JP5256457B2 - Robot device for making a knot and control method therefor - Google Patents

Description

  The present invention relates to a robot apparatus that automatically performs an operation of forming a knot required when an object to be packaged is wrapped with a packaging sheet, and a control method therefor.

  Industrial robots that have been widely used so far have been attracting attention as means for automating work, and in recent years, have also been used for handling flexible works such as paper, cloth, and strings. The most important and difficult task in handling these flexible workpieces is the conclusion. For example, when a high-class confectionery is wrapped with vinyl or other wrapping paper (a kind of small furoshiki), it is necessary to finally connect the two corners on the diagonal.

  Various robotic devices that perform the work of tying the string-like objects have been developed as described below, but there are problems such as being unsuitable for practical use and complicated structure.

Japanese Patent No. 2592262 JP-A-8-133239 JP 2002-308209 A

  An object of the present invention is to provide a robot apparatus having a simple structure capable of tying a string-like object and a control method thereof.

  Another object of the present invention is to provide a robot apparatus that can form a knot using a robot arm that moves in a two-dimensional plane, and a control method therefor.

  The present invention further provides a robot apparatus capable of connecting two cords (near two corners in a diagonal line) of a packaging sheet that at least partially wraps an article to be packaged, and a control method thereof. Objective.

  A further object of the present invention is to provide a robot apparatus and a control method for the robot apparatus suitable for connecting two cords of a packaging sheet so that the article to be packaged can be neatly wrapped by the packaging sheet.

  Another object of the present invention is to provide a robot apparatus applicable to various sizes of articles to be packaged and packaging sheets, and a control method therefor.

The present invention provides the above-described packaging sheet in which the packaging material is wrapped at least partially in order to wrap the packaging material placed in the substantially central portion by the packaging sheet spread on a table that is rotatable in a horizontal plane. Is a control method for a robot apparatus that connects two cords on opposite sides of the package to be packaged, and is capable of moving two-dimensionally in a vertical plane including at least the rotation center of the table. Using two first and second working arms having a gripping portion and at least one temporary holding arm;
A. Gripping the leading ends of the two ridges of the packaging sheet that at least partially wraps the article to be packaged on the table with the gripping portions of the two working arms across the rotation center, and The two tips of the
B. In a state in which the seat portion of the sheet is stretched, the table is rotated at least 3/4, the two portions are crossed at a position slightly above the middle, and a space is formed thereunder,
C. With the first working arm and one other temporary holding arm or the other two temporary holding arms holding the tip of one of the cords and the intersecting portion, the other The tip of the cord is inserted into the through space while being gripped by the second working arm,
D. The tip of the other cord is handed over from the second working arm to the first working arm, and the tip of the one cord is gripped by the second working arm, The robot is controlled so that the first work arm and the second work arm are moved away from each other to form a first knot.

  The robot apparatus according to the present invention includes a wrapping sheet spread on a table that is rotatable in a horizontal plane, and at least partially wraps the wrapping object in order to wrap the wrapping object placed substantially in the center. A robotic device that connects two cords on opposite sides of a packaging sheet, and that can move two-dimensionally in a vertical plane that includes at least the rotation center of the table. First and second working arms having at least one gripping portion and at least one other temporary holding arm; Gripping the leading ends of the two ridges of the packaging sheet that at least partially wraps the article to be packaged on the table with the gripping portions of the two working arms across the rotation center, and The two tips are lifted upward, and are further inwardly stretched so that the two cords are inclined. In the state in which the cord portion of the sheet is stretched, the table is rotated at least 3/4 to intersect the two cord portions at a position slightly above the middle to form a space therethrough. With the first working arm and one other temporary holding arm or the other two temporary holding arms holding the tip of one of the cords and the intersecting portion, the other D. is inserted into the through space while being gripped by the second working arm. The tip of the other cord is handed over from the second working arm to the first working arm, and the tip of the one cord is gripped by the second working arm, A control device is provided that controls the operation of the arm so that the first work arm and the second work arm are moved away from each other to form a first knot.

  According to the present invention, the two portions of the packaging sheet that at least partially wraps the article to be packaged are raised, and the table is rotated at least 3/4 in a state slightly close to each other to create an intersection. Therefore, the knot can be formed only by the movement of the two working arms in the two-dimensional plane. Therefore, the configuration and control are simplified. In addition, since the table is rotated while keeping the two cords stretched, the cords can be kept in a neat state and crossed, resulting in a clean finish. Furthermore, it can be applied to various sizes of packaging sheets and packages.

  In a robot apparatus having one temporary holding arm, the above C.I. This control is performed as follows. That is, gripping of the tip of one of the cords is changed from the first work arm to the temporary holding arm, and the intersecting portion is gripped by the first work arm.

  And the above C.I. To D. above. In this control, the leading end of the leading portion of the packaging sheet gripped by the second working arm is inserted into a through space formed below the intersecting portion while gripping the leading end of the packaging sheet. The tip of the other cord that is gripped by the second work arm is released by releasing the grip of the intersecting portion by the work arm of the second work arm and entering the first working arm into the through space. And releasing the grip by the second work arm, the grip of the tip of the other cord is transferred from the second work arm to the first work arm, The second work arm and the other gripping the leading part of one of the packaging sheets by the two working arms and releasing the gripping by the temporary holding arm. Grasping the above It is moved in a direction away from each other the first working arm making a first round of knot.

