JP2016179821A - Packing device, and packing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a packing device which can precisely store a packed article in an unfixed box body.SOLUTION: A packing device comprises a movable unit, and a force detection unit provided in the movable unit, where a packed article is stored in a box body assembled from packing material on the basis of an output value of the force detection unit.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a packing apparatus and a packing method.

  Research and development of technology for accurately storing a package in a packaging device in a box for storing the package is being performed.

  In this regard, the box is fixed so that it does not move from the placement surface on which the box is placed, and packing is performed by moving the package while grasping at least one of the diagonals of the package. 2. Description of the Related Art A packaging device that stores objects is known (see Patent Document 1).

International Publication No. 2014/125627

  However, in the conventional packing apparatus, when the box is not fixed to the mounting surface, the box may move together with the package, and as a result, it is difficult to store the package in the box with high accuracy. Met.

In order to solve at least one of the above problems, one embodiment of the present invention includes a movable portion and a force detection portion provided in the movable portion, and the package is placed in a box assembled from a packaging material. It is a packaging device which stores based on the output value of a force detection part.
With this configuration, the packing device stores the package in the box assembled from the packing material based on the output value of the force detection unit provided in the movable unit. Thereby, the packing apparatus can store a package in the box by force control, and as a result, can accurately store the package in a box that is not fixed to the placement surface.

According to another aspect of the present invention, in the packing device, the box is moved by applying a force to the first part of the box by the first part of the movable part, and the movable part is moved to the second part of the box. The structure which contacts the 2nd site | part of a part, positions the said box based on the output value of the said force detection part, and accommodates the said package in the said box may be used.
With this configuration, the packing device applies a force to the first part of the box by the first part of the movable part to move the box, and contacts the second part of the movable part with the second part of the box, thereby detecting the force. The box is positioned based on the output value of the unit, and the package is stored in the box. Thereby, the packing apparatus can store a package in the box with high accuracy based on the positioning of the box.

Further, according to another aspect of the present invention, in the packing device, the packaged object is provided by one or both of the first part of the movable part and the second part of the movable part based on the positioning of the box. The structure which arrange | positions the 1st package of the inside to the said box may be used.
With this configuration, the packing device allows the first packaged item in the packaged item to be the box body by either one or both of the first part of the movable part and the second part of the movable part based on the positioning of the box. Deploy. Thereby, the packing apparatus can suppress arrange | positioning a 1st package in the place which is not intended, such as the outer side of a box, for example.

According to another aspect of the present invention, in the packaging device, the first portion of the movable portion applies a force to the first portion of the box through the second package of the packages. May be used.
With this configuration, in the packaging device, the first part of the movable part applies a force to the first part of the box through the second packaged item in the packaged item. Thereby, the packing apparatus can apply force with respect to the 1st site | part of a box, moving the 2nd package in a box.

In addition, in another aspect of the present invention, a configuration may be used in which the second package is stored in a predetermined storage position by performing the positioning in the packing device.
With this configuration, the packing device stores the second packaged item in a predetermined storage position by positioning the box. Thereby, the packing apparatus can suppress the shift | offset | difference of the position of the box which arises when positioning of a box and accommodation of a 2nd package are performed by another operation | movement.

According to another aspect of the present invention, the second package is arranged at a predetermined arrangement position of the box, and the second package is moved by the first part of the movable part to move the second package. The structure which applies force to the 1st site | part of the said box by making it contact 1 site | part may be used.
With this configuration, the packaging device arranges the second package item at a predetermined arrangement position of the box body, moves the second package item by the first part of the movable portion, and contacts the first part of the box body. Apply force to the first part of the box. Thereby, even if the position of the box body has shifted | deviated, the packaging apparatus can position a box body, after arrange | positioning a 2nd packaged item inside a box body.

In addition, in another aspect of the present invention, in the packaging device, the predetermined arrangement position may be a substantially center of the bottom surface of the box.
With this configuration, the packaging device arranges the second package item at the substantially center of the bottom surface of the box body, and moves the second package item by the first part of the movable part to contact the first part of the box body. Apply force to the first part of the box. Thereby, even if the position of the box body has shifted | deviated, the packaging apparatus can position a box body, after arrange | positioning a 2nd package item inside a box body.

Moreover, the structure by which the said box is assembled from the said packing material of the folded state in the packing apparatus may be used for the other aspect of this invention.
With this configuration, the packaging device stores the packaged item in the box assembled from the folded packaging material based on the output value of the force detection unit provided in the movable unit. Thereby, the packing apparatus can accommodate a packaged item in the box assembled from the folded packing material by force control.

Another aspect of the present invention is a packaging method in which a package is stored in a box assembled from a folded packaging material based on an output value of a force detection unit provided in a movable unit. .
With this configuration, the packing method stores the package in a box assembled from the folded packing material based on the output value of the force detection unit provided in the movable unit. As a result, the packing method can store the package in the box by force control, and as a result, can accurately store the package even in the box that is not fixed to the placement surface.

  As described above, the packing device and the packing method store the packaged item in the box assembled from the folded packing material based on the output value of the force detection unit provided in the movable unit. Thereby, the packing device and the packing method can store the package in the box by force control, and as a result, the package is accurately stored even in the box not fixed to the mounting surface. be able to.

It is a lineblock diagram showing an example of packing system 1 concerning this embodiment. 2 is a diagram illustrating an example of a hardware configuration of a control device 30. FIG. 3 is a diagram illustrating an example of a functional configuration of a control device 30. FIG. 5 is a flowchart illustrating an example of a flow of processing in which the control unit 36 of the control device 30 causes the packing device 20 to create a predetermined number of packed boxes B. It is a flowchart which shows an example of the flow of the packing process performed by the control part 36 in step S110 shown in FIG. It is a figure which shows an example of a mode immediately after the packing apparatus control part 45 arrange | positions the packaged goods C to the arrangement position (1, 1) in the packing apparatus 20. FIG. 6 shows an example of a state immediately after the packing device control unit 45 moves both end effectors from the state shown in FIG. 6 to the first standby position (1, 1) and sets the state of both end effectors to the first standby state. FIG. It is a figure which shows an example of the mode in the object box body immediately after the packing apparatus control part 45 started 1st positioning operation | movement. It is a figure which shows an example of the mode in the object box body immediately after the packing apparatus control part 45 complete | finished 1st positioning operation | movement. 9 shows an example of a state immediately after the packing device control unit 45 moves both end effectors from the state shown in FIG. 9 to the second standby position (1, 1) and sets the state of both end effectors to the second standby state. FIG. It is a figure which shows an example of the mode in the object box body immediately after the packing apparatus control part 45 started the 2nd positioning operation. It is a figure which shows an example of the mode in the object box body immediately after the packing apparatus control part 45 complete | finished 2nd positioning operation. It is a figure which shows an example of a mode immediately after the packing apparatus control part 45 has arrange | positioned the packaged goods C2 to the packing apparatus 20 in arrangement position (2, 1). 13 shows an example of a state immediately after the packing device control unit 45 moves both end effectors from the state shown in FIG. 13 to the first standby position (2, 1) and sets the state of both end effectors to the first standby state. FIG. It is a figure which shows an example of the mode in the target box body immediately after the packing apparatus control part 45 started the 1st positioning operation | movement in the operation example 2. FIG. It is a figure which shows an example of the mode in the object box immediately after the packing apparatus control part 45 complete | finishes the 1st positioning operation | movement in the operation example 2. FIG. It is a figure which shows an example of a mode immediately after the packing apparatus 20 has accommodated the packing thing C4 by the chamferless insertion (2, 2). It is a figure which shows an example of a mode just before positioning the target box in the state which does not put the packaged article C in a target box. It is a figure which shows an example of a mode immediately after positioning the target box in the state which does not put the packaged article C in a target box. It is a figure which shows an example of a mode that both the 1st end effector END1 and the 2nd end effector END2 were made to wait on the outer side of the object box. It is a figure which shows an example of the mode immediately after positioning the object box from the state which made both the 1st end effector END1 and the 2nd end effector END2 wait on the outer side of the object box. It is a figure which shows an example of a mode that the 1st end effector END1 was made to wait on the outer side of the object box, and the 2nd end effector END2 was made to wait on the inner side of the object box. It is a figure which shows an example of the mode immediately after performing the positioning of a target box from the state which made the 1st end effector END1 wait on the outer side of a target box, and made the 2nd end effector END2 wait on the inner side of a target box. .

<Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram illustrating an example of a packaging system 1 according to the present embodiment. The packing system 1 includes a packing device 20, a gravity conveyor GC, and a belt conveyor BC. Further, the packing device 20 includes a control device 30.

  In FIG. 1, a maximum of N packages C can be placed on the gravity conveyor GC. N is an integer of 1 or more. In this example, when the number of packages C is less than a predetermined number, the packages C are supplied to the gravity conveyor GC by the user or another robot. Note that the predetermined number may be any number as long as it is an integer of 1 or more. The gravity conveyor GC supplies (carries) one or more packages C placed on the gravity conveyor GC one by one to a predetermined first supply position by gravity.

  Supplying to the first supply position means that the package C is moved so that the position of the predetermined part of the package C coincides with the first supply position. The predetermined part of the package C is, for example, the center of the bottom surface of the package C, but may be another part of the package C. The bottom surface of the package C indicates a surface in contact with the mounting surface when the package C is mounted. Note that the first supply position is any position as long as the package C can hold the package C when the position of the predetermined portion of the package C matches the first supply position. May be.

  The package C is, for example, an object such as a processed product or a part processed for industrial use, but may be another object. In this example, the package C is represented by a cubic object, but may have other shapes. In this example, the case where each of the one or more packages C has the same shape and size will be described. However, instead of this, the shape and size may be different from each other. Moreover, in this example, instead of the configuration in which the package C is supplied to the first supply position one by one by the gravity conveyor GC, it may be supplied by a belt conveyor, or may be supplied by other methods, It may be piled up.

  In FIG. 1, M boxes B1 to BM are placed on the belt of the belt conveyor BC. M is an integer of 1 or more. Below, for convenience of explanation, unless it is necessary to distinguish the boxes B1 to BM, they will be collectively referred to as box B. In the following description, the belt of the belt conveyor BC is simply referred to as a belt. For example, each of the M box bodies B is placed for each of a plurality of predetermined placement positions set on the belt. That the box B is placed at a predetermined placement position set on the belt means that the position of the predetermined portion of the box B coincides with the placement position. Indicates.

