JP2019218216A - Extracting device and method - Google Patents

Abstract

To achieve downsizing of a device while realizing stable transportation.SOLUTION: An extracting device according to an embodiment of the present disclosure comprises a first movement mechanism, a second movement mechanism, a holding part, a third movement mechanism, a fourth movement mechanism, and a transportation part. The first movement mechanism is movable in a first direction. The second movement mechanism is connected to the first movement mechanism and is movable freely on a first horizontal plane that intersects with the first direction. The holding part is connected to the second movement mechanism and holds an object to be extracted. The third movement mechanism is located below the first movement mechanism, the second movement mechanism and the holding part and is movable in the first direction. The fourth movement mechanism is connected to the third movement mechanism and is movable in a second horizontal plane opposite to the first horizontal plane. The transportation part is connected to the fourth movement mechanism, and loads the object held by the holding part on it and transports the object.SELECTED DRAWING: Figure 1

Description

  Embodiments of the present invention relate to an unloading device and method.

  With the globalization of the supply chain and the aging of the workforce in the logistics field, the labor force tends to be short due to the increase in the volume of goods. Therefore, in order to quickly and efficiently carry out cargo handling operations such as picking of articles, orthogonal mechanism type robots and articulated arm type robots are widely used.

JP 05-201546 A JP 2013-103836 A

However, the orthogonal mechanism type robot and the articulated arm type robot tend to have larger devices. For example, when an article is to be gripped from above by an orthogonal mechanism robot, a long arm in the vertical direction is required. Therefore, when the space is narrow such as a low ceiling, the orthogonal mechanism robot cannot be arranged.
Also, in the case of an articulated arm type robot, when grasping an article from above, the number of joints having redundancy is required to avoid an existing laid object. Furthermore, when the area on which articles are loaded is a rectangular parallelepiped area, and there is an intermediate shelf, when removing articles from the intermediate shelf in the area, the number of joints with further redundancy is required, and the robot becomes large. There is a problem that becomes.

  The present invention has been made in order to solve the above-described problems, and has as its object to provide an unloading apparatus and a method capable of downsizing the apparatus while achieving stable transport.

  An unloading device according to one embodiment of the present invention includes a first moving mechanism, a second moving mechanism, a gripper, a third moving mechanism, a fourth moving mechanism, and a transporter. The first moving mechanism is movable in a first direction. The second moving mechanism is connected to the first moving mechanism, and is movable on a first horizontal plane intersecting the first direction. The gripper is connected to the second moving mechanism and grips an object to be taken out. The third moving mechanism is located below the first moving mechanism, the second moving mechanism, and the grip, and is movable in the first direction. The fourth moving mechanism is connected to the third moving mechanism, and is movable on a second horizontal plane facing the first horizontal plane. The transport unit is connected to the fourth moving mechanism, and loads and transports the object gripped by the grip unit.

FIG. 2 is a diagram showing an extraction device according to the first embodiment. FIG. 9 is a diagram illustrating an initial state in a removal process. The figure which shows the gripping state of the target object in an extraction process. The figure which shows the loading state of the object in a removal process. FIG. 9 is a diagram illustrating a retracted state of the moving mechanism in a removal process. FIG. 9 is a diagram illustrating a horizontal state in a removal process. The figure which shows the loading state of the object in a removal process. The figure which shows the initial state when an object is loaded on an intermediate shelf. The figure which shows the holding | grip state when an object is loaded on an intermediate shelf. The figure which shows the loading state when an object is loaded on an intermediate shelf. The figure which shows the side-mounted state when an object is loaded on an intermediate shelf. FIG. 9 is a block diagram of an extraction device according to a second embodiment. The figure which shows an example of the position information generation processing in a shape detection part. 9 is a flowchart illustrating a removal process of the removal device according to the second embodiment. 9 is a flowchart illustrating a removal process of the removal device according to the second embodiment.

  Hereinafter, an extraction device and a method according to an embodiment of the present disclosure will be described in detail with reference to the drawings. In the following embodiments, the same operations are performed for the parts with the same numbers, and the overlapping description will be omitted.

(1st Embodiment)
The removal device according to the first embodiment will be described with reference to FIG.
The unloading device 100 according to the first embodiment includes a first vertical member 101, a second vertical member 102, a third vertical member 103, a fourth vertical member 104, a fifth vertical member 105, a sixth vertical member 106, Horizontal member 107, second horizontal member 108, third horizontal member 109, fourth horizontal member 110, first vertical moving mechanism 111, horizontal moving mechanism 112, first depth moving mechanism 113, gripper moving mechanism 114, a grip 115, a second vertical movement mechanism 116, a second depth movement mechanism 117, and a transport section 118.

  The first vertical movement mechanism 111 is also referred to as a first movement mechanism, and the horizontal movement mechanism 112 and the first depth movement mechanism 113 together are also referred to as a second movement mechanism. Further, the second vertical movement mechanism 116 is also referred to as a third movement mechanism, and the second depth movement mechanism 117 is also referred to as a fourth movement mechanism.

