JP6823117B1 - Object transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry an object such as a bundle of paper sheets while grasping and transporting the object with a robot arm so that the object does not collapse as much as possible. An object transfer device 400 according to the present invention includes 200 robot arm RAs and a speed control unit. The robot arm RA grips and conveys an object. The speed control unit 200 controls the transport speed of the object according to the thickness of the object. [Selection diagram] Fig. 1

Description

The present invention relates to an object transfer device.

A bill insertion assortment unit equipped with a mechanism for collecting inserted bills and handing them to the robot hand, a bill counting bill confirmation unit equipped with a mechanism for separating bills from the robot hand into the number and type of bills received, and bills from the robot hand. A cash cassette unit consisting of a mechanism for storing banknotes and a mechanism for withdrawing banknotes from this unit and delivering them to a robot hand, a bill counter unit for checking the number of bills to be picked up and handing them to a robot, and a mechanism for picking up bills from a robot. In the past, an articulated robot-embedded cash processing device having a banknote payout unit for sending banknotes to a payout port and a mechanism for transferring banknotes with an articulated robot between the units has been proposed (for example). , JP-A-62-092095, etc.).

JP-A-62-092095

By the way, for example, in a device that receives a bundle of paper leaves with a robot arm, conveys the bundle of paper leaves, and delivers the bundle of paper leaves to the destination, the bundle of paper leaves may collapse and fall apart during transportation. This is more pronounced as the bundle of paper leaves is thicker. When the bundle of paper leaves collapses, it is necessary to pick up the paper leaves again, and such a collection operation is not preferable because it reduces the efficiency of the transport work.

An object of the present invention is to convey an object such as a bundle of paper sheets while grasping and transporting the object with a robot arm so that the object does not collapse as much as possible.

The object transfer device according to the first aspect of the present invention includes a robot arm and a speed control unit. The robot arm grips and conveys a bundle of thin materials . Speed control unit controls the conveyance speed of the bundle of thin according to the thickness of the bundle of thin. Further, the speed control unit reduces the transport speed of the thin bundle as the thickness of the thin bundle increases, and increases the transport speed of the thin bundle as the thickness of the thin bundle decreases.

This object conveying device, the speed control unit controls the conveyance speed of the bundle of thin according to the thickness of the bundle of thin. For example, the speed control unit, if such a bundle of thin reduces the conveyance speed of the bundle of more thicker thin in transporting the bundle of thin, thin bundles of thin when transporting and gripped by the robot arm It is possible to prevent the bundle of robots from collapsing during transportation as much as possible. Further, for example, the speed control unit, if such a bundle of thin raises the conveying speed of the bundle enough thinner thin in transporting the bundle of thin, when conveying gripping the bundle of thin robot arm A bundle of thin materials can be transported quickly.

The object transfer device according to the second aspect of the present invention is the object transfer device according to the first aspect, and the robot arm swivels and conveys a bundle of thin objects. Further, this object transfer device further includes a turning control unit. Turning control section controls the turning radius of the bundle of thin according to the thickness of the bundle of thin. The turning control unit shortens the turning radius of the thin bundle as the thickness of the thin bundle becomes thicker, and lengthens the turning radius of the thin bundle as the thickness of the thin bundle becomes thinner.

This object conveying device, the turning control section controls the turning radius of the bundle of thin according to the thickness of the bundle of thin. For example, turning control unit and short turning radius of thin bundle as the bundle of thin becomes thick in transporting the bundle of thin, the effect of the rotation moment a bundle of thin when transporting and gripped by the robot arm Can be made smaller, and by extension, it is possible to prevent the bundle of thin materials from collapsing during transportation as much as possible.

The object transfer device according to the third aspect of the present invention includes a robot arm and a turning control unit. The robot arm grips a bundle of thin objects, turns it, and conveys it. Turning control section controls the turning radius of the bundle of thin according to the thickness of the bundle of thin.