  However, each of the boxes B is not fixed at the mounting position on the belt. That is, each of the box bodies B is not fixed so as not to move for each of a plurality of predetermined mounting positions on the belt (mounting surface), but is simply mounted. The position of the predetermined part of B may deviate from the predetermined placement position. In this example, the case where the position of the predetermined part of the box B is deviated from the predetermined placement position will be described below.

  The predetermined part of the box B is, for example, the center of the bottom surface of the box B, but may be another part of the box B. Further, in this example, even when the deviation between the position of the predetermined portion of the box B and the predetermined placement position is the largest, the packing is performed with respect to the predetermined placement position set on the belt. A case will be described in which when the package C is arranged so that the positions of predetermined parts of the product C coincide with each other, the package C is misaligned to the extent that it is included inside the box B.

  The belt conveyor BC is communicably connected to the control device 30 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB (Universal Serial Bus), for example. The belt conveyor BC and the control device 30 may be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The belt conveyor BC supplies (carries) the box B placed on the belt conveyor BC to the predetermined second supply position one by one by driving the belt based on the control signal from the control device 30. .

  Supplying the box B to the second supply position means that the belt is driven so that a predetermined placement position set on the belt coincides with the second supply position, thereby being placed at the placement position. It shows that the box B is moved together with the placement position (that is, together with the belt).

  However, as described above, the box B is not fixed at the placement position on the belt. For this reason, when the box B is supplied to the second supply position by the belt conveyor BC, the position of the predetermined part of the box B is shifted from the predetermined placement position on the belt by the first position. 2 There is a case where the position does not coincide with the supply position. Note that the second supply position is any position as long as the package C can be stored in the box B by the packing device 20 when the box B is supplied to the second supply position. May be.

  The box B is, for example, a cardboard box assembled from a folded cardboard (an example of a packing material), but may be another container capable of packing the package C. The box B is a corrugated cardboard box having a shape and a size capable of packing Q packages C. Q is an integer of 1 or more. Below, the case where Q is 4 is demonstrated as an example of this. Further, in this example, the box body B may be supplied by the gravity conveyor instead of the configuration supplied to the second supply position one by one by the belt conveyor BC, or may be supplied by other methods, It may be piled up.

  The packing system 1 packs the package C in the box B by the packing device 20. Further, the packing system 1 packs Q packages C in one box B by the packing device 20. Q is an integer of 1 or more. The packing system 1 causes the packing device 20 to hold the package C supplied to the first supply position. In this example, the fact that the packing device 20 holds the packing material C indicates that the packing material C can be lifted and moved by one or more arms included in the packing device 20.

  The packing system 1 packs the package C held by the packing device 20 in the box body B supplied to the second supply position. Packing the package C in the box B indicates that the package C is stored (arranged) in a predetermined storage position in the box B in this example. Hereinafter, packing the package C in the box B will be described as storing the package C in the box B.

  Here, Q predetermined storage positions are determined in the box B. In this example, since the shape of the package C is a rectangular parallelepiped shape, the predetermined storage position is determined so that the package C is aligned in the box B with i pieces in the vertical direction and j pieces in the horizontal direction. Hereinafter, for convenience of explanation, the position of the packaged item in the i-th column and j-th row in the box B will be referred to as a storage position (i, j). I and j are integers of 1 or more. Further, I × J = Q. Here, I indicates the maximum value of i. J represents the maximum value of j. Hereinafter, as an example, a case where Q = 4, I = 2, and J = 2 will be described.

  That is, the packaging system 1 stores each of the four packages C in a predetermined storage position in the box B. In the following, for convenience of explanation, the box B in a state where each of the four packages C is stored in a predetermined storage position in the box B will be referred to as a packed box B. The packaging system 1 stores four packages C in the box B, and then transports the packed box B to the place where the next work process is performed by the belt conveyor BC, Supply to the second supply position. Then, the packaging system 1 stores the following four packages C in the box B. In addition, in this example, the packing system 1 demonstrates the case where the packing thing C is packed one by one in the box B, However, The collection of two or more packing goods C is hold | maintained, and the box for every said holding | maintenance The structure which packs the packaged goods C into B may be sufficient.

  When packing the four packages C into the box B, the packing device 20 of the packing system 1 moves the box B by applying a force to the first part of the box B with the first end effector, The second end effector is brought into contact with the second portion of B, and the box body B is positioned. Here, each of the first end effector and the second end effector includes a force sensor. Accordingly, the packaging device 20 operates the first end effector and the second end effector by the control based on the output value of the force sensor, and positions the box B. In this example, the positioning of the box B indicates that the position of a predetermined part of the box B in the robot coordinate system is detected (calculated and specified).

Thereby, the packing system 1 can accommodate the packaged goods C with high precision also with respect to the box B which is not fixed to the mounting surface. In other words, the packing system 1 can accurately pack the package C with respect to the box B even when the position of the predetermined part of the box B is deviated from the predetermined placement position set on the belt. Can be stored.
Below, the packing method to the box B of the package C by this packing system 1 is demonstrated in detail.

Here, the packing apparatus 20 with which the packing system 1 is provided is demonstrated.
The packaging device 20 includes, for example, a first imaging unit 11, a second imaging unit 12, a third imaging unit 21, a fourth imaging unit 22, a first force sensor 23-1, and a second force sensor 23-. 2, a first end effector END 1, a second end effector END 2, a first manipulator MNP 1, a second manipulator MNP 2, and a plurality of actuators (not shown), and a two-arm robot with a built-in control device 30.

  The double-arm robot refers to a robot having two arms (arms). In the present embodiment, an arm (hereinafter referred to as a first arm) configured by a first end effector END1 and a first manipulator MNP1; It has two arms, an arm (hereinafter referred to as a second arm) constituted by the second end effector END2 and the second manipulator MNP2. The first end effector END1 is an example of a first end effector. The second end effector END2 is an example of a second end effector.

  Note that the packing device 20 may be a single-arm robot instead of the double-arm robot. The single arm robot indicates a robot having one arm, for example, a robot having one of the first arm and the second arm described above.

The first arm is a seven-axis vertical articulated type, and can operate with seven degrees of freedom by an operation in which the support base, the first manipulator MNP1, and the first end effector END1 are linked by an actuator. The first arm may operate with 6 degrees of freedom (6 axes) or less, or may operate with 8 degrees of freedom (8 axes) or more. The first arm is an example of a first arm part. The first arm includes a first imaging unit 11.
The first imaging unit 11 is a camera including, for example, a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like, which is an imaging element that converts collected light into an electrical signal.

  The 1st imaging part 11 is connected with the control apparatus 30 via the cable so that communication is possible. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The first imaging unit 11 and the control device 30 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The first imaging unit 11 is provided in a part of the first manipulator MNP1 constituting the first arm as shown in FIG. 1, and can be moved by the movement of the first arm.

The second arm is a seven-axis vertical articulated type, and can operate with seven degrees of freedom by an operation in which the support base, the second manipulator MNP2, and the second end effector END2 are linked by an actuator. Note that the second arm may operate with 6 degrees of freedom (6 axes) or less, or may operate with 8 degrees of freedom (8 axes) or more. The second arm is an example of a second arm part. Further, the second arm includes a second imaging unit 12.
The second imaging unit 12 is, for example, a camera that includes a CCD, a CMOS, or the like that is an imaging device that converts collected light into an electrical signal.

  The second imaging unit 12 is connected to the control device 30 via a cable so as to be communicable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The second imaging unit 12 and the control device 30 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The second imaging unit 12 is provided in a part of the second manipulator MNP2 constituting the second arm as shown in FIG. 1, and can be moved by the movement of the second arm.

  Here, when the packing apparatus 20 is a double-arm robot as in this example, part or all of the first arm and part or all of the second arm are examples of the movable part. The part or the whole of the first arm indicates a part or the whole of the first end effector END1 and the first manipulator MNP1 constituting the first arm. The part or all of the second arm refers to part or all of the second end effector END2 and the second manipulator MNP2 constituting the second arm. When the packing device is a single-arm robot, a part or all of either the first arm or the second arm included in the single-arm robot is an example of the movable unit.

  The third imaging unit 21 is, for example, a camera that includes a CCD, a CMOS, or the like that is an imaging element that converts collected light into an electrical signal. The 3rd imaging part 21 is connected with the control apparatus 30 via the cable so that communication is possible. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The second imaging unit 12 and the control device 30 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The fourth imaging unit 22 is, for example, a camera that includes a CCD, a CMOS, or the like that is an imaging element that converts the collected light into an electrical signal. The fourth imaging unit 22 is communicably connected to the control device 30 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The fourth imaging unit 22 and the control device 30 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In the present embodiment, the packaging device 20 may be configured not to include some or all of the first imaging unit 11, the second imaging unit 12, the third imaging unit 21, and the fourth imaging unit 22. Further, when the packaging device 20 includes a part or all of the first imaging unit 11, the second imaging unit 12, the third imaging unit 21, and the fourth imaging unit 22, the first imaging unit 11, the second imaging unit 12, Part or all of the third imaging unit 21 and the fourth imaging unit 22 may be provided separately from the packaging device 20.

  The first force sensor 23-1 is provided between the first end effector END1 and the first manipulator MNP1. The first force sensor 23-1 detects a force or moment acting on the first end effector END1. The first force sensor 23-1 outputs information indicating the detected force and moment (hereinafter referred to as force sensor information) to the control device 30 through communication. The first force sensor 23-1 may be another sensor that detects a force or moment applied to the first end effector END1, such as a torque sensor. The first force sensor 23-1 is an example of a force detection unit.

  The second force sensor 23-2 is provided between the second end effector END2 and the second manipulator MNP2. The second force sensor 23-2 detects a force and a moment acting on the second end effector END2. The second force sensor 23-2 outputs information indicating the detected force and moment (hereinafter referred to as force sensor information) to the control device 30 through communication. The second force sensor 23-2 may be another sensor that detects a force or moment applied to the second end effector END2, such as a torque sensor. The second force sensor 23-2 is an example of a force detection unit.

  The force sensor information detected by one or both of the first force sensor 23-1 and the second force sensor 23-2 is used for control based on the force sensor information of the packaging device 20 by the control device 30. Control based on force sensor information indicates compliance control such as impedance control, for example. In the following description, the first force sensor 23-1 and the second force sensor 23-2 will be collectively referred to as the force sensor 23 unless it is necessary to distinguish them. A value indicating the magnitude of the force or the magnitude of the moment included in the force sensor information is an example of an output value of the force sensor.

