CN103764352A

CN103764352A - Robot, handling system and method for creating article-containing container

Info

Publication number: CN103764352A
Application number: CN201180073050.7A
Authority: CN
Inventors: 矢野浩司
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2011-09-20
Filing date: 2011-09-20
Publication date: 2014-04-30
Also published as: WO2013042184A1

Abstract

The robot (100) of an embodiment is provided with a robot hand (10) comprising grasping units (12a, 12b) each of which is capable of grasping an article, and a robot arm (20) on which the robot hand (10) is attached. Articles (A) are placed in a container (V) as a result of each of the grasping units (12a, 12b) grasping an article (A) and, after the robot hand (10) has been moved to the container (V) by the action of the robot arm (20), by the grasping units (12a, 12b) releasing the respective articles (A).

Description

The method of the article of container is put in robot, treatment system and making

Technical field

The present invention relates to a kind of robot, treatment system and making and put into the method for the article of container.

Background technology

People propose the various technology that realize automation with the operation that the robot use of making over is manually carried out.For example vanning, the past is mostly with manually carrying out, but in recent years, people use robot to carry out vanning in research.Following a kind of boxing apparatus is disclosed in patent documentation 1: in order to shorten the activity duration, it uses 2 robots to carry out vanning.

Patent documentation 1: TOHKEMY 2004-189293 communique

Summary of the invention

Problem to be solved by this invention

But in the boxing apparatus described in patent documentation 1,2 robots controlling workpiece and relieving workpiece are arranged on different places, are comparing in narrow space like this, cannot in container, receive dress article.

In view of the above problems, the object of this invention is to provide and a kind ofly can be efficiently multiple article be received to robot, treatment system and the making that be contained in container and put into the method for the article of container.

For solving the method for problem

Robot of the present invention has: robot, and it has multiple handle parts, and the plurality of handle part comprises first control section and the second control section that can control respectively article; And robots arm, it is provided with described robot, the first article are caught in the described first control section of described robot, the second article are caught in the described second control section of described robot, by described robots arm, move and make after described robot moves to container, described the first article are decontroled in described first control section, and described the second article are decontroled in described second control section, thereby described the first article and described the second article receipts are contained in described container.

In one embodiment, described the first article are caught in the described first control section of described robot, and the described second control section of described robot is caught after described the second article, described robot towards changing.

In another embodiment, in the situation that catching described the first article by described first control section, the length in the vertical direction of described the first article is less than the shortest length in the horizontal direction of described the first article; In the situation that catching described the second article by described second control section, the length in the vertical direction of described the second article is less than the shortest length in the horizontal direction of described the second article.

In another embodiment, in described first control section, catch after described the first article, and described second control section to catch before described the second article, described robot moves.

In another embodiment, after described the first article are caught and lifted by the described first control section of described robot, under the state being lifted by described first control section, described the second article are caught by the described second control section of described robot.

In another embodiment,, under the state of predetermined distance of being separated by, receive described the first article and described the second article in the described container of threading described first control section and described second control section.

In another embodiment, at described the first article, by described first control section, caught and state that described the second article are caught by described second control section under, when described the first article and described the second article move, the interval between described first control section and described second control section is set to described predetermined distance.

In another embodiment, in described first control section, catch described the first article and described second control section to catch after described the second article, described first control section and described second control section, by before described the first article and the described container of described the second article receipts threading, expand the interval between described first control section and described second control section.

In another embodiment, in described second control section, to control residence and state after the second article, described the first article are decontroled in described first control section, and described the first article are dropped on described the second article.

Treatment system of the present invention, has above-mentioned robot and conveyer.

In another embodiment, described robot is arranged on the edge of described conveyer.

The method that the article of container are put in making of the present invention comprises: preparatory process, and preparation has the robot of multiple handle parts, and the plurality of handle part comprises first control section and second control section; The operation of the first article is caught in the described first control section of described robot; Described first control section is caught after described the first article, and the operation of the second article is caught in the described second control section of described robot; And described robot receives described the first article and described the second article the operation of putting into container.

