JP6901442B2 - Retention device, manipulator, and transport system - Google Patents

Description

Embodiments of the present invention relate to holding devices, manipulators, and transport systems.

A transport system equipped with a holding device for holding an article is used. It is desired that the holding device can hold various articles.

Japanese Unexamined Patent Publication No. 2004-306169

An object to be solved by the present invention is to provide a holding device, a manipulator, and a transport system capable of holding various articles.

The holding device of the embodiment includes a suction unit and a suction device. The suction portion has a plurality of movable members that move in conjunction with each other, and the area of the opening formed between the plurality of movable members changes as the plurality of movable members move in conjunction with each other. The suction device can suck outside air through the opening. The suction portion has flexibility and also has a cover that integrally covers the plurality of movable members and closes a gap between the plurality of movable members.

The figure which shows the structure of the handling robot system of 1st Embodiment. The figure which shows the structure of the holding device of 1st Embodiment. The perspective view which shows the partial structure of the suction part of 1st Embodiment. The perspective view which shows the suction part of 1st Embodiment. FIG. 5 is a cross-sectional view showing an example of an operation in which the holding device of the first embodiment holds an article. FIG. 5 is a cross-sectional view showing another example of the operation in which the holding device of the first embodiment holds an article. The block diagram which shows the system configuration which concerns on the control apparatus of 1st Embodiment. The flowchart which shows an example of the operation of the handling robot system of 1st Embodiment. The figure which shows the structure of the holding device of 2nd Embodiment. FIG. 2 is a cross-sectional view showing some states of the holding device of the second embodiment. The flowchart which shows an example of the operation of the handling robot system of 2nd Embodiment. The cross-sectional view which shows an example of the suction part of 2nd Embodiment. The figure which shows the structure of the holding device of 3rd Embodiment. FIG. 5 is a cross-sectional view showing some states of the holding device of the third embodiment. The plan view which shows typically the plurality of movable members of 4th Embodiment. The plan view which shows the specific example of the plurality of movable members of 4th Embodiment. FIG. 5 is a plan view schematically showing another example of the plurality of movable members according to the fourth embodiment. FIG. 5 is a plan view schematically showing another example of the plurality of movable members according to the fourth embodiment. The front view which shows the example of the actuator of 4th Embodiment. The cross-sectional view which shows the suction part of the 1st modification of embodiment. The bottom view which shows the base of the 2nd modification of embodiment and a plurality of movable members.

Hereinafter, the holding device, the manipulator, and the transport system of the embodiment will be described with reference to the drawings. In the following description, the same reference numerals are given to configurations having the same or similar functions. Then, the duplicate description of those configurations may be omitted. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between the parts, etc. are not always the same as the actual ones. Further, even when the same part is represented, the dimensions and ratios of the parts may differ from each other depending on the drawing. As used herein, "based on XX" means "based on at least XX," including cases where it is based on another element in addition to XX. Further, "based on XX" is not limited to the case where XX is used directly, but also includes the case where XX is calculated or processed. "XX" is an arbitrary element (for example, arbitrary information).

First, the + R direction, the −R direction, the θ direction, the + Z direction, and the −Z direction are defined. The + R direction and the −R direction are directions along the radial direction of the opening O of the suction portion 10 described later (see FIG. 3). The + R direction is a direction from the center of the opening O toward the outer peripheral side of the opening O. The −R direction is opposite to the + R direction. When the + R direction and the -R direction are not distinguished, it is simply referred to as "R direction". The θ direction is a circumferential direction along the outer circumference of the opening O, and is a direction that intersects (for example, substantially orthogonally) the R direction. The + Z direction and the −Z direction are directions that intersect (for example, substantially orthogonal to each other) the θ direction and the R direction. The + Z direction is a direction from the article G toward the suction section 10 while the suction section 10 holds the article G (see FIG. 5). The −Z direction is the opposite direction to the + Z direction. When the + Z direction and the −Z direction are not distinguished, it is simply referred to as “Z direction”.

(First Embodiment)
<1. Overall configuration>
The handling robot system 100 of the first embodiment will be described with reference to FIGS. 1 to 8. The handling robot system 100 is an example of a "transport system". The "transport system" as used herein broadly means a system for moving an article (object, object to be transported) G, and may be referred to as an "object transfer system". The article G may be, for example, a product contained in a cardboard box or the like, a product packaged in a bag or the like, or the product itself. Article G is not limited to a specific product or product, and broadly means an object having an outer shape.

FIG. 1 is a diagram showing a configuration of the handling robot system 100 of the present embodiment. The handling robot system 100 includes, for example, a manipulator 110, a control device 120, a recognition device 130, and a transfer device 140. The recognition device 130 recognizes a plurality of articles G loaded in the loading area 150. The control device 120 controls the manipulator 110 based on the recognition result of the recognition device 130. For example, the control device 120 holds the article G loaded in the loading area 150 by the manipulator 110, and drives the manipulator 110 so as to transfer the held article G to the transport device 140. Further, the control device 120 may hold the article G located on the transport device 140 by the manipulator 110 and drive the manipulator 110 so as to transfer the held article G to the loading area 150. The loading area 150 is a place where the article G is loaded or placed. The loading area 150 is, for example, a basket trolley, a steel trolley, a box pallet, a pallet, a shelf, or the like.

<2. Manipulator ＞
First, the manipulator 110 will be described. The manipulator 110 includes, for example, a drive mechanism 111, a base 112, and a holding device 1.

The drive mechanism 111 has, for example, a plurality of arms 1111 and a plurality of joint portions 1112. The joint portion 1112 is provided between the plurality of arms 1111, between the arm 1111 and the base 112, and between the arm 1111 and the holding device 1, respectively. The joint portion 1112 includes, for example, a motor, an encoder, a speed reducer, and the like. By driving the motor, the drive mechanism 111 relatively moves (rotates or linearly moves) another member connected to the same joint portion 1112 with respect to one member connected to the joint portion 1112. .. As a result, the drive mechanism 111 moves the holding device 1 attached to the tip of the drive mechanism 111 to a desired position. The joint portion 1112 is not limited to rotation in the uniaxial direction, and may include rotation in the multiaxial direction. An example of the drive mechanism 111 is a so-called vertical articulated robot. The drive mechanism 111 may have a configuration in which a linear motion mechanism in the three-axis (XYZ-axis) direction and a joint portion (rotational axis) for rotating a member included in the linear motion mechanism are combined. The drive mechanism 111 is an example of a “moving mechanism”. However, the moving mechanism is not limited to the above example. For example, the "transport system" may have a transport device such as a drone. In this case, the "moving mechanism" may be a mechanism having a plurality of propellers to move the holding device 1.