The first vertical member 101, the second vertical member 102, the third vertical member 103, the fourth vertical member 104, the fifth vertical member 105, the sixth vertical member 106, the first horizontal member 107, the second horizontal member 108, the third The horizontal member 109 and the fourth horizontal member 110 are supports that form the skeleton of the unloading device 100, and these members are collectively referred to as a base.
The base according to the present embodiment is formed as follows. One end of each of the first vertical member 101, the third vertical member 103, and the fifth vertical member 105 stands in a state where the first vertical member 101, the third vertical member 103, and the fifth vertical member 105 are in contact with the floor. The first horizontal member 107 is horizontally joined to the other end of the first member. Similarly, one end of each of the second vertical member 102, the fourth vertical member 104, and the sixth vertical member 106 stands in a state of being in contact with the floor surface, and the second vertical member 102, the fourth vertical member 104, and the sixth vertical member At the other end of each of the vertical members 106, a second horizontal member 108 is horizontally joined. One end of the third horizontal member 109 is horizontally joined near a position where the first horizontal member 107 and the third vertical member 103 are joined, and the other end of the third horizontal member 109 is connected to the second horizontal member 108 and the third horizontal member 109. 4 It is joined horizontally near the position where the vertical member 104 is joined. Similarly, one end of the fourth horizontal member 110 is joined horizontally near the position where the first horizontal member 107 and the fifth vertical member 105 are joined, and the other end of the fourth horizontal member 110 is joined to the second horizontal member. 108 and the sixth vertical member 106 are joined horizontally near the position where they are joined.

  The shape of the base is not limited to the shape of the base according to the above-described embodiment, and the base may include the first vertical movement mechanism 111, the horizontal movement mechanism 112, the first depth movement mechanism 113, the gripper movement mechanism 114, and the gripper. The members may be joined so as to have a size capable of supporting the 115, the second vertical movement mechanism 116, the second depth movement mechanism 117, and the transport unit 118.

  The first vertical movement mechanism 111 is connected to the base third vertical member 103, fourth vertical member 104, fifth vertical member 105, and sixth vertical member 106 so as to be movable in the vertical direction (y-axis direction). You. For example, guide rails are attached along the vertical directions of the third vertical member 103, the fourth vertical member 104, the fifth vertical member 105, and the sixth vertical member 106 of the base, and the first vertical movement mechanism 111 , Move vertically along this guide rail.

  The horizontal movement mechanism 112 is connected to the first vertical movement mechanism 111 so as to be movable in the horizontal direction (x-axis direction). For example, a guide rail is attached along the horizontal direction of the first vertical movement mechanism 111, and the horizontal movement mechanism 112 moves in the horizontal direction along the guide rail.

  The first depth direction moving mechanism 113 is connected to the horizontal direction moving mechanism 112 so as to be movable in the depth direction (z-axis direction). For example, a guide rail is attached along the depth direction of the horizontal movement mechanism 112, and the first depth movement mechanism 113 moves in the front-rear direction along the guide rail.

  The gripper moving mechanism 114 is connected to the first depth direction moving mechanism 113 so as to be movable in the depth direction. For example, a guide rail is provided on the lower surface side along the depth direction of the first depth direction moving mechanism 113 so that the grip portion 115 can move in the depth direction of the first depth direction moving mechanism 113. In the present embodiment, since the gripper 115 can move to both ends of the first depth direction moving mechanism 113, the movable range of the gripper 115 is more movable in the base than the movable range of the first depth direction moving mechanism 113. Can be larger.

  The gripper 115 is connected to the first depth direction moving mechanism 113, and grips an article to be taken out (hereinafter, referred to as an object). Further, the grip 115 may be rotatable so as to be able to handle any object. The grip portion 115 has, for example, a suction source such as a compressor and an open valve such as a solenoid valve that can be opened and closed using a suction pad. The suction pad sucks the target object through the release valve, and the target object is sucked. Is controlled so that the target object is released by stopping the suction. The target object is grasped by being attracted to the target object. A desired conveying force may be obtained by arranging a plurality of grip portions 115. In addition, it is desirable that the contact distance between the object and the grip portion 115 be allowed by a bellows-like pad made of a flexible material and a pad supported by a spring. The configuration is not limited to the suction pad, and a configuration in which the target is sandwiched from both sides may be used, as long as the target can be moved.

The second vertical movement mechanism 116 is located below the first vertical movement mechanism 111, and includes the third vertical member 103, the fourth vertical member 104, the fifth vertical member 105, and the sixth vertical member 106 of the base. Connected movably in the vertical direction. The second vertical movement mechanism 116 moves vertically along the guide rail of the base similarly to the first vertical movement mechanism 111.
The second depth direction moving mechanism 117 is connected to the second vertical direction moving mechanism 116 so as to be movable in the depth direction. For example, a guide rail is provided along the depth direction of the second vertical movement mechanism 116 so as to be movable in the depth direction of the second vertical movement mechanism 116.