Invention effect

Robot, treatment system and the making of present embodiment put into the method for the article of container and can efficiently multiple article be received and be contained in container.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the robot of present embodiment.

(a) in Fig. 2～(c) is the schematic diagram of the robot of the robot of present embodiment.

Fig. 3 is the schematic stereogram of the robot of the robot of present embodiment.

Fig. 4 is the schematic diagram of the robot of the robot of present embodiment.

Fig. 5 is the schematic diagram of the robot of the robot of present embodiment.

Fig. 6 is the schematic diagram of the treatment system of present embodiment.

(a) in Fig. 7～(c) is the schematic diagram that the article of the treatment system for present embodiment is described are received an example of dress.

(a) in Fig. 8～(c) is the schematic diagram that the article of the treatment system for present embodiment is described are received an example of dress.

Fig. 9 is the schematic diagram of the treatment system of present embodiment.

Figure 10 is the schematic diagram of the robot of the robot of present embodiment.

The specific embodiment

The embodiment of robot of the present invention, treatment system and making being put into the method for the article of container referring to accompanying drawing describes.But embodiments of the present invention are not limited to following embodiment.

Referring to Fig. 1, the robot 100 of present embodiment is described.Fig. 1 represents the schematic diagram of the robot 100 of present embodiment.Robot 100 has robot 10 and is provided with the robots arm 20 of robot 10.Robot 10 has the multiple handle parts 12 that can control respectively article A.Robots arm 20 at least can change the position of robot 10 and towards a side, change thus the position of the article A being controlled by robot 10 and towards.Robots arm 20 is the articulated robot of for example 6 axles or 7 axles.The for example also good robot 10 of teaching in advance and robots arm's 20 action.

Robot 100 can be advantageously applied to an article A and put in container V.At robot 10, control under the state of article A, by robots arm 20 action, robot 10 move to container V directly over or move in container V after, robot 10 is decontroled article A, thereby just article A can be received in threading container V.Such robot 100 can once control multiple article A and decontrol, and can at short notice article A be received and be put in container V.

The robot 10 of the robot 100 referring to Fig. 2 to present embodiment describes.The schematic diagram of (c) expression robot 10 in (a)～Fig. 2 in Fig. 2.In Fig. 2, (a) is the schematic side view of the robot 10 seen from y direction; In Fig. 2, (b) is the schematic side view of the robot 10 seen from x direction; In Fig. 2, (c) represents the schematic diagram of the robot 10 of controlling article A.

The structure of robot 10 is: multiple handle parts 12 are connected on connecting portion 14, and multiple handle parts 12 can be controlled respectively article A.In the robot 10 shown in Fig. 2, multiple handle parts 12 have 2 handle part 12a,

12b.Handle part

12a, 12b arrange in the x-direction.Here, handle

part

12a, 12b are fixedly connected on connecting portion 14.For example, handle

part

12a, 12b are respectively the parallel carrier with 2 pawls.

As shown in (c) in Fig. 2, the interval of 2 pawls of handle part 12a changes in the y-direction.When narrowing, the interval between the pawl of handle part 12a just can control article A.Handle part 12b can control article A too.Like this, by the interval between the pawl of

handle part

12a, 12b, change, just can control and decontrol article A.For example, the pneumatic mode that moves through of the pawl of

handle part

12a, 12b is carried out.Can control respectively handle

part

12a, 12b and control and decontrol article A.In this manual, handle part 12a is recited as first control section 12a sometimes; Handle part 12b is recited as second control section 12b sometimes.

Fig. 3 represents the schematic stereogram of robot 10.Here,

handle part

12a, 12b are controlling article A separately.Specifically, handle part 12a controls article Aa, and handle part 12b controls article Ab.In this manual, the article Ab that the article Aa sometimes handle part 12a being controlled is recited as the first article Aa, control handle part 12b is recited as the second article Ab.

