Moving device, method for controlling moving device, robot system, method for manufacturing article, control program, and recording medium

Abstract

To reduce possibility of overturn of a robot when moving a robot system in which the robot is mounted on a moving cradle.SOLUTION: A moving device capable of mounting a robot thereon includes means for maintaining a state where a moving device stops. The moving device maintains the state where the moving device stops using the means on the basis of information on a robot posture.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to mobile devices. [Background technology]

[0002] In recent years, by moving a robot system in which a robot is mounted on a moving platform to multiple work positions, it is possible to handle multiple work processes such as part assembly work, part inspection work, and part processing work, thereby reducing the burden on production factory workers and reducing the number of personnel. The above-mentioned robot system is equipped with a mechanism for fixing the moving platform to reduce the displacement of the moving platform from its stopped position due to the operation of the robot. In the technology described in Patent Document 1 below, a vacuum mechanism is provided on the moving platform to reduce the displacement of the moving platform stopped at the work position. By reducing the displacement of the moving platform in this way, it is possible to operate the robot appropriately, and the efficiency of the work performed by the robot is improved. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-71183 A Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in a robot system in which a robot is mounted on a mobile platform, the mobile platform is moved within a factory, etc., to perform a number of tasks. However, with the technology described in Patent Document 1, depending on the posture of the robot when the mobile platform is moved, the mobile platform on which the robot is mounted may move in an unstable state, raising the concern that it may tip over.

[0005] In the present invention, when a robot is mounted on a moving platform and moved, the possibility of the robot tipping over is reduced. [Means for solving the problem]

[0006] In the present invention, a mobile device capable of carrying a robot is adopted, the mobile device being characterized in that it is equipped with a means for maintaining the mobile device in a stopped state, and the means is used to maintain the mobile device in a stopped state based on information regarding the posture of the robot. Effect of the Invention

[0007] According to the present invention, when a robot is mounted on a movable platform and moved, the possibility of the robot tipping over can be reduced. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a robot system 1000 according to an embodiment. [Diagram 2] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Diagram 3] FIG. 2 is a control block diagram of a robot system 1000 according to an embodiment. [Figure 4] 11A to 11C are diagrams for explaining the operation of a fixed leg 402 in the embodiment. [Diagram 5] 3 is a control flowchart according to the embodiment. [Figure 6] 2A to 2C are diagrams for explaining predetermined postures of the robot arm 200 in the embodiment. [Figure 7] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 8] 2A to 2C are diagrams for explaining predetermined postures of the robot arm 200 in the embodiment. [Figure 9] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 10] 13A to 13C are diagrams for explaining the operation of a fixed leg 402 in the embodiment. [Figure 11] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 12]FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 13] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 14] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Note that the embodiment shown below is merely an example, and for example, the detailed configuration can be appropriately changed by a person skilled in the art without departing from the spirit of the present invention. Also, the numerical values ​​taken up in the present embodiment are reference numerical values ​​and do not limit the present invention. Note that in the following drawings, the arrows X, Y, and Z in the figures indicate the overall coordinate system of the robot system. In general, the XYZ three-dimensional coordinate system indicates the world coordinate system of the entire installation environment. In addition, a local coordinate system may be appropriately used for the robot hand, fingers, joints, etc., depending on the convenience of control.

[0010] (First embodiment) FIG. 1 is a perspective view of a mobile robot system 1000 according to the present embodiment. As shown in FIG. 1, the robot system 1000 includes a robot arm 200 and a mobile platform 400. The mobile platform 400 may be referred to as a moving device. The mobile platform 400 is provided with a robot arm 200, which is a multi-jointed robot, on the upper surface (mounting surface) of the mobile platform 400, and wheels 401 for moving the mobile platform 400 are provided on the lower surface of the mobile platform 400. With the wheels 401 in contact with the floor surface (or ground), the user can operate the handle 403 to move the mobile platform 400 to an arbitrary position, thereby making it possible to move the robot arm 200 to an arbitrary position. The handle 403 may be referred to as an operating unit. The handle 403 may be adjustable to a height that is easy for the user to handle. The handle 403 may be made retractable into the mobile platform 400 so as to reduce the influence on the operation of the robot arm 200.

[0011] A plurality of fixed legs 402 are provided on the underside of the movable platform 400. In this embodiment, four fixed legs 402 are provided. Although not shown in Fig. 1, two more fixed legs 402 are provided on the back side of the page, and a grounding portion is provided at the portion that comes into contact with the floor surface.

[0012] Four wheels 401 are provided on the mobile platform 400 (one is on the back side of the paper in FIG. 1), and each of them moves up and down by a mode change switch 405 arranged on the mobile platform. In the state of FIG. 1, the wheels 401 are protruding from the mobile platform 400, and the fixed legs 402 are not in contact with the floor surface. By pressing the mode change switch 405 in the state of FIG. 1, the wheels 401 are stored in the mobile platform 400, and the grounding part of the fixed legs 402 comes into contact with the floor surface. When the mobile platform 400 is moved, the wheels 401 are moved in the -Z direction to release the grounding from the floor surface, and when the mobile platform 400 is stopped at an arbitrary position, the fixed legs 402 are moved in the +Z direction to allow the suction part of the fixed legs 402 to come into contact with the floor surface. This makes it possible to easily release the grounding of the mobile platform 400 and fix it to the ground by the mode change switch 405.

[0013] As shown in FIG. 1, the mobile platform 400 is provided with an area sensor 406 that recognizes the surrounding environment, and when the mobile platform 400 approaches a surrounding object during movement and is about to collide with it, a brake (not shown in FIG. 1) inside the mobile platform 400 is activated to avoid the collision. In the example of FIG. 1, two area sensors 406 are provided. After the robot system 1000 is installed, if the area sensor 406 detects that a user is nearby, the upper limit of the operating speed of the robot arm 200 is changed. In other words, when the robot arm 200 works alone, it operates at a high speed, and when working closely with a user, it operates at a slower speed than when the robot arm 200 works alone so that the speed is safe. The mobile platform 400 is also provided with an emergency stop button 404 that immediately stops the operation of the robot arm 200 in the event of an abnormality.

[0014] Although not shown in FIG. 1, an end effector for performing work can be provided at a predetermined position of the robot arm 200. As the end effector, various tools such as a robot hand, a screwdriver, a cutting / polishing tool, etc. may be provided. As the robot hand, an electric hand or an air hand driven by pneumatic pressure may be used. The end effector is attached to the robot arm 200 by a semi-fixed means (not shown) such as a screw fastener. Alternatively, it can be attached by a detachable means (not shown) such as a latch (ratchet) fastener. In particular, when the end effector is detachable, a method can be considered in which the robot arm 200 is controlled to detach or replace the end effector arranged at the supply position (not shown) by the operation of the robot arm 200 itself.