  The packing device 20 is controlled by a built-in control device 30. Note that the packaging device 20 may be configured to be controlled by the control device 30 installed outside, instead of the configuration incorporating the control device 30.

  The first imaging unit 11, the second imaging unit 12, the third imaging unit 21, the fourth imaging unit 22, the first force sensor 23-1, the second force sensor 23-2, and the first end effector END1 included in the packing device 20 Each of the second end effector END2, the first manipulator MNP1, the second manipulator MNP2, and a plurality of actuators (not shown) (hereinafter referred to as functional units included in the packaging device 20) is incorporated in the packaging device 20, for example. The controller 30 is communicably connected by a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. In addition, each function part with which the packaging apparatus 20 is provided, and the control apparatus 30 may be connected by the wireless communication performed by communication standards, such as Wi-Fi (trademark). In this embodiment, each function part with which the packing apparatus 20 is provided acquires a control signal from the control apparatus 30 incorporated in the packing apparatus 20, and performs the operation | movement based on the acquired control signal.

  The control device 30 operates the packaging device 20 by transmitting a control signal to the packaging device 20. The control device 30 causes the package C to be stored in the box B by operating the packaging device 20. Moreover, the control apparatus 30 operates the belt conveyor BC by transmitting a control signal to the belt conveyor BC. The control device 30 supplies the box B to the second supply position by operating the belt conveyor BC. The control device 30 may be configured not to operate the belt conveyor BC instead of the configuration to operate the belt conveyor BC. In this case, the belt conveyor BC may be operated by another control device, or may be operated by a user such as an operator.

  Next, the hardware configuration of the control device 30 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a hardware configuration of the control device 30. The control device 30 includes, for example, a CPU (Central Processing Unit) 31, a storage unit 32, an input reception unit 33, a communication unit 34, and a display unit 35, and communicates with the packaging device 20 via the communication unit 34. Do. These components are connected to each other via a bus Bus so that they can communicate with each other. The CPU 31 executes various programs stored in the storage unit 32.

  The storage unit 32 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), and the like. Various information, images, programs and the like processed by the control device 30 are stored. Note that the storage unit 32 may be an external storage device connected by a digital input / output port such as a USB instead of the one built in the control device 30.

The input receiving unit 33 is, for example, a teaching pendant provided with a keyboard, a mouse, a touch pad, or the like, or other input device. In addition, the input reception part 33 may be comprised integrally with a display part as a touchscreen.
The communication unit 34 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.
The display unit 35 is, for example, a liquid crystal display panel or an organic EL (ElectroLuminescence) display panel.

  Next, the functional configuration of the control device 30 will be described with reference to FIG. FIG. 3 is a diagram illustrating an example of a functional configuration of the control device 30. The control device 30 includes a storage unit 32, an input reception unit 33, a display unit 35, and a control unit 36.

  The control unit 36 controls the entire control device 30. The control unit 36 includes a position information reading unit 41, a position detection unit 42, a position calculation unit 43, a force sensor information acquisition unit 44, a packing device control unit 45, a counting unit 46, a determination unit 47, a belt A conveyor control unit 48 is provided. Part or all of the functional units included in the control unit 36 is realized by the CPU 31 executing various programs stored in the storage unit 32, for example. Some or all of these functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

  The position information reading unit 41 reads various position information stored in the storage unit 32 in advance. The various types of position information are information described in the flowchart shown in FIG. 5, for example, the information indicating the first supply position and the information indicating the second supply position, the storage position (1, 1) to the storage position. It includes information indicating each of (I, J).

  The position detection unit 42 detects a position in one or both of the first end effector END1 and the second end effector END2 based on the force sensor information acquired from the force sensor 23. In this example, the position of the first end effector END1 in the robot coordinate system indicates the position of the TCP (Tool Center Point) of the first end effector END1 in the robot coordinate system. Further, the position of the second end effector END2 in the robot coordinate system indicates the position of the second end effector END2 in the TCP robot coordinate system.

The position calculation unit 43 calculates various positions necessary for causing the packing device 20 to perform a positioning operation for positioning the box B in the flowchart shown in FIG.
The force sensor information acquisition unit 44 acquires force sensor information detected by the force sensor 23.
The packaging device control unit 45 operates the packaging device 20 based on information indicating various positions calculated by the position calculation unit 43. Further, the packaging device control unit 45 operates the packaging device 20 by control based on the force sensor information acquired by the force sensor information acquisition unit 44.

The counting unit 46 counts the number of packed boxes B created by the packing device 20.
The determination unit 47 determines whether or not the number of packed boxes B counted by the counting unit 46 has reached a predetermined number. The predetermined number is, for example, 10, but may be another number. Further, the determination unit 47 performs various determinations described in the flowchart illustrated in FIG.
The belt conveyor control unit 48 operates the belt conveyor BC to supply the box B to the second supply position. Moreover, the belt conveyor control part 48 operates the belt conveyor BC, and supplies the packed box B to the place where the next work process is performed.

Next, with reference to FIG. 4, a process in which the control unit 36 of the control device 30 causes the packing device 20 to create a predetermined number of packed boxes B will be described. FIG. 4 is a flowchart illustrating an example of a flow of processing in which the control unit 36 of the control device 30 causes the packing device 20 to create a predetermined number of packed boxes B. In the following description, it is assumed that the count number of the packed box B counted by the counting unit 46 is initialized to 0 before the process of step S100 is performed.
First, the belt conveyor control unit 48 drives the belt of the belt conveyor BC to supply the box B to the second supply position (step S100).

  Next, the control part 36 performs a packing process by each function part with which the control part 36 is provided, and accommodates the four packages C in the box B supplied in step S100 (step S110). Then, the counting unit 46 increases the count number of the packed box B by one. Next, the determination unit 47 determines whether or not the number of packed boxes B counted by the counting unit 46 has reached a predetermined number (step S120). If the determination unit 47 determines that the count of the packed box B counted by the counting unit 46 has not reached the predetermined number (step S120—No), the belt conveyor control unit 48 transitions to step S100. Then, the next box B is supplied to the second supply position. On the other hand, when the determination unit 47 determines that the count number of the packed box B counted by the counting unit 46 has reached a predetermined number (step S120—Yes), the control unit 36 ends the process.

  Next, with reference to FIG. 5, the packing process performed by the control part 36 in step S110 shown in FIG. 4 is demonstrated. FIG. 5 is a flowchart showing an example of the flow of the packing process performed by the control unit 36 in step S110 shown in FIG.

In this example, the operation of the packing device 20 performed by the process of the flowchart shown in FIG. 5 differs depending on the storing order of the packing items C stored in a certain box B. More specifically, the operation of the packing device 20 includes the operation of packing the package C to be stored first in the box B among the packages C to be stored in a certain box B, and storing the package C other than the first and last. The operation of packing the package C to be packed in the box B is different from the operation of packing the package C to be stored last in the box B.
Therefore, in the following, the operation of packing the package C to be stored first in the box B, the operation of packing the package C to be stored in a box other than the first and last, and the package to be stored last. The operation of packing C in the box B will be described in order with reference to the flowchart shown in FIG.

  In the following description, for convenience of explanation, the box B in which the packing device 20 stores the packaged goods C in step S110 illustrated in FIG. 4 will be referred to as a target box. In the following, the storage order of the packages C stored in the target box is represented by a variable r. That is, in the case of the variable r = 1, the packing device 20 performs an operation of packing the package C stored first in the target box among the packages C stored in the target box. Moreover, in the case of the variable r = 2 to Q-1, the packing device 20 performs an operation of packing the packing material C stored in the target box other than the first and last among the packings C stored in the target box. . In the case of the variable r = Q, the packing device 20 performs an operation of packing the package C stored last in the package C stored in the target box into the target box.

<Operation Example 1: About the operation of packing the package C to be stored first into the target box>
Below, the case where the control part 36 has read the packing relevant information previously memorize | stored in the memory | storage part 32 is demonstrated. The packing-related information is information indicating the shape and size of the package C and the box B, and information indicating the shape and size of the first end effector END1 and the second end effector END2. Hereinafter, a case where the control unit 36 has already read the information indicating the second supply position stored in the storage unit 32 from the storage unit 32 will be described. Here, the second supply position is represented in the robot coordinate system.

  First, the control unit 36 generates a variable r. Moreover, the control part 36 selects the numbers from 1 to Q in order from the smallest number. The control unit 36 substitutes the selected value for the variable r. And the control part 36 performs the process from step S210 to step S330 repeatedly for every value substituted to the variable r (step S200). In the operation example 1, the control unit 36 substitutes 1 for the variable r.

  Next, the position information reading unit 41 reads information indicating the first supply position stored in the storage unit 32 in advance from the storage unit 32. Here, the first supply position is represented in the robot coordinate system. The packing apparatus control unit 45 causes the packing apparatus 20 to hold the package C supplied to the first supply position by the gravity conveyor GC based on the read information indicating the first supply position and the packing-related information (step) S210). Further, the packing device control unit 45 causes the first end effector END1 and the second end effector END2 to hold the package C by control based on the force sensor information acquired by the force sensor information acquisition unit 44.

  Hereinafter, for convenience of explanation, the first end effector END1 and the second end effector END2 will be collectively referred to as both end effectors. Also, holding the package C by both end effectors means, for example, that the package C is sandwiched between the claw part provided in the first end effector END1 and the claw part provided in the second end effector END2, and is lifted and moved. It shows that it can be made ready.

Next, the determination unit 47 determines whether or not the value assigned to the variable r is Q (4 in this example) (step S220).
When the determination unit 47 determines that the value assigned to the variable r is Q (step S220—Yes), the packaging device control unit 45 advances the process to step S330.
On the other hand, when the determination unit 47 determines that the value assigned to the variable r is not Q (step S220—No), the packaging device control unit 45 advances the process to step S230.

  In step S220 in the operation example 1, the determination unit 47 determines that the value assigned to the variable r is not Q because the variable r = 1. Therefore, in operation example 1, only the case where the determination unit 47 determines that the value assigned to the variable r in step S220 is not Q will be described.

