Control stick

Abstract

To provide a control stick which enables a worker to operate a tool precisely.SOLUTION: A control stick is operated by a worker in an operation part (12) which moves a tool (T) for performing predetermined work to an object (2) in a desired direction to operate. The control stick includes a body (52) having a bottom surface (53a), a top surface (54a), and a side surface (54b) which is located between the bottom surface and the top surface and extending from the bottom surface to the top surface. The body has a shape which can be gripped in a manner that the side surface is covered with a palm of the worker. The bottom surface and attachment surfaces (51, 91) to which the tool is attached are linked.SELECTED DRAWING: Figure 24

Description

[Technical field]

[0001] The present invention relates to a control stick used in an operation system that moves and operates a tool in a desired direction to perform a predetermined task on an object. [Background technology]

[0002] Patent Document 1 discloses a system that moves a tool attached to the end of a robot's arm in accordance with the operation direction of a stick based on relative position information between the robot and a hand guide unit for moving the robot in a desired direction. Hereinafter, the technology disclosed in Patent Document 1 will be referred to as the conventional technology. According to the conventional technology, the robot, and therefore the tool, move in accordance with the operation direction in which the worker operates the stick. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-093536 A Summary of the Invention [Problem to be solved by the invention]

[0004] For example, precise manipulation of the tool is often not required when performing a simple task such as stirring the contents of a pot using a tool attached to a robot, but precise manipulation of the tool is required when performing tasks such as disassembling, dismantling, assembling, or processing an object. The stick in the conventional technology is shaped so that it can be operated by pinching it with the fingers. This makes it difficult for the worker to transmit his or her force to the stick, making it difficult for the worker to precisely manipulate the tool.

[0005] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a control stick that enables an operator to precisely operate a tool. [Means for solving the problem]

[0006] A control stick according to one embodiment of the present disclosure is a control stick operated by an operator in an operating device (12) that operates a tool (T) for performing a predetermined task on an object (2) by moving it in a desired direction, and includes a body (52) having a bottom surface (53a), a top surface (54a), and a side surface (54b) between the bottom surface and the top surface, and extending from the bottom surface toward the top surface. The body is shaped so that the side surface can be held by the operator with the palm of the hand covering it. The bottom surface and a mounting surface (51, 91) to which the tool is attached are configured to move in conjunction with each other.

[0007] According to the above configuration, the operator can easily transmit force to the control stick. Then, the operator can intuitively operate the tool by operating the control stick. Therefore, the operator can precisely operate the tool. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of a dismantling system according to a first embodiment. [Diagram 2] FIG. 1 is a diagram showing the layout of a portion of a configuration provided in a dismantling system according to a first embodiment. [Diagram 3] FIG. 1 is a diagram showing the configuration of a dismantling system according to a first embodiment as a functional block diagram. [Figure 4] FIG. 1 is a diagram showing a schematic configuration example of an operating device including two or more joints and a robot according to a first embodiment; [Diagram 5] FIG. 1 is a functional block diagram showing the configuration of a dismantling device according to a first embodiment; [Figure 6] FIG. 1 is a functional block diagram showing a configuration of a working device according to a first embodiment; [Figure 7] FIG. 1 is a diagram showing a schematic arrangement of components provided in a remote control area according to a first embodiment, and a first display example of a display device; [Figure 8]FIG. 13 is a diagram showing a schematic arrangement of components provided in a remote control area according to the first embodiment, and a second display example of a display by the display device; [Figure 9] FIG. 11 is a diagram showing a schematic arrangement of components provided in a remote operation area according to the first embodiment, and a third display example of a display by a display device; [Figure 10] FIG. 11 is a diagram showing a schematic arrangement of components provided in a remote operation area according to the first embodiment, and a fourth display example of a display by a display device; [Figure 11] FIG. 1 is a diagram illustrating an example of a first image captured by an overhead camera according to a first embodiment; [Figure 12] FIG. 1 is a diagram illustrating an example of a second image captured by a 3D camera according to a first embodiment; [Figure 13] FIG. 1 is a diagram illustrating an example of a second image captured by a 3D camera according to a first embodiment; [Figure 14] FIG. 1 is a diagram illustrating an example of a third image generated by, for example, combining a first image and a second image according to the first embodiment; [Figure 15] FIG. 1 is a diagram for explaining the fields of view from an overhead camera and a 3D camera in a dismantling station St1 according to a first embodiment; [Figure 16] FIG. 1 is a diagram for explaining the fields of view from an overhead camera and a 3D camera in a dismantling station St2 according to a first embodiment; [Figure 17] FIG. 1 is a diagram for explaining a method for setting an operation-allowed area according to a first embodiment; [Figure 18] FIG. 1 is a plan view showing a schematic view of a range of motion and an allowed movement area of ​​a robot according to a first embodiment, and also showing a first setting example of the allowed movement area; [Figure 19] FIG. 1 is a perspective view showing a schematic view of a movement-allowed area of ​​a robot according to a first embodiment, and a second setting example of the movement-allowed area; [Figure 20] FIG. 11 is a plan view showing a schematic view of the range of motion and the movement-allowed area of ​​the robot according to the first embodiment, and also shows a third setting example of the movement-allowed area; [Figure 21]FIG. 1 is a diagram for explaining why cooperative operation of multiple robots according to the first embodiment is necessary; [Figure 22] FIG. 1 is a diagram for explaining examples of when a task is possible and when a task is impossible when a plurality of robots according to the first embodiment and the comparative example are caused to cooperate with each other to perform a predetermined task; [Figure 23] FIG. 1 is a diagram illustrating a state in which a tool according to a first embodiment is attached to a robot; [Figure 24] FIG. 1 is a perspective view showing a schematic configuration of a control stick according to a first embodiment when the control stick is gripped by an operator; [Diagram 25] FIG. 1 is a perspective view showing a state in which an operator holds a control stick according to a first embodiment and a configuration of a coordinate input unit; [Figure 26] FIG. 1 is a perspective view showing a schematic configuration of a control stick according to a first embodiment; [Figure 27] FIG. 1 is a perspective view showing a schematic configuration of a control stick according to a first embodiment; [Figure 28] FIG. 1 is a side view showing a schematic configuration of a control stick according to a first embodiment; [Figure 29] FIG. 1 is a front view showing a schematic configuration of a control stick according to a first embodiment; [Diagram 30] FIG. 2 is a schematic diagram showing a configuration of a control stick according to the first embodiment when the control stick is gripped by an operator; [Diagram 31] FIG. 2 is a schematic diagram showing a configuration of a control stick according to the first embodiment when the control stick is gripped by an operator; [Diagram 32] FIG. 1 is a diagram showing a first processing flow example illustrating the flow of each process performed by executing a disassembly program according to the first embodiment; [Diagram 33] FIG. 11 is a diagram showing a second processing flow example illustrating the flow of each process performed by executing the disassembly program according to the first embodiment. [Diagram 34] FIG. 1 is a diagram showing a first processing flow example illustrating the flow of each process performed by executing an operation program according to the first embodiment; [Diagram 35] FIG. 11 is a diagram showing a second processing flow example illustrating the flow of each process performed by executing the operation program according to the first embodiment; [Diagram 36]FIG. 11 is a diagram showing a third processing flow example showing the flow of each process performed by executing the operation program according to the first embodiment; [Figure 37] FIG. 11 is a plan view showing a schematic view of a movable range and an action-allowed area of ​​a robot according to a second embodiment, and also showing an example of setting the action-allowed area; [Figure 38] FIG. 13 is a diagram showing a first specific example of arrangement of components in a system in which an operator visually checks an object according to a second embodiment; [Figure 39] FIG. 13 is a diagram showing a second example of a specific arrangement of components in a system in which an operator visually checks an object according to a second embodiment; [Diagram 40] FIG. 13 is a diagram showing a third example of a specific arrangement of components in a system in which an operator visually checks an object according to the second embodiment; [Diagram 41] FIG. 13 is a perspective view showing a schematic configuration of a control stick according to a third embodiment; [Diagram 42] FIG. 13 is a diagram for explaining an operation unit that performs input according to a gesture according to a modified example. [Diagram 43] FIG. 13 is a diagram for explaining an operation unit that performs input according to a gesture according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a number of embodiments will be described with reference to the drawings. Note that the same reference numerals are used to designate substantially the same components in the respective embodiments, and the description thereof will be omitted. (First embodiment) The first embodiment will be described below with reference to FIGS.

[0010] <Overall composition> As shown in Fig. 1, the dismantling system 1 of this embodiment is a system for dismantling an object 2 to be dismantled. The object 2 is, for example, a scrapped automobile that is to be discarded. The dismantling system 1 is a system in which a worker O in a remote control area A2, which is an area away from a dismantling area A1, which is an area where the object 2 is dismantled, performs dismantling work by remote control.

[0011] In the dismantling system 1, the dismantling work is performed in the dismantling station St1 where the object 2 carried into the dismantling area A1 is first transported, and then in the dismantling station St2 where the object 2 is transported after the dismantling work is completed. In the dismantling station St1, various components installed in the cabin of the scrapped automobile are dismantled. In the dismantling station St2, various components installed outside the cabin of the scrapped automobile, such as a muffler and an engine room, are dismantled. After being carried in from the entrance 3, the object 2 travels along a route that passes through the dismantling station St1 and reaches the dismantling station St2. Note that the dismantling work may be performed in the dismantling station St1 after the dismantling work in the dismantling station St2.

