Working System

Abstract

To provide a work system capable of preventing a work floor to which a robot is fixed from moving during robot's work.SOLUTION: A work system 100 comprises: a movable work floor 3; a first robot 1 fixed to the work floor 3 and working for a first object 6a being a work object; a second robot 2 fixed to the work floor 3 and contactable with a second object 6b different from the first object 6a; and a control apparatus 9 for controlling the first and second robots 1 and 2. The control apparatus 9 calculates a support position being a position at which the second robot 2 comes into contact with the second object 6b based on the work position at which the first robot 1 works for the first object 6a. The control apparatus 9 makes the first robot 1 carry out the work for the first object 6a at the work position in such a state that the second robot 2 is in contact with the second object 6b at the support position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work system equipped with a robot that performs work on a work floor. [Background technology]

[0002] In the fields of construction and logistics, robots are used for tasks such as installation, repair, and transportation on unstable and movable work platforms. In each task, the robot arm generally comes into contact with an object outside the work platform, and this contact generates a reaction force, which causes the work platform to move, such as displacing, rotating, and vibrating. When the work platform moves due to the reaction force, there are problems in that the accuracy of the robot's work execution decreases, and that the force and moment acting on the joints of the robot arm become large, placing a large burden on the robot.

[0003] To solve these problems, the following techniques have been disclosed. The working device disclosed in Patent Document 1 includes a work platform that moves up and down within a hoistway, and multiple fixing devices with arms that are horizontally extendable and retractable on the outer periphery of the work platform, and holds the work platform at a predetermined height by extending the arms and pressing their tips against the opposing inner wall surface of the hoistway. The maintenance system disclosed in Patent Document 2 is a repair robot that includes a body and multiple fixing arms, and each fixing arm includes a pair of hold arms that detachably hold the body from the coaxial line with slits. The pair of hold arms clamp the coaxial line with slits to fix the body to the coaxial line with slits. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-105362 [Patent Document 2] JP 2016-37808 A Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, when a robot works on an unstable and movable work platform, the work platform may move, such as displaced, rotated, or vibrated, resulting in a decrease in the accuracy of the robot's work execution and a large burden on the robot. In conventional technologies such as the technology disclosed in Patent Document 1, the work platform is fixed by pressing an arm against a supporting object such as the inner wall surface of a hoistway.

[0006] However, depending on the working environment of the robot, such a support object may not exist in an appropriate position, making it difficult to fix the working floor. For example, in a hoistway where two elevator cars are installed side by side, there may be no wall between the two elevator cars, so there may be no hoistway inner wall surface that serves as a support object against which the arm can be pressed. Also, depending on the working environment of the robot, there may be steps or unevenness on the surface of the support object, making it difficult to fix the working floor.

[0007] An object of the present invention is to provide a work system capable of preventing the work floor to which the robot is fixed from moving while the robot is working. [Means for solving the problem]

[0008] The working system according to the present invention includes a movable working floor, a first robot fixed to the working floor and performing a task on a first object that is a work target, a second robot fixed to the working floor and capable of contacting a second object different from the first object, and a control device that controls the first robot and the second robot. The control device calculates a support position where the second robot contacts the second object based on a working position where the first robot performs a task on the first object. The control device causes the first robot to perform a task on the first object at the working position while the second robot is in contact with the second object at the support position. Effect of the Invention

[0009] According to the present invention, it is possible to provide a work system that can prevent the work floor to which the robot is fixed from moving while the robot is working. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a configuration of a working system according to a first embodiment of the present invention, as viewed from the side. [Figure 2A] 2 is a diagram showing the displacement and rotation of the work platform when the work system is performing work that generates a large reaction force, and is a diagram showing the work system shown in FIG. 1 as viewed from above. FIG. [Figure 2B] 2 is a diagram showing the displacement and rotation of the work platform when the work system is performing work that generates a large reaction force, and is a diagram showing the work system shown in FIG. 1 as viewed from the side. FIG. [Diagram 3] 4 is a flowchart showing a procedure in which the work system according to the first embodiment performs a work. [Figure 4] FIG. 1 is a diagram showing a state in which the work system according to the first embodiment is performing work. [Diagram 5] 1 is a diagram showing a state in which a working robot and a support robot are simultaneously performing a task that generates a small reaction force in the working system according to Example 1. FIG. [Figure 6] 13 is a flowchart showing a procedure in which the calculation unit determines the work to be performed by the support robot, and the work robot and the support robot execute the work. [Figure 7] FIG. 11 is a diagram showing a configuration of a working system according to a second embodiment of the present invention, as viewed from the side. [Figure 8] FIG. 13 is a diagram showing the configuration of a working system according to a third embodiment of the present invention, as viewed from the side. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The work system according to the present invention includes a work robot that performs a task on a movable work floor, and the work floor to which the work robot is fixed can be prevented from moving while the work robot is working. The movement of the work floor includes at least one of displacement, rotation, and vibration of the work floor.

[0012] The working system according to the present invention includes a support robot different from the working robot, and the working robot performs a task on the object to be worked on while the support robot is in contact with the object to be worked on. The support robot can change the position at which it comes into contact with the object to be worked on (support position) according to the working position of the working robot with respect to the object to be worked on.

[0013] The working system according to the present invention can improve the accuracy with which a working robot performs work and reduce the burden on the working robot. Furthermore, the working system according to the present invention can easily adapt to various working environments and can effectively prevent the working floor from moving during work, regardless of the working environment. The working system according to the present invention can be applied to any working environment, such as the construction field or the logistics field, as long as the working environment involves a robot fixed to a movable working floor performing work, and can be used, for example, for work in an elevator hoistway.