  The transport unit 118 is, for example, a conveyor such as a belt conveyor or a roller conveyor, and is connected to the second depth direction moving mechanism 117. The transport unit 118 can apply a rotational force to the roller by a motor or the like, and can transport the loaded object by rotating the roller.

Next, a removal process of the removal device 100 according to the first embodiment will be described with reference to FIGS.
Assuming a case where the boxes stacked in the loading box 201 are taken out as the objects 202 and 203, and the objects 202 and 203 are moved to the work table 205, and in the examples of FIGS. Will be described.

The loading box 201 is a base formed by a lattice-shaped enclosure or the like, and has wheels on the bottom surface. Thus, the loading box 201 can be moved even when articles are loaded. In the present embodiment, the base has a shape that can contain and fix the loading box 201, and when performing the removal process, the loading box 201 is fixed to the base. Note that the base does not have to have a shape including the loading box 201, and the take-out device 100 and the loading box 201 may be arranged adjacent to each other as long as the loading box 201 can be fixed.
The work table 205 is a table to which the object is transported from the loading box 201, and is a static table for temporarily storing the object, or transports the object to another place by a belt conveyor. It is a dynamic platform. In the present embodiment, a dynamic platform is assumed, and the objects to be loaded in the loading box 201 are moved to the work table 205, so that the objects are sequentially transported to another place.

  Here, assuming a case where the position where the objects are stacked in the loading box 201 and the order in which the objects are taken out are determined in advance, the control unit (not shown) grasps the objects, Control is performed so that each moving mechanism of the unloading device 100 is moved by a specified distance to a position where it can be stacked on 118. As a control method, generally, an open loop control method in which a specified amount can be moved by a specified pulse by a step motor or an open loop control that can be moved to a specified position by a control to reduce an error from a target value by a position sensor. There is a loop method.

  FIG. 2 illustrates an initial state before the object removal processing is performed, and illustrates a state in which the loading box 201 is set in the removal apparatus 100. Further, it is arranged close to the work table 205 which is the transfer destination of the transfer section 118 of the unloading device 100 so that the target object can be moved from the transfer section 118 to the work table 205.

FIG. 3 shows a state in which the target object 202 is gripped. The first vertical movement mechanism 111 moves in a downward direction (negative y-axis direction) to a position where the object 202 can be gripped. Here, it is assumed that the position of the second vertical movement mechanism 116 exists in advance at a height at which the object 202 can be loaded on the transport unit 118. If the position of the transport unit 118 is at a position where the object 202 cannot be loaded, the second vertical movement mechanism 116 moves the transport unit 118 to a position on the lower surface of the object 202 so that the object 202 can be loaded on the transport unit 118. You only have to move in the vertical direction.
Further, the first depth direction moving mechanism 113 moves in the depth direction (negative direction of the z-axis) to a position where the object 202 can be gripped, and the gripping section 115 sucks and grips the object 202. Here, the object 202 is grasped by being sucked to two places, the front side and the upper side, of the object 202. Further, the horizontal movement mechanism 112 may move in the horizontal direction (x-axis direction) according to the position of the target object 202. The second depth direction moving mechanism 117 moves in the depth direction (negative direction of the z-axis) to the lower part of the front surface of the object 202, similarly to the first depth direction moving mechanism 113. At this time, the edge of the transport unit 118 only needs to be located near the lower part of the front of the object 202, and may be slightly higher than the lower part of the front of the object 202, but may be at a position lower than the lower part of the front of the object 202. Something is desirable. In this way, the target object 202 can be stably loaded on the transport unit 118.

  FIG. 4 shows a state in which the object 202 is loaded on the transport unit 118. The second depth direction moving mechanism 117 moves in the positive direction of the z-axis while the grasping unit 115 is grasping the object 202. Further, when the belt conveyor as the transport unit 118 rotates in the z-axis direction, the object 202 is sandwiched between the gripping unit 115 and the transport unit 118, that is, the transport force acts on both the upper and lower surfaces of the object 202. Therefore, the object 202 can be easily loaded on the transport unit 118. At this time, in order to prevent the object 202 from overturning, it is desirable that the moving speed of the second depth direction moving mechanism 117 and the rotating speed of the belt conveyor as the transport unit 118 be equal.

  When the target object 202 reaches a predetermined transport position of the transport unit 118, the movement of the second depth direction moving mechanism 117 and the rotation of the transport unit 118 are stopped. Thus, the loading of the object 202 on the transport unit 118 is completed. When the object 202 is lightweight, the motor is not excited so that the conveyance unit 118 can idle, and the object 202 is moved on the conveyance unit 118 while the object 202 is grasped by the grasping unit 115. Alternatively, the target 202 may reach the transport position.

  FIG. 5 shows a state in which the gripper 115 is retracted so as not to hinder the movement of the target object 202. The grasping unit 115 stops suction and stops grasping the object 202, and the first vertical movement mechanism 111 moves vertically upward and separates from the object 202. At this time, the moving amount of the first vertical moving mechanism 111 is determined by the first vertical moving mechanism 111, the horizontal moving mechanism 112, and the second depth moving mechanism 113 when the conveying section conveys the object. It is sufficient if the moving amount does not cause collision between the gripper moving mechanism 114 and the gripper 115.

