Robot system and trolley

Abstract

To provide a robot system that simplifies the control of a robot considering a behavior of a carriage.SOLUTION: A robot system includes: a robot that includes a first robot arm having a first end effector, a second robot arm having a second end effector, a moving device mounted with the first robot arm and the second robot arm, and a control device; and a carriage that includes a first supporting body attached with a plurality of wheels, and a grip portion. The first supporting body includes a recessed portion receiving a part of the robot at a first end portion in a first direction in the first supporting body. The control device, in a state where a part of the robot is fitted in the recessed portion and while making the first end effector and the second end effector grip the grip portion, makes the moving device move the robot together with the carriage.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a robotic system and a carriage. [Background technology]

[0002] For example, Patent Document 1 discloses a transport robot that moves a pushcart. The robot includes a parallel link mechanism including three links and an output member connected to the tips of the three links, and a gripping mechanism that connects the output member to a gripper of the pushcart. The robot controls the relative position and orientation of the pushcart to the robot by driving the three links and controlling the position and orientation of the output member connected to the pushcart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-246596 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the positional relationship between the robot and the handcart can change depending on the robot's movement. This makes it complicated to control the robot while taking into account the behavior of the handcart. The present disclosure provides a robot system and a handcart that simplify the control of the robot while taking into account the behavior of the handcart. [Means for solving the problem]

[0005] A robot system according to one aspect of the present disclosure includes a robot including a first robot arm having a first end effector, a second robot arm having a second end effector, a mobile device mounting the first robot arm and the second robot arm, a control device controlling the operation of the first robot arm, the second robot arm, the first end effector, the second end effector, and the mobile device, and a carriage including a first support having a plurality of wheels attached thereto and a gripping portion to be gripped by the first end effector and the second end effector, wherein the first support includes a recess at a first end of the first support in a first direction that receives a portion of the robot, and the control device moves the robot together with the carriage while the first end effector and the second end effector grip the gripping portion with a portion of the robot fitted in the recess. [Effects of the Invention]

[0006] According to the technology of the present disclosure, it is possible to easily control a robot taking into account the behavior of the cart. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to an embodiment. [Figure 2] FIG. 2 is a side view of the transfer device of FIG. [Figure 3] FIG. 3 is a block diagram illustrating an example of a configuration of a robot system according to an embodiment. [Figure 4] FIG. 4 is a side view showing an example of the configuration of the end effector of the robot of FIG. 1 in one state. [Figure 5] FIG. 5 is a side view showing an example of the configuration of the end effector of the robot of FIG. 1 in another state. [Figure 6] FIG. 6 is a perspective view illustrating an example of the configuration of the carriage according to the embodiment. [Figure 7] FIG. 7 is a perspective view showing an example of an engagement state between the carriage and the moving device of the robot according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of the operation of the robot system according to the embodiment. [Figure 9] FIG. 9 is a plan view showing an example of a state of the robot included in the operation of FIG. [Figure 10] FIG. 10 is a plan view showing an example of a state of the robot included in the operation of FIG. [Figure 11] FIG. 11 is a plan view showing an example of a state of the robot included in the operation of FIG. [Figure 12] FIG. 12 is a front view of the robot in the state shown in FIG. [Figure 13] FIG. 13 is a plan view showing an example of a state of the robot included in the operation of FIG. [Figure 14] FIG. 14 is a plan view showing an example of a state of the robot included in the operation of FIG. [Figure 15] FIG. 15 is a plan view showing an example of a state of the robot included in the operation of FIG. [Figure 16] FIG. 16 is a plan view showing an example of a state of the robot included in the operation of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are all comprehensive or specific examples. Among the components in the following embodiments, components that are not recited in the independent claims showing the highest concepts will be described as optional components. Each figure in the accompanying drawings is a schematic diagram and is not necessarily an exact drawing. In each figure, substantially identical components are assigned the same reference numerals, and duplicated descriptions may be omitted or simplified. In this specification and claims, the term "device" may refer not only to one device but also to a system consisting of multiple devices.

[0009] [Robot system configuration] An example of the configuration of a robot system A according to an illustrative embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the configuration of a robot system A according to an embodiment. The robot system A includes a robot 1 and an input device 2.

[0010] Although not limited thereto, in this embodiment, the input device 2 is placed at a position remote from the robot 1. The input device 2 accepts input of commands, information, data, etc. from a user and transmits the accepted commands, information, data, etc. to the robot 1. The input device 2 receives commands, information, data, etc. from the robot 1. For example, the user who uses the input device 2 may be any of the administrator of the robot system A, the operator of the robot 1, the provider of a service provided by the robot system A, or the recipient of a service provided by the robot system A.

[0011] The input device 2 includes a communication device 2a that communicates with the robot 1 and a processing circuit including a processor P and a memory M. The communication between the communication device 2a and the robot 1 is wireless communication, but may also be wired communication or a combination of wireless communication and wired communication. Any wired communication or wireless communication may be used. The communication device 2a and the robot 1 may be configured to communicate wirelessly directly or indirectly. In indirect wireless communication, the communication device 2a and the robot 1 may be connected to a communication network via wired communication or wireless communication and communicate with each other via the communication network.

[0012] The communication network is not particularly limited, and may be, for example, a local area network (LOA). ea Network (LAN), Wide Area Network (WAN), Internet The communication network may include a short-range wireless network such as Bluetooth (registered trademark) and ZigBee (registered trademark). Wireline communications, network dedicated lines, dedicated lines of telecommunications carriers, Public Switched Telephone Network (PSTN), mobile communications networks, Internet networks, satellite communications, Or, it may be configured to use a combination of two or more of these. The mobile communication network may use a fourth generation mobile communication system, a fifth generation mobile communication system, etc. The communication network may include one or more networks.

[0013] The input device 2 may include computers such as personal computers, smart devices such as smartphones and tablets, personal information terminals, game terminals, known teaching devices such as teach pendants used to teach robots, known operating devices for robots, other operating devices, other terminal devices, devices that use these, and improved devices of these. The input device 2 may be a dedicated device designed for the robot 1, or may be a general-purpose device available on the general market. If the input device 2 is a general-purpose device, it may be configured to realize the functions of the input device 2 by installing dedicated software.

[0014] The robot 1 is configured to perform actions to provide services to users. The robot 1 can be used in various service industries, such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, product provision, and logistics. The robot 1 includes a mobile device 100, one or more robot arms 200, a support 500, and a control device 600. The robot 1 also includes a secondary battery module 10, a power supply circuit 20, a communication device 30, an imaging device 40, a sensor 50, and a presentation device 60. In this embodiment, the robot arm 200 is a robot arm that can also function for industrial use, although this is not limited thereto. The imaging device 40 and the presentation device 60 can also function as devices for communicating with users around the robot 1.

[0015] FIG. 2 is a side view of the mobile device 100 of FIG. 1. As shown in FIG. 2, the mobile device 100 is capable of moving by itself, and in this embodiment, it travels using wheels. The mobile device 100 includes a main body 110, drive wheels 121 and 122, auxiliary wheels 131 to 134, and mobile drive devices 141 and 142. The drive wheels 121 and 122 and the auxiliary wheels 131 to 134 are rotatably attached to the main body 110. The drive wheels 121 and 122 and the auxiliary wheels 131 to 134 come into contact with a support surface S on which the robot 1 is placed, and support the main body 110 and the robot 1 from below.

[0016] Here, the upward direction D1A, downward direction D1B, forward direction D2A, backward direction D2B, lateral direction D3A, and lateral direction D3B are directions based on the robot 1. The upward direction D1A is the direction from the mobile device 100 toward the support body 500, and corresponds to the vertically upward direction perpendicular to the support surface S when the support surface S is horizontal. The downward direction D1B is the opposite direction to the upward direction D1A, and corresponds to the vertically downward direction perpendicular to the support surface S when the support surface S is horizontal. D2A and D2B are opposite directions to each other and are directions perpendicular to the directions D1A and D1B. The forward direction D2A is the forward direction of the mobile device 100, and the backward direction D2B is the backward direction of the mobile device 100. The lateral directions D3A and D3B are opposite directions to each other and are directions perpendicular to the directions D1A, D1B, D2A, and D2B. Directions D2A, D2B, D3A, and D3B are along the support surface S when the support surface S is horizontal. In this specification and claims, "vertical," "plumb," "horizontal," and "parallel" may include cases where they are completely vertical, plumb, horizontal, and parallel, as well as cases where they can be considered to be substantially vertical, plumb, horizontal, and parallel, including close to completely vertical, plumb, horizontal, and parallel.