  When the determination unit 47 determines that the value assigned to the variable r is not Q, the position information reading unit 41 reads matrix number correspondence information stored in the storage unit 32 in advance. The matrix number correspondence information is information in which the number of columns i and the number of rows j corresponding to the value substituted for the variable r are associated. In this example, the number of columns i and the number of rows j associated with r are as follows.

r = 1 <-(corresponding)-> (i, j) = (1,1)
r = 2 <-(corresponding)-> (i, j) = (2,1)
r = 3 <-(corresponding)-> (i, j) = (1,2)
r = 4 <-(corresponding)-> (i, j) = (2,2)

  The position information reading unit 41 extracts the number of columns i and the number of rows j corresponding to the value assigned to the current variable r from the read matrix number correspondence information. The position information reading unit 41 reads information indicating the arrangement position (i, j) stored in advance in the storage unit 32 from the storage unit 32 based on the extracted column number i and row number j. The arrangement position (i, j) is a position where the package C is temporarily arranged as a preliminary preparation before being stored in the storage position (i, j) in the target box. In addition, the arrangement position (i, j) is expressed as, for example, a relative position from some position to the arrangement position (i, j). The position calculation unit 43 calculates the arrangement position (i, j) in the robot coordinate system based on the information indicating the arrangement position (i, j) read by the position information reading unit 41 (step S230).

  In step S230 in the operation example 1, the position information reading unit 41 extracts the number of columns and the number of rows satisfying (i, j) = (1, 1) from the matrix number correspondence information. The position information reading unit 41 reads information indicating the arrangement position (1, 1) from the storage unit 32 based on the number of columns and the number of rows where (i, j) = (1, 1) is extracted. The arrangement position (1, 1) is represented as a relative position from the second supply position to the arrangement position (1, 1). That is, the position calculation unit 43 determines the arrangement position (1, 1, 2) in the robot coordinate system based on the information indicating the read arrangement position (1, 1) and the information indicating the second supply position read from the storage unit 32 in advance. 1) is calculated.

  Here, the second supply position is a position that coincides with a position of a predetermined portion of the target box when the target box is accurately placed at a predetermined placement position set on the belt. In this example, the predetermined part of the target box, that is, the predetermined part of the box B is the center of the bottom surface of the box B. Therefore, even if the position of the predetermined part of the target box is deviated from the second supply position as in this example, the packaged item so that the position of the predetermined part of the package C matches the second supply position. When C is arranged, there is a high possibility that the package C can be arranged inside the target box. For this reason, it is desirable that the arrangement position (1, 1) in the operation example 1 coincides with the second supply position. Therefore, in the following, a case where the arrangement position (1, 1) coincides with the second supply position will be described.

Next, the packing device control unit 45 places the package C in the packing device 20 based on the information indicating the placement position (i, j) in the robot coordinate system calculated by the position calculation unit 43 in step S230. , J) (step S240). Arranging the package C at the arrangement position (i, j) in the robot coordinate system means that the position of the predetermined part of the package C matches the arrangement position (i, j) in the robot coordinate system.
In step S240 in this operation example 1, the packaging device control unit 45 arranges the package C in the packaging device 20 based on the information indicating the arrangement position (1, 1) in the robot coordinate system calculated by the position calculation unit 43. It arrange | positions in a position (1, 1).

  Here, with reference to FIG. 6, the process of step S240 in the operation example 1 will be described. FIG. 6 is a diagram illustrating an example of a state immediately after the packing device control unit 45 has placed the package C in the packing device 20 at the placement position (1, 1). The x coordinate and y coordinate of the coordinate axes shown in FIG. 6 represent positions in the robot coordinate system. Since the coordinate axes are common in FIGS. 6 to 23, description thereof is omitted in FIGS. 7 to 23. 6 to 23, the x coordinate axis and the y coordinate axis of this coordinate axis may be reversed. In the following description, the package C that the packaging device 20 stores in the target box in the operation example 1 is referred to as a package C1.

  As described above, in this example, the second supply position and the arrangement position (1, 1) indicate the same position, and therefore coincide with a predetermined placement position set on the belt. Moreover, in this example, the position of the predetermined part of the target box is shifted without matching the predetermined placement position set on the belt. That is, when the packing apparatus 20 is operated so that the packing object C1 held by the both end effectors by the packing apparatus control unit 45 is arranged at the arrangement position (1, 1), the packing apparatus 20 is shown in FIG. As described above, it is arranged at a position inside the target box and deviating from the position of the predetermined part of the target box. In the example shown in FIG. 6, the dotted circle P1 indicates the arrangement position (1, 1), that is, the second supply position, and the dotted circle P2 indicates the position of the predetermined portion of the target box. As shown in FIG. 6, the arrangement position (1, 1) is deviated from the position of the predetermined portion of the target box.

  Here, for convenience of explanation, when the package C1 is arranged at the arrangement position (1, 1), the four wall surfaces of the target box surrounding the package C1 are respectively located on the positive direction side of the x coordinate axis of the robot coordinate system. The description will be made by referring to the wall surface W1, the wall surface W2, the wall surface W3, and the wall surface W4 in the clockwise order from the wall surface. Since these wall surfaces W1-W4 are common in FIGS. 6-23, description is abbreviate | omitted in FIGS. 7-23.

  In FIG. 6, the arrow extending from the first end effector END1 represents the direction of the force applied to the package C1 by the first end effector END1 based on the force sensor information. In FIG. 6, the arrow extending from the second end effector END2 represents the direction of the force applied to the package C1 by the second end effector END2 based on the control based on the force sensor information.

Returning to FIG. Next, the position information reading unit 41 stores information indicating the first standby position (i, j) stored in advance in the storage unit 32 based on the number of columns i and the number of rows j extracted in step S230. (Step S250).
In step S250 in this operation example 1, the packaging device control unit 45 reads the information indicating the first standby position (1, 1) from the storage unit 32.

  The information indicating the first standby position (i, j) includes information indicating the 1-1 standby position (i, j) and information indicating the 1-2 standby position (i, j). The 1-1st standby position (i, j) is a position where the first end effector END1 waits as a preliminary preparation before performing the first positioning operation in step S280, and is represented by a robot coordinate system. The 1-2 standby position (i, j) is a position for waiting the second end effector END2 as a preliminary preparation before performing the first positioning operation in step S280, and is represented by the robot coordinate system. The In the following description, for convenience of explanation, the first standby position (i, j) is collectively collected unless it is necessary to distinguish the 1-1 standby position (i, j) and the 1-2 standby position (i, j). ) And will be described.

  Here, when it is not necessary to perform the first positioning operation when the package C is stored in the storage position (i, j), the first standby position (i, j) includes movement unnecessary information. The movement unnecessary information is information indicating a position where the packaging device 20 cannot move either one or both of the first end effector END1 and the second end effector END2. For example, the movement unnecessary information is information indicating a position inside the floor surface on which the packaging device 20 is installed. The first standby position (i, j) includes movement-unnecessary information is information indicating the 1-1 standby position (i, j) and information indicating the 1-2 standby position (i, j). The movement-unnecessary information is included in one or both of.

Next, the determination unit 47 determines whether or not movement unnecessary information is included in the information indicating the first standby position (i, j) (step S260).
When the determination unit 47 determines that the movement unnecessary information is not included in the information indicating the first standby position (i, j) (step S260-No), the packaging device control unit 45 advances the process to step S270.
On the other hand, when the determination unit 47 determines that the information indicating the first standby position (i, j) includes movement unnecessary information (Yes in step S260), the packaging device control unit 45 proceeds to step S290. Proceed.

  In step S260 in the operation example 1, the information indicating the first standby position (1, 1) does not include movement unnecessary information. For this reason, in this operation example 1, only the case where the determination unit 47 determines in step S260 that the information indicating the first standby position (1, 1) does not include movement unnecessary information will be described.

  When the determination unit 47 determines that no movement unnecessary information is included in the first standby position (i, j), the packaging device control unit 45 is based on the information indicating the first standby position (i, j). The first end effector END1 is moved to the 1-1 standby position (i, j), and the second end effector END2 is moved to the 1-2 standby position (i, j). Hereinafter, the first end effector END1 is moved to the 1-1 standby position (i, j) and the second end effector END2 is moved to the 1-2 standby position (i, j). In the following description, the end effector is moved to the first standby position (i, j). Then, after moving both end effectors to the first standby position (i, j), the packing device control unit 45 sets the states of both end effectors to the first standby state and stands by (step S270).

  Here, the first standby position (i, j) will be described. The first standby position (i, j) is a position where both end effectors can be brought into the first standby state. The first standby state is a state in which the straight line connecting the TCPs of both end effectors is waiting side by side between the package C and the wall surface of the target box so as to be parallel to the x coordinate axis in the robot coordinate system. It is. The first standby state is, for example, a state that satisfies the first state conditions 1) to 6) shown below.

Condition 1) The package C in which the straight line connecting the TCP position of the first end effector END1 and the TCP position of the second end effector END2 is the surface closest to the first end effector END1 and the second end effector END2 Condition 2) The straight line in condition 1 is substantially parallel to the x coordinate axis in the robot coordinate system. Condition 3) The straight line in condition 1 passes over the position of a predetermined part of the package C. Condition 4 ) The surface of the package C where the parts (surfaces) holding the packages C of the first end effector END1 and the second end effector END2 are the surfaces closest to the first end effector END1 and the second end effector END2. 5) The position of the TCP of the first end effector END1 and the second end effector. 6) Condition 6) The distance between the TCP position of the first end effector END1 and the TCP position of the second end effector END2 is determined by the distance between the TCP position of the first END2 and the target box. Be between the body wall

  The predetermined distance is, for example, a distance such that the distance between the first end effector END1 and the second end effector END2 is about 1 centimeter, but may be another distance. However, the predetermined distance is such that both the first end effector END1 at the first standby position (i, j) and the second end effector END2 at the first standby position (i, j) are the package C and the target box. (For example, in the example shown in FIG. 7, which will be described later), the distance must be within the gap between the package C1 and the wall surface W1. In the above conditions 1) to 6, the position of the first end effector END1 and the position of the second end effector END2 may be closer to the package C. In this example, the case where the first end effector END1 is close to the package C and the second end effector END2 is far from the package C will be described.

  The portion (surface) that holds the package C of the first end effector END1 is, for example, a plurality of claws provided in the first end effector END1 when the package C of the first end effector END1 is held. The surface containing the some contact point which each of a part and the packaged goods C contact is shown. The portion (surface) that holds the package C of the second end effector END2 is, for example, a plurality of claws that the second end effector END2 includes when holding the package C of the second end effector END2. The surface containing the some contact point which each of a part and the packaged goods C contact is shown. Further, the first state condition may include a part of the above conditions 1) to 6), and may include other conditions in addition to the above conditions 1) to 6). There may be a configuration including other conditions without including a part of the above conditions 1) to 6).