  In the robot apparatus having the third and fourth temporary holding arms, the above C.I. This control is performed as follows. That is, the crossing portion is gripped by the third temporary holding arm, the grip of one of the cords is handed over from the first working arm to the fourth temporary holding arm, and in this state, the other The leading end of the cord is inserted into the through space while being held by the second working arm. Thereafter, the tip of the other cord is transferred from the second working arm to the first working arm, and thereafter, the tip of the one cord is passed from the fourth temporary holding arm to the first working arm. Delivered to the second working arm. Thus, the first knot is formed by moving the first working arm and the second working arm in directions away from each other.

  In a preferred embodiment, when the table is rotated at least 3/4 to cross the two cords and a space is formed thereunder, the length of the tip of the cord extending above the intersection is increased. The tip of the two cords is further moved inward so that the two cords intersect each other at a position where the dimension is smaller than the height of the through space formed below the intersection. The two cords are slanted with a gap in between.

  A presser member may be used to form the second knot. That is, the presser member is provided so as to be able to advance and retract above the article to be packaged on the table, and after the first knot is formed, the presser member is advanced above the article to be packaged on the table and the first time. The above-mentioned A. is about the cord that is ahead of the first knot in a state where the knot or its vicinity is pressed by the pressing member. To D. A second knot is formed by performing the same control as described above.

  The pressing member can also be used to form the first knot. That is, the pressing member is provided on the package on the table so as to be movable back and forth, and the pressing member corresponds to the upper surface of the package on the packaging sheet at least partially wrapped with the package on the table. In the state where the part to be pressed is pressed. To D. Control.

  The present invention can be more generally used to tie string-like portions.

That is, the present invention is a method for controlling a robot apparatus that connects two string-like portions each having a base portion fixed at a position sandwiching the center of rotation of the table on a table that is rotatable in a horizontal plane. A first and a second two working arms each having a grip portion at the tip, and at least one other temporary holding arm that can move two-dimensionally in a vertical plane including the rotation center of the table; Use
A. Grip the tips of the two string-like parts on the table by the gripping portions of the two working arms, lift them upward, and draw them closer to the inside to stretch the two string-like parts,
B. With the two string-like portions stretched, the table is rotated at least 3/4 to cross the two string-like portions at a position slightly above the middle to form a space therethrough,
C. With the first working arm and one other temporary holding arm, or the other two temporary holding arms, holding the tip of one of the string-like portions and the intersecting portion, The other end of the string-like portion is inserted into the through space while being held by the second working arm,
D. The tip of the other string-like part is handed over from the second work arm to the first work arm, and the tip of the one string-like part is held by the second work arm. The robot is controlled so that the first work arm and the second work arm are moved away from each other to form a first knot.

  A robot apparatus according to the present invention is a robot apparatus that connects two string-like portions each having a base portion fixed at a position sandwiching the rotation center of the table on a table that is rotatable in a horizontal plane. First and second working arms and at least one other temporary holding arm each having a grip at the tip, and A, which can move two-dimensionally in a vertical plane including the rotation center of . B. The ends of the two string-like portions on the table are gripped by the gripping portions of the two working arms and lifted upward, and further moved inward to stretch the two string-like portions in an inclined state. With the two string-like portions stretched, the table is rotated at least 3/4 to cross the two string-like portions at a position slightly above the middle to form a space therethrough, C. With the first working arm and one other temporary holding arm, or the other two temporary holding arms, holding the tip of one of the string-like portions and the intersecting portion, D. insert the other end of the string-like portion into the through space while gripping the tip of the second portion with the second working arm; The tip of the other string-like part is handed over from the second work arm to the first work arm, and the tip of the one string-like part is held by the second work arm. , And a control device for controlling the operation of the arm so as to move the first working arm and the second working arm in directions away from each other to form a first knot.