In robot 10, because handle

part

12a, 12b control respectively and decontrol multiple article A, can adjust respectively and control intensity like this, can in comparison narrow space, control efficiently and decontrol multiple article A again.Further, 2(c in Fig. 1, figure) and Fig. 3 in, article A is spherical, but article A also can have any shape.In addition, the shape of

handle part

12a, 12b also can suitably change according to controlled article A.

From Fig. 1～Fig. 3, in the robot 100 of present embodiment, first control section 12a catches the first article Aa, second control section 12b catches the second article Ab, by robots arm 20, move, after robot 10 moves to container V, handle part 12a decontrols article Aa, handle part 12b decontrols article Ab, article Aa and article Ab can be received in threading container V like this.Like this, by robot 100, multiple article A can be accommodated in container V efficiently.Further, here, robot 100 is for article A is accommodated into container V, but robot 100 has more than for receiving article A, also can be used for mobile article and rearrange other actions such as article.

Further,

handle part

12a, 12b shown in Fig. 2 and Fig. 3 are fixedly connected on connecting portion 14, but present embodiment is not limited to this.

Handle part

12a, 12b also can be connected on connecting portion 14 in a movable manner.

What Fig. 4 represented is the schematic diagram of the robot 10 of the robot 100 of present embodiment.Connecting portion 14 so that handle part 12a and handle part 12b can be respectively on directions X mobile mode, connect handle part 12a and handle part 12b, and can suitably change the interval between handle part 12a and handle part 12b.For example, can handle

part

12a, 12b be moved with working cylinder (actuator).Further, here, handle part 12a and handle part 12b can move respectively on directions X, but its structure can be also one of them of handle part 12a and handle part 12b can be moved and another is fixed on directions X.

Further, in Fig. 2～Fig. 4, on robot 10, be provided with 2

handle part

12a, 12b, but present embodiment is not limited to this.3 above handle parts also can be set on robot 10.

Fig. 5 represents the schematic diagram of the robot 10 of the robot 100 of present embodiment.In the robot 10 shown in Fig. 5,5 handle part 12a～12e are connected on connecting portion 14.Like this, 3 above handle parts 12 also can be set on robot 10.

Further, also can adopt following structure: the robot 10 of robot 100 relatively moves with respect to multiple article A and controls respectively multiple article A.Now, preferably with conveyer, article A is transported to robot 10.But can also adopt following structure: article A is static, for supporting the support of robot 100, move and robot 100 is moved, carry out like this receipts dress of article.

What Fig. 6 represented is the schematic diagram of the treatment system 200 of present embodiment.Treatment system 200 has robot 100 and conveyer 110.Conveyer 110 is for carrying article A.Here, on conveyer 110, be provided with the portion of delivering 112, be placed in the portion of delivering 112 after being transferred the edge that article A that machine 110 carries arrives conveyer 110.

In the treatment system 200 shown in Fig. 6, the support of robot 100 is fixed with respect to conveyer 110, and the support of robot 100 does not move.Robot 10 is arranged on the edge of conveyer 110, and specifically, article A is controlled at the edge of robot 10 in the carrying direction of being carried article A by conveyer 110.Like this, preferably robot 10 is controlled article A in the front edge of conveyer 110.

Further, here, container V is arranged on the conveyer 120 different from the conveyer 110 of carrying article A.Article A is contained in after container V by receipts, and conveyer 120 is carried the container V that article A is housed in prescribed direction, in addition new empty container V is transported to near of robot 100.

Here, the handle part 12a of robot 10 controls article Aa, and handle part 12b controls article Ab.In addition, the interval between the pawl extending in the horizontal direction by the difference of

change handle part

12a, 12b, can catch article Aa, Ab with

handle part

12a, 12b.

Preferred articles A is placed on conveyer 110 with comparatively stable state.