[0012] The dismantling system 1 includes two robots 4 and 5, an overhead camera 6, a support stage 7, XY portable stages 8 and 9, a lifting and reversing machine 10, a display device 11, an operating device 12, and the like. The robots 4 and 5 are, for example, six-axis vertical articulated robots. As shown in FIG. 17 and the like, a tool T for performing various operations for dismantling the object 2 is attached to the flange surface at the arm tip of the robots 4 and 5. The robots 4 and 5 are configured so that the tool T can be replaced, and the tool T is changed depending on the operation to be performed. The dismantling system 1 may have three or more robots. The worker O may select two of these three or more robots and operate the two selected robots. In this modified example, the two robots selected by the worker O correspond to the robots 4 and 5 described in this embodiment.

[0013] The robot 4 is disposed on the left side of the object 2 in FIG. 1. The robot 5 is disposed on the right side of the object 2 in FIG. 1. That is, the robot 4 is disposed on the left side of the object 2 in the direction from the dismantling station St1 to the dismantling station St2. The robot 5 is disposed on the right side of the object 2 in the above-mentioned direction. The robots 4 and 5 disposed in this manner perform various tasks to dismantle the object 2 by extending arms from both sides of the object 2, with the object 2 as the center, more specifically, as the center. As the robots 4 and 5, robots of various configurations can be used depending on the work content, such as horizontal articulated robots and orthogonal robots. In this case, the robots 4 and 5 are capable of cooperative operation. The cooperative operation means an operation in which multiple robots cooperate with each other to perform one task. However, the robots 4 and 5 may have a part of the movable range overlapping. For this reason, in order to avoid interference between the robots 4 and 5, an operation permission area in which the operation is permitted is set in advance for each of the two robots 4 and 5.

[0014] Although not shown in FIG. 1, the robots 4 and 5 are equipped with cameras 13 and 14, respectively. In other words, the robots 4 and 5 are camera-equipped robots. The cameras 13 and 14 are an example of a second imaging device, for example a 3D camera. The cameras 13 and 14 capture images of the arm tip side of the robots 4 and 5, respectively. Specifically, the cameras 13 and 14 capture images of an area including a tool T attached to the arm tip of the robots 4 and 5 and a work area where a predetermined work is performed by the tool T. The overhead camera 6 is an example of a first imaging device, for example a 3D camera. The overhead camera 6 is attached to a rail 15 laid near the ceiling of the building forming the demolition area A1, and can capture images from the ceiling surface to the floor surface side of the building.

[0015] The overhead camera 6 can move along the rail 15. The rail 15 itself is also configured to be movable parallel to the ceiling surface. Therefore, the overhead camera 6 can move freely on the same plane as the ceiling surface of the building, the floor surface of the building, etc. In this specification, the two directions that are parallel to the ceiling surface or floor surface of the building and are mutually orthogonal are defined as the X direction and the Y direction, and the direction perpendicular to the X direction and the Y direction is defined as the Z direction. In this way, the overhead camera 6 can move freely in the X direction and the Y direction. The overhead camera 6 is configured to be able to adjust its viewing angle. With this configuration, the overhead camera 6 can adjust the imaging range so as to include the desired position of the worker O. As the first imaging device, various configurations can be adopted, such as, for example, a robot-hanging camera, and not limited to the overhead camera 6.

[0016] The support stage 7 can move the object 2 along the floor surface of the building, that is, in the X direction and the Y direction. The support stage 7 can also rotate the object 2 along the floor surface of the building, that is, rotate it horizontally. In this way, the support stage 7 can move the object 2 in one or more directions. As the support stage 7, various structures can be adopted, such as a structure in which single-axis movable stages are stacked, a hexapod type, that is, a six-axis parallel kinematic positioning system, and a multi-joint robot. The XY portable stages 8 and 9 can move the robots 4 and 5 along the floor surface of the building, that is, in the X direction and the Y direction. The lifting and reversing machine 10 can lift, lower, reverse, and tilt the discarded automobile, which is the object 2, relative to the floor surface of the building in the dismantling station St2.

[0017] The support stage 7 and the elevator / inverter 10 are capable of moving at least a part of the object 2, and are included in the object moving section. The XY portable stages 8 and 9 are capable of moving the robots 4 and 5, and are an example of a robot moving section. Note that "moving" or "moving" as used here includes not only translational movement in which the entire object 2 moves in the X and Y directions, or horizontal rotation, but also various movements and movements such as three-dimensional translational movement, i.e., movement in the Z direction, vertical rotation, turning, and tilting.

[0018] As shown in FIG. 2, the remote operation area A2 is provided with a display device 11 for providing the worker O with images related to the dismantling work, and an operation device 12 for the worker O to operate the robots 4 and 5, and further the tool T attached to the end of the arm of the robots 4 and 5. The display device 11 and the robots 4 and 5 are provided around the work position of the worker O. Specifically, the display device 11 is disposed in a position facing the worker O. The operation device 12 includes a control stick 16 for operating the robot 4, and a control stick 17 for operating the robot 5. The control stick 16 is disposed on the left hand side of the worker O, and the control stick 17 is disposed on the right hand side of the worker O. With such an arrangement, the worker O can operate the two robots 4 and 5 by himself.

[0019] In addition, various operation units are provided in the remote operation area A2 for the worker O to operate the support stage 7, the XY portable stages 8 and 9, the lifting and reversing machine 10, and the overhead camera 6. The worker O can manually operate the operations of the support stage 7, the XY portable stages 8 and 9, the lifting and reversing machine 10, and the overhead camera 6 through such operation units. The worker O can remotely perform the dismantling work by operating the operation device 12 and various operation units while checking the image displayed on the display device 11. Note that, when dismantling including predetermined work content is performed, it is also possible to automatically control the operations of the support stage 7, the XY portable stages 8 and 9, the lifting and reversing machine 10, and the overhead camera 6 according to the work content.

[0020] Next, the main configuration of the dismantling system 1 including various control systems will be described with reference to Fig. 3. The operation device 12 includes coordinate input units 18, 19 in addition to control sticks 16, 17. The coordinate input unit 18 is physically connected to the control stick 16, and inputs the coordinates of the robot 4 according to the operation of the control stick 16 to a robot control unit 20. The coordinate input unit 19 is physically connected to the control stick 17, and inputs the coordinates of the robot 5 according to the operation of the control stick 17 to a robot control unit 21. Note that the control stick 16 and the coordinate input unit 18, and the control stick 17 and the coordinate input unit 19 may each be integrated.

[0021] Various configurations including those described below can be adopted for the coordinate input units 18, 19. That is, the coordinate input units 18, 19 may be operated by sequentially operating input keys for specified axes. The coordinate input units 18, 19 may have a joint structure similar to that of the robots 4, 5, and may be designed so that the operator O inputs a joint coordinate system by gripping and moving the joysticks 16, 17.

[0022] The coordinate input units 18, 19 may be equipped with a position sensor and may be capable of inputting an orthogonal coordinate system in the X, Y, and Z directions and three rotation directions, and may be a mechanism capable of inputting an orthogonal coordinate system required for the operation of the robots 4, 5 by the operator O holding and moving the control sticks 16, 17. Note that the orthogonal coordinate system may be a base coordinate system, a tool coordinate system, or a coordinate system with a customized center of rotation. The coordinate input units 18, 19 may convert the orthogonal coordinate system into a joint coordinate system by an inverse kinematic equation and input the converted coordinate system, or convert the joint coordinate system into a orthogonal coordinate system by a forward kinematic equation and input the converted coordinate system.

[0023] The coordinate input units 18, 19 can be configured to include two or more joints and input the displacement amount of the coordinates of the joints near the control sticks 16, 17 to the robot control units 20, 21. With this configuration, as shown in FIG. 4, for example, the operating device 12 consisting of the control sticks 16, 17 and the coordinate input units 18, 19 and the robots 4, 5 can be made to have the same shape, that is, a multi-joint shape, and more intuitive operation is possible. In this case, in order to input the displacement amount of the coordinates, a means such as an input key or a foot switch for operating the start and end of input of the displacement amount is provided near the coordinate input units 18, 19 or near the operator O. In this case, for example, the input key may be provided on the control sticks 16, 17, or the input of the displacement amount may be started by gripping the control sticks 16, 17 with a force equal to or greater than a predetermined value.

[0024] Although details will be described later, the control sticks 16, 17 are shaped to be held by the operator O in one hand. Note that the control sticks 16, 17 may have various shapes, such as a pen-like or scissor-like shape that the operator O can pinch and hold in one hand, or a joystick or handle-like shape that the operator O can hold in one or both hands.