This shows the overall configuration of the robot device, and shows the state where the beginning of the packaging sheet stands. It is a top view which shows the structure of the table in a robot apparatus, and shows the state by which the sheet | seat for packaging was spread. It is a top view which shows the structure of the table in a robot apparatus, and shows the state by which the to-be packaged object was wrapped with the sheet | seat for packaging. It is a perspective view which shows the process of packaging a package by the structure of the table in a robot apparatus, and a packaging sheet. It is a graph which shows a motion of the arm for a right operation (1st arm) when raising the beginning of a packaging sheet. This shows the overall configuration of the robotic device, and shows the state where the standing ridge has moved inward. FIG. 7 is a graph showing the movement of the right working arm (first arm) shown in FIG. 6. FIG. The theory of creating an intersection at the beginning of a packaging sheet is shown. The theory of creating an intersection at the beginning of a packaging sheet is shown. This shows the overall configuration of the robot apparatus, and shows a state where intersections are formed. 11 is a graph showing the movement of the right working arm (first arm) shown in FIG. FIG. 11 is a graph showing the vertical displacement of the leading end portion of the cord in the operation shown in FIG. FIG. 11 is a graph showing the vertical displacement of the leading end portion of the cord in the operation shown in FIG. FIG. 11 is a graph showing the displacement in the lateral direction of the leading end portion of the operation shown in FIG. FIG. 11 is a graph showing the displacement in the lateral direction of the leading end portion of the operation shown in FIG. This shows the overall configuration of the robot apparatus, and shows how the tip of the cord is handed over from the second arm to the temporary holding arm. This shows the overall structure of the robot apparatus, and shows how the second arm holds the intersection. This shows the overall configuration of the robot apparatus, and shows the operation of inserting the tip of the head through the first arm into the space. 19 is a graph showing the movement of the right working arm (first arm) in the operation shown in FIG. 1 shows an overall configuration of a robot apparatus, and shows a state in which a leading end of a cord inserted into a through space is transferred from a first arm to a second arm. 1 shows the overall configuration of a robot apparatus, and shows a state in which a leading end of a cord held by a temporary holding arm is delivered to a first arm. This shows the overall configuration of the robot apparatus, and shows a state where the leading end of the robot is rotated almost horizontally by the first and second arms. 24 is a graph showing the movement of the right working arm (first arm) in the operation shown in FIG. This shows the overall configuration of the robot apparatus, and shows how the first and second arms are pulled and knots are formed. FIG. 25 is a graph showing the movement of the right working arm (first arm) in the operation shown in FIG. 24. FIG. It is a top view which shows the structure containing a pressing member. It is a side view which shows the structure containing a pressing member.

  FIG. 1 shows the overall configuration of a robot apparatus according to an embodiment of the present invention. Here, as will be described later, the state in which the leading end of the streak St of the packaging sheet S is lifted by the two working arms 10 and 20 and the striation St stands up vertically is shown. The part St will be described later). 2 and 3 are plan views showing a rotatable table of the robot apparatus. FIG. 4 is a perspective view showing a table and a state in which an article to be packaged Oj is wrapped by a packaging sheet S on the table.

  The basic structure of the robot apparatus and the premise of the description will be described with reference to these drawings.

  The robot apparatus includes a frame 60. The frame 60 has a rectangular base 61 when viewed from above, four support columns 62 erected at the four corners of the base 61, and adjacent members of the four support columns 62. And a beam 63 which is passed and fixed between the upper ends of the two.

  There is a horizontal rotary table 40 in the center of the frame 60. The rotary table 40 is fixed to a vertical rotary shaft 50 at the center thereof, and the rotary shaft 50 is rotatably supported by a bearing on a support body 52 erected vertically on a base 61. The rotary shaft 50 is rotationally driven by a motor 51 attached to the support body 52. The table 40 rotates in a horizontal plane around the rotation axis 50.

  The turntable 40 includes a central portion 40A having a substantially square shape (arbitrary shape such as a circular shape) and extensions 40B and 40C extending in four directions from the central portion 40A in a cross shape. A concave portion 41b is formed at the tip of the two extending portions 40B that form a straight line, and a concave portion 41b is formed from the tip toward the central portion 40A, and the tip of the other two extending portions 40C that form a straight line is dented to the side. A recess 41c is formed.

  The packaging sheet S (in FIGS. 2 and 3, the packaging sheet S is indicated by a dashed line in order to make the table shape visible) is made of paper, cloth, synthetic resin, or any other material. Good. In this embodiment, the packaging sheet S has a square shape, but may have any shape such as a rectangle, an ellipse, or a circle.

  The packaging sheet S is placed on the table 40 in an unfolded state so that its four corners (corners) are exactly coincident with the tips of the extension portions 40B and 40C of the table 40. It is preferable that the lengths of the extension portions 40B and 40C can be adjusted according to the size and shape of the packaging sheet S so that the corners thereof are positioned at the tips of the extension portions 40B and 40C. The table 40 may be exchanged according to the size and shape of the packaging sheet S. If the packaging sheet is round or the like, there are no corners. However, if the portion at the tip of the extension 40B, 40C of the packaging sheet is called a corner, the following description of the operation will be a round packaging sheet. The same applies to.

  An article to be packaged Oj is placed on the central portion of the packaging sheet S spread on the table 40 (position on the central portion 40A of the table 40). The packaged object Oj has a rectangular parallelepiped shape in this embodiment, and is placed in a state where the directions of the four side surfaces thereof coincide with the longitudinal directions of the extension portions 40B and 40C. It is possible to wrap (wrap) a packaged object Oj of any shape, such as a cube, trapezoidal table, etc., with the wrapping sheet S. However, if it is intended to be neatly packaged, A rectangular parallelepiped having a straight side, a cube, or a similar shape is preferable, and the two sides are arranged so as to be orthogonal to the longitudinal direction of the extension 40B.