[0014] Hereinafter, an operating system according to an embodiment of the present invention will be described with reference to the drawings. In the drawings used in this specification, the same or corresponding components are designated by the same reference numerals, and repeated description of these components may be omitted. EXAMPLES

[0015] A working system according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG.

[0016] FIG. 1 is a diagram showing the configuration of a working system 100 according to this embodiment, and is a diagram of the working system 100 as viewed from the side. In FIG. 1, the XY plane is a horizontal plane, and the Z direction is a vertical direction. The X direction and the Y direction can be determined arbitrarily, but as an example, the direction in which two opposing walls 6a, 6b exist is defined as the X direction, and the direction perpendicular to the X direction is defined as the Y direction. In the X direction, the direction from wall 6b toward wall 6a is positive. In the Z direction, the upward direction is positive.

[0017] The work system 100 includes a work robot 1, a support robot 2, a work platform 3, a rope 4, a winder 5, a displacement measuring device 7, a rotation measuring device 8, and a control device 9.

[0018] Working robot 1 is equipped with a robot arm with six degrees of freedom and is capable of performing a number of tasks. The robot arm having six degrees of freedom means that the robot arm has degrees of freedom (is movable) in three linear directions, the X direction, the Y direction, and the Z direction, and three rotational directions, the X direction, the Y direction, and the Z direction.

[0019] The working robot 1 is equipped with a work tool 14 on a robot arm, and uses the work tool 14 to perform work on an object to be worked on (hereinafter simply referred to as the "work object"). In this embodiment, the work object of the working robot 1 is a wall 6a, and the work of the working robot 1 is to drill a hole in the wall 6a. The work tool 14 is a tool used by the working robot 1 to perform work on the work object. In this embodiment, the working robot 1 is equipped with a drill as the work tool 14 to drill a hole in the wall 6a, which is the work object. The work tool 14 is not limited to a drill, and any work tool can be used, such as a gripper for gripping an object or a chamfer cutter for chamfering.

[0020] The support robot 2 is a robot separate from the working robot 1. The support robot 2 has a robot arm with six degrees of freedom, and can contact at least an object other than the wall 6a, which is the work target of the working robot 1, with the robot arm. The support robot 2 performs support work to prevent the work floor 3 from moving while the working robot 1 is working, by contacting an object other than the work target of the working robot 1. In this embodiment, as an example, the support robot 2 can contact a wall 6b, which is different from the wall 6a, which is the work target of the working robot 1, with the robot arm, and performs support work by contacting the wall 6b.

[0021] The support robot 2 is provided with a damping tool 17 made of a flexible member at the tip of the robot arm, and can contact the object to be contacted with the damping tool 17. In this embodiment, the support robot 2 is provided with a vibration damping material such as rubber as a flexible member, and contacts the wall 6b, which is the object to be contacted, with the vibration damping material.

[0022] The work platform 3 is suspended by ropes 4 and is capable of ascending and descending, and may undergo movements such as displacement, vibration, and rotation. A work robot 1 and a support robot 2 are fixed to the work platform 3.

[0023] The ropes 4 suspend the work floor 3. The winders 5 are devices that wind up the ropes 4, and the work floor 3 can be raised and lowered by winding the ropes 4. Since the work floor 3 is suspended by the ropes 4, it can move in at least one direction among six degrees of freedom. In this embodiment, there are two ropes 4, and the work floor 3 is suspended at two points to be raised and lowered.

[0024] The displacement measuring device 7 and the rotation measuring device 8 are measuring devices that measure the movement of the work floor 3. The movement of the work floor 3 is, for example, the movement of the work floor 3, such as displacement, vibration, and rotation.

[0025] The displacement measuring device 7 is provided on the work floor 3 and is a device that measures the displacement of the work floor 3. The measurement value of the displacement measuring device 7 is input to the control device 9. The displacement measuring device 7 can include, for example, a laser distance sensor, an acceleration sensor that measures the acceleration of the work floor 3, and a motion capture system. The laser distance sensor measures the distance between at least one of the walls 6a and 6b and the side of the work floor 3, so that the displacement measuring device 7 can obtain the displacement of the work floor 3. The displacement measuring device 7 can obtain the displacement of the work floor 3 by integrating the measurement value of the acceleration sensor (the acceleration of the work floor 3) with respect to time. The motion capture system detects the movement of a marker attached to the work floor 3, so that the displacement measuring device 7 can obtain the displacement of the work floor 3.

[0026] The displacement measuring device 7 can also measure the vibration of the work floor 3. Furthermore, the displacement measuring device 7 can obtain the vibration of the work floor 3 from the displacement of the work floor 3.

[0027] The rotation measuring device 8 is provided on the work floor 3 and is a device that measures the rotation of the work floor 3. The measured value of the rotation measuring device 8 is input to the control device 9. The rotation measuring device 8 can include, for example, an inertial sensor, an inclination sensor, and a motion capture system. The inertial sensor measures the attitude of the work floor 3, so that the rotation measuring device 8 can obtain the rotation angle of the work floor 3. The inclination sensor measures the inclination of the work floor 3, so that the rotation measuring device 8 can obtain the rotation angle of the work floor 3. The motion capture system detects the movement of a marker attached to the work floor 3, so that the rotation measuring device 8 can obtain the rotation angle of the work floor 3.

[0028] The control device 9 controls the working robot 1 and the support robot 2. The control device 9 includes a control unit 10, a task planner 12, a calculation unit 11, and a database (DB) 13, and can be configured by a computer.