The base 112 fixes the end of the drive mechanism 111. The base 112 is installed on the floor or on the ground. The base 112 may be, for example, a movable trolley. In this case, the manipulator 110 becomes movable on the floor surface.

Next, the holding device 1 will be described. FIG. 2 is a diagram showing the configuration of the holding device 1. The holding device 1 has, for example, a suction unit 10 and a pressure adjusting device 40.

<2.1 Configuration of adsorption part>
First, the configuration of the suction unit 10 will be described. The suction unit 10 has an opening O that faces the article G to be held and adsorbs the article G. When the suction unit 10 sucks and holds the article G, the manipulator 110 can convey the article G. The suction portion 10 includes, for example, a base 11, a plurality of movable members (movable pieces) 12, a plurality of rotating portions 13, a cover 14, a tube 15A, a pressure sensor 16A, a flow rate sensor 17A, an article sensor 18, and a bending sensor 19 (FIG. It has a weight sensor 20 (see FIG. 7), and a contact sensor 21 (see FIG. 7).

FIG. 3 is a perspective view showing a partial configuration of the suction unit 10. In the present embodiment, the size (opening area) of the opening O of the suction portion 10 can be continuously changed. For example, (a) in FIG. 3 shows a state in which the opening O is large. FIG. 3B shows a state in which the size of the opening O is medium. FIG. 3C shows a state in which the opening O is small. Hereinafter, the configuration of such an adsorption unit 10 will be described.

The base 11 is, for example, a plate member formed in a circular or polygonal shape. The base 11 is attached to the tip of the drive mechanism 111 directly or via another member. For example, a ventilation hole 11a is provided in the central portion of the base 11. The ventilation hole 11a penetrates the base 11 in the Z direction.

The plurality of movable members 12 are arranged in the θ direction along the peripheral edge of the base 11. An opening O of the suction portion 10 is formed between the ends of the plurality of movable members 12 on the −Z direction side. In the present embodiment, the plurality of movable members 12 are rotatably connected to the base 11. When the plurality of movable members 12 rotate with respect to the base 11, the size of the opening O of the suction portion 10 gradually increases or decreases.

In the present embodiment, the plurality of movable members 12 are configured to move in conjunction with each other. For example, a plurality of movable members 12 partially overlap each other in the Z direction and move in conjunction with each other when they come into contact with each other. A decompression space S in which the fluid is sucked by the decompression device 42, which will be described later, is formed between the plurality of movable members 12 (see FIG. 2). The decompression space S leads to the opening O.

To explain an example in detail, each movable member 12 is a thin plate member having a smooth bulge in the + R direction. The movable member 12 is made of metal, for example, but is not limited to this, and may be made of a synthetic resin or other material. The movable member 12 is not particularly limited as long as it is a member having a certain degree of rigidity. Further, the movable member 12 may be formed of an elastic body such as rubber.

Each movable member 12 has, for example, a first end portion (end portion on the + Z direction side) 12a, a second end portion (end portion on the −Z direction side) 12b, a third end portion 12c, and a fourth end portion. It has 12d and.

The first end portion 12a is rotatably connected to the peripheral edge portion of the base 11 via a rotating portion 13 described later. As a result, the movable member 12 can rotate with the rotating portion 13 as a fulcrum. The second end 12b is located on the opposite side of the first end 12a. The second end portions 12b of the plurality of movable members 12 are arranged in the θ direction. The second end 12b of the plurality of movable members 12 cooperate with each other to define the opening O. In the present specification, "defining the opening" includes the case where a cover covering the movable member 12 exists and the case where the opening is defined by the surface of the cover covering the movable member 12. In the present embodiment, the second end portions 12b of the plurality of movable members 12 always partially overlap each other and stabilize the opening O between the state where the opening O is the maximum and the state where the opening O is the minimum. To form.

Each movable member 12 is formed in a substantially fan shape, for example, and the width of the second end portion 12b in the θ direction is larger than the width of the first end portion 12a in the θ direction. According to such a configuration, even when a large opening O is formed, the second end portions 12b of the plurality of movable members 12 are likely to partially overlap each other, and the opening O is likely to be formed more stably.

The third end portion 12c and the fourth end portion 12d are both ends of the movable member 12 in the θ direction. In the present embodiment, the third end portion 12c of each movable member 12 is overlapped with respect to the fourth end portion 12d of the movable member 12 located adjacent to each other in the θ direction from the −Z direction side. When the N movable members 12 are arranged in the θ direction, the third end portion 12c of the Nth movable member 12 is from the −Z direction side with respect to the fourth end portion 12d of the first movable member 12. It is piled up. According to such a configuration, when the opening O becomes small, the plurality of movable members 12 can smoothly rotate while increasing the amount of overlap with each other.

In the present embodiment, one movable member (first movable member) 12A included in the plurality of movable members 12 is an example of the “first member”. Another movable member (second movable member) 12B included in the plurality of movable members 12 is an example of the "second member". The second movable member 12B can move in a direction away from the first movable member 12A and in a direction approaching the first movable member 12A. When the second movable member 12B moves with respect to the first movable member 12A, the area of the opening O formed between the first movable member 12A and the second movable member 12B changes.

The shape of the plurality of movable members 12 is not limited to the above example. For example, the movable member 12 is not limited to a substantially fan shape, and may have a rectangular parallelepiped shape or other shape. Further, the plurality of movable members 12 do not have to overlap each other. Even in such a case, for example, by providing the cover 14 (FIG. 4) described later, the gap between the plurality of movable members 12 is closed, and the air from the gap between the plurality of movable members 12 is closed. Leakage can be suppressed. Furthermore, if some air leakage is allowed, the plurality of movable members 12 may not overlap each other even if the cover 14 is not provided. The opening O is, for example, circular, but may be polygonal.