[0015] In this way, the robot arm 200 and the end effector can be moved to the corresponding work space (work table or fixed stand) by the moving stand 400, and an article can be manufactured by the end effector. The article is manufactured by grasping an object with the robot hand and assembling it to another object, disassembling an assembled object, tightening a screw with a screwdriver, and cutting or polishing with a tool.

[0016] 2 is a schematic diagram of the robot system 1000 of this embodiment in the XZ plane. A robot control device 300, a PLC (Programmable Logic Controller) 500, and an uninterruptible power supply 600 are arranged inside the moving platform 400. The robot control device 300 is connected to drive devices (not shown) installed on each axis of the robot arm 200 via power cables, communication cables, etc., and each joint is rotated by controlling the drive devices. Each axis is also equipped with an encoder (not shown) that detects the relative movement amount of the structure, and it is possible to control the operation of the robot arm 200 by controlling the rotation direction and rotation amount of the joint.

[0017] 2, an external input device (not shown) may be provided as a teaching device that transmits teaching data to the robot control device 300. One example of the external input device is a teaching pendant, which is used by the user to specify the position and posture of the robot arm 200 and the position and posture of the end effector. Such an external input device may be mounted on the mobile platform 400 so that it can be moved.

[0018] As shown in FIG. 2, the robot arm 200 of this embodiment is configured with six-axis articulated joints. The robot arm 200 has a base 210 and six links 201, 202, 203, 204, 205, and 206. The links 201 to 206 are rotated by six drive devices (not shown) that rotate around the joint axes A1, A2, A3, A4, A5, and A6 indicated by the arrows. Each drive device (not shown) is equipped with a motor and a reducer that reduces the output of the motor. In this embodiment, a strain wave gear reducer is used. That is, the motor provided in the drive device (not shown) serves as a drive source that generates a drive force that displaces each of the links 201 to 206 to which each joint is connected. Each motor also has an encoder (not shown) built in that detects the rotation angle of the motor itself.

[0019] With the above configuration, the end effector can be operated to any position by the robot arm 200 to perform a predetermined task. For example, a predetermined workpiece and another workpiece can be used as materials, and a process of assembling the predetermined workpiece and the other workpiece can be performed to produce an assembled workpiece as a result. In addition, when the predetermined workpiece and the other workpiece are assembled, one of the workpieces can be removed and disassembled. In this manner, an article can be manufactured by the robot system 1000.

[0020] Fig. 3 is a control block diagram of the robot system 1000 in this embodiment. The robot control device 300 is configured by a computer including a microprocessor and the like, and can control the robot arm 200 and an end effector (not shown). As shown in Fig. 2, the computer configuring the robot control device 300 has a CPU (Central Processing Unit) 302. It also has a ROM (Read Only Memory) 303 and a RAM (Random Access Memory) 304. It further includes a communication interface (hereinafter referred to as "I / F") 301 and the like. The CPU 302, which is a processor, is an example of a control unit.

[0021] A program is recorded in the ROM 303. The program is a program for causing a computer, i.e., the CPU 302, to execute a control method for the robot arm 200 and the end effector. The RAM 304 is used to temporarily store data such as teaching data input from an external input device (not shown), control commands, and data from the PLC 500. The CPU 302 acquires data transmitted from the external input device, data from various sensors mounted on the robot arm 200, the end effector, and the moving platform 400, data from the PLC 500, and instructions from the emergency stop button 404 by receiving them via the I / F 301.

[0022] The robot controller 300 is daisy-chained to the motor control boards 211 provided at each joint via a communication cable. The robot controller 300 transmits a command to the motor control board 211, which then controls each motor of each drive device 213 using the motor drive board 212, thereby performing distributed control. The robot controller 300 acquires (calculates) a trajectory of the robot arm 200 to realize a motion taught by an external input device (not shown). The robot controller 300 transmits various commands to each motor control board 211, such as a motion command (specifically, a position command) that instructs the motion of each rotary motor based on the result of the trajectory calculation, a motion execution start command that instructs the start of execution of a motion based on the motion command, and a synchronization command. The weight of each link 201 to 206 is stored in the ROM 303 of the robot controller 300. Then, the CPU 302 acquires (calculates) the posture of the robot arm 200 from the encoder 214 of each axis and the position of the center of gravity of the robot arm 200 from the positions of the centers of gravity of the links 201-206.

[0023] When the emergency stop button 404 is pressed by the user, the CPU 302 transmits a command to each motor control board 211 to stop the robot arm 200, and activates a brake (not shown) provided at each joint. When the area sensor 406 detects the presence of a user, the CPU 302 transmits a speed range for operating each joint to each motor control board 211, and controls the driving device 203 at a speed within the transmitted range. When the area sensor 406 detects the possibility of the robot system 1000 colliding with an object, the CPU 302 transmits a command to each motor control board 211 to stop the robot arm 200, and activates a brake (not shown) provided at each joint. When the CPU 302 acquires data indicating that the work process has changed from the PLC 500, the CPU 302 transmits a command to the motor control board 211 to control the robot arm 200 using teaching data corresponding to the work process to be executed.

[0024] Similarly, the PLC 500 is also composed of a computer including a microprocessor and the like. The computer constituting the PLC 500 has a CPU, ROM, and RAM, just like the robot control device 300. It also includes an I / F and the like. The PLC 500 manages the work process and controls the wheels 401 of the moving platform 400. The position of the wheels 401 is controlled when a mode change switch 405 is pressed by a user. The PLC 500 also obtains information on the state of the robot arm 200 (arm posture and end effector posture) from the robot control device 300.

[0025] Next, a method for fixing the movable pedestal 400 will be explained with reference to Fig. 4. Fig. 4(a) shows the movable pedestal 400 fixed by the fixing legs 402. Fig. 4(b) shows the movable pedestal 400 released from the fixing legs 402.

[0026] 4(a) and (b), fixed legs 402 are provided on the underside of the mobile platform 400, and wheels 401 rise or fall when the PLC 500 detects a mode change by pressing a mode change switch 405. In the state of Fig. 4(a), the wheels 401 are raised and the fixed legs 402 are in contact with the floor surface, stopping the mobile platform 400.

[0027] When the mode is changed from the state shown in Fig. 4(a) by pressing the mode change switch 405, the wheels 401 are lowered and the mobile platform 400 carrying the robot arm 200 is lifted, so that the fixed legs 402 are lifted off the floor surface, and the mobile platform 400 becomes movable. When the mode is changed from the state shown in Fig. 4(b) by pressing the mode change switch 405, the state shown in Fig. 4(a) is reached, and the fixed legs 402 come into contact with the floor surface, stopping the mobile platform 400.

