JP2021094664A - Transfer device - Google Patents

Abstract

To provide a picking system that prevents a transfer device from interfering with luggage, while reducing calculation processing in performing depalletization.SOLUTION: In a picking system, a robot arm has a hand 23 and depalletizes luggage W supported on a pallet. A camera photographs a first surface, a second surface and a top surface. An image processing part grasps a position of the luggage W in an image processing range Q. A controller identifies luggage W facing a first image processing range setting surface 111 as luggage W1 to be suctioned from the luggage W grasped by the image processing part, and controls the robot arm so as to position the hand 23 outside the first image processing range setting surface 111 and then cause the hand 23 to pass through the first image processing range setting surface 111 and to suction the luggage W1.SELECTED DRAWING: Figure 15

Description

The present invention relates to a transfer device, in particular a transfer device for removing one or more articles from a stacked article.

Currently, there is a demand to solve the labor shortage in the logistics industry, and robot motion technology and image recognition technology are advancing to achieve that purpose, and the movement to make robots perform heavy labor palletizing and depalletizing work is spreading. There is.
The operation of palletizing and depalletizing is generally carried out by adsorbing air on the upper surface of the load with a hand (a mechanism attached to the tip of the robot to actually grip the load).
For example, there is a picking system that picks articles one by one from the top by a picking robot for a group of articles composed of a plurality of stacked articles (for example, Patent Document 1).

Special Solution No. 2019-5871

The conventional picking robot transfers by sucking air on the upper surface or the side surface of the load.
The picking robot has a suction hand that sucks the upper surface or the side surface of the cardboard box.

The picking system has a camera that shoots cardboard. The controller of the picking system can determine the position, shape, size, etc. of the cardboard box based on the image signal from the camera. If the image processing range for image processing is not defined in the controller, the accuracy of specifying the package will increase, but the amount of image processing calculation will increase.
On the other hand, conventionally, when the robot arm moves the suction hand, no special device is taken. Therefore, when the robot arm moves the suction hand, it is necessary to consider the interference with other luggage and devices.

An object of the present invention is to prevent interference between the transfer device and the load while reducing the calculation process when performing depalletization.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.

The transfer device according to the first aspect of the present invention includes a robot arm, an image pickup device, an image processing unit, and a controller.
The robot arm has a suction device and depalletizes the load supported by the support portion.
The image pickup device includes a first horizontal surface of the load supported by the support portion, a second horizontal surface that is orthogonal to the first horizontal direction, and a top surface. And image.
The image processing unit grasps the position of the luggage within the image processing range. The image processing range includes a first image processing range setting surface set at a position separated by a first predetermined distance from the support portion to the image pickup device side in the first horizontal direction among the image pickup information captured by the image pickup device, and a second image processing range. The second image processing range setting surface is set at a position separated from the support portion by a second predetermined distance from the support portion in the horizontal direction, and is set at a position separated by a third predetermined distance upward from the support portion in the height direction. It is surrounded by a third image processing range setting surface.
The controller identifies the baggage W facing the first image processing range setting surface from the baggage grasped by the image processing unit as the baggage to be sucked, positions the suction device outside the first image processing range setting surface, and then sets the suction device. The robot arm is controlled so as to pass through the first image processing range setting surface and attract the suction device to the load.
In addition, "positioning the suction device outside the first image processing range setting surface" means that all of the suction devices are arranged outside the surface and a part of the suction device is outside the surface. Including the case where it is arranged. Further, "passing through the first image processing range setting surface" means that at least a part of the suction device passes through the first image processing range setting surface.
In this device, the suction device can be positioned outside the image processing range in which image processing is performed, and can be positioned at the suction position with respect to the load only by advancing. In this way, since the suction device is positioned in front of the load when moving outside the image processing range, the suction device can be moved to a specific position without performing image processing. In this case, since the suction target is the luggage on the side of the first image processing range setting surface, it is not necessary to perform additional image processing calculation even when the suction device passes through the first image processing range setting surface, and the robot arm Orbit calculation is also suppressed.

The controller identifies the baggage facing the second image processing range setting surface as the baggage to be sucked, and the robot arm moves the baggage to the second image processing range setting surface side before raising the sucked baggage. May be controlled.
In this device, before lifting the luggage facing the second image area setting surface, the luggage is moved to the second image processing range setting surface side, so that even if the adjacent luggage is tilted, it interferes with the adsorbed luggage. Can be prevented.

The controller identifies the baggage facing the third image processing range setting surface as the baggage to be adsorbed, then raises the adsorbed baggage above the third image processing range setting surface, and raises the baggage above the third image processing range setting surface. The robot arm may be controlled to move horizontally outside the setting surface.
In this device, by moving the luggage above the third image processing range setting surface, it is possible to prevent the sucked luggage from interfering with the luggage supported by the support portion. Specifically, by moving the luggage above the third image processing range setting surface, the robot arm can be moved horizontally without performing image processing. The "horizontal movement" includes horizontal movement and diagonal movement.

When moving the suction device outside the image processing range, the controller may move from the current position to the target position in the shortest distance.
In this device, outside the image processing range, the amount of control of the controller can be reduced by not detecting obstacles.

In the transfer device according to the present invention, it is possible to prevent interference between the transfer device and the load while reducing the calculation process at the time of deparating.

