Robot system, installation structure, and installation method

Abstract

To contribute to improvement in convenience and improvement in work efficiency of a collaborative robot.SOLUTION: A robot system 10 includes: a robot 15 which has an arm 22 formed with multiple joints; a robot controller which performs drive control such that when a person is present around the robot 15, the movement speed of the tip of the arm 22 is kept below a predetermined speed, and performs drive control such that when no person is present around the robot, high-speed movement in which the movement speed of the tip exceeds the predetermined speed is permitted; a mobile type frame 16 on which the robot 15 is mounted; a docking base 17 which is fixed to a floor surface F; and a fixing mechanism 18 which fixes the frame 16 to the docking base 17. The fixing mechanism 18 includes a coupling device 81 provided on the docking base 17 and a rod-shaped member provided on the frame 16. The coupling device 81 includes a pair of movable blocks that clamp the rod-shaped member by a bolt tightening operation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot system, an installation structure and an installation method of a pedestal on which a collaborative robot is mounted.

Background Art

[0002] Some robots such as industrial robots are designed to consider changes in the arrangement of the robot by mounting the robot on a mobile pedestal (see, for example, Patent Document 1). According to this type of robot, an improvement in user convenience can be expected as compared with a stationary type robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, with the miniaturization of robots and the improvement of reliability (development of robots that do not require safety fences), cooperation between humans and robots is being realized. For this type of collaborative robot, the end effector is configured to move at a low speed in consideration of safety. The inventor of the present invention devised a configuration in which the end effector moves at high speed when there is no person around the collaborative robot, etc., in order to improve the work efficiency of the collaborative robot while suppressing a decrease in safety. Here, when the end effector moves at a low speed, the inertial force (impact) generated along with the movement becomes small, so there is no problem with the movement of the collaborative robot. On the other hand, when the end effector moves at high speed, the above-mentioned inertial force cannot be fully received by the pedestal, and there is a high possibility that the collaborative robot will sway greatly. Such swaying is a factor that disturbs the behavior of the collaborative robot, and it is assumed that the effect of improving the work efficiency cannot be effectively exerted. Thus, there is still room for improvement in the configuration related to the installation of the collaborative robot in order to improve the work efficiency of the collaborative robot while mounting the collaborative robot on a mobile pedestal to improve the convenience for the user.

[0005] The present invention has been made in view of the above-exemplified problems and the like, and its main object is to contribute to the improvement of the convenience and work efficiency of the collaborative robot.

Means for Solving the Problems

[0006] Hereinafter, the means for solving the above problems will be described.

[0007] First means. It is applied to a robot system having a collaborative robot configured to have a plurality of joint parts and be capable of high-speed movement of the end effector, and a mobile pedestal on which the collaborative robot is mounted, and is an installation structure for installing the pedestal on which the collaborative robot is mounted at a predetermined work position, a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism for fixing the pedestal arranged at the predetermined work position to the docking base in a state where the pedestal is grounded to the floor surface. It is provided with.

[0008] As shown in the first means, mounting the collaborative robot on a mobile pedestal to enable easy change of the installation position is preferable for improving usability. Here, for a collaborative robot (small robot), the operating speed (tip movement speed) is lower compared to a large robot that does not assume collaboration with humans. This is effective in improving the safety of the robot system. However, even when collaboration is assumed, depending on the progress of work, etc., a situation may occur where there are no workers, etc. around the robot. Also, a situation may occur where the collaborative robot is engaged in solo work that does not assume collaboration with humans. In these situations, even if the work efficiency of the robot is improved by moving the tip at high speed, a substantial decrease in the safety of the robot system can be avoided. However, in a collaborative robot, such high-speed movement is not originally assumed. If the configuration is simply to increase the output of the robot and move it at high speed on the pedestal, a large inertial force (impact) may occur when the robot starts / stops operating or when the movement direction of the tip changes. If the pedestal cannot withstand the inertial force, the pedestal may shake greatly together with the robot, and there is a possibility that the behavior of the robot will be disrupted. It is feared that such disruption of behavior will make the robot (e.g., the tip) more likely to collide with workpieces, jigs, etc. This can be an obstacle to improving work efficiency. That is, simply increasing the operating speed alone cannot effectively improve the work efficiency. In this regard, in the configuration shown in this means, the pedestal arranged at a predetermined work position is fixed to the docking base in a state of being grounded to the floor surface. That is, the pedestal and the docking base are integrated, and the integrated pedestal and docking base function as the base of the robot. The above-described shaking is reduced by increasing the size of the base and fixing it to the floor surface, and the disruption of the behavior of the robot is suppressed. That is, according to the configuration shown in this means, high-speed movement of the robot can be allowed, contributing to the improvement of the work efficiency of the robot.

[0009] Second means. A collaborative robot having a plurality of joint parts, a robot controller that drives and controls the collaborative robot such that the moving speed of the end effector becomes lower than a predetermined speed in a situation where a person is present around the collaborative robot, and drives and controls the collaborative robot such that high-speed movement exceeding the predetermined speed is possible in a situation where no person is present around the collaborative robot, and a mobile pedestal on which the collaborative robot is mounted. The second means is applied to a robot system, and is an installation structure for installing the pedestal on which the collaborative robot is mounted at a predetermined work position, a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism that fixes the pedestal disposed at the predetermined work position to the docking base in a state where the pedestal is grounded to the floor surface. The second means is provided with the above.

[0010] According to the configuration shown in the second means, high-speed movement of the robot can be allowed, contributing to improvement of the work efficiency of the robot.

[0011] Third means. A collaborative robot having a plurality of joint parts, a robot controller that drives and controls the collaborative robot such that the moving speed of the end effector becomes lower than a predetermined speed in a situation where a person is present around the collaborative robot, and drives and controls the collaborative robot such that high-speed movement exceeding the predetermined speed is possible in a situation where no person is present around the collaborative robot, a mobile pedestal on which the collaborative robot is mounted, and an installation structure for installing the pedestal on which the collaborative robot is mounted at a predetermined work position. The third means is provided with the above, and the installation structure includes a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism that fixes the pedestal disposed at the predetermined work position to the docking base in a state where the pedestal is grounded to the floor surface. The third means is provided with the above.

[0012] According to the configuration shown in the third means, it is possible to allow the robot to move at high speed and contribute to improving the working efficiency of the robot.

[0013] Fourth means. A collaborative robot having a plurality of joint parts, and a robot controller that drives and controls the collaborative robot so that the moving speed of the end effector becomes lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, a mobile gantry on which the collaborative robot is mounted, and an installation structure for installing the gantry on which the collaborative robot is mounted at a predetermined working position. The gantry is provided with an adjuster that stabilizes the posture of the gantry by grounding it on the floor surface. The installation structure includes a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism for fixing the gantry arranged at the predetermined working position to the docking base. The fixing mechanism can be switched between a non-fixed state in which the gantry can be attached and detached, a fixed state in which displacement of the gantry in each of the horizontal and vertical directions is restricted, and a temporarily fixed state in which removal of the gantry is restricted while allowing movement of the gantry at least in the vertical direction. It is applied to a robot system, and is an installation method for installing the gantry on which the collaborative robot is mounted at a predetermined working position, An arranging step of arranging the gantry on which the collaborative robot is mounted at the predetermined working position; After arranging the gantry at the predetermined working position, a first switching step of switching the fixing mechanism from the non-fixed state to the temporarily fixed state; After switching the fixing mechanism to the temporarily fixed state, an adjuster adjustment step of grounding the adjuster on the floor surface; After grounding the adjuster on the floor surface, a second switching step of switching the fixing mechanism from the temporarily fixed state to the fixed state including.

[0014] As shown in the fourth means, the gantry arranged at a predetermined working position is fixed to the docking base while being grounded on the floor surface. That is, the gantry and the docking base are integrated, and the integrated gantry and docking base function as the base of the robot. The above-mentioned shaking is reduced by increasing the size of the base and fixing it to the floor surface, and the disturbance of the behavior of the robot is suppressed. That is, according to the configuration shown in this means, high-speed movement of the robot can be allowed, contributing to an improvement in the working efficiency of the robot. Here, an adjuster for stabilizing the posture of the gantry is mounted on the gantry. When adjusting so that the adjuster is grounded, the fixing mechanism is set in a temporarily fixed state to restrict horizontal displacement. This is preferable for suppressing malfunction of the adjuster caused by displacement. It is also preferable for suppressing rework of the adjustment work (smoothing the adjustment work).

Brief Description of Drawings

[0015]

Figure 1

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Embodiment for Carrying out the Invention

[0016] <First Embodiment> Hereinafter, a first embodiment embodied in a robot system used in a factory or the like will be described with reference to the drawings.