[0029] The control unit 10 controls the task planner 12, the calculation unit 11, and the database 13, as well as the working robot 1 and the support robot 2.

[0030] The task planner 12 manages the planning of work for the work robot 1 and the support robot 2. The task planner 12 pre-stores information about the work to be performed by the work robot 1 and the support robot 2. For example, the task planner 12 is pre-entered with the details of the work to be performed by the work robot 1, the work tool 14 to be used, and the work position at which the work robot 1 will perform the work on the wall 6a, which is the work target.

[0031] The calculation unit 11 calculates and finds the optimal contact position (support position) of the support robot 2 with respect to the wall 6b, and outputs the found contact position (support position) to the control unit 10. The support position of the support robot 2 is the position at which the support robot 2 comes into contact with the wall 6b so that the work floor 3 does not move even if a force is applied to the work floor 3 by the working robot 1 performing work at the work position.

[0032] The database 13 records the calculation results of the calculation unit 11 and the data input by the control unit 10, as well as data obtained when the work robot 1 and the support robot 2 performed tasks in the past. For example, the database 13 records the work position of the work robot 1 on the wall 6a, the details of the task performed by the work robot 1, the work tool 14 used by the work robot 1, the support position of the support robot 2 on the wall 6b, the displacement and vibration of the work floor 3 measured by the displacement measuring device 7, and the rotation of the work floor 3 measured by the rotation measuring device 8.

[0033] If the work floor 3 is movable, the work system 100 according to this embodiment does not need to include the rope 4 and the winder 5. For example, if the work floor 3 is equipped with wheels and is movable in the X direction, Y direction, and Z direction, the work system 100 does not need to include the rope 4 and the winder 5. In addition, the number of ropes 4 and winders 5 may be three or more, and the work floor 3 may be raised and lowered by being suspended at three or more points.

[0034] Figures 2A and 2B are diagrams showing the displacement and rotation of the work floor 3 when the work system 100 is performing work that generates a large reaction force. As an example, Figures 2A and 2B show the work robot 1 performing work to drill a hole in a wall 6a, which is the work target. Figure 2A is a diagram of the work system 100 shown in Figure 1, viewed from above along the Z direction. Figure 2B is a diagram of the work system 100, as in Figure 1, viewed from the side.

[0035] Working robot 1 is equipped with a work tool 14 on its robot arm, and can perform the task of drilling a hole in wall 6a by moving the robot arm to a work position for drilling a hole in wall 6a and pressing work tool 14 against wall 6a. Due to the reaction force generated during the task, work platform 3 is displaced in the -X direction as shown by arrow 15 in Fig. 2A, rotates around the Z direction in the XY plane (horizontal plane) as shown by arrow 16 in Fig. 2A, and further rotates around the Y direction in the ZX plane (vertical plane) as shown by arrow 20 in Fig. 2B.

[0036] When the working robot 1 performs work, the work floor 3 to which the working robot 1 is fixed may move by displacement and rotation as indicated by arrows 15, 16, and 20. The work system 100 according to this embodiment can prevent the work floor 3 from moving while the working robot 1 is working by having the support robot 2 come into contact with the wall 6b. The support robot 2 can change the position where it comes into contact with the wall 6b (support position) depending on the working position of the working robot 1 relative to the wall 6a.

[0037] 3 and 4, a procedure for the working system 100 according to this embodiment to perform a task of drilling a hole in the wall 6a while preventing the working floor 3 from moving will be described.

[0038] FIG. 3 is a flowchart showing a procedure for the work system 100 according to this embodiment to perform a work.

[0039] In step 31, task planner 12 outputs the work position where working robot 1 will perform the work to calculation unit 11. Calculation unit 11 transfers the input work position to control unit 10.

[0040] In step 32, the control unit 10 determines a trajectory of the robot arm of the working robot 1 so that the robot arm reaches the working position, and moves the robot arm to the working position along the determined trajectory.

[0041] In step 33, the calculation unit 11 calculates a support position where the damping tool 17 of the support robot 2 comes into contact with the wall 6b based on the working position, and outputs the calculated support position to the control unit .

[0042] In step 34, the control unit 10 determines a trajectory of the robot arm so that the damping tool 17 of the support robot 2 comes into contact with the wall 6b at the support position, and moves the robot arm along the determined trajectory. It is preferable for the control unit 10 to determine, as the trajectory of the robot arm, a trajectory in which the damping tool 17 comes into light contact with the wall 6b, that is, a trajectory in which the damping tool 17 comes into contact with the wall 6b with such a small force that the work floor 3 does not move. The support robot 2 performs the support work by coming into light contact with the wall 6b at the support position.

[0043] In step 35, the control unit 10 causes the working robot 1 to perform a task using the work tool 14. Under the control of the control unit 10, the working robot 1 performs a task of drilling a hole in the wall 6a at the work position, with the support robot 2 in contact with the wall 6b at the support position.

[0044] In step 36, after the work of the work robot 1 is finished, the control unit 10 returns the robot arms of the work robot 1 and the support robot 2 to their initial positions.

[0045] Fig. 4 is a diagram showing a state in which the working system 100 according to this embodiment is performing work. Like Fig. 2A, Fig. 4 is a diagram showing the working system 100 shown in Fig. 1 as viewed from above along the Z direction. In Fig. 4, the damping tool 17 of the support robot 2 is in contact with the wall 6b at the support position calculated by the calculation unit 11 in step 33.