The schematic plan view of the picking system of 1st Embodiment. A perspective view from diagonally above the hand. A perspective view from diagonally below the hand. Top view of the hand. Side view of the hand. Schematic side view of the hand. Schematic side view of the hand. The schematic diagram which shows the relationship between the hand base of a hand, and the vertical drive device. Schematic diagram of the holding mechanism. Schematic diagram of the holding mechanism. A block diagram showing a control configuration of a hand. Flowchart of depalletization control operation. Flowchart of depalletization control operation. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the deparating operation by a hand. The schematic diagram which shows one state of the baggage return operation by a hand. The schematic diagram which shows one state of the baggage return operation by a hand. The schematic diagram which shows one state of the baggage return operation by a hand. The schematic diagram which shows the image processing range of the baggage on a pallet. The schematic plan view which shows one state of the deparating operation by a hand in 2nd Embodiment. The schematic plan view which shows one state of the deparating operation by a hand in 2nd Embodiment. The schematic plan view which shows one state of the deparating operation by a hand in 2nd Embodiment. The schematic diagram which shows one state of the deparating operation by a hand in 3rd Embodiment. The schematic diagram which shows one state of the deparating operation by a hand in 3rd Embodiment. The schematic diagram which shows one state of the deparating operation by a hand in 3rd Embodiment. The schematic diagram which shows one state of the deparating operation by a hand in 4th Embodiment. The schematic diagram which shows one state of the deparating operation by a hand in 4th Embodiment.

1. 1. First Embodiment (1) Overall Configuration of Picking System With reference to FIG. 1, a picking system 1 (an example of a transfer device) will be described as a first embodiment of the present invention. FIG. 1 is a schematic plan view of the picking system of the first embodiment.

The picking system 1 is a device for picking the requested article. Specifically, the operation of stacking the luggage W on the pallet P (palletizing) and the operation of taking out the luggage W from the stacked luggage W (depalletizing). ) Do the operation.
The picking system 1 has a palletizing unit 3 and a depalletizing unit 5. In the palletizing section 3, luggage W is stacked. In the depalletizing section 5, the luggage W is taken. The luggage W is, for example, stacked on the pallet P in an aligned state in the vertical, front, rear, left, and right directions.

The picking system 1 has a carry-in conveyor device 7. The carry-in conveyor device 7 is a device that carries the luggage W to the picking position.
The picking system 1 has a carry-out conveyor device 9. The carry-out conveyor device 9 is a device for carrying out the luggage W from the picking position.
The carry-in conveyor device 7 and the carry-out conveyor device 9 are arranged adjacent to each other, and extend in one horizontal direction and are arranged in parallel.

The picking system 1 has a picking robot 15 (an example of a robot arm). The picking robot 15 is a device for performing a palletizing operation and a depalletizing operation. The picking robot 15 is arranged between the palletizing section 3 and the depalletizing section 5.

(2) Picking Robot The picking robot 15 has a robot arm (an example of a robot arm). The robot arm 21 is a known technique. The robot arm 21 has an arm driving device 63. The arm drive device 63 is a known technique such as a motor.
The picking robot 15 has a hand 23 (an example of a suction device). The hand 23 is a device for transferring by moving the luggage W in the front-rear direction (the side approaching the luggage W is the front side and the side away from the luggage W is the rear side), and is attached to the tip of the robot arm 21. Has been done.

The hand 23 will be described with reference to FIGS. 2 to 5. FIG. 2 is a perspective view from diagonally above the hand. FIG. 3 is a perspective view from diagonally below the hand. FIG. 4 is a plan view of the hand. FIG. 5 is a side view of the hand.
The hand 23 has a hand base 25. The hand base 25 is rotatably connected to the lower tip of the arm of the robot arm 21. The hand 23 is swiveled with respect to the robot arm 21 by the swivel device 26 (FIG. 1).
The hand 23 has a transfer table 27. The transfer table 27 is provided on the lower surface of the hand base 25 so as to be movable in the front-rear direction, and can support the bottom surface of the luggage W. Specifically, the transfer table 27 is movably supported by a guide portion (not shown) on the lower surface of the hand base 25. The transfer table 27 has a rectangular shape formed longer in the front-rear direction than the hand base 25, and can project to any side of the hand base 25 in the front-rear direction.

As shown in FIGS. 4 and 5, the hand 23 has a transfer table drive device 29 (an example of a front-rear drive device). The transfer table drive device 29 is a device that drives the transfer table 27 in the front-rear direction with respect to the hand base 25.
The transfer table drive device 29 includes a motor 30 provided on the hand 23, a plurality of pulleys (not shown) provided on the transfer table 27, and a belt (not shown) hung on the pulleys. The transfer table drive device may be a chain mechanism, a rack & pinion mechanism, an electric cylinder, or an air cylinder.
The transfer table driving device 29 has a first position (for example, FIG. 7) whose front end is on the front side in the front-rear direction from the suction device 31 (described later) and a front end is rearward in the front-rear direction from the suction device 31. It is movable to and from a second position on the side (eg, FIG. 2).

The structure of the transfer table 27 will be described with reference to FIGS. 6 and 7. FIG. 6 is a schematic side view of the hand. FIG. 7 is a schematic side view of the hand.
A slide belt 47 is wound around the transfer table 27. Both ends of the slide belt 47 are fixed to the lower part of the hand base 25, and the slide belt 47 is wound so as to cover the upper surfaces and the lower surfaces of both sides of the transfer table 27. When the transfer table 27 moves in the front-rear direction with respect to the hand base 25, the slide belt 47 is deformed along the moving position of the transfer table. Therefore, when the luggage W is transferred to the transfer table 27, when a load in the front-rear direction is applied from the luggage W to the slide belt 47, the portion of the slide belt 47 in contact with the luggage W is transferred together with the luggage to the transfer table 27. Moves back and forth with respect to. That is, the slide belt 47 slides with respect to the transfer table 27, but the luggage W is drawn onto the transfer table 27 without sliding with the slide belt 47. Therefore, the luggage W is not easily damaged.

