Human-Robot Collaborative System

Abstract

To provide a collaborative robot system that promotes automation through collaboration between humans and robots, further improves work time, efficiency and accuracy, and saves space. [Solution] A collaborative robot system comprising a robot, a movable support base, a sensor, a first laboratory stand and a second laboratory stand, wherein running rails are provided on the first laboratory stand and the second laboratory stand, one end of the support base is slidably connected to the running rail provided on the first laboratory stand and the other end of the support base is slidably fitted into the running rail provided on the second laboratory stand, the robot is placed on an upper surface of the support base, and the sensor is provided on the support base, and the sensor detects when a human enters the working range of the robot.

Description

[Background technology]

[0001] An embodiment of the present disclosure relates to a human-robot collaborative system.

[0002] When a robot and a worker work together, generally, in order to ensure the safety of the worker, a light curtain or a physically constructed safety fence is used to separate the working area between the robot and the worker. However, in recent years, in order to improve work efficiency, it is becoming mainstream for the robot and the worker to work together in close proximity, and in this case, ensuring the safety of the worker becomes important. To address this issue, a method has been devised in which a proximity sensor is installed on the robot itself to detect the approach of the worker.

[0003] For example, Patent Document 1 discloses a technology in which a robot lifting device is provided on a traveling cart and a dual-arm robot is supported on an assembly workbench so as to be rotatable about a vertical rotation center axis, thereby enabling the dual-arm robot to be moved easily and improving work efficiency (see Patent Document 1).

[0004] Furthermore, Patent Document 2 discloses a self-propelled articulated robot that can be used in a human-robot collaborative line production system and can perform work while moving around in a product production factory (see Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2018-15885 A [Patent Document 2] Republished Publication No. 2016 / 103303 Summary of the Invention [Problem to be solved by the invention]

[0006] The conventional technologies disclosed in Patent Documents 1 and 2 improve work efficiency, but have problems such as the obstacle of the traveling cart at the feet, making it difficult for people to access the work platform. In addition, the traveling carts disclosed in the conventional technologies are not designed to work with people, so safety cannot be ensured. Furthermore, there are problems such as poor work efficiency due to the slow movement speed of the cart and low positioning accuracy.

[0007] The present invention has been made in consideration of such problems, and aims to realize an autonomous robot that operates in cooperation with humans. Promotes motility, Further shortening of work time and The objective is to provide a collaborative robot system that improves work efficiency and accuracy and achieves space savings. [Means for solving the problem]

[0008] The present invention relates to the following (1) to (10). (1) A collaborative robot system comprising a robot, a movable support base, a sensor, a first laboratory stand and a second laboratory stand, wherein running rails are provided on the first laboratory stand and the second laboratory stand, one end of the support base is slidably connected to the running rail provided on the first laboratory stand and the other end of the support base is slidably fitted into the running rail provided on the second laboratory stand, the robot is placed on an upper surface of the support base, and the sensor is provided on the support base, and the sensor detects when a human enters the working range of the robot. (2) The collaborative robot system described in (1) above, wherein the sensor has two sensor detection ranges: a small, approximately sector-shaped protection area centered on the sensor, and a large, approximately sector-shaped warning area centered on the sensor. (3) A support plate is provided at the center of the lower part of the top plate of the first laboratory table so as to support the longitudinal direction of the laboratory table, and the running rail is attached to the support plate. of The collaborative robot system according to (1) or (2) above, characterized in that two rails are arranged one above the other so as to be parallel to each other, and the traveling rail and one end of the support base are connected in a slidable state. (4) A support plate is provided at the center of the lower part of the top plate of the second laboratory table so as to support the longitudinal direction of the laboratory table, and the running rail is attached to the support plate. of 4. The collaborative robot system according to claim 3, wherein at least one of the support bases is arranged so as to be parallel to a running rail provided on the first laboratory bench, and the running rail and the other end of the support base are fitted together in a slidable manner. (5) providing a drive unit on the support table, connecting a pinion to the drive unit, and installing a rack on a support plate between two running rails provided on the first experimental table; The pinion and the rack are engaged with each other to position the support base in a movable state. 3. The collaborative robot system according to claim 1, wherein: (6) providing a cable carrier for holding cables connected to the robot and the driving device on the first laboratory bench; The upper part of the two running rails installed on the first test bench The collaborative robot system according to (5) above, wherein the installation position of the travel rail is at a height where the end of the movable part of the cable carrier can be fixed to the lower side of the support base. (7) A support stand is connected to a running rail provided on the second laboratory bench in a slidable state, a support stand side fitting portion is provided on an upper surface of the support stand, and a support stand side fitting portion is provided on a lower surface of the other end of the support stand, Support stand pedestal side fitting part and Support side fitting part The collaborative robot system according to (1) or (2), wherein the support base and the support base receiving base are fitted together by fitting them together. (8) A protrusion is provided on either the support base side fitting portion or the support base receiving side fitting portion, and a recess is provided on the other of the support base side fitting portion or the support base receiving side fitting portion, and the protrusion is fitted into the recess to form the support base. Side fitting part and the above support The collaborative robot system according to (7) above, characterized in that the holder support side fitting portion is fitted. (9) A collaborative robot system as described in (1) above, characterized in that a control device detects whether there is a reaction of an object to be detected within the working range of the robot within the sensor detection range of the sensor, and if there is no reaction, operates the support base and the robot normally, and if it detects an intrusion of a human within the working range of the robot within the sensor detection range of the sensor, controls the support base and the robot to decelerate or stop. (10) A human collaborative robot system as described in (2) above, characterized in that a control device detects whether there is a reaction of the object to be detected in a protection area and a warning area within the sensor detection range of the sensor, and if there is no reaction in either area, operates the support base and the robot normally, and if there is no reaction in the protection area within the sensor detection range of the sensor and a human intrusion is detected within the warning area, controls the support base and the robot to decelerate, and if a human intrusion is detected within the protection area within the sensor detection range of the sensor, controls to stop the support base and the robot. Effect of the Invention