This object conveying device, the turning control section controls the turning radius of the bundle of thin according to the thickness of the bundle of thin. For example, turning control unit and short turning radius of thin bundle as the bundle of thin becomes thick in transporting the bundle of thin, the effect of the rotation moment a bundle of thin when transporting and gripped by the robot arm Can be made smaller, and by extension, it is possible to prevent the bundle of thin materials from collapsing during transportation as much as possible.

The object transfer device according to the fourth aspect of the present invention is an object transfer device according to any one of the first to third aspects, and further includes a thickness measuring unit. The thickness measuring unit measures the thickness of the bundle of thin materials while the robot arm is holding the bundle of thin materials .

This object transport apparatus, a robot arm, the thickness of the bundle of thin is measured while gripping the bundle of thin. Therefore, in this object transfer device, it is possible to control the robot arm according to the thickness of the bundle of thin objects actually gripped by the robot arm.

The object transfer device according to the fifth aspect of the present invention is an object transfer device according to any one of the first to third aspects, and further includes a thickness measuring unit. Thickness measurement unit measures the thickness of the bundle of thin before the robot arm to grip a bundle of thin.

In this object transfer device, the thickness measuring unit measures the thickness of the bundle of thin materials before the robot arm grips the bundle of thin materials . Therefore, in this object transporting device, the robot arm can be controlled by using the thickness of the thin bundle , provided that the thickness of the thin bundle is not changed after the thickness of the thin bundle is measured. Further, in the object conveying device, by measuring the thickness of the bundle of thin before the robot arm grips the bundle of thin, mechanisms for gripping a bundle of thin (e.g., is arranged at the distal end of the robot arm up and down Fingers) can be controlled in advance. If before gripping the bundle of thin unknown thickness of the bundle of thin, must be to maximize the distance between the upper and lower fingers, it takes time to grasp the bundle of thin upper and lower fingers. If hand before gripping the bundle of thin clear the thickness of the bundle of thin, it is possible to control the distance of the upper and lower fingers advance, to reduce the distance adjustment time before grasping the upper and lower fingers At the same time, the time required to grip the bundle of thin materials with the upper and lower fingers can be reduced, so that the transfer work efficiency can be improved.

The object transfer device according to the sixth aspect of the present invention is the object transfer device according to the fourth aspect , and the robot arm has a grip portion. The grip portion grips a bundle of thin materials . Further, the grip portion has a first finger and a second finger. The second finger is opposed to the first finger. In addition, this object transport device further includes a photographing unit. The photographing unit photographs the first finger and the second finger. The thickness measuring unit calculates the thickness of a bundle of thin objects from the positional relationship between the first finger and the second finger in the shooting result of the photographing unit.

This object transfer device includes a photographing unit. The photographing unit photographs the first finger and the second finger, and the thickness measuring unit calculates the thickness of the bundle of thin materials from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit. As a means for measuring the thickness of paper sheets, a method of photographing a sheet bundle using a CCD sensor and detecting the thickness of the sheet from the density data of the photographed image of the side end surface of the sheet bundle (for example, JP-A-2005-104723). No.) is known, but it is difficult to obtain sufficient concentration data to accurately determine the thickness of the sheet only by photographing the side end faces of the sheet bundle. On the other hand, in this object transfer device, for example, at least one marker is provided for each of the first finger and the second finger, and the thickness of the bundle of thin materials is measured from the positional relationship of the markers in the shooting result of the photographing unit. Therefore, the object transport apparatus, it is possible to measure the thickness of the bundle of thin without being influenced by the density data of the photographic image of a bundle of thin.

The object transfer device according to the seventh aspect of the present invention is the object transfer device according to any one of the first to sixth aspects, and the bundle of thin materials is a bundle of paper sheets .

Therefore, in this object transporting device, the bundle of paper leaves can be transported so that the bundle of paper leaves does not collapse and fall apart.

It is a top view of the object transport device which concerns on 1st Embodiment of this invention. It is a side view of the robot arm with a robot hand which concerns on embodiment of this invention. It is a schematic block diagram of the object transporting apparatus which concerns on 1st Embodiment of this invention.