FIG. 6 shows a state in which the transport unit 118 is laid sideways on the work table 205.
The second depth direction moving mechanism 117 moves in the direction of the work table 205, and the second vertical direction moving mechanism 116 moves the edge of the transport unit 118 and the edge of the opposing work table 205 close to each other, and moves the object 202. It moves vertically to a position where it can move to the work table 205 without impact. Specifically, the second vertical movement mechanism 116 moves to a position where the edge of the transport unit 118 is slightly higher than the edge of the worktable 205. At this time, the transport unit 118 may be in a stopped state so that the object 202 does not move, or the conveyor may be rotated at a speed at which the object 202 does not fall down while the second depth direction moving mechanism 117 is moving. It may be.

  FIG. 7 illustrates a state where the target object 202 is joined to the work table 205 from the transport unit 118. The transport unit 118 rotates the conveyor in order to join the object to the work table 205. In consideration of the rotation speed of the worktable 205, the belt conveyor of the transport unit 118 is rotated so that the speed does not fall when the objects 202 merge. Thus, the removal process of the target object by the removal device 100 is completed.

Next, another example of the removal process of the removal device 100 according to the first embodiment will be described with reference to FIGS.
Since the loading box 201 is intended to load a large amount of objects, the lower the objects are, the more the load is applied in the loaded state. Therefore, the object may be deformed and damaged by the application of a load. Therefore, an intermediate shelf may be provided in the loading box for dispersing the loading of the object, and the object may be loaded on the intermediate shelf. 8 to 11, it is assumed that an intermediate shelf 801 exists in the loading box 201 and a target object 802 is taken out from the intermediate shelf.

  FIG. 8 shows a state of the initial position with respect to the intermediate shelf 801. The first vertical movement mechanism 111 moves vertically upward (positive direction of the y-axis) so as to be at a position where the object 802 on the intermediate shelf 801 can be gripped. When the first vertical moving mechanism 111 moves vertically upward, the first depth moving mechanism 113 and the grip portion 115 are positioned outside the loading box 201 so as not to collide with the intermediate shelf. Go to Specifically, the first depth direction moving mechanism 113 and the gripper 115 are moved in the positive direction of the z-axis. Thereafter, the first vertical moving mechanism may move vertically upward.

  Similarly, after the second depth direction moving mechanism 117 and the transport unit 118 have moved in the positive direction of the z-axis so as not to collide with the intermediate shelf, the second vertical direction moving mechanism 116 moves to the vicinity of the upper surface of the intermediate shelf 801. Move to position. More specifically, the edge of the intermediate shelf 801 and the edge of the transport unit 118 may be moved to a position where the height is equal or the edge of the transport unit 118 is lower than the edge of the intermediate shelf 801.

  FIG. 9 shows a state where an object 802 is taken out from the intermediate shelf 801. The first depth direction moving mechanism 113 moves toward the target object 802 on the intermediate shelf 801. After that, the holding unit 115 sucks and holds the target object 802.

  FIG. 10 shows a state where the target object 802 is loaded on the transport unit 118. The gripper 115 moves in the positive direction of the z-axis while holding the target object 802. The operations of the gripper 115 and the transport unit 118 here are the same as the processing described with reference to FIG.

  FIG. 11 shows a state in which the transport unit 118 is laid sideways on the work table 205. The second vertical movement mechanism 116 moves vertically downward such that the edge of the worktable 205 and the edge of the transport unit 118 are at the same height. Here, when moving the target object 802 to the workbench 205, the gripper 115 does not interfere, so the gripper 115 does not have to be retracted. The operation of transporting the object 802 from the transport unit 118 to the work table 205 is the same as that in FIG. As described above, the removal process of the object 802 loaded on the intermediate shelf 801 ends.

  According to the first embodiment described above, the gripping unit and the transporting unit that move in the vertical direction and the depth direction within the base take out the target object from the loading box, so that the gripping unit and the transporting unit can move. The take-out device can be realized with a size substantially the same as the area, and the size of the device can be reduced. Further, since the gripper and the transporter can move independently in the vertical direction and the front-rear direction, the present invention can also be applied to an existing transport belt conveyor and an existing stacking box having an intermediate shelf. In addition, the gripper and the transport unit operate in cooperation with each other, and when taking out an object, the transport unit comes close to shorten the time for supporting the weight of the object only by the gripper, and the transport unit moves to the destination. By moving the target object in accordance with the height of the worktable, the target object can be moved smoothly. Therefore, for example, even in the case of transporting an object at a high place or transporting a heavy object, stable removal and transport of the object can be performed.

(Second embodiment)
In the first embodiment, the position where the objects are stacked in the loading box, the number of the objects, and the order in which the objects are taken out are specified in advance. The target is controlled by controlling a certain driving amount and order. It is assumed that an object can be taken out. The second embodiment is different from the first embodiment in that the position of an object to be stacked is detected by an image sensor and a removal process is performed. By doing so, it is possible to perform the removal process on the objects arranged and stacked in any manner, and the versatility can be further improved.

