JP2016179821A5 - - Google Patents
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- JP2016179821A5 JP2016179821A5 JP2015059564A JP2015059564A JP2016179821A5 JP 2016179821 A5 JP2016179821 A5 JP 2016179821A5 JP 2015059564 A JP2015059564 A JP 2015059564A JP 2015059564 A JP2015059564 A JP 2015059564A JP 2016179821 A5 JP2016179821 A5 JP 2016179821A5
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- JP
- Japan
- Prior art keywords
- end effector
- box
- coordinate
- standby position
- box body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000012856 packing Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 239000012636 effector Substances 0.000 description 13
- 101100394003 Butyrivibrio fibrisolvens end1 gene Proteins 0.000 description 7
- 101100296979 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) PEP5 gene Proteins 0.000 description 7
- 101100174722 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) GAA1 gene Proteins 0.000 description 6
- 238000004806 packaging method and process Methods 0.000 description 4
Description
第２待機位置（ｉ，ｊ）を示す情報には、第２−１待機位置（ｉ，ｊ）を示す情報と、第２−２待機位置（ｉ，ｊ）を示す情報とが含まれる。第２−１待機位置（ｉ，ｊ）とは、ステップＳ３２０における第２位置決め動作を行う前の事前準備として第１エンドエフェクターＥＮＤ１を待機させる位置のことであり、ロボット座標系によって表される。また、第２−２待機位置（ｉ，ｊ）とは、ステップＳ３２０における第２位置決め動作を行う前の事前準備として第２エンドエフェクターＥＮＤ２を待機させる位置のことであり、ロボット座標系によって表される。なお、以下では、説明の便宜上、第２−１待機位置（ｉ，ｊ）と第２−２待機位置（ｉ，ｊ）を区別する必要が無い限り、まとめて第２待機位置（ｉ，ｊ）と称して説明する。 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). Second -1 standby position (i, j) and refers to a position to wait for a first end effector END1 as previous advance preparation for performing a second positioning operation in the step S320, is represented by the 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.
梱包装置制御部４５は、図２０に示した状態から図２１に示した状態のように第１エンドエフェクターＥＮＤ１と第２エンドエフェクターＥＮＤ２の両方に対象箱体の壁面が接触するまで、第１エンドエフェクターＥＮＤ１と第２エンドエフェクターＥＮＤ２とのいずれか一方又は両方を、図２０に示した矢印に沿って移動させる。そして、位置検出部４２は、図２１に示した状態において、第１エンドエフェクターＥＮＤ１のＴＣＰの位置と第２エンドエフェクターＥＮＤ２のＴＣＰの位置とのうちのいずれか一方又は両方と、梱包関連情報に含まれる対象箱体の形状や大きさを表す情報とに基づいて、対象箱体の所定部位のロボット座標系におけるｘ座標を検出する。また、梱包装置制御部４５と位置算出部４３は、このｘ座標の検出と同様の処理を、ｙ座標軸と平行な方向に対しても同様に行うことにより、対象箱体の所定部位のロボット座標系におけるｙ座標を検出する。 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. Based on the information representing the shape and size of the target box included, 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 portion of the target box body are obtained. The y coordinate in the system is detected.
梱包装置制御部４５は、図２２に示した状態から、第１エンドエフェクターＥＮＤ１と第２エンドエフェクターＥＮＤ２とのうちのいずれか一方又は両方を図２６に示した矢印に沿って移動させる。そして、位置検出部４２は、図２３に示した状態において、第１エンドエフェクターＥＮＤ１のＴＣＰの位置と第２エンドエフェクターＥＮＤ２のＴＣＰの位置とのうちのいずれか一方又は両方と、梱包関連情報に含まれる対象箱体の形状や大きさを表す情報とに基づいて、対象箱体の所定部位のロボット座標系におけるｘ座標を検出する。また、梱包装置制御部４５と位置算出部４３は、このｘ座標の検出と同様の処理を、ｙ座標軸と平行な方向に対しても同様に行うことにより、対象箱体の所定部位のロボット座標系におけるｙ座標を検出する。 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. Based on the information representing the shape and size of the target box included, 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 portion of the target box body are obtained. The y coordinate in the system is detected.
また、梱包装置２０は、第２梱包物を箱体Ｂの所定の配置位置（例えば、配置位置（１，１））に配置し、第２梱包物を可動部の第１部位により移動させて箱体Ｂの第１部位に接触させることにより、箱体Ｂの第１部位に力を加える。これにより、梱包装置２０は、箱体Ｂの位置がずれていても、第２梱包物を箱体Ｂの内部に配置してから箱体Ｂの位置決めを行うことができる。 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 packing apparatus 20 can position the box B after arrange | positioning a 2nd packaged item inside the box B. FIG.
また、梱包装置２０は、第２梱包物を箱体Ｂの底面の略中心に配置し、第２梱包物を第１エンドエフェクターＥＮＤ１により移動させて箱体Ｂの第１部位に接触させることにより、第１部位に力を加える。これにより、梱包装置２０は、より確実に、箱体Ｂの位置がずれていても、第２梱包物を箱体Ｂの内側に配置してから箱体Ｂの位置決めを行うことができる。
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 to contact the first part of the box B. Apply force to the first part. 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.
Claims (1)
前記可動部に設けられた力検出部と、
を備え、
箱体に梱包物を前記力検出部の出力値に基づいて収納する、
梱包装置。 Moving parts;
A force detector provided in the movable part;
With
The package is stored in the box based on the output value of the force detection unit,
Packing equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015059564A JP2016179821A (en) | 2015-03-23 | 2015-03-23 | Packing device, and packing method |
| US15/069,055 US10329042B2 (en) | 2015-03-20 | 2016-03-14 | Packing apparatus and packing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015059564A JP2016179821A (en) | 2015-03-23 | 2015-03-23 | Packing device, and packing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2016179821A JP2016179821A (en) | 2016-10-13 |
| JP2016179821A5 true JP2016179821A5 (en) | 2018-03-15 |
Family
ID=57132455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2015059564A Withdrawn JP2016179821A (en) | 2015-03-20 | 2015-03-23 | Packing device, and packing method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2016179821A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018140794A (en) | 2017-02-27 | 2018-09-13 | 川崎重工業株式会社 | Boxing device and boxing method |
| US10549928B1 (en) * | 2019-02-22 | 2020-02-04 | Dexterity, Inc. | Robotic multi-item type palletizing and depalletizing |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000043806A (en) * | 1998-07-27 | 2000-02-15 | Yamato Scale Co Ltd | Casing apparatus |
| JP5810582B2 (en) * | 2011-03-29 | 2015-11-11 | セイコーエプソン株式会社 | Robot control method and robot |
| WO2014125627A1 (en) * | 2013-02-15 | 2014-08-21 | 株式会社安川電機 | Packaging device and packaging method |
-
2015
- 2015-03-23 JP JP2015059564A patent/JP2016179821A/en not_active Withdrawn
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