[0046] The support robot 2, which is fixed to the work floor 3, is in light contact with the wall 6b with the damping tool 17, so that the work floor 3 is supported by the wall 6b. Therefore, even if the work robot 1 performs work using the work tool 14, the work floor 3 does not move without being displaced, rotated, or vibrated.

[0047] 3, the working system 100 of this embodiment can use the support robot 2 to prevent the work floor 3 from moving due to displacement, rotation, or vibration while the working robot 1 is working. As a result, the working system 100 of this embodiment improves the accuracy with which the working robot 1 executes work, and can prevent large forces and moments from being applied to the joints of the robot arm, which would place a heavy burden on the working robot 1.

[0048] If the support robot 2 is in light contact with the wall 6b, when the working robot 1 presses the work tool 14 against the wall 6a, the contact force of the support robot 2 against the wall 6b will become stronger due to the reaction of this pressing action, and the work floor 3 will be supported by the wall 6b. For this reason, it is preferable for the support robot 2 to lightly contact the wall 6b before the working robot 1 performs work.

[0049] If the support robot 2 is in strong contact with the wall 6b before the work robot 1 begins work, when the work robot 1 begins work, the work floor 3 will swing on the suspended rope 4, with the contact point of the support robot 2 with the wall 6b as the fulcrum, causing displacement, rotation, vibration, and movement. Also, if the work robot 1 begins work while the support robot 2 is not in contact with the wall 6b, the support robot 2 will hit the wall 6b when the work begins, causing the work floor 3 to move.

[0050] Therefore, when the support robot 2 contacts the wall 6b in step 34 of FIG. 3, the control unit 10 needs to adjust the contact force of the support robot 2 on the wall 6b so that the damping tool 17 contacts the wall 6b lightly (i.e., the damping tool 17 contacts the wall 6b with a small force that does not move the work floor 3). The control unit 10 obtains a force when the support robot 2 pushes the wall 6b with the damping tool 17, which is a force that does not move the work floor 3, and makes the support robot 2 contact the wall 6b with this obtained force. More specifically, in step 34, the control unit 10 increases the force with which the damping tool 17 of the support robot 2 pushes the wall 6b (the contact force of the support robot 2 on the wall 6b) until the work floor 3 moves, obtains a pushing force that does not move the work floor 3 (for example, a maximum pushing force that does not move the work floor 3), and adjusts the contact force so that the damping tool 17 contacts the wall 6b with this force.

[0051] The control unit 10 can adjust the contact force of the support robot 2 against the wall 6b by, for example, using a current sensor provided in the support robot 2 to detect a change in the current of a motor that moves the joint of the robot arm when the support robot 2 pushes against the wall 6b. For example, the control unit 10 determines that the support robot 2 has lightly contacted the wall 6b when the value of the current of the joint of the robot arm reaches a predetermined value. By measuring the current of the joint of the robot arm, the working system 100 according to this embodiment can adjust the contact force of the support robot 2 against the wall 6b, for example, without having a force sensor that measures the force that the robot arm of the support robot 2 applies to the wall 6b.

[0052] 3, the calculation unit 11 can use any method to calculate the support position of the support robot 2 on the wall 6b, for example a model-based method or a data-driven method. Note that since the support position may differ depending on the work tool 14 of the work robot 1, it is preferable to find the support position depending on the work tool 14.

[0053] The model-based method is a method for calculating the support position using a static equilibrium equation for a rigid body. The calculation unit 11 regards the work floor 3 as a rigid body and calculates the support position of the support robot 2 such that the work floor 3 does not move even if a force is applied to the work floor 3 by the work robot 1 performing work at the work position.

[0054] For example, the calculation unit 11 can calculate the position (support position) where the damping tool 17 contacts the wall 6b, which can cancel the force and moment that cause the displacement and rotation of the work floor 3 shown by the arrows 15 and 16 in FIG. 2A, by using the static equilibrium equation of a rigid body. Since the support robot 2 contacts the wall 6b at the support position, the work floor 3 generates a force and moment that causes a displacement and rotation in the opposite direction to the displacement and rotation shown by the arrows 15 and 16 in FIG. 2A. Therefore, when the damping tool 17 of the support robot 2 contacts the wall 6b at the support position, the displacement and rotation of the work floor 3 can be prevented. Similarly, the rotation of the work floor 3 shown by the arrow 20 in FIG. 2B can be prevented.

[0055] The data driven method is a method of determining the support position using data obtained during past work. Data obtained during past work is, for example, the movement (e.g., displacement and rotation) of the work floor 3 relative to the combination of the work position of the work robot 1 and the support position of the support robot 2. The combination of the work position of the work robot 1 and the support position of the support robot 2 can include the work tool 14 of the work robot 1. The data obtained during past work is stored in a database 13.

[0056] When calculating the support position of the support robot 2 on the wall 6b, the calculation unit 11 obtains data obtained during past work from the database 13. Then, from among the support positions of the support robot 2 corresponding to the work position of the work robot 1 obtained from the task planner 12, the calculation unit 11 searches for a support position with the smallest movement (e.g., displacement and rotation) of the work floor 3, and sets the searched support position as the support position of the support robot 2 on the wall 6b. In this way, the calculation unit 11 can calculate the support position of the support robot 2 on the wall 6b. When calculating a support position from data obtained during past work, the calculation unit 11 may take into account the work tool 14 of the work robot 1 and search for a support position when the same work tool 14 as that used by the work robot 1 is used.