The plurality of rotating portions 13 rotatably connect the plurality of movable members 12 to the base 11. The plurality of rotating portions 13 are provided, for example, at the peripheral end portions of the base 11. However, the rotating portion 13 may be provided at a place other than the peripheral end portion of the base 11 as long as the movable member 12 can be rotatably connected to the base 11. Further, the number of rotating portions 13 is not particularly limited.

In the present embodiment, the rotating portion 13 is a passive rotating portion that does not have an actuator and allows the movable member 12 to rotate when an external force is applied. In a state where no external force is applied, the plurality of movable members 12 are in a posture along the substantially Z direction due to the influence of gravity with the opening O open. An example of the rotating portion 13 has a bearing portion provided on the base 11 and a rotating shaft provided on the movable member 12 and supported by the bearing portion. Instead of the above, the rotating portion 13 may have a bearing portion provided on the movable member 12 and a rotating shaft provided on the base 11 and supported by the bearing portion.

Next, the cover 14 will be described. FIG. 4 is a perspective view showing the suction unit 10. FIG. 4A shows a state in which the opening O is large. FIG. 4B shows a state in which the opening O is small.

The cover 14 integrally covers, for example, the base 11, the plurality of movable members 12, and the plurality of rotating portions 13, and the gap between the plurality of movable members 12 and the gap between the movable member 12 and the base 11. Etc. are blocked. The cover 14 is made of a flexible material and can be deformed by following the movement (for example, rotation) of the plurality of movable members 12. The cover 14 is made of an airtight material such as vinyl. The cover 14 may be formed of an elastic body such as rubber. The cover 14 may or may not be fixed to the base 11.

In the present embodiment, the opening O of the suction portion 10 is formed inside the cover 14. The cover 14 is provided with a communication hole 14a that communicates with the ventilation hole 11a of the base 11. Further, the cover 14 has a recess 14b recessed in the + Z direction between the plurality of movable members 12 along the plurality of movable members 12 and the base 11 (see FIG. 2). The recess 14b defines the decompression space S described above. When the suction portion 10 is in contact with the article G, the decompression space S is a substantially closed space formed between the suction portion 10 and the article G. Therefore, in the following description, the decompression space S may be referred to as a "substantially closed space S".

In this embodiment, the cover 14 is formed in a bag shape. That is, the cover 14 has a hollow structure, and integrally houses the base 11, the plurality of movable members 12, and the plurality of rotating portions 13. The cover 14 is preferably sealed so that the fluid inside the cover 14 does not flow out, but is not limited to this. Instead of being formed in a bag shape, the cover 14 may be formed in a sheet shape that covers the base 11, the plurality of movable members 12, and the plurality of rotating portions 13 from the −Z direction side. Further, in order to hold the article G more stably, a rubber non-slip member may be provided on the surface of the cover 14 in contact with the article G.

Next, returning to FIG. 2, the remaining configurations will be described.
The tube 15A is formed, for example, in a cylindrical shape and is capable of flowing a fluid. The tube 15A preferably has a structure capable of withstanding a pressure change inside the tube 15A, and is made of urethane, for example. One end of the tube 15A is connected to the ventilation hole 11a of the base 11. That is, the tube 15A communicates with the decompression space S of the suction portion 10 through the ventilation hole 11a of the base 11 and the communication hole 14a of the cover 14. The other end of the tube 15A is connected to the pressure regulator 40.

The pressure sensor 16A is provided in the path of the tube 15A, for example, and detects the pressure in the decompression space S. The flow rate sensor 17A detects, for example, the flow rate of a fluid passing through the tube 15A. The detection results of the pressure sensor 16A and the flow rate sensor 17A are output to the control device 120. One of the pressure sensor 16A and the flow rate sensor 17A may be omitted.

The article sensor 18 is provided on, for example, the base 11. The article sensor 18 detects the position and shape of the article G, the distance to the article G, and the like. The article sensor 18 is, for example, an optical sensor or a camera. The detection result of the article sensor 18 is output to the control device 120.

The bending sensor 19 (see FIG. 7) detects the angle (degree of bending) between the movable member 12 and the base 11. For example, the bending sensor 19 is a sensor that is provided over at least one movable member 12 and a base 11, and whose resistance value changes when bent. The detection result of the bending sensor 19 is output to the control device 120. The bending sensor 19 is an example of an “angle detection sensor”. The "angle detection sensor" may be a sensor for measuring the rotation angle such as a potentiometer instead of the bending sensor 19.

The weight sensor 20 (see FIG. 7) detects the weight of the article G that is sucked and held by the suction unit 10. The contact sensor 21 (see FIG. 7) is provided on the surface (outer surface) of the cover 14 facing the article G, and detects the contact of the suction portion 10 with the article G. The detection results of the weight sensor 20 and the contact sensor 21 are output to the control device 120. The contact sensor 21 is an example of a “contact state detection sensor”. The "contact state detection sensor" may be a force sensor, a proximity sensor, or the like instead of the contact sensor 21.

<2.2 Configuration of pressure regulator>
Next, the pressure adjusting device 40 will be described. The pressure adjusting device 40 communicates with the substantially enclosed space S formed between the suction portion 10 and the article G through the tube 15A. By changing the pressure in the substantially enclosed space S, the pressure adjusting device 40 holds the article G by the suction unit 10 and releases the article G held by the suction unit 10 from the suction unit 10.

The pressure adjusting device 40 includes, for example, a pressurizing device 41, a depressurizing device 42, and a direction switching valve 43A. The pressurizing device 41 increases the internal pressure of the substantially enclosed space S by supplying a fluid to the tube 15A. As a result, the holding device 1 releases the article G that has been sucked and held. The pressurizing device 41 is, for example, a compressor. However, the pressurizing device 41 is not limited to the compressor, and may be a mechanism that takes in air from an air supply unit (air pipe or the like) in the factory.