The hand 23 has a suction device 31. The suction device 31 is provided on the hand base 25 so as to be movable in the vertical direction, and can suck the side surface of the luggage W. The suction device 31 is sucked and released by the suction device 49 (FIG. 11). The suction device 31 has a suction pad 31a (FIG. 8) that actually comes into contact with the load W.

The hand 23 will be further described with reference to FIG. FIG. 8 is a schematic view showing the relationship between the hand base of the hand and the vertical drive device.
The hand 23 has a vertical drive device 33. The vertical drive device 33 drives the suction device 31 in the vertical direction with respect to the hand base 25.
The vertical drive device 33 has an air cylinder 35. The air cylinder 35 drives the suction device 31 in the upward direction with respect to the hand base 25. The air cylinder 35 can be detached from the suction device 31 in the downward direction. The air cylinder 35 has a piston 35a, and the piston 35a can come into contact with the receiving portion 31b of the suction device 31 from below to push up the suction device 31. As shown in FIG. 4, the air cylinder 35 is arranged in the middle in the width direction near the suction device 31 of the hand base 25.

The vertical drive device 33 has a spring member 37 that urges the suction device 31 downward. Specifically, one end of the spring member 37 is fixed to the hand base 25, the other end is fixed to the suction device 31, and the suction device 31 is pulled downward with respect to the hand base 25. By using the spring member 37, the luggage W can be reliably lowered and placed on the transfer table 27 even after the air cylinder 35 is separated downward from the suction device 31 (described later). The spring members 37 are arranged at two locations on both outer sides in the width direction, for example, near the suction device 31 of the hand base 25. In FIG. 8, the spring member 37 is arranged in the vicinity of the air cylinder 35, but this is only schematically drawn and does not limit the actual arrangement. Further, the fixing destination of the spring member 37 is not particularly limited. More specifically, when the piston 35a of the air cylinder 35 is lowered downward, the suction device 31 continues to follow the piston 35a by being pulled by its own weight and the spring member 37, and the luggage W is the lower device or the luggage. When it is placed on, it stops moving downward. After that, the piston 35a separates from the suction device 31.
The vertical drive device 33 can lower the suction device 31 to a position where it overlaps the transfer table 27 in the height direction (see FIG. 14). At this time, the transfer table 27 is on the rear side (the above-mentioned second position) of the suction device 31 in the front-rear direction. Therefore, even a short luggage W can be picked. The above is possible when the suction device 31 is at the lowermost position with respect to the hand base 25 and the transfer table 27 when the air cylinder 35 is most contracted, but at this time, the lower surface of the suction device 31 is the transfer table. This is because it is below the upper surface of 27. However, the above structure is not essential.
As shown in FIG. 3, the hand 23 further has a contact member 39 on the lower surface of the suction device 31. The contact member 39 is partially formed on the lower surface of the suction device 31. The contact member 39 is an elastic member such as rubber. Specifically, as shown in FIG. 3, the contact member 39 is provided near both ends on the outer side in the width direction of the suction device 31, and has a band shape extending in the front-rear direction. The shape, number, position, and material of the contact members are not particularly limited. Moreover, the contact member may be omitted.

The hand 23 has a suction device holding mechanism 43 (hereinafter, referred to as a holding mechanism 43). The holding mechanism 43 fixes the suction device 31 so as not to swing at the lowered position, and holds the suction device 31 swingably at the raised position.
The holding mechanism 43 will be specifically described with reference to FIGS. 9 and 10. 9 and 10 are schematic views of the holding mechanism.
The holding mechanism 43 has a cam member 53 and a roller 55. The cam member 53 is fixed to the main body of the hand base 25. The cam member 53 has a hollow portion 54 for supporting the roller 55. The hollow portion 54 has a locking surface 54a extending linearly in the vertical direction at the lower part of the side surface on the suction device 31 side. The hollow portion 54 further has a curved surface 54b that is continuous from the locking surface 54a and smoothly curved on the side surface on the suction device 31 side. The curved surface 54b is recessed from the locking surface 54a to the rear side in the front-rear direction. The hollowed out portion 54 has a second locking surface 54c facing the locking surface 54a and the curved surface 54b. The second locking surface 54c extends in the vertical direction. The cam member 53 is arranged at two locations on both outer sides in the width direction, for example, near the suction device 31 of the hand base 25.

The roller 55 is rotatably provided on the cam member 53 side of the lower part of the suction device 31. The rotation axis of the roller 55 is parallel to the width direction of the hand 23. The roller 55 is in contact with or in close proximity to the locking surface 54a and the curved surface 54b of the cam member 53.
The suction device 31 has a fulcrum 31c as a rotation center on the upper cam member 53 side. The rotation axis of the fulcrum 31c is parallel to the width direction of the hand 23. The fulcrum 31c is, for example, a pin, and the pin is movably guided in an elongated hole (not shown) formed in a plate (not shown) of the hand base 25 and extending in the vertical direction.
The suction device 31 cannot be rotated clockwise from the state shown in FIG. 9 by a stopper (not shown). That is, the suction device 31 is rotatable with respect to the hand base 25 only counterclockwise from the state shown in FIG.