[0028] Next, the transport control of the movable platform 400 in this embodiment will be described in detail with reference to Fig. 5. Fig. 5 is a control flowchart of the transport control of the movable platform 400 in this embodiment. The processing procedure described below is executed by the CPU 302 of the robot control device 300 and / or the CPU of the PLC 500.

[0029] First, in step S701, a process detects whether or not the user has pressed the mode change switch 405 to switch to a mode for moving the mobile pedestal 400. If it is detected in step S701 that the mode change switch 405 has been pressed to switch to a mode for moving the mobile pedestal 400, the process proceeds to step S702.

[0030] Step S702 is processing in which the CPU 302 acquires (calculates) the position of the center of gravity of the robot arm 200. This processing may be processing in which the posture of the robot arm 200 is acquired (calculated).

[0031] Next, in step S703, a process is performed to determine whether or not the center of gravity position of the robot arm 200 acquired in step S702 is a predetermined position. This process may be a process to determine whether or not the robot arm 200 acquired in step S702 is in a predetermined posture. The predetermined position and predetermined posture here are a position or posture at which the robot arm 200 is stable so as to reduce the possibility of the robot system 1000 tipping over when moving on the mobile platform 400. If step S703: YES, proceed to step S704. If step S703: NO, proceed to step S705.

[0032] If it is determined as NO in step S703 and the process proceeds to step S705, the center of gravity of the robot arm 200 is moved to a predetermined position in step S705. This process may be a process of moving the arm to a predetermined posture.

[0033] If the determination in step S703 is YES and the process proceeds to step S704, or if the process proceeds to step S704 via step S705, in step S704 the CPU of PLC 500 releases the fixing of movable platform 400.

[0034] As described above, the movable platform 400 can be moved while the movable platform 400 is in a stable state, so that the possibility of the movable platform 400 and the robot arm 200 tipping over when the movable platform 400 is moved can be reduced.

[0035] Next, the position of the center of gravity of the robot arm 200, which is the condition for releasing the movable platform 400 in this embodiment, will be described with reference to Figs. 6 and 7. Fig. 6 is a top view (XY plan view) of the movable platform 400 having four wheels 401. In Fig. 6, the robot arm 200 is extended and the position of the center of gravity is on the hand tip side of the robot arm 200. Fig. 7 shows a state in which the height of the position of the center of gravity of the robot arm 200 is equal to the height of the handle 403. More specifically, this is a state in which the position of the center of gravity of the robot arm 200 is located at a position higher than the part of the handle 403 that the user touches.

[0036] FIG. 6(a) is a diagram showing the center of gravity of the robot arm 200 and the reference position of the movable platform 400. The reference position in FIG. 6(a) is the center of gravity of the movable platform 400. As shown in FIG. 6(a), the movable platform 400 is released by moving the posture of the robot arm 200 to a posture that moves the center of gravity of the robot arm 200 to an extension line in the Z-axis direction of the reference position of the movable platform 400 or to a position close to the extension line, thereby releasing the fixed position of the movable platform 400. The Z-axis direction is perpendicular to the direction of gravity of the robot arm 200 or the movable platform 400. In this case, the height of the center of gravity of the robot arm 200 does not need to be included in the release condition. The center of gravity of the robot system 1000 can be stabilized by moving the center of gravity of the robot arm 200 to an extension line in the Z-axis direction of the reference position of the movable platform 400 or to a position close to the extension line, and folding each joint of the robot arm 200. This reduces the possibility of the mobile platform 400 tipping over when it is moved and transported, and also reduces the possibility of the robot arm 200 coming into contact with surrounding objects such as walls and production equipment.

[0037] FIG. 6(b) is a diagram showing the position of the center of gravity of the robot arm 200 and the area S1. The posture of the robot arm 200 is moved to such a posture that the position of the center of gravity of the robot arm 200 moves to a predetermined area extending in the Z-axis direction of the area S1 defined by the four wheels 401 provided on the moving platform 400, thereby releasing the fixing of the moving platform 400. The Z-axis direction is a direction perpendicular to the direction of gravity of the robot arm 200 or the moving platform 400. In the example of FIG. 6(b), the area S1 is defined by the center of the wheels 401, but this is not limited to this. A reference position may be set for each wheel 401 to define the area S1. In this case, the height of the position of the center of gravity of the robot arm 200 may not be included in the fixing release condition. The position of the center of gravity of the robot arm 200 is moved to a predetermined area extending in the Z-axis direction of the area S1 of the moving platform 400, and each joint of the robot arm 200 is folded, thereby stabilizing the center of gravity of the robot system 1000. This reduces the possibility of the mobile platform 400 tipping over when it is moved and transported, and also reduces the possibility of the robot arm 200 coming into contact with surrounding objects such as walls and production equipment.

[0038] FIG. 6(c) is a diagram showing the center of gravity position of the robot arm 200 and the area S2. As shown in FIG. 6(c), the posture of the robot arm 200 is moved to such a posture that the center of gravity position of the robot arm 200 moves to a predetermined area extending in the Z-axis direction of the area S2 defined by the four sides of the movable platform 400, thereby releasing the movable platform 400 from its fixed position. The Z-axis direction is perpendicular to the direction of gravity of the robot arm 200 or the movable platform 400. More specifically, the area S2 is an area defined by the mounting surface of the robot arm 200 on the movable platform 400. In this case, the height of the center of gravity position of the robot arm 200 does not need to be included in the fixing release condition. The center of gravity of the robot system 1000 can be stabilized by moving the center of gravity position of the robot arm 200 to a predetermined area extending in the Z-axis direction of the area S2 of the movable platform 400 and folding each joint of the robot arm 200. This reduces the possibility of the mobile platform 400 tipping over when it is moved and transported, and also reduces the possibility of the robot arm 200 coming into contact with surrounding objects such as walls and production equipment.

[0039] 6(b) and 6(c), by widening the area of ​​the lock release condition, it is possible to reduce the amount of movement of the robot arm 200. Even with a low-capacity power source such as the uninterruptible power supply 600 or a capacitor power source (not shown) that stores regenerative power implemented in the robot control device 300, the posture of the robot arm 200 can be set to a posture that stabilizes the robot system 1000.