[0009] According to the human-robot collaborative system of the present invention, automation through collaboration between humans and robots is promoted, Further shortening of work time, It improves work efficiency and accuracy and saves space. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall schematic of a human collaborative robot system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a top view of a collaborative robot system according to an embodiment of the present invention. [Diagram 3] FIG. 1 is a front view of a collaborative robot system according to an embodiment of the present invention. [Figure 4] FIG. 2 is a right side view of the collaborative robot system according to the present embodiment. [Diagram 5] 4 is a cross-sectional view taken along line AA of the collaborative robot system according to the present embodiment shown in FIG. 3. [Figure 6]FIG. 2 is a diagram illustrating an overview of a sensor detection range of the human collaborative robot system according to the present embodiment. [Figure 7] FIG. 2 is a top view illustrating a sensor detection range of the collaborative robot system according to the present embodiment. [Figure 8] FIG. 2 is a schematic diagram illustrating a state in which a cover part of a laboratory table of the collaborative robot system according to the present embodiment is removed. [Figure 9] FIG. 2 is a front view of the experimental table of the collaborative robot system according to the present embodiment with a cover removed. [Figure 10] FIG. 2 is a diagram showing an attachment state of a support table and a laboratory table of the collaborative robot system according to the present embodiment. [Figure 11] FIG. 2 is a block diagram showing a control device of the collaborative robot system according to the present embodiment. [Figure 12] 10 is a flowchart showing a control process of the support base and the robot when detected by a sensor of the collaborative robot system according to the present embodiment. [Figure 13] FIG. 2 is a diagram showing a sensor detection range of the collaborative robot system according to the present embodiment. [Figure 14] 5A and 5B are diagrams illustrating an attached state of a cable carrier support part according to the embodiment. [Figure 15] FIG. 13 is a diagram showing a state in which the support table has been moved to the left or right of the experiment table in the collaborative robot system according to the present embodiment. [Figure 16] FIG. 13 is a diagram illustrating an example of an overall schematic view of a human collaborative robot system according to a second embodiment. [Figure 17] FIG. 11 is a top view of a human collaborative robot system according to a second embodiment. [Figure 18] FIG. 11 is a front view of a human collaborative robot system according to a second embodiment. [Figure 19] FIG. 11 is a right side view of a collaborative robot system according to a second embodiment. [Figure 20] FIG. 20 is a cross-sectional view taken along line AA of the human collaborative robot system according to the second embodiment shown in FIG. 18. [Figure 21]11A and 11B are a top view and a cross-sectional view along line BB in the figure of a human collaborative robot system according to a second embodiment. [Figure 22] 11A and 11B are top and CC sectional views of a human collaborative robot system according to a second embodiment. [Diagram 23] 23 is a cross-sectional view taken along line CC in FIG. 22 with the cover of the second laboratory stand removed. [Figure 24] FIG. 11 is a diagram illustrating an overview of a sensor detection range of a human collaborative robot system according to a second embodiment. [Diagram 25] FIG. 11 is a top view showing a sensor detection range of a human collaborative robot system according to a second embodiment. [Figure 26] FIG. 11 is a schematic diagram illustrating a state in which a cover part of a laboratory stand of a human collaborative robot system according to a second embodiment is removed (first laboratory stand side). [Figure 27] FIG. 11 is a schematic diagram illustrating a state in which a cover part of a laboratory stand of a human collaborative robot system according to a second embodiment is removed (second laboratory stand side). [Figure 28] FIG. 11 is a diagram showing a state in which the support table has been moved to the right side of the experiment table in the collaborative robot system according to the second embodiment. [Figure 29] FIG. 11 is a diagram showing a state in which the support table has been moved to the left of the experiment table in the collaborative robot system according to the second embodiment. [Diagram 30] 13 is a diagram showing a state in which a traveling rail provided on a second test bench is fitted to a support bench. FIG. [Diagram 31] 13 is a cross-sectional view for explaining a fitting state between a running rail and a support stand provided on a second testing stand. FIG. [Diagram 32] FIG. 11 is a diagram showing a sensor detection range of the human collaborative robot system according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present embodiment will be described with reference to the drawings. For convenience in describing the structure of the human collaborative robot system of the present embodiment, directions such as "up," "down," "left," "right," "front," and "rear" will be used as appropriate when facing the drawings. However, these directions may vary depending on the installation mode of the human collaborative robot system, and do not limit the positional relationship of each component.

[0012] An example of the overall schematic configuration of a human-collaborative robot system according to this embodiment will be described with reference to Fig. 1. The human-collaborative robot system according to this embodiment is a work system in which a worker can get closer to the robot and work together with the robot. In addition, by detecting a human, the human-collaborative robot system according to this embodiment allows the robot to move out of the human's working range and perform another task. As shown in Fig. 1, the human-collaborative robot system 1 comprises a robot 2, a support stand 3, a sensor 4 (shown in Fig. 3), and a test stand 5.

[0013] The robot 2 used in this embodiment can work in collaboration with humans in the same work area, and is equipped with a structure that prevents fingers or hands from getting caught and a safety function that minimizes the risk of injury due to contact with humans. The robot 2 used in this embodiment is not particularly limited, and so-called collaborative robots commercially available from various robot manufacturers can be used. In this embodiment, the MOTOMAN-HC10DTP manufactured by Yaskawa Electric Corporation was used as the collaborative robot 2.

[0014] The support base 3 used in this embodiment is slidably coupled to a running rail 6 installed on a laboratory stand 5, and the robot 2 is placed on the tip side of the support base 3 protruding outside the laboratory stand 5. As shown in Figs. 1 and 5, one end of the support base 3 is shaped to protrude from the inside of the laboratory stand 5, and forms a surface on which the robot 2 is placed at a height lower than the height of the protruding part. As a result, the shape of the part of the support base 3 protruding from the laboratory stand 5 is approximately plate-like with two levels of height (hereinafter referred to as the tip protruding part). In addition, the shape of the other end on the opposite side to the side on which the robot 2 is placed is approximately plate-like extending from the vicinity of the central pillar part inside the laboratory stand 5 of the tip protruding part vertically toward the lower part and parallel to the central pillar part (hereinafter referred to as the rear end mounting part) as shown in the cross-sectional view of Fig. 5. In addition, the rear end mounting part of the support base 3 is attached to the running rail 6 in a slidable state. The support base 3 used in this embodiment has the tip protrusion and the rear end mounting portion formed as a single unit, but this is not limited to this, and it is also possible to form the tip protrusion and the rear end mounting portion by manufacturing them separately and then joining them together later.

