Robot system, control method for robot system, article manufacturing method using robot system, mobile device, control method for mobile device, table, control program and recording medium

Abstract

To appropriately execute work by a robot.SOLUTION: A robot system includes a robot, and a mobile device capable of being mounted with the robot, in which a first reference part is brought into contact with a second reference part by the robot, and the position of the mobile device is changed by changing the attitude of the robot on the basis of a contact state between the first reference part and the second reference part.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a robot system and a moving device. [Background technology]

[0002] In recent years, by moving a robot system in which a robot is mounted on a movable base to a fixed base (work table) on which a work object is placed, it has become possible to handle multiple work processes, thereby reducing the burden on production factory workers and reducing the number of personnel. An example of such a robot system is Patent Document 1 below. In Patent Document 1, if the workpiece is located outside the robot's movable range after the cart carrying the robot has moved, the stage on which the robot is placed is moved to bring the robot closer to the workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-30366 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology described in Patent Document 1, depending on the movable range of the stage, the part (predetermined part) to be worked on by the robot may not reach the work target placed on the fixed stand, which may prevent the robot from performing the work properly.

[0005] Therefore, the robot is made to perform the work appropriately. [Means for solving the problem]

[0006] The present invention employs a robot system comprising a robot and a mobile device on which the robot can be mounted, characterized in that the robot brings a first reference part into contact with a second reference part, and changes the position of the mobile device by changing the posture of the robot based on the contact state between the first reference part and the second reference part. Effect of the Invention

[0007] According to the present invention, it is possible to cause a robot to perform a task appropriately. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 illustrates a robot system 1000 according to an embodiment. [Diagram 2] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Diagram 3] FIG. 2 is a control block diagram of a robot system 1000 according to an embodiment. [Figure 4] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Diagram 5] 3 is a control flowchart according to the embodiment. [Figure 6] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 7] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 8] FIG. 2 is a YZ plan view of the robot system 1000 according to the embodiment. [Figure 9] 4 is a schematic diagram of a first reference portion 310 in the embodiment. FIG. [Figure 10] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 11] FIG. 2 is a YZ plan view of the robot system 1000 according to the embodiment. [Figure 12] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 13] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 14] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 15] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. [Figure 16] FIG. 2 is an XY plan view of the robot system 1000 according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

[0011] The handle 403 may be adjustable to a height that is easy for the user to handle. The handle 403 may be retractable into the movable platform 400 so as to reduce the effect on the operation of the robot arm 200. Note that, although the present embodiment will be described taking as an example a case where the movable platform 400 is moved by the user's operation of the handle 403, the present invention is not limited to this. For example, the wheels 401 of the movable platform 400 may be rotated by a driving source such as a motor to make the movable platform 400 move on its own.

[0012] A plurality of fixed legs 402 are provided on the underside of the movable platform 400. In this embodiment, four fixed legs 402 are provided. Although not shown in Fig. 1, two more fixed legs 402 are provided on the back side of the page, and a grounding portion is provided at the portion that comes into contact with the floor surface.

[0013] Four wheels 401 are provided on the movable platform 400 (one is on the back side of the page in FIG. 1), and each of them moves up and down by a lift switch 405 arranged on the movable platform. In the state shown in FIG. 1, the wheels 401 are protruding from the movable platform 400, and the fixed legs 402 are not in contact with the floor. By pressing the lift switch 405 in the state shown in FIG. 1, the wheels 401 are stored in the movable platform 400, and the grounding parts of the fixed legs 402 come into contact with the floor.

[0014] As a result, after moving the mobile platform 400, the lift switch 405 is operated at the installation location to raise the wheels 401 and ground the fixed legs 402 on the ground, thereby maintaining the mobile platform 400 in a stopped state. When moving the mobile platform 400, the wheels 401 are moved in the -Z direction to release the mobile platform from contact with the floor surface, and when the mobile platform 400 is to be stopped at an arbitrary position, the fixed legs 402 are moved in the +Z direction to ground the suction parts of the fixed legs 402 on the floor surface. This makes it possible to easily release the mobile platform 400 from contact with the floor and fix it to the ground by the lift switch 405. In addition, a sensor such as an encoder (not shown) can be installed on the wheels 401, and the moving state of the mobile platform 400 can be detected by the sensor.

[0015] 1, the mobile platform 400 is provided with an area sensor 406 that recognizes the surrounding environment, and if the mobile platform 400 approaches a surrounding object during movement and is about to collide with it, a brake (not shown in FIG. 1) inside the mobile platform 400 is activated to avoid the collision. In the example of FIG. 1, two area sensors 406 are provided. After the robot system 1000 is installed, if the area sensor 406 detects that a user is nearby, the upper limit of the operating speed of the robot arm 200 is changed. In other words, when the robot arm 200 works alone, it operates at a high speed, and when working closely with a user, it operates at a slower speed than when the robot arm 200 works alone to ensure safety.

[0016] The moving platform 400 is also provided with an emergency stop switch 404 that immediately stops the operation of the robot arm 200 in the event of an abnormality. It is also provided with an operation changeover switch 407 that is used to switch the operation of the robot arm 200 or the moving platform 400. For example, by pressing the operation changeover switch 407 before the user moves the moving platform 400, the robot arm 200 or the moving platform 400 can recognize that it is being moved by the user. When the robot system 1000 is to be stopped, pressing the operation changeover switch 407 allows the robot arm 200 or the moving platform 400 to recognize that the robot system 1000 has been stopped.

[0017] Although not shown in FIG. 1, an end effector for performing work can be provided at a predetermined position of the robot arm 200. As the end effector, various tools such as a robot hand, a screwdriver, a cutting / polishing tool, etc. may be provided. As the robot hand, an electric hand or an air hand driven by pneumatic pressure may be used. The end effector is attached to the robot arm 200 by a semi-fixed means (not shown) such as a screw fastener. Alternatively, it can be attached by a detachable means (not shown) such as a latch (ratchet) fastener. In particular, when the end effector is detachable, a method can be considered in which the robot arm 200 is controlled to detach or replace the end effector arranged at the supply position (not shown) by the operation of the robot arm 200 itself.

[0018] In this way, the robot arm 200 and the end effector can be moved to the corresponding work space (work table or fixed table) by the moving platform 400, and the end effector can manufacture an article. Specifically, the article is manufactured by grasping an object with the robot hand and assembling it to another object, disassembling an assembled object, tightening screws with a screwdriver, cutting or polishing with a tool, and so on.