[0057] After calculating the support position of the support robot 2 on the wall 6b, the calculation unit 11 outputs the calculated support position to the control unit 10. The control unit 10 acquires data from the displacement measuring device 7 and rotation measuring device 8 when the work robot 1 performed work. The database 13 stores the data from the displacement measuring device 7 and rotation measuring device 8, as well as information on the work position of the work robot 1 and the support position of the support robot 2 when this data was obtained, and the work tool 14 used by the work robot 1.

[0058] The calculation unit 11 may use a machine learning algorithm such as a neural network or clustering when determining the support position of the support robot 2 by the data-driven method. The data-driven method is suitable for a work system 100 that can obtain a large amount of data, since the more data there is, the more optimal the support position can be determined.

[0059] There may be cases where an object such as a wall that the support robot 2 can contact does not exist at the support position calculated by the calculation unit 11. This is the case, for example, when the working system 100 works in a working environment where there is no wall facing the working position (wall 6a) of the working robot 1. If there is a possibility that an object that the support robot 2 can contact does not exist at the support position calculated by the calculation unit 11, data on the area where the object that the support robot 2 can contact exists is required.

[0060] The database 13 can store data of an area where objects that can be contacted by the support robot 2 are present, which is obtained in advance. The data of this area can be obtained from CAD data of the work environment or the positions of objects detected by a laser tracker or the like.

[0061] 3, the calculation unit 11 can determine the support position of the support robot 2 from within an area in which there are objects that the support robot 2 can contact. It is considered that the support position of the support robot 2 differs depending on the work environment of the working system 100. The working system 100 according to this embodiment can determine the support position of the support robot 2 depending on the work environment of the working system 100.

[0062] 3, the calculation unit 11 can obtain a plurality of support positions of the support robot 2. The support robot 2 can come into contact with an object such as the wall 6b at any one of the plurality of support positions.

[0063] The working system 100 according to this embodiment can flexibly determine the support position of the support robot 2 in this way, and can easily adapt to various working environments. Therefore, the working system 100 according to this embodiment can effectively prevent the working floor 3 from moving during work, regardless of the working environment of the working system 100.

[0064] The working system 100 according to this embodiment judges whether the magnitude of the reaction force generated by the work of the working robot 1 is large or not, and based on this judgment result, can control whether the support robot 2 performs supporting work or a work other than the supporting work that generates a small reaction force. In the explanation using Figures 1 to 4, the working system 100 has been described in which the support robot 2 performs supporting work to prevent the work floor 3 from moving while the working robot 1 is performing work that generates a large reaction force (for example, work of drilling a hole in the wall 6a). If the support robot 2 performs a work other than the supporting work while the working robot 1 is performing work, the working system 100 can improve the throughput of the work to be performed.

[0065] Fig. 5 is a diagram showing how the working robot 1 and the support robot 2 are simultaneously performing work that generates a small reaction force in the working system 100 according to this embodiment. Fig. 5 shows, as an example, how a pick-and-place operation is being performed as a work that generates a small reaction force. The pick-and-place operation is a work of grasping and transporting an object 52, and is a work other than a supporting work. In the pick-and-place operation, a small reaction force is generated compared to work on a wall, such as drilling a hole.

[0066] The working robot 1 and the support robot 2 are each equipped with a gripper 51 at the tip of the robot arm, and the gripper 51 grasps and transports an object 52.

[0067] In the work system 100 of this embodiment, the calculation unit 11 judges whether the magnitude of the reaction force generated by the work of the work robot 1 is large or not, and based on the result of this judgment, judges whether the support robot 2 will perform supporting work or work other than supporting work that generates a small reaction force (for example, pick-and-place work).

[0068] FIG. 6 is a flow chart showing the procedure by which the calculation unit 11 determines the work to be performed by the support robot 2, and the work robot 1 and the support robot 2 execute the work.

[0069] In step 61 , calculation unit 11 obtains from task planner 12 information about the work to be performed by working robot 1 .

[0070] In step 62, calculation unit 11 determines whether the work performed by working robot 1 will generate a large reaction force exceeding a predetermined value, based on the acquired information about the work performed by working robot 1. When making this determination, calculation unit 11 can use data obtained during past work that is recorded in database 13. If it is determined that the work performed by working robot 1 will generate a large reaction force, it executes the process of step 63. If it is determined that the work performed by working robot 1 will not generate a large reaction force, it executes the process of step 64.

[0071] The calculation unit 11 can determine that a task in which the magnitude of displacement, the amplitude of vibration, or the angle of rotation of the work floor 3 exceeds a predetermined upper limit value is a task that generates a large reaction force. For example, the calculation unit 11 determines that a task in which the magnitude of displacement or the amplitude of vibration of the work floor 3 exceeds 1 mm is a task that generates a large reaction force. This upper limit value is a value of the magnitude of displacement, the amplitude of vibration, or the angle of rotation of the work floor 3 that does not affect the accuracy of the task, and can be obtained in advance by elemental experiments or the like.

[0072] In step 63, the calculation unit 11 transmits a command to the control unit 10 to cause the support robot 2 to perform the supporting task. The support robot 2 is controlled by the control unit 10 to perform the supporting task.

[0073] In step 65, the calculation unit 11 sends a command to the control unit 10 to cause the work robot 1 to perform a task that generates a large reaction force. The work robot 1 is controlled by the control unit 10 to perform a task that generates a large reaction force (for example, a task of drilling a hole in the wall 6a).

[0074] In step 64, the calculation unit 11 sends a command to the control unit 10 to have the support robot 2 perform a task other than the supporting task in which a small reaction force is generated. The support robot 2 is controlled by the control unit 10 to perform a task other than the supporting task in which a small reaction force is generated. The task in which a small reaction force is generated is a task in which a reaction force equal to or less than the above-mentioned upper limit is generated, such as a pick-and-place task.