[0017] In this embodiment, the auxiliary wheels 131 and 132 are arranged around the drive wheels 121 and 122 on the main body 110, but are not limited thereto. The auxiliary wheels 131 to 134 may be configured so that the orientation of each rotation axis is fixed, or may be configured so that the orientation of each rotation axis can be changed, like a swivel caster. The drive wheels 121 and 122 are arranged side by side in the lateral direction D3A so as to be rotatable on the same axis extending in the lateral direction D3A. The orientation of the rotation axes of the drive wheels 121 and 122 is fixed relative to the main body 110.

[0018] The travel drive devices 141 and 142 are disposed on the main body 110 and rotate the drive wheels 121 and 122, respectively. For example, the travel drive devices 141 and 142 are each powered by electricity and include a servo motor as an electric actuator. The servo motor is controlled by the control device 600. The travel drive devices 141 and 142 control the rotation direction and rotation speed of the drive wheels 121 and 122, allowing the travel device 100 to move forward, backward, and make various turns.

[0019] The configuration of the mobile device 100 is not limited to the above configuration, and it is sufficient if the mobile device 100 can be moved in various directions. For example, the mobile device 100 may be configured to move using other traveling means such as crawlers, without using wheels.

[0020] 1 , the support 500 is disposed on the mobile device 100 and is supported by the mobile device 100. The support 500 has a columnar shape extending in an upward direction D1A from the mobile device 100. The support 500 houses and supports various components of the robot 1. The support 500 includes a support column 510. The support column 510 extends in the upward direction D1A from the support 500 and supports the presentation device 60.

[0021] Although not limited thereto, in this embodiment, the robot 1 includes two robot arms 200A and 200B as the robot arm 200. The robot arms 200A and 200B are disposed on top of the support 500 and are supported by the support 500. The robot 1 is a dual-arm robot. Each of the robot arms 200A and 200B includes two or more joints.

[0022] In this embodiment, the robot arm 200A includes a base 201A, six links LA1 to LA6, six joints JA1 to JA6 interconnecting the base 201A and the links LA1 to LA6, joint drive units MA1 to MA6 that drive the joints JA1 to JA6, and a first end effector 300. The robot arm 200B includes a base 201B, six links LB1 to LB6, six joints JB1 to JB6 interconnecting the base 201B and the links LB1 to LB6, joint drive units MB1 to MB6 that drive the joints JB1 to JB6, and a second end effector 400. The joints JA1 to JA6 and JB1 to JB6 are rotary joints. The joint drive units MA1 to MA6 and MB1 to MB6 are powered by electricity and include servo motors as electric actuators. The servo motors are controlled by a control device 600. The articulation drives MA1 to MA6 and MB1 to MB6 are shown in FIG.

[0023] The bases 201A and 201B are fixed to the upper part of the support 500. The bases 201A and 201B are respectively disposed at positions in the lateral directions D3A and D3B of the support 510. The bases 201A and 201B are connected to the links LA1 and LB1 via the joints JA1 and JB1, respectively. The links LA1 and LB1 extend in a direction along the rotation axes of the joints JA1 and JB1, respectively. The rotation axes of the joints JA1 and JB1 extend in the direction in which the bases 201A and 201B extend. The rotation axis of the joint JA1 extends along the forward direction D2A, and is rotated in the forward direction, for example, toward the lateral direction D3A and downward direction D1B as it advances in the forward direction D2A. The rotation axis of the joint JB1 extends along the forward direction D2A and is inclined from the forward direction D2A, for example, toward the lateral direction D3B and the downward direction D1B as it advances in the forward direction D2A.

[0024] Links LA2 and LB2 are connected to links LA1 and LB1 via joints JA2 and JB2, respectively. Links LA2 and LB2 extend in a direction intersecting the rotation axes of joints JA2 and JB2, respectively, for example, extending in a direction perpendicular to the rotation axes of joints JA2 and JB2. The rotation axes of joints JA2 and JB2 extend in a direction intersecting the rotation axes of joints JA1 and JB1, respectively, for example, extending in a direction perpendicular to the rotation axes of joints JA1 and JB1.

[0025] Links LA3 and LB3 are connected to links LA2 and LB2 via joints JA3 and JB3, respectively. Links LA3 and LB3 extend in a direction intersecting the rotation axes of joints JA3 and JB3, for example, extending perpendicular to the rotation axes of joints JA3 and JB3. The rotation axes of joints JA3 and JB3 extend in a direction along the rotation axes of joints JA2 and JB2, for example, extending parallel to the rotation axes of joints JA2 and JB2.

[0026] Links LA4 and LB4 are connected to links LA3 and LB3 via joints JA4 and JB4, respectively. Links LA4 and LB4 extend in a direction along the rotation axes of joints JA4 and JB4, respectively. The rotation axes of joints JA4 and JB4 extend in a direction intersecting the rotation axes of joints JA3 and JB3, respectively, and, for example, extend in a direction perpendicular to the rotation axes of joints JA3 and JB3.

[0027] Links LA5 and LB5 are connected to links LA4 and LB4 via joints JA5 and JB5, respectively. Links LA5 and LB5 extend in a direction intersecting the rotation axes of joints JA5 and JB5, respectively, for example, extending perpendicular to the rotation axes of joints JA5 and JB5. The rotation axes of joints JA5 and JB5 extend in a direction intersecting the rotation axes of joints JA4 and JB4, respectively, for example, extending perpendicular to the rotation axes of joints JA4 and JB4.

[0028] Links LA6 and LB6 are connected to links LA5 and LB5 via joints JA6 and JB6, respectively. Links LA6 and LB6 extend in a direction along the rotation axes of joints JA6 and JB6, respectively. The rotation axes of joints JA6 and JB6 extend in a direction intersecting the rotation axes of joints JA5 and JB5, respectively, e.g., in a direction perpendicular to the rotation axes of joints JA5 and JB5. Both links LA6 and LB6 include a mechanical interface at their tips and are physically and electrically connected to end effector 300 or 400.

[0029] The end effectors 300 and 400 are detachably attached to the links LA6 and LB6, respectively. The end effectors 300 and 400 are configured to apply an action to an object handled by the robot 1. The end effectors 300 and 400 may also be referred to as a "robot hand" and a "hand," respectively. The end effectors 300 and 400 include drive units ME1 and ME2, respectively, and are operated by the drive forces of the drive units ME1 and ME2. Although not limited thereto, in this embodiment, the end effectors 300 and 400 have the same structure. Furthermore, the drive units ME1 and ME2 are each powered by electricity and include servo motors as electric actuators. The drive units ME1 and ME2 are shown in FIG. 3. For example, force sensors for detecting the direction and magnitude of the applied force may be disposed at the connection portions between the end effectors 300 and 400 and the links LA6 and LB6. The force sensors may be force sensors. The structure of the end effectors 300 and 400 will be described in detail later.

[0030] The robot arms 200A and 200B described above have a vertical articulated robot arm structure, but may have any structure. 200B may be a horizontally articulated robot arm, another type of vertically articulated robot arm, a polar coordinate robot arm, a cylindrical coordinate robot arm, a Cartesian coordinate robot arm, or any other type of robot arm. The number of robot arms 200 may be one or more, and preferably two or more. The number of joints of the robot arm 200 may be two or more. The joints of the robot arm 200 are not limited to rotary joints and may include, for example, linear joints.

