Production facility with automatic movable body for man-machine cooperation

• US 5,956,465 A
• Filed: 04/03/1997
• Issued: 09/21/1999
• Est. Priority Date: 04/04/1996
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takeshita, Teruo, Takagi, Yoshiyuki, Nakamura, Takamasa, Ota, Masayasu, Sekiguchi, Hitoshi, Kishida, Fumio
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US08/826,590
• Time in Patent Office: 901 Days
• Field of Search: 395/99, 395/90, 395/82, 395/83, 395/84, 395/91, 318/568.13, 318/568.14, 901/3-5, 901/7, 364/474.2, 364/167.02, 364/167.07, 364/167.11, 364/190, 364/191, 364/192, 364/193, 364/188, 364/189
• US Class Current: 700/255
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 2219/33006 Ama allocation manual automatic work between machine, manipulator and man
• CPC Class Codes: G05B 2219/33192 Radio link, wireless
• CPC Class Codes: G05B 2219/36081 Merge, mix original program with teached program
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator
• CPC Class Codes: G05B 2219/40386 Search around teached point until operation has succes, correct program
• CPC Class Codes: G05B 2219/40391 Human to robot skill transfer
• CPC Class Codes: G05B 2219/40394 Combine offline with online information to generate robot actions
• CPC Class Codes: G05B 2219/40409 Robot brings object near operator, operator places object in correct position
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

For a combination of a first movable body adaptive for an automatic motion to provide an equivalent service to a required service, and a second movable body capable of exercising a voluntary motion and to cooperate with the first movable body to provide the voluntary motion as one of assistance and teaching to the first movable body to sophisticate the automatic motion, there are provided a first controller operative in a first mode for controlling the first moving body to exercise the automatic motion and in a second mode for adapting the first movable body to cooperate with the second movable body so that the automatic motion is sophisticated to be capable of achieving an equivalent service to the required service in a sophisticated manner, and a second controller for selecting one of the first and second modes.

Claims

1. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent to exercise a voluntary motion combinable with the automatic motion to provide an equivalent service to the required service in the second manner;

first control means operative

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is combined with the voluntary motion; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.

27. A production facility according to claim 1, wherein the first control means is adapted to learn a combination of the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service.

28. A production facility according to claim 1, wherein the first control means is adapted to learn a difference between the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service.

2. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive to exercise an automatic motion; and

a second movable body competent to exercise a voluntary motion for an equivalent service to the required service in the first manner and

to cooperate with the first movable body for employing the automatic motion as one of an assistance and a teaching to sophisticate the voluntary motion;

first control means operative

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the voluntary motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.

3. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent

to exercise a voluntary motion and

to cooperate with the first movable body for providing the voluntary motion as one of an assistance and a teaching to the first movable body to sophisticate the automatic motion;

first control means operative

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first movable body has;

a first motion range defined for the automatic motion, including

a first allowance therefor;

the second movable body has;

a second motion range defined for the voluntary motion, including

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and

responding to the detected intersection to provide a detection signal.

4. A production facility according to claim 3, wherein the first control means is responsible in the first mode to process the detection signal for stopping the first movable body.

5. A production facility according to claim 3, wherein the interference region is kept constant, as the first movable body has a stationary part fixed in position.

6. A production facility according to claim 3, wherein the interference region is variable, as the first movable body travels.

7. A production facility according to claim 3, wherein the safety control means includes sensor means for sensing a position of the second movable body.

8. A production facility according to claim 7, wherein the sensor means comprises a transmitter and a receiver.

9. A production facility according to claim 8, wherein the transmitter is carried by the second movable body.

10. A production facility according to claim 7, wherein the sensor means comprises a two-dimensional array of sensing elements.

11. A production facility according to claim 10, wherein the two-dimensional array of sensing elements covers the interference region.

12. A production facility according to claim 10, wherein the sensing elements each comprise a sensible matt members.

13. A production facility according to claim 10, wherein the sensing elements each comprise a photo-electric elements.

14. A production facility according to claim 10, wherein the sensor means comprises an array of a plurality of unit sensors each comprised of the two-dimensional array of sensing elements.

15. A production facility according to claim 7, wherein the position of the second movable body is defined in a coordinate system associated with the interference region.

16. A production facility according to claim 3, wherein:

the first movable body comprises

a first member rotatable about a first center fixed to a representative part of the first movable body, with a far-most end thereof describing a first arc; and

the first motion range comprises

a first sum of a first inherent range defined by the first arc, a first fraction of clearance and a first fraction of allowance.