[0019] 2 is a schematic diagram of the robot system 1000 of this embodiment in the YZ plane. Inside the moving platform 400, a robot control device 300, a PLC (Programmable Logic Controller) 500, and an external input device 600 are arranged. The robot control device 300 is connected to the driving devices (not shown in FIG. 2) installed on each axis of the robot arm 200 by power cables, communication cables, etc., and each joint is rotated by controlling the driving devices. The robot control device 300 is equipped with a power supply device 350 and a host control device 340. Each axis is also equipped with an encoder (not shown in FIG. 2) that detects the relative movement amount of the structure, and it is possible to control the operation of the robot arm 200 by controlling the rotation direction and rotation amount of the joint.

[0020] In addition, an external input device 600 is provided as a teaching device that transmits teaching data to the robot control device 300. An example of the external input device 600 is a teaching pendant, which is used by the user to specify the position and posture of the robot arm 200 and the position and posture of the end effector. Such an external input device is mounted on a mobile platform 400 so that it can be moved.

[0021] The external input device 600 is provided with an operation unit including operation keys for, for example, controlling the posture (position and angle) of the joints of the robot arm 200 or moving the end effector of the robot arm 200. When some operation is performed on the operation unit of the external input device 600, the robot control device 300 transmits a signal to the drive device of each joint in response to the operation of the external input device 600, and controls the operation of the robot arm 200 or the end effector. At that time, the robot control device 300 executes a robot control program including a control program described below, thereby controlling each part of the robot arm 200.

[0022] As shown in FIG. 2, the robot arm 200 of this embodiment is configured with six-axis articulated joints. The robot arm 200 has a base 210 and six links 201, 202, 203, 204, 205, and 206. The links 201 to 206 are rotated by six drive devices (not shown in FIG. 3) that rotate around the arrows indicated by joint axes A1, A2, A3, A4, A5, and A6. Each drive device (not shown in FIG. 2) is equipped with a motor and a reducer that reduces the output of the motor. In this embodiment, a strain wave gear reducer is used. That is, the motor provided in the drive device (not shown in FIG. 2) serves as a drive source that generates a drive force that displaces each of the links 201 to 206 to which each joint is connected. Each motor also has an encoder (not shown in FIG. 2) built in that detects the rotation angle of the motor itself. Further, torque sensors 221, 222, 223, 224, 225, and 226 capable of acquiring information related to torque are provided at each joint.

[0023] With the above configuration, the end effector can be operated to any position by the robot arm 200 to perform a predetermined task. For example, a predetermined workpiece and another workpiece can be used as materials, and a process of assembling the predetermined workpiece and the other workpiece can be performed to produce an assembled workpiece as a result. In addition, when the predetermined workpiece and the other workpiece are assembled, one of the workpieces can be removed and disassembled. In this manner, an article can be manufactured by the robot system 1000.

[0024] Fig. 3 is a control block diagram of the robot system 1000 in this embodiment. The host control device 340 of the robot control device 300 is configured by a computer including a microprocessor and the like, and can control the robot arm 200 and an end effector (not shown). As shown in Fig. 3, the computer constituting the robot control device 300 has a CPU (Central Processing Unit) 302. It also has a ROM (Read Only Memory) 303 and a RAM (Random Access Memory) 304. It further includes a communication interface (hereinafter, "I / F") 301, a HDD (Hard Disc Drive) 306, and the like. The CPU 302, which is a processor, is an example of a control unit.

[0025] A program 330 is recorded in the ROM 303. The program is a basic program such as a BIOS for causing a computer, i.e., a CPU 302, to execute a control method and arithmetic processing of the robot arm 200 and the end effector. The RAM 304 is used to temporarily store data such as teaching data input from an external input device, control commands, and data from the PLC 500. The HDD 306 is a storage unit that stores various data resulting from arithmetic processing by the CPU 302. The recording disk drive 305 can read out various data and control programs recorded in the recording disk 331. The CPU 302 acquires data from the external input device 600, data from various sensors mounted on the robot arm 200, the end effector, and the moving platform 400, data from the PLC 500, and instructions from the emergency stop switch 404 through the I / F 301 and the bus 307. In addition, an external storage device such as a monitor on which various images are displayed, a rewritable non-volatile memory, and an external HDD may be mounted.

[0026] The host controller 340 is daisy-chained to the motor control boards 241 provided at the joints via communication cables. The host controller 340 transmits commands to the motor control boards 241. The motor control boards 241 then use the corresponding motor drive boards 251, 252, 253, 254, 255, 256 to perform distributed control of the corresponding motors 231, 232, 233, 234, 235, 236. The host controller 340 acquires (calculates) a trajectory of the robot arm 200 to realize an operation according to instruction from the external input device 600.

[0027] The host controller 340 transmits various commands to each motor control board 241, such as an operation command (specifically, a position command) for instructing the operation of each motor 231-236 based on the result of the trajectory calculation, an operation execution start command for instructing the start of execution of an operation based on the operation command, a synchronization command, etc. The weight of each link 201-206 is stored in the ROM 303 of the host controller 340. Then, the CPU 302 acquires (calculates) the posture of the robot arm 200 from the encoders 211, 212, 213, 214, 215, 216 of each axis.

[0028] When the emergency stop switch 404 is pressed by the user, the CPU 302 transmits a command to each motor control board 241 to stop the robot arm 200, and activates a brake (not shown) provided at each joint. When the area sensor 406 detects the presence of a user, the CPU 302 transmits a speed range for operating each joint to each motor control board 241, and controls the motors 231 to 236 at the speed within the transmitted range. When the area sensor 406 detects the possibility of the robot system 1000 colliding with an object, the CPU 302 transmits a command to each motor control board 241 to stop the robot arm 200, and activates a brake (not shown) provided at each joint. When the CPU 302 acquires data indicating that the work process has changed from the PLC 500, the CPU 302 transmits a command to the motor control board 241 to control the robot arm 200 using teaching data corresponding to the work process to be executed.