[0040] FIG. 7 shows the position of the center of gravity of the robot arm 200 and the height of the handle 403. As shown in FIG. 7, the posture of the robot arm 200 is changed so that the height of the position of the center of gravity of the robot arm 200 is lower than the height of the handle 403, and the fixing of the moving platform 400 is released. More specifically, the position of the center of gravity of the robot arm 200 is set to a position lower than the part of the handle 403 that the user touches. The fixing may also be released by moving the position of the center of gravity to the above-mentioned area S1 or area S2. For example, if the position of the center of gravity of the robot arm 200 is on the hand tip side and higher than the height of the handle 403, the position of the center of gravity is moved to position P2, which is lower than the handle 403, to release the fixing of the moving platform 400 and make it movable. In some cases, if the stability of the robot system 1000 can be ensured even if the position of the center of gravity of the robot arm has not moved to area S1, area S2, or the reference position, the fixing of the moving platform 400 may be released by moving the position of the center of gravity to position P2.

[0041] According to the present embodiment, when the posture of the robot arm 200 mounted on the mobile pedestal 400 is not a predetermined stable posture, the mobile pedestal 400 is maintained in a fixed state (stopped state) even if the user attempts to move the mobile pedestal 400. When the posture of the robot arm 200 mounted on the mobile pedestal 400 becomes a predetermined posture, the mobile pedestal 400 is released from its fixed state. This reduces the possibility of the robot and the mobile pedestal tipping over when moving a robot system in which a robot is mounted on a mobile pedestal. The above-mentioned various embodiments and modified examples may also be combined and implemented.

[0042] Second embodiment In the above embodiment, the movable platform 400 has four wheels 401, but the present invention is not limited to this. In this embodiment, the movable platform 400 has three wheels 401. In the following, the same reference numerals are used for configurations that are the same as or equivalent to those in the above embodiment, and their description is omitted or simplified, and differences from the above embodiment are mainly described.

[0043] Fig. 8 is a top view (XY plan view) of the movable platform 400 in this embodiment having three wheels 401. Fig. 8(a) is a diagram showing the position of the center of gravity of the robot arm 200 and the reference position of the movable platform 400. In Fig. 8(a), the reference position is set in a predetermined area extending in the Z-axis direction of a triangle defined by the three wheels 401 of the movable platform 400. The Z-axis direction is perpendicular to the direction of gravity of the robot arm 200 or the movable platform 400.

[0044] As shown in FIG. 8(a), the movable platform 400 is released by moving the posture of the robot arm 200 to a posture that moves the center of gravity of the robot arm 200 to an extension line in the Z-axis direction of the reference position of the movable platform 400 or near the extension line. In this case, the height of the center of gravity of the robot arm 200 does not need to be included in the release condition. The center of gravity of the robot system 1000 can be stabilized by moving the center of gravity of the robot arm 200 to an extension line in the Z-axis direction of the reference position of the movable platform 400 or near the extension line and folding each joint of the robot arm 200. This reduces the possibility of the movable platform 400 tipping over when it is moved and transported, and also reduces the contact of the robot arm 200 with surrounding objects such as walls and production equipment.

[0045] FIG. 8(b) is a diagram showing the center of gravity position of the robot arm 200 and the area S3. The movable platform 400 is released by moving the posture of the robot arm 200 so that the center of gravity position of the robot arm 200 moves to a predetermined area extending in the Z-axis direction of the area S3 defined by the three wheels 401 provided on the movable platform 400. In the example of FIG. 8(b), the area S3 is defined by the center of the wheels 401, but this is not limited to this. The area S3 may be defined by setting a reference position for each wheel 401. In this case, the height of the center of gravity position of the robot arm 200 does not need to be included in the release condition. The center of gravity of the robot system 1000 can be stabilized by moving the center of gravity position of the robot arm 200 to a predetermined area extending in the Z-axis direction of the area S3 of the movable platform 400 and folding each joint of the robot arm 200. This reduces the possibility of the mobile platform 400 tipping over when it is moved and transported, and also reduces the possibility of the robot arm 200 coming into contact with surrounding objects such as walls and production equipment.

[0046] According to the present embodiment, when the posture of the robot arm 200 mounted on the mobile pedestal 400 is not a predetermined stable posture, the mobile pedestal 400 is maintained in a fixed state even if the user attempts to move the mobile pedestal 400. When the posture of the robot arm 200 mounted on the mobile pedestal 400 becomes a predetermined posture, the mobile pedestal 400 is released from its fixed state. This reduces the possibility of the robot and the mobile pedestal tipping over when moving a robot system in which a robot is mounted on a mobile pedestal, even if the mobile pedestal 400 has three wheels 401. The above-mentioned various embodiments and modified examples may be combined and implemented.

[0047] (Third embodiment) In this embodiment, an example will be described in which an end effector 207 is mounted on a robot arm 200 mounted on a movable platform 400. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-described embodiment, and descriptions thereof will be omitted or simplified, and differences from the above-described embodiment will be mainly described.

[0048] Fig. 9 is a schematic diagram of the XZ plane of the robot system 1000 of this embodiment. As shown in Fig. 9, an end effector 207 is attached to a link 206 (hand tip) of a robot arm 200. When the end effector 207 is attached to the robot arm 200, the robot control device 300 detects the attachment of the end effector 207 via a communication cable of a motor control board 211 arranged at each joint.

[0049] An identification ID is assigned to each type of end effector 207, and when attachment of the end effector 207 is detected, the robot control device 300 receives the identification ID and identifies the type of end effector. The ROM 303 of the robot control device 300 stores the type and weight of the end effector linked to the identification ID. When the user switches the mobile platform 400 to the moving mode with the end effector 207 still attached, the weight of the end effector 207 and the center of gravity position including the robot arm 200 are acquired (calculated). When a new work process and end effector 207 are added to the robot system 1000, the robot system 1000 can be used for the new work process by writing the information to the ROM 303 without significantly changing the configuration of the mobile platform 400.

[0050] The control flow chart when the end effector 207 is attached is the same as that described in FIG. 5 and FIG. 7. As shown in FIG. 8, the posture of the robot arm 200 is changed so that the height of the center of gravity including the robot arm 200 and the end effector 207 is lower than the height of the handle 403, and the fixed mobile platform 400 is released. The fixed platform 400 may be released by moving to the area S1, area S2, or area S3 of the above-mentioned embodiment. For example, if the center of gravity of the robot arm 200 is on the hand side and higher than the height of the handle 403, the fixed platform 400 is released by moving the center of gravity to a position lower than the handle 403, and the mobile platform 400 is made movable. If the stability of the robot system 1000 can be ensured even if the center of gravity of the robot arm does not move to the area S1, area S2, area S3, or reference position of the above-mentioned embodiment, the fixed platform 400 may be released by moving to a position lower than the handle 403.