The decompression device 42 can suck the outside air through the opening O of the suction portion 10 by sucking the fluid inside the tube 15A. The decompression device 42 lowers the internal pressure of the substantially enclosed space S formed between the suction unit 10 and the article G by sucking the fluid inside the tube 15A while the suction unit 10 is in contact with the article G. Let me. As a result, the holding device 1 can suck and hold the article G (for example, vacuum suction). The decompression device 42 is an example of a “suction device”. The decompression device 42 is, for example, a vacuum generator such as a vacuum ejector, a vacuum pump, or a vacuum blower. The depressurizing device 42 may be a mechanism for generating a negative pressure by combining the pressurizing device 41 and a vacuum generator. The "fluid" as used herein is not limited to air, but may be, for example, a gas other than air, or a liquid such as water or oil.

The directional control valve 43A is connected to the tube 15A. Further, the direction switching valve 43A is connected to the pressurizing device 41 and the depressurizing device 42. The direction switching valve 43A switches the connection between each of the pressurizing device 41 and the depressurizing device 42 and the tube 15A.

The pressure adjusting device 40 may be provided at the base 112 of the manipulator 110 instead of being provided as a part of the holding device 1, or may be provided at another position. The pressure adjusting device 40 may be provided on the base 11 of the suction unit 10. The base 11 of the suction portion 10 may be formed in a hollow structure to accommodate the tube 15A. Further, the pressure adjusting device 40 may be controlled by the control device (control unit) 91 of the holding device 1 instead of the control device 120 described later.

FIG. 5 is a cross-sectional view showing an example of an operation in which the holding device 1 holds the article G. FIG. 5 shows, for example, the case of holding a soft article G. FIG. 5A shows a state before the holding device 1 holds the article G. The holding device 1 is supported by a manipulator 110 or the like and approaches the article G. At this time, the movable member 12 generally follows the vertical direction due to the influence of gravity. The holding device 1 has a shape that opens downward in the vertical direction, and is in a so-called "open state". The "open state" means the state of the holding device 1 when the article G is not sandwiched.

FIG. 5B shows a state in which the holding device 1 is in contact with the article G due to a lowering operation of the manipulator 110 or the like. At this time, each movable member 12 rotates according to the shape of the article G and the pressing force of the manipulator 110. As a result, the shape of the opening O of the suction portion 10 generally follows the outer shape of the article G. For example, when the movable member 12 is made of an elastic body, the shape of the opening O of the suction portion 10 can be easily imitated by the outer shape of the article G. When the suction portion 10 and the article G come into contact with each other, a substantially sealed space S is formed between the suction portion 10 and the article G.

FIG. 5C in FIG. 5 shows a state in which the holding device 1 is sucking the article G. The holding device 1 sucks the fluid in the substantially closed space S through the tube 15A to reduce the internal pressure in the substantially closed space S, and adsorbs and holds the article G. At this time, the internal pressure of the substantially closed space S becomes lower than the atmospheric pressure (for example, a vacuum state), so that the holding device 1 becomes a so-called "closed state" due to the influence of the atmospheric pressure. The "closed state" means a state of the holding device 1 when the size of the opening O is smaller than that of the "open state" and the article G is being sandwiched. That is, when the internal pressure of the substantially enclosed space S becomes lower than the atmospheric pressure, each movable member 12 is pushed by the atmospheric pressure and rotates toward the inside of the suction portion 10. As a result, the holding device 1 is in the "closed state". By changing to the "closed state", the holding device 1 not only sucks and holds the article G, but also sandwiches a part of the article G by a plurality of movable members 12, and holds the article G more reliably.

FIG. 5D in FIG. 5 shows a state after the holding device 1 holds the article G. The holding device 1 moves while holding the article G by an ascending operation of the manipulator 110 or the like. At this time, if the internal pressure of the substantially enclosed space S is kept sufficiently low, the fluid suction operation by the pressure adjusting device 40 may be stopped.

However, the holding operation of the article G by the holding device 1 is not limited to the above example. FIG. 6 is a cross-sectional view showing another example of the operation in which the holding device 1 holds the article G. FIG. 6 shows, for example, the case of holding a hard article G. (A) in FIG. 6 is a case where the article G is large. In this case, the holding device 1 can suck and hold the article G in a state where the opening O remains relatively wide, for example. On the other hand, (b) in FIG. 6 is a case where the article G is small. In this case, for example, the holding device 1 can change to a "closed state" by sucking the fluid in the substantially closed space S, and can adsorb and hold the article G in a state where the opening O is reduced.

<3. Control device>
Next, the control device 120 will be described. FIG. 7 is a block diagram showing a system configuration related to the control device 120. The control device 120 includes, for example, an input unit 121, a command generation unit 122, a target generation unit 123, a drive control unit 124, a driver 125, a signal processing unit 126, a determination unit 127, and a storage unit 128.

The input unit 121 receives the operation command information of the manipulator 110. The input to the input unit 121 may be, for example, a direct input via a touch panel, a monitor, or the like, or may be an input via wireless or wired from a remote location. When input is performed wirelessly, the input unit 121 may function as a communication unit. The communication unit receives operation command information from an external computer or server. As the communication unit, a wireless communication device is preferable, but a communication device connected to a communication network may also be used. As the communication network, for example, the Internet, an intranet, an extra net, a LAN, an ISDN, a VAN, a CATV communication network, a virtual private network, a telephone line network, a mobile communication network, a satellite communication network, etc. can be used. is there. The transmission medium constituting the communication network is not particularly limited, and may be wired such as IEEE1394, USB, power line carrier, cable TV line, telephone line, ADSL line, infrared ray such as IrDA or remote control, and Bluetooth (registered). It may be a radio such as (trademark), 802.11 radio, HDR, mobile phone network, satellite line, terrestrial digital network. The input unit 121 transmits the operation command information to the command generation unit 122. Alternatively, a microphone may be installed in the input unit 121, and the operation command information may be input by the voice of the operator (user). The input unit 121 is not necessarily a necessary configuration when the handling robot system 100 automatically recognizes and drives the article G. Further, even when the handling robot system 100 learns and operates based on the information of various sensors and the recognition device 130 described later, the input unit 121 is not necessarily a necessary configuration.