  Here, for convenience of explanation, a three-dimensional orthogonal coordinate system XYZ is defined in the robot apparatus (frame 60). The horizontal plane (the surface of the table 40) is parallel to the XY plane. The vertical direction (vertical direction) is the Z direction. In the state shown in FIGS. 1 to 4, the extension 40B of the table 40 is the X direction and the extension 40C is the Y direction. In addition, a three-dimensional orthogonal coordinate system ijk is defined on the table 40. In the state shown in FIGS. 1 to 4, the XYZ direction and the ijk direction coincide with each other.

  Further, an XZ plane including the center of the rotation shaft 50 (rotation center of the table 40) is defined as an XZ (0) plane. This XZ (0) plane is important in that the knot of the packaging sheet is formed in this plane.

  The robot apparatus includes two working arms 10 and 20 that can move in the XZ (0) plane, and these arms 10 and 20 are provided on opposite sides of the rotation shaft 50. That is, guide (straight) actuators (hydraulic cylinders, rack mechanisms, etc.) 16 and 26 are fixed to the beam 63 on both sides of the frame 60 in FIG. 1, and the two arms 10 and 20 are respectively moved in the Y direction by these actuators 16 and 26. It is provided to be movable.

  The first working arm 10 has two parts (arm parts) 11 and 12. A base portion of a first arm portion (hereinafter simply referred to as a first portion) 11 is connected to a movable portion of the guide actuator 16 by a connecting portion 14. A second arm portion (hereinafter simply referred to as a second portion) 12 is connected to the distal end portion of the first portion by a connecting portion 15. A grip portion 13 is provided at the distal end portion of the second portion 12. The first portion 11 can be rotated (oscillated) around the connecting portion 14 by a rotary actuator (such as a motor) provided in the connecting portion 14. The second portion 12 can be rotated (oscillated) about the connecting portion 15 by a rotary actuator provided in the connecting portion 15. The gripping portion 13 has two fingers that can be freely opened and closed, and can be gripped (held) with the fingers sandwiching the packaging sheet.

  In the position shown in FIG. 1, the first working arm 10 is in the XZ (0) plane, and its gripping portion 13 is driven in the XZ (0) plane by the rotation of the two connecting portions 14 and 15. An arbitrary position can be reached within the reach of.

  The second work arm 20 has the same configuration as the first work arm 10, and is connected to a movable part 24 of the guide actuator 26, and the second work arm 20 can be rotated (swinged) by the connecting part 24. 1 part (first arm part) 21, a second part (second arm part) 22 connected to the first part 21 by a connecting part 25 so as to freely rotate (swing), and a second part Is provided with a gripping portion 23 provided at the front end thereof.

  The robot apparatus further includes a temporary holding arm 30. The temporary holding arm 30 is movable in the X direction by a guide actuator 36 provided on the upper portion of the frame 60. The temporary holding arm 30 has the same configuration as the first and second working arms 10 and 20 and can be rotated (oscillated) by the connecting portion 34 and the connecting portion 34 attached to the movable portion of the guide actuator 36. A provided first portion (first arm portion) 31, a second portion (second arm portion) 32 connected to the first portion 31 by a connecting portion 35 so as to be freely rotatable (oscillated), and A grip portion 33 provided at the tip of the second portion is provided.

  Based on the configuration of such a robot apparatus and the above-described definition items, the operation (work) for packaging the article to be packaged Oj with the packaging sheet S will be described below.

  As shown in FIG. 2, the packaging sheet S is spread and placed on the table 40, and the article to be packaged Oj is further placed thereon. Such packing sheet S and packaged object Oj can be carried into and placed in the robot apparatus by work by an operator or automatically using a known carrying-in apparatus (such as a conveyor or a suction transfer apparatus). Can also be done. In the case of automatic operation, the arms 10, 20, and 30 of the robot apparatus can be used for performing a part of the work.

  Next, as shown in FIG. 3, the object to be packaged Oj is wrapped around the portion of the packaging sheet S on the extended portion 40C of the table. That is, first, the corner portion C1 of the packaging sheet S positioned above in the drawing of FIG. 2 is brought to the lower side of the drawing of FIG. 2, and the sheet S is folded at the side edge of the packaged object Oj so that the upper surface of the packaged object Oj It is placed so as to cover the sheet S. Similarly, the corner C2 below the sheet S in FIG. 2 is moved upward in FIG. 2 to cover the upper surface of the packaged object Oj. FIG. 3 shows a state in which the article to be packaged Oj is wrapped in the upper and lower portions of the packaging sheet S in FIG.

  This work may be performed manually by an operator or by using the working robot arms 10 and 20. That is, the right working arm 10 is moved in the Y direction by the guide actuator 16, and the corner C1 of the packaging sheet S is gripped and lifted by the gripping portion 13 of the arm 10 at the position of the recess 41c. 10 is moved in the -Y direction, and the gripping portion 13 is lowered around the position of the article to be packaged Oj to release the corner C1 of the packaging sheet S. Next, in the same manner, the corner C2 is grasped and lifted by the left working arm 20, moved in the Y direction, moved over the packaged object Oj, and then lowered and released.