− First Embodiment −
The object transfer device 400 according to the first embodiment of the present invention is a transfer device for transporting a bundle MT of banknotes, and as shown in FIGS. 1 and 3, mainly a robot arm 100 with a robot hand. , The control device 200 and the photographing device 300. Hereinafter, these components will be described in detail.

1. 1. Robot arm with robot hand As shown in FIGS. 1 and 2, the robot arm 100 with a robot hand is mainly composed of a robot hand 110 and a robot arm RA. Hereinafter, these components will be described in detail.

(1) Robot Hand The robot hand 110 is a two-finger type robot hand as shown in FIGS. 1 and 2. Further, the robot hand 110 is fixed to the tip of the robot arm RA. Then, as shown in FIG. 2, the robot hand 110 mainly includes a movable finger 111, a fixed finger 112, a movable finger reciprocating mechanism 113, a drag prevention unit 117, a drag prevention unit reciprocating mechanism 118, and a connecting unit 119. It is composed of.

(1-1) Movable Finger As shown in FIGS. 1 and 2, the movable finger 111 is a bifurcated portion for gripping a bundle MT of banknotes. Both of the two fingers of the movable finger 111 are thick plate portions facing the fixed finger 112 (described later) substantially in parallel. The movable finger 111 is fixed to the first elevating plate 114 (described later) of the movable finger reciprocating mechanism 113. Further, a marker is displayed on the side surface of the movable finger 111.

(1-2) Fixed finger The fixed finger 112 is a bifurcated (not shown) portion for gripping a bundle MT of banknotes, as shown in FIG. Both of the two fingers of the fixed finger 112 are thick plate portions facing the movable finger 111 substantially in parallel. The fixed finger 112 is fixed to the support plate 116 (described later) of the movable finger reciprocating mechanism 113. Further, in the fixed finger 112, a marker is displayed on the side surface of the movable finger 111 on the same side of the marker display surface. The markers displayed on the movable finger 111 and the fixed finger 112 are arranged along a direction parallel to the opposite direction of the movable finger 111 and the fixed finger 112.

(1-3) Movable finger reciprocating mechanism As shown in FIG. 2, the movable finger reciprocating mechanism 113 is mainly composed of a first elevating plate 114, a second elevating plate 115, and a support plate 116. The second elevating plate 115 supports the first elevating plate 114, and the support plate 116 supports the second elevating plate 115. The first elevating plate 114 and the second elevating plate 115 are each moved up and down by a mechanism (for example, an air cylinder mechanism or the like) (not shown) arranged therein. That is, as the first elevating plate 114 and the second elevating plate 115 move up and down, the movable fingers 111 fixed to the first elevating plate 114 also move up and down. Therefore, it is possible to grip the bundle MT of banknotes between the fixed finger 112 and the movable finger 111 that moves up and down, and it is also possible to release the gripped state.

(1-4) Drag prevention unit As shown in FIG. 2, the drag prevention unit 117 is a rectangular plate-shaped member, and is fixed to the tip of the drag prevention unit reciprocating mechanism 118 (described later). The drag prevention unit 117 is reciprocated in the front-rear direction by the drag prevention unit reciprocating mechanism 118.

(1-5) Drag prevention unit reciprocating mechanism The drag prevention unit reciprocating mechanism 118 is a mechanism for preventing the robot hand 110 from dragging the bundle MT of bills when retracting from the destination of the bundle MT of bills. Therefore, as shown in FIG. 2, it is located between the two fingers of the fixed finger 112 and is arranged so as to be substantially parallel to the fixed finger 112, and is fixed to the fixed finger 112. Further, the drag prevention unit reciprocating mechanism 118 is a mechanism (for example, an air cylinder mechanism or the like) (not shown) that reciprocates, and also reciprocates the drag prevention unit 117 in the front-rear direction.