  In step S270 in the operation example 1, the packaging device controller 45 moves both end effectors to the first standby position (1, 1) based on the information indicating the first standby position (1, 1). And the packing apparatus control part 45 makes the state of both end effectors a 1st standby state, and makes it wait.

  Here, the first standby state in the operation example 1 will be described with reference to FIG. FIG. 7 shows a state immediately after the packing device control unit 45 moves both end effectors from the state shown in FIG. 6 to the first standby position (1, 1) and sets the state of both end effectors to the first standby state. It is a figure which shows an example. In FIG. 7, a dotted circle T1 indicates the TCP position of the first end effector END1. A dotted circle T2 indicates the TCP position of the second end effector END2. Further, a straight line connecting the circle T1 and the circle T2 (that is, a straight line connecting the TCP position of the first end effector END1 and the TCP position of the second end effector END2) is indicated by a one-dot chain line L1.

  In FIG. 7, the portion (surface) that holds the package C1 of the first end effector END1 is referred to as a surface M1, and the portion (surface) that holds the package C1 of the second end effector END2 is a surface. Called M2. In FIG. 7, the surface of the package C1 closest to the first end effector END1 and the second end effector END2 is referred to as a surface M3. Surfaces 1 to 3 are all substantially parallel. The alternate long and short dash line L1 and the surface M3 are orthogonal to each other. The alternate long and short dash line L1 passes through a dotted circle AR1 representing the arrangement position (1, 1). In FIG. 7, it is assumed that the distance between the TCP position of the first end effector END1 and the TCP position of the second end effector END2 is a predetermined distance.

  That is, the state of both end effectors in FIG. 7 is the first standby state because the first state condition is satisfied. There are two positions in the target box where the state of both end effectors can be set to the first standby state. The two places are between the package C1 and the wall surface W1 and between the package C1 and the wall surface W3. The example shown in FIG. 7 shows a case where the position between the package C1 and the wall surface W1 has been determined in advance by the user as the first standby position (1, 1) from among the two locations.

  Returning to FIG. Next, the packing device control unit 45 detects the x coordinate in the robot coordinate system of the predetermined part of the target box by causing the packing device 20 to perform the first positioning operation (step S240). Here, in the first positioning operation, both the end effectors that are in the first standby state at the first standby position (i, j) are moved in the direction parallel to the x-axis, and the first end effector END1 and the second end effector This is an operation for positioning by moving both end effectors in a direction away from the end effector END2.

  Here, with reference to FIG.8 and FIG.9, the 1st positioning operation | movement in the operation example 1 is demonstrated. FIG. 8 is a diagram illustrating an example of a state in the target box immediately after the packing device control unit 45 starts the first positioning operation. Moreover, FIG. 9 is a figure which shows an example of the mode in the object box immediately after the packing apparatus control part 45 complete | finishes 1st positioning operation | movement.

  As shown in FIG. 8 as the first positioning operation in the first operation example, the packaging device control unit 45 moves the first end effector END1 toward the wall surface W3 opposite to the wall surface W1 closest to both end effectors. Is moved from the position of the first end effector END1 shown in FIG. At this time, the packing device control unit 45 acquires force sensor information from the first force sensor 23-1 by the force sensor information acquisition unit 44, and moves the first end effector END1 by control based on the acquired force sensor information.

  Due to the movement of the first end effector END1, the package C1 comes into contact with the first end effector END1 and moves together with the first end effector END1. Further, due to the movement of the package C1 that moves together with the first end effector END1, the wall surface W3 of the target box comes into contact with the package C1, and moves together with the first end effector END1 and the package C1. That is, the first end effector END1 moves the target box body by applying a force to the wall surface W3 of the target box body via the package C1. The wall surface W3 of the target box is an example of a first part of the box. The first end effector END1 that applies force to the wall surface W3 of the target box that is an example of the first part of the box is an example of the first part of the movable part. The packing device control unit 45 moves the first end effector END1 until the second end effector END2 comes into contact with the wall surface W1 by the movement of the target box.

  That is, the state shown in FIG. 8 shows that the packaging device controller 45 brings the first end effector END1 into contact with the packaged item C1, and keeps the first end effector END1 and the wall surface W1 closest to both end effectors in contact with each other. It is a state immediately after starting to move toward the opposite wall surface W3. Further, the state shown in FIG. 9 is a state immediately after the packaging device control unit 45 stops the movement of the first end effector END1 by the second end effector END2 coming into contact with the wall surface W1.

  The packaging device control unit 45 determines whether or not the wall surface W1 has come into contact with the second end effector END2, and the second end included in the force sensor information acquired from the second force sensor 23-2 by the force sensor information acquisition unit 44. Judgment is made based on whether or not the force applied to the effector END2 exceeds a predetermined threshold value. The wall surface W1 of the target box is an example of the second part of the box. Further, the second end effector END2 that is in contact with the wall surface W1 of the target box, which is an example of the second part of the box, is an example of the second part of the movable part. During the movement of the first end effector END1, the packing device control unit 45 obtains the position of the second end effector END2 from the second force sensor 23-2 by the force sensor information acquisition unit 44. Fixed by control based on information.

  After the wall surface W1 is brought into contact with the second end effector END2 in this way, the position detection unit 42 determines the TCP position of the second end effector END2 and the shape and size of the second end effector END2 included in the packing related information. The x coordinate in the robot coordinate system of the predetermined part of the target box is detected (calculated) based on the information indicating the height and the information indicating the shape and size of the box B included in the packing related information.

Returning to FIG. Next, the position information reading unit 41 stores information indicating the second standby position (i, j) stored in advance in the storage unit 32 based on the number of columns i and the number of rows j extracted in step S230. (Step S290).
In step S290 in this operation example 1, the packaging device control unit 45 reads the information indicating the second standby position (1, 1) from the storage unit 32.

  The information indicating the second standby position (i, j) includes information indicating the 2-1 standby position (i, j) and information indicating the 2-2 standby position (i, j). The 1-1st standby position (i, j) is a position where the first end effector END1 waits as a preliminary preparation before performing the second positioning operation in step S320, and is represented by a robot coordinate system. The 2-2 standby position (i, j) is a position for waiting the second end effector END2 as a preliminary preparation before performing the second positioning operation in step S320, and is represented by the robot coordinate system. The In the following, for convenience of explanation, unless it is necessary to distinguish between the 2-1 standby position (i, j) and the 2-2 standby position (i, j), the second standby position (i, j) is collectively collected. ) And will be described.

  Here, when it is not necessary to perform the second positioning operation when the package C is stored in the storage position (i, j), the second standby position (i, j) includes movement unnecessary information. The movement-unnecessary information is included in the second standby position (i, j) means that information indicating the 2-1 standby position (i, j) and information indicating the 2-2 standby position (i, j) It is that movement unnecessary information is included in either one or both.

Next, the determination unit 47 determines whether or not movement unnecessary information is included in the information indicating the second standby position (i, j) (step S300).
When the determination unit 47 determines that the movement unnecessary information is not included in the information indicating the second standby position (i, j) (No in step S300), the packaging device control unit 45 advances the process to step S310.
On the other hand, when the determination unit 47 determines that the information indicating the second standby position (i, j) includes movement unnecessary information (Yes in step S300), the packaging device control unit 45 proceeds to step S200. Go ahead and select the next value to assign to variable r.

  In step S310 in this operation example 1, the information indicating the second standby position (1, 1) does not include movement unnecessary information. For this reason, in the operation example 1, only the case where the determination unit 47 determines that the information indicating the second standby position (1, 1) does not include the movement unnecessary information in step S300 will be described.

  When the determination unit 47 determines that the second standby position (i, j) does not include movement unnecessary information, the packaging device control unit 45 is based on the information indicating the second standby position (i, j). The first end effector END1 is moved to the 2-1 standby position (i, j), and the second end effector END2 is moved to the 2-2 standby position (i, j). Hereinafter, the first end effector END1 is moved to the 2-1 standby position (i, j) and the second end effector END2 is moved to the 2-2 standby position (i, j). In the following description, the end effector is moved to the second standby position (i, j). Then, after moving both end effectors to the second standby position (i, j), the packaging device controller 45 sets the states of both end effectors to the second standby state and waits (step S310).

  Here, the second standby position (i, j) will be described. The second standby position (i, j) is a position where both end effectors can be brought into the second standby state. The second standby state is a state in which the straight line connecting the TCPs of both end effectors is waiting side by side between the package C and the wall surface of the target box so that it is parallel to the y coordinate axis in the robot coordinate system. It is. The second standby state is, for example, a state that satisfies the second state conditions 7) to 12) shown below.

Condition 7) The package C in which the straight line connecting the TCP position of the first end effector END1 and the TCP position of the second end effector END2 is the surface closest to the first end effector END1 and the second end effector END2 Condition 8) The straight line in condition 7 is substantially parallel to the y coordinate axis in the robot coordinate system. Condition 9) The straight line in condition 7 passes over the position of a predetermined part of the package C. Condition 10 ) The surface of the package C1 in which the parts (surfaces) holding the packages C1 of the first end effector END1 and the second end effector END2 are the surfaces closest to the first end effector END1 and the second end effector END2. 11) The TCP position of the first end effector END1 and the second d Condition 12) The distance between the TCP position of the second effector END2 is a predetermined distance. 12) The TCP position of the first end effector END1 and the TCP position of the second end effector END2 are the target of the package C. Present between the wall of the box

  The second state condition may include a part of the above conditions 7) to 12), and may include other conditions in addition to the above conditions 7) to 12). There may be a configuration that includes other conditions without including a part of the above conditions 7) to 12). Further, in the above conditions 7) to 12), either the position of the first end effector END1 or the position of the second end effector END2 may be a position close to the package C. In this example, the case where the first end effector END1 is close to the package C and the second end effector END2 is far from the package C will be described.

  In step S310 in this operation example 1, the packaging device controller 45 moves both end effectors to the second standby position (1, 1) based on the information indicating the second standby position (1, 1). And the packing apparatus control part 45 makes the state of both end effectors the 2nd standby state, and makes it wait.