For example, the state that article Aa is less than the shortest length in horizontal direction (direction vertical with vertical direction) with the length in vertical direction is placed on conveyer 110.If when article Aa is roughly rectangular shape, length in the vertical direction of article Aa (length in the x-direction in Fig. 6: thickness) L1, is less than length L 2(in the horizontal direction of article Aa length in the z-direction in Fig. 6) and length L 3(length in the y-direction in Fig. 6) in any one.Or when article Aa is roughly cylindrical, length (length in the x-direction) L1 in the vertical direction of article Aa, is also less than in the horizontal direction (y direction and z direction) of article Aa roughly equal each other length L 2, L3.Further, the state that article Ab is less than the shortest length in horizontal direction with the length in vertical direction is equally placed on conveyer 110.

The handle part 12a of robot 10 catches article Aa, and the handle part 12b of robot 10 catches article Ab.Here, article Aa is lifted under motionless state at article Aa after being caught and lift by the handle part 12a of robot 10, and article Ab is caught and lifts by the handle part 12b of robot 10.For example, handle part 12a catches after article Aa, and robots arm 20 moves and mobile apparatus staff 10, so that handle part 12b can catch the article Ab on conveyer 110.

Like this, after robot 10 is controlled the article A that the machine of being transferred 110 carries, robots arm 20 moves, thereby the robot 10 of controlling article A just moves near of container V.Afterwards, handle part 12a decontrols article Aa, and handle part 12b decontrols article Ab, thereby just article Aa, Ab can be received and put in container V.

Further, here, can with from the carrying of conveyer 110 towards different towards article Aa, Ab are received and put in container V.For example, robots arm 20 moves and the robot 10 of controlling article Aa, Ab is moved to behind top, change robot 10 towards, robot 10 moves to behind near of container V, robot 10 is decontroled article Aa, Ab, thus just can with from the carrying of conveyer 110 towards different towards article Aa, Ab are received and put in container V.

Here, in container V, be provided with dividing plate p.By such dividing plate p is set, even when the article A in container V is less with respect to the volume of container V, also can prevent that article A from toppling over.

When article A receipts are put in the container V that is provided with dividing plate p, handle part 12a and handle part 12b decontrol article Aa and article Ab under the state of predetermined distance of being separated by, and just article Aa and article Ab can be received in the space being separated by dividing plate p of putting into container V.Now, article Aa by the state that handle part 12a catches and article Ab is caught by handle part 12b under, when article Aa, Ab move, the interval between handle part 12a and handle part 12b also can be set to afore mentioned rules interval.For example, also can make the interval between handle part 12a and handle part 12b be fixed into predetermined distance.

Or, control interval between handle part 12a and the handle part 12b before article Aa, Ab narrow, at handle part 12b, catch after article Ab, and article Aa and article Ab are received before threading container V, also can expand the interval between handle part 12a and handle part 12b.For example, at article Aa and article Ab, received before threading container V, by connecting portion 14, can be changed the interval between handle part 12a and handle part 12b.For example use working cylinder (actuator) make

handle part

12a, 12b at least one of them moves and changes interval.Further, when article Aa is lifted by handle part 12a, also can control after article Ab at handle part 12b, handle part 12a decontrols article Aa, and article Aa is dropped on article Ab.

Like this, by

handle part

12a, 12b by controlling respectively, control and decontrol article Aa, Ab, even if be provided with dividing plate p in container V, also can carry out efficiently the receipts dress of article Aa, Ab.Produce as described above the article of putting into container.

Here, with reference to Fig. 7 and Fig. 8, the situation about article A being received in threading container V in the treatment system 200 of present embodiment is described.First, with reference to Fig. 7, the situation of controlling multiple article A with robot 10 is described.Further, in Fig. 7, too complicated for fear of drawing, omitted the robots arm's 20 of robot 100 diagram.

First, as shown in (a) in Fig. 7, carry article Aa, Ab with conveyer 110.Robot 10 is arranged on the edge of conveyer 110.