[0029] Similarly, the PLC 500 is also composed of a computer including a microprocessor and the like. The computer constituting the PLC 500 has a CPU, a ROM, a RAM, and a HDD, just like the upper controller 340. It further includes an I / F and the like. The PLC 500 manages the work process and controls the wheels 401 of the moving platform 400. The position of the wheels 401 is controlled when the lift switch 405 is pressed by the user. The operation changeover switch 407 is pressed by the user to detect whether the moving platform 400 is being moved by the user or not, and transmits the information to the upper controller 340. The PLC 500 also obtains information on the state of the robot arm 200 (arm posture and end effector posture) from the upper controller 340. Note that all of the various switches and area sensors may be provided in the robot arm 200, or all of them may be provided in the moving platform 400.

[0030] The torque sensors 221-226 are provided with a structure and an optical encoder that detects the amount of relative movement of the structure. When the robot arm 200 is in operation, the optical encoder detects the amount of relative movement of the structures of the torque sensors 221-226 that accompanies the relative displacement of each of the links 201-206. Based on the input torque command value, the motor control board 241 outputs a current command to each of the motors 231-236 via the motor drive boards 251-256 to control the operation of each of the motors 231-236 so that the torque detected by the torque sensor of each joint follows the command value.

[0031] The external input device 600 may be, for example, an operating device such as a teaching pendant (TP), but may also be another computer device (PC or server) capable of editing a robot program. The external input device 600 can be connected to the upper control device 340 via a wired or wireless communication connection means, and has a user interface function such as robot operation and status display. The target joint angles of each joint input by the external input device 600 are output to the CPU 302 via the I / F 301 and the bus 307.

[0032] The CPU 302 receives teaching point data input, for example, by the external input device 600. Also, based on the teaching point data input from the external input device 600, it can generate trajectories for each axis of the robot arm 200 and transmit the trajectories to each motor control board 241 via the bus 307. The CPU 302 outputs drive command data indicating the control amount of the rotation angle of each of the motors 231 to 236 to each motor control board 241 via the bus 307 at predetermined intervals.

[0033] The motor control board 241 calculates the amount of current output to each of the motors 231-236 based on the drive command input from the CPU 302, and supplies current to each motor using the motor drive boards 251-256 to control the joint angle of each joint. Also, detection signals from each of the encoders 211-216 and the torque sensors 221-226 are output to the CPU 302 via the bus 307. That is, the CPU 302 executes feedback control of each of the motors 231-236 via the motor control board 241 so that the current joint angle values ​​of the joints detected by each of the encoders 211-216 become the target joint angles. Similarly, it executes feedback control of each of the motors 231-236 so that the current torque values ​​of the joints detected by each of the torque sensors 221-226 become the target torques.

[0034] Furthermore, by returning the outputs of the torque sensors 221-226 to the upper control device 340 and feeding them back to the drive of each of the motors 231-236, the torque applied to each of the links 201-206 during drive can be controlled. Furthermore, the force generated in the link 206 of the robot arm 200 can be obtained by calculation from the values ​​of each of the torque sensors 221-226, making it possible to feedback control the load applied to the parts to be assembled. Note that although the present embodiment will be described taking a torque sensor as an example, information regarding the load applied to the robot system may be obtained by a sensor other than a torque sensor. For example, various sensors such as a current sensor, a proximity sensor, a contact sensor, an acceleration sensor, an imaging device, etc. may be used.

[0035] When a robot hand is used as an end effector (not shown), host control device 340 may also be connected to a hand motor (not shown) via an interface and a hand motor driver. The hand motor driver calculates the amount of current output to the hand motor based on a drive command received from CPU 302, and supplies current to the hand motor to control the speed of the hand motor. It also outputs a pulse signal from the encoder of the hand motor to CPU 302 via the interface and bus. That is, CPU 302 executes feedback control of the hand motor via the hand motor driver so that the current value of the hand motor speed detected by the encoder becomes the target speed.

[0036] FIG. 4 is an XY plan view of the robot system 1000 in this embodiment, seen from above. The robot arm 200 is placed on a movable platform 400, and the robot arm 200 has a first reference part 310 on a link 206. A range 101 in which the first reference part 310 of the robot arm 200 can move is also shown. The range 101 can also be rephrased as a work range in which the robot arm 200 can perform operations. In this embodiment, the first reference part 310 is provided on the link 206, which is the tip of the robot arm 200, as an example, but is not limited thereto. As long as the first reference part 310 can be moved and the movable platform 400 can be moved by the first reference part 310 as described later, the first reference part 310 may be provided in either the robot arm 200 or the movable platform 400.

[0037] The fixed base (work platform) 700 is located near the movable base 400, and the fixed base 700 includes a second reference portion 710. In this embodiment, the second reference portion 710 is located on the upper surface of the fixed base 700. The robot arm 200 performs an operation on the fixed base 700 or on a workpiece, tool, or the like placed on the fixed base 700.

[0038] The first reference portion 310 and the second reference portion 710 are shaped and arranged so that they can come into contact with each other. In this embodiment, the first reference portion 310 is pin-shaped with a pointed tip, and the second reference portion is hole-shaped, and the pin-shaped first reference portion 310 is inserted into the hole-shaped second reference portion 710 so that their side surfaces can come into contact with each other. As long as the side surfaces of the reference portions can come into contact with each other in this manner, the shapes of the first reference portion 310 and the second reference portion 710 in this embodiment may be any shape.

[0039] 5 is a flowchart showing the steps of the control method of the robot system 1000 in this embodiment. The host controller 340 and the PLC 500 execute corresponding control programs and communicate with each other, thereby executing the flowchart in FIG.

[0040] First, in step S101, the user positions the mobile gantry 400 near the fixed gantry 700. In the state of step S101, the mobile gantry 400 has been moved by the user, so the positional relationship between the mobile gantry 400 and the fixed gantry 700 is in a somewhat rough state.

[0041] Next, in step S102, the posture of the robot arm 200 is changed to engage the first reference portion 310 with the second reference portion 710, and the side portion of the first reference portion 310 and the inner surface portion of the second reference portion 710 are brought into contact with each other. FIG. 6(a) is an XY plan view of the robot system 1000 in the state of step S102. In this embodiment, the side portion of the first reference portion 310 and the inner surface portion of the second reference portion 710 are brought into contact with each other by performing a searching operation based on the detection results from the torque sensors 221-226. With the first reference portion 310 in contact with the reference portion of the second reference portion 710, the first reference portion 310 is moved (i.e., searched) on the fixed base 700. Then, when the first reference portion 310 engages with the second reference portion 710 and the side portion of the first reference portion 310 and the inner side surface of the second reference portion 710 are brought into contact with each other, the detection results from the torque sensors 221-226 change. Based on this change, it is determined whether or not the first reference portion 310 has come into contact with the second reference portion 710.