[0051] According to the present embodiment, when the posture of the robot arm 200 and the end effector 207 mounted on the mobile platform 400 is not a predetermined stable posture, the mobile platform 400 is maintained in a fixed state even if the user attempts to move the mobile platform 400. When the posture of the robot arm 200 and the end effector 207 mounted on the mobile platform 400 becomes a predetermined posture, the mobile platform 400 is released from its fixed state. This reduces the possibility of the robot and the mobile platform tipping over when moving a robot system in which a robot is mounted on a mobile platform, even when the end effector 207 is attached. Also, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0052] (Fourth embodiment) In this embodiment, a fixing means for the movable platform 400, which is different from the various embodiments described above, will be described in detail. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-described embodiments, and descriptions thereof will be omitted or simplified, and differences from the above-described embodiments will be mainly described.

[0053] Fig. 10 is a diagram for explaining the case where the movable pedestal 400 is fixed by raising and lowering the fixed legs 402. Fig. 10(a) shows the movable pedestal 400 fixed by the fixed legs 402. Fig. 10(b) shows the movable pedestal 400 released from the fixed legs 402.

[0054] 10(a) and (b), the movable platform 400 is provided with fixed legs 402 on its underside, and the fixed legs 402 are raised or lowered when the PLC 500 detects a mode change caused by pressing the mode change switch 405. In the state of Fig. 10(a), the fixed legs 402 are lowered and come into contact with the floor surface, stopping the movable platform 400.

[0055] When the mode is changed from the state shown in Fig. 10(a) by pressing the mode change switch 405, the fixed legs 402 rise and the wheels 401 come into contact with the floor surface, making the mobile platform 400 movable. When the mode is changed from the state shown in Fig. 10(b) by pressing the mode change switch 405, the state shown in Fig. 10(a) is reached, in which the fixed legs 402 come into contact with the floor surface and the mobile platform 400 stops.

[0056] Fig. 11 is a diagram for explaining a case where the movable pedestal 400 is fixed by equipping brakes on the wheels 401. As can be seen from Fig. 11, the wheels 401 of the movable pedestal 400 are equipped with brakes, and when the mode change switch 405 is used to switch to a mode in which the movable pedestal 400 is fixed, the brakes on the wheels 401 are activated to fix the movable pedestal 400. When the mode change switch 405 is pressed again by the user, the brakes on the wheels 401 are released, and the movable pedestal 400 becomes movable.

[0057] The brakes provided on the wheels 401 may be mechanical brakes such as electromagnetic brakes, drum brakes, disc brakes, etc. The moving platform 400 may be configured to have information on lifting and lowering by the fixed legs 402 and braking of the wheels 401.

[0058] According to the present embodiment, when the posture of the robot arm 200 and the end effector 207 mounted on the mobile platform 400 is not a predetermined stable posture, the mobile platform 400 is maintained in a fixed state even if the user attempts to move the mobile platform 400. When the posture of the robot arm 200 and the end effector 207 mounted on the mobile platform 400 becomes a predetermined posture, the mobile platform 400 is released from its fixed state. This reduces the possibility of the robot and the mobile platform tipping over when moving a robot system in which a robot is mounted on a mobile platform, even if various fixing means are used. Also, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0059] Fifth embodiment In this embodiment, a detailed description will be given of another embodiment of a predetermined posture of the robot arm 200 on the movable platform 400. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-described embodiment, and descriptions thereof will be omitted or simplified, and differences from the above-described embodiment will be mainly described.

[0060] FIG. 12 is a diagram showing a predetermined posture of the robot arm 200 in this embodiment. FIG. 12(a) is a schematic diagram of the robot system 1000 in the XZ plane, and FIG. 12(b) is a schematic diagram of the robot system 1000 in the XY plane. As shown in FIG. 12, in this embodiment, the center of gravity position of the robot arm 200 and the entire robot arm 200 are moved to a predetermined area extending in the Z-axis direction on the upper surface of the moving platform 400. As long as the robot arm 200 does not go outside the predetermined area extending in the Z-axis direction on the upper surface of the moving platform 400, the rotation amount of each joint axis may be in any state. The fixing and releasing of the moving platform 400 is similar to the various embodiments described above.

[0061] According to the present embodiment, when the posture of the robot arm 200 mounted on the mobile platform 400 is not a predetermined stable posture, the mobile platform 400 is maintained in a fixed state (stopped state) even if the user tries to move the mobile platform 400. When the posture of the robot arm 200 mounted on the mobile platform 400 becomes a predetermined posture, the mobile platform 400 is released from its fixed state. This reduces the possibility of the robot and the mobile platform tipping over when moving a robot system in which the robot is mounted on the mobile platform. In addition, since the center of gravity of the robot arm 200 is located in a predetermined area extending in the Z-axis direction on the top surface of the mobile platform 400, the stability of the entire robot system 1000 can be improved. In addition, since the entire robot arm 200 is located in a predetermined area extending in the Z-axis direction on the top surface of the mobile platform 400, the possibility of the robot arm 200 interfering with surrounding objects when the mobile platform 400 is moved can also be reduced. In addition, the above-mentioned various embodiments and modifications may be combined and implemented.

[0062] Sixth embodiment In this embodiment, a detailed description will be given of another embodiment of a predetermined posture of the robot arm 200 on the movable platform 400. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-described embodiment, and descriptions thereof will be omitted or simplified, and differences from the above-described embodiment will be mainly described.

[0063] FIG. 13 is a diagram showing a predetermined posture of the robot arm 200 in this embodiment. FIG. 13(a) is a schematic diagram of the robot system 1000 in the XZ plane, and FIG. 13(b) is a schematic diagram of the robot system 1000 in the XY plane. The predetermined posture shown in FIG. 13 is a posture in which the center of gravity position of the robot arm 200 and the entire robot arm 200 are moved to a predetermined area extending in the Z-axis direction on the upper surface of the moving platform 400, and the height of the robot arm 200 in the Z-axis direction is lowered. Among the joint axes of the robot arm 200, the joint axis A2 and the joint axis A3 that affect the height in the Z-axis direction are operated to lower the height of the robot arm 200 in the Z-axis direction so that the handle 403 and the robot arm 200 do not interfere with each other. It is possible to further lower the center of gravity position by tilting the link 202 to the opposite side to the handle 403 (to the positive side in the X-axis direction), but attention must be paid to the center of gravity position so that the robot system 100 does not fall over. The fixing and releasing of the moving platform 400 is similar to the various embodiments described above.