[0017] As shown in FIG. 1, in a section of the factory, there are provided an inspection area E1 for inspecting the received parts, an assembly area E2 for assembling various parts, and a packing area E3 for packing the parts and the like conveyed by the conveyor. The robot system 10 shown in the present embodiment includes a collaborative robot which is a vertically articulated industrial robot (hereinafter referred to as robot 15), and a mobile gantry 16 on which the robot 15 is mounted, and it is possible to move the robot 15 to the inspection area E1, the assembly area E2, the packing area E3, etc., and make it engage in predetermined operations. Note that the inspection area E1 and the assembly area E2 are areas where the robot 15 and a person work in cooperation, while the packing area E3 is an area where the robot 15 works alone (see FIG. 2).

[0018] Here, with reference to FIGS. 3 and 4, the robot 15 and the gantry 16 will be described. The gantry 16 includes a main body 31 having a substantially rectangular parallelepiped shape. The main body 31 has a structure (frame) in which a vertical frame 32 extending in the vertical direction and a horizontal frame 33 extending in the horizontal direction are three-dimensionally combined, and a panel 34 covering the opening portion of the structure, and various devices such as a robot controller 19 for driving and controlling the robot 15 and the like are accommodated inside the main body 31.

[0019] The main body part 31 has its upper surface part 35 serving as the mounting surface of the robot 15, and the robot 15 is fixed to the structure with the panel 34 sandwiched therebetween. A plurality of casters 42 are attached to the lower surface part 36 of the pedestal 16 via brackets 41 fixed to the structure. With these casters 42, the pedestal 16 can be moved with a light force. Note that a handle 49 for the user to grip is provided on the main body part 31 (upper surface part 35), and the pedestal 16 can be moved by pushing and pulling this handle 49.

[0020] The bracket 41 is formed with an extension part 44 extending from the lower surface part 36 to the side of the main body part 31, and an adjuster 43 capable of stabilizing the posture of the pedestal 16 by grounding it on the floor surface F is attached to this extension part 44. The adjuster 43 has an adjuster bolt 46 that moves up and down by a rotation operation, and a tightening nut 47 inserted through the adjuster bolt 46. After the adjuster bolt 46 is lowered and the tip of the adjuster bolt 46 is grounded on the floor surface F, the rotation of the adjuster bolt 46 is restricted by tightening the tightening nut 47.

[0021] The robot 15 has a base 21 fixed to the upper surface part 35 of the pedestal 16 (main body part 31), an arm 22 attached to the base 21, and an end effector 23 provided at the tip of the arm 22. The end effector 23 shown in this embodiment is formed by integrating a plurality of functional components such as a camera and a hand into one unit, and these functional components are used appropriately according to the work etc. that the robot 15 engages in.

[0022] The arm 22 is formed by connecting a plurality of movable parts. For each joint part, there are arranged a servo motor for driving these movable parts, a rotary encoder for detecting the rotation angle of each joint part (axis), and a torque sensor for detecting the rotational torque of each joint part (axis). The servo motor, the rotary encoder, and the torque sensor are connected to the robot controller 19. In the control unit of the robot controller 19, an operation target position is specified upon receiving an operation instruction for work from a higher-level controller (for example, a teaching pendant). Then, drive control of the servo motor is performed based on the operation target position, the position data acquired from the rotary encoder, that is, the encoder value indicating the rotation angle (rotation position) of the servo motor. Further, the end effector 23 is connected to the robot controller 19, and in the control unit of the robot controller 19, analysis of an image captured by the camera of the end effector 23, drive control of the hand, etc. are performed.

[0023] Referring to FIG. 2 again for explanation, in the robot controller 19 shown in this embodiment, the driving speed of the robot 15, specifically, the upper limit of the moving speed of the tip (tool center point: TCP), is changed according to the work area where the robot 15 is installed and the work content in the work area. Specifically, in the inspection area E1 and the assembly area E2 where work is performed in cooperation with a human, basically, the maximum moving speed of the tip (maximum TCP speed) in terms of control is defined to be 250 mm / sec. However, for the robot 15 shown in this embodiment, the maximum moving speed of the tip in terms of specifications is 2000 mm / sec, and when a predetermined change condition is satisfied, even when the robot 15 is installed in the inspection area E1 or the assembly area E2, the maximum moving speed in terms of control can be increased up to 2000 mm / sec.

[0024] Supplemental explanation regarding the above-described predetermined change conditions: When there are people around the robot 15, the above-described predetermined conditions do not hold, while when there are no people around the robot 15, the said predetermined conditions hold. Specifically, the robot system 10 (robot 15) is equipped with a monitoring unit (sensors and cameras) for monitoring whether there are people around the robot 15, and based on the monitoring results of the said monitoring unit, it determines whether the predetermined change conditions are met. For example, when there is a person in the inspection area E1, the average moving speed of the robot 15 is 200 mm / sec, and when there is no person in the inspection area E1, the average moving speed of the robot 15 is 1500 mm / sec. Note that the location where the monitoring unit is installed is arbitrary. For example, it may be installed on the gantry 16.

[0025] Incidentally, the inspection area E1 and the assembly area E2 are areas where work is carried out in cooperation with people, while the boxing area E3 is an area where the robot 15 works alone. When the robot 15 is installed in this boxing area E3, it is stipulated that the maximum moving speed of the end effector in terms of control (maximum TCP speed) is 2000 mm / sec, which is the maximum moving speed of the end effector specified in the specifications.

[0026] In the following description, when the actual moving speed is 250 mm / sec or less, which is the reference speed, the movement of the end effector of the robot 15 is referred to as "low-speed movement", and when the actual moving speed exceeds 250 mm / sec, which is the reference speed, the movement of the end effector of the robot 15 is referred to as "high-speed movement". The control mode of the robot controller 19 when performing low-speed movement is referred to as the "low-speed mode", and the control mode when performing high-speed movement is referred to as the "high-speed mode". Here, referring to FIG. 5, the problems that occur in realizing high-speed movement will be described. Note that the proportionality (gantry 16X) shown in FIGS. 5(a1) and (a2) is the same as the gantry 16 shown in this embodiment in that the attached adjuster 43X is grounded.

[0027] When the control mode is in the low-speed mode, the moving speed of the tip of the robot 15 can be kept low. Therefore, the inertial force (impact) generated at the start / stop of the movement of the tip of the robot 15, when the moving direction changes, etc. is small, and the sway (vibration) of the robot 15 due to the influence of the inertial force during low-speed movement becomes minor (see Fig. 5(a1)). On the contrary, when the control mode is in the high-speed mode, the moving speed of the tip of the robot 15 becomes high. Therefore, the inertial force (impact) generated at the start / stop of the movement of the tip of the robot 15, when the moving direction changes, etc. becomes large.

[0028] Although the pedestal 16X is stabilized in posture by grounding the adjuster 43X on the floor surface F, the pedestal 16X is not fixed to the floor surface F. Therefore, when the inertial force becomes large, it becomes difficult for the pedestal 16X to receive the inertial force, and an event such as the pedestal 16 swaying (vibrating) greatly together with the robot 15 may occur (see Fig. 5(a2)). When the robot 15 sways, the trajectory through which the tip of the robot 15 passes etc. will deviate from the original trajectory, and inconveniences such as the robot 15 colliding with the workpiece or jig placed on the table TA are likely to occur.

[0029] The robot 15 is premised on cooperation with humans, and the robot controller 19 monitors contact with humans etc. based on the information from the torque sensor described above. And when it is determined that contact has occurred, the robot 15 is configured to stop (safeguard stop). Therefore, when the robot 15 sways greatly and a collision with a workpiece etc. occurs, the robot 15 stops and rework etc. of the work occurs. That is, even if the configuration is such that the tip is moved at high speed in order to improve work efficiency, it is assumed that the effect of improving the work efficiency will not be effectively exerted.

[0030] Here, regarding the proportionality stand (stand 16Y) shown in FIGS. 5(b1) and (b2), it is fixed to the floor surface F using the anchor 101Y and the anchor bolt 102Y attached to the stand 16Y. With such a configuration that fixes the stand 16Y to the floor surface F, it is possible to suitably reduce the sway of the robot 15 not only during low-speed movement but also during high-speed movement. However, when such a configuration is adopted, the mobility of the stand 16Y decreases. In moving the robot 15 to various work areas, the decrease in mobility becomes a factor that reduces the convenience for the user. Also, when fixing to the floor surface F, the required tightening torque becomes large. Therefore, each time the arrangement of the robot 15 is changed, a tightening operation with a high load is forced. Further, when the required tightening torque is large, although the use of a tool such as a wrench is recommended, since this type of tool needs to be used while avoiding interference with the stand 16, it may become difficult to efficiently perform the fixing operation to the floor surface F.

[0031] One of the features of this embodiment is that a device for solving these problems is provided. Specifically, as illustrated in FIG. 1, in each work area (for example, the inspection area E1 and the assembly area E2) where the robot 15 performs work, a docking base 17 to which a stand 16 arranged at a predetermined work position (for example, work positions WP1, WP2) is fixed is provided. That is, the stand 16 is not directly fixed to the floor surface F, but has a configuration of being fixed to the docking base 17 fixed to the floor surface F, that is, a configuration of being fixed to the floor surface F via the docking base 17. Hereinafter, the docking base 17 and the fixing mechanism 18 that fixes the docking base 17 and the stand 16 will be described.