[0042] Next, in step S103, the posture of the robot arm 200 is changed and the moving platform 400 is moved based on the detection results of the torque sensors 221-226 when the first reference part 310 and the second reference part 710 are in contact with each other. Then, in step S104, it is determined whether the detection results of the torque sensors 221-226 are within a predetermined range. In step S104, it may be determined whether the detection results of the torque sensors 221-226 are within a predetermined range. Also, information on the force applied to the first reference part 310 may be obtained based on the detection results of the torque sensors 221-226, and it may be determined whether the force applied to the first reference part 310 is within a predetermined range. The predetermined range is the detection results of the torque sensors 221-226 when the side part of the first reference part 310 and the inner part of the second reference part 710 are in contact with each other correctly (without tilt or positional deviation), or the force of the first reference part 310 based on the detection results of the torque sensors 221-226. In this state, the relative positional relationship between the movable base 400 and the fixed base 700 is correct.

[0043] If step S104: NO, the process returns to just before step S103, where the posture of the robot arm 200 is changed and the moving platform 400 is moved. If step S104: YES, the process proceeds to step S105, where the fixed legs 402 are lowered to fix the moving platform 400 so that it is difficult to move, and the control flow ends. FIG. 6(b) is an XY plan view of the robot system 1000 in which steps S103 and S104 are repeated to correct the positional relationship between the moving platform 400 and the fixed platform 700. Note that in this embodiment, the posture of the robot arm 200 is changed and the moving platform 400 is moved based on the detection results of the torque sensors 221-226, but this is not limited to this. For example, information from the encoders 211-216 is obtained that is related to the posture of the robot arm 200 when the side surface of the first reference portion 310 and the inner surface of the second reference portion 710 are in contact correctly (without tilt or positional deviation). The posture of the robot arm 200 may then be changed so that it corresponds to the values ​​of the encoders 211-216 when the side surface of the first reference portion 310 and the inner surface of the second reference portion 710 are in correct contact (without tilt or positional deviation), and the movable platform 400 may be moved.

[0044] According to the present embodiment, when the relative positional relationship between the movable platform 400 and the fixed platform 700 is set, the movable platform 400 is moved by changing the posture of the robot arm 200. As a result, the range of the fixed platform 700 to be worked on can be positioned within the range 101 as shown in FIG. 6(b). This allows the robot to perform the work appropriately. In addition, when there are multiple workpieces to be worked on on the fixed platform 700, there is a problem that even if it is possible to approach a certain workpiece and enter the working range, it is not necessarily possible to enter the working range for the other workpieces. However, in this embodiment, since the range 101 can be moved, the work can be performed appropriately on multiple workpieces on the fixed platform 700. In addition, since the positional relationship of the robot system 1000 with respect to the workpiece on the fixed platform 700 can be clarified, the robot system 1000 can accurately hold the workpiece to be worked on and perform the work at high speed. In addition, even if the positional relationship between the movable platform 400 and the fixed platform 700 changes due to an earthquake or the like, this embodiment allows the relative positional relationship to be corrected.

[0045] Second embodiment Next, a second embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiment, and the description thereof will be omitted or simplified. The following mainly describes the differences from the above-mentioned embodiment.

[0046] First, the movable platform 400 is placed at the position shown in Fig. 6(b). In this state, the robot arm 200 is taught to the fixed platform 700 or to a workpiece or other object placed on the fixed platform 700, and is placed in a state where a predetermined task can be performed. Then, the posture of the robot arm 200 is changed as shown in Fig. 6(b), and the first reference part 310 is inserted into the second reference part 710, and their surfaces are brought into contact with each other. In this way, the posture of the robot arm 200 in a state where the first reference part and the second reference part are in contact with each other at the position of the movable platform 400 where the predetermined task can be performed is set as the base posture.

[0047] 4 from the state shown in Fig. 6(b) due to movement or displacement, the posture of the robot arm 200 is changed based on the state in which the first reference portion 310 and the second reference portion 710 are in contact with each other, and the mobile platform 400 is moved. In this way, the mobile platform 400 can be brought into a state in which it is possible to perform a fixed task on a workpiece or other work target placed on the fixed platform 700.

[0048] According to the present embodiment, it is possible to make the robot perform the work appropriately. Also, it is possible to confirm by teaching whether the positional relationship between the movable platform 400 and the fixed platform 700 allows the robot arm 200 to perform a predetermined work. Therefore, it is possible to improve the validity of the reference posture of the robot arm 200, and it is possible to improve the accuracy of the alignment of the relative positional relationship between the movable platform 400 and the fixed platform 700 due to the change in the posture of the robot arm 200. Also, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0049] (Third embodiment) Next, a third embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiment, and the description thereof will be omitted or simplified. The following mainly describes the differences from the above-mentioned embodiment.

[0050] FIG. 7(a) is an XY plan view of the robot system 1000 in this embodiment. In this embodiment, the second reference part 710 provided on the fixed stand 700 has a plate-like structure having a plurality of planes as shown in FIG. 7(a). FIG. 7(b) is an enlarged view of the vicinity of the second reference part 710. As shown in FIG. 7(b), the second reference part 710 in this embodiment has a first surface 721 and a second surface 722. In this embodiment, the first surface 721 is a plane facing the upper side of the paper in FIG. 7(b), and the second surface 722 is a plane facing the right side of the paper in FIG. 7(b), and they intersect at right angles to each other by a vertical straight line.

[0051] The first reference part 310 has a structure capable of contacting the first surface 721 and the second surface 722 of the second reference part 710, and is, for example, a steel spherical probe. When the first reference part 310 is brought into contact with the second reference part 710, it moves in the direction indicated by the arrow Y in FIG. 7(b) to bring it into contact with the first surface 721, and then moves in the direction indicated by the arrow X to bring it into contact with the second surface 722. In this case, it is assumed that the first surface 371 and the second surface 722 have a sufficient width for the first reference part 310 to come into contact without coming off. By making contact with the first reference part 310 in such a manner, the first reference part 310 can move to a specific position relative to the fixed base 700 and can position the robot arm 200 in a predetermined posture. Based on this contact state, the posture of the robot arm 200 is changed to a predetermined posture as in FIG. 6(b) described in the first embodiment, and the position of the movable base 400 is moved.