  In this way, when the article to be packaged Oj is wrapped around the portion including the corners C1 and C2 by the packaging sheet S, the portion of the packaging sheet S placed on the extended portion 40B of the table remains. This part is partly overlapped by the above-mentioned operation, part of the packaging sheet S is double or triple, and has the same width as the width (depth) D of the object to be packaged Oj. is there. The portion of the packaging sheet S on the central portion 40A and the extension portion 40B excluding the portion covering the object to be packaged Oj is much narrower than the original sheet S, and has a string shape (or belt shape) for knotting. Since it is a part, this is hereinafter referred to as Obe St.

  The knot work (work to make a knot) using the beginning St starts here.

  The working arms 10 and 20 are positioned by the guide actuators 16 and 26 so as to exist in the XZ (0) plane (the arm has a finite width, so the center of the arm width is in the XZ (0) plane. You can think of that.) The following operations by the working arms 10 and 20 are all performed in the XZ (0) plane. The temporary holding arm 30 is retracted to a place that does not interfere with the work by the work arms 10 and 20 (for example, upward as shown in FIG. 1).

  The first portions 11 and 21 of the working arms 10 and 20 are retracted (indicated by a chain line in FIG. 1), and the holding portions 13 and 23 provided at the tips of the working arms 10 and 20 are within the recess 41b at the tip of the extension 40B. The corners B1 and B2 of the cord St of the packaging sheet S are gripped.

  Regarding the subsequent operation, the first working arm 10 on the right side will be described. A rotary actuator (hereinafter referred to as a first motor) housed in the first connecting portion 14 while holding the corner portion B1 with the gripping portion 13. ) And a rotary actuator (hereinafter referred to as a second motor) housed in the second connecting portion 15 to drive the first portion 11 and the second portion 12 of the first working arm 10 to these connecting portions. 1 is rotated (swinged) about the center of the packaging sheet S and the standing portion St on the right side of FIG. , B2) is indicated by a dotted line).

  The rotation angle from the horizontal direction when the beginning St stands up is assumed to be θ. Rotation control of the first and second motors for rotating (swinging) the first portion 11 and the second portion 12 of the first arm 10 so that the cord St stands up while being tensioned. The data to be displayed is shown in FIG. This data is represented in the form of a graph, the horizontal axis is the rotation angle θ of the beginning St, and the vertical axis is the rotation angle of the first and second arm portions.

  As shown in FIG. 1, the rotation angle of the first arm portion 11 is based on a vertical line (indicated by a chain line R1) drawn downward from the first connecting portion 14 as a reference (0 degree), and clockwise rotation is negative. To represent. As shown in FIG. 1, the rotation angle of the second arm portion 12 is expressed with the longitudinal direction (indicated by a chain line R2) of the first arm portion 11 as a reference (0 degree) and clockwise rotation as a negative direction. An angle (the above-mentioned θ or the like) (horizontal axis) representing the attitude of the beginning St is expressed with the horizontal plane (the upper surface of the rotary table 40) as a reference (0 degree) and clockwise rotation as a negative direction. In the following, the movement of the working arms 10 and 20 is shown in a graph. Such a graph can be obtained by calculation in advance if the size of the sheet S or the packaged object Oj is determined. Control of the robot, including 20 operations, can be performed based on the calculation results shown in the graph. Unless otherwise specified, the movement of the second work arm 20 on the left side is symmetrical with the movement of the first work arm 10, so that the movement of the first work arm 10 will be specifically referred to. The movement of each arm part of these working arms is indicated by an arrow in the drawing (such as FIG. 1). The direction of these arrows indicates the direction of movement from the start position to the end position of the arm part. It shall be (even if it moves in the opposite direction in the middle, the movement in the middle is not represented by an arrow).

  The first portion 11 of the first arm 10 rotates from the right to the left in FIG. 1, and the second portion 12 rotates slightly upward and then downward. As a result, the leading portion St of the sheet S rises vertically and is kept taut.

  The first and second portions 21 and 22 of the second work arm 20 on the left side also move symmetrically with the first work arm 10, and stand up with the left side St of the sheet S in tension. To go. The state where the left and right tethers St stand up is the state shown in FIG. 1 and 6, the cross section of the sheet S is indicated by a thick solid line.

  Subsequently, as shown in FIG. 6, the tip end of the fork portion St is slightly moved inward, that is, in the direction of each other, with the fork portion St being stretched. The movement of the right working arm 10 at this time is shown in FIG. Further, the state of the packaging sheet S at this time is shown in a perspective view in FIG. 4 (the sheet S is drawn in a square shape for easy understanding). The amount by which the left and right cords St are moved inward will be described later.

  FIG. 4 is a perspective view showing the state where the leading ends of the staggered portions St of the packaging sheet are slightly moved toward each other in a state where the staggered portions St are stretched. Since the corners B1 and B2 of the sheet are lifted obliquely upward, the fork portion St is pulled between the upper corners B1 and B2 and the corners on both sides of the packaged object Oj. The tensioned portion is an isosceles triangle (two equal sides (line-tensioned portions) generated by tension are indicated by TR). If the rising streak St is considered as such an isosceles triangle, the calculation of the position of the intersection described later becomes easy.