[0015] The sensor 4 used in this embodiment is for detecting the intrusion of a person into the working range of the robot 2. When the sensor 4 detects the intrusion of a person while the robot 2 is working, it is possible to suspend the work of the robot 2 or move the robot 2 along the traveling rail 6 to a safe area. After the robot 2 has been moved to the safe area, it is possible to have the robot 2 resume the necessary work. The sensor 4 used in this embodiment is not particularly limited as long as it can detect an obstacle, and a laser sensor or a photoelectric sensor can be used. Among these, the preferred embodiment is a laser sensor or a photoelectric sensor, which are highly resistant to failure, have excellent protection area setting capabilities, and offer a high degree of freedom in terms of installation location and muting area. and others A safety laser scanner is preferable. In this embodiment, a safety laser scanner (manufactured by Hokuyo Denki Co., Ltd.: product name "UAM-05LP-T301") is used as the sensor 4.

[0016] 4, the sensor 4 used in this embodiment is installed on the back surface of the support table 3 (the surface below the surface on which the robot 2 is placed). The sensor 4 is preferably installed between a position where the central axis of the sensor 4 is approximately coaxial with the central axis of the robot 2 and the experimental table 5. This almost completely eliminates blind spots in the detection range of the sensor 4, making it possible to accurately determine the working range of the robot 2 and the safe range for detecting people.

[0017] Fig. 6 is a diagram showing an overview of the sensor detection range of the human collaborative robot system according to this embodiment. The detection angle of the sensor 4 used in this embodiment is 270°, and the maximum detection distance is 1.8 m when the minimum detection width is 30 mm. As shown in Fig. 6, a detection range 9 is set in a substantially sector shape centered on the sensor 4, and when a person enters the detection range 9, the robot 2 is controlled to stop working or move.

[0018] Fig. 7 is a top view showing the sensor detection range of the human collaborative robot system according to this embodiment. As shown in Fig. 7, by making the detection range of the sensor 4 270° instead of semicircular, it becomes possible to detect not only to the left and right of the robot 2 but also to the left and right front, which makes it possible to further improve safety.

[0019] 1 and 3, the experimental bench 5 used in this embodiment has a slit section 7, which is a hole through which the support table 3 moves, provided in the cover section 8. The slit section 7 is substantially parallel to the work surface of the experimental bench 5 and has a substantially rectangular shape that is long in the horizontal direction, and the width of the slit section 7 is approximately 2 cm wider above and below than the width of the support table 3. Note that the slit section 7 is not essential when a cover section is not provided on the side of the experimental bench 5 on the side where the robot 2 is installed and the traveling rail 6 and other devices are exposed, but since this is a human-collaborative robot system, it is preferable to provide the cover section 8 and form the slit section 7 in consideration of safety.

[0020] 8 and 9 show the experimental bench 5 used in this embodiment without the cover 8. As shown in Figs. 8 and 9, the rear end mounting portion of the support bench 3 is slidably mounted on the traveling rail 6. Furthermore, cables are connected via a cable carrier 12. The lower end of the cable carrier 12 is fixed near the center of the bottom of the work bench, and the upper end of the cable carrier is a movable end that is fixed to the underside of the support bench 3. The support bench 3 and the traveling rail 6 can be attached by a general attachment method, but in this embodiment, they were attached to blocks attached to the traveling rail 6 using bolts.

[0021] A support plate 13 is provided from the center of the lower part of the tabletop of the experimental stand 5 in a state supporting the longitudinal direction of the experimental stand 5. The support plate 13 is substantially rectangular in shape, with its longitudinal length being approximately equal to that of the experimental stand 5, and one end is connected to the lower part of the tabletop of the experimental stand 5 in a substantially vertical direction, and the other end is connected to the bottom surface of the experimental stand 5. A running rail 6 is provided on the support plate 13 on the arrangement surface side of the support stand 3. Two running rails 6, one at the top and one at the bottom, are provided on the plane of the support plate 13, approximately 40 cm wide, and are provided so as to be approximately parallel to the surface of the tabletop of the experimental stand 5. The running rails 6 of The width of the two upper and lower rails is not limited to approximately 40 cm, and can be appropriately modified depending on the shape of the support base 3, the height of the experiment table 5, etc. The length of the traveling rails 6 is not particularly limited and can be adjusted to the desired length to move the robot 2, but in this embodiment, a length approximately equal to the longitudinal length of the experiment table 5 is used to increase versatility.

[0022] In the human collaborative robot system of this embodiment, the robot 2 moves left and right along the longitudinal direction of the experimental stand 5. Therefore, when the robot 2 moves to the right end of the experimental stand 5, the cable carrier 12 shown in FIG. 9 may be stretched long on the upper side and bend. When the robot 2 moves to the left end of the experimental stand 5, the lower side of the cable carrier 12 shown in FIG. 9 may be stretched long and bend. When using an experimental stand 5 that is long in the left and right directions like this, it is possible to provide cable carrier branches 16 on the top and bottom to support the bending of the cable carrier 12. FIG. 14 shows the shape of the cable carrier branch 16 used in this embodiment when attached. The area surrounded by a frame in FIG. 14 is the cable carrier branch 16. The shape of the cable carrier branch 16 is not particularly specified as long as it supports the cable carrier 12 from below so as not to bend, and a plate-shaped part is connected to the bottom of the cable carrier 12 and to the frame on the front side (robot side) of the experimental stand 5. The cable carrier branch 16 used in this embodiment is formed by connecting two columnar members each having a substantially L-shaped cross section as shown in FIG. 14. The length of the cable carrier branch 12 is not particularly limited as long as it can support the bending of the cable carrier, but in this embodiment, it is set to about half the length of the running rail 6 installed on the experimental stand 5. Also, in this embodiment, the cable carrier branch 16 is provided so as to support the upper and lower cable carriers 12 as shown in FIG. 14. In order to install the upper cable carrier branch 16, it is desirable to install it at a position above the running rail 6 at a height where the movable end of the cable carrier 12 can be fixed to the underside of the support stand 3 as shown in FIG. 14. By doing so, the upper cable carrier 12 support Since the portion 16 can be fixed to the robot side frame of the experiment table 5 and the support plate 13 can be moved closer to the robot side of the experiment table 5, the rigidity of the table top of the experiment table 5 can be improved.