  A block diagram of an extraction device according to the second embodiment will be described with reference to FIG. The take-out device 1200 according to the second embodiment includes a first vertical movement mechanism 111, a horizontal movement mechanism 112, a first depth movement mechanism 113, a gripper movement mechanism 114, a gripper 115, and a second vertical movement mechanism. It includes a direction moving mechanism 116, a second depth direction moving mechanism 117, a transport unit 118, an image sensor 1201, a shape detecting unit 1202, and a control unit 1203.

  The image sensor 1201 is, for example, a range image sensor such as a laser range finder or a stereo camera sensor capable of acquiring three-dimensional position information, and captures an image or video of an object and generates image data.

  The shape detection unit 1202 receives image data from the image sensor 1201, and detects an upper position of the object and a lower position of the object based on the image data. The shape detection unit 1202 generates position information including a distance between the upper position of the object and the upper position and a distance between the lower position and the lower position of the object.

The control unit 1203 receives the position information from the shape detection unit 1202, and based on the position information, moves the first vertical movement mechanism 111, the horizontal movement mechanism 112, and the first depth in the direction in which the gripper 115 moves toward the upper position. The direction moving mechanism 113 is driven, and the second vertical direction moving mechanism 116 and the second depth direction moving mechanism 117 are driven in the direction in which the transport section 118 moves toward the lower position.
As an example of drive control, the control unit 1203 includes a first vertical movement mechanism 111, a horizontal movement mechanism 112, a first depth movement mechanism 113, a gripper movement mechanism 114, and a second vertical movement mechanism 116. And a drive signal indicating a drive amount of each of the second depth direction moving mechanism 117. Further, the control unit 1203 generates a grip control signal for controlling the gripping operation in the gripping unit 115 and a transport control signal for controlling the transport operation in the transport unit 118.

  The first vertical moving mechanism 111, the horizontal moving mechanism 112, the first depth moving mechanism 113, the gripper moving mechanism 114, the second vertical moving mechanism 116, and the second depth moving mechanism 117 are respectively A driving signal is received from the control unit 1203, and driving is performed so that the driving amount indicated by the driving signal is obtained.

  The gripper 115 receives a grip control signal from the controller 1203, and starts and stops a grip operation based on the control signal.

  The transport unit 118 receives the transport control signal from the control unit 1203, and controls the start, stop, and adjustment of the rotation speed of the conveyor based on the transport control signal.

  Note that a specific example of the shape of the extraction device 1200 according to the second embodiment is the same as that of the extraction device 100 according to the first embodiment, and a description thereof will be omitted. Note that the image sensor 1201 may be fixed at a position where an image of an object in the loading box can be captured. The shape detection unit 1202 and the control unit 1203 may be arranged on a base as a control panel, or may receive and process image data via wireless or wire, and extract a drive signal, a grip control signal, and a transport control signal. May be located at a position distant from the extraction device 100 that can transmit the data to the device.

Next, an example of the position information generation processing in the shape detection unit 1202 will be described with reference to FIG.
FIG. 13 shows image data acquired by the image sensor when viewed from the open side of the loading box 201 on which two boxes are loaded. The coordinate axes are the same as in FIG. Here, the lowermost surface of the loading box 201 is used as a reference.

  The shape detection unit 1202 performs image recognition processing of image data, extracts three-dimensional position information or RGB image information, and performs shape recognition of a target object. In the example of FIG. 13, two rectangles 1301 and 1302 are recognized, and a rectangle having the maximum value in the vertical direction (y-axis direction) and the minimum value in the depth direction (z-axis direction) is determined as an object. That is, the boxes are taken out in order from the top of the box stacked closest to the front, and here, the rectangle 1301 is determined as the object. The shape detection unit 1202 extracts the upper position 1303 from the determined object, and calculates the coordinates of the upper position 1303 and the distance to the upper position 1303. Further, the shape detection unit 1202 extracts the lower position 1304 from the determined object, and calculates the coordinates of the lower position 1304 and the distance to the lower position 1304. As a result, the shape detection unit 1202 obtains information on the coordinates of the upper position 1303 and the distance to the upper position 1303, the coordinates of the lower position 1304, and the distance to the lower position 1304 as position information. Here, the coordinates of the upper position 1303 include the coordinates (at least the y-axis component) of the highest point in the vertical direction (y-axis direction) of the object. The coordinates of the lower position 1304 include the coordinates (at least the y-axis component) of the lowest point in the vertical direction (y-axis direction) of the object. When the object is a rectangle, the coordinates of the upper side of the rectangle 1301 may be set as the coordinates of the upper position 1303, and the coordinates of the lower side may be set as the coordinates of the lower position 1304.

Next, a removal process of the removal device 1200 according to the second embodiment will be described with reference to the flowcharts of FIGS. 14A and 14B.
In step S1401, the image sensor 1201 captures an image in the loading box to obtain image data.
In step S1402, the shape detection unit 1202 performs an image recognition process on the image data, detects the shape, and determines an object.
In step S1403, the shape detection unit 1202 calculates an upper position and a lower position for the object whose shape has been recognized. In the second embodiment, since it is assumed that the box is taken out as an object and the extraction process is performed, the upper position and the lower position are calculated for the object located at the top in the vertical direction and the front in the depth direction. .