  Subsequently, the table 40 is rotated by 3/4 rotation (270 ° rotation) (5/4 rotation, etc.) with the left and right cords St of the packaging sheet S being slightly inclined in the direction of each other (FIG. 6). Generally, (3/4 + n / 2) rotation, where n is 0 or an integer greater than or equal to 1, but the rotation direction is not considered. As a result, as shown in FIG. 10, the two streaks St intersect at a position slightly above the middle, and a through space is formed below (the through space is not shown in FIG. 10). In FIG. 10, hatching indicates the surface of the beginning St.) The intersection of the two cords is indicated by the symbol C (the cord St is indicated by a thick solid line above the intersection C). At this time, the tip holding the ridges of the arms 10 and 20 is slightly lowered. FIG. 11 shows the amounts of rotation of the first and second portions that cause the lowering with the rotation angle of the table 40 as the horizontal axis (FIG. 11 also shows the right arm 10 as described above) (table 40 Is also negative in the clockwise direction).

  However, even if the working arms 10 and 20 are urged with a weak force so that the tips thereof are directed upward, the tips of the arms 10 and 20 will be slightly lowered as the table 40 rotates.

  In this way, after forming the portion C intersecting the sheet streak St, one end of the two striations St is inserted into a through space formed below the intersected part C to form a knot. To do. In order to insert one tip of the cord St into the through space below the intersection C, a portion above the intersection C of the cord St including the one tip (hereinafter referred to as the cord tip) Is folded downward at the intersection C (rotated around the intersection C), so that the intersection C must be formed above the entire middle of the cord St.

More precisely, the distance X ₁ between the tips of the two stings St may be determined as shown in FIGS. 8 and 9 before the rotary table 40 is rotated.

  In FIG. 8, a is the distance from the intersection C to the tip of the cord after the two intersections intersect, and b is the vertical distance from the intersection C to the top surface of the packaged object Oj. When the tip of the cord is folded back at the intersection, a <b must be satisfied in order for the tip to enter the through space below the intersection. If this condition is not satisfied, the tip of the cord will collide with the package.

  In practice, a margin amount M is introduced in order to consider the size of the gripping portion at the tip of the arm that grips the tip of the cord, the vertical width of the intersection, and the like.

  The condition of a <b can be expressed as follows, where ψ is the angle formed by the cord when the two cords intersect and the horizontal plane (the surface of the package). Here, W is the width of the article to be packaged, and L is the length of the cord.

を得る。

Get.

In FIG. 6, it can be seen that the distance X ₁ between the tips of the two cords should be the distance represented by the equation (2).

  The crossing section is formed by rotating the table 3/4 with the two standing sections St of the packaging sheet S raised slightly in the direction of each other and tightly tensioned. This is to prevent wrinkles from coming into contact with the upper edge (upper side) of Oj (indicated by symbol E in FIG. 4). For this purpose, not only the tips of the two stings St gripped by the two arms 10 and 20 are lowered as the table rotates (displacement in the −k direction), but also slightly inward (relative to each other). It is good to move in the approaching direction (± i direction displacement). The displacement amounts (position variations) in the k-direction and i-direction at the beginning of the beginning are shown in FIGS. 12, 13 and 14, 15 respectively with the rotation angle of the table as the horizontal axis. In these figures, the size of the packaging sheet and the size of the package (W × D × h) are used as parameters (h is the height, see FIG. 4). In this way, by changing the movement amount (displacement amount) of the working arm, it is possible to cope with various sizes of packaging sheets and sizes of packages (which can be calculated in advance). This is a major feature of the embodiment (invention). Needless to say, the graphs shown in FIGS. 5 and 11 and the graphs shown in FIGS. 19, 23, and 25 can be appropriately changed according to the size of the packaging sheet and the packaged items (these This graph is for a 280 mm x 280 mm packaging sheet and a 60 x 80 x 40 mm package).

  In addition, by forming the intersection with the cord stretched tightly, the position of the intersection (especially the height position) is uniquely determined (calculated), so the intersection is photographed and image processing is performed. As described below, there is also an advantage that the intersecting portion can be easily grasped by the arm without performing complicated processing such as determining the position of the intersecting portion.

  In order to form a knot, as shown in FIG. 16, as shown in FIG. 16, as one preparation for passing the tip of one cord through the passage space below the intersection as described above, The distal end of the part is gripped by the gripping part of the third arm 30 for temporary holding, and subsequently the gripping of the leading end by the second arm 20 is released as shown in FIG. The arm 20 holds the intersection C. This is to prevent the intersection C from shifting during the next operation.

  Subsequently, as shown in FIG. 18, with the third arm 30 holding the leading end of one cord and the second arm 20 holding the intersecting portion C, the other leading tip portion is moved to the first. The arm 10 is moved downward while rotating around the intersection C, and inserted into a through space formed below the intersection C. At this time, the movement of the first portion 11 and the second portion 12 of the working arm 10 is caused to rotate around the intersection C at the tip of the other cord (rotation from about −150 ° to 0 °). ) As an abscissa is as shown in FIG.