[0032] As shown in Fig. 6, the docking base 17 includes a rectangular frame body 61 (structure or housing) composed of a pair of left and right vertical frames 62 extending in the vertical direction and a pair of upper and lower horizontal frames 63 extending in the horizontal direction and connecting the vertical frames 62. At the lower end of the frame body 61, an anchor 64 in the shape of a plate parallel to the floor surface F is provided, and this anchor 64 is fixed to the floor surface F by a plurality of anchor bolts 65. The docking base 17 stands up from the floor surface F, and the standing height is lower than the upper surface portion 35 of the gantry 16 and the upper surface portion of the table TA. This is a device to avoid the operation of the robot 15 being obstructed by the docking base 17. Further, in the present embodiment, the docking base 17 is accommodated in the table TA (see Fig. 3), suppressing the factor that the presence of the docking base 17 compresses the work area.

[0033] The frame body 61 of the docking base 17 is configured to face the front portion 38 of the gantry 16 (main body portion 31) arranged at a predetermined working position, and the portion facing the gantry 16 side in the vertical frame 62 (hereinafter referred to as the front portion 71), specifically, the portion near the upper end and the portion near the lower end in the front portion 71 are provided with the connecting device 81 constituting the above-described fixing mechanism 18. That is, four connecting devices 81 are arranged at intervals in the vertical and horizontal directions on the frame body 61.

[0034] As shown in Figs. 7 and 8, the connecting device 81 includes a pedestal 82 fixed to the vertical frame 62, a pair of upper and lower guide pins 83 extending left and right so as to penetrate the pedestal 82, a pair of left and right movable blocks 85 supported by the guide pins 83 so as to be slidable in the left and right directions, and a coil spring 84 as biasing means for biasing the movable blocks 85 to a position where the relative distance between the movable blocks 85 is maximum.

[0035] Further, a bolt 86 extending in the same direction as the guide pin 83 is rotatably supported on the pedestal 82 of the connecting device 81. A female screw (bolt hole 87) engaging with the male screw of the bolt 86 is formed in the movable block 85. By rotating the bolt 86, the movable block 85 slides on the sides approaching and separating from each other. The head of the bolt 86 is laterally exposed from the boundary portion between the gantry 16 and the docking base 17, providing a configuration that allows an operator to easily access the bolt 86 from the side of the docking base 17. An engaging portion that engages with a tool T (specifically, a hexagon wrench) is formed on the head of the bolt 86, realizing a configuration that makes it easy to rotate the bolt 86 by ensuring an operating area for using the tool T on the side of the docking base 17.

[0036] Groove portions 94 extending vertically are formed in the opposing portions of the movable block 85. In the present embodiment, the movable block 85 corresponds to the "engaging member". On the other hand, a rod-shaped member 98 as the "engaged portion" is disposed on the front surface portion 38 of the gantry 16, specifically, the front surface portion 51 of the vertical frame 32. The rod-shaped member 98 has a cylindrical shape and extends in the vertical direction. Holders 99 are attached to the upper end portion, lower end portion, and intermediate portion of the rod-shaped member 98, and the rod-shaped member 98 is integrated with the main body portion 31 by fixing these holders 99 to the vertical frame 32. As shown in FIG. 3, the connecting devices 81 are respectively disposed at positions between the upper and middle holders 99 and between the middle and lower holders 99. It is also possible to arrange the rod-shaped member, which is the "engaged portion", horizontally. In this case, the rod-shaped member can be arranged along the vertical frame 32 or bridged between the left and right vertical frames 33, contributing to ensuring the holding strength of the rod-shaped member. Incidentally, when the rod-shaped member functions as a handle for moving the gantry 16, it is preferable to separate the rod-shaped member from the main body portion 31, which is its fixing target, and provide a gap between the rod-shaped member and the main body portion 31 into which a finger can be inserted.

[0037] When the relative distance of the movable block 85 is at its maximum, an insertion portion 88 is formed between the two movable blocks 85 into which the rod-shaped member 98 can be inserted. The rod-shaped member 98 can reach a position between the left and right groove portions 94 through the insertion portion 88. A stopper portion 89 that abuts against the inserted rod-shaped member 98 is provided at a position deeper than the groove portion 94, and the position of the rod-shaped member 98 in the front-rear direction is defined by this stopper portion 89.

[0038] The fixing mechanism 18 (connecting device 81) shown in this embodiment can be switched to the following three states by rotating the bolt 86 to change the relative distance of the movable block 85. That is, a non-fixed state in which the docking base 17 and the gantry 16 can be arbitrarily separated (detachable), a fixed state in which the docking base 17 and the gantry 16 are fixed and displacement of the gantry 16 in the vertical and horizontal directions is restricted, and a semi-fixed state in which separation of the docking base 17 and the gantry 16 is restricted while allowing displacement (fine adjustment) of the gantry 16. Here, with reference to FIGS. 9 and 10, the procedure for installing the robot 15 at the working position (docking position) in the work area will be described based on the switching between these non-fixed state / semi-fixed state / fixed state.

[0039] As shown in FIG. 9, when installing the robot 15, first, in step S1, the gantry 16 on which the robot 15 is mounted is pushed and moved to a predetermined work area. In the subsequent step S2, the docking base 17 and the gantry 16 arranged in the work area are aligned (see FIG. 10(a)), and while maintaining the fixing mechanism 18 (connecting device 81) in the non-fixed state, the gantry 16 is pushed in such that the rod-shaped member 98 of the gantry 16 is inserted into the insertion portion 88 of the connecting device 81. When the rod-shaped member 98 inserted into the insertion portion 88 of the connecting device 81 hits the stopper portion 89, the arrangement is completed (see FIG. 10(b)).

[0040] In the subsequent step S3, the bolt 86 of the connecting device 81 is rotated in the clockwise direction to reduce the relative distance of the movable block 85 so that the rod-shaped member 98 does not detach from the insertion portion 88. As a result, the fixing mechanism 18 (connecting device 81) switches from the non-fixed state to the temporarily fixed state (see Fig. 10(c)). That is, the gantry 16 is temporarily fixed to the docking base 17.

[0041] After that, in step S4, the adjuster 43 attached to the gantry 16 is adjusted. Specifically, while maintaining the fixing mechanism 18 (connecting device 81) in the temporarily fixed state, the adjuster bolt 46 (see Fig. 3) is rotated so that the tip of the adjuster bolt 46 touches the floor surface F. As a result, the gantry 16 is supported by the casters 42 and the adjuster 43, and the stability of the gantry 16 is enhanced.

[0042] After adjusting the adjuster 43, in step S5, the fixing mechanism 18 (connecting device 81) is switched from the temporarily fixed state to the fixed state to fix the gantry 16 to the docking base 17. Specifically, the bolt 86 of the connecting device 81 is further rotated in the clockwise direction to sandwich the rod-shaped member 98 with the movable block 85, and the groove portion 94 of the movable block 85 is engaged with the rod-shaped member 98. As a result, the docking base 17 and the gantry 16 are integrated (see Fig. 10(d)). After switching to the fixed state, in step S6, the tightening nut 47 is operated to restrict the rotation of the adjuster bolt 46.

[0043] After the fixing of the gantry 16 is completed in this way, the camera constituting the end effector 23 is activated to read the two-dimensional code DT (see Fig. 1) disposed in the work area (specifically, the table TA). By analyzing this two-dimensional code DT, the position and orientation of the tip (tool center point) of the robot 15 are specified. Based on this specification result, the robot controller 19 sets the reference position and reference direction of the robot 15 in the current work area (sets the reference coordinates).

[0044] According to the first embodiment described in detail above, the following excellent effects can be expected.

[0045] Mounting the robot 15 on a mobile pedestal 16 so that the installation position can be easily changed is preferable for improving usability. Here, for a collaborative robot (small robot), the operating speed (the moving speed of the end effector) is lower compared to a large robot that does not assume collaboration with humans. This is effective for improving the safety of the robot system. However, even when collaboration is assumed, a situation may occur where there are no workers or the like around the robot depending on the progress of the work or the like. Also, a situation may occur where the collaborative robot is engaged in independent work that does not assume collaboration with humans. In these situations, even if the work efficiency of the robot is improved by moving the end effector at high speed, a substantial decrease in the safety of the robot system can be avoided. However, in a collaborative robot, such high-speed movement is not originally assumed, and if the configuration is such that the output of the robot is simply increased to move it at high speed on the pedestal, a large inertial force (impact) may be generated when the robot starts / stops operating or when the moving direction of the end effector changes. If the pedestal cannot withstand the inertial force, the pedestal may shake greatly together with the robot, and the behavior of the robot may be disturbed. There is concern that such disturbance of the behavior may make the robot (for example, the end effector) likely to collide with a workpiece, a jig, or the like. This can be an obstacle to improving work efficiency. That is, simply increasing the operating speed cannot effectively exhibit the effect of improving work efficiency. In this regard, according to the configuration shown in the present embodiment, the pedestal 16 arranged at a predetermined work position is fixed to the docking base 17 in a state of being grounded to the floor surface F. That is, the pedestal 16 and the docking base 17 are integrated, and the integrated pedestal 16 and docking base 17 function as the base of the robot 15. The above-described shaking is reduced by increasing the size of the base and fixing it to the floor surface F, and the disturbance of the behavior of the robot 15 is suppressed. That is, according to the configuration shown in the present embodiment, high-speed movement of the robot 15 can be allowed, contributing to an improvement in the work efficiency of the robot 15.