[0064] According to the present embodiment, when the posture of the robot arm 200 mounted on the mobile platform 400 is not a predetermined stable posture, the mobile platform 400 is maintained in a fixed state (stopped state) even if the user tries to move the mobile platform 400. When the posture of the robot arm 200 mounted on the mobile platform 400 becomes a predetermined posture, the mobile platform 400 is released from its fixed state. This reduces the possibility of the robot and the mobile platform tipping over when moving a robot system in which the robot is mounted on the mobile platform. In addition, since the center of gravity of the robot arm 200 is located in a predetermined area extending in the Z-axis direction on the top surface of the mobile platform 400, the stability of the entire robot system 1000 can be improved. In addition, since the entire robot arm 200 is located in a predetermined area extending in the Z-axis direction on the top surface of the mobile platform 400, the possibility of the robot arm 200 interfering with surrounding objects when the mobile platform 400 is moved can be reduced. In addition, since the height of the robot arm 200 can be reduced, the stability can be further improved, and the narrowing of the user's field of vision by the robot arm 200 can be reduced, thereby improving safety. In addition, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0065] Seventh embodiment In this embodiment, a state in which a robot system 1000 is provided with an input unit 700 that can be operated by a user will be described in detail. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-mentioned embodiment, and descriptions thereof will be omitted or simplified, and differences from the above-mentioned embodiment will be mainly described.

[0066] Fig. 14 is a schematic diagram of a robot system 1000 equipped with an input unit 700 that can be operated by a user. Fig. 14(a) is a perspective view showing a schematic configuration of the robot system 1000 in this embodiment. Fig. 14(b) shows an example of a screen displayed on the input unit 700 when a user issues an instruction to release the fixation of the mobile platform 400. Note that in Fig. 14(a), some elements such as the handle 403 are omitted for simplicity of explanation.

[0067] As shown in Fig. 14(a), in this embodiment, an input unit 700 capable of performing input by a user and displaying information is provided on the moving platform 400. The input unit 700 will be described taking a touch panel as an example, but is not limited to this. For example, it may be an information terminal such as a teaching pendant or a smartphone. In addition, it may be configured to be detachable from the moving platform 400, and may communicate with the robot control device 300 or the PLC 500 via wireless communication or wired communication.

[0068] Then, when the user instructs to release the movable pedestal 400 in order to move the movable pedestal 400, the screen shown in Fig. 14(b) is displayed. In Fig. 14(b), a posture icon 701, a decision button 702, and a cancel button 703 are displayed. The posture icon 701 is an icon that displays, in a diagram or model, a predetermined posture of the robot arm 200 when moving the movable pedestal 400. The posture icon 701 displays the posture of the robot arm 200 that improves the stability or safety of the robot system 1000, as described in the various embodiments above. By sliding the posture icon 701, it is possible to display other posture icons 701.

[0069] Then, the user touches a desired posture icon 701 to select it, and touches a confirmation button 702, which changes the posture of the robot arm 200 to the posture of the posture icon 701 selected by the user, and releases the fixation of the moving platform 400. By displaying the posture of the robot arm using the posture icon 701, the user can easily select a posture that is suitable for them, thereby improving convenience.

[0070] In the example of FIG. 14(b), the embodiment in which the posture itself is displayed is described as an example, but the present invention is not limited to this. For example, each predetermined posture may be explained in text and displayed in a list so that the posture can be selected. Alternatively, a physical button for executing an instruction for each predetermined posture may be provided, and text explaining each predetermined posture may be provided as a label near each button. Also, if only one predetermined posture is set, when a user instructs to release the movable platform 400 in order to move the movable platform 400, the posture of the robot arm 200 may be automatically changed to that posture and the movable platform 400 may be released. Of course, even if multiple predetermined postures are set, one predetermined posture may be determined as a default posture, and when a user instructs to release the movable platform 400, the posture of the robot arm 200 may be automatically changed to that posture and the movable platform 400 may be released.

[0071] According to the present embodiment, when the posture of the robot arm 200 mounted on the mobile platform 400 is not a predetermined posture that is stable, the mobile platform 400 is maintained in a fixed state (stopped state) even if the user tries to move the mobile platform 400. When the posture of the robot arm 200 mounted on the mobile platform 400 becomes a predetermined posture, the mobile platform 400 is released from its fixed state. This reduces the possibility of the robot and the mobile platform tipping over when moving a robot system in which the robot is mounted on a mobile platform. In addition, the user can select a posture that is suitable for the user, which improves convenience. In addition, by displaying the posture itself, the user can easily select a suitable posture in an easy-to-understand manner, which improves convenience. In addition, when the user instructs to release the fixed posture of the mobile platform 400, the posture of the robot arm 200 is automatically changed to a predetermined posture, which further improves safety and improves convenience for the user. In addition, the above-mentioned various embodiments and modifications may be combined and implemented.

[0072] (Other embodiments) The processing procedures of the above-described embodiments are specifically executed by input from each CPU and the user. Therefore, it is also possible to configure the system to read out and execute a recording medium on which a software program capable of executing the above-described functions is recorded. In this case, the program itself read out from the recording medium realizes the functions of each of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention.

[0073] In each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the control program is stored in the ROM, the RAM, or the flash ROM. However, the present invention is not limited to such an embodiment. The program for implementing the present invention may be recorded in any recording medium as long as the recording medium is computer-readable. An SSD (Solid State Drive) may be used as the storage unit.

[0074] In the various embodiments described above, the robot arm 200 is an articulated robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, the same configuration as above can be implemented with different types of joints, such as a horizontal multi-joint type, a parallel link type, or an orthogonal robot.

[0075] Furthermore, in the case where the height of the handle 403 provided on the movable platform 400 can be adjusted, the system detects the center of gravity including the robot arm 200 or the end effector 207. Then, the system may release the movable platform 400 by moving the grip of the handle 403 to a position higher than the detected center of gravity.

[0076] In the various embodiments described above, when the robot arm 200 of the mobile platform 400 is not in a predetermined posture, the mobile platform 400 is maintained in a fixed state by a fixing means. However, in addition, when the user attempts to move the mobile platform 400 in this state, a warning sound such as an alarm or a warning lamp may be used to notify the user to stop moving (to issue a warning). This can further reduce the possibility of the robot system falling over. In addition, in the definition of the predetermined posture, an allowable width may be set according to the specifications of the robot system. For example, in the example shown in FIG. 6(a), a predetermined region extending in the Z-axis direction by setting an allowable width having a predetermined width around the reference position may be defined as the predetermined posture. In the example shown in FIG. 6(b), a predetermined region extending in the Z-axis direction by setting an allowable width having a predetermined width around the area S1 may be defined as the predetermined posture. In addition, information regarding the predetermined posture in the various embodiments described above may be stored in the robot control device 300, and a predetermined posture may be selected and implemented depending on the situation.