  Further, as shown in FIG. 20, in a state where the tip of one of the above-mentioned portions is held by the third arm 30, the gripping of the crossing portion C by the second arm 20 is released, and subsequently, the second arm 20 , By grasping the tip of the other cord (gripping so as not to interfere with the portion gripped by the first arm 10), and releasing the grip by the first arm, The holding of the tip is handed over from the first arm 10 to the second arm 20.

  Then, as shown in FIG. 21, with the other arm tip held by the second arm 20, the first arm 10 grips the one tip (third arm). 30), and the third arm 30 is released from gripping so that the tip of the one arm can be held from the third arm 30 to the first arm. Deliver to 10.

  As shown in FIG. 22, with the two leading ends being gripped by the two arms 10 and 20, these leading ends are rotated 90 degrees downward and upward about the intersection C, respectively. The rotation of the first portion 11 and the second portion 12 of the first arm at this time is as shown in FIG. Also in FIG. 23, the horizontal axis represents the rotation angle around the intersection C at the leading end of the cord.

  Finally, as shown in FIG. 24, the first knot is formed by pulling the ends of the two cords downward by the arms 10 and 20 holding them and in a direction away from each other. The control at this time is shown by the graph in FIG.

  In the above embodiment, two working arms and one temporary holding arm are used, but two working arms and two temporary holding arms (these are referred to as third and fourth arms). It is possible to make a first knot even in a robot apparatus having

  In this case, as shown in FIG. 10, after the intersection is formed, the intersection is gripped by the third temporary holding arm, and the tip of one of the tips is gripped from the first work arm 10 to the first. 4 is transferred to the work arm 4, and in this state, the leading end of the other cord is inserted into the through space while being held by the second work arm 20. Thereafter, the tip of the other cord is handed over from the second working arm 20 to the first working arm 10, and further, the tip of the one cord is fed from the fourth temporary holding arm to the second working arm. Hand over to arm 20. Then, a first knot is formed by moving the first working arm 10 and the second working arm 20 downward and away from each other.

  In the above-described embodiment, the arm is configured by connecting two arm portions that are rotatably supported. However, the above-described operation can be realized using an arm that performs linear motion and rotational motion. .

  When making the second knot, it is preferable to use a presser member that holds the first knot formed as described above from above, and keeps the distance between the bases of the two cords to keep them apart.

  This pressing member is configured as shown in FIGS. 26 and 27 as an example (in FIG. 26, the guide body 72 and the support arm 71 are not shown in order to avoid complication). That is, two support arms 71 extending downward and outward are fixed to the central portion 40A of the rotary table 40 at positions corresponding to both sides of the one extended portion 40B. A guide body 72 is fixed to the tip of the support arm 71, and an elevating body 73 is supported on the guide body 72 so as to be movable up and down. The elevating body 73 is driven up and down by an elevating mechanism including, for example, a rack and pinion mechanism and a motor. A support 74 is fixed to the upper end of the lifting body 73, and a pressing member 75 is supported on the support 74 so as to be movable along the longitudinal direction of the one extension 40B. The pressing member 75 is also moved and driven in the direction along the extension 40B by a driving mechanism including a rack and pinion mechanism and a motor. The two pressing members 75 are positioned slightly outward from both sides of the one extension 40B.

  The pressing member 75 is normally retracted to a position below the extension 40B as indicated by a solid line. When the first knot is formed, the elevating body 73 is raised, and the presser member 75 is advanced toward the center portion 40A to reach the upper side of the article to be packaged Oj. Subsequently, the presser member 75 (shown by a chain line) is slightly lowered by the lowering of the elevating body 73 to press the leading ends of the cords on both sides of the first knot. Using the part remaining at the tip further than the tip of the cord pressed by the pressing member 75 (this portion is the above-mentioned cord), the second knot is performed by the same operation (control) as described above. Can be formed.

  The pressing member may also be used when forming the first knot. The presser member can cope with a somewhat resistant (high resistance) packaging sheet when tying by pressing the package from above so that the package does not move.

10 First work arm
20 Second work arm
30 Temporary holding arm
40 tables

Claims (8)

