 6 of the modified example of the second embodiment can constitute a system for moving the robot arm mechanism 20 at a suppressed cost compared with the system including the AGV.

[0046] Fig. 9 FIG. 2 shows a robot system 7 according to a third embodiment. In the third embodiment, the robot arm mechanism 20 is mounted on a turntable 100. Specifically, Fig. 9 As shown, the robot mechanism 20 is fixed at the rotation center position of the turntable 100 or at a position deviated from the rotation center. When fixed at a position deviated from the rotation center of the turntable 100, the robot mechanism 20 can move along a circular track. A handle 101 is provided on the setting surface where the turntable 100 is provided. The control device 40 controls the robot mechanism 20 to rotate the turntable 100. Specifically, each joint 21, 22, 23, 24, 25, 26 and the hand 30 are driven to hold the handle 101 by a pair of fingers 31. Then, each joint 21, 22, 23, 24, 25, 26 is driven to move the hand 30 along the circumferential direction of the turntable 100. At this time, the hand side of the robot mechanism 20 is fixed relative to the handle 101, and the turntable 100 fixed to the base side of the robot mechanism 20 is free to rotate, so that the turntable 100 can be rotated in the direction opposite to the moving direction of the hand 30. Thereby, at least one of the position and the orientation of the robot mechanism 20 mounted on the turntable 100 can be changed.

[0047] The robot arm mechanism 20 holds the handle 101, thereby fixing the hand side of the robot arm mechanism 20 relative to the ground, but the method is not limited thereto as long as the hand side of the robot arm mechanism 20 can be fixed relative to the ground. For example, the hand side of the robot arm mechanism 20 may be fixed relative to the ground by making the hand of the robot arm mechanism 20 contact the ground.

[0048] Thus, according to the robot system 7 of the third embodiment, the same effect as that of the first embodiment is achieved. That is, the movement of the turntable 100 is driven by the action of the robot mechanism 20, and therefore, a driving source for driving the movement of the turntable 100 and a control device for controlling the movement of the turntable 100 are not required. In addition, the gripping action of the robot mechanism 20 on the handle 101 can be achieved by the opening and closing action of the hand 30 and the rotation action of each joint part of the existing robot mechanism 20. Therefore, the robot mechanism 20 does not need to be installed with a special mechanism or device only for moving the turntable 100, and only a rotation program for rotating the turntable 100 is required. The existing turntable 100 can be used, and the robot mechanism 20 does not need to be installed with a special mechanism or device for rotating the turntable 100. Therefore, the robot system 7 of the third embodiment can constitute a system for moving the robot mechanism 20 at a suppressed cost compared with a system including an AGV.

[0049] Fig.10 A robot system 8 according to a fourth embodiment is shown. Fig.10 As shown, in the fourth embodiment, the robot mechanism 20 is mounted on a freely tiltable pedestal 110. The pedestal 110 has a base plate 111 fixed to the installation surface, a fixed plate 112 to which the robot mechanism 20 is fixed, and a tilting mechanism 113 that tilts the fixed plate 112 relative to the base plate 111. A handle 115 is provided on the installation surface where the pedestal 110 is provided. The control device 40 controls the robot mechanism 20 to tilt the pedestal 110. Specifically, each joint 21, 22, 23, 24, 25, 26 and the hand 30 are driven to grip the handle 115 on the installation surface with a pair of fingers 31. Next, each joint 21, 22, 23, 24, 25, 26 is driven to move the hand 30 in the lifting direction. At this time, the hand side of the robot mechanism 20 is fixed relative to the handle 95, and the pedestal 110 to which the base side of the robot mechanism 20 is fixed is freely tilted, so that the pedestal 110 can be tilted toward the hand 30. Thereby, the inclination angle of the robot mechanism 20 mounted on the pedestal 110 with respect to the installation surface can be changed.

[0050] Thus, according to the robot system 8 of the fourth embodiment, the same effect as that of the first embodiment is achieved. That is, the tilt angle of the pedestal 110 can be changed along with the movement of the robot arm mechanism 20, and therefore, a driving source for driving the tilting movement of the pedestal 110 and a control device for controlling the tilting angle of the pedestal 110 are not required. In addition, the gripping movement of the handle 115 by the robot arm mechanism 20 can be realized by the opening and closing movement of the hand 30 and the rotation movement of each joint part of the existing robot arm mechanism 20. Therefore, the robot arm mechanism 20 does not need to be equipped with a special mechanism or device only for changing the tilt angle of the pedestal 110, and only a tilting program for tilting the pedestal 110 is required. The existing pedestal 92 having a tilting mechanism can be used, and the robot device does not need to be equipped with a special mechanism or device for changing the tilt angle of the pedestal 110, so the robot system 8 of the fourth embodiment can constitute a system capable of moving the robot arm mechanism 20 at a suppressed cost compared with a system including an AGV.

[0051] The following additional description is disclosed regarding the present embodiment and its modifications.

[0052] (Additional Note 1) A robot device 10 includes: a robot arm mechanism 20 placed on a pedestal, and a control device 40 that controls the robot arm mechanism 20 to perform a specified task; the control device 40 controls the robot arm mechanism 20 to move the pedestal.