[0077] In the above embodiment, the predetermined posture is described as a stable posture of the robot arm 200 that reduces the possibility of the robot system tipping over, but the predetermined posture may be a posture of the robot arm 200 that increases the possibility of the robot system tipping over. In this case, when the robot arm 200 is in the predetermined posture, the fixed state of the movable platform 400 is maintained, and when the robot arm 200 is not in the predetermined posture, the fixed state of the movable platform 400 is released.

[0078] Furthermore, the various embodiments described above can be applied to machines that can automatically perform movements such as extension, contraction, bending, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information stored in a memory device provided in the control device.

[0079] The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical concept of the present invention. The effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. The above-described various embodiments and modifications may be combined and implemented.

[0080] The disclosure of this embodiment also includes the following configurations and methods.

[0081] (Configuration 1) A mobile device capable of mounting a robot, a means for maintaining the moving device in a stopped state, maintaining the mobile device in a stopped state using the means based on information regarding the posture of the robot; A mobile device comprising:

[0082] (Configuration 2) In the mobile device according to configuration 1, When the robot is not in a predetermined posture, the moving device is maintained in a stopped state by the means. A mobile device comprising:

[0083] (Configuration 3) In the mobile device according to configuration 2, When the robot is not in the predetermined posture, the mobile device is maintained in a stopped state by the means even if an operation to move the mobile device is executed by a user. A mobile device comprising:

[0084] (Configuration 4) In the mobile device according to configuration 2 or 3, When the robot is not in the predetermined posture and an operation for moving the mobile device is executed by a user, the posture of the robot is changed to the predetermined posture, and the stopping of the mobile device by the means is released. A mobile device comprising:

[0085] (Configuration 5) In the mobile device according to any one of configurations 2 to 4, The predetermined posture is a posture of the robot that reduces the possibility of the robot or the mobile device falling over. A mobile device comprising:

[0086] (Configuration 6) In the mobile device according to any one of configurations 2 to 5, The predetermined posture is a posture in which the robot is positioned in a region obtained by extending an area defined by an upper surface of the mobile device in a direction perpendicular to the direction of gravity of the robot or the mobile device. A mobile device comprising:

[0087] (Configuration 7) 7. The mobile device according to claim 6, The predetermined posture is a posture in which the height of the robot or the mobile device is lowered in a direction perpendicular to the direction of gravity. A mobile device comprising:

[0088] (Configuration 8) In the mobile device according to any one of configurations 2 to 5, a sensor for detecting a state of a predetermined position of the robot; detecting, based on the sensor, a posture when the predetermined position is in a predetermined area as the predetermined posture; A mobile device comprising:

[0089] (Configuration 9) 9. The mobile device according to claim 8, The predetermined area is an area defined by wheels and extending in a direction perpendicular to the direction of gravity of the robot or the mobile device. A mobile device comprising:

[0090] (Configuration 10) 9. The mobile device according to claim 8, The predetermined area is an area defined by the mobile device and extending in a direction perpendicular to the direction of gravity of the robot or the mobile device. A mobile device comprising:

[0091] (Configuration 11) 11. The mobile device according to claim 10, The area is an area defined by a mounting surface of the robot in the moving device. A mobile device comprising:

[0092] (Configuration 12) 9. The mobile device according to claim 8, The predetermined area is an area obtained by extending a reference position of the mobile device in a direction perpendicular to a gravity direction of the robot or the mobile device. A mobile device comprising:

[0093] (Configuration 13) 13. The mobile device according to claim 12, The reference position is a center of gravity position of the moving device. A mobile device comprising:

[0094] (Configuration 14) 9. The mobile device according to claim 8, The mobile device includes an operation unit for being operated by a user, The predetermined area is an area lower than the operation unit. A mobile device comprising:

[0095] (Configuration 15) 15. The mobile device according to claim 14, The predetermined area is an area lower than a part of the operation unit that is touched by a user. A mobile device comprising:

[0096] (Configuration 16) 16. The mobile device according to any one of claims 8 to 15, The predetermined position is a center of gravity position of the robot. A mobile device comprising:

[0097] (Configuration 17) 17. The mobile device according to any one of claims 8 to 16, The predetermined position is a center of gravity of the robot and an end effector mounted on the robot. A mobile device comprising:

[0098] (Configuration 18) 18. The mobile device according to any one of claims 1 to 17, The means is a fixed leg, raising and lowering wheels of the moving device to bring the fixed legs into contact with a floor surface or the ground, or maintaining the moving device in a stopped state by bringing the fixed legs into contact with the floor surface or the ground; A mobile device comprising:

[0099] (Configuration 19) 18. The mobile device according to any one of claims 1 to 17, the means is a brake provided on a wheel of the moving device; A mobile device comprising:

[0100] (Configuration 20) In the mobile device according to any one of configurations 2 to 4, The posture different from the predetermined posture is a posture of the robot in which there is a high possibility that the robot or the mobile device will fall over. A mobile device comprising:

[0101] (Configuration 21) 21. The mobile device according to any one of claims 1 to 20, a switch for allowing a user to release the stop of the mobile device; A mobile device comprising:

[0102] (Configuration 22) In the mobile device according to configuration 2, If the robot is not in the predetermined position, a warning is given to the user. A mobile device comprising:

[0103] (Configuration 23) 13. The mobile device according to claim 12, The predetermined area is an area extending in a direction perpendicular to the direction of gravity of the robot or the mobile device with a predetermined width set at the reference position. A mobile device comprising:

[0104] (Configuration 24) 12. The mobile device according to any one of claims 9 to 11, The predetermined region is a region extending in a direction perpendicular to the direction of gravity of the robot or the mobile device with a predetermined width set in the area. A mobile device comprising:

[0105] (Configuration 25) In the mobile device according to configuration 2, selecting information about the predetermined posture, and using the means to maintain the moving device in a stopped state based on the selected information about the predetermined posture; A mobile device comprising:

[0106] (Configuration 26) In the mobile device according to configuration 2, having a user select information regarding the predetermined posture; changing the posture of the robot based on information about the predetermined posture selected by a user, and releasing the stop of the moving device using the means; A mobile device comprising:

[0107] (Configuration 27) 27. The mobile device according to claim 26, displaying information about the predetermined posture in the form of a diagram, a model, or text to allow the user to select the information, or having the user press a button corresponding to the information about the predetermined posture to allow the user to select the information; A mobile device comprising:

[0108] (Configuration 28) In the mobile device according to configuration 2, When a user instructs the mobile device to be released from a stopped state, the posture of the robot is changed based on information about the predetermined posture that is set as a default, and the means is used to release the mobile device from a stopped state. A mobile device comprising:

[0109] (Configuration 29) A robot system in which the robot is mounted on a moving device described in any one of configurations 1 to 28.