Next, as shown in (b) in Fig. 7, control article Aa with the handle part 12a of robot 10.Here, after article Aa is caught by handle part 12a, by robots arm 20 action, from conveyer 110 or deliver portion 112 and lift article Aa.

Next, as shown in (c) in Fig. 7, control under the state of article Aa at handle part 12a, the handle part 12b of robot 10 controls article Ab.Here, after article Ab is caught by handle part 12b, by robots arm 20 action, from conveyer 110 or deliver portion 112 and lift article Ab.

Next, with reference to Fig. 8, to the article Aa, the Ab that are controlled by robot 10 are described to the situation of receiving dress in container V.In Fig. 8, too complicated and omitted the diagram of conveyer 110 for fear of drawing.First, as shown in (a) in Fig. 8, by robots arm 20 action, make the robot 10 of holding article Aa, Ab be moved upward.

Next, as shown in (b) in Fig. 8, by robots arm 20 action, start to change robot 10 towards.Here, robot 10 is moved to the direction of the support that approaches robots arm 20, with this change robot 10 towards.

As shown in (c) in Fig. 8, by robots arm 20 action, make robot 10 towards near that is moved to container V.Afterwards, handle part 12a, the 12b of robot 10 decontrols article Aa, Ab, thereby can make article Aa, Ab receive, puts in container V.

Further, in the above-mentioned explanation of carrying out with reference to Fig. 6～Fig. 8, article A is less than the state setting (arranging along long) of the shortest length in horizontal direction with the length in vertical direction, but present embodiment is not limited to this.When controlling article A with robot 10, article A also can be greater than with the length in vertical direction the state setting (erect and arrange) of the shortest length in horizontal direction.Further, in the above description, article Aa and article Ab are of similar shape, but present embodiment is not limited to this.Article Aa and article Ab also can have different shapes each other.

Further, in the above-mentioned explanation of carrying out with reference to Fig. 6～Fig. 8, on conveyer 110, be provided with the portion of delivering 112, but present embodiment is not limited to this.The portion of delivering 112 also can be set.Further, in the above description, at handle part 12, control after article A, for conveyer 110, robot 10 is lifted article A upward, but present embodiment is not limited to this.For conveyer 110, also can under the state of controlling article A, move down by robot 10.

Further, in the above-mentioned explanation of carrying out with reference to Fig. 6～Fig. 8, robot 10 is arranged on the front edge place of conveyer 110, and robot 10 is controlled article A at the front edge place of conveyer 110, but present embodiment is not limited to this.Robot 10 also can be controlled article A in the lateral edge of conveyer 110.

Fig. 9 represents the schematic diagram of the treatment system 200 of present embodiment.Here also too complicated for fear of drawing, omitted the robots arm's 20 of robot 100 diagram.In the treatment system 200 shown in Fig. 9, robot 10 is arranged on the lateral edge of conveyer 110.At the handle part 12a of robot 10, control after article Aa, robot 10 is moved upward, and handle part 12b controls the article Ab that the machine of being transferred 110 is carried.Further, here, robot 10 adopts following structure: even when under the state of opening at

handle part

12a, 12b, robot 10 moves in vertical direction, handle

part

12a, 12b can not contact conveyer 110 yet.

Further, in the above-mentioned explanation of carrying out with reference to Fig. 6～Fig. 9, handle part 12a, the 12b of robot 10 are when catching article Aa, Ab, and handle

part

12a, 12b change respectively the interval between the pawl extending in the horizontal direction, but present embodiment is not limited to this.And, in the above-mentioned explanation of carrying out with reference to Fig. 6～Fig. 8, article A when handle part 12 is caught article A towards, the article A while decontroling article A from handle part 12 towards different, but present embodiment is not limited to this.Also the article A in the time of can making handle part 12 catch article A towards, the article A while decontroling article A with handle part 12 towards identical.For example, when handle part 12 is caught article A, article A erects while arranging, and handle part 12 is decontroled the article A being controlled with upright state.Or when when handle part 12 is controlled article A, article A is along long setting, handle part 12 is also to decontrol along long status the article A being controlled.