[0075] In step 66, the calculation unit 11 sends a command to the control unit 10 to cause the work robot 1 to perform a task that does not generate a large reaction force. The work robot 1 is controlled by the control unit 10 to perform a task that does not generate a large reaction force, that is, a task that generates a small reaction force (for example, a pick-and-place task).

[0076] In steps 64 and 66, the support robot 2 and the work robot 1 perform a task that generates a small reaction force (for example, a pick-and-place task). At this time, if the motion of the support robot 2 and the motion of the work robot 1 are in opposite phase to each other, the work floor 3 can be more effectively prevented from moving. Therefore, when the control unit 10 causes the support robot 2 to perform a task other than the support task that generates a small reaction force, it is preferable to control the support robot 2 to perform a motion that is in opposite phase to the motion of the work robot 1, so that the motion of the support robot 2 and the motion of the work robot 1 are in opposite phase to each other. Motions that are in opposite phase to each other mean, for example, that the robot arms of the support robot 2 and the work robot 1 move in opposite directions at the same timing by the same distance or angle.

[0077] 5, for example, assume that the robot arm of working robot 1 moves in the +X and +Y directions, and the robot arm of support robot 2 moves in the opposite phase to the robot arm of working robot 1, i.e., in the -X and -Y directions, the same distance and at the same timing as the robot arm of working robot 1. By having the robot arms of working robot 1 and support robot 2 move in opposite phases to each other in this way, the movements of the work floor 3 caused by the movements of each robot arm cancel each other out, making it possible to more effectively prevent the work floor 3 from moving.

[0078] In the above explanation, the support robot 2 and the work robot 1 are described as moving in opposite phases in the X and Y directions. When the work floor 3 moves in the Z direction, the control unit 10 controls the movement of the support robot 2 and the movement of the work robot 1 to be in opposite phases to each other in the Z direction, thereby effectively preventing the work floor 3 from moving.

[0079] As described above, in the work system 100 of this embodiment, the support robot 2 can prevent the work floor 3 from moving while the work robot 1 is working, thereby improving the accuracy with which the work robot 1 performs its work and reducing the burden on the work robot 1. EXAMPLES

[0080] Second Embodiment A working system according to a second embodiment of the present invention will be described with reference to FIG.

[0081] FIG. 7 is a diagram showing the configuration of a working system 100 according to this embodiment, and is a diagram showing the working system 100 as viewed from the side.

[0082] The working system 100 according to this embodiment has a configuration similar to that of the working system 100 according to the first embodiment, but differs from the working system 100 according to the first embodiment in that the support robot 2 has a fixed member 22 and a force sensor 21 at the tip of the robot arm. Also, in this embodiment, the working environment of the working system 100 differs from that of the first embodiment, and the object to be contacted by the support robot 2 (object that can be contacted) is a magnetic object, such as a steel frame 23.

[0083] The fixing member 22 is a member for fixing the robot arm of the support robot 2 to the steel frame 23. The fixing member 22 can be configured using any member that can fix the robot arm to the steel frame 23. For example, the fixing member 22 can be a magnetic hand that attracts the steel frame 23 with magnetic force, a gripper that holds the steel frame 23 with multiple fingers, or a vacuum gripper that attracts the steel frame 23 by sucking in air. In this embodiment, as an example, a magnetic hand is used for the fixing member 22.

[0084] The force sensor 21 measures the force that the support robot 2 applies to the object to be contacted. The force that the support robot 2 applies to the object to be contacted is, for example, a force in a direction perpendicular to the plane where the robot arm of the support robot 2 contacts the object to be contacted. In this embodiment, the force sensor 21 measures the force that the robot arm of the support robot 2 applies to the steel frame 23. Force data, which is the measurement value of the force sensor 21, is input to the control device 9.

[0085] The control unit 10 of the control device 9 can recognize that the robot arm of the support robot 2 is fixed to the steel frame 23 by detecting changes in the force data when the robot arm of the support robot 2 applies force to the steel frame 23. That is, in this embodiment, the control unit 10 can recognize that the support robot 2 is fixed to the steel frame 23 with an appropriate force.

[0086] In the first embodiment, the support robot 2 lightly contacts the object to be contacted (wall 6b) with the damping tool 17. If the support robot 2 contacts the wall 6b with an excessively large force, the work floor 3 will move due to the work of the work robot 1, so this movement of the work floor 3 is prevented. In the first embodiment, the control unit 10 uses a current sensor to measure the current of the motor that moves the joints of the robot arm of the support robot 2, and adjusts the contact force of the support robot 2 on the wall 6b.

[0087] In the working system 100 according to this embodiment, the support robot 2 is equipped with a force sensor 21. Therefore, by using the force data, the control unit 10 can recognize that the support robot 2 is fixed to the contact target object (steel frame 23) with an appropriate force more accurately than the working system 100 according to the first embodiment, which measures the current of the joints of the robot arm to adjust the contact force. This appropriate force is a value that does not affect the accuracy of the work, and can be obtained in advance by elemental experiments, etc. For example, if the force data reaches a predetermined value (for example, 20 N), the control unit 10 determines that the support robot 2 is fixed to the contact target object with an appropriate force. Therefore, the working system 100 according to this embodiment can fix the support robot 2 to the contact target object (steel frame 23) with an appropriate force, so that the support robot 2 does not come into contact with the steel frame 23 with an excessively large force, and can prevent the working floor 3 from moving while the working robot 1 is working.