[0031] The presentation device 60 presents various information to the user around the robot 1. In this embodiment, the presentation device 60 includes, but is not limited to, a display 61 attached to the support 510. The display 61 displays images of image data sent from the control device 600. The control device 600 may cause the display 61 to display images for communicating with the user facing the robot 1, images in accordance with commands received from the input device 2, and images for providing various other information to the user. The presentation device 60 may include a speaker that converts an audio signal into sound waves and emits them as sound, a projector that projects an image, and the like. The speaker and projector may output sound and images corresponding to the audio and image signals sent from the control device 600.

[0032] The imaging device 40 includes imaging devices 41a to 41f, and detects various information about the surroundings of the robot 1. Each of the imaging devices 41a to 41f includes a camera that captures digital images. One or more of the imaging devices 41a to 41f may include a three-dimensional camera that can detect the distance to an object. Examples of three-dimensional cameras include a stereo camera, a TOF camera (Time-of-Flight Camera), a pattern light projection camera such as a stripe projection camera, or a camera that uses a light section method. The image capturing devices 41a to 41f each output data of the captured image to the control device 600. The control device 600 may use the image data acquired by the image capturing devices 41a to 41f for its own control, or may output the data to the input device 2. The control device 600 may perform image processing to extract a subject from the image and detect the distance from the camera to the subject, etc.

[0033] The imaging devices 41a and 41b are respectively disposed on the robot arms 200A and 200B, for example, on the links LA6 and LB6, and capture images of the processing target of the end effectors 300 and 400. The imaging device 41c is disposed on the display 61 and captures an image of the user facing the robot 1. The imaging device 41d is disposed on the support body 500 and captures an image in front of the robot 1. The imaging device 41e is disposed on the mobile device 100 and captures an image of the support surface S in front of the robot 1 and its vicinity. The imaging device 41f is disposed on the support body 500 and captures an image behind the robot 1. The robot 1 may include a microphone that acquires sound from the surroundings and outputs an audio signal of the sound. The microphone may output the audio signal to the control device 600.

[0034] The sensor 50 detects various pieces of information about the surroundings of the robot 1. The sensor 50 scans the surroundings of the robot 1 and outputs the scanning results to the control device 600. The control device 600 may use the scanning results of the sensor 50 for its own control or may output the results to the input device 2. In this embodiment, the sensor 50 is disposed on the mobile device 100 and oriented in the forward direction D2A. The sensor 50 is disposed at the end 110a of the main body 110 of the mobile device 100 in the forward direction D2A, specifically, on a step of the stepped end 110a. The sensor 50 may be configured to scan a horizontal range extending from the mobile device 100 in the forward direction D2A and in the lateral directions D3A and D3B. The sensor 50 may be configured to scan a vertical range including the support surface S and its vicinity. The sensor 50 may be capable of detecting the support surface S and objects, such as an object, within the scanning range, and the distance to the object. Such a sensor 50 can detect the state of the support surface S in front of the robot 1 and objects on the support surface S, as well as various positions on the support surface S and the positions of the objects.

[0035] The sensor 50 may be a light wave, a laser, a magnetic wave, an electric wave, an electromagnetic wave, an ultrasonic wave, or a combination of two or more of these. The sensor is configured to perform detection using a photoelectric sensor, laser sensor, radio wave sensor, electromagnetic wave sensor, ultrasonic sensor, various types of LiDAR, or a combination of two or more of these. It may also include alignment etc.

[0036] The control device 600, the secondary battery module 10, the power supply circuit 20, and the communication device 30 are arranged within the support 500. The secondary battery module 10 functions as a power source for the robot 1. The secondary battery module 10 includes one or more secondary batteries. A secondary battery is a battery that can charge and discharge power. Examples of secondary batteries include lead-acid batteries, lithium-ion secondary batteries, all-solid-state batteries, nickel-metal hydride batteries, and nickel-cadmium batteries.

[0037] The power supply circuit 20 controls the supply and demand of power to the secondary battery module 10 in accordance with commands from the control device 600, etc. For example, the power supply circuit 20 may include devices such as a converter, inverter, transformer, and amplifier. The power supply circuit 20 receives power from an external power source EP, such as a commercial power source, and supplies and stores the power to the secondary battery module 10 while controlling it. The power supply circuit 20 supplies the power stored in the secondary battery module 10 to components in the robot 1 that consume power while controlling it. The external power source EP is shown in FIG. 3.

[0038] The communication device 30 communicates with the communication device 2a of the input device 2. The communication device 30 has a structure suitable for the communication used.

[0039] The control device 600 is configured to control the entire robot 1. FIG. 3 is a block diagram showing an example of the configuration of a robot system A according to an embodiment. As shown in FIG. 3, the control device 600 is communicably connected to the input device 2 via the communication device 30. The control device 600 controls the operations of the various components of the robot 1 in accordance with commands received from the input device 2. The control device 600 controls the operations of the various components of the robot 1 in accordance with a control program stored therein.

[0040] Examples of components to be controlled by the control device 600 include the mobile drive devices 141 and 142, the joint drive devices MA1 to MA6 and MB1 to MB6, the drive devices ME1 and ME2 of the end effectors 300 and 400, the power supply circuit 20, the communication device 30, the imaging devices 41a to 41f, the sensor 50, and the display 61, but not all of them are required.

[0041] When controlling the power supplied to a component, the control device 600 may output a current command value or the like to the power supply circuit 20, causing the power supply circuit 20 to supply power from the secondary battery module 10 to the component. The control device 600 may servo-control a servo motor. The control device 600 may obtain, from the servo motor, a detection result of a rotation sensor such as an encoder provided in the servo motor. The control device 600 may obtain a supply current value to the servo motor from a current sensor that may be disposed in the servo motor or the power supply circuit 20. The control device 600 may determine a current command value to the servo motor using the detection result of the rotation sensor and the supply current value as feedback information.

[0042] The control device 600 may be configured to cause the components of the robot 1 to perform one or more of the following actions: manual operation, automatic operation, and a combination of manual and automatic operation.

[0043] In manual operation, the control device 600 may control the components of the robot 1 to operate in accordance with the operation content input to the input device 2. The control device 600 may perform control in accordance with a manual operation program.

[0044] In the automatic driving, the control device 600 executes a series of tasks corresponding to commands input to the input device 2. The control device 600 may control the components of the robot 1 to operate automatically, that is, autonomously. The control device 600 may perform control according to an automatic operation program corresponding to the task.

[0045] In a combination of manual driving and automatic driving, the control device 600 may control the components of the robot 1 to perform actions that sequentially follow the operation content and actions that automatically execute a series of tasks, depending on the operation content and commands received from the input device 2. The control device 600 may perform control according to a hybrid driving program that combines an automatic driving program and a manual driving program, or may perform control according to the automatic driving program and the manual driving program sequentially.

[0046] The control device 600, like the input device 2, includes a processing circuit including a processor P and a memory M. For example, the control device 600 may be an electronic circuit board, an electronic control unit, a microcomputer, or other electronic device. The processor P transmits and receives commands, information, data, etc. to and from other devices. The processor P inputs signals from various devices and outputs control signals to controlled objects.

[0047] For example, the memory M may include a volatile semiconductor memory such as a random access memory (RAM), a non-volatile semiconductor memory such as a read-only memory (ROM), a hard disk, a solid state drive (SSD), or a combination of two or more of these. It stores the programs executed by the processor P, various data, etc.

[0048] At least some of the functions of the control device 600 and the input device 2 may be realized by cooperation between the processor P and the memory M. The processor P and the memory M including RAM and ROM form a computer system. For example, the computer system may realize the above functions by the processor P using the RAM as a work area and executing a program recorded in the ROM.

[0049] Some or all of the functions of the control device 600 and the input device 2 may be realized by the computer system described above, by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the computer system and the hardware circuits described above. For example, the control device 600 and the input device 2 may each perform processing under centralized control by a single computer, or may perform processing under distributed control by multiple computers working together.