[0052] According to the present embodiment, when the relative positional relationship between the movable platform 400 and the fixed platform 700 is to be established, the movable platform 400 is moved by changing the posture of the robot arm 200. This allows the robot to perform the work appropriately. In addition, since the positional relationship of the robot system 1000 with respect to the work on the fixed platform 700 can be clarified, the robot system 1000 can accurately hold the work as the work target and perform the work at high speed. In addition, even if the positional relationship between the movable platform 400 and the fixed platform 700 changes due to an earthquake or the like, the present embodiment allows the relative positional relationship to be corrected. In addition, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0053] (Fourth embodiment) Next, a fourth embodiment will be described. In the following, the same reference symbols are used for configurations that are the same as or equivalent to those in the above-mentioned embodiment, and their description will be omitted or simplified, and differences from the above-mentioned embodiment will be mainly described. Fig. 8(a) is a YZ plan view of the robot system 1000 in this embodiment. Fig. 8(b) is an enlarged view of the vicinity of the second reference part 710.

[0054] As shown in FIG. 8(b), the first reference portion 310 in this embodiment has a conically pointed pin-shaped tip 311, which is shaped to easily align the tip 311 with the hole-shaped second reference portion 710. That is, the first reference portion 310 is easily fitted into the second reference portion 710. Also, the cross section near the center of the first reference portion 310 and the cross section near the center of the second reference portion 710 are circular and of similar size, allowing engagement. In this way, by deeply inserting the first reference portion 310 into the second reference portion 710, the positional relationship of the first reference portion 310 with respect to the fixed stand 700 becomes clearer.

[0055] According to the present embodiment, when the relative positional relationship between the movable platform 400 and the fixed platform 700 is set, the movable platform 400 is moved by changing the posture of the robot arm 200. In addition, the time required to set the positional relationship can be reduced by making it easier to engage the first reference part 310 and the second reference part 710. In addition, it is possible to set the positional relationship between the movable platform 400 and the fixed platform 700 with high accuracy. Therefore, it is possible to appropriately perform the work by the robot. In addition, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0056] Fifth embodiment Next, a fifth embodiment will be described. In the following, the same reference symbols are used for configurations that are the same as or equivalent to those in the above-mentioned embodiments, and their description will be omitted or simplified, and differences from the above-mentioned embodiments will be mainly described. Figure 9 is a perspective view of the first reference portion 310 in this embodiment. Figure 9(b) is a YZ plan view of the first reference portion 310 in this embodiment. Figure 9(b) is an XY plan view of the second reference portion 710 in this embodiment.

[0057] As shown in Fig. 9(a), the first reference portion 310 in this embodiment has a protrusion shape 312. As shown in Fig. 9(b), the second reference portion 710 has a round hole shape with which the first reference portion 310 can be engaged, and also has a recess 723 with which the protrusion shape 312 can be engaged at a specific phase. In this state, the first reference portion 310 and the second reference portion 710 are engaged with each other. Based on the state in which the first reference portion 310 and the second reference portion 710 are in contact with each other in this way, the robot arm 200 changes its posture as shown in Fig. 6, thereby changing the position of the moving platform 400.

[0058] According to the present embodiment, the rotation phase of the first reference part 310 based on the recess 723 of the second reference part 710 can be made clear, so that the position of the movable platform 400 relative to the fixed platform 700 can be set with higher accuracy. This makes it possible to perform the work by the robot appropriately. In addition to the cylindrical projection shape 312 shown in FIG. 9(a) having a cylindrical projection on the side, the projection shape 312 can be embodied in a shape that allows the rotation phase to be specified, such as a polygonal prism shape such as a triangular prism or a square prism. Also, the second reference part 710 can obtain the same effect as long as it has a hole shape that matches them. Also, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0059] Sixth embodiment Next, a sixth embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiments, and their description will be omitted or simplified. The following mainly describes the differences from the above-mentioned embodiments. Figure 10 is an XY plan view of a robot system 1000 in this embodiment.

[0060] The robot arm 200 in this embodiment is equipped with a force-sensing means 800 near the hand tip. When the first reference part 310 comes into contact with the hole of the second reference part 710 by engaging with it, the movement is hindered and the mutual urging force increases. By detecting such a change in force with the force-sensing means 800, the contact state between the first reference part 310 and the second reference part 710 can be determined. Then, by changing the posture of the robot arm 200 based on the contact state, the approximate positional relationship between the fixed base 700 and the movable base 400 can be correctly set.

[0061] According to the present embodiment, when the relative positional relationship between the movable platform 400 and the fixed platform 700 is set, the movable platform 400 is moved by changing the posture of the robot arm 200. This makes it possible to appropriately perform the work by the robot. Also, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0062] Seventh embodiment Next, a seventh embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiment, and their description will be omitted or simplified. The differences from the above-mentioned embodiment will be mainly described. Figure 11 is a YZ plan view of the robot system 1000 in this embodiment.

[0063] The robot system 1000 in this embodiment includes an imaging device 900 on the robot arm 200. Depending on the positional relationship between the movable base 400 and the fixed base 700, the positional relationship between the first reference portion 310 and the second reference portion 710 may be unclear, and they may not be able to come into contact with each other, or it may take a long time before they come into contact. Therefore, the imaging device 900 is used to capture an image of the second reference portion 710 and detect the position of the second reference portion 710, thereby bringing the first reference portion 310 and the second reference portion 710 into contact with each other. This makes it easier for the first reference portion 310 and the second reference portion 710 to come into contact with each other.

[0064] According to the present embodiment, by detecting the position of the second reference part 710, the first reference part 310 is brought into contact with the second reference part 710, and the attitude of the robot arm 200 is changed based on the contact state, thereby changing the position of the moving platform 400. This makes it possible to appropriately perform the work by the robot. In addition, since the first reference part 310 is brought into contact based on the position of the second reference part 710, the first reference part 310 can be brought into contact with the second reference part 710 quickly, and it is possible to shorten the time required to set the relative positional relationship between the moving platform 400 and the fixed platform 700. In addition, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0065] Eighth embodiment Next, an eighth embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiments, and their description will be omitted or simplified. The differences from the above-mentioned embodiments will be mainly described. Fig. 12 is an XY plan view of a robot system 1000 in this embodiment.

[0066] 12, in this embodiment, the first reference portion 310 is brought into contact with the upper surface of the fixed base 700, and the movable range of the robot arm 200 is thoroughly scanned. This is illustrated as scan 120 in FIG. 12. In this manner, when the second reference portion 710 is within the movable range of the robot arm 200, the first reference portion 310 can come into contact with the second reference portion 710.