  Here, the second standby state in the operation example 1 will be described with reference to FIG. FIG. 10 shows a state immediately after the packaging device control unit 45 moves both end effectors from the state shown in FIG. 9 to the second standby position (1, 1) and sets the state of both end effectors to the second standby state. It is a figure which shows an example. In FIG. 10, a straight line connecting the circle T1 and the circle T2 (that is, a straight line connecting the TCP position of the first end effector END1 and the TCP position of the second end effector END2) is indicated by a one-dot chain line L2.

  In FIG. 10, the surface closest to the first end effector END1 and the second end effector END2 of the package C1 is referred to as a surface M4. The surface M1, the surface M2, and the surface M4 are all substantially parallel. The alternate long and short dash line L2 and the surface M4 are orthogonal to each other. The alternate long and short dash line L2 passes through a dotted circle AR3 representing a predetermined part of the target box. In FIG. 10, it is assumed that the distance between the TCP position of the first end effector END1 and the TCP position of the second end effector END2 is a predetermined distance.

  That is, the state of both end effectors in FIG. 10 is the second standby state because the second state condition is satisfied. There are two positions in the target box where the state of both end effectors can be in the second standby state. The two places are between the package C1 and the wall surface W2 and between the package C1 and the wall surface W4. The example shown in FIG. 10 shows a case where the position between the package C1 and the wall surface W2 has been determined in advance by the user as the second standby position (1, 1) from among the two locations.

  Returning to FIG. Next, the packing apparatus control unit 45 detects the y coordinate in the robot coordinate system of the predetermined part of the target box by causing the packing apparatus 20 to perform the second positioning operation (step S320). Here, in the second positioning operation, both the end effectors that are in the second standby state at the second standby position (i, j) are moved in the direction parallel to the y-axis, and the first end effector END1 and the second end effector This is an operation for positioning by moving both end effectors in a direction away from the end effector END2.

  Here, the second positioning operation in the operation example 1 will be described with reference to FIGS. 11 and 12. FIG. 11 is a diagram illustrating an example of a state in the target box immediately after the packing device control unit 45 starts the second positioning operation. Moreover, FIG. 12 is a figure which shows an example of the mode in the object box immediately after the packing apparatus control part 45 complete | finishes 2nd positioning operation.

  As shown in FIG. 11, the packing device control unit 45 moves the first end effector END1 toward the wall surface W4 opposite to the wall surface W2 closest to both end effectors as shown in FIG. 1 Move from the position of the end effector END1. At this time, the packing device control unit 45 acquires force sensor information from the first force sensor 23-1 by the force sensor information acquisition unit 44, and moves the first end effector END1 by control based on the acquired force sensor information.

  Due to the movement of the first end effector END1, the package C1 comes into contact with the first end effector END1 and moves together with the first end effector END1. Further, due to the movement of the package C1 that moves together with the first end effector END1, the wall surface W4 of the target box comes into contact with the package C1 and moves together with the first end effector END1 and the package C1. That is, the first end effector END1 moves the target box body by applying a force to the wall surface W4 of the target box body via the package C1. The wall surface W4 of the target box is an example of a first part of the box. Moreover, the packing apparatus control part 45 completes accommodation of the package C1 to the predetermined | prescribed storage position (1, 1) in a target box body by making the package C1 contact the wall surface W4 of a target box. The package C1 is an example of a second object. The packing device control unit 45 moves the first end effector END1 until the second end effector END2 comes into contact with the wall surface W2 by the movement of the target box.

  That is, the state shown in FIG. 11 shows that the packaging device controller 45 brings the first end effector END1 into contact with the packaged item C1, and keeps the first end effector END1 in contact with the wall surface W2 closest to both end effectors. It is a state immediately after starting to move toward the opposite wall surface W4. Further, the state illustrated in FIG. 12 is a state immediately after the packaging device control unit 45 stops moving the first end effector END1 by the second end effector END2 coming into contact with the wall surface W2.

  The packaging device control unit 45 determines whether or not the wall surface W2 has come into contact with the second end effector END2, and the second end included in the force sensor information acquired from the second force sensor 23-2 by the force sensor information acquisition unit 44. Judgment is made based on whether or not the force applied to the effector END2 exceeds a predetermined threshold value. The wall surface W2 of the target box is an example of the second part of the box. During the movement of the first end effector END1, the packing device control unit 45 obtains the position of the second end effector END2 from the second force sensor 23-2 by the force sensor information acquisition unit 44. Fixed by control based on information.

  After the wall surface W2 is brought into contact with the second end effector END2 in this way, the position detection unit 42 determines the TCP position of the second end effector END2 and the shape and size of the second end effector END2 included in the packing related information. The y coordinate in the robot coordinate system of the predetermined part of the target box is detected (calculated) based on the information indicating the height and the information indicating the shape and size of the box B included in the packing related information.

  Since the x-coordinate and y-coordinate in the robot coordinate system of the predetermined part of the target box are detected by the processing from step S210 to step S320, the packing device control unit 45 determines the remaining Q−1 (in this example, 3 It seems that each package C can be stored in the storage position (1, 1) and the storage position (i, j) except the storage position (I, J) of the target box. The x-coordinate in the robot coordinate system of the target box may be displaced by the second positioning operation in step S320. Therefore, the packing device control unit 45 again performs the processing from step S210 to step S320 to store each of the packages C in the target box, except for the storage position (1, 1) and the storage position (I, J). It is stored in each of (i, j).

<Operation example 2: About operation | movement which packs the packing thing C accommodated other than the first and the last in a target box>
In this operation example 2, the value to be assigned to the variable r selected in step S200 shown in FIG. Hereinafter, as an example of this, a case where the variable r is 2 will be described. In this case, the number of columns i and the number of rows j corresponding to the values assigned to the current variable r extracted in step S230 shown in FIG. 5 are (i, j) = (2, 1). When the value assigned to the variable r is 3, the number of columns i and the number of rows j corresponding to the value assigned to the current variable r is (i, j) = (1,2). . Further, the arrangement position (i, j) in the operation example 2 is a predetermined part of the package C stored in the target box in the previous process in the repetitive process from step S210 to step S330 in the flowchart shown in FIG. It is expressed as a relative position from the position to the arrangement position (i, j). Hereinafter, for convenience of explanation, the previous process in the iterative process from step S210 to step S330 in the flowchart shown in FIG. 5 will be described simply as the previous process.

In Step S210 to Step S230, Step S250, and Step S290 in Operation Example 2, the control unit 36 reads (i, j) = (1, 1) as (i, j) = (2, 1). Since this process is the same as the process described in the first operation example, the description is omitted.
In step S240 in the operation example 2, the packaging device control unit 45 arranges the package C in the packaging device 20 based on the information indicating the arrangement position (2, 1) in the robot coordinate system calculated by the position calculation unit 43. (2, 1).

  Here, with reference to FIG. 13, the process of step S240 in the operation example 2 will be described. In the following description, the package C stored in the target box by the packing device 20 in the operation example 2 will be referred to as a package C2. FIG. 13 is a diagram illustrating an example of a state immediately after the packing device control unit 45 has placed the package C2 on the packing device 20 at the placement position (2, 1).

  In the operation example 2, the x-coordinate or the y-coordinate in the robot coordinate system of the predetermined part of the target box is accurately determined by the newest positioning operation performed immediately before. In this example, the newest positioning operation performed immediately before is the second positioning operation in step S320 in the operation example 1. Therefore, at this stage, the y coordinate in the robot coordinate system of the predetermined part of the target box is accurately determined. When the value assigned to the variable r is 3, the most recent positioning operation performed immediately before is the x in the robot coordinate system of the predetermined part of the target box when the value assigned to the variable r is 2. This is the second positioning operation for accurately determining the coordinates.

  In the example shown in FIG. 13, since the y coordinate in the robot coordinate system of a predetermined part of the target box is accurately determined, the packaging device controller 45 converts the package C2 into the package C1 and the wall surface W2 of the target box. Can be placed with high accuracy. The package C2 is an example of a first object. In FIG. 13, the arrow extending from the first end effector END1 represents the direction of the force applied to the package C2 by the first end effector END1 based on the force sensor information. In FIG. 13, the arrow extending from the second end effector END2 represents the direction of the force applied to the package C2 by the second end effector END2 based on the control based on the force sensor information.

After the process of step S250 in the operation example 2, the determination unit 47 determines whether or not movement unnecessary information is included in the information indicating the first standby position (i, j) in step S260 in the operation example 2.
When the determination unit 47 determines that the movement unnecessary information is not included in the information indicating the first standby position (i, j), the packaging device control unit 45 advances the process to step S270.
On the other hand, if the determination unit 47 determines that the information indicating the first standby position (i, j) includes movement unnecessary information, the packaging device control unit 45 advances the process to step S290.

If the x-coordinate in the robot coordinate system of the predetermined part of the target box is detected immediately before the previous processing is finished in the variable r = 2 to Q−1, the first standby position (i, j) does not need to move. Contains information. On the other hand, when the y-coordinate in the robot coordinate system of the predetermined part of the target box is detected immediately before the previous processing is finished in the variables r = 2 to Q−1, the first standby position (i, j) is Does not include movement-necessary information.
In this operation example 2, since the variable r = 2 and the y coordinate in the robot coordinate system of the predetermined part of the target box is detected immediately before the previous process is completed, the determination unit 47 determines that the determination unit 47 in the operation example 2 Only the case where it is determined in step S260 that the information indicating the first standby position (2, 1) does not include movement unnecessary information will be described.

  When the determination unit 47 determines in step S260 in the operation example 2 that the information indicating the first standby position (2, 1) does not include the movement unnecessary information, the packaging device control unit 45 determines that the first standby position (i , J), both end effectors are moved to the first standby position (i, j). And the packing apparatus control part 45 makes the state of both end effectors a 1st standby state, and makes it wait.

  Here, the first standby state in the operation example 2 will be described with reference to FIG. FIG. 14 shows a state immediately after the packing device control unit 45 moves both end effectors from the state shown in FIG. 13 to the first standby position (2, 1) and sets the state of both end effectors to the first standby state. It is a figure which shows an example. A straight line connecting the circle T1 and the circle T2 (that is, a straight line connecting the TCP position of the first end effector END1 and the TCP position of the second end effector END2) is indicated by an alternate long and short dash line L3.