[0023] FIG. 15(a) is a diagram showing a state in which the support base 3 has moved to the right side of the experimental stand 5 as viewed from the back of the robot 2 in the human collaborative robot system according to this embodiment. FIG. 15(b) is a diagram showing a state in which the support base 3 has moved to the left side of the experimental stand 5 as viewed from the back of the robot 2. As shown in FIG. 15(a), when the support base 3 has moved to the right side of the experimental stand 5, the upper cable carrier branch 16 provided on the experimental stand 5 supports the cable carrier 12. As shown in FIG. 15(b), when the support base 3 has moved to the left side of the experimental stand 5, the lower cable carrier branch 16 provided on the experimental stand 5 supports the cable carrier 12. As shown in FIG. 15, the upper cable carrier branch 16 is installed from approximately the center of the experimental stand 5 to the right side as viewed from the back of the robot 2, and the lower cable carrier branch 16 is installed from approximately the center of the experimental stand 5 to the left side as viewed from the back of the robot 2.

[0024] In this embodiment, as shown in FIG. 9, a wheel unit 10 and an adjustable foot 11 are provided on the lower part of the bottom surface of the experiment table 5. The wheel unit 10 is a wheel for moving the experiment table 5, and there is no particular limitation on this, and a commercially available one can be used. The adjustable foot 11 is an adjustable foot for adjusting the height to keep the experiment table horizontal, and there is no particular limitation on this, and a commercially available one can be used. Note that, although the experiment table 5 is used in this embodiment, the object to be used is not limited to a particular experiment table, and by adjusting the weight balance, it is also possible to use a commonly available desk, workbench, etc. (collectively referred to as an experiment table) that is generally available on the market.

[0025] FIG. 10 is a diagram showing the mounting state of the support table and the experimental table of the human collaborative robot system according to this embodiment. In this embodiment, a driving device is provided at the rear end mounting part of the support table 3, and a pinion is coupled to the driving device. The driving device is not particularly limited as long as it is a controllable motor, but it is preferable that it has a servo function, and in this embodiment, a servo motor 14 is used. The servo motor 14 is mounted on the robot 2 side of the rear end mounting part of the support table 3, so that the pinion is on the back side of the support table 3. In this embodiment, the servo motor 14 is mounted at a location offset from the central axis of the robot 2 to improve maintainability, but this is not particularly limited, and it is possible to mount it at any location on the support table 3 as appropriate. In this embodiment, the rack 15 is disposed between two traveling rails 6, and the above-mentioned pinion is made to be able to run on the rack 15 by moving the servo motor 14, and the support table 3 attached to the traveling rail 6 is made to run. In addition, the driving device is controlled by a control device 70 (not shown) to move, stop, etc., and controls the movement of the support table 3 to move the placed robot 2.

[0026] 11, the control device 70 of this embodiment is made up of a robot control unit 71 for controlling the robot 2, a servo motor control unit 72 for controlling the servo motor, and a sensor control unit 73 for controlling the sensor detection unit 41 and the sensor detection information control unit 42 of the sensor 4. The servo motor control unit 72 and the sensor control unit 73 are collectively referred to as a support base control unit 74. Reference numeral 80 in FIG. 11 denotes a setting device (controller) for inputting and setting a program into the control device 70.

[0027] Furthermore, with reference to Figs. 12 and 13(a), the following describes how the human collaborative robot system of this embodiment controls the support base 3 to ensure safety and continue work when a human enters the sensor detection range 9.

[0028] First, the detection range of the sensor 4 according to the installation location of the collaborative robot system of this embodiment, the work content of the robot 2 according to the work content, and the like are initially set by the setting device 80. When the robot 2 alone performs a previously set work, the collaborative robot system is controlled only by the robot control unit 71.

[0029] As described above, the sensor 4 scans the surrounding area through the sensor detection range 9, and when a worker or the like enters the sensor detection range 9, the sensor detection unit 41 detects the intrusion of the person. In this embodiment, as shown in Fig. 13(a), two sensor detection ranges 9 are set: a small, roughly sector-shaped protection area centered on the sensor 4, and a large, roughly sector-shaped warning area centered on the sensor 4.

[0030] The sensor 4 normally scans the surrounding area, and first detects whether there is a reaction to an intrusion by a person such as a worker within the protection area of ​​the sensor detection range 9. Next, it detects whether there is a reaction within the warning area of ​​the sensor detection range 9. If there is no reaction in either area, the support base 3 and robot 2 are operated normally.

[0031] If there is no reaction within the protection area of ​​the sensor detection range 9, but a human intrusion or the like is detected within the warning area, the detection information is sent to the control device 70, and the robot control unit 71 and the support base control unit 74 decelerate the operation of the support base 3 and the robot 2.

[0032] If a human intrusion or the like is detected within the protected area of ​​the sensor detection range 9, the detection information is sent to the control device 70, and the robot control unit 71 and support base control unit 74 stop the support base 3 and the robot 2.