[0067] According to the present embodiment, the posture of the robot arm 200 is changed based on the contact state, and the position of the moving platform 400 is changed. This allows the robot to perform the work appropriately. Furthermore, even if the relative positions of the moving platform 400 and the fixed platform 700 are unknown, the first reference portion 310 and the second reference portion 710 can be brought into contact with each other without using the force sensing means 800 or the imaging device 900. This allows the system to be less expensive and to be less large. Furthermore, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0068] Ninth embodiment Next, a ninth embodiment will be described. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-mentioned embodiments, and descriptions thereof will be omitted or simplified. Differences from the above-mentioned embodiments will be mainly described.

[0069] In the various embodiments described above, the position of the mobile platform 400 is changed by changing the posture of the robot arm 200 as shown in Fig. 6 based on the state in which the first reference part 310 and the second reference part 710 are in contact with each other. In this case, the force required to move the mobile platform 400 is smaller than the force that can be carried by the robot arm 200. In this way, the force applied by the first reference part 310 to the second reference part 710 makes it possible to move the mobile platform 400.

[0070] In this embodiment, a detailed description will be given of a configuration for further reducing the force required to move the mobile platform 400. As a configuration for reducing the force required to move the mobile platform 400, for example, the underside of the mobile platform 400 may be made of a material with good lubricity such as resin, so that the coefficient of friction with the floor surface on which the mobile platform 400 is placed may be small. Alternatively, the material of the axle of the wheels 401 may be selected so as to reduce the friction of rotation of the wheels 401, thereby reducing the running resistance of the mobile platform 400.

[0071] According to the present embodiment, the posture of the robot arm 200 is changed based on the contact state, and the position of the movable platform 400 is changed. This allows the robot to perform work appropriately. Furthermore, since the force required to move the movable platform 400 is reduced, the movable platform 400 can be moved quickly, and the time required to set the relative positional relationship between the fixed platform 700 and the movable platform 400 can be shortened. Furthermore, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0072] (Tenth embodiment) Next, a tenth embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiments, and their description will be omitted or simplified, and differences from the above-mentioned embodiments will be mainly described. Fig. 13(a) is an XY plan view of a robot system 1000 in this embodiment. Fig. 13(b) is a diagram showing an external input device 600 in this embodiment.

[0073] As shown in FIG. 13(b), when the first reference part 310 is in contact with the second reference part 710, the posture of the robot arm 200 after the posture of the robot arm 200 is changed and the position of the moving platform 400 after the movement are displayed on the display part 600a of the external input device 600. In this state, the worker assists the movement of the moving platform 400 by transporting the moving platform 400 based on the display of the external input device 600. Furthermore, when the robot arm 200 takes a predetermined posture, the moving platform 400 can be moved to a reference position where a predetermined task can be performed. As a means for indicating the moving direction of the moving platform 400, in addition to the example shown in FIG. 13(b), the moving direction may be indicated by a display of eight directions or the like.

[0074] According to the present embodiment, the posture of the robot arm 200 is changed based on the contact state, and the position of the movable platform 400 is changed. This allows the robot to perform the work appropriately. Furthermore, the display on the external input device 600 allows the operator to be more effectively assisted in moving the movable platform 400. Furthermore, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0075] (Eleventh embodiment) Next, an eleventh embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiments, and their description will be omitted or simplified. The following mainly describes the differences from the above-mentioned embodiments. Fig. 14 is an XY plan view of a robot system 1000 in this embodiment.

[0076] 14, the mobile gantry 400 of this embodiment is equipped with a power source 408, and the wheels 401 rotate with the power source 408, making the mobile gantry 400 self-propelled. The mobile gantry 400 is then positioned near the fixed gantry 700 by self-propelling, and the first reference portion 310 and the second reference portion 710 come into contact with each other. Based on the contact state between the first reference portion 310 and the second reference portion 710, the robot arm 200 changes its posture and moves the mobile gantry 400. In this case, the mobile gantry 400 self-propels in the direction of movement, so that the mobile gantry 400 can be moved to a predetermined position without applying an excessive load to the robot arm 200.

[0077] According to the present embodiment, the posture of the robot arm 200 is changed based on the contact state to change the position of the movable platform 400. This allows the robot to perform work appropriately. When the movable platform 400 is moved by changing the posture of the robot arm 200, the movable platform 400 is moved by self-propelling. In this way, the movable platform 400 can be moved to a predetermined position without applying an excessive load to the robot arm 200. The above-described various embodiments and modified examples may be combined and implemented.

[0078] (Twelfth embodiment) Next, a twelfth embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiments, and their description will be omitted or simplified. The following mainly describes the differences from the above-mentioned embodiments. Figure 15 is an XY plan view of a robot system 1000 in this embodiment.

[0079] 15, the upper surface of the fixed base 700 in this embodiment is provided with a second reference unit moving means 730 using a moving stage, and the second reference unit 710 is movable. In addition, the work target in the work performed by the robot arm 200 is also placed on the second reference unit moving means 730 and moves in the same manner as the second reference unit 710. In this configuration, when the robot arm 200 changes its posture based on the state in which the first reference unit 310 and the second reference unit 710 are in contact with each other, the second reference unit moving means 730 moves relatively to the first reference unit 310 to a reference position where a predetermined work can be performed. This makes it possible to accurately align the posture of the robot arm 200 with respect to the fixed base 700.

[0080] According to the present embodiment, the posture of the robot arm 200 is changed based on the contact state, and the position of the movable platform 400 is changed. This allows the robot to perform the work appropriately. Since the second reference part 710 is moved to contact the first reference part 310, depending on the required accuracy of the work, there may be cases where the posture of the robot arm 200 only needs to match the fixed platform 700 to a certain degree. In such cases, it is possible to reduce the time required to set the relative positional relationship between the fixed platform 700 and the movable platform 400. Also, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0081] Thirteenth embodiment Next, a thirteenth embodiment will be described. In the following, the same reference numerals will be used for the same or corresponding configurations as those in the above-mentioned embodiments, and their description will be omitted or simplified. The following mainly describes the differences from the above-mentioned embodiments. Figure 16 is an XY plan view of a robot system 1000 in this embodiment.