By configuring the drag prevention unit 117 and the drag prevention unit reciprocating mechanism 118 as described above, the robot hand 110 holding the bundle MT of banknotes conveys the bundle MT of banknotes to the destination and holds the gripped state. When the bill is released and retracted from the transport destination, the drag prevention unit reciprocating mechanism 118 moves forward, so that the drag prevention unit 117 prevents the bill from being dragged. Therefore, it is possible to prevent the bundle MT of banknotes from collapsing when the robot hand 110 is retracted.

(1-6) Connecting portion The connecting portion 119 is a portion for connecting the robot hand 110 to the robot arm RA, for example, a flange or the like, as shown in FIG.

(2) Robot arm The robot arm RA is, for example, an existing multi-axis robot arm. As shown in FIGS. 1 and 2, the base end of the robot arm RA is attached to a fixed base so as to be rotatable.

2. 2. Control device As shown in FIG. 3, the control device 200 is mainly composed of a control unit 210, a lead-out unit 220, a storage unit 230, and an acquisition unit 240. Hereinafter, these components will be described in detail.

(1) Control unit The control unit 210 is, for example, a control device of a central processing arithmetic unit of a computer, and is connected to a robot arm RA, a robot hand 110, and a photographing device 300 (described later) as shown in FIG. Has been done. Further, the control unit 210 controls the operation of the robot arm RA and the robot hand 110 and the photographing process of the photographing device 300 by transmitting various control signals to the robot arm RA, the robot hand 110, and the photographing device 300. As shown in FIG. 3, the control unit 210 transmits a control signal to the robot arm RA, the robot hand 110, and the photographing device 300 in accordance with a command described in the control program stored in the storage unit 230. Further, the control unit 210 reads data necessary for generating a control signal from at least one of the derivation unit 220 and the storage unit 230, generates a control signal from the data, and causes the robot arm RA, the robot hand 110, and the photographing device 300. Send.

(2) Derivation unit The derivation unit 220 is, for example, an arithmetic unit of a central processing arithmetic unit of a computer, and is transmitted from data stored in the storage unit 230 and acquisition unit 240 as shown in FIG. Data necessary for generating a control signal is generated from the incoming data, and the data is supplied to the control unit 210. For example, the out-licensing unit 220 is the thickness of the bundle MT of banknotes from the distance between the markers of the movable finger 111 and the fixed finger 112 of the robot hand 110 based on the photographing data sent from the photographing apparatus 300 via the acquiring unit 240. To measure. The lead-out unit 220 measures the thickness of the banknote bundle MT by analyzing and calculating the distance between the markers when the robot hand 110 is holding the banknote bundle MT from the shooting data. Then, the out-licensing unit 220 derives the transport speed and the turning radius of the banknote bundle MT according to the thickness data of the banknote bundle MT (hereinafter referred to as “thickness data”). The derivation unit 220 may, for example, collate the thickness data with the control table stored in the storage unit 230 to derive the transport speed and the turning radius corresponding to the thickness data, or calculate the transport speed from the thickness data. By substituting the thickness data into the calculation formula for calculating the turning radius from the calculation formula and the thickness data to be performed, the transport speed and the turning radius corresponding to the thickness data may be derived. Then, the out-licensing unit 220 transmits data on the transport speed and turning radius of the bundle MT of banknotes to the control unit 210. Controlling the transport speed and turning radius of the bundle MT of banknotes controls the transport speed and turning radius of the robot hand 110.

(3) Storage unit The storage unit 230 stores a control program, control parameters, a control table, and the like.

(4) Acquisition unit The acquisition unit 240 is, for example, a communication interface of a computer or the like, and has a role of receiving the photographing data obtained by the photographing apparatus 300 and transmitting the photographing data to the derivation unit 220 as shown in FIG. I am in charge.

3. 3. Imaging device imaging device 300 is, for example, a digital camera such as a CCD camera, as shown in FIG. 1, the side surface of the robot hand 110 when the robot hand 110 grips the bundle (broken line) MT of banknote It is arranged at a position where it can be photographed. The photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of holding the bundle MT of banknotes so as to fit in one image, and acquires the photographing data. Then, as shown in FIG. 3, the photographing device 300 transmits the photographing data to the acquisition unit 240 of the control device 200 according to the control signal from the control device 200. The series of processes in the photographing device 300 is performed between the time when the robot hand 110 grips the bundle MT of banknotes and the time when the transport of the bundle MT of banknotes is started.