[0025] The robot control unit 20 controls the position and posture of the robot 4 based on the input coordinates. The robot control unit 21 controls the position and posture of the robot 5 based on the input coordinates. With this configuration, the robots 4 and 5 can be operated as follows in response to the operation of the operating device 12 by the worker O. That is, the positions of the robots 4 and 5, and therefore the position of the tool T, can be moved in conjunction with each other by the worker O moving the positions of the coordinate input units 18 and 19 while holding the control sticks 16 and 17. The angles of the coordinate input units 18 and 19 while holding the control sticks 16 and 17 can be moved in conjunction with each other by the worker O moving the angles of the coordinate input units 18 and 19.

[0026] In this way, the control sticks 16, 17 are operated by the operator O at the operation device 12 which operates the tool T for performing a predetermined task on the object 2 by moving it in a desired direction. Also, the control sticks 16, 17 are operated by the operator O at the operation device 12 which operates the tool T for performing a predetermined task on the object 2 by moving it to a desired angle.

[0027] The area control unit 22 sets an operation permitted area for the robot 4 where operation is permitted, and provides information representing the set operation permitted area to the robot control unit 20. The robot control unit 20 controls the robot 4 to operate within the operation permitted area. The area control unit 23 sets an operation permitted area for the robot 5 where operation is permitted, and provides information representing the set operation permitted area to the robot control unit 21. The robot control unit 21 controls the robot 5 to operate within the operation permitted area. In this way, the robot control units 20, 21 can operate the robots 4, 5 independently. Furthermore, the robot control units 20, 21 are an example of an operation control unit, and are capable of operating multiple robots 4, 5 in a coordinated manner.

[0028] Display device 11 is a 2D or 3D display, and can display a first image that is an image captured by overhead camera 6, which is a 3D camera, a second image that is an image captured by cameras 13 and 14, which are 3D cameras, and the like. Display device 11 can be configured from one display, or can be configured from multiple displays, that is, a multi-display. The display operation of display device 11 is controlled by display control unit 24.

[0029] The display control unit 24 is provided with data corresponding to the images captured by the overhead camera 6, the cameras 13, and 14. The display control unit 24 can cause the display device 11 to display only the first image. The display control unit 24 can also cause the display device 11 to display the second image in addition to the first image. The display control unit 24 has a function as an image generating unit that uses a plurality of images captured by the overhead camera 6 and the cameras 13 and 14 to generate a third image that is an image with higher visibility than each of the plurality of images. The display control unit 24 can cause the display device 11 to display the third image instead of the first image and the second image, or in addition to the first image and the second image. The display control unit 24 has a function as a display switching unit that switches between a state in which the first image and the second image are displayed on the display device 11 and a state in which the third image is displayed on the display device 11.

[0030] The stage operation unit 25 outputs an operation command to the stage control unit 26 for operating the support stage 7 in accordance with the operation of the operator O, pre-registered operations, etc. The stage control unit 26 controls the operation of the support stage 7 based on the input operation command. The stage operation unit 27 outputs an operation command to the stage control unit 28 for operating the XY portable stage 8 in accordance with the operation of the operator O, pre-registered operations, etc. The stage control unit 28 controls the operation of the XY portable stage 8 based on the input operation command.

[0031] The stage operation unit 29 outputs an operation command to the stage control unit 30 for operating the XY portable stage 9 in accordance with the operation of the worker O, pre-registered operations, etc. The stage control unit 30 controls the operation of the XY portable stage 9 based on the input operation command. The lift / reversal machine operation unit 31 outputs an operation command to the lift / reversal machine control unit 32 for operating the lift / reversal machine 10 in accordance with the operation of the worker O, pre-registered operations, etc. The lift / reversal machine control unit 32 controls the operation of the lift / reversal machine 10 based on the input operation command.

[0032] The camera operation unit 33 outputs to the camera control unit 34 an operation command for moving the overhead camera 6 according to the operation of the worker O, a previously registered operation, etc., and a viewing angle command for adjusting the viewing angle of the overhead camera 6. The camera control unit 34 controls the operation of the camera movement mechanism 35 based on the inputted operation command. The camera movement mechanism 35 includes a mechanism for moving the overhead camera 6 along the rail 15 and a mechanism for translating the rail 15 itself. The camera control unit 34 also adjusts the viewing angle of the overhead camera 6 based on the inputted operation command.

[0033] In this embodiment, when the imaging range of the overhead camera 6 is adjusted to include a desired position of the worker O in response to the operation of the worker O, the support stage 7, the XY portable stages 8 and 9, the elevator inverting machine 10, and the like are operated to move at least one of the object 2 and the robots 4 and 5 so that the object 2 is positioned in the center of the imaging range of the overhead camera 6 and the arms of the robots 4 and 5 are positioned on both sides of the imaging range of the overhead camera 6. In this embodiment, the object 2 being positioned in the center of the imaging range specifically means that a work area where dismantling work is performed on the object 2 is positioned in the center of the imaging range. Note that even when the entire object 2 is positioned in the center of the imaging range, the work area is also positioned in the center of the imaging range.

[0034] The movement of the robots 4 and 5 is not limited to the movement of the entire robots 4 and 5 by the XY portable stages 8 and 9, but also includes the movement of the joints of the robots 4 and 5 by the robot control units 20 and 21. In this case, the support stage 7, the XY portable stages 8 and 9, the lifting and reversing machine 10, and the robot control units 20 and 21 are an example of a moving unit. The entire robots 4 and 5 may be disposed on both sides of the imaging range of the overhead camera 6, or a part of the robots 4 and 5, such as the tip side of the arms, may be disposed. When the tip side of the arms of the robots 4 and 5 is shown in the imaging range, the arms of the robots 4 and 5 may be disposed in a manner extending from the lower side to the upper side of the imaging range, as shown in FIG. 11. In this case, the tool T provided at the tip of the arms of the robots 4 and 5 is disposed on the upper side of the imaging range. According to this, the extension direction of the left arm and the right arm of the worker O facing the display device 11 as shown in FIG. 2 corresponds to the extension direction of the robots 4 and 5 displayed on the display device 11 as shown in FIG. 11. As shown in FIG. 5, in this embodiment, a dismantling device 36 that dismantles an object 2 to be dismantled is configured by two robots 4, 5, an overhead camera 6, a support stage 7, an XY portable stage 8, 9, an elevator inversion machine 10, a display device 11, etc.

[0035] In this embodiment, the stage control unit 26 and the elevator inverter control unit 32 control the operation of the support stage 7 and the elevator inverter 10, and are an example of a movement control unit. When the robot control units 20 and 21 operate the robots 4 and 5 in a coordinated manner, the stage control unit 26 and the elevator inverter control unit 32 can change the relative positions of the robots 4 and 5 and the object 2 by controlling the operation of the support stage 7 and the elevator inverter 10 to move the object 2. This allows the area for dismantling the object 2 to be included in the operation allowable areas of the robots 4 and 5. As a result, the robots 4 and 5 can be operated in a coordinated manner in the area for dismantling the object 2. Specifically, the stage control unit 26 and the elevator inverter control unit 32 change the relative positions of the robots 4 and 5 and the object 2 so that at least a part of the object 2 transitions from a state where it is outside the operation allowable area corresponding to one of the robots 4 and 5 to a state where it is included within the operation allowable area. The at least a part of the object 2 is, for example, a work place where the work for dismantling the object 2 is performed.

[0036] The stage control units 28 and 30 control the operation of the XY portable stages 8 and 9, and are an example of a movement control unit. When the robot control units 20 and 21 cause the robots 4 and 5 to operate in a coordinated manner, the stage control units 28 and 30 can change the relative position between the robots 4 and 5 and the object 2 by controlling the operation of the XY portable stages 8 and 9 to move at least one of the robots 4 and 5. When the robot control units 20 and 21 cause the robots 4 and 5 to operate in a coordinated manner, the stage control units 28 and 30 can change the relative position between the robots 4 and 5 and the object 2 by controlling the operation of the joints of the robots 4 and 5 to move at least one of the joints of the robots 4 and 5. More specifically, the robot control units 20 and 21 can change the relative position between the tool T attached to the robots 4 and 5 and the object 2 by controlling the operation of the joints of the robots 4 and 5 to move at least one of the joints of the robots 4 and 5. When the robot control units 20 and 21 cause the robots 4 and 5 to cooperate with each other, the stage control units 26, 28, and 30 and the elevator / reversing machine control unit 32 do not necessarily have to change the relative positions of the robots 4 and 5 and the target object 2.

[0037] The stage control units 26, 28, 30, the elevator / inverter control unit 32, and the robot control units 20, 21 perform control so that the target object 2 and at least one of the robots 4, 5 do not move simultaneously. As shown in Fig. 6, in this embodiment, the robots 4, 5, the support stage 7, the XY portable stage 8, 9, the elevator / inverter 10, the stage control units 26, 28, 30, the elevator / inverter control unit 32, the area control units 22, 23, etc. constitute a working device 37 that performs a predetermined work, such as dismantling, on the target object 2.

[0038] The robot control units 20, 21, the area control units 22, 23, the display control unit 24, the stage control units 26, 28, 30, the elevator / reversing machine control unit 32, and the camera control unit 34 all include a processor. The processor includes a processing unit, among the components of a computer, that performs operations such as data calculation and conversion, program execution, and control of other devices. Typically, the processor includes a CPU (Central Processing Unit) that controls the entire computer, or an MPU (Micro Processing unit) that integrates some of the functions of the CPU. Electrical signals processed by the processor are output via an output terminal to other devices that are to be controlled or information is to be transmitted.