[0046] As illustrated in FIGS. 5(b1) and (b2), if the gantry is fixed to the floor surface using an anchor, the stability of the gantry can be improved to allow high-speed movement of the robot (end effector). However, with such a configuration, the mobility of the gantry may decrease, or the constraints regarding the installation position of the gantry may increase. In this regard, as shown in the present embodiment, according to the configuration in which the gantry 16 grounded on the floor surface F and the docking base 17 fixed to the floor surface F are integrated, the stability of the gantry 16 can be suitably improved without using an anchor for fixing the gantry 16 to the floor surface F. That is, while allowing high-speed movement of the robot 15 (end effector), various concerns described above can be eliminated without an anchor.

[0047] As shown in the present embodiment, if the pair of movable blocks 85 are configured to engage with the rod-shaped member 98 so as to sandwich the rod-shaped member 98, the movement of the gantry 16 not only in the arrangement direction of the movable blocks 85 but also in the direction intersecting the arrangement direction can be suppressed. Thereby, a configuration for firmly fixing the gantry 16 and the docking base 17 can be easily realized. This is preferable for improving the stability of the base and suppressing the above-described shaking.

[0048] As shown in the present embodiment, after arranging the bolt 86 as an "acting portion" at a position near the outer edge of the boundary portion between the gantry 16 and the docking base 17, and configuring the head to be the object of the fixing operation with the bolt 86 to be exposed laterally from the boundary portion to the gantry 16 side, it becomes easy to secure a working area for performing the fixing operation. This is preferable for improving the working efficiency using the tool T during the fixing operation. Also, in the configuration where the user fixes the gantry 16 to the docking base 17 by performing the fixing operation, it is not preferable for the robot 15 to interfere with the fixing operation. Also, it is not preferable that constraints are imposed on the arrangement of the fixing mechanism 18 by prioritizing securing the working area. In this regard, as described above, by making the bolt 86 accessible from the side of the gantry 16, those concerns can be eliminated.

[0049] Since the bolt 86 of the connecting device 81 is held by the docking base 17, there is no need to carry the bolt 86 separately from the pedestal 16 when changing the installation location of the robot 15. This is preferable for suppressing the loss of the bolt 86 and facilitating the fixing work.

[0050] If the configuration is such that the relative distance of the movable block 85 is changed by rotating the bolt 86, it is less likely to cause inconveniences such as the fixed state being released even if one accidentally touches the bolt 86. Also, by using the bolt 86, a configuration related to changing the relative distance can be easily realized. This is advantageous for reducing the space occupied by the fixing mechanism 18 and improving the freedom of installation of the robot 15.

[0051] When adjusting the adjuster 43 attached to the pedestal 16 to stabilize the posture of the pedestal 16, the position of the pedestal 16 can be suppressed from shifting in the horizontal direction by setting the fixing mechanism 18 to a temporarily fixed state. This is preferable for suppressing malfunction of the adjuster 43 caused by displacement. It is also preferable for suppressing the need to redo the adjustment work (facilitating the adjustment work).

[0052] As shown in this embodiment, if the configuration is such that it switches from a non-fixed state → a temporarily fixed state → a fixed state by the same operation (fixing operation), it is possible to suppress the operation from becoming complicated due to the provision of the temporarily fixed state.

[0053] When placing the pedestal 16 on which the robot 15 is mounted at a predetermined installation position, the pedestal 16 is moved while visually grasping the positional relationship between the docking base 17 and the pedestal 16. At this time, even if the position of the pedestal 16 is slightly displaced, the displacement will be eliminated in the process of sandwiching the rod-shaped member 98 between the pair of movable blocks 85. That is, fine position adjustment is performed by the fixing operation. This can contribute to the smoothness of the fixing work.

[0054] As shown in this embodiment, if the configuration is such that the reference position and reference direction are set after installation is completed, it is not necessary to set the accuracy of the installation structure (docking base 17 and fixing mechanism 18) excessively high, which can contribute to the simplification and space saving of the installation structure. This is preferable for improving the installation freedom of the robot 15.

[0055] <Second Embodiment> As shown in the above-described first embodiment, if the configuration is such that the robot 15 is mounted on the gantry 16 and moved between work areas, the convenience for the user can be suitably improved. Here, if the gantry 16 collides with factory equipment or the like during the movement of the gantry 16, the fixing mechanism 18 may be damaged. This is a concern that it may hinder the proper functioning of the fixing function of the fixing mechanism 18. In this embodiment, as one of the features, a measure is taken to reduce the chance of the fixing mechanism 18 being damaged during movement in consideration of such circumstances. Hereinafter, the fixing mechanism 18A in this embodiment will be described centering on the differences from the first embodiment. Note that the description of the same configuration as in the first embodiment will be omitted as appropriate.

[0056] As shown in FIG. 11, a connecting device 81A constituting the fixing mechanism 18A is attached to the frame body 61A (vertical frame 62A) of the docking base 17A. The connecting device 81 shown in the first embodiment has a configuration of sandwiching the gantry 16, whereas the connecting device 81 shown in this embodiment is different in that it has a configuration of sandwiching the docking base 17 and the gantry 16.

[0057] As shown in FIG. 12, the connecting device 81A includes a pedestal 82A fixed to the front portion 71A of the vertical frame 62A, a pair of upper and lower guide pins 83A extending left and right so as to penetrate the pedestal 82A, a pair of left and right movable blocks 85A supported by the guide pins 83A so as to be slidable in the left-right direction, and a coil spring 84A as biasing means for biasing the movable blocks 85A to a position where the relative distance between the movable blocks 85A is maximized. Further, a bolt 86A extending in the same direction as the guide pins 83A is pivotally supported on the pedestal 82A of the connecting device 81A. A female screw (bolt hole 87A) that engages with the male screw of the bolt 86A is formed in the movable block 85A, and by rotating the bolt 86A, the movable blocks 85A slide in the direction of approaching and separating from each other.

[0058] The movable blocks 85A face the left and right side portions 72A of the vertical frame 62A with a gap therebetween. By rotating the bolt 86A in the clockwise direction to reduce the relative distance between the movable blocks 85A, the vertical frame 62A is pinched from the left and right by the movable blocks 85A.

[0059] Here, a ridge portion 96A extending in the vertical direction is formed in a portion of the movable block 85A that faces the side portion 72A of the vertical frame 62A. In the vertical frame 62A (specifically, the left and right side portions 72A), a groove portion 75A that engages with the ridge portion 96A when the vertical frame 62A is pinched by the movable blocks 85A is formed. The groove portion 75A extends in the vertical direction and is formed from the upper end to the lower end of the vertical frame 62A. The frame body 61A is strengthened by these groove portions 75A.

[0060] As shown in FIG. 13, on the portion of the movable block 85A that extends toward the gantry 16A side, that is, on the portions that face each other with the insertion portion 88A for the gantry 16A interposed therebetween, there are formed protruding ridges 97A that extend in the vertical direction. In the vertical frame 32A (specifically, the left and right side portions 52A) of the gantry 16A, there are formed groove portions 55A that engage with the protruding ridges 97A when the vertical frame 32A is sandwiched by the movable block 85A. The groove portions 55A extend in the vertical direction and are formed from the upper end to the lower end of the vertical frame 32A. The frame body 61A is strengthened by these groove portions 75A. In the present embodiment, the movable block 85A corresponds to the "engaging member", and the vertical frame 32A of the gantry 16A corresponds to the "engaged portion". Note that in the gantry 16A shown in the present embodiment, the panel 34A that constitutes the front surface portion 38A is offset to the inside of the main body portion 31A, and a part of the vertical frame 32A projects toward the docking base 17A side. Thereby, interference between the panel 34A and the movable block 85A is avoided.

[0061] The side surface of the protruding ridge 97A is obliquely inclined with respect to the protruding direction so as to taper, and the side surface of the groove portion 55A is also obliquely inclined with respect to the depth direction so that the width becomes narrower on the inner side. Thereby, when the protruding ridge 97A and the groove portion 55A engage with each other, the positional relationship between the vertical frames 32A and 62A is made constant, that is, the position of the gantry 16 is finely adjusted so that the deviation from the working position of the gantry 16 is eliminated.

[0062] Here, with reference to FIG. 14, the procedure for installing the robot 15 at the working position (docking position) in the working area will be described.