17. A production facility according to claim 16, wherein:

the first movable body further comprises

a second member rotatable about a second center fixed to the first member inside the first arc, with a far-most end thereof describing a second arc; and

the first motion range comprises

a total of

the first sum and

a second sum of a second inherent range defined by the second arc, a second fraction of clearance and a second fraction of allowance.

18. A production facility according to claim 17, wherein the second member comprises:

a third member rotatable about the second center; and

a work the third member is handing,

the work having a free end thereof as the far-most end of the second member.

19. A production facility according to claim 17, wherein:

the second movable body comprises

a flexible body which can fall about a third center as a foot part thereof, with an arm part thereof stretched to have a finger end lying on a first circle; and

the second motion range comprises

a third sum of a first probable range defined by the first circle and a first probable fraction of allowance.

20. A production facility according to claim 19, wherein:

the second movable body further comprises

a tool member with a possibility of rotational drop about a fourth center as a hand part of the flexible body within a second circle; and

the second motion range comprises

a total of

the third sum and

a fourth sum of a second probable range defined by the second circle and a second probable fraction of allowance.

21. A production facility according to claim 20, wherein the first control means includes

memory means for storing

first data on a radius of curvature of the first arc of the first member,

second data on a distance between the first center and the second center,

third data on a radius of curvature of the second arc of a respective kind of the second member,

fourth data on a radius of the first circle of a respective kind of the flexible body,

fifth data on a radius of the second circle of a respective kind of the tool member,

sixth data on the first fraction of clearance of the first member,

seventh data on the second fraction of clearance of the respective kind of the second member,

eighth data on the first fraction of allowance of the first member,

ninth data on the second fraction of allowance of the respective kind of the second member,

tenth data on the first probable fraction of allowance of the respective kind of the flexible body, and

eleventh data on the second probable fraction of allowance of the respective kind of the tool member.

22. A production facility according to claim 21, wherein the first control means includes

processor means responsible to a current position of the first center for processing the first, the sixth and the eighth data to calculate a radius of curvature of a boundary of the first motion range.

23. A production facility according to claim 22, wherein the processor means is responsible to an identified kind of the second member for additionally processing the second, the third, the seventh and the ninth data to calculate a radius of curvature of a boundary (R51a) of the first motion range.

24. A production facility according to claim 23, wherein the processor means is responsible to an identified kind of the flexible body for additionally processing the fourth and the tenth data to calculate a radius of curvature of a boundary of the second motion range, and a radius of curvature of a boundary of the interference region.

25. A production facility according to claim 24, wherein the processor means is responsible to an identified kind of the flexible body for additionally processing the fourth and the tenth data to calculate a radius of curvature of a boundary of the second motion range, and a radius of curvature of a boundary of the interference region.

26. A production facility according to claim 25, wherein the processor means is responsible to an identified kind of the tool member for additionally processing the fifth and the eleventh data to calculate a radius of curvature of a boundary of the second motion range, and a radius of curvature of a boundary of the interference region.

29. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent

to exercise a voluntary motion and

to cooperate with the first movable body for providing the voluntary motion as one of an assistance and a teaching to the first movable body to sophisticate the automatic motion,

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein;

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.

30. A production facility according to claim 29, wherein:

the required service includes transferring the work along a route;

the transfer assistance includes restricting loci of the work in a range of the route;

the first assist arm device comprises a plurality of arms having rotation ranges thereof; and

the first control means is adapted to detect a transfer position of the work and control the rotation ranges depending on the transfer position.

31. A production facility according to claim 30, wherein:

the required service includes transferring the work along a route;

the transfer assistance includes restricting loci of the work in a range of the route;

the first assist arm device comprises

a plurality of arms,

first detecting means for detecting rotational positions of the plurality of arms,

a restriction member for a mechanical restriction of one of the plurality of arms,

second detection means for detecting a set position of the restriction member, and

drive means for driving the restriction member;

the first control means includes

calculation means for calculating a transfer position of the work based on the rotational positions of the plurality of arms and

memory means for storing data on a relationship between the transfer position of the work and the set position of the restriction member; and

the first control means is responsible for the transfer position of the work to read the stored data from the memory means and control the drive means for setting the restriction member in a position in accordance with the read data.