[0082] As shown in FIG. 16, in this embodiment, three fixed pedestals are arranged as the fixed pedestal: a fixed pedestal 700, a fixed pedestal 701, and a fixed pedestal 702. The fixed pedestal 701 is provided with a second reference part 711 similar to the second reference part 710, and the fixed pedestal 702 is provided with a second reference part 712 similar to the second reference part 710. When working on the fixed pedestal 700, the second reference part 710 and the first reference part 310 are brought into contact with each other to change the posture of the robot arm 200 and move the mobile pedestal 400. When working on the fixed pedestal 701, the second reference part 711 and the first reference part 310 are brought into contact with each other to change the posture of the robot arm 200 and move the mobile pedestal 400. When working on the fixed pedestal 702, the second reference part 712 and the first reference part 310 are brought into contact with each other to change the posture of the robot arm 200 and move the mobile pedestal 400. In this way, it is possible to correctly set the relative positional relationship of the movable pedestal 400 with respect to each fixed pedestal. Furthermore, since movement between the fixed pedestals 700 to 702 can be executed by changing the posture of the robot arm 200, it is possible to make the movable pedestal 400 move independently without providing a power source for self-propulsion.

[0083] According to the present embodiment, the posture of the robot arm 200 is changed based on the contact state to change the position of the moving platform 400. This allows the robot to perform the work appropriately. Even if there are multiple fixed platforms, it is possible to correctly set the relative positional relationship of the moving platform 400 with respect to each fixed platform. Furthermore, between the fixed platforms 700 to 702, the moving platform 400 can be moved between them by changing the posture of the robot arm 200, so that the moving platform 400 can be made to move independently without providing a power source for self-propulsion. Furthermore, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0084] (Other embodiments) The processing procedures of the above-described embodiments are specifically executed by input from each CPU and the user. Therefore, it is also possible to configure the system to read and execute a recording medium on which a software program capable of executing the above-described functions is recorded. In this case, the program itself read from the recording medium realizes the functions of each of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention. In addition, the control flowchart described in FIG. 6 may be executed by a control device that controls the moving platform 400, and may be implemented as a moving device or a control method for a moving device.

[0085] In each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the control program is stored in the ROM, the RAM, or the flash ROM. However, the present invention is not limited to such an embodiment. The program for implementing the present invention may be recorded in any recording medium as long as the recording medium is computer-readable. An SSD (Solid State Drive) may be used as the storage unit.

[0086] In the above-mentioned various embodiments, the robot arm 200 is described as a multi-joint robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, the same configuration as above can be implemented with different types of joints, such as a horizontal multi-joint type, a parallel link type, an orthogonal robot, a SCARA type, a linear telescopic structure, and a gantry type. In addition to the above, a configuration in which automatic operation is performed not only by electric power but also by pneumatic or hydraulic drive is also conceivable.

[0087] Furthermore, the various embodiments described above can be applied to machines that can automatically perform movements such as extension, contraction, bending, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information stored in a memory device provided in the control device.

[0088] Although the various embodiments described above have been described using the example of a production process in a factory, the present invention can also be applied to other tasks to which robots can be applied, such as logistics in warehouses, agriculture, forestry and fisheries for agricultural crops, trees, and marine products, civil engineering work, and household chores.

[0089] The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical concept of the present invention. The effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. The above-described various embodiments and modifications may be combined and implemented.

[0090] The disclosure of this embodiment also includes the following configurations and methods.

[0091] (Configuration 1) A robot system including a robot and a moving device capable of mounting the robot, Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A robot system comprising:

[0092] (Configuration 2) In the robot system according to configuration 1, a platform on which a task is performed by the robot; The second reference portion is provided on the base, changing a position of the moving device relative to the platform by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A robot system comprising:

[0093] (Configuration 3) In the robot system according to configuration 2, setting a reference position of the moving device relative to the platform at which the robot can perform a task relative to the platform; changing a posture of the robot based on a contact state between the first reference portion and the second reference portion to position the moving device at the reference position; A robot system comprising:

[0094] (Configuration 4) In the robot system according to configuration 3, setting a predetermined posture of the robot corresponding to the reference position; and changing a position of the moving device relative to the platform by changing a posture of the robot so that the robot assumes the predetermined posture based on a contact state between the first reference portion and the second reference portion. A robot system comprising:

[0095] (Configuration 5) In the robot system according to any one of configurations 1 to 4, The second reference portion has a first surface with which the first reference portion comes into contact, and a second surface different from the first surface. A robot system comprising:

[0096] (Configuration 6) In the robot system according to any one of configurations 1 to 5, The first reference portion has a conical tip portion, and the second reference portion has a hole shape with which the tip portion engages. A robot system comprising:

[0097] (Configuration 7) In the robot system according to any one of configurations 1 to 5, The first reference portion has a protrusion shape that specifies a rotation phase, and the second reference portion has a hole shape that engages with the protrusion shape. A robot system comprising:

[0098] (Configuration 8) In the robot system according to any one of configurations 1 to 7, a contact state between the first reference part and the second reference part is detected using at least one of an encoder, a torque sensor, and a force sensing means, and a position of the moving device is changed by changing a posture of the robot based on the contact state between the first reference part and the second reference part. A robot system comprising:

[0099] (Configuration 9) In the robot system according to any one of configurations 1 to 8, acquiring information regarding the position of the second reference portion using an imaging device, and contacting the first reference portion with the second reference portion; A robot system comprising:

[0100] (Configuration 10) In the robot system according to any one of configurations 1 to 9, The robot scans the first reference portion to bring the first reference portion into contact with the second reference portion. A robot system comprising:

[0101] (Configuration 11) In the robot system according to any one of configurations 1 to 10, a force required for moving the mobile device is smaller than a force capable of transporting the mobile device by the robot; A robot system comprising:

[0102] (Configuration 12) In the robot system according to any one of configurations 1 to 11, A device for displaying information relating to the movement of the mobile device or information relating to the attitude of the robot is provided. A robot system comprising:

[0103] (Configuration 13) In the robot system according to any one of configurations 1 to 12, The moving device is capable of self-propelling; When the position of the moving device is changed by changing the posture of the robot based on the contact state between the first reference part and the second reference part, the moving device also moves by itself. A robot system comprising:

[0104] (Configuration 14) In the robot system according to any one of configurations 1 to 13, When the first reference portion is brought into contact with the second reference portion, the second reference portion moves. A robot system comprising:

[0105] (Configuration 15) In the robot system according to any one of configurations 1 to 14, The second reference portion is provided in plurality, bringing the first reference part into contact with a plurality of the second reference parts, and changing the posture of the robot based on a contact state between the first reference part and the second reference part, thereby moving the moving device between the plurality of the second reference parts; A robot system comprising:

[0106] (Configuration 16) In the robot system according to configuration 15, The second reference portions are each provided on a platform on which the robot performs a task. A robot system comprising:

[0107] (Configuration 17) In the robot system according to configuration 4, The reference position and the predetermined posture are set by teaching the robot. A robot system comprising:

[0108] (Method 18) 18. A method for manufacturing an article, comprising the steps of: manufacturing an article using the robot system according to any one of configurations 1 to 17.