<Control example of the object transport device according to the first embodiment>
Here, a control example of the object transport device 400 according to the first embodiment will be described. Here, as an example of the destination of the bundle MT of banknotes, a case CA mounted on the turntable TA is adopted as shown in FIG. It should be noted that this example does not limit the invention.

First, the control device 200 controls the robot arm RA to move the robot hand 110 to a position where the robot hand 110 waiting at a predetermined position can hold a bundle of banknotes (see the broken line in FIG. 1) MT. Then, the control device 200 controls the movable finger reciprocating mechanism 113 of the robot hand 110 to move the movable finger 111 of the robot hand 110 that has been pulled upward in advance downward, and the bundle MT of banknotes together with the fixed finger 112. To grasp. Here, it is preferable that the bundle MT of banknotes is prepared in advance so that the robot hand 110 can easily grip the bundle MT of banknotes.

Next, while the robot hand 110 is holding the bundle MT of banknotes, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 so as to fit in one image. The photographing device 300 transmits the photographing data to the acquisition unit 240 of the control device 200. These series of processes are performed between the time when the robot hand 110 grips the bundle MT of banknotes and the time when the robot arm 100 with the robot hand starts transporting the bundle MT of banknotes.

Subsequently, the acquisition unit 240 of the control device 200 receives the photographing data transmitted from the photographing device 300, and transmits the photographing data to the derivation unit 220 of the control device 200. The derivation unit 220 receives the shooting data and measures the thickness of the bundle MT of the banknotes from the positional relationship between the movable finger 111 and the fixed finger 112 of the robot hand 110 in the shooting data. Then, the derivation unit 220 derives the transport speed and the turning radius of the bundle MT of the banknotes corresponding to the thickness data, and transmits the data to the control unit 210 of the control device 200. These series of processes are also performed between the time when the robot hand 110 grips the bundle MT of banknotes and the time when the robot arm 100 with the robot hand starts transporting the bundle MT of banknotes. Then, the control unit 210 executes the control described below by utilizing the transport speed and the turning radius of the derived banknote bundle MT.

The control device 200 controls the transport speed and turning radius of the bundle MT of banknotes by using the data of the transport speed and turning radius of the derived bundle MT of banknotes. For example, the control device 200 reduces the transport speed of the bundle MT of banknotes and shortens the turning radius as the thickness of the bundle MT of banknotes increases. Further, the control device 200 increases the transport speed of the bundle MT of banknotes and lengthens the turning radius as the thickness of the bundle MT of banknotes becomes thinner. However, the control device 200 controls the transport speed and turning radius of the bundle MT of banknotes within the range of the maximum value and the minimum value set for the transport speed and turning radius of the bundle MT of banknotes, respectively. Then, the control device 200 controls the robot arm RA to convey the bundle MT of banknotes to the case CA which is the transfer destination. The control device 200 controls the robot arm RA so that the bundle MT of banknotes is sequentially stacked in the case CA.

Subsequently, the control device 200 controls the robot arm RA to insert the movable finger 111 and the fixed finger 112 of the robot hand 110 into the back side of the case CA, and then controls the drag prevention unit reciprocating mechanism 118. The drag prevention unit 117 is moved forward, and the movable finger reciprocating mechanism 113 is controlled to pull up the movable finger 111 upward to release the gripping state and release the bundle MT of bills. Then, the control device 200 controls the robot arm RA to retract the robot hand 110 from the case CA while maintaining the inclination angle of the robot hand 110. At this time, since the drag prevention unit reciprocating mechanism 118 is moving forward, the drag prevention unit 117 prevents the bundle MT of banknotes from being dragged. Then, after the robot hand 110 is completely retracted from the case CA, the control device 200 controls the drag prevention unit reciprocating mechanism 118 to pull back the drag prevention unit 117 backward. Finally, the control device 200 controls the robot arm RA to move the robot hand 110 to a predetermined position to prepare for the transfer of the next bundle MT of banknotes.