[0050] Although not limited to the following, for example, the processor P may be a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, The present invention may include integrated circuits such as microprocessors, processor cores, multiprocessors, ASICs (Application-Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), and reconfigurable processors, and may also include integrated circuits such as IC (Integrated Circuit) chips and LSIs (Large Scale Integration). The processing may be realized by a logic circuit, which is a hardware circuit formed on a circuit or the like, or a dedicated circuit. The functions of the control device 600 and the input device 2 may be realized by integrated circuits individually implemented on a single chip, or may be realized by an integrated circuit that includes some or all of the functions on a single chip.

[0051] The end effectors 300 and 400 will be described in detail. Since the end effectors 300 and 400 have the same structure, only the end effector 300 will be described in detail below, and a detailed description of the end effector 400 will be omitted.

[0052] 4 and 5 are side views showing an example of the configuration of the end effector 300 of the robot 1 of FIG. 1 in two different states. FIGS. 4 and 5 show the inside of the main body 310 of the end effector 300. As shown in FIG. 4, the end effector 300 includes the main body 310, two first holding units 320, one second holding unit 330, a driving unit ME1, a driving shaft 340, a first driven shaft 350, and a second driven shaft 360. The main body 310 includes a mechanical interface that is connected to the mechanical interface of the link LA6 or LB6 of the robot arm 200A or 200B.

[0053] The driving device ME1, the driving shaft 340, and the driven shafts 350 and 360 are disposed in the main body 310. The driving shaft 340 is connected to the driving device ME1 so as to be rotationally driven by the driving device ME1. The first driven shaft 350 is gear-engaged with the driving shaft 340, and the second driven shaft 360 is gear-engaged with the first driven shaft 350. A first driven gear 351, which rotates integrally with the first driven shaft 350, is engaged with a driving gear 341, which rotates integrally with the drive shaft 340. A second driven gear 361, which rotates integrally with the second driven shaft 360, is engaged with the first driven gear 351. The driving device ME1 drives the driven shafts 350 and 360 to rotate in opposite directions to each other via the driving shaft 340.

[0054] 4 and 5 are directions based on the end effector 300. The direction D4A is a direction away from the main body 310, and the direction D4B is a direction opposite to the direction D4A. The directions D5A and D5B are opposite to each other and are perpendicular to the directions D4A and D4B. The directions D6A and D6B are opposite to each other and are perpendicular to the directions D4A and D4B and intersect with the directions D5A and D5B. Although not limited thereto, in this embodiment, the directions D6A and D6B are perpendicular to the directions D5A and D5B.

[0055] The retaining portions 320 and 330 are disposed at an end 310a of the main body 310 in the direction D4A. The two first retaining portions 320 are disposed side by side in the direction D5A. The second retaining portion 330 is disposed in the direction D6A relative to the two first retaining portions 320 and is disposed between the two first retaining portions 320 in the direction D5A. For example, the end 310a may be located on the side of the main body 310 opposite the mechanical interface.

[0056] Each of the two first holding units 320 includes a first link 321, a second link 322, a tip link 323, and an intermediate link 324. In each of the two first holding units 320, the base ends of the two first links 321 are connected to a first driven shaft 350 so as to rotate integrally therewith, and the base ends of the two second links 322 are rotatably connected to two rotating members 352 that rotate integrally with the first driven shaft 350. In each of the two first holding units 320, the links 321 and 322 are rotatably connected to an intermediate link 324 at their respective tips and extend along each other. In the state shown in FIG. 4 , the second link 322 is positioned further in direction D6B than the first link 321. The base end of the tip link 323 is rotatably connected to the intermediate link 324 on the side opposite to the connection between the links 321 and 322 and the intermediate link 324.

[0057] Similar to the first holding unit 320, the second holding unit 330 includes a first link 331, a second link 332, a tip link 333, and an intermediate link 334. Although not limited thereto, in the present embodiment, the second holding unit 330 has a structure similar to that of the first holding unit 320 and has a structure symmetrical to that of the first holding unit 320 with respect to an axis extending in the directions D4A and D4B. A base end of the first link 331 is connected to the second driven shaft 360 so as to rotate integrally therewith, and a base end of the second link 332 is rotatably connected to a rotating member 362 that rotates integrally with the second driven shaft 360.

[0058] In the end effector 300 in the state shown in Fig. 4, when the driving device ME1 drives the first driven shaft 350 to rotate in the direction R1 via the driving shaft 340, the first driven shaft 350 drives the second driven shaft 360 to rotate in the direction R2 opposite to the direction R1. As the first driven shaft 350 and the rotating member 352 rotate in direction R1, the two first holding parts 320 rotate in direction R1 around the first driven shaft 350 while maintaining the state in which the links 321 and 322 extend along each other. As the second driven shaft 360 and the rotating member 362 rotate in direction R2, the second holding part 330 rotates in direction R2 around the second driven shaft 360 while maintaining the state in which the links 331 and 332 extend along each other.

[0059] This allows the end effector 300 to not only pinch and grasp an object using the tip links 323 and 333 of the holding units 320 and 330, but also store the holding units 320 and 330 inside the main body 310. The robot 1 can perform operations using not only the holding units of the end effectors 300 and 400, but also the main bodies of the end effectors 300 and 400.

[0060] In the end effector 300, the first links 321 and 331 may be pivotally connected to the driven shafts 350 and 360, respectively. The end effector 300 may include a stop mechanism that stops, inhibits, or locks the rotation of the first links 321 and 331 relative to the driven shafts 350 and 360. When the stop mechanism does not allow the first links 321 and 331 to rotate, the end effector 300 may operate as shown in Figures 4 and 5. When the stop mechanism allows the first links 321 and 331 to rotate, the end effector 300 may operate to rotate the intermediate links 324 and 334 relative to the first links 321 and 331.

[0061] The configuration of a cart 700 used by the robot 1 will be described. FIG. 6 is a perspective view showing an example of the configuration of the cart 700 according to the embodiment. As shown in FIG. 6, the cart 700 has the structure of a handcart. The cart 700 includes a first support base 710, a second support base 720, a support frame 730, a plurality of wheels 740, and a handle 750. The first support base 710 is an example of a first support, the second support base 720 is an example of a second support, and the handle 750 is an example of a gripping portion.

[0062] Although not limited to this embodiment, the first support base 710 has a plate-like shape, for example, a rectangular plate-like shape. The first support base 710 includes a recess 713 at an end 712 of the first support base 710 in the direction TD2. The recess 713 is recessed from the end 712 in the direction TD1 opposite to the direction TD2. The recess 713 has a shape and size that receives the end 110a of the main body 110 of the moving device 100.

[0063] Here, the directions TD1, TD2, TD3, TD4, TD5, and TD6 are directions based on the carriage 700. The directions TD1, TD2, TD3, and TD4 are directions in which the plate-shaped first support base 710 extends, for example, directions along the surface 711 of the first support base 710. The directions TD1 and TD2 are opposite to each other. The directions TD3 and TD4 are opposite to each other and are perpendicular to the directions TD1 and TD2. The directions TD5 and TD6 are opposite to each other and are perpendicular to the directions TD1, TD2, TD3, and TD4. The direction TD6 is a direction from the first support base 710 toward the multiple wheels 740, and corresponds to the downward vertical direction perpendicular to the support surface S when the carriage 700 is placed on a horizontal support surface S.

[0064] In this embodiment, as shown in FIG. 7, the recess 713 has a shape and size that matches the end 110a in the direction TD1 and the directions TD3 and TD4. FIG. 7 is a perspective view showing an example of an engagement state between the carriage 700 according to this embodiment and the movement device 100 of the robot 1. For example, the recess 713 and the end 110a have a rectangular shape in a plan view seen in the direction TD6. The recess 713 may have a shape and size that matches any part of the end 110a in the up-down directions D1A and D1B. The up-down directions D1A and D1B are shown in FIG. 2. In this embodiment, the recess 713 is located in the part of the end 110a in the direction D1B below the sensor 50. The shape and size of the casing are consistent with the casing.