[0039] In the dismantling device 36, the processes executed by the robot control units 20, 21, the stage control units 26, 28, 30, and the elevator / reversing machine control unit 32 correspond to movement procedures, the processes executed by the display control unit 24 correspond to display procedures, image generation procedures, and display switching procedures, and the processes executed by the camera control unit 34 correspond to adjustment procedures. A dismantling program including the procedures described above is executed by the processors provided in the robot control units 20, 21, the stage control units 26, 28, 30, and the elevator / reversing machine control unit 32 to dismantle the object 2 using two robots 4, 5 that extend arms from both sides of the object 2 to be dismantled to perform various operations for dismantling the object 2.

[0040] The flow of each process performed by executing the dismantling program is as shown in a first process flow example as shown in Fig. 32 or a second process flow example as shown in Fig. 33. As shown in Fig. 32, the first process flow example includes step S101 corresponding to an adjustment procedure, step S102 corresponding to a movement procedure, and step S103 corresponding to a display procedure. In step S101, the imaging range of the overhead camera 6 is adjusted so as to include a desired position of the worker O.

[0041] In step S102, at least one of the object 2 and the robots 4 and 5 is moved so that the object 2 is positioned in the center of the imaging range of the overhead camera 6 and the arms of the robots 4 and 5 are positioned on both sides of the imaging range of the overhead camera 6. In step S103, an image captured by the overhead camera 6 is displayed on the display device 11. In step S103, in addition to the first image which is the image captured by the overhead camera 6, a second image which is an image captured by cameras 13 and 14 mounted on the robots 4 and 5 and which capture the arm tip sides of the robots 4 and 5 can also be displayed on the display device 11.

[0042] 33, the second process flow example is obtained by adding step S111 corresponding to an image generation procedure and step S112 corresponding to a display switching procedure to the first process flow example. In the second process flow example, step S111 is executed after step S102 is executed. In step S111, a third image, which is an image with higher visibility than each of the multiple images captured by the overhead camera 6 and the cameras 13 and 14, is generated using the multiple images captured by the overhead camera 6 and the cameras 13 and 14.

[0043] In the second process flow example, step S112 is executed after step S103 is executed. In step S112, a state in which the first image and the second image are displayed on the display device 11 and a state in which the third image is displayed on the display device 11 are switched in response to an operation by the worker O or automatically at a predetermined timing.

[0044] In the working device 37, each process executed by the area control units 22, 23 corresponds to an area control procedure, each process executed by the robot control units 20, 21 corresponds to an operation control procedure, and each process executed by the stage control units 26, 28, 30 and the elevator / reversing machine control unit 32 corresponds to a movement control procedure. A work program including the above-mentioned procedures and for performing a predetermined work on the target object 2 using multiple robots 4, 5 whose movable ranges partially overlap is executed by each processor provided in the area control units 22, 23, the robot control units 20, 21, the stage control units 26, 28, 30 and the elevator / reversing machine control unit 32.

[0045] The flow of each process performed by executing the work program is as shown in a first process flow example as shown in Fig. 34, a second process flow example as shown in Fig. 35, or a third process flow example as shown in Fig. 36. As shown in Fig. 34, the first process flow example includes step S201 and step S202 corresponding to an area control procedure, step S203 corresponding to a movement control procedure, and step S204 corresponding to a motion control procedure. In step S201, an operation permitted area in which operation is permitted for each of the robots 4 and 5 is set.

[0046] In step S202, it is determined whether or not the work location, which is an area for performing a predetermined task on the target object 2, is included in the operation permission area of ​​the robots 4 and 5. If the work location is not included in the operation permission area of ​​the robots 4 and 5, the result is "NO" in step S202, and the process proceeds to step S203. On the other hand, if the work location is included in the operation permission area of ​​the robots 4 and 5, the result is "YES" in step S202, and the process skips step S203 and proceeds to step S204. In step S203, the relative position between the robots 4 and 5 and the target object 2 is changed by controlling the operation of at least one of the support stage 7 and the elevator / reverser 10 to move the target object 2. In step S204, the robots 4 and 5 are caused to operate cooperatively within the operation permission area, or the robots 4 and 5 are caused to operate independently within the operation permission area, and a predetermined task is performed on the target object 2.

[0047] 35, the second process flow example is obtained by adding step S211 corresponding to a movement control procedure to the first process flow example. In the second process flow example, step S211 is executed after step S203 is executed. In step S211, the operation of the XY portable stages 8 and 9 is controlled to move at least one of the robots 4 and 5, thereby changing the relative position between the target object 2 and the robots 4 and 5.

[0048] 36, the third process flow example is obtained by adding step S221 corresponding to an area control procedure to the first process flow example. In the third process flow example, step S221 is executed after step S203 is executed. In step S221, the operation-allowed area corresponding to at least one of the robots 4 and 5 is changed.

[0049] The dismantling program and the operation program are stored in the memory unit 38. The memory unit 38 is a non-transient substantial storage medium that non-temporarily stores data and programs that can be read by a processor or a computer. The memory unit 38 has a volatile memory and a non-volatile memory. The memory unit 38 may be of a memory type, a disk type, a tape type, or the like. In the drawings, the memory unit 38 is depicted independently of the various components. However, the memory unit 38 is included in at least one of these various components. In the drawings, the memory unit 38 is depicted independently of the various components in order to avoid the storage location of the program being depicted in a cumbersome or limited manner.

[0050] In this embodiment, each control unit provided in the dismantling system 1, i.e., the robot control units 20, 21, the area control units 22, 23, the display control unit 24, the stage control units 26, 28, 30, the elevator / reversing machine control unit 32, and the camera control unit 34, are provided independently and individually, but it is also possible to integrate two or more of the respective control units. In this embodiment, each operation unit provided in the dismantling system 1, i.e., the operation device 12, the stage operation units 25, 27, 29, the elevator / reversing machine operation unit 31, and the camera operation unit 33, are provided independently and individually, but it is also possible to integrate two or more of the respective operation units.

[0051] <About Dismantling Device 36> Next, the functions of the dismantling device 36 having the above configuration will be described in detail. 7 to 10, in remote operation area A2, display device 11 is disposed in front of operator O, that is, in a position facing operator O, control stick 16 is disposed on the left hand side of operator O, and control stick 17 is disposed on the right hand side of operator O. With such an arrangement, operator O can operate control stick 16 with his left hand and control stick 17 with his right hand.

[0052] Examples of displays by display device 11 include a first display example shown in Fig. 7, a second display example shown in Fig. 8, a third display example shown in Fig. 9, and a fourth display example shown in Fig. 10. In the first display example, an image I1 captured by overhead camera 6 is displayed in the upper part of the screen of display device 11, an image I2L captured by camera 13 is displayed in the lower left part of the screen of display device 11, and an image I2R captured by camera 14 is displayed in the lower right part of the screen of display device 11.

[0053] In the second display example, image I1 captured by overhead camera 6 is displayed in the center of the screen of display device 11, image I2L captured by camera 13 is displayed in the lower left corner of the screen of display device 11, and image I2R captured by camera 14 is displayed in the lower right corner of the screen of display device 11. In the third display example, only image I1 captured by overhead camera 6 is displayed on the entire screen of display device 11.

[0054] In the fourth display example, image I3 is displayed on the entire screen of display device 11. Image I3 is generated by, for example, synthesizing image I1 captured by overhead camera 6, image I2L captured by camera 13, and image I2R captured by camera 14, and is a more three-dimensional image with higher visibility than images I1, I2L, and I2R, and corresponds to the third image described above. Dismantling device 36 can switch between each display state such as the first to fourth display examples in response to an operation by worker O or automatically at a predetermined timing.

[0055] Image I1 captured by overhead camera 6 displays the field of view from overhead camera 6. Image I1 captured by overhead camera 6 is, for example, an image as shown in Fig. 11, in which object 2 is located in the center and the arms of robots 4, 5 are located on both sides. Image I2L captured by camera 13 displays the field of view from camera 13, i.e., robot 4. Image I2L captured by camera 13 is, for example, an image as shown in Fig. 12, in which the tip of the arm of robot 4 is located in the center.

[0056] Image I2R captured by camera 14 displays the field of view from camera 14, i.e., robot 5. Image I2R captured by camera 14 is, for example, an image as shown in Fig. 13, with the arm tip of robot 5 located at the center. Image I3 generated by, for example, combining image I1, image I2L, and image I2R is, for example, an image as shown in Fig. 14, and is a stereoscopic image of object 2, etc.

[0057] The fields of view from the overhead camera 6 at the dismantling station St1 and the cameras 13 and 14 mounted on the robots 4 and 5 are as shown in Fig. 15. The fields of view from the overhead camera 6 at the dismantling station St2 and the cameras 13 and 14 mounted on the robots are as shown in Fig. 16. Images corresponding to these fields of view are displayed on the display device 11. In other words, according to the above configuration, regardless of the location of the work place for dismantling, images that allow the user to intuitively understand the positional relationship of the operations are displayed on the display device 11.