[0088] In this embodiment, the support robot 2 fixed to the work floor 3 is fixed to a steel frame 23 by a fixing member 22 of the robot arm. In the work system 100 according to this embodiment, the work floor 3 is fixed by the steel frame 23 while the work robot 1 is working, so that the work floor 3 can be prevented from moving not only in a specific direction but also in directions with six degrees of freedom (three linear directions and three rotational directions), and the movement of the work floor 3 can be further suppressed.

[0089] As described above, the working system 100 according to this embodiment can prevent the work floor 3 from moving while the working robot 1 is working, can improve the accuracy with which the working robot 1 executes its work, and can reduce the burden on the working robot 1.

[0090] In this embodiment, since the support robot 2 includes the force sensor 21, the control unit 10 can detect, by a change in the force data, that the support robot 2 is no longer in contact with the object to be contacted while the working robot 1 is performing a task. For example, the control unit 10 can detect that the fixing member 22 has stopped fixing the robot arm to the steel frame 23 (i.e., the fixing member 22 is no longer in contact with the steel frame 23 and the robot arm has come off the steel frame 23). The force sensor 21 measures the force that the support robot 2 applies to the object to be contacted, and obtains force data that is a measured value. If the force data obtained by the force sensor 21 is equal to or greater than a predetermined threshold value (e.g., 20 N), the control unit 10 determines that the support robot 2 is in contact with the object to be contacted, and if the force data is smaller than this threshold value, the support robot 2 that was in contact with the object to be contacted is no longer in contact with the object to be contacted.

[0091] Furthermore, in this embodiment, it is possible to estimate the force (pushing force) that the working robot 1 applies to the wall 6a when the working robot 1 is performing work. If the pushing force of the working robot 1 against the wall 6a is not appropriate, there is a risk that the working robot 1 may be damaged. The working system 100 according to this embodiment can estimate the pushing force of the working robot 1 against the wall 6a, and prevent the working robot 1 from being damaged.

[0092] Since the work floor 3 is not moving, the force that the working robot 1 applies to the wall 6a can be considered to be the same or approximately the same magnitude as the force that the support robot 2 applies to the wall 6b. For this reason, in this embodiment, the control device 9 estimates and calculates the force that the working robot 1 applies to the wall 6a to be equal to the force that the support robot 2 applies to the wall 6b, measured by the force sensor 21. By using the force sensor 21 provided in the support robot 2 to calculate the pressing force of the working robot 1 against the wall 6a, the control device 9 can more accurately obtain the pressing force of the working robot 1 against the wall 6a without being affected by noise generated by the working robot 1. EXAMPLES

[0093] Third Embodiment A working system according to a third embodiment of the present invention will be described with reference to FIG.

[0094] FIG. 8 is a diagram showing the configuration of a working system 100 according to this embodiment, and is a diagram showing the working system 100 as viewed from the side.

[0095] The working system 100 according to this embodiment has a configuration similar to that of the working system 100 according to the first embodiment, but differs from the working system 100 according to the first embodiment in that the support robot 2 has a robot arm equipped with a work tool 14 that is the same as the work tool 14 equipped on the working robot 1. In the first embodiment, the support robot 2 lightly contacts the support position of the object to be contacted (wall 6b) with the damping tool 17.

[0096] In this embodiment, the support robot 2 performs the same work as the work performed by the work robot 1 at the work position on the wall 6a, simultaneously with the work robot 1, using the same work tool 14, at the support position on the wall 6b. The wall 6b is an object facing the wall 6a (an object on the opposite side of the wall 6a, with the work robot 1 and the support robot 2 in between). The work robot 1 and the support robot 2 can perform work that generates a large reaction force (for example, work of drilling holes in the walls 6a and 6b). In the work system 100 according to this embodiment, the support robot 2 simultaneously performs the same work as the work robot 1 at the support position on the wall 6b, using the same work tool 14, thereby preventing the work floor 3 from moving while the work robot 1 is performing work.

[0097] The calculation unit 11 calculates and determines the support position of the support robot 2 on the wall 6b using the same method as described in the first embodiment. However, in this embodiment, the support position needs to be a position where work by the support robot 2 is required. The calculation unit 11 determines the support position taking this condition into consideration.

[0098] The control unit 10 causes the working robot 1 to perform work at the working position relative to the wall 6a using the work tool 14. At the same time, the control unit 10 causes the support robot 2 to perform the same work as the working robot 1 performs at the working position relative to the wall 6a, at the support position relative to the wall 6b using the work tool 14, at the same time that the working robot 1 performs the work.

[0099] In the working system 100 of this embodiment, the working floor 3 can be prevented from moving when the working robot 1 and the support robot 2 are performing work, especially work that generates a large reaction force. Also, in the working system 100 of this embodiment, the working robot 1 and the support robot 2 perform work simultaneously, which can improve work efficiency.

[0100] The present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to an embodiment having all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to delete a part of the configuration of each embodiment, or to add or replace another configuration. [Explanation of symbols]

[0101] 1...work robot, 2...support robot, 3...work floor, 4...rope, 5...winder, 6a, 6b...wall, 7...displacement measuring device, 8...rotation measuring device, 9...control device, 10...control unit, 11...calculation unit, 12...task planner, 13...database, 14...work tool, 15...arrow indicating displacement of work floor, 16...arrow indicating rotation of work floor, 17...damping tool, 20...arrow indicating rotation of work floor, 21...force sensor, 22...fixed member, 23...steel frame, 51...gripper, 52...object, 100...work system.