[0033] In this way, when a human intrusion or the like is detected within the warning area of ​​the sensor detection range 9 of the sensor 4, the support base 3 and the robot 2 are decelerated, and when a human intrusion or the like is detected within the protection area, the support base 3 and the robot 2 are stopped, thereby enabling humans and robots to work together safely. Note that, in this embodiment, the sensor detection range 9 is configured to perform detection in two stages, the warning area and the protection area, but this is not limited thereto, and it is also possible to have only the protection area as the sensor detection range 9 without providing a warning area.

[0034] FIG. 13(b) shows that when the human-collaborative robot system of this embodiment is placed in a location with a wall at one end of the side of the experimental stand 5, the sensor detection range 9 (protection area and warning area) is switched according to the position of the support stand 3, and is controlled to prevent erroneous detection of the wall.

[0035] Fig. 13(c) is a diagram showing an example in which the sensors 4 are disposed at the left and right corners of the experimental stand 5 of the human collaborative robot system 1 of this embodiment, the corners being farther from the robot 2. As shown in Fig. 13(c), the sensor detection ranges 9 of the two sensors 4 mounted on the experimental stand 5 are set to be substantially rectangular so as to surround the experimental stand 5, in the same manner as the sensors 4 mounted on the support stand 3. Note that, although Fig. 13(c) shows such a sensor detection range, it is not particularly limited thereto, and it is possible to set it appropriately according to the location of the human collaborative robot system and the working environment, such as a sector shape with the sensor 4 at the center.

[0036] The human collaborative robot system of this embodiment has been described as a combination of one experimental stand 5 and one robot 2, but when arranging the system in an actual laboratory or other work location, an additional experimental stand 5 may be placed behind the robot 2 of the human collaborative robot system of this embodiment, or two sets of human collaborative robot systems of this embodiment may be arranged so that the experimental stands 5 face each other.

[0037] So far, the human collaborative robot system has been described as a combination of one experimental stand 5 and one robot 2, but the human collaborative robot system of this embodiment is not limited to this. Therefore, from here on, a human collaborative robot system will be described as another embodiment (for convenience, referred to as the second embodiment) in which the human collaborative robot system has a combination of two experimental stands and one robot 2.

[0038] FIG. 16 is a schematic diagram of a human collaborative robot system 1 according to the second embodiment. As shown in FIG. 16, the human collaborative robot system 1 includes a robot 2, a support stand 3, a sensor 4 (illustrated in FIG. 19), a first experimental stand 5, and a second experimental stand 5'. In the human collaborative robot system according to the second embodiment, the robot 2, the support stand 3, the sensor 4 (illustrated in FIG. 19), and the first experimental stand 5 are common to the above-mentioned human collaborative robot system, and therefore description thereof will be omitted. In the human collaborative robot system 1 according to the second embodiment, as shown in FIG. 16, the second experimental stand 5' is disposed substantially opposite the experimental stand 5 of the above-mentioned human collaborative robot system.

[0039] FIG. 17 is a top view of the human collaborative robot system 1 according to the second embodiment, FIG. 18 is a front view of the human collaborative robot system 1 according to the second embodiment, and FIG. 19 is a right side view of the human collaborative robot system according to the second embodiment. As shown in FIG. 16 to FIG. 19, in the second embodiment, one end of the support base 3 is connected to the first laboratory stand 5, and the other end of the support base 3 is fitted to the second laboratory stand 5' (details will be described later). In the second embodiment, the robot 2 is placed on the support base 3 connected (fitted) to the first laboratory stand 5 and the second laboratory stand 5'. There is no particular limitation on the location where the robot 2 is placed as long as it can be placed on the support base 3, but it is preferable to place the robot 2 at a location with good weight balance, for example, at a position equidistant from the laboratory stand 5 and the laboratory stand 5', taking into consideration the location where the human collaborative robot system 1 is installed, the length of the support base 3, and the installation locations of the laboratory stand 5 and the laboratory stand 5', etc.

[0040] Fig. 20 is a cross-sectional view taken along line AA of the human collaborative robot system 1 according to the second embodiment shown in Fig. 18. One end of the support table 3 is connected to the first laboratory table 5 (right side of Fig. 20), and the other end of the support table 3 is connected (fitted) to the second laboratory table 5'. Both ends of the support table 3 are inserted into slits 7 provided in the covers 8 of the first laboratory table 5 and the second laboratory table 5', respectively. In addition, a support plate 13 is provided inside the second laboratory table 5' as in the first laboratory table 5.

[0041] The upper part of Fig. 21 is a top view of the human collaborative robot system 1 according to the second embodiment, and the lower part is a cross-sectional view taken along line BB in the figure. The upper part of Fig. 22 is a top view of the human collaborative robot system 1 according to the second embodiment, and the lower part is a cross-sectional view taken along line CC in the figure. Fig. 21 is similar to the human collaborative robot system 1 described above, and therefore will not be described here. Fig. 22 shows a cross-sectional view of the support stand 3 inserted through the slit portion 7 of the second experimental stand 5'.

[0042] FIG. 23 is a view showing a state where the cover part 8 of the second laboratory stand 5' is removed in the cross section CC of FIG. 22. The view shown in the upper right of FIG. 23 shows the state around the support stand receiving stand 17. In the second embodiment, as shown in FIG. 23, a running rail 6' is provided on the side of the support plate 13 provided on the second laboratory stand 5' facing the first laboratory stand 5. The running rail 6' is provided so as to be approximately parallel to the longitudinal direction of the top plate of the second laboratory stand 5'. The support stand receiving stand 17 is coupled to the running rail 6' so as to be slidable left and right in the longitudinal direction of the laboratory stand. The tip side (the other end side) of the support stand 3 coupled to the first laboratory stand 5 is inserted into the inside through the slit part 7 of the second laboratory stand 5' and coupled (fitted) so as to be placed on the support stand receiving stand 17. As a result, by moving the support stand 3 left and right, the support stand receiving stand 17 also moves left and right. In the second embodiment, by adopting such a structure, it is possible to make a structure in which the load of the support base 3 and the robot 2 placed on it can be received at two points: one end of the support base 3 and the support base support 17 on which the other end of the support base 3 is placed.