[0063] When installing the robot 15, align the docking base 17A and the pedestal 16A arranged in the work area (see Fig. 14(a)), and while maintaining the fixing mechanism 18A (connecting device 81A) in an unfixed state, push the pedestal 16 into the vertical frame 32A of the pedestal 16A so as to be inserted into the insertion part 88A of the connecting device 81A. When the vertical frame 32A inserted into the insertion part 88A of the connecting device 81A hits the stopper part 89A, the placement is completed (see Fig. 14(b)).

[0064] After that, rotate the bolt 86A of the connecting device 81A in the clockwise direction to reduce the relative distance of the movable block 85A. As a result, the fixing mechanism 18 (connecting device 81) switches from an unfixed state to a temporarily fixed state (see Fig. 14(c)). Specifically, the tip of the protrusion 96A of the movable block 85A is inserted into the groove part 75A of the docking base 17A (vertical frame 62A), and the tip of the protrusion 97A of the movable block 85A is inserted into the groove part 55A of the pedestal 16A (vertical frame 32A). Thereby, the separation of the pedestal 16 from the docking base 17 is restricted. That is, the pedestal 16A is temporarily fixed to the docking base 17A.

[0065] After that, adjust the adjuster 43 attached to the pedestal 16. After adjusting the adjuster 43, switch the fixing mechanism 18A (connecting device 81A) from a temporarily fixed state to a fixed state, and fix the pedestal 16A to the docking base 17A. Specifically, further rotate the bolt 86A of the connecting device 81A in the clockwise direction to sandwich the vertical frame 62A of the docking base 17A and the vertical frame 32A of the pedestal 16A with the movable block 85A, engage the protrusion 96 of the movable block 85A with the groove part 75A of the vertical frame 62A, and engage the protrusion 97A of the movable block 85A with the groove part 55A of the vertical frame 32A. Thereby, the docking base 17A and the pedestal 16A are integrated (see Fig. 14(d)).

[0066] In addition, when the gantry 16 is slightly displaced from the predetermined working position, the position of the gantry 16 is guided to the predetermined working position in the process of engaging the protrusion 97A of the movable block 85A with the groove 55A of the vertical frame 32A, which is the same as in the first embodiment.

[0067] When the robot 15 is mounted on the gantry 16A, the total weight increases. If the fixing mechanism 18A (especially the movable block 85A, etc.) hits the peripheral equipment or the like during the movement of the gantry 16A, the fixing mechanism 18A may be damaged. This can be an obstacle to properly exerting the fixing function. In addition, when a configuration corresponding to the movable block 85A is provided on the gantry 16A, the configuration corresponding to the movable block 85A is likely to protrude from the gantry 16A. Therefore, it is preferable in consideration of the safety of the operator, etc. to arrange the movable block 85A on the docking base 17A side and minimize the protruding portion from the gantry 16A side.

[0068] Regarding the vertical frame 32A that constitutes the body of the gantry 16A, a certain degree of strength is ensured to support the mounted robot 15. Therefore, by using this vertical frame 32A as the "engaged portion", it is possible to contribute to the improvement of the fixing strength of the fixing mechanism 18A while suppressing an increase in the number of parts related to the fixing mechanism 18A.

[0069] By providing a reinforcing portion in a groove shape on the vertical frame 32A, the sectional modulus of the vertical frame 32A can be increased, contributing to the strengthening of the vertical frame 32A. If the protrusion 97A of the movable block 85A engages with this reinforcing portion, it is possible to less likely cause inconveniences such as loosening of the fixing due to the above-mentioned shaking and vibration.

[0070] <Other Embodiments> Note that the present invention is not limited to the description contents of the above-described embodiments, and for example, it may be implemented as follows. Incidentally, each of the following configurations may be applied to each of the above-described embodiments individually, or some or all of them may be combined and applied to each of the above-described embodiments.

[0071] ·In each of the above embodiments, the docking base 17 is fixed to the floor surface F. However, the object to which the docking base 17 is fixed is not limited to the floor surface F. For example, it is also possible to adopt a configuration in which the docking base 17 is fixed to facility equipment (such as the housing part of a processing device or the frame of a conveying device) fixed to the floor surface F.

[0072] ·In each of the above embodiments, a configuration in which the connecting device 81 of the fixing mechanism 18 is disposed on the vertical frame 62 of the docking base 17 has been illustrated. However, at least a part of the connecting device 81 can also be disposed on the horizontal frame 33 of the docking base 17. In each of the above embodiments, the connecting device 81 is disposed at a total of four locations, namely, up, down, left, and right. However, the arrangement and number of the connecting devices 81 can be arbitrarily changed as long as the high-speed movement of the robot 15 can be allowed.

[0073] ·In each of the above embodiments, the standing height (height dimension) of the docking base 17 is set such that the upper end of the docking base 17 is lower than the upper surface portion 35 of the gantry 16 (the mounting surface of the robot 15). However, the present invention is not limited to this. When setting the fixing location between the gantry 16 and the docking base 17 in the vicinity of the mounting surface of the robot 15, for example, the standing height (height dimension) of the docking base 17 can be set such that the upper end of the docking base 17 is at the same height as the upper surface portion 35 of the gantry 16, or the upper end of the docking base 17 can be set to be higher than the upper surface portion 35 of the gantry 16. However, in order to suppress the restrictions related to the movement of the robot 15, it is technically meaningful to adopt a configuration in which the docking base 17 does not protrude upward from the above mounting surface.

[0074] · In the above-described second embodiment, the protruding portion 97 formed on the movable block 85A of the connecting device 81A engages with the groove portion 55A of the vertical frame 32A. However, this configuration may be changed as follows. That is, instead of the groove portion 55A, a protruding portion extending vertically may be formed on the side surface portion 52A of the vertical frame 32A, and the groove portion formed on the movable block 85A may be configured to engage with the protruding portion. However, with respect to the outer peripheral portion of the gantry 16, it is preferable to reduce the protruding portion in order to improve safety and the like. In view of such circumstances, the configuration in which the protruding portion 97 formed on the movable block 85A of the connecting device 81A engages with the groove portion 55A of the vertical frame 32A has technical significance.

[0075] · In each of the above-described embodiments, the connecting device 81 is disposed on the docking base 17 side, but the present invention is not limited thereto. It is also possible to dispose a configuration corresponding to the connecting device 81 on the gantry 16 side. For example, in the above-described second embodiment, by disposing the connecting device 81A on the gantry 16 side and engaging the movable block 85A of the connecting device 81A with the vertical frame 62 of the docking base 17, the following effects can be expected. That is, when the docking bases 17 are disposed in a plurality of work areas, the number of components related to the installation structure of the robot system 10 can be reduced as compared with a configuration in which the connecting device 81A is mounted on each docking base 17.

[0076] · A meat portion (block portion) that abuts against both the front surface portion 38 of the vertical frame 32 of the gantry 16 and the front surface portion 71 of the vertical frame 62 of the docking base 17 may be provided on the movable block 85 shown in each of the above-described embodiments, and the meat portion may be configured to be sandwiched between the two vertical frames 32 and 62 in a state where the gantry 16 and the docking base 17 are fixed. With such a configuration, in a state where the gantry 16 and the docking base 17 are fixed, it becomes easier to disperse the load on the engaging portion. This is preferable for protecting the engaging portion.

[0077] · In each of the above embodiments, by tightening the bolt 86, a pair of movable blocks 85 (corresponding to the "engaging members") are displaced toward each other, and the rod-shaped member 98 (corresponding to the "engaged portion") engages with the movable block 85. However, the specific configuration for changing the relative distance of the movable blocks 85 is arbitrary. For example, instead of the bolt 86, a lever member operated by the user and a link member connecting the lever member and the movable blocks 85 are provided, and by operating the lever member, the movable blocks 85 are displaced toward and away from each other in conjunction with the movement of the lever member.

[0078] · In each of the above embodiments, the connecting devices 81 are arranged such that the heads of the bolts 86 of the connecting devices 81 face the side of the gantry 16. The connecting devices 81 can also be arranged such that the heads of the bolts 86 face the upper side of the gantry 16. That is, instead of configuring the area on the left or right side of the gantry 16 as the working area when tightening the bolt 86, the area on the upper side of the gantry 16 can be configured as the working area when tightening the bolt 86.

[0079] · In each of the above embodiments, by making the fixing mechanism 18 (connecting device 81) in a temporarily fixed state, the displacement of the gantry 16 in the horizontal direction, specifically, the displacement of the gantry 16 in the front-rear direction and the left-right direction is restricted. However, it is not limited to this. By making the fixing mechanism 18 (connecting device 81) in a temporarily fixed state, the displacement of the gantry 16 in the front-rear direction may be restricted, or the displacement of the gantry 16 in the left-right direction may be restricted.