The command generation unit 122 generates an operation procedure required in each operation process as an operation command based on the operation command information and the recognition result of the article G by the recognition device 130. The command generation unit 122 generates each operation mode information according to the operation command to be executed. The operation command is a command related to a series of operations of the manipulator 110, and is, for example, information as a program. The operation mode information is information related to individual operations. For example, it is an operation such as "sucking" or "descending" the holding device 1. The command generation unit 122 can refer to the operation mode information and the like stored in the storage unit 128. The command generation unit 122 outputs the generated operation command to the target generation unit 123. Further, the command generation unit 122 outputs to the determination unit 127 in association with each operation mode of the operation command and the actual operation information corresponding to each operation mode.

The target generation unit 123 receives an operation command for the drive mechanism 111 and the holding device 1 from the command generation unit 122. The target generation unit 123 generates target command values for the drive mechanism 111 and the holding device 1. The target command value is output to the drive control unit 124.

The drive control unit 124 receives the target command values of the drive mechanism 111 and the holding device 1 from the target generation unit 123. The drive control unit 124 generates drive command information for driving the drive mechanism 111 and the holding device 1 according to the input target command value. The drive command information is output to the driver 125.

The driver 125 receives drive command information for the drive mechanism 111 and the holding device 1 from the drive control unit 124. The driver 125 generates a drive output according to the input drive command information. The drive mechanism 111 and the holding device 1 receive a drive output from the driver 125 and operate a motor, a direction switching valve 43A, or the like in the drive mechanism 111 to adjust the drive amount.

The signal processing unit 126 includes various sensors (for example, pressure sensor 16A, flow rate sensor 17A, article sensor 18, bending sensor 19, weight sensor 20, contact sensor 21) and a pressure adjusting device 40 driven by the driving mechanism 111 and the holding device 1. Receives signals from the pressurizing device 41, the depressurizing device 42, and the direction switching valve 43A, and performs signal amplification processing, analog-digital conversion processing, and the like on these signals. For example, the pressure sensor 16A and the flow rate sensor 17A sense the operation of the direction switching valve 43A and generate a sensor signal. Further, the pressure sensor 16A senses the internal pressure of the substantially enclosed space S formed between the suction portion 10 and the article G, and outputs a sensor signal. The flow rate sensor 17A senses the flow rate of the fluid sucked from the substantially enclosed space S and outputs a sensor signal. The article sensor 18 senses the position and shape of the article G and the distance to the article G, and outputs a sensor signal. The bending sensor 19 senses the bending motion of the movable member 12 with respect to the base 11, and generates a sensor signal. The weight sensor 20 senses the weight of the article G and generates a sensor signal. The contact sensor 21 senses the contact state of the suction unit 10 with the article G and generates a sensor signal. These sensor signals are, for example, voltage values. The signal processing unit 126 transmits the processed signal to the command generation unit 122 and the determination unit 127.

The sensor signal converted by the signal processing unit 126 is input to the determination unit 127. The determination unit 127 determines the position and posture of the holding device 1, the holding state of the article G, and the like according to the sensor signal. For example, the determination unit 127 determines the adsorption state of the adsorption unit 10 with respect to the article G based on the detection result of the pressure sensor 16A. Further, the determination unit 127 can estimate the time for completing the vacuum suction operation according to the flow rate of the fluid sucked from the substantially enclosed space S based on the detection result of the flow rate sensor 17A. Based on the position and orientation of the holding device 1, the determination unit 127 determines whether to supply the fluid to the suction unit 10 to release the article G, or to suck the fluid to suck and hold the article G.

Further, the determination unit 127 receives the operation information of the drive mechanism 111 and the holding device 1 corresponding to the operation command from the command generation unit 122. The determination unit 127 compares this operation information with the information obtained by the received sensor signal. Based on this comparison result, the determination unit 127 generates operation commands such as stopping the drive of the drive mechanism 111 and the holding device 1 and correcting the posture of the drive mechanism 111 according to the state of the article G. The determination unit 127 outputs a return value command for modifying the operation command to the command generation unit 122. Based on the return value command, the command generation unit 122 corrects the operation command so that the processing operation suitable for the operation command information input by the input unit 121 is executed. Thereby, the reliability and certainty of the operation of the holding device 1 can be improved.

At least a part of each functional unit (command generation unit 122, target generation unit 123, drive control unit 124, driver 125, signal processing unit 126, and determination unit 127) of the control device 120 described above is a CPU (Central Processing Unit). It is realized by executing a program (software) stored in a storage unit (not shown) by a hardware processor such as a unit) or a GPU (Graphics Processing Unit). In addition, some or all of these components are realized by hardware (circuit part; including circuitry) such as ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device) and FPGA (Field Programmable Gate Array). It may be done, or it may be realized by the collaboration of software and hardware. The same applies to the computer 134 of the recognition device 130 and the transfer control device 142 of the transfer device 140.

The storage unit 128 stores a database DB in which attribute data such as the shape, weight, and flexibility of the article G to be held are registered in advance. The storage unit 128 is, for example, a tape system such as a magnetic tape or a cassette tape, a disk system including a magnetic disk such as a floppy (registered trademark) disk / hard disk, or an optical disk such as a CD-ROM / MO / MD / DVD / CD-R. , IC cards (including memory cards) / optical cards and other card systems, or mask ROM / EPROM / EEPROM / flash RO and other semiconductor memory systems can be used.

In the present embodiment, the control device 120 may refer to the attribute data of the article G registered in the database DB and adjust the details of the operation according to the content of the attribute data of the article G. For example, when the article G is fragile, the control device 120 may adjust the driving amount of the decompression device 42 to suppress the force acting on the article G from the plurality of movable members 12. Further, the control device 120 refers to the attribute data of the article G when the manipulator 110 or the like is moved up after sucking and holding the article G, and the acceleration amount of the ascending operation or the depressurizing device 42 according to the hardness of the article G. The drive amount may be adjusted. For example, when the article G is soft (the hardness is equal to or less than the threshold value), the control device 120 may reduce the acceleration amount so as to slowly move the article G. Further, when the article G is soft (the hardness is equal to or less than the threshold value), the control device 120 may increase the driving amount of the decompression device 42 in consideration of the acceleration so that the article G does not separate due to the acceleration.