When the suction device 31 is located below as shown in FIG. 9, the roller 55 is in contact with the locking surface 53a of the cam member 53, so that the suction device 31 cannot rotate counterclockwise.
As shown in FIG. 10, when the suction device 31 rises, the roller 55 slides on the curved surface 53b of the cam member 53, whereby the suction device 31 tilts with respect to the hand base 25 according to the posture of the luggage W. be able to. When the suction device 31 tries to rotate clockwise in this state, the roller 55 comes into contact with the second locking surface 54c to limit the rotation of the suction device 31.
As described above, by using the cam member 53, locking and unlocking of the swing of the suction device 31 can be switched by the ascending / descending operation of the suction device 31.

As shown in FIG. 18, the picking system 1 has a gap sensor 36. The gap sensor 36 is provided on the hand 23, for example, and detects a gap below the luggage W during the luggage depalletizing operation described later (described later). Specifically, the gap sensor 36 is a laser distance sensor and can measure the distance to an object.
As shown in FIG. 1, the picking system 1 further includes a camera 38 (an example of an imaging device) that images the luggage W. The camera 38 captures, for example, a plurality of luggage Ws placed on the pallet P. The image data of the camera 38 is used to identify the position and shape of the luggage W.
More specifically, as shown in FIG. 25, the camera 38 has a first surface 101 of the luggage W supported by the pallet P facing the first horizontal direction (arrow X) and the first horizontal direction. The second surface 102 facing the second horizontal direction (arrow Y) orthogonal to each other in the horizontal direction and the top surface 103 (an example of the top surface) are imaged. FIG. 25 is a schematic view showing an image processing range of the luggage on the pallet.
The number, position, type, etc. of cameras are not particularly limited.

(3) Hand Control Configuration The control configuration of the hand 23 will be described with reference to FIG. FIG. 11 is a block diagram showing a control configuration of the hand.
The hand 23 has a controller 51.
The controller 51 is a computer having a processor (for example, a CPU), a storage device (for example, ROM, RAM, HDD, SSD, etc.) and various interfaces (for example, an A / D converter, a D / A converter, a communication interface, etc.). It is a system. The controller 51 performs various control operations by executing a program stored in the storage unit (corresponding to a part or all of the storage area of the storage device).

The controller 51 may be composed of a single processor, or may be composed of a plurality of independent processors for each control.
Some or all of the functions of each element of the controller 51 may be realized as a program that can be executed by the computer system constituting the controller 51. In addition, a part of the function of each element of the controller 51 may be configured by a custom IC.

The controller 51 controls the swivel device 26, the transfer table drive device 29, the suction device 49, and the air cylinder 35.
The controller 51 and the arm drive device 63 of the robot arm 21 are also controlled.
The detection signal from the gap sensor 36 is transmitted to the controller 51.

An image signal as image pickup data from the camera 38 is transmitted to the controller 51. The controller 51 can determine the position, shape, size, etc. of the luggage W based on the image signal.

The controller 51 has an image processing unit 61. The image processing unit 61 grasps the position of the luggage W within the image processing range Q. As shown in FIG. 25, the image processing range Q is the first image processing information captured by the camera 38 from the palette P in the first horizontal direction (for example, the first horizontal edge of the palette P) to the camera 38 side. A position separated from the pallet P (for example, the second horizontal edge of the pallet P) by a second predetermined distance on the camera 38 side in the second horizontal direction from the first image processing range setting surface 111 set at a position separated by a predetermined distance. The second image processing range setting surface 112 set to, and the third image processing range setting surface set at a position separated by a third predetermined distance upward from the pallet P (for example, from the upper surface of the pallet P) in the height direction. It is surrounded by 113.
Since each predetermined distance of the first image processing range setting surface 111, the second image processing range setting surface 112, and the third image processing range setting surface 113 is set to the camera 38 side, the luggage W can be grasped in each case. It will be easier to do. Further, by setting the above predetermined distance as the camera 38 side and identifying the luggage W from the luggage W on the camera 38 side (that is, the luggage on the camera 38 side is preferentially specified), all of them are finally specified. Luggage W can be identified.
As described above, the processing range for performing image processing is defined as the image processing range Q. This is to reduce the amount of image processing calculation. The area of the image processing range Q is slightly larger than the area of the pallet P and the luggage W on the pallet P.

Although not shown, the controller 51 is connected to a sensor for detecting the size, shape, and position of the luggage W, a sensor and a switch for detecting the state of each device, and an information input device.

(4) Deparating operation (4-1) Basic operation Using FIGS. 12 to 21, an operation of taking out one or more of the stacked luggage Ws (deparating operation) will be described. 12 and 13 are flowcharts of the depalletization control operation. 14 to 21 are schematic views showing one state of the depalletizing operation by the hand.
The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Further, a plurality of steps may be executed at the same time, or some or all of them may be executed in an overlapping manner.
Further, each block of the control flowchart is not limited to a single control operation, and can be replaced with a plurality of control operations represented by a plurality of blocks.
The following control operation is performed by the controller 51 transmitting a control signal to each device.

In step S1 of FIG. 12, image processing is performed based on the image signal from the camera 38, and the position and shape of the target baggage W are recognized. Specifically, the image processing unit of the controller 51 executes the above operation.
In step S2 of FIG. 12, as shown in FIG. 14, the robot arm 21 moves the hand 23 to a position corresponding to the target luggage W (position on the front rear side of the luggage W). At this time, the transfer table 27 is in a horizontal state.
In step S3, as shown in FIG. 15, the robot arm 21 advances the hand 23.