[0065] As shown in FIG. 6 , the carriage 700 includes receiving portions 714 to 717 on the inner surface of the recess 713. The receiving portions 714 to 717 have a plate-like shape. The receiving portions 714 and 715 are arranged on the inner surface of the recess 713 in the direction TD1. The receiving portions 714 and 715 are arranged with their respective surfaces facing the direction TD2. The receiving portion 716 is arranged on the inner surface of the recess 713 in the direction TD3. The receiving portion 716 is arranged with its surface facing the direction TD4. The receiving portion 717 is arranged on the inner surface of the recess 713 in the direction TD4. The receiving portion 717 is arranged with its surface facing the direction TD3. The dimensions of the receiving portions 714 to 717 in the direction TD5 are larger than the dimension of the end 712 of the first support base 710 in the direction TD5.

[0066] When the end 110a of the moving device 100 fits into the recess 713, the receiving portions 714 to 717 can abut against the end 110a. The receiving portions 714 to 717 increase the contact area with the end 110a compared to when only the inner surface of the recess 713 is in contact with the end 110a. The receiving portions 714 to 717 can reduce the impact when the first support base 710 and the end 110a come into contact. One or more of the receiving portions 714 to 717 may include a cushioning material on their respective surfaces that cushions the impact when the end 110a comes into contact with them. For example, the cushioning material may be made of rubber, sponge, other resins, or the like.

[0067] The plurality of wheels 740 are disposed in a direction TD6 relative to the first support base 710 and are attached to the first support base 710. In this embodiment, the dolly 700 includes four wheels 740, and the four wheels 740 have a caster structure, but this is not limited thereto. One or more of the four wheels 740 may have a swivel caster structure. When the dolly 700 is disposed on the support surface S, the wheels 740 support the dolly 700 from below so that it can move.

[0068] The support frame 730 extends in the direction TD5 from the end 712 of the first support base 710. In this embodiment, the support frame 730 has an upside-down U-shape, although this is not limited thereto. The support frame 730 includes a horizontal member 731 positioned in the direction TD5 and extending in the direction TD3, a vertical member 732 positioned in the direction TD3 and extending in the direction TD5, and a vertical member 733 positioned in the direction TD4 and extending in the direction TD5. The ends of the vertical members 732 and 733 in the direction TD5 are connected to both ends of the horizontal member 731, and the ends of the vertical members 732 and 733 in the direction TD6 are connected to the first support base 710. The vertical members 732 and 733 are examples of obstacles and third supports.

[0069] In this embodiment, the vertical members 732 and 733 are extendable in the directions TD5 and TD6. For example, the vertical members 732 and 733 have a nested structure, but may have other structures. Screws 732a and 733a are disposed in the vertical members 732 and 733, respectively, and are turned to engage or disengage with the vertical members 732 and 733, thereby restricting or releasing the restriction on the extension or contraction of the vertical members 732 and 733. The lengths of the vertical members 732 and 733 in the direction TD5 may be constant.

[0070] Handle 750 is disposed on horizontal member 731 and extends to reach vertical members 732 and 733. In this embodiment, handle 750 has a bar-like shape extending laterally, although this is not limited thereto. Handle 750 may extend from vertical member 732 to vertical member 733, or may be divided into two or more pieces. Handle 750 has a structure suitable for being grasped by end effectors 300 and 400, and may have a structure including, for example, a cross-sectional shape, cross-sectional dimensions, surface friction coefficient, hardness, or a combination of two or more of these suitable for grasping by end effectors 300 and 400.

[0071] The end 722 of the second support 720 in the direction TD2 is attached to the uprights 732 and 733 between the handle 750 and the first support 710. The vertical members 732 and 733 may be fixed to the vertical members 732 and 733 so as to move in the directions TD5 and TD6 in accordance with the expansion and contraction of the vertical members 732 and 733, or may be fixed to the vertical members 732 and 733 so as not to change their positions in the directions TD5 and TD6 regardless of the expansion and contraction of the vertical members 732 and 733.

[0072] The second support base 720 is disposed at a distance from the first support base 710 in the direction TD5. In this embodiment, the height position of the second support base 720 in the direction TD5 on the carriage 700 is greater than the height position of the sensor 50 in the upward direction D1A on the robot 1. For example, the height position of the second support base 720 in the direction TD5 on the carriage 700 is greater than the height position of the upper end of the sensor 50 in the upward direction D1A on the robot 1. Furthermore, there are no other members between the support bases 710 and 720 except for the connecting members and connecting reinforcement members between the vertical members 732 and 733 and the second support base 720, and the vertical members 732 and 733. This reduces interference with the scanning range of the sensor 50.

[0073] The second support stand 720 has a plate-like shape, for example, a rectangular plate-like shape. The second support stand 720 extends from the vertical members 732 and 733 in the direction TD1 along the first support stand 710. Although not limited thereto, in this embodiment, the second support stand 720 is parallel to the first support stand 710. In a plan view seen in the direction TD6, the contour of the second support stand 720 may have a shape and size that overlaps with the contour of the first support stand 710. This ensures that the cart 700 is stable even when an object is placed on the surface 721 of the second support stand 720.

[0074] The second support base 720 includes a recess 723 in its end 722. The recess 723 is recessed from the end 722 toward TD1. The recess 723 may have a shape and size to receive the end 110a of the movement device 100. In a plan view seen in direction TD6, the contour of the recess 723 may have a shape and size that overlaps with the contour of the recess 713. The recess 723 may have a shape and size to receive a portion of the end 110a that is at a height position corresponding to the height position of the second support base 720.

[0075] [Robot system operation] An example of the operation of the robot system A according to the embodiment will be described with reference to FIG. 8. FIG. 8 is a flowchart showing an example of the operation of the robot system A according to the embodiment. FIGS. 9 to 11 and 13 to 16 are plan views showing examples of states of the robot 1 included in the operation of FIG. 8. FIG. 12 is a front view of the robot 1 in the state shown in FIG. 11. In the operation shown in FIG. 8, the robot 1 transports an article using a cart 700 by automatic driving. For example, the robot system A can be used for merchandise display work in commercial facilities and sorting work in warehouses.

[0076] In step S101, the input device 2 receives a transfer command to transfer items W1 and W2 on the pallet PA to the shelf RA. The input device 2 transmits to the robot 1 the transfer command, position information of the pallet PA, information on the items W1 and W2, position information of the shelf RA, and information on the placement positions of the items W1 and W2 on the shelf RA.

[0077] In step S102, the control device 600 starts an automatic operation program for the transfer operation of the robot 1, and executes subsequent control of the robot 1 in accordance with the automatic operation program. This automatic operation program is a program that causes the robot 1 to transfer an object using the cart 700 from a starting point to a destination. The starting point is the pallet PA, the destination is the shelf RA, and the objects are articles W1 and W2. When the automatic operation program is started, the robot 1 is holding the handle 750 of the cart 700 with the end effectors 300 and 400.

[0078] In step S103, the control device 600 operates the moving device 100, and moves the robot 1 together with the carriage 700 to the pallet PA while causing the imaging device 40 to take an image. Control device 600 moves the robot 1 while avoiding obstacles using map information stored in the memory M, the results of image processing of image data acquired by the imaging device 40, and the like.

[0079] In step S104, as shown in FIG. 9 , when the robot 1 and the carriage 700 arrive at a predetermined position near the pallet PA, the control device 600 causes the robot 1 to leave the carriage 700 behind and move independently to the front of the pallet PA. When the robot 1 arrives in front of the pallet PA, the control device 600 captures an image of the pallet PA using the imaging device 40. The control device 600 processes the image data acquired by the imaging device 40 to identify the items W1 and W2 on the pallet PA and detect the positions, shapes, and sizes of the items W1 and W2. Furthermore, the control device 600 determines a destination position on the second support base 720 of the carriage 700 where the items W1 and W2 should be placed. In subsequent control operations, the control device 600 causes the imaging device 40 to capture images while causing the robot 1 to operate. Furthermore, the control device 600 adjusts the positions and postures of the end effectors 300 and 400 and the carriage 700 using the processing results of the image data acquired by the imaging device 40, etc.