<4. Recognition device>
Next, returning to FIG. 1, the recognition device 130 will be described. The recognition device 130 recognizes a plurality of articles G placed in the loading area 150. The recognition device 130 includes, for example, first to third image sensors 131, 132, 133, and a computer 134.

The first to third image sensors 131, 132, and 133 are located diagonally forward, upward, and diagonally rearward of, for example, a plurality of articles G placed in the loading area 150. The first to third image sensors 131, 132, 133 may be movable. As the first to third image sensors 131, 132, 133, a camera capable of measuring three-dimensional positions such as a distance image sensor or an infrared dot pattern projection type camera can be used. The infrared dot pattern projection method camera projects an infrared dot pattern onto the article G, and in that state, takes an infrared image of the article G placed on the loading area 150. By analyzing the infrared image taken in this way, three-dimensional information of the article G can be obtained. The infrared dot pattern projection camera may be capable of capturing a color image or a monochrome image. Further, in addition to the infrared dot pattern projection type camera, an optical sensor such as a camera that acquires a color image or a monochrome image may be included. The image may be commonly used image data such as jpg, gif, png or bmp. In the present embodiment, an example in which three image sensors 131, 132, and 133 are provided has been described, but only one or more image sensors may be used.

The computer 134 derives the three-dimensional position information of the article G based on the data output from the first to third image sensors 131, 132, 133. The three-dimensional position information of the derived article G is output to the control device 120. As a result, the control device 120 controls the manipulator 110 based on the three-dimensional position information of the article G derived by the computer 134.

<5. Transport device>
Next, the transport device 140 will be described. The transport device 140 is a place where the article G is moved or is a moving source. The transfer device 140 includes, for example, a belt conveyor 141 and a transfer control device 142. The belt conveyor 141 includes a plurality of rollers arranged in a predetermined direction, and a belt wound around the plurality of rollers. The belt conveyor 141 drives the belt by rotating a plurality of rollers in a predetermined direction, and conveys the article G placed on the belt. The transport control device 142 controls the drive of the belt conveyor 141. For example, the transfer control device 142 controls the transfer speed and the transfer direction of the belt conveyor 141.

The transport device 140 is not limited to the belt conveyor 141, and may be a roller conveyor or other sorter. The operation of the transfer device 140 may be automatically controlled by the transfer control device 142 by a preset program. It may be controlled by the operator manually operating the transport control device 142.

<6. Operation example>
Next, an example of the operation of the article G using the handling robot system 100 will be described. FIG. 8 is a flowchart showing an example of the operation of the handling robot system 100.

First, the transport control device 142 of the transport device 140 transmits an article position request signal to the computer 134 of the recognition device 130 when the article G is ready to be received by the belt conveyor 141 (S101). When the computer 134 receives the article position request signal from the transport control device 142, the computer 134 starts the position recognition of the article G on the loading area 150 by using the first to third image sensors 131, 132, 133 (S102).

The computer 134 determines whether or not the article G is detected based on the recognition results of the first to third image sensors 131, 132, 133 (S103). When no article G is detected (S103: NO), the computer 134 transmits an error signal to the transport control device 142 (S104), and ends the process. On the other hand, when the article G is detected (S103: YES), the computer 134 measures the position information of the article G and transmits the measured position information to the control device 120 (S105).

When the control device 120 receives the position information of the article G from the computer 134, the control device 120 derives an extraction procedure for the candidate (transfer candidate) of the article G that can be transferred by the manipulator 110 based on the received position information. Then, the control device 120 determines one article G among the transfer candidates by operating, for example, the manipulator 110 (S106).

Next, the control device 120 drives the manipulator 110 to cause the holding device 1 to hold the article G, moves the holding device 1 to the vicinity of the article G, and determines the position and orientation of the holding device 1. At this time, the control device 120 can adjust the posture of the holding device 1 in the open state based on the position information of the article G acquired by the article sensor 18 provided in the holding device 1, and the article G can be held by the holding device 1. (S107).

When the control device 120 determines that the article G can be held (S107: YES), the control device 120 drives the direction switching valve 43A of the pressure adjusting device 40 to hold the article G in the holding device 1, and the pressure reducing device 42 and the tube. Connect with 15A. Then, the control device 120 drives the decompression device 42 to reduce the internal pressure of the substantially enclosed space S formed between the suction unit 10 and the article G. As a result, the holding device 1 shifts the holding device 1 to a closed state by, for example, vacuum suction, and holds the article G (S108). On the other hand, when the control device 120 determines that the article G cannot be held (S107: NO), the control device 120 changes the posture of the holding device 1 and approaches the vicinity of the article G from another direction.

When the article G is held by the holding device 1, the control device 120 determines whether the article G can be conveyed while the holding device 1 holds the article G (S109). For example, the control device 120 is based on the weight of the article G detected by the weight sensor 20 when trying to lift the article G, the contact state between the suction unit 10 and the article G detected by the contact sensor 21, and the like. , S109 is determined.

When the control device 120 determines that the article G can be conveyed (S109: YES), the control device 120 operates the manipulator 110 to move the article G onto the belt conveyor 141 of the transfer device 140 (S110). On the other hand, when the article G is determined to be untransportable (S109: NO), the control device 120 registers the article G as a non-transferable article. Then, the control device 120 moves the holding device 1 to a predetermined place by the manipulator 110 in order to try to transfer another transfer candidate article G (returns to S106).

After moving the article G above the belt conveyor 141, the control device 120 drives the direction switching valve 43A of the pressure adjusting device 40 to and the pressurizing device 41 in order to place the article G on the belt conveyor 141. Connect with tube 15A. Then, the control device 120 drives the pressurizing device 41 to pressurize the inside of the substantially enclosed space S formed between the holding device 1 and the article G. For example, the control device 120 drives the pressurizing device 41 until the pressure inside the substantially closed space S becomes equal to or higher than a predetermined pressure, or until a predetermined amount or more of fluid is supplied to the substantially closed space S. As a result, the holding device 1 transitions to the open state, the article G is released from the suction unit 10, and the article G is transferred onto the belt conveyor 141 (S111). When the transfer of the article G is completed, the control device 120 transmits a transfer completion signal to the recognition device 130 (S112).