In step S4, as shown in FIG. 15, the suction device 31 is applied to the side surface of the load W based on the lower reference of the load W and is sucked (an example of a step of sucking the side surface of the load to the suction device). Specifically, just before the suction device 31 comes into contact with the luggage W, the suction device 49 starts suction, and the robot arm 21 moves the entire hand 23 to push the suction device 31 toward the luggage W side.
In step S5, as shown in FIG. 16, the robot arm 21 moves the entire hand 23 to the rear side. At this time, the suction device 31 rises with respect to the hand base 25 to lift the luggage W. Specifically, the air cylinder 35 raises the suction device 31 with respect to the hand base 25. Therefore, the luggage W is lifted by the suction device 31 and tilted together with the suction device 31. As a result, the target luggage W is less likely to interfere with the luggage W in the back.
As described above, since the suction device 31 can be swung by the holding mechanism 43 at the raised position, a large load does not act on the suction device 31.

In step S6, as shown in FIG. 17, the robot arm 21 tilts the posture of the hand 23. As a result, the transfer table 27 is in an inclined posture in which the front end is on the lower side with respect to the rear end.
In step S7, as shown in FIG. 18, the gap is detected by the gap sensor 36 after the load W is raised. Specifically, a laser beam is emitted from the gap sensor 36, and the distance to an object ahead of the laser beam is measured. The laser beam is emitted below the luggage W.
In step S8, it is determined whether or not there is a space for inserting the transfer table 27 between the target luggage W and the lower luggage W. If there is space, the process proceeds to step S9, and if there is no space, the process proceeds to step S13. After step S13, the process returns to step S1.

In step S9, as shown in FIG. 19, the transfer table driving device 29 moves the transfer table 27 in the inclined posture forward and inserts it into the gap under the luggage W. As the transfer table 27 moves further forward, it slightly contacts the bottom surface of the luggage W. During the above operation, the robot arm 21 moves the hand base 25 from the suction position to the rear side along the tilting direction of the transfer table 27 (at this time, the position in the front-rear direction of the transfer table 27 does not change). As a result, the suction device 31 and the luggage W are pulled onto the transfer table 27. The insertion amount of the transfer table 27 is appropriately changed depending on the size of the luggage.
Since the hand base 25 is moved upward from the suction position during the above operation, the transfer table 27 catches the lower luggage W even if the transfer table 27 and the hand base 25 are not completely synchronized. Hateful.
In the above operation, the moving tilt angle of the hand base 25 may be larger than the tilt angle of the support plate in the tilted posture. In that case, the above effect is further enhanced.

In step S10, as shown in FIG. 20, the vertical drive device 33 lowers the suction device 31 downward. Specifically, the piston 35a descends. Then, when the piston 35a of the air cylinder 35 moves downward from the suction device 31, the suction device 31 also descends together with the load W. At this time, the suction device 31 is surely lowered by the urging force of the spring member 37 in addition to the own weight of the suction device 31 and the luggage W. As a result of the above, the luggage W is placed on the transfer table 27.
Further, since the suction device 31 cannot swing at the lowered position by the holding mechanism 43, the load W can be stably held. As a result, the luggage W is stably placed on the transfer table 27 and is stably transported thereafter.

In step S11, as shown in FIG. 21, the robot arm 21 puts the hand 23 in a horizontal posture. As a result, the transfer table 27 is also in a horizontal position. In this way, the luggage W is stably placed on the transfer table 27 and is stably transported thereafter.
In step S12, the robot arm 21 carries out the luggage W to the carry-out conveyor device 9. The process then returns to step S1.

(4-2) Detailed Description of Suction Operation In step S2 of FIG. 12, as described above, the robot arm 21 moves the hand 23 to a position corresponding to the target luggage W. Specifically, as shown in FIG. 14, the suction device 31 is arranged on the outside of the first image processing range setting surface 111 and on the front rear side of the luggage W with respect to the luggage W grasped by the image processing unit 61. Will be done. Next, as shown in FIG. 15, the hand 23 passes through the first image processing range setting surface 111, and the suction device 31 is brought into contact with the luggage W, and then is sucked. The above operation is executed by the controller 51 controlling the arm driving device 63 of the picking robot 15.
In this way, the hand 23 can be positioned outside the image processing range Q and can be positioned at the suction position with respect to the luggage W only by advancing. In this way, since the hand 23 is positioned in front of the luggage W1 when moving outside the image processing range Q, the hand 23 can be moved to a specific position without performing image processing. In this case, since the luggage W on the first image processing range setting surface 111 side is specified as the suction target luggage W1, additional image processing calculation is performed when passing the hand 23 first image processing range setting surface 111. It is not necessary, and the trajectory calculation of the robot arm 21 can be suppressed.
Further, since the specific target is the luggage W on the first image processing range setting surface 111 side, there is no obstacle or the like between the specified luggage W1 and the hand 23. Therefore, when moving the hand 23 forward, it is not necessary to consider interference with other luggage W or the device.

(4-3) Luggage return operation In step S12, a baggage return operation is performed. The baggage return operation will be described in detail with reference to FIGS. 13 and 22 to 24. 22 to 24 are schematic views showing one state of the baggage return operation by the hand. The baggage return operation is to return the baggage that has failed to be transferred to its original position for retry.
In step S21 of FIG. 13, the robot arm 21 returns the entire hand 23 to the horizontal posture. As a result, as shown in FIG. 22, the transfer table 27 is also in the horizontal posture.
In step S22, as shown in FIG. 23, the robot arm 21 moves the luggage W forward by advancing the hand base 25. The movement amount of the hand base 25 at this time is preferably the same as or slightly different from the movement amount of the retreat of the hand base 25 in step S5. It is more preferable that the movement amount of the hand base 25 is slightly larger than the movement amount of the retreat of the hand base 25. This is because it is necessary to move the luggage W to the front side of the image processing range Q (described later).