[0058] <About work device 37> Next, the function of the working device 37 having the above configuration will be described in detail. In this embodiment, the working device 37 performs a predetermined task, such as dismantling, on the object 2. However, the predetermined task is not limited to dismantling, and various tasks such as transportation, assembly, and processing including disassembly can be performed. Dismantling includes dismantling involving destruction of parts and non-destructive dismantling that does not involve destruction of parts. A tool T for performing a predetermined task is attached to the tip of the arm of the robot 4, 5. In addition to one tool T, a tool having multiple roles may be attached to the tip of the arm of the robot 4, 5. Also, the tool T is replaceable. In this way, a variety of tasks can be performed with one facility.

[0059] Specifically, the following tools are conceivable as the tool T. That is, when a predetermined task involves grasping or fixing and transporting the whole or part of the object 2, the tool T may be a robot hand and chuck jaws, a vacuum pad for suction, an electromagnet for energizing, or a needle-shaped tool for piercing and picking up the object. The tool T may also have a static shape for holding down one side of the whole or part of the object 2 to assist in working with the two robots 4 and 5, i.e., with two arms. The locations where the object 2 is dismantled by the robots 4 and 5 include locations where one of the robots 4 and 5 directly dismantles a part of the object 2 by breaking it or the like, as well as locations where the other robot grasps the object 2 to fix it.

[0060] When the predetermined work is processing, dismantling, disassembly, etc., the tool T may be a controlled tool for processing, a processing unit using energy such as a laser head, etc. The controlled tool is operated electrically, pneumatically, or hydraulically. When the predetermined work is dismantling or dismantling the object 2, a controlled tool capable of cutting or milling may be adopted as the tool T. That is, in this case, the tool T may be a tool with a movable blade for cutting such as a nipper or a metal saw, an end mill for cutting, an electric scraper for scraping off the surface of a material, a screwdriver for removing screws, a heating wire or hot knife for thermal cutting, or a head of a processing unit using energy such as a laser or plasma. The screwdriver may include an electric screwdriver, a nut runner, and an impact tool.

[0061] As shown in Fig. 17, the area control units 22, 23 are configured to set the operation permitted area including not only the arms of the robots 4, 5 but also the range up to the tip of the tool T. This is particularly effective when the tool T is large, or when the tool T is used perpendicular to the boundary of the operation permitted area. As shown in Figs. 18 and 20, the ranges of motion Am1, Am2 of the two robots 4, 5 may partially overlap. However, the operation permitted areas Ap1, Ap2 set corresponding to the two robots 4, 5 do not overlap, which prevents interference between the robots 4, 5.

[0062] The movement permitted areas Ap1, Ap2 can be set, for example, as shown in Figs. 18 to 20. As in the first setting example shown in Fig. 18, the second setting example shown in Fig. 19, and the third setting example shown in Fig. 20, there is a surplus space S serving as a buffer between the movement permitted areas Ap1 and Ap2. This allows for errors and machine differences in the setting values ​​of the movement permitted areas Ap1, Ap2, errors with respect to the instruction values ​​for the movements of the robots 4, 5, and overshoots during the movements of the robots 4, 5. Note that the movement permitted areas Ap1 and Ap2 may be located close to each other without providing the surplus space S between them.

[0063] In the first to third setting examples, the boundary between the movement-allowed areas Ap1 and Ap2 is a straight line extending at a right angle to the upper and lower sides of the object 2 in the figure. The boundary between the movement-allowed areas Ap1 and Ap2 is not limited to a flat shape, and may be other shapes such as a curved shape. The boundary between the movement-allowed areas Ap1 and Ap2 may be a straight line extending obliquely to the upper and lower sides of the object 2 in the figure. In the first and second setting examples, the boundary between the movement-allowed areas Ap1 and Ap2 is located near the center of the object 2. On the other hand, in the third setting example, the boundary between the movement-allowed areas Ap1 and Ap2 is shifted toward the robot 5 from the center of the object 2.

[0064] The area control units 22, 23 are capable of changing the operation permitted area, and when the robot control units 20, 21 cause the two robots 4, 5 to operate in a coordinated manner, they can change the operation permitted area corresponding to at least one of the two robots 4, 5. Furthermore, the area control units 22, 23 have a plurality of patterns of operation permitted areas corresponding to each of the two robots 4, 5 in advance, and can switch the operation permitted area according to the work content and work location for the target object 2. In this way, it is possible to reduce the movement of the support stage 7, which will be described later, and the work time can be shortened.

[0065] As described above, the robot control units 20 and 21 can make the two robots 4 and 5 operate in a coordinated manner. The reason why such a coordinated operation is necessary will be described with reference to FIG. 21. FIG. 21 shows the states of parts before and after processing in the case of assembling, destructive disassembly, and non-destructive disassembly in the case of processing a part with a plurality of snap fits, i.e., engaging claws, as a predetermined operation. The upper part of FIG. 21 shows assembly, the interrupted part shows destructive disassembly, and the lower part shows non-destructive disassembly. In this case, it is assumed that the target object 2 is an upper part 43 with two engaging claws 41 and 42 engaged with a lower part 44 without engaging claws. In FIG. 21, the operation using the tools by the robots 4 and 5 is represented by dashed arrows.

[0066] In this case, it is assumed that the distance between the two engaging claws 41, 42 is longer than the distance between the tips of two tools in a configuration in which two tools can be attached to the arm tip of one robot 4 or robot 5. First, during assembly, as shown in the upper part of Fig. 21, the upper part 43 is fitted into the lower part 44, but if the position of the lower part 44 is fixed, it is sufficient to push the upper part 43 from one direction, so coordinated operation of the robots 4, 5 is not necessary and the assembly can be performed with the operation of only one of the robots 4, 5.

[0067] In contrast, during destructive disassembly, as shown in the middle of Fig. 21, it is necessary to cut each of the two engaging claws 41, 42 by, for example, pressing the tip of a tool against both sides of the upper part 43, and then lift the upper part 43 by, for example, pulling it. In other words, during destructive disassembly, as processing is required for the number of engaging claws 41, 42, cooperative operation by the two robots 4, 5 is required.

[0068] Furthermore, during non-destructive disassembly, if the position of the lower part 44 is not fixed, as shown in the lower part of Fig. 21, it is necessary to lift the upper part 43 while spreading apart the two engaging claws 41, 42 using elastic deformation. In other words, during non-destructive disassembly, one more operation is required in addition to the number of engaging claws 41, 42, so coordinated operation by three or more robots is required. As explained above, there are tasks that are inefficient and impossible to perform with a single robot, and coordinated operation by multiple robots is necessary to ensure productivity.

[0069] Although the working device 37 can perform a predetermined task by cooperative operation of the two robots 4, 5, there is a risk that some tasks cannot be performed due to the limitation of the operating range of the robots 4, 5 by setting the operation permitted area. This point will be explained below while comparing this embodiment with a comparative example in which the relative positions are not changed by the support stage 7 or the like. That is, as shown in the upper part of Fig. 22, in both the comparative example and this embodiment, when the places that each of the robots 4, 5 wants to process or contact, that is, the working places P1, P2, are located within the operation permitted areas Ap1, Ap2 corresponding to the robots 4, 5, the desired tasks can be performed.

[0070] 22, when the work locations P1, P2 of the robots 4, 5 are located within the operation allowable area Ap1 corresponding to the robot 4, the desired work cannot be performed. This is because the robot 5 cannot process or contact the work location P2 located outside its own operation allowable area Ap2, and as a result, the robots 4, 5 cannot perform the work by cooperative operation.

[0071] Therefore, when the robots 4 and 5 operate cooperatively, the working device 37 of this embodiment controls the operation of the support stage 7 or the elevator inverter 10 to move the object 2, thereby changing the relative positions of the robots 4 and 5 and the object 2, thereby enabling the above-mentioned work to be performed. That is, in the case shown in the middle of this embodiment in Fig. 22, the working device 37 moves the object 2 so as to shift it toward the robot 5. As a result, the working places P1 and P2 of the robots 4 and 5 are positioned within the operation permitted areas Ap1 and Ap2 corresponding to the robots 4 and 5, respectively, and the desired work can be performed.

[0072] In the case shown in the lower part of Fig. 22, the working device 37 moves the target object 2 so as to rotate it 90 degrees clockwise. As a result, as shown in the lower part of Fig. 22 in this embodiment, the working places P1 and P2 of the robots 4 and 5 are positioned within their corresponding operation permitted areas Ap1 and Ap2, making it possible for the robots 4 and 5 to perform the desired work.

[0073] In this way, when the robots 4, 5 are operating cooperatively, the working device 37 of this embodiment adjusts the relative positions of the robots 4, 5 and the object 2 so that the working places P1, P2 of the robots 4, 5 are located within their corresponding operation permitted areas Ap1, Ap2, thereby enabling the execution of a desired task. The working device 37 can fine-tune the above-mentioned relative positions as follows.