A package of the above-mentioned packaging sheet in which the package is wrapped at least partially to wrap the package placed in the center by a packaging sheet spread on a rotatable table in a horizontal plane. Is a method of controlling a robot device that connects two cords on opposite sides of each other,
First and second two working arms and at least one other temporary holding arm each capable of two-dimensional movement in a vertical plane including at least the rotation center of the table, each having a grip at the tip. And
A. Gripping the leading ends of the two ridges of the packaging sheet that at least partially wraps the article to be packaged on the table with the gripping portions of the two working arms across the rotation center, and The two tips of the
B. In a state in which the seat portion of the sheet is stretched, the table is rotated at least 3/4, the two portions are crossed at a position slightly above the middle, and a space is formed thereunder,
C. With the first working arm and one other temporary holding arm or the other two temporary holding arms holding the tip of one of the cords and the intersecting portion, the other The tip of the cord is inserted into the through space while being gripped by the second working arm,
D. The tip of the other cord is handed over from the second working arm to the first working arm, and the tip of the one cord is gripped by the second working arm, Moving the first working arm and the second working arm away from each other to form a first knot;
A method for controlling a robotic device.   A position corresponding to the top surface of the packaging material of the packaging sheet, in which the pressing member is provided on the packaging material on the table so as to be movable forward and backward, and the packaging material on the table is at least partially wrapped by the pressing member. In the state of holding A. To D. The control method of the robot apparatus according to claim 1, wherein the control is performed.   The holding member is provided so as to be able to advance and retreat above the article to be packaged on the table, and after the first knot is formed, the holding member is advanced above the article to be packaged on the table and the first knot or In the state where the vicinity is pressed by the pressing member, the A. To D. The robot apparatus control method according to claim 1, wherein a second knot is formed by performing the same control as described above. A wrapping sheet spread on a table that is rotatable in a horizontal plane is used to wrap and tie the package to be wrapped in the center of the packaging sheet so that the package is wrapped at least partially. A method of controlling a robot device so that two cords on opposite sides cross each other with a packaged object interposed between them.
Grasping the leading ends of the two portions of the packaging sheet that at least partially wraps the article to be packaged on the table with the working arm of the robotic device, lifting the two leading ends upward,
When the table is rotated at least 3/4 to intersect the two ridges and a space is formed below the table, the length of the tip of the ridge that extends above the intersection intersects. The tips of the two cords are further moved inward and the gap between the tips is maintained so that the two cords intersect each other at a position smaller than the height dimension of the through space formed below the corners. And put the above two cords in an inclined state.
Control method. A package of the above-mentioned packaging sheet in which the package is wrapped at least partially to wrap the package placed in the center by a packaging sheet spread on a rotatable table in a horizontal plane. Is a robotic device that connects two cords on opposite sides of each other,
First and second two working arms and at least one other temporary holding arm each capable of two-dimensional movement in a vertical plane including at least the rotation center of the table, each having a grip at the tip. , And A. Gripping the leading ends of the two ridges of the packaging sheet that at least partially wraps the article to be packaged on the table with the gripping portions of the two working arms across the rotation center, and The two tips of the
B. In a state in which the seat portion of the sheet is stretched, the table is rotated at least 3/4, the two portions are crossed at a position slightly above the middle, and a space is formed thereunder,
C. With the first working arm and one other temporary holding arm or the other two temporary holding arms holding the tip of one of the cords and the intersecting portion, the other The tip of the cord is inserted into the through space while being gripped by the second working arm,
D. The tip of the other cord is handed over from the second working arm to the first working arm, and the tip of the one cord is gripped by the second working arm, A control device for controlling the operation of the arm so that the first work arm and the second work arm are moved away from each other to form a first knot;
Robot device with   6. The robot apparatus according to claim 5, further comprising a pressing member provided on the article to be packaged on the table so as to freely advance and retract. A method of controlling a robot apparatus that connects two string-like portions each having a base fixed at a position sandwiching the rotation center of the table on a table that is rotatable in a horizontal plane;
First and second two working arms and at least one other temporary holding arm each capable of two-dimensional movement in a vertical plane including at least the rotation center of the table, each having a grip at the tip. And
A. Grip the tips of the two string-like parts on the table by the gripping portions of the two working arms, lift them upward, and draw them closer to the inside to stretch the two string-like parts,
B. With the two string-like portions stretched, the table is rotated at least 3/4 to cross the two string-like portions at a position slightly above the middle to form a space therethrough,
C. With the first working arm and one other temporary holding arm, or the other two temporary holding arms, holding the tip of one of the string-like portions and the intersecting portion, The other end of the string-like portion is inserted into the through space while being held by the second working arm,
D. The tip of the other string-like part is handed over from the second work arm to the first work arm, and the tip of the one string-like part is held by the second work arm. , Moving the first working arm and the second working arm away from each other to form a first knot,
A method for controlling a robotic device. A robot device for connecting two string-like portions each having a base fixed at a position sandwiching the center of rotation of the table on a table that is rotatable in a horizontal plane;
First and second two working arms and at least one other temporary holding arm each capable of two-dimensional movement in a vertical plane including at least the rotation center of the table, each having a grip at the tip. , And A. Grip the tips of the two string-like parts on the table by the gripping portions of the two working arms, lift them upward, and draw them closer to the inside to stretch the two string-like parts,
B. With the two string-like portions stretched, the table is rotated at least 3/4 to cross the two string-like portions at a position slightly above the middle to form a space therethrough,
C. With the first working arm and one other temporary holding arm, or the other two temporary holding arms, holding the tip of one of the string-like portions and the intersecting portion, The other end of the string-like portion is inserted into the through space while being held by the second working arm,
D. The tip of the other string-like part is handed over from the second work arm to the first work arm, and the tip of the one string-like part is held by the second work arm. , A control device for controlling the operation of the arm so that the first work arm and the second work arm are moved away from each other to form a first knot;
Robot device with

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