<Characteristics of the object transport device according to the first embodiment>
(1)
In the object transport device 400 according to the first embodiment, the control device 200 measures the thickness of the bundle MT of banknotes and controls the transport speed and the turning radius of the bundle MT of banknotes according to the thickness. The control device 200 reduces the transport speed of the bundle MT of banknotes and shortens the turning radius as the thickness of the bundle MT of banknotes to be transported increases. Further, the control device 200 increases the transport speed of the bundle MT of banknotes and lengthens the turning radius as the thickness of the bundle MT of banknotes to be transported becomes thinner. Therefore, in the object transfer device 400 according to the first embodiment, when the bundle MT of banknotes to be conveyed is thick, the bundle MT of banknotes is conveyed when the robot arm 100 with a robot hand grips and conveys the bundle MT of banknotes. It is possible to suppress the collapse inside as much as possible. Further, when the bundle MT of the banknotes to be conveyed is thin, when the robot arm 100 with a robot hand grips and conveys the bundle MT of the banknotes, the bundle MT of the banknotes can be quickly conveyed to improve the transportation work efficiency.

(2)
In the object transfer device 400 according to the first embodiment, the thickness of the bundle MT of banknotes is measured while the robot hand 110 is holding the bundle MT of banknotes. Therefore, in the object transfer device 400 according to the first embodiment, it is possible to control the robot arm 100 with a robot hand according to the thickness of the bundle MT of banknotes actually held by the robot hand 110.

<Modification example>
(A)
In the object transfer device 400 according to the first embodiment, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of holding the bundle MT of banknotes so as to fit in one image. However, the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 may be photographed so as to fit in two or more images. Then, for example, the control device 200 may synthesize an image based on the feature points of each image and measure the thickness of the bundle MT of banknotes from the synthesized image.

(B)
In the object transfer device 400 according to the first embodiment, the thickness of the bundle MT of the bills held by the robot hand 110 is measured by the lead-out unit 220 of the control device 200 based on the shooting data taken by the shooting device 300. However, the thickness of the bundle MT of the bills held by the robot hand 110 may be measured by disposing a pressure sensor on the robot hand 110 and using the pressure sensor, or by other measuring methods.

(C)
In the object transport device 400 according to the first embodiment, the control device 200 measures the thickness of the bundle MT of banknotes and controls the transport speed and the turning radius of the bundle MT of banknotes according to the thickness. However, the control device 200 may control only one of the transport speed and the turning radius of the bundle MT of banknotes according to the thickness of the bundle MT of banknotes.

− Second embodiment −
In the object transporting device according to the second embodiment of the present invention, the thickness of the banknote bundle MT is measured before the banknote bundle MT is gripped by the robot hand. Here, the object transfer device according to the second embodiment does not include the photographing device 300 described in the object transfer device 400 according to the first embodiment, and is a robot arm with a second robot hand and a robot with a second robot hand. Another imaging device that captures the arm is additionally configured. Hereinafter, the differences from the object transport device 400 according to the first embodiment will be described. In the second embodiment, the robot arm with the first robot hand is structurally the same as the robot arm 100 with the robot hand described in the object transfer device 400 according to the first embodiment. Further, in the second embodiment, for convenience, the robot arm 100 with a robot hand, the robot hand 110, and the robot arm RA are referred to as a "robot arm with a first robot hand", a "first robot hand", and a "first robot arm", respectively. I will do it.

1. 1. The robot arm with the second robot hand grips and pulls out the bundle MT of the bills from the bill storage box, and conveys the bundle MT of the bills to the movable area of the robot arm with the first robot hand. The imaging device is provided at a position where the entire thickness direction of the bundle MT of banknotes can be photographed while the robot arm with the second robot hand is holding the bundle MT of banknotes. The photographing device transmits the photographed shooting data to the control device 200.