[0043] Fig. 26 is a schematic diagram showing a state where the cover part 8 of the laboratory stand of the human collaborative robot system 1 according to the second embodiment is removed (first laboratory stand side). Fig. 27 is a schematic diagram showing a state where the cover part 8 of the laboratory stand of the human collaborative robot system 1 according to the second embodiment is removed (second laboratory stand side). Figs. 26 and 27 allow confirmation of the interior of the first laboratory stand 5 and the second laboratory stand 5' of the human collaborative robot system 1 according to the second embodiment, and the connection state of the support stand 3 and the first laboratory stand 5 and the second laboratory stand 5'.

[0044] FIG. 28 is a diagram showing a state in which the support stand is moved to the right side of the experimental stand in the human-collaborative robot system 1 according to the second embodiment. FIG. 29 is a diagram showing a state in which the support stand is moved to the left side of the experimental stand in the human-collaborative robot system 1 according to the second embodiment. As in the above-described embodiment of the human-collaborative robot system 1, in FIGS. 28 and 29, when the support stand 3 is moved to the right side of the first experimental stand 5, the upper cable carrier branch 16 provided on the first experimental stand 5 supports the cable carrier 12. When the support stand 3 is moved to the left side of the first experimental stand 5, the lower cable carrier branch 16 provided on the first experimental stand 5 supports the cable carrier 12. As shown in FIGS. 28 and 29, the upper cable carrier branch 16 is installed on the right side of the robot 2 from approximately the center of the first experimental stand 5 when viewed from the back of the robot 2 (the front side of the figure), and the lower cable carrier branch 16 is installed on the left side of the robot 2 from approximately the center of the experimental stand 5 when viewed from the back of the robot 2 (the front side of the figure).

[0045] Figure 30 is a diagram showing the fitting state between the running rail 6' provided on the second laboratory stand 5' and the support stand 3. The left diagram of Figure 30 is an enlarged view of the fitting state between the running rail 6' provided on the second laboratory stand 5' in Figure 27 and the support stand 3. As shown in Figure 30, the support stand receiving base 17 is coupled to the running rail 6' so that it can slide left and right in the longitudinal direction of the laboratory stand. The support stand receiving base 17 used in the second embodiment is an L-shaped combination of plate-like members, and one surface of the L-shaped plate-like member is slidably connected to the running rail 6' using a connecting member, and the other surface of the L-shaped plate-like member is installed so as to be approximately parallel to the top plate of the second experimental stand 5'. As shown in the right diagram of FIG. 30, a support stand receiving base side fitting portion 18 is provided on the upper side of the support stand receiving base 17. Also, as shown in the right diagram of FIG. 30, a support stand side fitting portion 19 is provided on the lower surface of the tip side (other end side) of the support stand 3. In the second embodiment, the support stand receiving base side fitting portion 18 and the support stand side fitting portion 19 are fitted together to fit the support stand 3 in a state where it is placed on the support stand receiving base 17. In the second embodiment, the support base receiving side fitting portion 18 and the support base side fitting portion 19 are generally plate-shaped, but there is no particular limitation and any shape that allows them to be fitted together can be used. The method of fitting the support base receiving side fitting portion 18 and the support base side fitting portion 19 is not particularly limited as long as it is possible to fit them together, and methods such as fitting a concave portion and a convex portion described below or a snap fit can be used.

[0046] Figure 31 is a diagram for explaining the fitting state between a traveling rail 6' provided on a second experimental stand 5' and a support stand 3. The left diagram in Figure 31 is a diagram showing the fitting state between the traveling rail 6' and the support stand 3 from the side, and the right diagram in Figure 31 is a diagram showing the fitting state between the traveling rail 6' and the support stand 3 from above in a state in which the joined state can be seen. 31, the support base receiving base side fitting portion 18 is provided on the upper surface of the support base receiving base 17, and the support base side fitting portion 19 is provided on the lower surface of the tip side (the other end side) of the support base 3. In the second embodiment, the support base receiving base side fitting portion 18 has a recess which is a substantially elongated hole-shaped cavity (a cylindrical cavity having a substantially elongated cross section) extending in a direction perpendicular to the traveling rail 6', and the support base side fitting portion 19 has a protrusion which is a substantially cylindrical protrusion. The support base receiving base side fitting portion 18 and the support base side fitting portion 19 are fitted together by inserting and fitting the protrusion provided on the support base side fitting portion 19 into the recess provided on the support base receiving base side fitting portion 18, thereby making it possible to connect the tip side (the other end side) of the support base 3 to the support base receiving base 17.

[0047] In the second embodiment, the recess is provided on the support base receiving side fitting portion 18 and the protrusion is provided on the support base side fitting portion 19, but the protrusion may be provided on the support base receiving side fitting portion 18 and the recess may be provided on the support base side fitting portion 19. side The length of the slot of the recess provided in the fitting portion 19 is set to the length of the fitting portion 18 on the support base receiving side or the length of the slot of the recess provided in the fitting portion 19 on the support base receiving side. side The diameter of the protrusion is formed slightly longer than that of the fitting portion 19. This allows the running rail 6 on the first test bench 5 and the running rail 6' on the second test bench 5' to be completely aligned. parallel Even if this is not the case, the uneven fitting portion absorbs the misalignment between the two traveling rails, while the load of the support base 3 can be more smoothly received by the support base receiving base 17. In the second embodiment, as shown in Fig. 31, a recess is provided on the upper surface of the support base receiving base side fitting portion 18, and a protrusion is provided on the lower surface of the support base side fitting portion 19. There are no particular limitations on the locations where the protrusion and recess are provided, and they may be provided on the side surfaces of the support base receiving base side fitting portion 18 or the support base side fitting portion 19, etc. From the viewpoint of ease of fitting and sliding properties, it is preferable to provide them in an up-down relationship as in the second embodiment. In the second embodiment, the recess of the support stand receiving base side fitting portion 18 and the protrusion of the support stand side fitting portion 19 are substantially cylindrical, but this is not particularly limited, and they may be substantially square prism-shaped or substantially triangular prism-shaped, etc. By providing the recess and protrusion with a substantially cylindrical shape as in the second embodiment, the running rail 6 provided on the first experimental stand 5 and the running rail 6' provided on the second experimental stand 5' can be perfectly aligned. parallel Even if this is not the case, it is possible to more smoothly absorb the misalignment between the two traveling rails at the fitting points of the projections and recesses, while the load of the support base 3 is received by the support base receiving base 17.