  In FIG. 14, the surface closest to the first end effector END1 and the second end effector END2 of the package C2 is referred to as a surface M5. The surface M1, the surface M2, and the surface M5 are all substantially parallel. The alternate long and short dash line L3 and the surface M5 are orthogonal to each other. The alternate long and short dash line L3 passes through a dotted circle AR4 representing the arrangement position (2, 1). In FIG. 14, it is assumed that the distance between the TCP position of the first end effector END1 and the TCP position of the second end effector END2 is a predetermined distance.

  That is, the state of both end effectors in FIG. 14 is the second standby state because the second state condition is satisfied. There are two positions in the target box where the state of both end effectors can be in the second standby state. The two places are between the package C2 and the wall surface W1 and between the package C2 and the wall surface W3. The example shown in FIG. 14 shows a case where the position between the package C2 and the wall surface W1 has been determined in advance by the user as the second standby position (2, 1) from the two places.

  In step S280 in the operation example 2, the packaging device controller 45 detects the x coordinate in the robot coordinate system of the predetermined part of the target box by causing the packaging device 20 to perform the first positioning operation.

  Here, the first positioning operation in the operation example 2 will be described with reference to FIGS. 15 and 16. FIG. 15 is a diagram illustrating an example of a state in the target box immediately after the packing device control unit 45 starts the first positioning operation in the second operation example. FIG. 16 is a diagram illustrating an example of a state in the target box immediately after the packing device control unit 45 finishes the first positioning operation in the operation example 2.

  As shown in FIG. 15 as the first positioning operation in the second operation example, the packing device controller 45 moves the first end effector END1 toward the wall surface W3 opposite to the wall surface W1 closest to both end effectors. Is moved from the position of the first end effector END1 shown in FIG. At this time, the packing device control unit 45 acquires force sensor information from the first force sensor 23-1 by the force sensor information acquisition unit 44, and moves the first end effector END1 by control based on the acquired force sensor information.

  Due to the movement of the first end effector END1, the package C2 comes into contact with the first end effector END1 and moves together with the first end effector END1. Further, due to the movement of the package C2 that moves together with the first end effector END1, the wall surface W3 of the target box comes into contact with the package C2 and moves together with the first end effector END1 and the package C2. That is, the first end effector END1 moves the target box body by applying a force to the wall surface W3 of the target box body via the package C2. Moreover, the packing apparatus control part 45 completes the accommodation of the package C2 in the storage position (2, 1) in the target box by bringing the package C2 into contact with the wall surface W3 of the target box. The packing device control unit 45 moves the first end effector END1 until the second end effector END2 comes into contact with the wall surface W1 by the movement of the target box.

  That is, the state shown in FIG. 15 shows that the packaging device controller 45 brings the first end effector END1 into contact with the packaged item C2, and keeps the first end effector END1 in contact with the wall surface W1 closest to both end effectors. It is a state immediately after starting to move toward the opposite wall surface W3. Further, the state shown in FIG. 16 is a state immediately after the second end effector END2 comes into contact with the wall surface W1 and the packing device control unit 45 stops moving the first end effector END1.

  The packaging device control unit 45 determines whether or not the wall surface W1 has come into contact with the second end effector END2, and the second end included in the force sensor information acquired from the second force sensor 23-2 by the force sensor information acquisition unit 44. Judgment is made based on whether or not the force applied to the effector END2 exceeds a predetermined threshold value. During the movement of the first end effector END1, the packing device control unit 45 obtains the position of the second end effector END2 from the second force sensor 23-2 by the force sensor information acquisition unit 44. Fixed by control based on information.

  After the wall surface W1 is brought into contact with the second end effector END2 in this way, the position detection unit 42 determines the TCP position of the second end effector END2 and the shape and size of the second end effector END2 included in the packing related information. The x coordinate in the robot coordinate system of the predetermined part of the target box is detected (calculated) based on the information indicating the height and the information indicating the shape and size of the box B included in the packing related information.

Returning to FIG. After the process of step S290 in the operation example 2, the determination unit 47 determines whether or not movement unnecessary information is included in the information indicating the second standby position (i, j) in step S300 in the operation example 2.
When the determination unit 47 determines that the movement unnecessary information is not included in the information indicating the second standby position (i, j) (No in step S300), the packaging device control unit 45 advances the process to step S310.
On the other hand, if the determination unit 47 determines that the information indicating the second standby position (i, j) includes movement unnecessary information, the packaging device control unit 45 proceeds to step S200 and substitutes the variable r. Select the next value to do.

If the x-coordinate in the robot coordinate system of the predetermined part of the target box is detected immediately before the previous processing is finished in the variable r = 2 to Q−1, the first standby position (i, j) does not need to move. Does not contain information. On the other hand, when the y-coordinate in the robot coordinate system of the predetermined part of the target box is detected immediately before the previous processing is finished in the variables r = 2 to Q−1, the first standby position (i, j) is Includes no movement information.
In this operation example 2, since the variable r = 2 and the y coordinate in the robot coordinate system of the predetermined part of the target box is detected immediately before the previous process is completed, the determination unit 47 determines that the determination unit 47 in the operation example 2 Only a case where it is determined in step S300 that the information indicating the second standby position (2, 1) includes movement unnecessary information will be described.

  When the determination unit 47 determines that the information indicating the second standby position (2, 1) is included in the information indicating the second standby position (2, 1) in Step S300 in the operation example 2, the control unit 36 proceeds with the process to Step S200 and sets the variable Choose the next value to substitute for r.

  Since the x coordinate in the robot coordinate system of the predetermined part of the target box is detected by the processing from step S210 to step S320 in the operation example 2, the packing device control unit 45 performs the remaining Q-2 (in this example, 2) packaged goods C can be stored in the storage position (1, 1) and the storage position (i, j) except the storage position (I, J) of the target box respectively. The y-coordinate in the robot coordinate system of the target box may be displaced by the first positioning operation in step S280 in the operation example 2. Therefore, the packing device control unit 45 again performs the processing from step S210 to step S320 to remove the next packaged item C from the storage position (1, 1) and the storage position (I, J) in the target box. i, j).

  In the operation example 2, since the variable r = 2, the x coordinate in the robot coordinate system of the predetermined part of the target box was detected by the processing from step S210 to step S320. However, for example, when the variable r = 3, the control unit 36 detects the y coordinate in the robot coordinate system of the predetermined part of the target box by the processing from step S210 to step S320. In this case, the first positioning operation in step S280 is not performed, and the second positioning operation in step S320 is performed. As described above, whether the first positioning operation or the second positioning operation is performed includes movement unnecessary information in the first standby position (i, j) and the second standby position (i, j). It depends on whether or not. It should be noted that which of the first standby positions (i, j) for each (i, j) includes the movement unnecessary information is determined by the shape and size of the box B and the shape and size of the package. Further, which of the second standby positions (i, j) for each (i, j) includes the movement unnecessary information is determined by the shape and size of the box B and the shape and size of the package.

<Operation example 3: About operation | movement which packs the packing thing C stored at the end in an object box>
In this operation example 3, the value assigned to the variable r selected in step S200 shown in FIG. In this case, the number of columns i and the number of rows j corresponding to the values assigned to the current variable r extracted in step S230 shown in FIG. 5 are (i, j) = (I, J) = (2 , 2). In addition, the arrangement position (I, J) in the operation example 3 is expressed as a relative position from the position of a predetermined part of the package C stored in the target box in the previous process to the arrangement position (I, J). The In step S210 in the operation example 3, the control unit 36 is a process in which (i, j) = (1,1) is replaced with (i, j) = (2,2). Since the same processing as that described is performed, description thereof is omitted.

  When the determination unit 47 determines in step S220 in the operation example 3 that the value assigned to the variable r is Q, the position information reading unit 41 stores the storage position (I, J) stored in the storage unit 32 in advance. Is read from the storage unit 32. Then, the position calculation unit 43 uses the robot coordinates based on the information indicating the arrangement position (I, J) read by the position information reading unit 41 and the information indicating the storage position of the package C stored in the previous process. The storage position (I, J) in the system is calculated (step S325).

  Next, based on the arrangement position (I, J) in the robot coordinate system calculated by the position calculation unit 43, the packing device control unit 45 causes the packing device 20 to store the packaged item C in the storage position (I, J). . Further, the packing device control unit 45 causes the packing device 20 to store the package C in the storage position (I, J) by chamferless insertion (step S330). Hereinafter, the package C stored in the target box by the packing device 20 in the operation example 3 will be referred to as a package C4. Further, the package C stored in the target box in the previous process for the operation example 3 will be described as a package C3.

  FIG. 17 is a diagram illustrating an example of a state immediately after the packaging device 20 has placed the packaged item C4 in the (2, 2) storage position by the chamferless insertion. As described above, the packing apparatus 20 of the packing system 1 can accurately store the packaged object even in the target box that is not fixed by the repeated processing from step S200 to step S330.

<Modification 1 of Embodiment>
Hereinafter, a first modification of the embodiment of the present invention will be described with reference to the drawings.
The packaging system 1 which concerns on the modification 1 of this embodiment performs positioning of a target box in the state which does not put the package C in a target box. FIG. 18 is a diagram illustrating an example of a state immediately before the target box is positioned in a state where the package C is not placed in the target box. FIG. 19 is a diagram illustrating an example of a state immediately after the target box body is positioned in a state where the package C is not placed in the target box body.

  For example, as shown in FIG. 18, the packing device controller 45 places both end effectors inside the target box (target) so that both end effectors are within a circle with a predetermined radius centered on the second supply position. An area surrounded by the wall surfaces W1 to W4 of the box is put on standby. And the packing apparatus control part 45 moves the 1st end effector END1 and the 2nd end effector END2 along the arrow parallel to the x coordinate axis | shaft shown in FIG. More specifically, the packaging device control unit 45 moves the first end effector END1 toward the wall surface 3 of the target box, and moves the second end effector END2 toward the wall surface W1 of the target box. The packaging device controller 45 continues to move both end effectors until both the first end effector END1 and the second end effector END2 contact the wall surface of the target box.

  Whether or not both end effectors have contacted the wall surface of the target box is determined by whether the force applied to each of the end effectors included in the force sensor information acquired from the force sensor 23 by the force sensor information acquisition unit 44 is a predetermined threshold value. Judgment is made based on whether or not As shown in FIG. 19, when both end effectors come into contact with the wall surface of the target box, the packing device control unit 45 stops the movement of both end effectors. In the state illustrated in FIG. 19, the position calculation unit 43 includes a target box included in one or both of the TCP position of the first end effector END1 and the TCP position of the second end effector END, and the packaging related information. Based on the information indicating the shape and size of the body, the x coordinate in the robot coordinate system of the predetermined part of the target box is detected.