2. 2. Control device In the second embodiment, the control device 200 is connected to a robot arm with a first robot hand, a robot arm with a second robot hand, and a photographing device. The control device 200 controls the operation of the robot arm with the first robot hand and the robot arm with the second robot hand, and the photographing process of the photographing device. Further, the control device 200 receives imaging data from an imaging device that photographs the entire thickness direction of the bundle MT of banknotes held by the robot arm with the second robot hand, and obtains the thickness of the bundle MT of banknotes from the photographing data. By measuring, the transport speed and turning radius of the bundle MT of banknotes are controlled according to the thickness data. In addition, controlling the transport speed and the turning radius of the bundle MT of banknotes controls the transport speed and the turning radius of the first robot hand.

<Control example of the object transport device according to the second embodiment>
Here, a control example of the object transport device according to the second embodiment will be described. Here, as an example of the destination of the bundle MT of banknotes, a case (not shown) mounted on a turntable is adopted. It should be noted that this example does not limit the present invention.

First, the control device 200 controls the robot arm with the second robot hand to grasp and pull out the bundle MT of banknotes from the banknote storage box. At this time, with the robot arm with the second robot hand holding the bundle MT of banknotes, the photographing device photographs the entire bundle MT of banknotes in the thickness direction, and the photographed data is controlled by the control device. Send to 200. Next, the control device 200 controls the robot arm with the second robot hand so as to convey the bundle MT of the banknotes to the movable area of the robot arm with the first robot hand.

Next, the control device 200 causes the robot arm with the first robot hand to grip the bundle MT of banknotes conveyed by the robot arm with the second robot hand. Then, the control device 200 causes the robot arm with the first robot hand to convey the bundle MT of banknotes to the case mounted on the turntable. As described above, unlike the control example of the object transfer device 400 according to the first embodiment, the control device 200 photographs the entire bundle MT of banknotes held by the robot arm with the second robot hand in the thickness direction. The thickness of the bundle MT of banknotes is measured based on the photographing data transmitted from the photographing apparatus. Then, the control device 200 controls the transport speed and the turning radius of the bundle MT of the banknotes according to the thickness data. Further, in the control device 200, since the thickness of the banknote bundle MT is clear before the first robot hand grips the banknote bundle MT, the banknotes are not pulled up to the maximum upward by the movable finger of the first robot hand. The movable finger is controlled to be pulled upward to the extent that the bundle MT of the robot can be grasped.

<Characteristics of the object transport device according to the second embodiment>
In the object transfer device according to the second embodiment, the thickness of the banknote bundle MT is measured before the first robot hand grips the banknote bundle MT. Therefore, in the object transfer device according to the second embodiment, after measuring the thickness of the bundle MT of banknotes, the robot arm with the first robot hand is controlled by using the thickness. Further, in the object transfer device according to the second embodiment, the movable fingers of the first robot hand for gripping the bundle MT of banknotes are controlled in advance. That is, since it is not necessary for the first robot hand to pull up the movable finger to the maximum upward before grasping the bundle MT of banknotes, the time for pulling up the movable finger can be reduced. In addition, the time required for the movable finger to move downward and the first robot hand to grasp the bundle MT of banknotes can be reduced. Therefore, in the object transfer device according to the second embodiment, it is possible to improve the transfer work efficiency of the bundle MT of banknotes by the robot arm with the first robot hand.

<Modification example>
(A)
In the object transporting device according to the second embodiment, a photographing device provided at a position where the entire thickness direction of the bundle MT of banknotes can be photographed while the robot arm with the second robot hand is holding the bundle MT of banknotes. The thickness of the bundle MT of banknotes was measured based on the photographed data. However, a method of measuring the thickness of a bundle MT of banknotes based on photography data taken by a photographing device fixed to a robot arm with a second robot hand, and a pressure sensor arranged on a robot arm with a second robot hand are used to measure banknotes. The thickness of the bundle MT of banknotes is measured while the robot arm with the second robot hand is holding the bundle MT of banknotes by the method of measuring the thickness of the bundle MT of banknotes and other methods of measuring the thickness of the bundle MT of banknotes. May be done.