[0074] That is, the working device 37 first performs rough position adjustment by controlling the operation of the support stage 7 etc. to move the target object 2, and then performs finer position adjustment by performing at least one of the following: controlling the operation of the XY portable stages 8, 9 to move at least one of the robots 4, 5, controlling the operation of the joints of the robots 4, 5 to move at least one of the joints of the robots 4, 5, and changing at least one of the permitted operation areas of the robots 4, 5. In this way, it is possible to perform the above-mentioned relative position adjustment with higher accuracy, and as a result, when a predetermined task is performed by making the robots 4, 5 operate in a coordinated manner, the task can be reliably performed.

[0075] In the working device 37, the stage control units 26, 28, 30, the elevator / reversing machine control unit 32, and the robot control units 20, 21 are configured to perform control so that the object 2 and at least one of the robots 4, 5 do not move simultaneously. In this way, when the above-mentioned relative position adjustment is performed, contact between the object 2 and the robots 4, 5 can be avoided. Note that, in cases where a means for avoiding such contact is separately provided, the stage control units 26, 28, 30, the elevator / reversing machine control unit 32, and the robot control units 20, 21 can also perform control so that the object 2 and at least one of the robots 4, 5 move simultaneously. In this way, the adjustment of the relative position and therefore the speed at which the desired work is performed can be improved.

[0076] <Regarding control sticks 16 and 17> Next, the control sticks 16, 17 will be described in detail. In this embodiment, the control sticks 16, 17 are operated by an operator O on an operating device 12 that moves and operates a tool T for performing a predetermined task, such as dismantling, on an object 2 in a desired direction, but the predetermined task is not limited to dismantling, and various tasks such as processing including transportation, assembly, and disassembly can be performed. In the following description, specific configurations will be described using the control stick 16 and the components corresponding to the control stick 16 as examples, but similar configurations can also be adopted for the control stick 17 and the components corresponding to the control stick 17.

[0077] 23, the tool T, which is the object of operation by the joystick 16, is attached to a flange surface 51 at the end of the arm of the robot 4. That is, in this case, the flange surface 51 corresponds to the attachment surface of the tool T. Various types of tools T are conceivable, such as scissors, clamps, laser irradiation, drills, and drivers. The tool T is replaceable based on the flange surface 51.

[0078] As shown in FIG. 24, the control stick 16 has a main body 52 that extends in one direction. The main body 52 has a bottom portion 53 and a pillar-shaped portion 54. The bottom portion 53 has a flat plate shape. The bottom portion 53 has two main surfaces with the largest area. One of these two main surfaces is the bottom surface 53a. The pillar-shaped portion 54 stands upright from the bottom surface 53a. The pillar-shaped portion 54 has a top surface 54a spaced apart from the bottom surface 53a, and a side surface 54b between the top surface 54a and the bottom surface 53a. The pillar-shaped portion 54 has a shape and size that allows it to be gripped by the operator O, with the side surface 54b covered by the palm of the operator O's hand.

[0079] As shown in FIG. 25, the coordinate input unit 18 is connected to the other of the two main surfaces of the bottom 53. In this embodiment, the center point of the bottom 53a of the control stick 16 and the center point of the flange surface 51 of the robot 4, which is the mounting surface to which the tool T is attached, are configured to be interlocked. More specifically, the bottom 53a of the control stick 16 and the flange surface 51 are configured to be interlocked so that their positions and postures coincide. As a result, the center point of the bottom 53a of the control stick 16 and the center point of the flange surface 51 of the robot 4 are the origin of the relative input amount of coordinates. According to this configuration, the worker O can intuitively operate the tool T attached to the tip of the arm of the robot 4 in the same way as if he were holding a tool in his hand by operating the control stick 16 around the connection position (the center point of the bottom surface 53) of the columnar part 54 with the bottom 53. Note that the main body 52 may be configured not to have the bottom 53. In this case, the center point of the bottom surface of the pillar upper portion 54 and the center point of the flange surface 51 of the robot 4 may be configured to move in conjunction with each other.

[0080] The coordinate input unit 18 can input values ​​for at least three axes of the coordinates of the robot 4. The "coordinates" referred to here means any of an orthogonal coordinate system such as a joint coordinate system, a tool coordinate system, and a tool coordinate system, or a combination of these. It is also possible to attach a force sensor to the coordinate input unit 18. The coordinate input unit 18 of the joint coordinate system has a moving part similar or equivalent to that of the robot 4. In other words, the coordinate input unit 18 of the joint coordinate system is configured to include a robot arm having the same number of joints as the number of joints of the robot 4 or more.

[0081] For this reason, when a joint coordinate system is used as the coordinate input unit 18, the reaction force of the motor for driving the joints causes the operator O to feel the control stick 16 is heavy when moving it, and a relatively strong force is required. Therefore, when a joint coordinate system is used as the coordinate input unit 18, in order for the operator O to move it precisely in response to the resistance forces of the motors and transmissions for the movable shafts and the inertial force when stationary, it is necessary to devise a mechanism for directly transmitting the force of the operator O to the control stick 16, or a mechanism for easily transmitting the force of the operator O to the control stick 16.

[0082] When a tool coordinate system is used as the coordinate input unit 18, the force of the operator O needs to be transmitted well to the control stick 16 due to the action of a counterweight provided for weight compensation, in particular in order for the operator O to move precisely against the inertial force when stationary. Therefore, when a tool coordinate system is used as the coordinate input unit 18, in order for the operator O to move precisely against the inertial force when stationary, a contrivance is required to directly transmit the force of the operator O to the control stick 16, a contrivance is required to facilitate the transmission of the force of the operator O to the control stick 16, etc. In other words, whether a joint coordinate system or a tool coordinate system is used as the coordinate input unit 18, a contrivance is required to directly transmit the force of the operator O to the control stick 16, a contrivance is required to facilitate the transmission of the force of the operator O to the control stick 16, etc.

[0083] Therefore, in this embodiment, the control stick 16 is configured as follows so that the operator O can firmly grip it. The configuration of the control stick 16 will be described below with reference to Figs. 26, 27, 28, and 29, which show only the control stick 16, and Figs. 30 and 31, which show the control stick 16 gripped by the operator O. The main body 52 of the control stick 16 has a first recess 61 into which the fingers of the operator O can fit when the main body 52 is gripped by the operator O with the side surface 54b covered by the palm of the operator O. Hereinafter, the first recess 61 may be simply referred to as the recess 61. The recess 61 is formed on the side surface 54b farther from the side where the wrist of the operator O is located when the main body 52 is gripped by the operator O.

[0084] Moreover, recess 61 is formed at a position where the middle finger of operator O can be fitted in. Recess 61 is shaped so that the finger of operator O fitted in recess 61 is inclined upward with respect to bottom surface 53a when operator O is gripping main body 52. ​​With this configuration, operator O can firmly grip control stick 16 with one hand. Note that the shape of recess 61 is not limited to the shape shown in the figure, and can be various shapes such as a V-shaped groove, a U-shaped groove, or a U-shaped groove.

[0085] The main body 52 has a second recess 62 into which the ring finger and little finger of the operator O can be fitted. Hereinafter, the second recess 62 may be simply referred to as the recess 62. The main body 52 has a protrusion 63 located between the recesses 61 and 62. With this configuration, the operator O can hold the protrusion 63 between his / her middle finger and ring finger by fitting his / her fingers into the recesses 61 and 62. As a result, the operator O can firmly grip the control stick 16. Also, as a result, the operator O's hands are less likely to slip on the control stick 16, and the operator O can stably move the control stick 16.

[0086] Furthermore, with the above configuration, the middle finger of the operator O fits into the recess 61, allowing the operator O to firmly grip the control stick 16 with all five fingers and move the coordinate input unit 18 without slipping. In particular, when applying force in the rotational direction, the operator O can easily apply force because the middle finger, which is the center of the five fingers, can be used as a fulcrum.

[0087] The main body 52 is provided with switches 64-68 which are buttons that can be pressed. The switches 64-68 functioning as various input keys are an example of an operating unit for causing the tool T to execute a predetermined operation. At least one of the switches 64-68 is for controlling the tool T. For example, if the tool T has a movable part or actively performs work, at least one of the switches 64-68 functions as an operating unit for executing an operation such as gripping, such as opening or closing, turning on / off an electric, pneumatic or hydraulic control tool, or turning on energy, such as turning on an electromagnet or passing electricity through a heating wire.

[0088] By providing the main body 52 with a plurality of switches 64-68, it is possible to use a plurality of tools T separately, and to release the lock when starting an operation, i.e., to allow the robot 4 to move or to start inputting coordinates. In this embodiment, the switch 68 functions as an unlock key. Note that the operation unit is not limited to the switches 64-68 which are buttons that can be pressed, and other input keys may be used. Also, the value input by operating the switches 64-68 is not limited to a binary input of ON / OFF, and an amount that can be converted into a numerical value may be input.

[0089] The switches 64-68 are provided at positions that can be reached by the fingers of the operator O when the operator O is gripping the control stick 16. The switches 64-66 are provided on the top surface 54a. The switch 64 is located in the upper center of the top surface 54a, the switch 65 is located in the lower left part of the top surface 54a, and the switch 66 is located in the lower right part of the top surface 54a. In this manner, the switches 64-66 are arranged alternately on the top surface 54a.