[0048] FIG. 24 is a diagram showing an outline of the sensor detection range of the human collaborative robot system according to the second embodiment. FIG. 25 is a diagram showing the sensor detection range of the human collaborative robot system according to the second embodiment from above. The detection angle of the sensor 4 used in the second embodiment is 270°, and the longest detection distance is 1.8 m when the minimum detection width is 30 mm. As shown in FIG. 24, a detection range 9 is set in a substantially fan shape centered on the sensor 4, and when a person enters the detection range 9, the robot 2 is controlled to stop working or move. As shown in FIG. 25, by setting the detection range of the sensor 4 to 270° instead of a semicircular shape, detection is possible not only to the left and right of the robot 2 but also to the left and right front, which makes it possible to further improve safety. FIGS. 24 and 25 show the detection range of the sensor 4 mounted on the moving support base 3, and the actual detection range (detection range as the human collaborative robot system 1) including the protection around the experiment table is the range of (c) in FIG. 32 (described later). Sensors 4 are also placed at the corners of the first laboratory bench 5 and the second laboratory bench 5', making it possible to detect the ranges outside these benches, thereby further ensuring safety.

[0049] The control device 70 in this second embodiment is the same as that in the previously described human-collaborative robot system 1, and is shown in Fig. 11. It is made up of a robot control unit 71 for controlling the robot 2, a servo motor control unit 72 for controlling the servo motor, and a sensor control unit 73 for controlling the sensor detection unit 41 and the sensor detection information control unit 42 of the sensor 4. The servo motor control unit 72 and the sensor control unit 73 are collectively referred to as a support base control unit 74. Reference numeral 80 in Fig. 11 denotes a setting device (controller) for inputting and setting a program into the control device 70.

[0050] Furthermore, the following describes how the human collaborative robot system 1 of the second embodiment controls the support base 3 to ensure safety and continue the work when a human enters the sensor detection range 9. The control process for the support base and the robot when a human enters the sensor of the human collaborative robot system according to the second embodiment is the same as the flowchart of the human collaborative robot system 1 described above (shown in FIG. 12).

[0051] 32, a description will be given of how the human collaborative robot system 1 of the second embodiment controls the support base 3 to ensure safety and continue the work when a human enters the detection range 9 of the sensor 4. The human collaborative robot system 1 is the same as the human collaborative robot system 1 of the above embodiment, except that a second laboratory stand 5' overlaps part of the detection range 9 of the sensor 4.

[0052] First, the detection range of the sensor 4 according to the installation location of the human collaborative robot system 1 of the second embodiment, the work content of the robot 2 according to the work content, and the like are initialized by the setting device 80. When the robot 2 alone performs a preset work, the human collaborative robot system is controlled only by the robot control unit 71.

[0053] As described above, the sensor 4 scans the surrounding area through the sensor detection range 9, and when a worker or the like enters the sensor detection range 9, the sensor detection unit 41 detects the intrusion of the person. In this embodiment, as shown in Fig. 32(a), two sensor detection ranges 9 are set: a small, roughly sector-shaped protection area centered on the sensor 4, and a large, roughly sector-shaped warning area centered on the sensor 4.

[0054] The sensor 4 normally scans the surrounding area, and first detects whether there is a reaction to an intrusion by a person such as a worker within the protection area of ​​the sensor detection range 9. Next, it detects whether there is a reaction within the warning area of ​​the sensor detection range 9. If there is no reaction in either area, the support base 3 and robot 2 are operated normally.

[0055] If there is no reaction within the protection area of ​​the sensor detection range 9, but a human intrusion or the like is detected within the warning area, the detection information is sent to the control device 70, and the robot control unit 71 and the support base control unit 74 decelerate the operation of the support base 3 and the robot 2.

[0056] If a human intrusion or the like is detected within the protected area of ​​the sensor detection range 9, the detection information is sent to the control device 70, and the robot control unit 71 and support base control unit 74 stop the support base 3 and the robot 2.

[0057] In this way, when a human intrusion or the like is detected within the warning area of ​​the sensor detection range 9 of the sensor 4, the support base 3 and the robot 2 are decelerated, and when a human intrusion or the like is detected within the protection area, the support base 3 and the robot 2 are stopped, thereby enabling humans and robots to work together safely. Note that, in this embodiment, the sensor detection range 9 is configured to perform detection in two stages, the warning area and the protection area, but this is not limited thereto, and it is also possible to have only the protection area as the sensor detection range 9 without providing a warning area.

[0058] 32(b) is a diagram showing that when the human collaborative robot system 1 of the second embodiment is placed in a location where there is a wall at one side of the first laboratory stand 5 and the second laboratory stand 5', the sensor detection range 9 (protection area and warning area) is switched according to the position of the support stand 3 to control so as not to erroneously detect the wall. Note that while the figure shows a location where there is a wall at one side of the first laboratory stand 5 and the second laboratory stand 5', it is possible to control so as not to erroneously detect the wall even when there is a wall at the side of either the first laboratory stand 5 or the second laboratory stand 5' or when there is a wall at a part of the side of the first laboratory stand 5 and the second laboratory stand 5'.

[0059] Fig. 32(c) is a diagram showing an example in which the sensors 4 are arranged at the corners of the first and second experimental stands 5 and 5' of the human collaborative robot system 1 according to the second embodiment that are far from the robot 2. As shown in Fig. 32(c), the sensor detection ranges 9 of the four sensors 4 arranged on the first and second experimental stands 5 and 5' are set to be substantially rectangular so as to surround the experimental stand 5, in the same manner as the sensors 4 arranged on the support stand 3. Note that, although Fig. 32(c) shows such a sensor detection range, it is not particularly limited thereto, and it is possible to set it appropriately according to the arrangement location of the human collaborative robot system and the working environment, such as a sector shape with the sensor 4 at the center.