  In step S1404, the control unit 1203 determines whether the object is located above the intermediate shelf. Whether the target object is located above the intermediate shelf may be determined, for example, based on whether the upper position and the lower position calculated in step S1403 are higher than a predetermined intermediate shelf position. Further, if the position of the intermediate shelf can be analyzed from the image data, the shape detecting unit 1202 or the control unit 1203 may determine whether the position of the target object is higher than the position of the intermediate shelf based on the image data. Good. If the position of the object is higher than the intermediate shelf, the process proceeds to step S1413. If the position of the object is lower than the intermediate shelf, the process proceeds to step S1405.

In step S1405, the first vertical movement mechanism 111, the horizontal movement mechanism 112, the first depth movement mechanism 113, and the gripper movement mechanism 114 determine the amount of drive for moving from the control unit 1203 to the upper position. The gripper 115 is moved to the upper position of the object according to the driving signal shown.
In step S1406, the second vertical movement mechanism 116 and the second depth movement mechanism 117 target the conveyance unit 118 in response to a drive signal indicating a drive amount for moving to the lower position from the control unit 1203. Move to the lower position of the object.
In step S1407, the gripping unit 115 grips the target object in response to a gripping control signal from the control unit 1203 indicating the start of suction.

In step S1408, the horizontal direction moving mechanism 112, the first depth direction moving mechanism 113, the gripper moving mechanism 114, the gripper 115, and the transporter 118 convert the drive signal, gripper control signal, and transporter control signal from the controller 1203 into In response, the objects are moved to a specified position of the transport unit 118 in cooperation with each other and loaded on the transport unit 118.
In step S1409, the gripping unit 115 releases the gripping in response to the gripping control signal from the control unit 1203 indicating that the suction is stopped after the target object is stacked at the specified position of the transport unit 118.
In step S1410, the first vertical movement mechanism 111 retreats according to the drive signal from the control unit 1203 so that the first vertical movement mechanism does not hinder the movement path of the target.

In step S1411, the second vertical movement mechanism 116 and the second depth movement mechanism 117 move the transport unit 118 to a position where the target object can be transported to the worktable in accordance with the drive signal from the control unit 1203. Move.
In step S1412, the transport unit 118 transports the target to the workbench according to the transport control signal from the control unit 1203. Here, by rotating the rollers to rotate the belt conveyor, it is possible to convey to the work table while maintaining a stable state.

In step S1413, the first depth direction moving mechanism 113 retreats according to the drive signal from the control unit 1203.
In step S1414, the second depth direction moving mechanism 117 retreats according to the drive signal from the control unit 1203.
In step S1415, the first vertical movement mechanism 111 moves to the uppermost position of the base according to the drive signal from the control unit 1203.

  In step S1416, the second vertical movement mechanism 116 moves the transport unit 118 to the lower position of the object on the intermediate shelf or only one object on the intermediate shelf in response to the drive signal from the control unit 1203. If there is, move it to the edge of the middle shelf.

  In step S1417, the first vertical movement mechanism 111, the horizontal movement mechanism 112, the first depth movement mechanism 113, and the gripper movement mechanism 114 determine the amount of drive for moving from the control unit 1203 to the upper position. The gripper 115 is moved to the upper position of the object according to the driving signal shown.

  In step S1418, the gripping unit 115 grips the target object in response to a gripping control signal from the control unit 1203 indicating the start of suction.

In step S1419, the horizontal direction moving mechanism 112, the first depth direction moving mechanism 113, the gripper moving mechanism 114, the gripper 115, and the transporter 118 convert the drive signal, gripper control signal, and transporter control signal from the controller 1203 into In response, the objects are moved to a specified position of the transport unit 118 in cooperation with each other and loaded on the transport unit 118.
In step S1420, the gripping unit 115 releases the gripping in response to the gripping control signal from the control unit 1203 indicating that the suction is stopped after the target object is stacked at the specified position of the transport unit 118.
In step S1421, the second vertical movement mechanism 116 and the second depth movement mechanism 117 move the transport unit 118 to a position where the target object can be transported to the worktable in accordance with the drive signal from the control unit 1203. Move.
In step S1422, the transport unit 118 transports the target to the workbench according to the transport control signal from the control unit 1203. The take-out process of the take-out device 1200 is thus completed.

  In the removal process according to the present embodiment, when the loading box becomes empty, the removal process may be performed similarly by replacing the next loading box on which the object is loaded. When the loading boxes are replaced, the loading boxes may be manually operated, or the empty loading boxes may be pushed out, and the next loading boxes may be controlled to be included in the base. For example, if the image sensor is not used, the box drive unit (not shown) may push out the stacking box and include a new stacking box assuming that the stacking box is empty after the predetermined number of unloading processes. When an image sensor is used, the control unit determines whether or not an object exists from the image data, and if it determines that the object does not exist in the image data, the box driving unit pushes out the loading box, and a new box is pushed out. What is necessary is just to include a loading box.