[0053] (Additional Note 2) The pedestal 50 described in Additional Note 1 has a plurality of wheels 51 , and the control device 40 controls the robot mechanism 20 to rotate the wheels 51 .

[0054] (Additional Note 3) The control device 40 described in Additional Note 2 controls the robot mechanism 20 so as to directly grasp the wheel 51 through the hand 30 of the robot mechanism 20 to rotate the wheel 51 .

[0055] (Additional Note 4) The control device 40 described in Additional Note 2 controls the robot mechanism 20 so that the hand 30 of the robot mechanism 20 grasps and operates the handle 53 for rotating the wheel 51 .

[0056] (Additional Note 5) The robot arm mechanism 70 described in Additional Note 2 has two arms 71 and 72 that can be respectively controlled in motion, and the control device 40 controls the robot arm mechanism 70 so that two wheels 51 among the plurality of wheels 51 are respectively rotated by the two arms 71 and 72 .

[0057] (Additional Note 6) The control device 40 described in Additional Note 2 controls the robot arm mechanism 20 to grasp the component 82 through the hand 30 of the robot arm mechanism 20, insert the grasped component 82 into the recessed portion 85 provided on the moving route of the trolley 80, and pull the base side of the robot arm mechanism 20 together with the pedestal 80 toward the hand 30 of the robot arm mechanism 20.

[0058] (Additional Note 7) The pedestal 92 described in Additional Note 1 is provided to be freely movable along the guide rail 91 , and the control device 40 controls the robot mechanism 20 to rotate a pinion 94 meshing with a rack 93 arranged along the guide rail 91 .

[0059] (Additional Note 8) The pedestal 92 described in Additional Note 1 is configured to be able to move freely along the guide rail 91 , and the control device 40 controls the robot arm mechanism 20 to press a structure 96 disposed close to the guide rail 91 through the hand 30 of the robot arm mechanism 20 , so that the pedestal 92 moves in a direction away from the structure 96 .

[0060] (Additional Note 9) The pedestal 100 described in Additional Note 1 is movable along a circular orbit centered on an axis perpendicular to the installation surface, and the control device 40 controls the robot mechanism 20 to move the pedestal 100 .

[0061] (Additional Note 10) The pedestal 110 described in Additional Note 1 can be freely tilted relative to the installation surface, and the control device 40 controls the robot arm mechanism 20 to tilt the pedestal 110 .

[0062] Although the embodiments of the present disclosure are described in detail, the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be added, replaced, changed, or partially deleted without departing from the scope of the purpose of the invention or according to the contents recorded in the claims and the ideas and main purpose of the present invention derived from their equivalents. For example, in the above-mentioned embodiments, the order of each action and the order of each process are shown as an example and are not limited to this. In addition, the same is true for the case where numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0063] Description of Reference Numerals 1…Robot system, 10…Robot device, 20…Robot arm mechanism, 21, 22, 23, 24, 25, 26…Joints, 29…Force sensor, 30…Hand, 31…Finger, 40…Control device, 50…Trolley, 51…Wheels, 52…Base frame.

Claims

1. A robotic device, wherein: have: A robotic arm mechanism is mounted on a pedestal, and A control device, controlling the mechanical arm mechanism to perform a specified task; The control device controls the robot arm mechanism to move the platform.

2. The robot device according to claim 1, wherein: The pedestal has a plurality of wheels. The control device controls the robot mechanism to rotate the wheel.

3. The robot device according to claim 2, wherein: The control device controls the robot arm mechanism to directly hold the wheel through the hand of the robot arm mechanism to rotate the wheel.

4. The robot device according to claim 2, wherein: The control device controls the robot arm mechanism so that a handle for rotating the wheel is grasped and operated by a hand of the robot arm mechanism.

5. The robot device according to claim 2, wherein: The robot arm mechanism has two arms that can be controlled to perform actions separately. The control device controls the robot arm mechanism to rotate two wheels among the plurality of wheels respectively through the two arms.

6. The robot device according to claim 2, wherein: The control device controls the robot mechanism to grasp the component through the hand of the robot mechanism, insert the grasped component into the recessed portion provided on the moving route of the trolley, and pull the base side of the robot mechanism together with the pedestal toward the hand of the robot mechanism.

7. The robotic device according to claim 1, wherein: The pedestal is configured to be able to move freely along the guide rail. The control device controls the robot mechanism so as to rotate a pinion gear meshing with a rack arranged along the guide rail.

8. The robotic device according to claim 1, wherein: The pedestal is configured to be able to move freely along the guide rail. The control device controls the robot arm mechanism so that the hand of the robot arm mechanism presses a structure disposed close to the guide rail, so that the pedestal moves in a direction away from the structure.

9. The robotic device according to claim 1, wherein: The pedestal can move freely along a circular track centered on an axis perpendicular to the installation surface. The control device controls the robot arm mechanism to move the platform.

10. The robotic device according to claim 1, wherein: The pedestal can be freely tilted relative to the installation surface. The control device controls the robot arm mechanism to tilt the platform.

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