[0060] The collaborative robot system described above, which is a combination of two lab tables and one robot 2, can double the working area by expanding the lab tables to two. In addition, by adopting a double-support structure in which the load of the support table 3 is supported at two points, on the lab table 5 side and the lab table 5' side, the rigidity of the support table 3 is increased, improving the positioning accuracy of the robot 2.

[0061] In this embodiment, a human collaborative robot system combining one experimental stand 5 and one robot 2, and a human collaborative robot system combining two experimental stands, the experimental stand 5 and the experimental stand 5', and one robot 2 have been described, but either system achieves the effects of the present invention. The fact that the human collaborative robot system of this embodiment can be selected depending on the work content, work space, etc. also enhances convenience.

[0062] Although the present embodiment has been described in detail above with reference to the drawings, the scope of the technical ideas described in the claims is not limited to the embodiments described herein. It is clear that a person with ordinary knowledge in the technical field to which the present embodiment belongs can conceive of various changes, modifications, combinations, etc. within the scope of the technical ideas. Therefore, the technology after these changes, modifications, combinations, etc. are made naturally belongs to the scope of the technical ideas.

[0063] In the above description, when "vertical" or "parallel" is used, the meaning is not strict. In other words, "vertical" and "parallel" mean "substantially vertical" or "substantially parallel" while allowing for design and manufacturing tolerances and errors.

[0064] In addition, in the above description, when the external dimensions or sizes are described as "same", "equal", "different", etc., the description does not mean in the strict sense. In other words, "same", "equal", and "different" mean "substantially the same", "substantially equal", and "substantially different", allowing for design and manufacturing tolerances and errors. [Explanation of symbols]

[0065] One-person collaborative robot system 2. Robot 3 Support stand 4 Sensors 5. First Test Subject 5' Second Experimental Stand 6 Running rail 6' Running Rail 7 Slit section 8 Cover 9 Sensor detection range 10 Wheel section 11 Adjustable feet 12 Cable Carrier 13 Support plate 14 Servo motor 15 Rack 16 Cable Carrier Branch 17 Support pedestal 18 Support base pedestal side fitting part 19 Support side fitting part 70 Control device 80 Setting device

Claims

1. A human-collaborative robot system including a robot, a movable support base, a sensor, a first experimental stand, and a second experimental stand, a running rail is provided on the first laboratory bench and the second laboratory bench; one end of the support table is slidably coupled to a running rail provided on a first laboratory table; the other end of the support table is slidably fitted to a running rail provided on a second laboratory table; placing the robot on an upper surface of the support stand; The sensor is provided on the support base; A collaborative robot system, wherein the sensor detects when a human enters a working range of the robot.

2. The sensor has a small, approximately sector-shaped protection area with the sensor at the center and a small, approximately sector-shaped protection area with the sensor at the center. The present invention relates to a method for detecting a warning signal, the method comprising: detecting a warning signal from a sensor in a substantially fan-shaped area; 2. The collaborative robot system according to claim 1.

3. a support plate is provided at the center of the lower part of the top plate of the first laboratory table in a state of supporting the laboratory table in the longitudinal direction; The two running rails are arranged vertically on the support plate so as to be parallel to each other, 3. The collaborative robot system according to claim 1, wherein the traveling rail and one end of the support base are slidably connected to each other.

4. a support plate is provided at the center of the lower part of the top plate of the second laboratory table in a state of supporting the laboratory table in the longitudinal direction; At least one of the running rails is disposed on the support plate so as to be parallel to a running rail provided on the first laboratory stand; 4. The collaborative robot system according to claim 3, wherein the traveling rail and the other end of the support base are fitted together in a slidable manner.

5. A drive unit is provided on the support base, A pinion is coupled to the driving device, and a rack is installed on a support plate between two traveling rails provided on the first experimental table; 3. The collaborative robot system according to claim 1, wherein the support base is arranged in a movable state by meshing the pinion and the rack.

6. a cable carrier for holding cables connected to the robot and the driving device is provided on the first laboratory bench; 6. The collaborative robot system according to claim 5, wherein the upper one of the two running rails provided on the first experimental bench is installed at a height at which the end of the movable part of the cable carrier can be fixed to the lower side of the support bench.

7. A support stand is connected to a running rail provided on the second laboratory stand in a slidable state; A support base side fitting portion is provided on an upper surface of the support base, A support base side fitting portion is provided on a lower surface of the other end of the support base, 3. The human-robot system according to claim 1, wherein the support base and the support base support are fitted together by fitting the support base side fitting portion and the support base side fitting portion together.

8. A protrusion is provided on either the support base side fitting portion or the support base receiving portion, A recess is provided in the other of the support base side fitting portion or the support base receiving portion, 8. The human-robot system according to claim 7, wherein the support-base-side fitting portion and the support-base-receiving-base-side fitting portion are fitted together by fitting the convex portion into the concave portion.

9. The control device Detecting whether there is a reaction of an object to be detected within a working range of a robot within a sensor detection range of the sensor, and if there is no reaction, operating the support base and the robot normally; 2. The collaborative robot system according to claim 1, wherein when a human intrusion is detected within a working range of the robot within the sensor detection range of the sensor, control is performed to decelerate or stop the support base and the robot.

10. The control device Detecting whether the object is detected in a protection area and a warning area within the sensor detection range of the sensor, and if there is no reaction in either area, operating the support base and the robot normally; If there is no reaction within the protection area within the sensor detection range of the sensor, and a human intrusion is detected within the warning area, the support base and the robot are decelerated, 3. The collaborative robot system according to claim 2, wherein when the sensor detects an intrusion of a human within a protection area within the sensor detection range, control is performed to stop the support base and the robot.

Images