[0080] · In each of the above embodiments, the fixing mechanism 18 (specifically, the connecting device 81) is disposed at a position closer to the outer edge at the boundary between the pedestal 16 and the docking base 17. The location where the fixing mechanism 18 (connecting device 81) is disposed is not limited to a position closer to the outer edge of the boundary portion. For example, it is also possible to set it at a position closer to the center of the boundary portion. However, in terms of manually switching the connecting device 81 between the non-fixed state / temporary fixing state / fixed state or making the state of the fixing mechanism 18 (connecting device 81) visually confirmable, there is a technical significance in disposing the fixing mechanism 18 (connecting device 81) at a position closer to the outer edge of the boundary portion as described above.

[0081] · In each of the above embodiments, the configuration is such that the user manually operates the fixing mechanism 18 to switch the fixing mechanism 18 between the non-fixed state / temporary fixing state (temporary fastening state) / fixed state. However, the present invention is not limited to this. It is also possible to dispose an actuator in the fixing mechanism 18 and configure the fixing mechanism 18 to switch between the non-fixed state / temporary fixing state (temporary fastening state) / fixed state when the actuator operates. For example, when the pedestal 16 is disposed at a position where it abuts against the stopper portion 89 of the connecting device 81, the connecting device 81 may be configured to automatically switch from the non-fixed state to the fixed state.

[0082] · In each of the above embodiments, when fixing the pedestal 16 to the docking base 17, an example of a configuration for increasing the installation location of the pedestal 16 with respect to the floor surface F by grounding the adjuster 43 to the floor surface F is illustrated. However, the present invention is not limited to this. As long as at least the pedestal 16 is configured to be in a state of being grounded to the floor surface F when fixing the pedestal 16 and the docking base 17, for example, adjusting the adjuster 43 does not deny a configuration in which the caster 42 is separated from the floor surface F.

[0083] · In each of the above embodiments, an example was given of a configuration in which the user manually presses the gantry 16 (handle 49) to move the robot 15 from one work area to another work area. However, the present invention is not limited to this. For example, a driving unit such as a motor may be provided on the gantry 16, and a configuration may be adopted in which the gantry 16 moves from one work area to another work area using the power generated by this driving unit, that is, a self-propelled configuration.

[0084] <Regarding the invention groups extracted from the above embodiments> Hereinafter, the features of the invention groups extracted from the above embodiments will be described while appropriately showing effects and the like as necessary. In the following, for ease of understanding, the corresponding configurations in the above embodiments are appropriately shown in parentheses or the like, but the present invention is not limited to the specific configurations shown in such parentheses or the like.

[0085] Feature 1. Applied to a robot system (robot system 10) having a collaborative robot (robot 15) configured to have a plurality of joint parts and enable the end effector (for example, end effector 23) to move at high speed, and a mobile gantry (gantry 16) on which the collaborative robot is mounted, and an installation structure for installing the gantry on which the collaborative robot is mounted at a predetermined work position (for example, work position WP1, etc.), a docking base (docking base 17) fixed to the floor surface (floor surface F) or equipment installed on the floor surface, a fixing mechanism (fixing mechanism 18) for fixing the gantry arranged at the predetermined work position to the docking base in a state where the gantry is grounded to the floor surface and including the installation structure.

[0086] As shown in this feature, mounting a collaborative robot on a mobile pedestal to enable easy change of the installation position is preferable for improving usability. Here, for a collaborative robot (small robot), the operating speed (the moving speed of the end effector) is lower compared to a large robot that does not assume collaboration with humans. This is effective for improving the safety of the robot system. However, even when assuming collaboration, there may be situations where there are no workers or the like around the robot depending on the progress of the work. Also, there may be situations where the collaborative robot is engaged in solo work that does not assume collaboration with humans. In these situations, even if the work efficiency of the robot is improved by moving the end effector at high speed, a substantial decrease in the safety of the robot system can be avoided. However, in a collaborative robot, such high-speed movement is not originally assumed. If the configuration is simply to increase the output of the robot and move it at high speed on the pedestal, a large inertial force (impact) can occur when the robot starts / stops operating or when the moving direction of the end effector changes. If the pedestal cannot withstand the inertial force, the pedestal may shake greatly together with the robot, and the behavior of the robot may be disturbed. It is feared that such disturbance of the behavior will make the robot (for example, the end effector) more likely to collide with the workpiece, jig, etc. This can be an obstacle to improving work efficiency. That is, simply increasing the operating speed cannot effectively improve the work efficiency. In this regard, in the configuration shown in this feature, the pedestal arranged at a predetermined work position is fixed to the docking base in a state of being grounded on the floor surface. That is, the pedestal and the docking base are integrated, and the integrated pedestal and docking base function as the base of the robot. The above-mentioned shaking is reduced by increasing the size of the base and fixing it to the floor surface, and the disturbance of the behavior of the robot is suppressed. That is, according to the configuration shown in this feature, high-speed movement of the robot can be allowed, contributing to the improvement of the work efficiency of the robot.

[0087] Feature 2. Applied to a robot system (robot system 10) having a collaborative robot (robot 15) with a plurality of joint parts, a robot controller (robot controller 19) that drives and controls the collaborative robot so that the moving speed of the hand (for example, the tool center point) becomes lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, and a mobile base (base 16) on which the collaborative robot is mounted, and an installation structure for installing the base on which the collaborative robot is mounted at a predetermined work position (for example, work position WP1, etc.). A docking base (docking base 17) fixed to the floor surface (floor surface F) or equipment installed on the floor surface. A fixing mechanism (fixing mechanism 18) for fixing the base arranged at the predetermined work position to the docking base in a state where the base is grounded on the floor surface. The installation structure is provided with the above.

[0088] As shown in this feature, mounting a collaborative robot on a mobile pedestal to enable easy change of the installation position is preferable for improving usability. Here, for a collaborative robot (small robot), the operating speed (tip movement speed) is lower compared to a large robot that does not assume collaboration with humans. This is effective in improving the safety of the robot system. However, even when assuming collaboration, depending on the progress of work and other factors, a situation may occur where there are no workers or the like around the robot. Also, a situation may occur where the collaborative robot is engaged in solo work that does not assume collaboration with humans. In these situations, even if the work efficiency of the robot is improved by moving the tip at high speed, a substantial decrease in the safety of the robot system can be avoided. However, in a collaborative robot, such high-speed movement is not assumed in the first place. If the configuration is simply to increase the output of the robot and move it at high speed on the pedestal, a large inertial force (impact) may occur when the robot starts / stops operating or when the movement direction of the tip changes. If the pedestal cannot withstand the inertial force, the pedestal may shake greatly together with the robot, and there is a possibility that the behavior of the robot will be disrupted. It is feared that such disruption of behavior will make it easier for the robot (e.g., the tip) to collide with the workpiece, jig, etc. This can be an obstacle to improving work efficiency. That is, simply increasing the operating speed alone cannot effectively improve the work efficiency. In this regard, in the configuration shown in this feature, the pedestal arranged at a predetermined work position will be fixed to the docking base in a state of being grounded on the floor surface. That is, the pedestal and the docking base are integrated, and the integrated pedestal and docking base function as the base of the robot. The above-mentioned shaking is reduced by increasing the size of the base and fixing it to the floor surface, and the disruption of the behavior of the robot is suppressed. That is, according to the configuration shown in this feature, high-speed movement of the robot can be allowed, contributing to the improvement of the work efficiency of the robot.

[0089] Feature 3. The installation structure according to Feature 1 or Feature 2, wherein the pedestal is not provided with an anchor for fixing the pedestal to the floor surface.

[0090] If the pedestal is fixed to the floor surface using an anchor, the stability of the pedestal can be improved to allow for high-speed movement of the collaborative robot (end effector). However, with such a configuration, the mobility of the pedestal may decrease, or the restrictions on the installation position of the pedestal may increase. In this regard, as shown in Feature 1 and the like, according to the configuration in which the pedestal grounded on the floor surface and the docking base fixed to the floor surface are integrated, the stability of the pedestal can be suitably improved without using an anchor for fixing the pedestal to the floor surface. That is, while allowing for high-speed movement of the collaborative robot (end effector), various concerns described above can be eliminated without an anchor.

[0091] Feature 4. The fixing mechanism includes a pair of engaging members provided on one of the docking base and the pedestal, and an engaged portion (for example, a rod-shaped member 98 or a vertical frame 32A) provided on the other of the docking base and the pedestal and engaged with the pair of engaging members (for example, movable blocks 85, 85A) while being sandwiched by the pair of engaging members, and the installation structure according to Feature 1 or Feature 2.

[0092] As shown in this feature, if the configuration is such that the pair of engaging members engage with the engaged portion by sandwiching the engaged portion, movement not only in the arrangement direction of the engaging members but also in a direction intersecting the arrangement direction can be suppressed. Thereby, a configuration for firmly fixing the pedestal and the docking base can be easily realized. This is preferable for improving the stability of the base and suppressing the above-described shaking.

[0093] Feature 5. An operating portion (bolt 86) is provided for displacing the pair of engaging members to a position where they sandwich the engaged portion and a position where they do not sandwich the engaged portion based on a fixing operation by the user. The operating portion is disposed at a position near the outer edge of the boundary portion at the boundary portion between the pedestal and the docking base. The portion (head of the bolt 86) that is the target of the fixing operation by the operating portion is exposed from the boundary portion to the side or above the pedestal, and the installation structure according to Feature 4.