  According to the second embodiment described above, by detecting an object from image data using an image sensor, not only a predetermined object and an arrangement, but also an arrangement and an object The removal process can be performed on the object, and the versatility can be improved.

In the above embodiment, it is assumed that the base stands upright in the vertical direction (y-axis direction), and the first vertical movement mechanism 111 and the second vertical movement mechanism 116 move in the vertical direction. Depending on the shape of the base, the base may be tilted from a vertically upright state. In such a case, the first vertical movement mechanism 111 (first movement mechanism) and the second vertical movement mechanism 116 (third movement mechanism) move vertically along the inclination of the base (also referred to as the first direction). ). At this time, it is sufficient that the left-right moving mechanism 112 and the first depth moving mechanism 113 (second moving mechanism) can move on an xz plane (first horizontal plane) intersecting with the first direction. Further, it is only necessary that the second depth direction moving mechanism 117 (fourth moving mechanism) connected to the third moving mechanism can move on the xz plane (second horizontal plane) facing the first horizontal plane. Note that the first horizontal plane and the second horizontal plane do not have to be planes strictly opposed to each other in a strictly parallel manner, and may be in a range in which movement in the vertical direction or the first direction is allowed.
Furthermore, in the above-described embodiment, it is assumed that the gripping unit 115 and the transporting unit 118 move by moving each of the moving mechanisms. However, even when the gripping unit 115 and the transporting unit 118 can be moved alone. Good. For example, the grip portion 115 is connected to the base, is attached to the tip of an arm that can expand and contract in the same movable range as the first moving mechanism and the second moving mechanism, and is movable in three axial directions, and is connected to the base, The take-out device may include the moving mechanism and the transport unit 118 in the same movable area as the fourth moving mechanism. This makes it possible to downsize the apparatus while also achieving stable transport.

  While some embodiments of the invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. These novel embodiments can be implemented in other various forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and their equivalents.

Hereinafter, the invention described in the claims at the time of the patent evaluation of the original application of the present application will be additionally described.
[1]
Base and
A gripping portion provided on the base, the first direction being movable in a second direction intersecting the first direction, and a gripping portion gripping an object;
A transfer unit that is located below the gripping unit, is movable in the first direction and the second direction, and includes a transport unit that transports the target object.
[2]
A sensor for acquiring position information of the object,
A detection unit that detects at least one of an upper position of the object and a lower position of the object based on the position information,
When the upper position is detected, the control unit drives the grip unit in the direction toward the upper position, and when the lower position is detected, the control unit drives the transport unit in the direction toward the lower position. The removal device according to [1], further provided.
[3]
The sensor acquires position information including information on a distance to the object,
The control unit calculates at least one of a first distance from the grip unit to the upper position and a second distance from the transport unit to the lower position based on the position information, and calculates the first distance. The unloading device according to [2], wherein, when the distance is calculated, the grip unit is driven according to the first distance, and when the second distance is calculated, the transport unit is driven according to the second distance.
[4]
The removal device according to any one of [1] to [3], wherein the gripping part moves so as not to collide when the transporting part transports the object.
[5]
The control unit, when an intermediate shelf is present on the table on which the object is stacked and the object is taken out from the intermediate shelf, such that one end of the transport unit is located at the lower position of the object. Alternatively, the removal device according to [2], wherein the transport unit is driven such that one end of the transport unit is located at a lower end of the intermediate shelf on the transport unit side.
[6]
The unloading device according to any one of [1] to [5], wherein the unloading device has an area capable of including a table on which the object is loaded.
[7]
The unloading device according to any one of [1] to [6], further comprising a work table to which the object is transported.
[8]
A gripper that is movable in a first direction and a second direction that intersects the first direction, and grips an object;
A transfer unit that is located below the gripping unit, is movable in the first direction and the second direction, and includes a transport unit that transports the target object.
[9]
A grip portion provided on the base moves in a first direction and a second direction intersecting the first direction to grip the target object,
An extraction method in which a transport unit located below the gripping unit moves in the first direction and the second direction to transport the object.
[10]
On the computer,
A function of gripping an object by a gripping portion provided on the base moving in a first direction and a second direction intersecting the first direction;
A function of transporting the object by moving the transporting unit located below the gripping unit in the first direction and the second direction, respectively;
Removal program to realize
[11]
The gripping portion provided on the base is moved in a first direction and a second direction intersecting with the first direction to grip the target object,
A control device for performing control of moving a transport unit located below the gripping unit in the first direction and the second direction to transport the object.
[12]
Detecting at least one of an upper position of the object and a lower position of the object based on the position information of the object,
When the upper position is detected, the grip portion is driven in a direction toward the upper position, and when the lower position is detected, control is performed to drive the transport portion in a direction toward the lower position, [ 11] The control device according to [11].
[13]
The position information includes information on a distance to the object,
When calculating at least one of a first distance from the gripper to the upper position and a second distance from the transporter to the lower position based on the position information, and calculating the first distance, The control device according to [12], wherein, when the gripping unit is driven according to the first distance and the second distance is calculated, the transport unit is driven according to the second distance.
[14]
The control device according to any one of [11] to [13], wherein control is performed to move the gripping unit so that the gripping unit does not collide when the transporting unit transports the target object.
[15]
When an intermediate shelf is present on the table on which the object is loaded and the object is taken out from the intermediate shelf, one end of the transport unit is located at the lower position of the object, or the transport unit The control device according to [12], wherein the control unit drives the transport unit so that one end of the transport unit is positioned at a lower end of the intermediate shelf on the transport unit side.