Claims

1. A movable work platform; a first robot that is fixed to the work floor and performs a task on a first object that is a work target; a second robot fixed to the work floor and capable of contacting a second object different from the first object; A control device that controls the first robot and the second robot; A measuring device for measuring the movement of the work platform; Equipped with the control device includes a task planner that stores information about tasks performed by the first robot and the second robot, and a database that records data obtained when the first robot and the second robot performed tasks in the past; the control device calculates a support position where the second robot comes into contact with the second object, based on a work position where the first robot performs work on the first object; the control device causes the first robot to perform a task on the first object at the task position while the second robot is in contact with the second object at the support position; the control device calculates, as the support position, a position at which the second robot comes into contact with the second object so that the work floor does not move even if a force is applied to the work floor as the first robot performs work at the work position; the control device calculates the support position by using the work position acquired from the task planner and data of the movement of the work platform for a combination of the work position and the support position acquired from the database. A work system characterized by:

2. A movable work platform; a first robot that is fixed to the work floor and performs a task on a first object that is a work target; a second robot fixed to the work floor and capable of contacting a second object different from the first object; A control device that controls the first robot and the second robot; A measuring device for measuring the movement of the work platform; Equipped with the control device calculates a support position where the second robot comes into contact with the second object, based on a work position where the first robot performs work on the first object; the control device causes the first robot to perform a task on the first object at the task position while the second robot is in contact with the second object at the support position; the control device calculates, as the support position, a position at which the second robot comes into contact with the second object so that the work floor does not move even if a force is applied to the work floor as the first robot performs work at the work position; the second robot includes a flexible member and contacts the second object at the support position with the flexible member; A work system characterized by:

3. the control device determines a force that prevents the work floor from moving when the second robot pushes the second object with the flexible member, and causes the second robot to contact the second object with the determined force. The work system according to claim 2 .

4. the first robot includes a work tool that performs a work on the first object; the second robot is provided with the same work tool as the work tool provided on the first robot, the control device causes the second robot to perform, at the support position, using the work tool, the same operation as the first robot performs at the work position using the work tool, simultaneously with the first robot. The operating system according to claim 1 or 2.

5. The database stores data on an area in which an object that can be contacted by the second robot exists. The work system according to claim 1 .

6. The control device includes: when the work of the first robot generates a reaction force exceeding a predetermined value, the second robot is caused to perform a support work of contacting the second object at the support position to prevent the work floor from moving; When the task of the first robot does not generate a reaction force exceeding the predetermined value, the second robot is caused to execute a task other than the supporting task that generates a reaction force equal to or less than the predetermined value. The work system according to claim 1 .

7. A movable work platform; a first robot that is fixed to the work floor and performs a task on a first object that is a work target; a second robot fixed to the work floor and capable of contacting a second object different from the first object; A control device that controls the first robot and the second robot; A measuring device for measuring the movement of the work platform; Equipped with the control device calculates a support position where the second robot comes into contact with the second object, based on a work position where the first robot performs work on the first object; the control device causes the first robot to perform a task on the first object at the task position while the second robot is in contact with the second object at the support position; the control device calculates, as the support position, a position at which the second robot comes into contact with the second object so that the work floor does not move even if a force is applied to the work floor as the first robot performs work at the work position; the second robot includes a force sensor that measures a force applied by the second robot to the second object; the control device determines a force applied by the first robot to the first object as being equal to a force applied by the second robot to the second object measured by the force sensor; A work system characterized by:

8. A movable work platform; a first robot that is fixed to the work floor and performs a task on a first object that is a work target; a second robot fixed to the work floor and capable of contacting a second object different from the first object; A control device that controls the first robot and the second robot; A measuring device for measuring the movement of the work platform; Equipped with the control device calculates a support position where the second robot comes into contact with the second object, based on a work position where the first robot performs work on the first object; the control device causes the first robot to perform a task on the first object at the task position while the second robot is in contact with the second object at the support position; the control device calculates, as the support position, a position at which the second robot comes into contact with the second object so that the work floor does not move even if a force is applied to the work floor as the first robot performs work at the work position; the second robot includes a force sensor that measures a force applied by the second robot to the second object; the control device determines that the second robot, which had been in contact with the second object, is no longer in contact with the second object when the force measured by the force sensor becomes smaller than a predetermined threshold value. A work system characterized by:

9. A movable work platform; a first robot that is fixed to the work floor and performs a task on a first object that is a work target; a second robot fixed to the work floor and capable of contacting a second object different from the first object; A control device that controls the first robot and the second robot; A measuring device for measuring the movement of the work platform; Equipped with the control device calculates a support position where the second robot comes into contact with the second object, based on a work position where the first robot performs work on the first object; the control device causes the first robot to perform a task on the first object at the task position while the second robot is in contact with the second object at the support position; the control device calculates, as the support position, a position at which the second robot comes into contact with the second object so that the work floor does not move even if a force is applied to the work floor as the first robot performs work at the work position; A rope is provided for suspending the work floor, and a winder is a device for winding up the rope, The measuring device includes a displacement measuring device that measures the displacement of the work platform and a rotation measuring device that measures the rotation of the work platform, the first robot includes a work tool on a robot arm for performing a work on the first object at the work position; the second robot includes a robot arm having a flexible member that contacts the second object at the support position; The control device includes: A calculation unit for calculating the support position; a task planner that stores information about tasks to be performed by the first robot and the second robot; a database for recording data obtained when the first robot and the second robot performed operations in the past; a control unit that controls the first robot, the second robot, the calculation unit, the task planner, and the database; Equipped with A work system characterized by:

Images