[0080] In step S105, the control device 600 performs image processing on the image data acquired by the imaging device 40 to determine the gripping positions of the end effectors 300 and 400 on the item W1 and the position of the robot 1 in front of the pallet PA when gripping the item W1. Furthermore, as shown in Fig. 10, the control device 600 causes the robot 1 to transfer the item W1 from the pallet PA to a target position on the second support base 720 of the cart 700. At this time, the control device 600 causes the end effectors 300 and 400 to operate as shown in Fig. 5, and causes the robot arms 200A and 200B to grip the item W1 so that the main bodies of the end effectors 300 and 400 sandwich the item W1 from both sides.

[0081] The control device 600 may adjust the force with which the robot arms 200A and 200B grip the item W1 using the load of the joint drive devices of the robot arms 200A and 200B, the detection results of force sensors located at the connections between the end effectors 300 and 400 and the robot arms 200A and 200B, or two or more of these.

[0082] In step S106, the control device 600 causes the robot 1 to transfer the article W2 from the pallet PA to the target position on the second support stage 720 of the cart 700, similar to step S105.

[0083] In step S107, the control device 600 moves the robot 1 to a position in front of the handle 750 of the cart 700. The robot 1 is positioned in the direction TD2 relative to the cart 700.

[0084] 11, in step S108, the control device 600 controls the robot arms 200A and 200B to move the end effectors 300 and 400 onto the handle 750, and causes the end effectors 300 and 400 to grasp the handle 750. In the grasping state, the distances from the central axes extending in the up-down directions DA1 and DA2 of the robot 1 to the end effectors 300 and 400 are equal. The central axes of the robot 1 are axes that are set in advance in the robot 1, and may be, for example, the central axis set in the support body 500.

[0085] At this time, the control device 600 operates the end effectors 300 and 400 from the state shown in Fig. 5 to the state shown in Fig. 4. Furthermore, as shown in Fig. 12, the control device 600 controls the robot arms 200A and 200B to move the end effectors 300 and 400 onto the handle 750 so that the distance between the end effectors 300 and 400 becomes a first distance S1 that is smaller than the length between both ends of the handle 750. The end effector 300 is positioned near the vertical member 732, and the end effector 400 is positioned near the vertical member 733. The length between both ends of the handle 750 may be the length in the direction TD3. Length between both ends of the handle 750 may be the dimension of the gap between the longitudinal members 732 and 733 in the direction TD3.

[0086] For example, the control device 600 pre-stores in the memory M either or both of the length between both ends of the handle 750 and the first distance S1. The control device 600 may determine and use the first distance S1 based on the length between both ends of the handle 750, or may use the first distance S1 stored in the memory M.

[0087] The control device 600 may detect the length between both ends of the handle 750 using either or both of the processing results of image data of the handle 750 and the vertical members 732 and 733 captured by the imaging device 40 and the detection results of the handle 750 and the vertical members 732 and 733 by the sensor. The sensor may be the sensor 50 or a sensor similar to the sensor 50 arranged at another position on the robot 1. The control device 600 may determine the first interval S1 using the detection results.

[0088] The first spacing S1 between the end effectors 300 and 400 may be such that one or both of the end effectors 300 and 400 gripping the handle 750 do not come into contact with the longitudinal members 732 and 733. The first spacing S1 between the end effectors 300 and 400 may be such that a gap is created between the end effector 300 and the longitudinal member 732 and / or between the end effector 400 and the longitudinal member 733. For example, the first spacing S1 between the end effectors 300 and 400 may be the spacing between the centers of the main bodies of the end effectors 300 and 400, the spacing between the lateral outer portions of the main bodies of the end effectors 300 and 400, or the spacing between the lateral outer first holding portions of the end effectors 300 and 400.

[0089] The lateral outer portion of the main body 310 of the end effector 300 is the lateral outer portion of the main body 310 in the direction TD3, and the lateral outer portion of the main body of the end effector 400 is the lateral outer portion of the main body in the direction TD4. The lateral outer first holding portion 320 of the end effector 300 is the first holding portion 320 of the two first holding portions 320 located in the direction TD3, and the lateral outer first holding portion of the end effector 400 is the first holding portion of the two first holding portions located in the direction TD4.

[0090] 12 and 13, in step S109, the control device 600 controls the robot arms 200A and 200B to move the end effectors 300 and 400 so that the distance between the end effectors 300 and 400 becomes a second distance S2 that is larger than the first distance S1. In FIG. 12, the end effectors 300 and 400 at the second distance S2 are depicted by dashed lines.

[0091] Although not limited thereto, in this embodiment, the second distance S2 is a distance between the end effectors 300 and 400 that is equal to the length between the ends of the handle 750. When the control device 600 moves the end effectors 300 and 400 to the second distance S2, the carriage 700 can be moved in the direction TD3 or TD4 by one or both of the end effectors 300 and 400 pushing the longitudinal members 732 and 733. For example, the control device 600 may move the end effectors 300 and 400 according to the second distance S2 stored in the memory M. The control device 600 may stop the movement of the end effectors 300 and 400 when the distance between the end effectors 300 and 400 reaches the second distance S2.

[0092] The second spacing S2 may be such that both end effectors 300 and 400 gripping the handle 750 come into contact with the longitudinal members 732 and 733. The second spacing S2 may be such that no gap occurs between the end effector 300 and the longitudinal member 732 and between the end effector 400 and the longitudinal member 733.

[0093] For example, when the end effectors 300 and 400 contact the vertical members 732 and 733, the main bodies of the end effectors 300 and 400 may contact the vertical members 732 and 733, or the first holding portions of the end effectors 300 and 400 may contact the vertical members 732 and 733. The gap between the end effector 300 and the vertical member 732 may be the gap between the main body 310 and the vertical member 732, or the gap between the first holding portion 320 and the vertical member 732. The gap between the end effector 400 and the vertical member 733 may be the gap between the main body of the end effector 400 and the vertical member 732, or the gap between the first holding portion of the end effector 400 and the vertical member 732.

[0094] The control device 600 may detect contact between the end effectors 300 and 400 and the vertical members 732 and 733, and upon detecting both contacts, may stop the movement of the end effectors 300 and 400. The control device 600 may detect contact using the results of processing image data acquired by the imaging device 40, the loads on the joint drive devices of the robot arms 200A and 200B, the detection results of force sensors disposed at the connection portions between the end effectors 300 and 400 and the robot arms 200A and 200B, or two or more of these.

[0095] When the control device 600 widens the distance between the end effectors 300 and 400 to the second distance S2, it moves the end effectors 300 and 400 so that the distances from the central axes extending in the vertical directions DA1 and DA2 of the robot 1 to the end effectors 300 and 400 are maintained equal.

[0096] This positions the carriage 700 at the center of the robot 1 in the lateral directions D3A and D3B of the robot 1. For example, when the operation of step S108 is completed, as shown in Fig. 11, in a plan view, the central axis CRA of the robot 1 in the lateral directions D3A and D3B may be misaligned with the central axis CTA of the carriage 700 in the directions TD3 and TD4. The operation of step S109 may cause the central axis CRA of the robot 1 and the central axis CTA of the carriage 700 to coincide with each other in the lateral directions D3A and D3B.

[0097] The second distance S2 is not limited to the length between both ends of the handle 750. For example, if there is an obstacle, such as a protrusion, on the handle 750 that prevents the end effectors 300 and 400 from moving in the directions TD3 and TD4, the second distance S2 may be equal to the length between the obstacles. The second distance S2 may be such that movement of the end effectors 300 and 400 in the directions TD3 and TD4 beyond the second distance S2 is physically prevented by a component of the carriage 700. The vertical members 732 and 733 are also an example of an obstacle.