What Figure 10 represented is the schematic diagram of the robot 10 of the robot 100 of present embodiment.Here also omitted the robots arm 20 of robot 100.In the robot 10 shown in Figure 10, change respectively the interval between the pawl that handle

part

12a, 12b extend in vertical direction, just can catch article Aa, Ab with handle part 12a, 12b.Further, with the robot 10 shown in Figure 10, control the article A that the machine of being transferred 110 is carried.In Figure 10, the handle part 12a of robot 10 controls article Aa, article Ab is transported to behind the below of handle part 12b of robot 10 with conveyer 110, and handle part 12b can control article Ab.Now, the handle part 12a of robot 10 is controlling after article Aa, also can not mobile handle part 12a.

Further, in Figure 10, robot 10 is controlled the article A that the machine of being transferred 110 is carried, but present embodiment is not limited to this.As mentioned above, also can adopt following structure: article A is static, for supporting the support of robot 100, move and robot 100 is moved, carry out like this receipts dress of article.

[description of reference numerals]

10 robots

12 handle parts

20 robots arms

100 robots

110 conveyers

200 treatment systems

Claims

1. a robot, is characterized in that, has:

Robot, it has multiple handle parts, and the plurality of handle part comprises first control section and the second control section that can control respectively article; And

Robots arm, it is provided with described robot,

The first article are caught in the described first control section of described robot, the second article are caught in the described second control section of described robot, by described robots arm, move and make after described robot moves to container, described the first article are decontroled in described first control section, described the second article are decontroled in described second control section, thereby described the first article and described the second article receipts are contained in described container.

2. robot according to claim 1, is characterized in that,

Described the first article are caught in the described first control section of described robot, and the described second control section of described robot is caught after described the second article, described robot towards changing.

3. robot according to claim 1 and 2, is characterized in that,

In the situation that catching described the first article by described first control section, the length in the vertical direction of described the first article is less than the shortest length in the horizontal direction of described the first article;

In the situation that catching described the second article by described second control section, the length in the vertical direction of described the second article is less than the shortest length in the horizontal direction of described the second article.

4. according to the robot described in any one in claim 1～3, it is characterized in that,

In described first control section, catch after described the first article, and described second control section catches before described the second article, described robot moves.

5. according to the robot described in any one in claim 1～4, it is characterized in that,

After described the first article are caught and lifted by the described first control section of described robot, under the state being lifted by described first control section, described the second article are caught by the described second control section of described robot.

6. according to the robot described in any one in claim 1～5, it is characterized in that,

, under the state of predetermined distance of being separated by, receive described the first article and described the second article in the described container of threading described first control section and described second control section.

7. robot according to claim 6, is characterized in that,

At described the first article, by described first control section, caught and state that described the second article are caught by described second control section under, when described the first article and described the second article move, the interval between described first control section and described second control section is set to described predetermined distance.

8. robot according to claim 6, is characterized in that,

In described first control section, catch described the first article and described second control section to catch after described the second article, described first control section and described second control section, by before described the first article and the described container of described the second article receipts threading, expand the interval between described first control section and described second control section.

9. robot according to claim 8, is characterized in that,

In described second control section, control residence and state after the second article, described the first article are decontroled in described first control section, and described the first article are dropped on described the second article.

10. a treatment system, is characterized in that, has:

Robot in claim 1～9 described in any one: and

Conveyer.

11. treatment systems according to claim 10, is characterized in that,

Described robot is arranged on the edge of described conveyer.

The method of the article of container is put in 12. 1 kinds of making, it is characterized in that, has:

Preparatory process, preparation has the robot of multiple handle parts, and the plurality of handle part comprises first control section and second control section;

The operation of the first article is caught in the described first control section of described robot;

Described first control section is caught after described the first article, and the operation of the second article is caught in the described second control section of described robot; And

Described robot receives described the first article and described the second article the operation of putting into container.