100, 1200: take-out device, 101: first vertical member, 102: second vertical member, 103: third vertical member, 104: fourth vertical member, 105: fifth vertical member, 106: sixth vertical member, 107 ... vertical member, 107 ... first horizontal member, 108 ... second horizontal member, 109 ... third horizontal member, 110 ... fourth horizontal member, 111 ... first vertical moving mechanism, 112 ... horizontal moving mechanism, 113 .., First depth direction moving mechanism, 114, gripping part moving mechanism, 115, gripping part, 116, second vertical direction moving mechanism, 117, second depth direction moving mechanism, 118, transport unit, 201, loading box .., 202, 203, 802, object, 205, work table, 801, intermediate shelf, 1201, image sensor, 1202, shape detector, 1203, controller, 1301, 1302, rectangle, 1303, upper Location, 1304 ... the bottom position.

Claims (15)

A gripper capable of gripping an object,
A transfer unit that is movable to approach the object to be gripped by the gripping unit and includes a transport unit that transports the object. A sensor for acquiring position information of the object,
A detection unit that detects at least one of an upper position of the object and a lower position of the object based on the position information,
When the upper position is detected, the control unit drives the grip unit in the direction toward the upper position, and when the lower position is detected, the control unit drives the transport unit in the direction toward the lower position. The take-out device according to claim 1, further comprising: The sensor acquires position information including information on a distance to the object,
The control unit calculates at least one of a first distance from the grip unit to the upper position and a second distance from the transport unit to the lower position based on the position information, and calculates the first distance. The removal device according to claim 2, wherein, when is calculated, the grip unit is driven according to the first distance, and when the second distance is calculated, the transport unit is driven according to the second distance.   The take-out device according to any one of claims 1 to 3, wherein the gripping part moves so as not to collide when the transporting part transports the object.   The control unit, when there is an intermediate shelf on the table on which the object is loaded and takes out the object from the intermediate shelf, so that one end of the transport unit is located at the lower position of the object. The removal device according to claim 2, wherein the transport unit is driven such that one end of the transport unit is located at a lower end of the intermediate shelf on the transport unit side.   The unloading device according to any one of claims 1 to 5, wherein the unloading device has an area capable of including a table on which the object is loaded. A transport unit capable of loading an object,
A gripper that grips the object and stacks on the transport unit,
The transport unit moves so as to approach the object,
The gripper, loading the object on the transport unit close to the object,
An unloading device, wherein the transport unit moves so as to be close to a work table and transfers the target object to the work table.   The unloading device according to any one of claims 1 to 7, further comprising a worktable to which the object is transported. The transport unit provided on the base moves so as to approach the target object,
A grip portion provided on a base grips and loads the target object on the transported object close to the target object,
An unloading method, wherein the transport unit moves so as to be close to a worktable and transfers the object. On the computer,
A function of moving the transport unit provided on the base so as to approach the target object,
A gripping portion provided on a base, a function of gripping and stacking the target object on the transported object close to the target object,
A function of moving the transport unit so as to be close to a worktable to transfer the object;
Removal program to realize Move the transport unit provided on the base so as to approach the target object,
A grip portion provided on a base, grips and loads the target object on the transported object close to the target object,
A control device for controlling the transfer of the target by moving the transport unit close to a worktable. Detecting at least one of an upper position of the object and a lower position of the object based on the position information of the object,
When the upper position is detected, the grip portion is driven in a direction toward the upper position, and when the lower position is detected, control is performed to drive the transport portion in a direction toward the lower position. Item 12. The control device according to Item 11. The position information includes information on a distance to the object,
When calculating at least one of a first distance from the gripper to the upper position and a second distance from the transporter to the lower position based on the position information, and calculating the first distance, 13. The control device according to claim 12, wherein the control unit drives the gripping unit according to the first distance and, when the second distance is calculated, drives the transport unit according to the second distance.   The control device according to any one of claims 11 to 13, wherein control is performed to move the gripping unit so that the gripping unit does not collide when the transporting unit transports the target object.   When an intermediate shelf exists on the table on which the object is loaded and the object is taken out from the intermediate shelf, one end of the transport unit is located at the lower position of the object, or the transport unit 13. The control device according to claim 12, wherein the control unit drives the transport unit so that one end of the transport unit is positioned at a lower end of the intermediate shelf on the transport unit side. 14.