In step S23, as shown in FIG. 24, the vertical drive device 33 lowers the suction device 31.
In step S24, the suction device 49 releases the suction of the suction device 31.
In step S25, the robot arm 21 moves the hand 23 to the rear side.

As a result of the above, the luggage W returns to its original position. The luggage W may be in contact with or away from the luggage W on the front side.
As is clear from the above, in the step of returning the luggage W to the original position, the hand base 25 is moved to the front side while lowering the suction device 31 to the vertical drive device 33. Therefore, even if the luggage W moves to the rear side due to the suction, the luggage W can be returned to the original position.
In this hand 23, by returning the luggage W to the original position when there is interference, it is unlikely that the luggage W will be placed in a place where picking is not possible. As a result, it becomes possible to reliably retry the baggage transfer.

Here, an example of the "original position" is preferably a position where the rear side surface, which is the suction surface of the luggage W, is located within the image processing range Q of FIG. 24. For example, unlike the present embodiment, when the operation of step S22 (FIG. 13) is not performed, the position of the luggage W is shifted to the rear side from the original position, and the rear side surface of the luggage W is It may be out of the image processing range Q. In that case, the image processing by the controller 51 is not properly performed, and therefore, the retry operation of the depalletization of the robot arm 21 by the image recognition may not be executed. Further, when the robot arm 21 is designed to be safe to move when the suction surface of the luggage W is present in the image processing range Q, the rear side surface of the luggage W is from the image processing range Q. If the robot arm 21 is outside, there is a possibility that the robot arm 21 may collide with another device or the like during operation.
The image processing range Q may be set so that the robot arm 21 and the robot mount do not interfere with each other when the hand 23 accesses the luggage W within the image processing range Q. Further, in the above case, the image processing range Q is determined based on a place where the robot arm 21 should not pass (a position where it interferes with another device) and a place where the robot arm 21 cannot pass due to the configuration of the robot arm 21. ..
In the above example, the range in which the controller 51 can process images coincides with the camera field of view range, but the range may be narrower than the camera field of view range.
In this hand 23, the transfer table 27 is returned to the horizontal posture by moving the hand base 25 as shown in FIG. 21 before the step of returning the luggage W to the original position. Therefore, the luggage W can be reliably returned to the original position.

2. 2nd Embodiment In the 1st embodiment, after sucking the luggage, the hand 23 conveys the luggage W without changing the second horizontal position of the luggage W, but the luggage W facing the second image processing range setting surface 112. (That is, in the case of luggage having a moving space in the second horizontal direction), the position in the second horizontal direction may be changed.
Such an embodiment will be described as a second embodiment with reference to FIGS. 26-28. 26 to 28 are schematic plan views showing one state of the deparating operation by the hand of the second embodiment. Since the basic configuration and operation are the same as those in the first embodiment, the following description will focus on the differences.

First, as shown in FIG. 26, the hand 23 is arranged at a predetermined position with the luggage W facing the second image processing range setting surface 112 as the suction target. The darker ones of the luggage W are on the white ones. That is, the dark-colored luggage W is the uppermost luggage.
The luggage W1 to be adsorbed is the uppermost luggage, and the uppermost luggage is not placed on one side (lower side in FIG. 26) in the second horizontal direction of the luggage W1.

Next, as shown in FIG. 27, the hand 23 advances and comes into contact with the target luggage W1. After that, the hand 23 sucks the luggage W1.
Next, as shown in FIG. 28, the hand 23 moves the luggage W1 to the second image processing range setting surface 112 side.
In this embodiment, the luggage W to be attracted is specified in order from the luggage W facing the second image processing range setting surface 112. Therefore, there is no other baggage W at the same height position on the second image processing range setting surface 112 side of the baggage W1.

After that, the hand 23 raises the adsorbed luggage W1.
The above operation is performed by the controller 51 controlling the robot arm 21.
As described above, in this embodiment, the luggage W is moved to the second image processing range setting surface 112 side before the luggage W1 facing the second image processing range setting surface 112 is lifted. Therefore, even if the adjacent luggage W located on the side opposite to the second image processing range setting surface 112 of the luggage W1 is tilted toward the second image processing range setting surface 112, the luggage W1 is separated from the luggage W. Since it can be raised, it is possible to prevent the luggage from interfering with each other.
Unlike the above, unless the luggage W is moved to the second image processing range setting surface 112 side, if the adjacent luggage W is tilted to the second image processing range setting surface 112 side, the luggage W1 is the next luggage. There was a risk of interfering with W. However, in the present embodiment, even when the adjacent luggage W is tilted, interference with the adjacent luggage W can be prevented by separating the luggage W1 and then raising the luggage W1.
Further, by making sure that the baggage W1 is moved to the second image processing range setting surface 112 side, it is not necessary to identify the presence / absence of the inclination and the direction of the inclination of the adjacent baggage W by image processing.