32. A production facility according to claim 31, wherein:

the worker is competent to teach an ideal position of the work in the route;

the first control means has a teaching button operative

for the worker to teach the ideal position to the first control means and

for the first control means to calculate therefrom a permissible motion range of the work about the ideal position; and

the first control means is responsible for an operation of the teaching button to store data on the ideal position and the permissible motion range in the memory means.

33. A production facility according to claim 32, wherein:

the first control means has a mode select switch for selecting one of a teaching mode and a running mode; and

the first control means is responsible

for the teaching mode, as the teaching button is operated, to store the data on the ideal position and the permissible motion range in the memory means, and

for the running mode to respond to the transfer position to read the stored data from the memory means and control the drive means for setting the restriction member in a position in accordance with the read data.

34. A production facility according to claim 29, wherein:

the second assist arm device comprises

an arm member for the transfer assistance of the work,

weight balancing means for balancing a weight of the work with a gravity,

sensor means for detecting a force exerted on the work by the second movable body, and

drive means for driving the arm; and

the first control means is adapted to be responsible for a magnitude and a direction of the detected force to control the drive means for aiding the exerted force.

35. A production facility according to claim 29, wherein:

the second assist arm device comprises

a plurality of arm members for the transfer assistance of the work,

weight balancing means acting on one of the plurality of arm members for balancing a weight of the work with a gravity,

sensor means for detecting three-dimensional components of a moment exerted on the work by the second movable body, and

drive means for individually driving the plurality of arms; and

the first control means is adapted to be responsible for magnitudes and directions of the detected components of the moment to control the drive means for aiding the exerted moment.

36. A production facility according to claim 29, wherein:

the second assist arm device comprises

a plurality of arm members for the transfer assistance of the work,

weight balancing means acting on one of the plurality of arm members for balancing a weight of the work with a gravity,

sensor means for detecting three-dimensional components of a force and a moment exerted on the work by the second movable body, and

drive means for individually driving the plurality of arms; and

the first control means is adapted to be responsible for magnitudes and directions of the detected components of the force and the moment to control the drive means for aiding the exerted force and moment.

37. A production facility according to claim 34, wherein the sensor means comprise a load cell member attached to the arm member.

38. A production facility according to claim 34, wherein the first control means includes means for regulating a degree of said aiding the exerted force.

39. A production facility according to claim 29, wherein:

the third assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity, and

drive means for driving the arm member; and

the firs control means has

a positioning mode for connecting the arm member with the drive means to transfer the work and

an assist mode for disconnecting the arm member from the drive means so that a worker can transfer the work.

40. A production facility according to claim 29, wherein:

the third assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity,

drive means for driving the arm member, and

clutch means for interconnecting the arm member and the drive means;

the first control means includes

memory means for storing a transfer path, as it is taught, and

switch means for selecting a positioning mode; and

the first control means is adaptive to be set,

as the switch means is turned on, to the positioning mode

for letting the clutch means in and

for controlling the drive means to transfer the work along the transfer path stored in the memory means and,

as the work has arrived the position, to an assist mode for letting the clutch means off.

41. A production facility according to claim 29, wherein:

the third assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity,

drive means including a servo motor for driving the arm member, and

clutch means for interconnecting the arm member and the drive means;

the first control means includes

memory means for storing a transfer path, as it is taught, and

switch means for selecting a positioning mode; and

the first control means is adaptive to be set,

as the switch means is turned on, to the positioning mode

for letting the clutch means in and

for controlling the servo motor to transfer the work along the transfer path stored in the memory means and,

as the work has arrived the position, to an assist mode for letting the clutch means off and releasing the servo motor from a servo control.

42. A production facility according to claim 29, wherein:

the third assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity,

drive means for driving the arm member, and

clutch means for interconnecting the arm member and the drive means;

the first control means includes

memory means for storing a transfer path, as it is taught, and

switch means for selecting a positioning mode; and

the first control means is

adaptive to be set,

as the switch means is turned on, to the positioning mode

for letting the clutch means in and

for controlling the drive means to transfer the work along the transfer path stored in the memory means and,

as the work has arrived the position, to an assist mode for letting the clutch means off, and

further adaptive,

as the switch means is turned on after the work has arrived the position,

for letting the clutch means in and

for pushing the work against an opponent member in a fixing thereof with a force in accordance with a current data stored in the memory means and,

as the fixing is over, for letting the clutch means off.