The recognition device 130 detects the article G on the loading area 150 again in order to confirm whether the article G remains on the loading area 150, and determines whether or not the article G is detected (S113). When the article G is detected (S113: YES), the computer 134 measures the position information of the article G and transmits the measured position information to the control device 120 (S114). After that, the processing after S106 is performed again. When the article is not detected (S113: NO), the control device 120 transmits a transfer completion signal to the transfer control device 142 (S115).

When the transfer control device 142 receives the transfer completion signal, the transfer control device 142 stops the belt conveyor 141 to complete the process. Further, when the transfer control device 142 receives the transfer completion signal, it may issue an alarm or the like to notify the operator. The operator who hears the alarm may replace the loading area 150 (for example, a basket trolley) in which the article G is lost with another loading area 150 (for example, a basket trolley) in which the article G is loaded.

According to the holding device 1 having the above configuration, the articles G having various shapes can be stably held. That is, in the present embodiment, the suction portion 10 is provided so that the area of the opening O can be changed. According to such a configuration, for example, by changing the size of the opening O according to the size of the article G, it is possible to stably hold the article G having various shapes. Further, by reducing the opening O, the article G can be sandwiched by the plurality of movable members 12.

In the present embodiment, the size of the opening O changes as the plurality of movable members 12 move in conjunction with each other. According to such a configuration, the size of the opening O can be surely changed according to the size and shape of the article G. Further, since the plurality of movable members 12 move in conjunction with each other, it becomes easy to maintain a constant outer shape (for example, a circular shape) of the opening O. This makes it easier to hold the article G more stably.

In the present embodiment, the holding device 1 holds the article G by utilizing the force generated by the pressure change inside the substantially enclosed space S formed between the suction portion 10 and the article G, so that the article G is held. It enables more compliant and flexible holding. Further, in the present embodiment, the holding device 1 can have a simple configuration by having a base 11, a plurality of movable members 12, a plurality of rotating portions 13, and a cover 14 as main configurations.

In the present embodiment, the holding device 1 has a cover 14 that covers the base 11 and the plurality of movable members 12. According to such a configuration, since the gap between the plurality of movable members 12 is closed by the cover 14, the suction holding force of the suction portion 10 can be increased. Further, when the cover 14 is provided, the suction portion 10 can more easily follow the outer shape of the article G, so that the articles G having various shapes can be held more stably.

In the present embodiment, the holding device 1 includes various sensors such as a pressure sensor 16A, a flow rate sensor 17A, an article sensor 18, a bending sensor 19, a weight sensor 20, and a contact sensor 21. As a result, information such as the placement environment of the article G and the holding state of the article G can be appropriately detected, and can be utilized for control by the control device 120.

In the present embodiment, the holding device 1 has, for example, an article sensor 18 for detecting the position and distance information of the article G on the base 11. As a result, the position and posture of the article G can be detected more accurately. Further, in the present embodiment, the handling robot system 100 can hold the article G more accurately and stably by combining the recognition result of the recognition device 130 and the sensing result of various sensors of the holding device 1. ..

(Second embodiment)
Next, the second embodiment will be described. The second embodiment is different from the first embodiment in that an actuator 51 that actively drives the movable member 12 is provided. The configuration other than that described below is the same as that of the first embodiment.

FIG. 9 is a diagram showing the configuration of the holding device 1 of the second embodiment. In the present embodiment, the suction unit 10 has a plurality of active rotating units 50. The plurality of active rotating portions 50 actively and rotatably connect the plurality of movable members 12 to the base 11.

The plurality of active rotating portions 50 include, for example, a rotating portion 13 rotatably connected between the base 11 and the plurality of movable members 12, and at least one actuator 51 for moving the plurality of movable members 12 (see FIG. 12). ) And. The actuator 51 changes the area of the opening O by moving a plurality of movable members 12. The actuator 51 is, for example, a motor, a cylinder, a solenoid, or the like, but is not limited thereto. The type of the actuator 51 may be any type such as electric or pneumatic. The actuator 51 may be directly connected to the movable member 12, or may be connected to the movable member 12 via another member. The power transmission from the actuator 51 to the movable member 12 may be any as long as the driving force is transmitted, such as a gear or a belt pulley. For example, when the actuator 51 is provided between the base 11 and the movable member 12, the rotating portion 13 for connecting the movable member 12 and the base 11 may not be provided. A configuration example of the active rotating unit 50 will be described in detail later.

In the holding device 1, the size of the opening O of the holding device 1 can be appropriately changed by the active rotating unit 50. The holding device 1 can adjust the size of the opening O in advance according to the size of the article G. FIG. 10 shows some states of the holding device 1. FIG. 10A shows a state in which the opening O is large. FIG. 10B shows a state in which the size of the opening O is medium. FIG. 10C shows a state in which the opening O is small.

The suction force by the suction unit 10 is proportional to the product of the effective cross-sectional area of the suction unit 10 (opening area of the opening O) and the degree of vacuum of the substantially closed space S. Therefore, when the surface to be attracted to the article G is large, the holding device 1 can hold the article G with a larger suction force by increasing the opening O of the holding device 1 by the active rotating portion 50. This makes it possible to hold the heavy article G.

On the other hand, when the article G is small or elongated, the holding device 1 can hold the small article G by suppressing air leakage by reducing the opening O of the holding device 1 by the active rotating portion 50. Further, if the opening O is made small, a large amount of flow rate can be concentrated in the small opening O. As a result, even in the article G such as the sponge material in which the article itself has a ventilation leak, the adsorption portion 10 can hold the adsorption.

Next, the operation of the handling robot system 100 of the present embodiment will be described. FIG. 11 is a flowchart showing an example of the operation of the handling robot system 100. It is assumed that the size of the article G is recognized in advance by, for example, the recognition device 130.