(B)
In the object transfer device according to the second embodiment, the robot arm with the second robot hand conveys the bundle MT of banknotes to the movable area of the robot arm with the first robot hand. However, the bundle MT of banknotes may be transported to the movable region of the robot arm with the first robot hand by a transfer device (for example, a belt conveyor, a slide device, etc.). In such a case, the robot arm with the second robot hand preferably transfers a bundle of banknotes onto the transfer device.

(C)
In the object transporting device according to the second embodiment, a photographing device provided at a position where the entire thickness direction of the bundle MT of banknotes can be photographed while the robot arm with the second robot hand is holding the bundle MT of banknotes. The thickness of the bundle MT of banknotes was measured based on the photographed data. However, the thickness of the banknote bundle MT may be measured based on the photographing data photographed by the photographing device installed at the start point or the end point of the transfer device for moving the banknote bundle MT to the vicinity of the robot arm with the first robot hand. .. In such a case, the transfer device is preferably a slide device. Further, the photographing device photographs the inside of the box from the top surface of the box with the bundle MT of banknotes stored in the box on which the top surface is open, which is placed on the slide device, and based on the photographed data. It is preferable to measure the thickness of the bundle MT of banknotes.

(D)
In the object transport device according to the second embodiment, the control device 200 measures the thickness of the bundle MT of banknotes and controls the transport speed and the turning radius of the bundle MT of banknotes according to the thickness. However, the control device 200 may control only one of the transport speed and the turning radius of the bundle MT of banknotes according to the thickness of the bundle MT of banknotes.

100: Robot arm with robot hand 110: Robot hand 111: Movable finger (first finger)
112: Fixed finger (second finger)
210: Control unit (speed control unit, turning control unit)
220: Derivation unit (thickness measurement unit)
300: Imaging device (imaging unit)
MT: Banknote bundle RA: Robot arm

Claims (7)

A robot arm that grips and conveys a bundle of thin objects ,
E Bei a speed controller for controlling the transport speed of the bundle of the thin according to the thickness of the bundle of the thin,
The speed control unit reduces the transport speed of the thin bundle as the thickness of the thin bundle increases, and increases the transport speed of the thin bundle as the thickness of the thin bundle decreases.
Object transfer device. The robot arm swivels and conveys the bundle of thin materials .
The further example Bei the turning control section for controlling the turning radius of the bundle of the thin according to the thickness of the bundle of the thin,
The turning control unit shortens the turning radius of the thin bundle as the thickness of the thin bundle becomes thicker, and lengthens the turning radius of the thin bundle as the thickness of the thin bundle becomes thinner.
The object transfer device according to claim 1. A robot arm that grips a bundle of thin objects, turns it, and conveys it.
E Bei a turning control section that controls the turning radius of the bundle of the thin according to the thickness of the bundle of the thin,
The turning control unit shortens the turning radius of the thin bundle as the thickness of the thin bundle becomes thicker, and lengthens the turning radius of the thin bundle as the thickness of the thin bundle becomes thinner.
Object transfer device. The object transfer device according to any one of claims 1 to 3, further comprising a thickness measuring unit for measuring the thickness of the bundle of thin materials while the robot arm is holding the bundle of thin materials . The object transfer device according to any one of claims 1 to 3, further comprising a thickness measuring unit for measuring the thickness of the bundle of thin materials before the robot arm grips the bundle of thin materials . The robot arm has a grip portion that grips the bundle of thin materials .
The grip portion has a first finger and a second finger facing the first finger.
A photographing unit for photographing the first finger and the second finger is further provided.
The thickness measuring unit calculates the thickness of the bundle of thin materials from the positional relationship between the first finger and the second finger in the shooting result of the shooting unit.
The object transfer device according to claim 4 . The object transporting device according to any one of claims 1 to 6 , wherein the bundle of thin materials is a bundle of paper sheets .

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