43. A production facility according to claim 29, wherein:

the third assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity,

drive means including a servo motor for driving the arm member,

auxiliary power means for generating a force to pushing the work against an opponent member in a fixing thereof, and

clutch means for interconnecting the arm member and the drive means;

the first control means includes

memory means for storing a transfer path, as it is taught, and

switch means for selecting a positioning mode; and

the first control means is

adaptive to be set,

as the switch means is turned on, to the positioning mode

for letting the clutch means in and

for controlling the servo motor to transfer the work along the transfer path stored in the memory means and,

as the work has arrived the position, to an assist mode for letting the clutch means off and releasing the servo motor from a servo control, and

further adaptive,

as the switch means is turned on after the work has arrived the position, for operating the auxiliary power means to push the work against the opponent member with a force and, as the fixing is over, for stopping the auxiliary power means.

44. A production facility according to claim 43, wherein the auxiliary power means comprises one a servo motor and an air motor.

45. A production facility according to claim 43, wherein:

the first control means is adaptive,

as the switch means is turned on after the work has arrived the position,

for letting the clutch means in,

pushing the work against the opponent member with a force in accordance with a current data stored in the memory means, and

operating the auxiliary power means to push the work against the opponent member and,

as the fixing is over, for letting the clutch means off and stopping the auxiliary power means.

46. A production facility according to claim 39, wherein the first control means has a teaching mode for storing loci of the arm member as a transfer path.

47. A production facility according to claim 42, wherein the first control means is adapted, as the arm member is manually operated, to store in the memory means loci of the arm member as the transfer path.

48. A production facility according to claim 29, wherein:

the fourth assist arm device is mounted on the follower;

the fourth assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity, and

drive means for driving the arm member;

the first control means has

a positioning mode for connecting the arm member with the drive means to transfer the work and

an assist mode for disconnecting the arm member from the drive means so that a worker can transfer the work; and

the first control means is connected to the drive means.

49. A production facility according to claim 29, wherein:

the fourth assist arm device is mounted on the follower;

the fourth assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity,

drive means for driving the arm member, and

clutch means for interconnecting the arm member and the drive means;

the first control means includes

memory means for storing a transfer path, as it is taught, and

switch means for selecting a positioning mode; and

the first control means is adaptive to be set,

as the switch means is turned on, to the positioning mode

for letting the clutch means in and

for controlling the drive means to transfer the work along the transfer path stored in the memory means and,

as the work has arrived the position, to an assist mode for letting the clutch means off.

50. A production facility according to claim 30, wherein:

the fourth assist arm device is mounted on the follower;

the fourth assist arm device comprises

an arm member for transferring the work to a position,

weight balancing means for balancing a weight of the work with a gravity,

drive means for driving the arm member, and

clutch means for interconnecting the arm member and the drive means;

the first control means includes

memory means for storing a transfer path, as it is taught,

switch means for selecting a positioning mode, and

sensor means for detecting a proximity of an obstacle; and

the first control means is adaptive to be set, as the switch means is turned on, to the positioning mode for letting the clutch means in and for controlling the servo motor to transfer the work along the transfer path stored in the memory means and,

as the work has arrived the position or the proximity of the obstacle is detected by the sensor means, to an assist mode for letting the clutch means off.

51. A production facility according to claim 48, wherein the switch means is provided on an operation panel disposed at a hand and on a control panel connected to the first control means.

52. A production facility according to claim 50, wherein:

the fourth assist arm device has an emergency switch; and

the first control means is adapted to enter the assist mode when the emergency switch is operated.

53. A production facility according to claim 29, wherein:

the required service is for fitting the work to an installation place having a first clearance to the work;

the fifth assist arm device has

an arm member for positioning the work to the installation place,

the arm member being movable with a second clearance larger than the first clearance; and

the first control means enters the second mode when the arm member carrying the work has reached a vicinity of the installation place.

54. A production facility according to claim 53, wherein the vicinity comprises the interference region.

55. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent to exercise a voluntary motion combinable with the automatic motion to provide an equivalent service to the required service in the second manner;

first control means operative

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is combined with the voluntary motion; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first movable body has;

a first motion range defined for the automatic motion, including

a first allowance therefor;

the second movable body has;

a second motion range defined for the voluntary motion, including

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and responding to the detected intersection to provide a detection signal.

56. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive to exercise an automatic motion; and

a second movable body competent to exercise a voluntary motion for an equivalent service to the required service in the first manner and

to cooperate with the first movable body for employing the automatic motion as one of an assistance and a teaching to sophisticate the voluntary motion;

first control means operative

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the voluntary motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first movable body has;

a first motion range defined for the automatic motion, including

a first allowance therefor;

the second movable body has;

a second motion range defined for the voluntary motion, including

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and

responding to the detected intersection to provide a detection signal.

57. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent to exercise a voluntary motion combinable with the automatic motion to provide an equivalent service to the required service in the second manner;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is combined with the voluntary motion; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a combination of the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the first movable body has

a first motion range defined for the automatic motion, including

a first allowance therefor;

the second movable body has

a second motion range defined for the voluntary motion, including;

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and

responding to the detected intersection to provide a detection signal.

58. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent to exercise a voluntary motion combinable with the automatic motion to provide an equivalent service to the required service in the second manner;

first control means operative

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is combined with the voluntary motion; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a combination of the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.

59. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent to exercise a voluntary motion combinable with the automatic motion to provide an equivalent service to the required service in the second manner;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is combined with the voluntary motion; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a difference between the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the first movable body has;

a first motion range defined for the automatic motion, including

a first allowance therefor;

the second movable body has;

a second motion range defined for the voluntary motion, including

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and

responding to the detected intersection to provide a detection signal.

60. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion to provide an equivalent service to the required service in the first manner; and

a second movable body competent to exercise a voluntary motion combinable with the automatic motion to provide an equivalent service to the required service in the second manner;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the automatic motion is combined with the voluntary motion; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a difference between the automatic motion and the voluntary motion so that the automatic motion provides a sophisicated service;

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of;

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.

61. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion; and

a second movable body competent to exercise a voluntary motion for an equivalent service to the required service in the first manner and to cooperate with the first movable body for employing the automatic motion as one of an assistance and a teaching to sophisticate the voluntary motion;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the voluntary motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a combination of the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the first movable body has a first motion range defined for the automatic motion, including a first allowance therefor;

the second movable body has;

a second motion range defined for the voluntary motion, including

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and

responding to the detected intersection to provide a detection signal.

62. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive to exercise an automatic motion; and

a second movable body competent to exercise a voluntary motion for an equivalent service to the required service in the first manner and

to cooperate with the first movable body for employing the automatic motion as one of an assistance and a teaching to sophisticate the voluntary motion;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the voluntary motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a combination of the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of;

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.

63. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion; and

a second movable body competent to exercise a voluntary motion for an equivalent service to the required service in the first manner and to cooperate with the first movable body for employing the automatic motion as one of an assistance and a teaching to sophisticate the voluntary motion;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the voluntary motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a difference between the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the first movable body has;

a first motion range defined for the automatic motion, including

a first allowance therefor;

the second movable body has a second motion range defined for the voluntary motion, including;

a second allowance therefor; and

the first control means includes;

safety control means for

recognizing an interference region in which the first and second motion ranges interfere with each other,

detecting an intersection between the interference region and the second motion range, and

responding to the detected intersection to provide a detection signal.

64. A production facility comprising:

a man-machine section requiring one of;

a movement service,

a handling service and

a production service to be provided in one of

a first manner and

a second manner more sophisticated than the first manner,

the man-machine section including;

a first movable body adaptive for an automatic motion; and

a second movable body competent to exercise a voluntary motion for an equivalent service to the required service in the first manner and

to cooperate with the first movable body for employing the automatic motion as one of an assistance and a teaching to sophisticate the voluntary motion;

first control means operative;

in a first mode thereof for controlling the first moving body to exercise the automatic motion and

in a second mode thereof for adapting the first movable body to cooperate with the second movable body so that the voluntary motion is sophisticated to be capable of achieving an equivalent service to the required service in the second manner; and

second control means for controlling the first control means to select one of the first and second modes, wherein

the first control means is adapted to learn a difference between the automatic motion and the voluntary motion so that the automatic motion provides a sophisticated service;

the required service includes handling a work for one of a transfer assistance and a positioning assistance; and

the first moving body comprises one of;

a first assist arm device adapted for the transfer assistance with a restricted motion range,

a second assist arm device power-aided for the transfer assistance,

a third assist arm device adapted for the positioning assistance,

a fourth assist arm device adapted for the positioning assistance on a follower, and

a fifth assist arm device adapted for the positioning assistance with a flexible clearance.