[0094] As shown in this feature, after arranging the acting part at a position near the outer edge of the boundary part between the pedestal and the docking base, if the part to be fixed by the acting part is exposed from the boundary part to the side or above the pedestal, it becomes easy to secure a working area for the fixing operation. This is preferable for improving the working efficiency when using tools during the fixing operation.

[0095] Feature 6. The upper surface part (upper surface part 35) of the pedestal serves as the mounting surface for the collaborative robot, and it is provided with an acting part (bolt 86) that displaces the pair of engaging members to a position where they sandwich the engaged part and a position where they do not sandwich the engaged part based on the fixing operation of the user. The acting part is disposed at a position near the outer edge of the boundary part between the pedestal and the docking base. The part (the head of the bolt 86) to be the object of the fixing operation by the acting part is exposed from the boundary part to the side of the pedestal, which is the installation structure described in Feature 4.

[0096] In the configuration where the pedestal is fixed to the docking base by the user's fixing operation as shown in Feature 4, it is not preferable for the collaborative robot to interfere with the fixing operation. Also, it is not preferable for there to be restrictions on the arrangement of the fixing mechanism with priority given to securing the working area. Therefore, as shown in this feature, if an acting part is disposed at a position near the outer edge of the boundary part between the pedestal and the docking base, and the part to be the object of the fixing operation by the acting part is exposed from the boundary part to the side of the pedestal, the above concerns can be easily addressed.

[0097] Feature 7. The installation structure according to Feature 5 or Feature 6, wherein the acting part is held by one of the docking base and the pedestal where the pair of engaging members are disposed.

[0098] According to the configuration shown in this feature, when changing the installation location of the collaborative robot, there is no need to carry the acting part separately from the pedestal. This is preferable for suppressing the loss of the acting part and facilitating the fixing work.

[0099] Feature 8. The actuating part is a bolt, female threads corresponding to the male threads of the bolt are formed on the pair of engaging members, The fixing mechanism is configured such that by rotating the bolt, the relative distance between the pair of engaging members is changed, and the installation structure according to any one of Features 4 to 7.

[0100] As shown in this feature, if the configuration is such that the relative distance of the engaging members is changed by rotating the bolt, it is less likely to cause inconveniences such as the fixing state being released even if the actuating part is accidentally touched. Also, a configuration related to changing the relative distance can be easily realized using a bolt. This is advantageous in reducing the space occupied by the fixing mechanism and improving the installation freedom of the collaborative robot.

[0101] Feature 9. The pedestal is provided with an adjuster (adjuster 43) that stabilizes the posture of the pedestal by contacting the floor surface, The fixing mechanism can be switched between a non-fixed state in which the pedestal is detachable, a fixed state in which displacement of the pedestal in each of the horizontal and vertical directions is restricted, and a temporarily fixed state in which removal of the pedestal is restricted while allowing movement of the pedestal at least in the vertical direction, and the installation structure according to any one of Features 1 to 8.

[0102] When adjusting the adjuster attached to the pedestal to stabilize the posture of the pedestal, the position of the pedestal can be suppressed from shifting horizontally by setting the fixing mechanism to the temporarily fixed state. This is preferable for suppressing malfunction of the adjuster caused by displacement. It is also preferable for suppressing rework of the adjustment operation (smoothing the adjustment operation).

[0103] Feature 10. The fixing mechanism is configured to switch from the non-fixed state to the fixed state via the temporarily fixed state based on a fixing operation by the user, and the installation structure according to Feature 9.

[0104] As shown in this feature, if it is configured to switch from the non-fixed state → temporarily fixed state → fixed state by the same operation (fixing operation), it is possible to suppress the complication of the operation due to the provision of the temporarily fixed state.

[0105] Feature 11. The fixing mechanism is such that in the process of sandwiching the engaged portion by the pair of engaging members, when the engaging member and the engaged portion come into contact with each other, the position of the gantry in the horizontal direction can be guided to the predetermined installation position. The installation structure according to any one of Features 1 to 10.

[0106] When arranging the gantry on which the collaborative robot is mounted at a predetermined installation position, the gantry will be moved while visually grasping the positional relationship between the docking base and the gantry. At this time, even if the position of the gantry is slightly deviated, the deviation will be eliminated in the process of sandwiching the engaged portion by the pair of engaging members. That is, fine position adjustment is performed by the fixing operation. This can contribute to the smoothness of the fixing work.

[0107] Feature 12. The fixing mechanism includes a pair of engaging members provided on the docking base and an engaged portion provided on the gantry and engaged with the engaging members in a state of being sandwiched by the pair of engaging members (for example, movable blocks 85, 85A). The installation structure according to any one of Features 1 to 11.

[0108] Since the total weight increases when the collaborative robot is mounted on the gantry. If the fixing mechanism (especially movable engaging members, etc.) hits the peripheral equipment during the movement of the gantry, the fixing mechanism may be damaged. This can be an obstacle to properly exerting the fixing function. Also, when the engaging member is provided on the gantry, the engaging member tends to protrude from the gantry. It is preferable in consideration of the safety of the operator, etc. to arrange the engaging member on the docking base side and minimize the protruding portion from the gantry side.

[0109] Feature 13. The installation structure according to Feature 12, wherein the pedestal has a frame member (vertical frame 32A) constituting the body of the pedestal, and the frame member functions as the engaged portion.

[0110] Regarding the frame member constituting the body of the pedestal, a certain degree of strength is ensured to support the collaborative robot to be mounted. Therefore, by using this frame member as the engaged portion, it is possible to contribute to the improvement of the fixing strength of the fixing mechanism while suppressing an increase in the number of parts related to the fixing mechanism.

[0111] Feature 14. The installation structure according to Feature 13, wherein a reinforcing portion (groove portion 94) formed in a ridge or groove shape extending in the longitudinal direction of the frame member is formed on the frame member, and a convex portion or a concave portion (ridge portion 97) that engages with the reinforcing portion is formed on the pair of engaging members.

[0112] By providing a reinforcing portion in the form of a ridge or groove on the frame member, the sectional modulus of the frame member can be increased, contributing to the strengthening of the frame member. If the convex portion or concave portion of the engaging member engages with this reinforcing portion, it is possible to less likely cause inconveniences such as loosening of the fixing due to the above-mentioned shaking and vibration.

[0113] Feature 15. The installation structure according to any one of Features 1 to 11, wherein the fixing mechanism has a pair of engaging members provided on the pedestal and an engaged portion provided on the docking base and engaged with the engaging members while being sandwiched by the pair of engaging members.

[0114] As shown in this feature, if the engaging member is arranged on the pedestal side, it can contribute to the reduction of the number of parts related to the fixing mechanism when arranging the docking base at a plurality of installation positions.

[0115] Feature 16. The installation structure according to any one of Features 1 to 15, wherein at least one of the fixing positions of the pedestal and the docking base by the fixing mechanism is configured to be located in the vicinity of the mounting surface (upper surface portion 35) on which the collaboration is mounted on the pedestal.

[0116] According to the configuration shown in this feature, the docking base and the gantry can be fixed at a position close to the mounting surface. Thereby, the above-mentioned shaking generated along with the operation of the collaborative robot can be suitably reduced.

[0117] Feature 17. A collaborative robot (Robot 15) having a plurality of joint parts, a robot controller (Robot Controller 19) that drives and controls the collaborative robot so that the moving speed of the end effector (for example, the tool center point) becomes lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, a mobile gantry (Gantry 16) on which the collaborative robot is mounted, and an installation structure (Docking Base 17 and Fixing Mechanism 18) for installing the gantry on which the collaborative robot is mounted at a predetermined work position (for example, work position WP1, etc.) are provided, wherein the installation structure includes a docking base (Docking Base 17) fixed to the floor surface (Floor Surface F) or equipment installed on the floor surface, and a fixing mechanism (Fixing Mechanism 18) that fixes the gantry arranged at the predetermined work position to the docking base in a state where the gantry is grounded to the floor surface, and is a robot system.

[0118] As shown in this feature, mounting a collaborative robot on a mobile pedestal to enable easy change of the installation position is preferable for improving usability. Here, for a collaborative robot (small robot), the operating speed (the moving speed of the end effector) is lower compared to a large robot that does not assume collaboration with humans. This is effective in improving the safety of the robot system. However, even when collaboration is assumed, depending on the progress of the work, etc., a situation may occur where there are no workers, etc. around the robot. Also, a situation may occur where the collaborative robot is engaged in independent work that does not assume collaboration with humans. In these situations, even if the work efficiency of the robot is improved by moving the end effector at high speed, a substantial reduction in the safety of the robot system can be avoided. However, in a collaborative robot, such high-speed movement is not originally assumed. If the configuration is simply to increase the output of the robot and move it at high speed on the pedestal, a large inertial force (impact) may occur when the robot starts / stops operating or when the moving direction of the end effector changes. If the pedestal cannot withstand the inertial force, the pedestal may shake greatly together with the robot, and the behavior of the robot may be disturbed. There is concern that such disturbance of the behavior may make the robot (for example, the end effector) more likely to collide with the workpiece, jig, etc. This can be an obstacle to improving work efficiency. That is, simply increasing the operating speed cannot effectively improve the work efficiency. In this regard, in the configuration shown in this feature, the pedestal arranged at a predetermined work position is fixed to the docking base in a state of being grounded to the floor surface. That is, the pedestal and the docking base are integrated, and the integrated pedestal and docking base function as the base of the robot. The above-described shaking is reduced by increasing the size of the base and fixing it to the floor surface, and the disturbance of the behavior of the robot is suppressed. That is, according to the configuration shown in this feature, high-speed movement of the robot can be allowed, contributing to the improvement of the work efficiency of the robot.