[0090] Furthermore, a protruding step 69 is provided between the switch 64 and the switches 65 and 66. This configuration prevents the operator O from erroneously operating the switches 64 to 66, and contributes to space saving on the top surface 54a. Saving space on the top surface 54a reduces the amount of finger movement of the operator O, thereby enabling quick operation and reducing fatigue associated with the operation of the operator O.

[0091] The switch 67 is provided at a position on the side surface 54b closer to the top surface 54a than the recess 61. A part of the switch 68 is provided at a position on the side surface 54b closer to the top surface 54a than the recess 61. As described above, in the above configuration, the middle finger of the operator O is fitted into the recess 61. With such a configuration, it is possible for the operator O to hold the control stick 16 with one hand while increasing the degree of freedom in operating the operation unit. The operator O can operate the switches 64 to 67, which are the operation units, with two fingers, the thumb and index finger, while holding the control stick 16 with three fingers, the middle finger, the little finger, and the ring finger. Therefore, with the above configuration, the degree of freedom in arranging the operation units is high, and it is also possible to simultaneously operate the operation units, for example, one of the switches 64 to 66 and the switch 67.

[0092] The operator O can operate the switch 68 provided on the side surface 54b with his / her middle finger while holding the control stick 16 with three fingers, the middle finger, the little finger, and the index finger. Therefore, with the above configuration, it is possible to increase the types of operation parts that can be operated simultaneously, and as a result, the degree of freedom of operation can be further increased. With the above configuration, the operator O can also operate the switches 64 to 66 provided on the top surface 54a with his / her thumb while holding the control stick 16 with four fingers, the middle finger, the little finger, the index finger, and the ring finger.

[0093] If the portion of the main body 52 on the top surface 54a side of the recess 61 is defined as the upper portion 71 and the portion excluding the upper portion 71 is defined as the lower portion 72, the upper portion 71 has a larger dimension in a direction perpendicular to the direction in which the main body 52 extends than the lower portion 72. Hereinafter, the direction in which the main body 52 extends may be referred to as the height direction, and the direction perpendicular to the direction in which the main body 52 extends may be referred to as the thickness direction. With this configuration, it is possible to arrange many operating parts on the top surface 54a. Furthermore, with this configuration, the operator O can support the lower surface of the upper portion 71 with the index finger when rotating the upper portion 71 with the middle finger as a fulcrum, thereby enabling a stable rotation operation.

[0094] Moreover, the lower part 72 has an uneven shape, for example, like a bellows shape. With this configuration, the unevenness of the lower part 72 makes it even less likely for the operator O to slip when gripping the main body 52, and thus the operator O can move the control stick 16 more stably. The height dimension of the lower part 72 is longer than the fist of an average adult male. Furthermore, the thickness dimension of the lower part 72 is set to, for example, about 30 to 40 mm. With this configuration, the operator O can grip the main body 52 of the control stick 16 with force.

[0095] According to the present embodiment described above, the following effects can be obtained. According to the dismantling device 36 of this embodiment, when the imaging range of the overhead camera 6 is adjusted to include the work area where the worker O works, the object 2 is placed in the center of the imaging range, and the arms of the robots 4 and 5 are placed on both sides of the imaging range. As a result, the image displayed on the display device 11 is similar to the actual positional relationship between the object 2 and the arms of the two robots 4 and 5, that is, the object 2 is placed in the center, and the arms of the robots 4 and 5 extend from both sides. Therefore, by looking at the image displayed on the display device 11, the worker O can intuitively grasp the positional relationship between the object 2 and the arms of the robots 4 and 5 that perform various tasks for dismantling. Therefore, according to this embodiment, the workability of dismantling can be improved.

[0096] In addition, according to the dismantling device 36 of this embodiment, when the work location is changed, the imaging range of the overhead camera 6 is adjusted accordingly, and the image displayed on the display device 11 is also changed to follow the change in the work location, so that the positional relationship between the actual object 2 and the arms of the two robots 4 and 5 is always the same. Therefore, the worker O can intuitively grasp the positional relationship between the object 2 and the arms of the robots 4 and 5, regardless of the location of the object 2 as the work location and the dismantling work is performed. Therefore, according to the above configuration, the worker O can always precisely recognize the change in the three-dimensional state accompanying the progress of the dismantling work of the object 2 and the positional relationship between the robots 4 and 5 and the object 2, and the workability of the dismantling can be further improved.

[0097] The dismantling device 36 is equipped with cameras 13, 14 mounted on the robots 4, 5 and capturing images of the arm tips of the robots 4, 5, and can display images captured by the cameras 13, 14 on the display device 11 in addition to images captured by the overhead camera 6. In this way, it is possible to provide the worker O with views from the robots 4, 5 in addition to the view from the overhead camera 6 through the display device 11, further improving visibility of the work area and workability.

[0098] In this case, the overhead camera 6 and the cameras 13 and 14 are 3D cameras, and a 3D display can be used as the display device 11. In this way, an image with a sense of depth is displayed on the display device 11, and by viewing such an image, the worker O can precisely recognize the complex three-dimensional changes in shape when dismantling the object 2, which is a discarded automobile, and dismantle it precisely.

[0099] The dismantling device 36 uses the multiple images captured by the overhead camera 6 and the cameras 13 and 14 to generate a third image that is an image with higher visibility than each of the multiple images, and can display the third image on the display device 11. In this way, a three-dimensional image with higher visibility than images captured by the overhead camera 6 and the like is displayed on the display device 11, and by viewing such an image, the worker O can more precisely recognize the complex three-dimensional shape changes when dismantling the object 2, which is a scrapped automobile, and can perform more precise dismantling.

[0100] The working device 37 of this embodiment includes area control units 22, 23 that set in advance operation allowable areas in which operation is permitted for each of the multiple robots 4, 5, and robot control units 20, 21 that control the multiple robots 4, 5 to operate within the operation allowable areas. The robot control units 20, 21 are capable of cooperatively operating the multiple robots 4, 5. When performing a predetermined task by cooperatively operating the multiple robots 4, 5, there is a risk that the desired task cannot be performed if the work locations are concentrated within the operation allowable area of ​​one robot.

[0101] Even in such a case, the working device 37 can change the relative positions of the robots 4, 5 and the target object 2 so that the work location to be worked on by the robot 4 or 5 is located within the operation permitted area of ​​the robot, thereby enabling the desired work to be performed. Therefore, according to this embodiment, the multiple robots 4, 5 can be operated in cooperation with each other, and interference between the multiple robots 4, 5 can be suppressed.

[0102] The control sticks 16 and 17 of this embodiment include a main body 52 having a shape that allows the operator O to grip the side surface 54b with the palm of the hand, and are configured so that the center point of the bottom surface 53a of the main body 52 and the center point of the flange surface 51 of the robot 4 or 5, which is the mounting surface to which the tool T is attached, are interlocked. With this configuration, the operator O can firmly grip the side surface 54b of the main body 52, and can transmit force directly. Also, with the above configuration, the operator O can intuitively and precisely operate the tool T because the bottom surface 52 of the control sticks 16 and 17 are interlocked with the flange surface 51 of the robot 4 or 5. Therefore, according to this embodiment, the operator O can precisely operate the tool T.

[0103] Second embodiment The second embodiment will be described below with reference to FIGS. The working device 37 is not limited to use in the dismantling system 1, but can be used in general for performing a predetermined task on an object. Examples of modified uses of the working device 37 include the following. First, the working device 37 can be used in an apparatus that includes three or more robots and performs a desired task by causing the three or more robots to operate in cooperation with each other. In this case, if the robots to be operated by the two control sticks 16, 17 are configured to be switchable, it is possible to operate three or more robots by the two control sticks 16, 17.

[0104] 37, when a working device 37 includes three robots 4, 5, 81, the ranges of motion Am1, Am2, Am3 of the three robots 4, 5, 81 partially overlap. However, the operation permitted areas Ap1, Ap2, Ap3 set for each of the three robots 4, 5, 81 do not overlap, which prevents interference between the robots 4, 5, 81.

[0105] Even with this configuration, the working device 37 can change the relative positions of the robots 4, 5, 81 and the target object 2 so that the work location to be worked on by the robot 4, 5 or 81 is located within the permitted operation area of ​​that robot, thereby enabling the desired work to be performed. Therefore, with the above configuration, the three robots 4, 5, 81 can be operated in coordination and interference between the three robots 4, 5, 81 can be suppressed.

[0106] Furthermore, the working device 37 can be applied not only to a system in which the worker O remotely controls the device via the display device 11, but also to a system in which the worker O operates the object 2 and the robots 4, 5 while visually checking them. When the working device 37 is applied to a system in which the worker O visually checks them, specific arrangements of the object 2, the robots 4, 5, the control sticks 16, 17, and the worker O can be exemplified by a first arrangement example shown in Fig. 38, a second arrangement example shown in Fig. 39, and a third arrangement example shown in Fig. 40.