[0098] In step S110, as shown in Fig. 14, the control device 600 causes the robot arms 200A and 200B to move the end effectors 300 and 400 so as to attract the carriage 700 toward the robot 1. Specifically, as shown in Fig. 7, the control device 600 causes the robot arms 200A and 200B to attract the carriage 700 in the rear direction D2B until the end 110a of the movement device 100 fits into the recess 713 of the carriage 700. At this time, the control device 600 moves the end effectors 300 and 400 evenly so that the distances from the central axes extending in the up-down directions DA1 and DA2 of the robot 1 to the end effectors 300 and 400 are kept equal. Since the sensor 50 is positioned between the support bases 710 and 720 of the cart 700, the support bases 710 and 720 have low interference with the scanning range of the sensor 50, and the objects WI and W2 on the second support base 720 do not interfere with the scanning range of the sensor 50.

[0099] The control device 600 may stop the pulling when the receiving portions 714 and 715 of the recessed portion 713 reach a position where they abut against the end portion 110a, or may stop the pulling when the recessed portion 713 reaches a predetermined position relative to the end portion 110a. The control device 600 stores in advance in the memory M the position where the pulling of the cart 700 is to be stopped. The control device 600 stores in advance in the memory M the position where the pulling of the cart 700 is to be stopped. In this way, the carriage 700 is positioned at a predetermined position relative to the robot 1 in the front-rear directions D2A and D2B.

[0100] For example, at the end of the operation of step S109, as shown in Fig. 13, in a plan view, the axis CRB extending in the lateral direction D3A along the end portion 110a of the mobile device 100 is spaced apart from the axis CTA extending in the direction TD3 along the receiving portions 714 and 715 of the recessed portion 713 of the carriage 700. This distance may differ depending on the timing at which the operation of step S109 ends. By the operation of step S110, the axis CRB of the robot 1 and the axis CTB of the carriage 700 may be aligned or spaced apart by a certain distance in the front-rear directions D2A and D2B.

[0101] As a result, a footprint including the occupied area of ​​the robot 1 and the occupied area of ​​the cart 700 is formed as a fixed footprint having a predetermined shape and size. When the robot 1 is not holding the cart 700, the control device 600 controls the position of the robot 1 using the footprint of the robot 1, but when the robot 1 is holding the cart 700, the control device 600 controls the position of the robot 1 using the footprint including the robot 1 and the cart 700. Because the footprint including the robot 1 and the cart 700 is fixed, the control device 600 can easily and reliably control the position of the robot 1.

[0102] When the stop position is a position where the receiving portions 714 and 715 abut against the end portion 110a, the carriage 700 is constrained from moving in the rear direction D2B and side directions D3A and D3B relative to the moving device 100 by the engagement between the recess 713 and the end portion 110a. The carriage 700 is constrained from moving in the forward direction D2A by the brakes of the joint drive devices of the robot arms 200A and 200B.

[0103] When the stop position is a position where the receiving portions 714 and 715 do not abut against the end portion 110a, the carriage 700 is constrained from moving in the lateral directions D3A and D3B relative to the moving device 100 by the engagement between the recessed portion 713 and the end portion 110a. The carriage 700 is constrained from moving in the forward and backward directions D2A and D2B by the brakes of the joint drive devices of the robot arms 200A and 200B.

[0104] In either stopping position, when the robot 1 moves together with the carriage 700 with the end effectors 300 and 400 gripping the handle 750, the carriage 700 is prevented from swaying laterally in the lateral directions D3A and D3B relative to the robot 1 when the robot 1 turns, thereby smoothing the turning of the robot 1. Furthermore, the load that the handle 750 imparts to the holding portions of the end effectors 300 and 400 is reduced.

[0105] The control device 600 may detect the shape and size of the recess 713 using either or both of the processing results of image data of the recess 713 captured by the imaging device 40 and the detection results of the recess 713 by the sensor. The sensor may be the sensor 50 or a sensor similar to the sensor 50 arranged at another position on the robot 1. The control device 600 may use the detection results to determine the stopping position of the cart 700.

[0106] The control device 600 may detect contact between the receiving portions 714 and 715 and the end portions 110a, and upon detecting the contact, may stop the movement of the end effectors 300 and 400. The control device 600 may detect the contact using the results of processing the image data acquired by the imaging device 40, the loads on the joint drive devices of the robot arms 200A and 200B, the detection results of force sensors disposed at the connection portions between the end effectors 300 and 400 and the robot arms 200A and 200B, the detection results of a sensor that detects the recesses 713, or two or more of these.

[0107] In step S111, as shown in FIG. 15, the control device 600 and moves the robot 1 together with the cart 700 to the shelf RA while causing the imaging device 40 to capture an image. The control device 600 moves the robot 1 while avoiding obstacles by using map information stored in the memory M and the results of image processing of the image data acquired by the imaging device 40.

[0108] In step S112, when the robot 1 and the cart 700 arrive at a predetermined position near the shelf RA, the control device 600 causes the robot 1 to leave the cart 700 behind and move independently to the front of the shelf RA. When the robot 1 arrives in front of the shelf RA, the control device 600 captures an image of the shelf RA using the imaging device 40. The control device 600 processes the image data acquired by the imaging device 40 to determine the target positions on the shelf RA where the items W1 and W2 should be placed.

[0109] In step S113, the control device 600 performs image processing on the image data acquired by the imaging device 40 to determine the gripping positions of the end effectors 300 and 400 on the item W1 and the position of the robot 1 in front of the carriage 700 when gripping the item W1. Furthermore, as shown in FIG. 16, the control device 600 causes the robot 1 to transfer the item W1 from the carriage 700 to a destination position on the shelf RA. At this time, the control device 600 causes the end effectors 300 and 400 to operate as shown in FIG. 5, and causes the robot arms 200A and 200B to grip the item W1 via the main bodies of the end effectors 300 and 400. The control device 600 may adjust the force with which the robot arms 200A and 200B grip the item W1, as in step S105.

[0110] In step S114, similarly to step S113, the control device 600 causes the robot 1 to transfer the item W2 from the cart 700 to a destination position on the shelf RA.

[0111] In step S115, the control device 600 operates the movement device 100 to move the robot 1 to a predetermined standby position or a location designated via the input device 2.

[0112] (Other embodiments) Although examples of embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, various modifications made to the embodiments and embodiments constructed by combining components of different embodiments are also included within the scope of the present disclosure.

[0113] In the embodiment, the robot 1 is used as a robot for providing services to people, but may be used for other purposes. For example, the robot 1 may be configured to be used for work in factories, warehouses, etc.

[0114] In the robot 1 according to the embodiment, the support 500 may have a structure that allows the robot arms 200A and 200B to be raised and lowered in the vertical directions D1A and D1B. For example, the support 500 may have an extendable structure such as a telescoping structure. The support column 510 may have a structure that allows the display 61 to be raised and lowered in the vertical directions D1A and D1B. For example, the support column 510 may have an extendable structure such as a telescoping structure, or may have a structure that allows the support column 510 itself to move in the vertical directions D1A and D1B. The drive source for the support column 500 and the support column 510 may be an electric actuator such as a servo motor, or may be an actuator operated by another power source such as gas pressure or hydraulic pressure.

[0115] In the robot 1 according to the embodiment, the robot arms 200A and 200B are arranged on one mobile device 100, but this is not limiting. For example, the robot arms 200A and 200B may be arranged on a non-movable object. and 200B may be placed on different objects.

[0116] The dolly 700 according to the embodiment includes two support bases 710 and 720, but may include one support base or three or more support bases. The dolly may be configured so that an object can be placed on any of the support bases. In the dolly, a recess may be formed in one or more of the support bases.

[0117] Examples of various aspects of the technology of the present disclosure are as follows: A robot system according to one aspect of the present disclosure includes a robot including a first robot arm having a first end effector, a second robot arm having a second end effector, a mobile device that mounts the first robot arm and the second robot arm, a control device that controls operations of the first robot arm, the second robot arm, the first end effector, the second end effector, and the mobile device, and a carriage that includes a first support body having a plurality of wheels attached thereto and a gripping portion that is gripped by the first end effector and the second end effector, the first support body including a recess that receives a portion of the robot at a first end portion of the first support body in a first direction, and the control device causes the mobile device to move the robot together with the carriage while causing the first end effector and the second end effector to grip the gripping portion with a portion of the robot fitted in the recess.