  In addition, the packing device control unit 45 and the position calculation unit 43 perform the same processing as the detection of the x coordinate in the direction parallel to the y coordinate axis, so that the robot coordinates of the predetermined part of the target box body are obtained. The y coordinate in the system is detected.

  Based on these x-coordinate and y-coordinate (that is, the position of the predetermined part of the target box in the robot coordinate system), the position calculation unit 43 can calculate the storage position (i, j) with high accuracy. As a result, the control unit 36 of the control device 30 can accurately store a packaged item even in a box that is not fixed. The storage position (i, j) includes each of the storage position (1, 1) to the storage position (I, J).

  Further, the packaging system 1 according to the first modification of the present embodiment may be configured to move only one of the first end effector END1 and the second end effector END2 in the state illustrated in FIG. . That is, in the state shown in FIG. 18, the packaging system 1 controls either one of the first end effector END1 and the second end effector END2 based on the force sensor information acquired from the force sensor information acquisition unit 44. The structure to fix may be sufficient.

<Modification 2 of Embodiment>
Hereinafter, Modification 2 of the embodiment of the present invention will be described with reference to the drawings.
The packaging system 1 according to the second modification of the present embodiment performs the positioning of the target box in a state where the first end effector END1 and the second end effector END2 are on standby outside the target box. FIG. 20 is a diagram illustrating an example of a state in which both the first end effector END1 and the second end effector END2 are placed on the outside of the target box. FIG. 21 is a diagram illustrating an example of a state immediately after the target box body is positioned from the state where both the first end effector END1 and the second end effector END2 are on the outside of the target box body. In addition, although the example shown in FIG.20 and FIG.21 has shown the case where the package C is not arrange | positioned inside the object box, it replaces with this and the package C is arrange | positioned inside the object box. May be.

  The packaging device control unit 45 performs the first end until the wall surface of the target box body comes into contact with both the first end effector END1 and the second end effector END2 as in the state shown in FIG. 21 from the state shown in FIG. Either one or both of the effector END1 and the second end effector END2 is moved along the arrow shown in FIG. Then, in the state shown in FIG. 21, the position detection unit 42 includes one or both of the TCP position of the first end effector END1 and the TCP position of the second end effector END2, and packing related information. The x position (calculation) in the robot coordinate system of a predetermined part of the target box is performed based on the information indicating the shape and size of the target box included. In addition, the packing device control unit 45 and the position calculation unit 43 perform the same processing as the detection of the x coordinate in the direction parallel to the y coordinate axis, so that the robot coordinates of the predetermined portion of the target box body are obtained. The y coordinate in the system is detected.

  Based on these x-coordinate and y-coordinate (that is, the position of the predetermined part of the target box in the robot coordinate system), the position calculation unit 43 can calculate the storage position (i, j) with high accuracy. As a result, the control unit 36 of the control device 30 can accurately store a packaged item even in a box that is not fixed. The storage position (i, j) includes each of the storage position (1, 1) to the storage position (I, J).

<Modification 3 of embodiment>
Hereinafter, Modification 3 of the embodiment of the present invention will be described with reference to the drawings.
In the packaging system 1 according to the third modification of the present embodiment, the target box body is positioned by either one of the first end effector END1 and the second end effector END2 waiting outside the target box body and the other. This is done while waiting inside the target box.

  FIG. 22 is a diagram illustrating an example of a state in which the first end effector END1 waits outside the target box and the second end effector END2 waits inside the target box. FIG. 23 shows an example of a state immediately after positioning the target box from a state where the first end effector END1 is kept outside the target box and the second end effector END2 is kept inside the target box. FIG. In addition, in the example shown in FIG.22 and FIG.23, although the case where the package C is not arrange | positioned between the wall surface W3 of the object box and the 2nd end effector END2 is shown, it replaces with this and object The package C may be disposed between the wall surface W3 of the box and the second end effector END2.

  The packaging device controller 45 moves one or both of the first end effector END1 and the second end effector END2 from the state shown in FIG. 22 along the arrow shown in FIG. Then, in the state shown in FIG. 23, the position detection unit 42 includes one or both of the TCP position of the first end effector END1 and the TCP position of the second end effector END2, and packing related information. The x position (calculation) in the robot coordinate system of a predetermined part of the target box is performed based on the information indicating the shape and size of the target box included. In addition, the packing device control unit 45 and the position calculation unit 43 perform the same processing as the detection of the x coordinate in the direction parallel to the y coordinate axis, so that the robot coordinates of the predetermined portion of the target box body are obtained. The y coordinate in the system is detected.

Based on these x-coordinate and y-coordinate (that is, the position of the predetermined part of the target box in the robot coordinate system), the position calculation unit 43 can calculate the storage position (i, j) with high accuracy. As a result, the control unit 36 of the control device 30 can accurately store a packaged item even in a box that is not fixed. The storage position (i, j) includes each of the storage position (1, 1) to the storage position (I, J).
Moreover, in each process of said embodiment and the modification of embodiment, the role of a 1st arm and a 2nd arm may be reverse.

  As described above, the packaging device 20 in the present embodiment stores the package C in the box N assembled from the packaging material based on the force sensor information acquired from the force sensor information acquisition unit 44. Thereby, the packing apparatus 20 can store the package C in the box B by the control based on the force sensor information, and as a result, accurately packs the box B that is not fixed to the placement surface. The object C can be stored.

  Further, the packing device 20 applies a force to the first part (for example, the wall surface W3) of the box B by the first part (in this example, the first end effector END1) of the movable portion to move the box B, Based on the force sensor information acquired from the force sensor information acquisition unit 44 by bringing the second part (for example, the wall surface W1) of the body B into contact with the second part of the movable portion (in this example, the second end effector END2). The box body B is positioned, and the package C is stored in the box body B. Thereby, the packing apparatus 20 can store the packaged goods C in the box B with high accuracy based on the positioning of the box B.

  Moreover, the packing apparatus 20 is based on positioning of the box B, and the 1st package (for example, the package C) (for example, by the one or both of the 1st site | part of a movable part and the 2nd site | part of a movable part) The package C2) is placed in a box. Thereby, the packing apparatus 20 can suppress arrange | positioning a 1st package in the place which is not intended, such as the outer side of the box B, for example.

  Moreover, the packing apparatus 20 applies force to the 1st site | part of the box B through the 2nd package (for example, package C1) of the packages C in the 1st site | part of a movable part. Thereby, the packing apparatus 20 can apply force with respect to the 1st site | part of the box B, moving the 2nd package in the box B. FIG.

  Further, the packing apparatus 20 stores the second packaged item in a predetermined storage position (for example, the storage position (1, 1)) by positioning the box. Thereby, the packing apparatus 20 can suppress the shift | offset | difference of the position of the box B which arises when positioning of the box B and accommodation of a 2nd package are performed by another operation | movement.

  Moreover, the packing apparatus 20 arrange | positions a 2nd package in the predetermined arrangement position (for example, arrangement position (1, 1)) of the box B, and moves a 2nd package by the 1st site | part of a movable part. A force is applied to the first part of the box B by contacting the first part of the box B. Thereby, even if the position of the box B has shifted | deviated, the packaging apparatus 20 can position the box B after arrange | positioning a 2nd object inside the box B. FIG.

  Further, the packaging device 20 arranges the second packaged item at the substantially center of the bottom surface of the box B, and moves the second packaged item by the first end effector END1 so as to contact the first site. Force on. Thereby, even if the position of the box body B has shifted | deviated, the packaging apparatus 20 can position the box body B after arrange | positioning a 2nd packaged item inside the box body B. FIG.

  Further, the packing device 20 stores the package C in the box B assembled from the folded packing material based on the force sensor information acquired from the force sensor information acquisition unit 44. Thereby, the packing apparatus 20 can accommodate the package C in the box B assembled from the folded packing material by the control based on the force sensor information, and as a result, is not fixed to the placement surface. The package C can be stored in the box B with high accuracy.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and changes, substitutions, deletions, and the like are possible without departing from the gist of the present invention. May be.

  In addition, a program for realizing the function of an arbitrary component in the device described above (for example, the control device 30 of the packaging system 1) is recorded on a computer-readable recording medium, and the program is read into the computer system. May be executed. Here, the “computer system” includes hardware such as an OS (Operating System) and peripheral devices. The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD (Compact Disk) -ROM, or a storage device such as a hard disk built in the computer system. . Furthermore, “computer-readable recording medium” means a volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

In addition, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1 Packing system, 11 1st imaging part, 12 2nd imaging part, 20 Packing apparatus, 21 3rd imaging part, 22 4th imaging part, 23-1 1st force sensor, 23-2 2nd force sensor, 30 control Device, 31 CPU, 32 storage unit, 33 input reception unit, 34 communication unit, 35 display unit, 36 control unit, 41 position information reading unit, 42 position detection unit, 43 position calculation unit, 44 force sensor information acquisition unit, 45 Packing device control unit, 46 counting unit, 47 determination unit, 48 belt conveyor control unit

Claims (9)

Moving parts;
A force detector provided in the movable part;
With
The package is stored in a box assembled from the packing material based on the output value of the force detection unit,
Packing equipment. Applying force to the first part of the box by the first part of the movable part to move the box,
Bringing the second part of the movable part into contact with the second part of the box,
Positioning the box based on the output value of the force detector, and storing the package in the box;
The packaging device according to claim 1. Based on the positioning of the box, the first package of the packages is arranged in the box by either one or both of the first part of the movable part and the second part of the movable part. ,
The packing apparatus according to claim 2. The first part of the movable part applies a force to the first part of the box through the second package of the packages,
The packing apparatus according to claim 2 or 3. The second package is stored in a predetermined storage position by performing the positioning.
The packing apparatus according to claim 4. The second package is arranged at a predetermined arrangement position of the box, and the second package is moved by the first part of the movable part to come into contact with the first part of the box. Apply force to the first part of the body,
The packaging device according to claim 4 or 5. The predetermined arrangement position is substantially the center of the bottom surface of the box.
The packing apparatus according to claim 6. The box is assembled from the packing material in a folded state,
The packaging device according to any one of claims 1 to 7. Based on the output value of the force detector provided in the movable part, the package is stored in a box assembled from the folded packing material,
Packing method.

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