[0110] (Method 30) A method for manufacturing an article, comprising the steps of: manufacturing an article using the robot system according to aspect 29.

[0111] (Method 31) A method for controlling a mobile device capable of mounting a robot, comprising the steps of: a means for maintaining the moving device in a stopped state, maintaining the mobile device in a stopped state using the means based on information regarding the posture of the robot; A control method comprising:

[0112] (Configuration 32) A control program capable of executing the control method according to method 31 by a computer.

[0113] (Configuration 33) A computer-readable recording medium storing the control program according to configuration 32. [Explanation of symbols]

[0114] 200 Robot arm body 201, 202, 203, 204, 205, 206 Links 210 Foundation 211 Motor control board 212 Motor drive board 213 Drive unit 214 Encoder 300 Robot control device 400 Mobile stand 401 wheels 402 Fixed leg 403 Handle 404 Emergency stop switch 405 Mode Switch 406 Area Sensor 500 PLC(Programmable Logic Controller) 600 Uninterruptible Power Supply 700 Input section 701 Posture Icon 702 Confirm button 703 Cancel button 1000 Robot System S1, S2, S3 Areas

Claims

1. A mobile device capable of mounting a robot, a means for maintaining the moving device in a stopped state, maintaining the mobile device in a stopped state using the means based on information regarding the posture of the robot; A mobile device comprising:

2. 2. The mobile device of claim 1, When the robot is not in a predetermined posture, the moving device is maintained in a stopped state by the means. A mobile device comprising:

3. 3. The mobile device according to claim 2, When the robot is not in the predetermined posture, the mobile device is maintained in a stopped state by using the means even if an operation to move the mobile device is executed by a user. A mobile device comprising:

4. 3. The mobile device according to claim 2, When the robot is not in the predetermined posture and an operation for moving the mobile device is executed by a user, the posture of the robot is changed to the predetermined posture, and the stopping of the mobile device by the means is released. A mobile device comprising:

5. 3. The mobile device according to claim 2, The predetermined posture is a posture of the robot that reduces the possibility of the robot or the mobile device falling over. A mobile device comprising:

6. 3. The mobile device according to claim 2, The predetermined posture is a posture in which the robot is positioned in a region obtained by extending an area defined by an upper surface of the mobile device in a direction perpendicular to the direction of gravity of the robot or the mobile device. A mobile device comprising:

7. 7. The mobile device according to claim 6, The predetermined posture is a posture in which the height of the robot or the mobile device is lowered in a direction perpendicular to the direction of gravity. A mobile device comprising:

8. 3. The mobile device according to claim 2, a sensor for detecting a state of a predetermined position of the robot; detecting, based on the sensor, a posture when the predetermined position is in a predetermined area as the predetermined posture; A mobile device comprising:

9. 9. The mobile device according to claim 8, The predetermined area is an area defined by wheels and extending in a direction perpendicular to the direction of gravity of the robot or the mobile device. A mobile device comprising:

10. 9. The mobile device according to claim 8, The predetermined area is an area defined by the mobile device and extending in a direction perpendicular to the direction of gravity of the robot or the mobile device. A mobile device comprising:

11. 11. The mobile device of claim 10, The area is an area defined by a mounting surface of the robot in the moving device. A mobile device comprising:

12. 9. The mobile device according to claim 8, The predetermined area is an area obtained by extending a reference position of the mobile device in a direction perpendicular to a gravity direction of the robot or the mobile device. A mobile device comprising:

13. 13. The mobile device of claim 12, The reference position is a center of gravity position of the moving device. A mobile device comprising:

14. 9. The mobile device according to claim 8, The mobile device includes an operation unit for being operated by a user, The predetermined area is an area lower than the operation unit. A mobile device comprising:

15. 15. The mobile device of claim 14, The predetermined area is an area lower than a part of the operation unit that is touched by a user. A mobile device comprising:

16. 9. The mobile device according to claim 8, The predetermined position is a center of gravity position of the robot. A mobile device comprising:

17. 9. The mobile device according to claim 8, The predetermined position is a center of gravity of the robot and an end effector mounted on the robot. A mobile device comprising:

18. 2. The mobile device of claim 1, The means is a fixed leg, raising and lowering wheels of the moving device to bring the fixed legs into contact with a floor surface or the ground, or maintaining the moving device in a stopped state by bringing the fixed legs into contact with the floor surface or the ground; A mobile device comprising:

19. 2. The mobile device of claim 1, the means is a brake provided on a wheel of the moving device; A mobile device comprising:

20. 3. The mobile device according to claim 2, The posture different from the predetermined posture is a posture of the robot in which there is a high possibility that the robot or the mobile device will fall over. A mobile device comprising:

21. 2. The mobile device of claim 1, a switch for allowing a user to release the stop of the mobile device; A mobile device comprising:

22. 3. The mobile device according to claim 2, If the robot is not in the predetermined position, a warning is given to the user. A mobile device comprising:

23. 13. The mobile device of claim 12, The predetermined area is an area extending in a direction perpendicular to the direction of gravity of the robot or the mobile device with a predetermined width set at the reference position. A mobile device comprising:

24. 10. The mobile device of claim 9, The predetermined region is a region extending in a direction perpendicular to the direction of gravity of the robot or the mobile device with a predetermined width set in the area. A mobile device comprising:

25. 3. The mobile device according to claim 2, selecting information about the predetermined attitude, and using the means to maintain the moving device in a stopped state based on the selected information about the predetermined attitude; A mobile device comprising:

26. 3. The mobile device according to claim 2, having a user select information regarding the predetermined posture; changing the posture of the robot based on information about the predetermined posture selected by a user, and releasing the stop of the moving device using the means; A mobile device comprising:

27. 27. The mobile device of claim 26, displaying information about the predetermined posture in the form of a diagram, a model, or text to allow the user to select the information, or having the user press a button corresponding to the information about the predetermined posture to allow the user to select the information; A mobile device comprising:

28. 3. The mobile device according to claim 2, When a user instructs the mobile device to be released from a stopped state, the posture of the robot is changed based on information about the predetermined posture that is set as a default, and the means is used to release the mobile device from a stopped state. A mobile device comprising:

29. A robot system comprising a moving device according to any one of claims 1 to 28, the robot being mounted on the moving device.

30. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot system according to claim 29;

31. A method for controlling a mobile device capable of mounting a robot, comprising the steps of: a means for maintaining the moving device in a stopped state, maintaining the mobile device in a stopped state using the means based on information regarding the posture of the robot; A control method comprising:

32. A control program capable of executing the control method according to claim 31 by a computer.

33. A computer-readable recording medium storing the control program according to claim 32.

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