[0118] According to the above aspect, it is possible to position the carriage relative to the robot in directions approaching and moving away from the robot. The engagement between the recess of the carriage and part of the robot effectively bears the load when moving together with the carriage toward the robot, significantly reducing the load on the end effector and robot arm. When moving together with the robot, the carriage is prevented from moving relative to the robot. This simplifies robot control that takes into account the behavior of the carriage.

[0119] In a robot system according to one aspect of the present disclosure, the robot further includes a sensor that scans the robot's surroundings, and the cart further includes a second support that is positioned away from the first support in a second direction that intersects the first direction and has a mounting surface on the opposite side of the first support on which an item is placed, and the first support and the second support may be positioned on the cart such that the sensor is located between the first support and the second support when a portion of the robot is fitted into the recess.

[0120] According to the above aspect, the gap between the first support and the second support ensures the scanning range of the sensor. Because the article is placed on the mounting surface of the second support, the article on the cart does not affect the scanning range of the sensor. This allows the sensor to operate reliably even when the cart moves together with the robot. This simplifies robot control that takes into account the behavior of the cart.

[0121] In a robot system according to one aspect of the present disclosure, the carriage may further include a third support supporting the gripper at the first end of the first support. According to the above aspect, the third support is disposed at the first end where the recess is disposed. When a part of the robot is fitted into the recess, the third support is prevented from interfering with the scanning range of the sensor.

[0122] In a robot system according to one aspect of the present disclosure, a second end of the second support in the first direction may be fixed to the third support. According to the above aspect, the third support supports the second support. When a part of the robot is fitted into the recess, the support portion of the second support is prevented from interfering with the scanning range of the sensor.

[0123] In the robot system according to one aspect of the present disclosure, the second support further includes a recess for receiving a part of the robot at a second end of the second support in the first direction. According to the above aspect, the area of ​​the fitting portion between the robot and the carriage is increased. The fitting between the recess of the carriage and the robot effectively bears the load when the robot moves together with the carriage, and can reliably prevent the carriage from moving relative to the robot.

[0124] A cart according to one embodiment of the present disclosure includes a first support having a plurality of wheels attached thereto, the first support including a recess at a first end in a first direction of the first support for receiving a part of a robot, and a gripping portion to be grasped by two end effectors of two robot arms provided on the robot, the recess and the gripping portion being positioned such that the gripping portion can be grasped by the two end effectors when a part of the robot is fitted into the recess.

[0125] According to the above aspect, the carriage is moved by the robot with part of the robot fitted in the recess. The fitting of the recess and the robot significantly reduces the load on the end effector and the robot arm and also suppresses movement of the carriage relative to the robot. This simplifies control of the robot taking into account the behavior of the carriage.

[0126] A cart according to one embodiment of the present disclosure may further include a second support positioned away from the first support in a second direction intersecting the first direction and having a mounting surface on the opposite side of the first support on which an item is placed, and the first support and the second support may be positioned such that when a portion of the robot is fitted into the recess, a sensor provided on the robot is located between the first support and the second support.

[0127] According to the above aspect, the gap between the first support and the second support ensures the scanning range of the sensor. Because the article is placed on the mounting surface of the second support, the article on the cart does not affect the scanning range of the sensor. This allows the sensor to operate reliably even when the cart moves together with the robot. This simplifies robot control that takes into account the behavior of the cart.

[0128] The carriage according to one aspect of the present disclosure may further include a third support member at the first end of the first support member, the third support member supporting the gripper. According to this aspect, when a part of the robot is fitted into the recess, the third support member is prevented from interfering with the scanning range of the sensor.

[0129] In a cart according to one aspect of the present disclosure, a second end of the second support in the first direction may be fixed to the third support. According to the above aspect, the third support supports the second support. When a part of the robot is fitted into the recess, the support portion of the second support is prevented from interfering with the scanning range of the sensor.

[0130] In the cart according to one aspect of the present disclosure, the second support may further include a recess at a second end of the second support in the first direction, the recess receiving a part of the robot. According to this aspect, the area of ​​the fitting portion between the robot and the cart is increased.

[0131] The control method of the present disclosure may be realized by a processor, a processing circuit, a combination of a processing circuit and a circuit, an IC card, a standalone module, or the like. The technology of the present disclosure may be a program for executing the control method of the present disclosure, or may be a non-transitory computer-readable recording medium on which the program is recorded. It goes without saying that the program can be distributed via a transmission medium such as the Internet.

[0132] The functions of the elements disclosed herein can be performed using circuits or processing circuitry, including general purpose processors, special purpose processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuitry because it includes transistors and other circuitry. In this disclosure, In this context, the circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0133] The ordinal numbers, quantitative numbers, and other figures used above are all examples given to specifically explain the technology of the present disclosure, and the present disclosure is not limited to the illustrated figures. The connection relationships between the components are examples given to specifically explain the technology of the present disclosure, and the connection relationships that realize the functions of the present disclosure are not limited to these.

[0134] Because the present disclosure may be embodied in various forms without departing from the spirit of its essential features, the scope of the present disclosure is defined by the appended claims rather than the description in the specification, and therefore the exemplary embodiments and modifications are intended to be illustrative and not limiting. All modifications within the scope of the claims, or equivalents thereof, are intended to be embraced by the claims. [Explanation of symbols]

[0135] 1. Robot 50 sensors 100 Mobile Device 200A, 200B Robot Arm 300, 400 end effector 500 support 600 control device 700 carts 750 Handle (grip) 710 1st support stand (1st support body) 713, 723 recess 720 Second support stand (second support body) 732, 733 Vertical member (third support) 740 Wheels A Robot System

Claims

1. 1. A robotic system comprising: a robot including a first robot arm having a first end effector, a second robot arm having a second end effector, a moving device that mounts the first robot arm and the second robot arm, and a control device that controls operations of the first robot arm, the second robot arm, the first end effector, the second end effector, and the moving device; a carriage including a first support body to which a plurality of wheels are attached and a gripping portion that is gripped by the first end effector and the second end effector; the first support includes a recess at a first end in a first direction of the first support that receives a portion of the robot; The control device causes the first end effector and the second end effector to grip the gripping portion while the control device causes the moving device to move the robot together with the carriage, with a portion of the robot fitted in the recess. Robot system.

2. the robot further includes a sensor that scans a perimeter of the robot; the dolly further includes a second support member disposed apart from the first support member in a second direction intersecting the first direction and having a placement surface on which an article is placed on the opposite side from the first support member; The first support body and the second support body are arranged on the carriage such that the sensor is located between the first support body and the second support body with a part of the robot fitted in the recess. The robot system of claim 1 .

3. The carriage further includes a third support member at the first end of the first support member, the third support member supporting the gripper. The robot system according to claim 2 .

4. A second end portion of the second support member in the first direction is fixed to the third support member. The robot system according to claim 3 .

5. The second support further includes a recess at a second end in the first direction of the second support that receives a portion of the robot. The robot system according to claim 3 or 4.

6. a first support having a plurality of wheels attached thereto, the first support including a recess at a first end in a first direction of the first support for receiving a portion of the robot; a gripping portion that is gripped by two end effectors of two robot arms provided in the robot, The recess and the gripping portion are disposed at a position where the gripping portion is gripped by the two end effectors with a part of the robot fitted in the recess. Cart.

7. a second support member disposed apart from the first support member in a second direction intersecting the first direction and having a placement surface on which an article is placed on the opposite side from the first support member; The first support body and the second support body are arranged such that, with a part of the robot fitted in the recess, a sensor provided on the robot is located between the first support body and the second support body. The truck according to claim 6.

8. The device further includes a third support member at the first end of the first support member for supporting the grip portion. The truck according to claim 7.

9. A second end portion of the second support member in the first direction is fixed to the third support member. The truck according to claim 8.

10. The second support further includes a recess at a second end in the first direction of the second support that receives a portion of the robot.

10. The bogie according to claim 8 or 9.

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