The second embodiment can be combined with the first embodiment. In that case, for example, as shown in FIG. 14 of the first embodiment, the suction device 31 is arranged outside the first image processing range setting surface 111 with respect to the luggage W grasped by the image processing unit 61. .. Next, as shown in FIG. 15, the hand 23 passes through the first image processing range setting surface 111, and the suction device 31 is brought into contact with the luggage W, and then is sucked.
Then, as shown in FIG. 28, the hand 23 moves the baggage W1 to the second image processing range setting surface 112 side, and then raises the adsorbed baggage W1.

3. 3. Third Embodiment In the first embodiment and the second embodiment, the movement route after the load is adsorbed by the hand is not particularly limited, but the safety can be improved by setting the limitation.
Such an embodiment will be described as a third embodiment with reference to FIGS. 29 to 31. 29 to 31 are schematic views showing one state of the deparating operation by the hand in the third embodiment. Since the basic configuration and operation are the same as those in the first embodiment, the following description will focus on the differences.

First, as shown in FIG. 29, the hand 23 sucks the luggage W.
Next, as shown in FIG. 30, the hand 23 raises the adsorbed luggage W above the third image processing range setting surface 113.

Next, as shown in FIG. 31, the hand 23 moves the luggage W to the outside of the third image processing range setting surface 113. Specifically, as shown in FIG. 31, the hand 23 moves the luggage W1 above the third image processing range setting surface 113. After that, the hand 23 moves the luggage W1 horizontally (including horizontal movement and diagonal movement). Since the luggage W1 is moved horizontally after being moved above the third image processing range setting surface 113 in this way, it is not necessary to specify the position of the other luggage W.
The above operation is performed by the controller 51 controlling the robot arm 21.
As described above, in this embodiment, the luggage W is moved above the third image processing range setting surface 113. Therefore, it is possible to prevent interference between the adsorbed luggage W and the luggage W supported by the pallet P.

The third embodiment can be combined with both the first embodiment and the second embodiment.
In the case of the combination of the first embodiment and the third embodiment, for example, as shown in FIG. 14 of the first embodiment, the suction device 31 is the first with respect to the luggage W grasped by the image processing unit 61. It is arranged outside the image processing range setting surface 111. Next, as shown in FIG. 15, the hand 23 passes through the first image processing range setting surface 111, and the suction device 31 is brought into contact with the luggage W, and then is sucked.
Then, as shown in FIG. 30, the hand 23 raises the adsorbed luggage W above the third image processing range setting surface 113, and further moves the luggage W outside the third image processing range setting surface 113. Let me.

In the case of the combination of the second embodiment and the third embodiment, for example, as shown in FIG. 28, the hand 23 moves the luggage W1 to the second image processing range setting surface 112 side.
Then, as shown in FIG. 30, the hand 23 raises the adsorbed luggage W above the third image processing range setting surface 113, and further moves the luggage W outside the third image processing range setting surface 113. Let me.

4. Fourth Embodiment In the first to third embodiments, the range until the hand moves to a predetermined position before suction is not particularly limited, but the calculation amount of the controller may be reduced by limiting it. ..
A fourth embodiment will be described with reference to FIGS. 32 to 33. 29 to 30 are schematic views showing one state of the deparating operation by the hand in the fourth embodiment. Since the basic configuration and operation are the same as those of the first embodiment and the third embodiment, the following description will be focused on the differences.

First, as shown in FIG. 32, the hand 23 is arranged at a predetermined position outside the image processing range Q.
Next, as shown in FIG. 33, the hand 23 moves in the shortest distance from the current position to the target position (position immediately before adsorption) outside the image processing range Q.
As another example of the present embodiment, when the hand 23 simply tries to move in the shortest distance and passes through the image processing range Q, the hand 23 bypasses the image processing range Q and moves in the shortest distance.
As described above, in this embodiment, the hand 23 can be moved outside the image processing range Q without performing obstacle detection, that is, through a preset or arbitrarily set movement path. .. Therefore, the amount of calculation of the controller 51 can be reduced.

The fourth embodiment can be combined with any of the first to third embodiments.
In the case of the combination of the first embodiment and the fourth embodiment, for example, as shown in FIG. 33, the hand 23 is the shortest distance from the current position to the target position (position immediately before adsorption) outside the image processing range Q. Moving.
At this time, as shown in FIG. 14 of the first embodiment, the suction device 31 is arranged outside the first image processing range setting surface 111 with respect to the luggage W grasped by the image processing unit 61. Next, as shown in FIG. 15, the hand 23 passes through the first image processing range setting surface 111, and the suction device 31 is brought into contact with the luggage W, and then is sucked.
The description of the combination example of other embodiments will be omitted.

5. Common Matters of the Embodiments The first to fourth embodiments have the following configurations and functions in common.
The transfer device (for example, the picking system 1) according to the viewpoint of the present invention includes a robot arm, an image pickup device, an image processing unit, and a controller.
The robot arm (for example, the robot arm 21) has a suction device (for example, a hand 23) and depallets a load (for example, a load W) supported by a support portion (for example, a pallet P).
The image pickup device (for example, the camera 38) is orthogonal to the first horizontal direction (for example, the first surface 101) of the load supported by the support portion in the horizontal direction with respect to the first horizontal direction. The second surface (for example, the second surface 102) and the top surface (for example, the top surface 103) facing in the second horizontal direction are imaged.
The image processing unit (for example, the image processing unit 61) grasps the position of the luggage within the image processing range. The image processing range (for example, the image processing range Q) is the first image set at a position separated by a first predetermined distance from the support portion to the image pickup device side in the first horizontal direction among the image pickup information captured by the image pickup device. A processing range setting surface, a second image processing range setting surface set at a position separated from the support portion by a second predetermined distance from the support portion in the second horizontal direction, and a third predetermined surface upward from the support portion in the height direction. It is surrounded by a third image processing range setting surface set at a position separated by a distance.
The controller (for example, the controller 51) positions the suction device outside the first image processing range setting surface with respect to the load grasped by the image processing unit, and then the load facing the first image processing range setting surface. Is specified as a load to be sucked, and then the robot arm is controlled so as to pass through the first image processing range setting surface and suck the suction device to the load.
In this device, the suction device can be positioned outside the image processing range in which image processing is performed (for example, FIG. 14), and can be positioned at the suction position with respect to the load only by advancing (for example, FIG. 15). Therefore, when moving the robot arm within the image processing range, it is not necessary to consider interference with other luggage or devices.