[0109] (Method 19) A method for controlling a robot system including a robot and a moving device capable of mounting the robot, comprising the steps of: Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A control method comprising:

[0110] (Configuration 20) A mobile device capable of mounting a robot, Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A mobile device comprising:

[0111] (Method 21) A method for controlling a mobile device capable of mounting a robot, comprising the steps of: Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A control method comprising:

[0112] (Configuration 22) A platform on which a task is performed by a robot that can be moved by a moving device, a first reference portion is brought into contact with a second reference portion provided on the platform by the robot; changing a position of the moving device relative to the platform by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A platform characterized by the above.

[0113] (Configuration 23) A control program capable of executing the control method according to Method 19 or 21 by a computer.

[0114] (Configuration 24) A computer-readable recording medium storing the control program according to configuration 23. [Explanation of symbols]

[0115] 101 Range 201, 202, 203, 204, 205, 206 Links 210 Foundation 211, 212, 213, 214, 215, 216 Encoders 221, 222, 223, 224, 225, 226 Torque Sensors 231, 232, 233, 234, 235, 236 Motors 241 Motor control board 251, 252, 253, 254, 255, 256 Motor drive board 300 Robot control device 310 1st standard section 311 Tip 312 Protrusion shape 340 Upper control device 350 power supply 400 Mobile stand 401 wheels 402 Fixed leg 403 Handle 404 Emergency stop switch 405 Lift switch 406 Area Sensor 407 Operation Switch 408 Power 500 PLC(Programmable Logic Controller) 600 External Input Device 600a Display section 700, 701, 702 Fixed stand 710, 711, 712 2nd standard part 721 Page 1 722 2nd page 723 Depression 800 Force sensing means 900 Imaging device 1000 Robot System

Claims

1. A robot system including a robot and a moving device capable of mounting the robot, Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A robot system comprising:

2. 2. The robot system according to claim 1, a platform on which a task is performed by the robot; The second reference portion is provided on the base, changing a position of the moving device relative to the platform by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A robot system comprising:

3. 3. The robot system according to claim 2, setting a reference position of the moving device relative to the platform at which the robot can perform a task relative to the platform; changing a posture of the robot based on a contact state between the first reference portion and the second reference portion to position the moving device at the reference position; A robot system comprising:

4. 4. The robot system according to claim 3, setting a predetermined posture of the robot corresponding to the reference position; changing a position of the moving device relative to the platform by changing a posture of the robot so that the robot assumes the predetermined posture based on a contact state between the first reference portion and the second reference portion; A robot system comprising:

5. 2. The robot system according to claim 1, The second reference portion has a first surface with which the first reference portion comes into contact, and a second surface different from the first surface. A robot system comprising:

6. 2. The robot system according to claim 1, The first reference portion has a conical tip portion, and the second reference portion has a hole shape with which the tip portion engages. A robot system comprising:

7. 2. The robot system according to claim 1, The first reference portion has a protrusion shape that specifies a rotation phase, and the second reference portion has a hole shape that engages with the protrusion shape. A robot system comprising:

8. 2. The robot system according to claim 1, a contact state between the first reference part and the second reference part is detected using at least one of an encoder, a torque sensor, and a force sensing means, and a position of the moving device is changed by changing a posture of the robot based on the contact state between the first reference part and the second reference part. A robot system comprising:

9. 2. The robot system according to claim 1, acquiring information regarding a position of the second reference portion using an imaging device, and bringing the first reference portion into contact with the second reference portion; A robot system comprising:

10. 2. The robot system according to claim 1, The robot scans the first reference portion to bring the first reference portion into contact with the second reference portion. A robot system comprising:

11. 2. The robot system according to claim 1, a force required for moving the mobile device is smaller than a force capable of transporting the mobile device by the robot; A robot system comprising:

12. 2. The robot system according to claim 1, A device for displaying information relating to the movement of the mobile device or information relating to the attitude of the robot is provided. A robot system comprising:

13. 2. The robot system according to claim 1, The moving device is capable of self-propelling; When the position of the mobile device is changed by changing the posture of the robot based on a contact state between the first reference part and the second reference part, the mobile device also moves by itself. A robot system comprising:

14. 2. The robot system according to claim 1, When the first reference portion is brought into contact with the second reference portion, the second reference portion moves. A robot system comprising:

15. 2. The robot system according to claim 1, The second reference portion is provided in plurality, bringing the first reference portion into contact with a plurality of the second reference portions, and changing a posture of the robot based on a contact state between the first reference portion and the second reference portion, thereby moving the moving device between the plurality of the second reference portions. A robot system comprising:

16. The robot system according to claim 15, The second reference portions are each provided on a platform on which a task is performed by the robot. A robot system comprising:

17. The robot system according to claim 4, The reference position and the predetermined posture are set by teaching the robot. A robot system comprising:

18. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot system according to any one of claims 1 to 17;

19. A method for controlling a robot system including a robot and a moving device capable of mounting the robot, comprising the steps of: Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A control method comprising:

20. A mobile device capable of mounting a robot, Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A mobile device comprising:

21. A method for controlling a mobile device capable of mounting a robot, comprising the steps of: Bringing a first datum portion into contact with a second datum portion by the robot; changing a position of the moving device by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A control method comprising:

22. A platform on which a task is performed by a robot that can be moved by a moving device, a first reference portion is brought into contact with a second reference portion provided on the platform by the robot; changing a position of the moving device relative to the platform by changing a posture of the robot based on a contact state between the first reference portion and the second reference portion; A platform characterized by the above.

23. A control program capable of executing the control method according to claim 19 or 21 by a computer.

24. A computer-readable recording medium storing the control program according to claim 23.

Images