[0107] In all of the first to third arrangement examples, the worker O and the robots 4, 5 face each other, the left and right sides of the robots 4, 5 coincide with the left and right sides of the control sticks 16, 17, and the boundaries of the operation permitted areas corresponding to the robots 4, 5 are located near the center of the target object 2. In this way, when the worker O visually checks the target object 2 and the robots 4, 5, the arrangement of the control sticks 16, 17 coincides with his or her own field of vision, and the worker O can intuitively operate the robots 4, 5. In this case, it is assumed that the operation of the support stage 7 will be performed by various means such as an operation key, a screen operation, a foot switch, or in conjunction with the operation of the robots 4, 5.

[0108] Third embodiment The third embodiment will be described below with reference to FIG. The control sticks 16, 17 are not limited to use in the operation device 12 of the dismantling system 1, but can be applied to operation devices in general for operating tools for performing predetermined work on an object. Possible examples of changes in the use of the control sticks 16, 17 include the following: The control sticks 16, 17 can be applied to an operation device for operating a tool T for performing predetermined work on an object 2, which is, for example, an automobile part, as dismantling.

[0109] In this case, as shown in Fig. 41, the other of the two main surfaces of the bottom 53 of the main body 52 of the control stick 16 is the bottom surface 53b, and the bottom surface 53b is flush with the mounting surface 91 of the tool T. In this case, when the worker O moves the control stick 16 to operate the tool T and perform a series of tasks for dismantling the target object 2, a control device (not shown) records various data such as data representing the position of the tip of the tool T when the worker O performs the series of tasks and data representing the attitude of the tool T as a position and attitude log. Based on the recorded position and attitude log, the control device controls the operation of a robot having the same tool as the tool T attached to the end of its arm, thereby automatically performing a series of tasks for dismantling the target object 2.

[0110] (Other embodiments) The present invention is not limited to the embodiments described above and shown in the drawings, and can be modified, combined, or expanded as desired without departing from the spirit and scope of the present invention. The numerical values ​​and the like shown in the above embodiments are merely examples and are not intended to be limiting.

[0111] The object to be dismantled by the dismantling device 36 is not limited to the object 2 which is a discarded automobile, but may be various parts or products. However, the object to be dismantled by the dismantling device 36 is preferably a part or product larger than the arms of the robots 4 and 5, such as a battery or a ship. Since such relatively large parts and products tend to have complex structures and are heavy, the effect of improving workability obtained by using the dismantling device 36 becomes even more preferable.

[0112] The object that the work device 37 works on is not limited to an object that moves, such as the object 2 in the dismantling system 1, but may be an object that does not move and that the worker O attaches to or detaches from the equipment.

[0113] The dismantling device 36 is not limited to a system that dismantles the object 1 using two robots 4 and 5, but can be applied to any system that dismantles an object using three or more robots. For example, when the dismantling device 36 is applied to a system provided with multiple types of robots with different uses, the worker O can select and operate two of the three or more robots depending on the use.

[0114] The operation unit of the control stick 16, 17 may be one that performs input according to the strength of the grip of the main body 52 of the control stick 16, 17 by the operator O, or one that performs input according to the action of the operator O moving the main body 52 of the control stick 16, 17, that is, a gesture. As shown in FIG. 42, a twisting action of the wrist of the operator O, in which the direction of the twisting is linked to the ON / OFF and rotation direction of the tool T, which is an electric screwdriver, can be adopted as the operation unit. With such an operation unit, the movement is in the same direction as the rotation action of tightening and loosening a screw with a screwdriver, so that the input is intuitive. Also, as shown in FIG. 43, a unit that links the gripping force of the hand of the operator O to the lower limit of the pinching force of the tool T, that is, the tool T is used for cutting or pinching depending on the gripping force of the hand of the operator O, can be adopted as the operation unit. In this way, the operator O does not need to be aware of the arrangement and functions of the switches 64 to 68, so that the operator can perform a more intuitive and efficient work.

[0115] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, and other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure.

[0116] The control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more special-purpose computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0117] In addition to the inventions described in the claims, the present disclosure includes the following inventions. [1] A control stick operated by an operator in an operating device (12) that moves and operates a tool (T) for performing a predetermined task on an object (2) in a desired direction, a main body (52) having a bottom surface (53a), a top surface (54a), and a side surface (54b) between the bottom surface and the top surface, and extending from the bottom surface toward the top surface; The main body is shaped so that the side surface can be gripped by the operator's palm, A control stick configured so that the bottom surface cooperates with a mounting surface (51, 91) to which the tool is attached. [2] The control stick described in [1], wherein the mounting surface is a flange surface (51) at the tip of the robot's arm. [3] The control stick according to [1] or [2], wherein the main body has a recess (61) into which the operator's fingers can fit when the main body is held by the operator, with the side surface being covered by the operator's palm. [4] The depression is formed in a position where the operator's middle finger can be inserted. [5] The control stick according to any one of [1] to [4], wherein the main body is provided with an operating unit (64-68) for causing the tool to perform a predetermined operation. [6] The control stick according to [5], wherein the operation unit (64-66) is provided on the top surface. [7] The control stick according to [5] or [6], wherein the operation portion (67, 68) is provided on the side surface at a position closer to the top surface than the recess. [8] If the depression is a first depression, The body includes: A second recess (62) into which the operator's ring finger and little finger can be fitted; a protrusion (63) located between the first recess and the second recess; A control stick as described in any one of [3] to [7], having [9] If the portion of the main body closer to the top surface than the recess is defined as an upper portion (71) and the portion excluding the upper portion is defined as a lower portion (72), A control stick as described in any one of [3] to [8], wherein the upper portion has a larger dimension in a direction perpendicular to the direction in which the main body extends than the lower portion.

[10] The control stick according to [1], wherein the bottom surface and the mounting surface (91) are flush with each other.

[11] The control stick described in any one of [1] to

[10] , wherein the tool is for disassembling the object as the specified task.

[12] A control stick as described in any one of [1] to

[11] , comprising an operation unit that allows the operator to input in accordance with the action of moving the main body and causes the tool to execute a predetermined action corresponding to the input.

[13] A control stick as described in any one of [1] to

[12] , comprising an operation unit that allows the operator to input according to the strength of the force with which the operator grips the main body, and causes the tool to perform a predetermined operation corresponding to the input. [Explanation of symbols]

[0118] 1...dismantling system, 2...object, 4, 5, 81...robot, 6...overhead camera, 7...support stage, 8, 9...XY portable stage, 10...lifting and inverting machine, 11...display device, 12...operation device, 13, 14...camera, 16, 17...control stick, 18, 19...coordinate input unit, 20, 21...robot control unit, 22, 23...area control unit, 24...display control unit, 26, 28, 30...stage control unit, 32...lifting and inverting machine control unit, 36...dismantling device, 37...working device, 51...flange surface, 61...first recess, 62...protrusion, 63...second recess, 64-68...switch, 71...upper part, 72...gripping part, 91...mounting surface, T...tool.

Claims

1. A control stick operated by an operator in an operating device (12) that moves and operates a tool (T) for performing a predetermined task on an object (2) in a desired direction, The container has a bottom surface (53a), a top surface (54a), and a side surface (54b) between the bottom surface and the top surface, and includes a main body (52) extending from the bottom surface toward the top surface; The main body is shaped so that the side surface can be gripped by the operator's palm, A control stick configured such that the bottom surface cooperates with a mounting surface (51, 91) to which the tool is attached.

2. 2. The control stick according to claim 1, wherein the mounting surface is a flange surface (51) at the tip of an arm of a robot.

3. 2. The control stick of claim 1, wherein the main body has a recess (61) into which the operator's fingers can fit when the main body is held by the operator with the side surface covered by the operator's palm.

4. 4. The control stick according to claim 3, wherein the recess is formed at a position where the operator's middle finger can be fitted therein.

5. 2. The control stick according to claim 1, wherein the main body is provided with an operating portion (64-68) for causing the tool to execute a predetermined operation.

6. 6. The control stick according to claim 5, wherein the operation unit (64-66) is provided on the top surface.

7. 6. The control stick according to claim 5, wherein the operation portion (67, 68) is provided on the side surface at a position closer to the top surface than the recess.

8. If the recess is a first recess, The body includes: a second recess (62) into which the operator's ring finger and little finger can be placed; a protrusion (63) located between the first recess and the second recess; 5. The control stick of claim 4, further comprising:

9. If the portion of the main body that is closer to the top surface than the recess is defined as an upper portion (71) and the portion excluding the upper portion is defined as a lower portion (72), 5. The control stick according to claim 4, wherein the upper portion has a dimension larger than that of the lower portion in a direction perpendicular to the extension direction of the main body.

10. 2. The control stick of claim 1, wherein the bottom surface and the mounting surface (91) are flush with each other.

11. The control stick according to claim 1 , wherein the tool is for disassembling the object as the predetermined task.

12. The control stick according to claim 1 , further comprising an operation unit that allows the operator to input according to an action of moving the main body and causes the tool to execute a predetermined action corresponding to the input.

13. 2. The control stick according to claim 1, further comprising an operation unit that allows the operator to input according to the strength of the grip on the main body, and causes the tool to execute a predetermined operation corresponding to the input.

Images