6. Example of Effect of Embodiment In this embodiment, imaging and image processing are first performed for identifying the luggage W for one picking, and then imaging and image processing are not performed thereafter. The area where the picking robot 15 is installed is dedicated to the robot, and obstacle information is registered in the picking robot 15 in advance. Therefore, the picking robot 15 can perform a series of operations from picking to placing based only on the information captured before picking the baggage.
The trajectory calculation of the robot arm 21 of the picking robot 15 also suppresses the calculation process by performing a fixed operation with respect to the specified luggage W1.
Further, even when the hand 23 moves from the current position to the target position by the shortest distance outside the image processing range Q, the hand 23 passes through the outer region excluding the image processing range Q, and moves from the current position to the target position. The trajectory of the robot arm 21 is calculated without image processing, and the robot arm 21 is moved accordingly.
As described above, in the present embodiment, the image processing is first performed to identify the package, but the image processing is not performed thereafter.

In the conventional picking robot, the position of the luggage is specified by image processing before suction, and the trajectory of the arm is calculated while considering other luggage and obstacles. Therefore, a system that images and monitors the entire area where the robot operates is required. Further, conventionally, image processing is performed again even after the load is sucked, and the trajectory of the arm to the transport destination is calculated while considering other load and obstacles. That is, conventionally, a plurality of image processing, orbit calculation, and an entire imaging / monitoring system are required.

7. Other Embodiments Although the plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.
In the first to fourth embodiments, the hand that sucks the side surface of the luggage has been described, but the hand that sucks the upper surface of the luggage may also be used.
The specific structure, operation, and control method of the transfer device are not particularly limited.
In the first embodiment, the robot arm 21 tilts the posture of the hand 23 to tilt the transfer table 27 before the gap detection, but the transfer table 27 may remain in the horizontal posture.

The present invention is widely applicable to transfer devices for extracting one or more articles from stacked articles.

1: Picking system 3: Palletizing unit 5: Depalletizing unit 7: Carry-in conveyor device 9: Carry-out conveyor device 15: Picking robot 21: Robot arm 23: Hand 25: Hand base 26: Swivel device 27: Transfer table 29: Transfer Table drive device 30: Motor 31: Suction device 31a: Suction pad 31b: Receiving part 31c: Support point 33: Vertical drive device 35: Air cylinder 35a: Piston 36: Gap sensor 37: Spring member 38: Camera 39: Contact member 43: Suction device holding mechanism 47: Slide belt 49: Suction device 51: Controller 53: Cam member 53a: Locking surface 53b: Curved surface 54: Hollowed out portion 54a: Locking surface 54b: Curved surface 54c: Second locking surface 55: Roller 61: Image processing unit 63: Arm drive device 101: First surface 102: Second surface 103: Top surface 111: First image processing range setting surface 112: Second image processing range setting surface 113: Third image processing range Setting surface P: Palette Q: Image processing range W: Luggage

Claims (4)

A robot arm that has a suction device and depalletizes the luggage supported by the support part,
An image pickup device that images the first horizontal direction-facing first surface of the load supported by the support portion, the second horizontal direction-facing second surface orthogonal to the first horizontal direction, and the top surface. When,
Of the image pickup information captured by the image pickup device, a first image processing range setting surface set at a position separated from the support portion by the image pickup device by a first predetermined distance in the first horizontal direction, and a second horizontal direction. The second image processing range setting surface is set at a position separated from the support portion on the imaging device side by a second predetermined distance, and the image processing range setting surface is set at a position separated upward from the support portion by a third predetermined distance in the height direction. A third image processing range setting surface, an image processing unit that grasps the position of the luggage with respect to the image processing range surrounded by the image processing range, and an image processing unit.
With a controller,
The controller
From the luggage grasped by the image processing unit, the luggage facing the first image processing range setting surface is specified as the luggage to be sucked, and the suction device is positioned outside the first image processing range setting surface. The robot arm is controlled so as to pass through the first image processing range setting surface and attract the suction device to the load.
Transfer device. The controller identifies the baggage facing the second image processing range setting surface as the baggage to be adsorbed, and moves the baggage to the second image processing range setting surface side before raising the adsorbed baggage. The transfer device according to claim 1, which controls the robot arm. The controller identifies the baggage facing the third image processing range setting surface as the baggage to be adsorbed, then raises the adsorbed baggage above the third image processing range setting surface, and raises the baggage to the third image processing range setting surface. 3. The transfer device according to claim 1 or 2, which controls the robot arm so as to move horizontally outside the image processing range setting surface. The transfer device according to any one of claims 1 to 3, wherein the controller moves the suction device from the current position to a target position in the shortest distance when the suction device is moved outside the image processing range.

Images