[0119] Feature 18. A collaborative robot (Robot 15) having a plurality of joint parts, a robot controller (Robot Controller 19) that drives and controls the collaborative robot such that the moving speed of the end effector (for example, the tool center point) becomes lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, a mobile base (Base 16) on which the collaborative robot is mounted, and an installation structure (Docking Base 17 and Fixing Mechanism 18) for installing the base on which the collaborative robot is mounted at a predetermined work position (for example, work position WP1, etc.). An adjuster (Adjuster 43) for stabilizing the posture of the base by grounding it to the floor surface is provided on the base. The installation structure includes a docking base (Docking Base 17) fixed to the floor surface (Floor Surface F) or equipment installed on the floor surface, and a fixing mechanism (Fixing Mechanism 18) for fixing the base arranged at the predetermined work position to the docking base. The fixing mechanism can be switched between a non-fixed state in which the base is detachable, a fixed state in which displacement of the base in each of the horizontal and vertical directions is restricted, and a temporarily fixed state in which removal of the base is restricted while allowing movement of the base at least in the vertical direction. It is applied to a robot system (Robot System 10). An installation method for installing the base on which the collaborative robot is mounted at a predetermined work position (for example, work position WP1, etc.), An arranging step of arranging the base on which the collaborative robot is mounted at the predetermined work position; After arranging the base at the predetermined work position, a first switching step of switching the fixing mechanism from the non-fixed state to the temporarily fixed state; After switching the fixing mechanism to the temporarily fixed state, an adjuster adjustment step of grounding the adjuster to the floor surface; After grounding the adjuster to the floor surface, a second switching step of switching the fixing mechanism from the temporarily fixed state to the fixed state An installation method including.

[0120] As shown in this feature, the gantry arranged at a predetermined working position will be fixed to the docking base while being grounded on the floor surface. That is, the gantry and the docking base are integrated, and the integrated gantry and docking base will function as the base of the robot. The above-mentioned shaking is reduced by making the base larger and fixing it to the floor surface, and the disturbance of the robot's behavior is suppressed. That is, according to the configuration shown in this feature, high-speed movement of the robot can be allowed, contributing to the improvement of the robot's working efficiency.

[0121] Here, an adjuster for stabilizing the posture of the gantry is mounted on the gantry. When adjusting so that the adjuster is grounded, the fixing mechanism is set in a temporarily fixed state to regulate the horizontal displacement. This is preferable for suppressing the malfunction of the adjuster caused by the displacement. It is also preferable for suppressing the rework of the adjustment work (smoothing the adjustment work).

[0122] Feature 19. When the gantry is arranged at the predetermined working position, the robot system includes an information providing unit (such as a two-dimensional code DT) that provides information indicating the reference position of the collaborative robot mounted on the gantry. After switching the fixing mechanism from the temporarily fixed state to the fixed state, the method of installation shown in Feature 18 includes the step of acquiring the information indicating the reference position from the information providing unit and setting the reference position of the collaborative robot.

[0123] As shown in this feature, if the configuration is such that the reference position is set after the installation is completed, it is not necessary to set the accuracy related to the installation structure (docking base and fixing mechanism) too high, which can contribute to the simplification and space saving of the installation structure. This is preferable for improving the installation freedom of the collaborative robot.

Explanation of Signs

[0124] 10... Robot system, 15... Robot, 16... Stand, 17... Docking base, 18... Fixing mechanism, 31... Vertical frame, 32... Horizontal frame, 35... Upper surface part as a mounting surface, 37... Side surface part, 42... Caster, 43... Adjuster, 49... Handle, 55... Groove part, 61... Frame body, 62... Vertical frame, 64... Anchor, 65... Anchor bolt, 81, 81A... Connecting device, 82, 82A... Pedestal, 85, 85A... Movable block, 86, 86A... Bolt, 87... Bolt hole, 88, 88A... Insertion part, 94... Engagement groove, 97A... Projection part, 98... Rod-shaped member, 99... Holder, DT... Two-dimensional code, E1~E3... Working area, F... Floor surface, T... Tool, TA... Table, W... Worker, WP1~WP3... Working position.

Claims

1. Applied to a robot system having a collaborative robot configured to have a plurality of joint parts and enable the end effector to move at high speed, and a mobile base on which the collaborative robot is mounted, an installation structure for installing the base on which the collaborative robot is mounted at a predetermined working position, a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism for fixing the base disposed at the predetermined working position to the docking base in a state where the base is grounded on the floor surface. The installation structure is provided with the above.

2. Applied to a robot system having a collaborative robot with a plurality of joint parts, a robot controller that drives and controls the collaborative robot so that the moving speed of the end effector is lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, and a mobile base on which the collaborative robot is mounted, an installation structure for installing the base on which the collaborative robot is mounted at a predetermined working position, a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism for fixing the base disposed at the predetermined working position to the docking base in a state where the base is grounded on the floor surface. The installation structure is provided with the above.

3. The fixing mechanism has a pair of engaging members provided on one of the docking base and the base, and an engaged portion provided on the other of the docking base and the base and engaged with the engaging members in a state of being sandwiched by the pair of engaging members. The installation structure according to Claim 1 or Claim 2.

4. The upper surface portion of the base serves as the mounting surface of the collaborative robot, and is provided with an operating portion that displaces the pair of engaging members to a position where they sandwich the engaged portion and a position where they do not sandwich the engaged portion based on a fixing operation by the user, the operating portion is disposed at a position near the outer edge of the boundary portion at the boundary portion between the base and the docking base, and the portion to be the object of the fixing operation by the operating portion is exposed laterally from the boundary portion to the base. The installation structure according to Claim 3.

5. The installation structure according to claim 1 or claim 2, wherein the fixing mechanism is switchable between a non-fixed state in which the gantry is detachable, a fixed state in which displacement of the gantry in each of the horizontal and vertical directions is restricted, and a temporary fixed state in which removal of the gantry is restricted while allowing movement of the gantry at least in the vertical direction.

6. The installation structure according to claim 1 or claim 2, wherein the fixing mechanism includes a pair of engaging members provided on the gantry and an engaged portion provided on the docking base and engaged with the engaging members while being sandwiched by the pair of engaging members.

7. A collaborative robot having a plurality of joint portions, a robot controller that drives and controls the collaborative robot such that the movement speed of the end effector becomes lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, a mobile gantry on which the collaborative robot is mounted, and an installation structure for installing the gantry on which the collaborative robot is mounted at a predetermined work position and comprising: the installation structure comprising: a docking base fixed to a floor surface or equipment installed on the floor surface, and a fixing mechanism for fixing the gantry disposed at the predetermined work position to the docking base in a state where the gantry is grounded to the floor surface is a robot system.

8. A collaborative robot having a plurality of joint parts, a robot controller that drives and controls the collaborative robot such that the moving speed of the end effector becomes lower than a predetermined speed when there is a person around the collaborative robot, and enables high-speed movement exceeding the predetermined speed when there is no person around the collaborative robot, a mobile base on which the collaborative robot is mounted, and an installation structure for installing the base on which the collaborative robot is mounted at a predetermined work position. The base is provided with an adjuster that stabilizes the posture of the base by grounding it on the floor surface. The installation structure includes a docking base fixed to the floor surface or equipment installed on the floor surface, and a fixing mechanism for fixing the base arranged at the predetermined work position to the docking base. The fixing mechanism is applicable to a robot system that can be switched between a non-fixed state in which the base can be attached and detached, a fixed state in which displacement of the base in each of the horizontal and vertical directions is restricted, and a temporarily fixed state in which removal of the base is restricted while allowing movement of the base at least in the vertical direction. An installation method for installing the base on which the collaborative robot is mounted at a predetermined work position, An arrangement step of arranging the base on which the collaborative robot is mounted at the predetermined work position; A first switching step of switching the fixing mechanism from the non-fixed state to the temporarily fixed state after arranging the base at the predetermined work position; An adjuster adjustment step of grounding the adjuster on the floor surface after switching the fixing mechanism to the temporarily fixed state; A second switching step of switching the fixing mechanism from the temporarily fixed state to the fixed state after grounding the adjuster on the floor surface An installation method including the above steps.

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