First, the control device 120 drives the decompression device 42 and starts a suction operation (S201). As a result, the pressure in the substantially enclosed space S formed between the suction portion 10 and the article G is reduced. Next, the control device 120 determines whether the internal pressure of the substantially enclosed space S has dropped below a desired level based on the detection result of the pressure sensor 16A (S202). When it is determined that the internal pressure of the substantially enclosed space S has dropped below the desired pressure (S202: YES), the control device 120 conveys the article G by driving the manipulator 110 (S203).

On the other hand, when the internal pressure of the substantially enclosed space S does not drop below the desired pressure (S202: NO), the control device 120 stops the suction operation once (S204). Then, the control device 120 lifts the holding device 1 a little by driving the manipulator 110, and separates the holding device 1 from the article G (S205). As a result, a gap for rotating the movable member 12 is created between the holding device 1 and the article G. For example, when the article G is soft, the operations of S204 and S205 can be omitted.

Next, the control device 120 reduces the opening O by driving the actuator 51 to rotate the plurality of movable members 12 (S206). Then, the control device 120 operates the manipulator 110 to bring the holding device 1 having a small opening O close to the article G and press it (S207). Then, the control device 120 drives the decompression device 42 and restarts the suction operation (S208).

Next, the control device 120 again determines whether the internal pressure of the substantially enclosed space S has dropped below a desired level based on the detection result of the pressure sensor 16A (S209). When it is determined that the internal pressure of the substantially enclosed space S has dropped below the desired pressure (S209: YES), the control device 120 conveys the article G by driving the manipulator 110 (S210). On the other hand, when the internal pressure of the substantially enclosed space S does not drop below the desired pressure (S209: NO), the control device 120 performs an operation of changing the suction position of the holding device 1 with respect to the article G (S211). For example, the control device 120 separates the holding device 1 from the article G once, changes the posture of the holding device 1, and approaches the article G from a different angle. Then, the process from step S201 is repeated.

Instead of the above example, the control device 120 will hold the article G in the opening O having a second opening area smaller than the first opening area, as compared with the case where the article G is held in the opening O in the first opening area. When the pressure in the substantially closed space S is unlikely to decrease, the article G may be held in the opening O in the first opening area instead of the second opening area. For example, in the initial rotation amount of the movable member 12, the opening area of the opening O is 100 [mm ² ] and the pressure value is −90 [kPa], and then the movable member 12 is rotated so that the opening area of the opening O is 80 [m 2]. If the pressure value in mm ^2] becomes -40 [kPa], the amount of rotation of the movable member 12 the opening area of the opening O is 100 [mm ^2] may be selected.

Next, a specific configuration example of the active rotating unit 50 will be described. FIG. 12 is a cross-sectional view showing an example of the suction unit 10 of the present embodiment. In this configuration example, the suction unit 10 has a base 11, a plurality of movable members 12, a plurality of rotating units 13, an interlocking mechanism 52, and an actuator 51. The configuration of the base 11, the plurality of movable members 12, and the plurality of rotating portions 13 is, for example, the same as that of the first embodiment.

The interlocking mechanism 52 is connected to a plurality of movable members 12, and the plurality of movable members 12 are interlocked with each other. For example, the interlocking mechanism 52 has a pin 52a provided on each movable member 12 and a link 52b connected to a plurality of movable members 12 via the pin 52a. The link 52b is provided with a guide hole 52c that allows the movement of each movable member 12.

The actuator 51 is connected to the interlocking mechanism 52 and moves a plurality of movable members 12 via the interlocking mechanism 52. In this configuration example, the actuator 51 is a linear motion mechanism such as a cylinder. However, the interlocking mechanism 52 and the actuator 51 are not limited to these examples.

According to such a configuration, the opening O can be changed to an arbitrary size by providing the actuator 51 for moving the plurality of movable members 12. As a result, by changing the size of the opening O according to the adsorptionable area of the article G, the articles G of various sizes can be adsorbed and held more stably. Further, in the present embodiment, the holding device 1 can also pinch the article G by the active rotation operation of the movable member 12 by the actuator 51. Therefore, a wider variety of articles G can be held by the suction unit 10.

In the present embodiment, the suction unit 10 has an interlocking mechanism 52 that interlocks a plurality of movable members 12 with each other. The actuator 51 moves a plurality of movable members 12 via the interlocking mechanism 52. According to such a configuration, the number of actuators 51 can be reduced, and the cost of the holding device 1 can be reduced.

Instead of the above configuration, a plurality of actuators 51 may be provided on the plurality of movable members 12 in a one-to-one relationship. Further, the plurality of movable members 12 may not overlap each other and may be movable independently of each other. According to such a configuration, the amount of rotation of each movable member 12 can be adjusted individually, so that the shape of the opening O more suitable for the outer shape of the article G can be created. As a result, the article G may be held more stably.

(Third Embodiment)
Next, a third embodiment will be described. This embodiment is different from the second embodiment in that the pressure adjusting device 40 also sucks the fluid from the inside of the cover 14. The configuration other than that described below is the same as that of the second embodiment.

FIG. 13 is a diagram showing the configuration of the holding device 1 of the present embodiment. In the present embodiment, the cover 14 is formed in a bag shape that integrally accommodates the base 11, the plurality of movable members 12, and the plurality of rotating portions 13. Instead of the above configuration, a plurality of covers 14 for separately accommodating the plurality of movable members 12 may be provided. The suction unit 10 has a second tube 15B and a second pressure sensor 16B in addition to the first tube 15A and the first pressure sensor 16A.

The second tube 15B is formed in a cylindrical shape, for example, and is capable of flowing a fluid. One end of the second tube 15B communicates with the inside of the cover 14. The other end of the second tube 15B is connected to the second direction switching valve 43B of the pressure adjusting device 40. The second direction switching valve 43B is connected to the pressurizing device 41 and the depressurizing device 42. The second direction switching valve 43B switches the connection between each of the pressurizing device 41 and the depressurizing device 42 and the second tube 15B.

The second pressure sensor 16B is provided, for example, in the path of the second tube 15B, and detects the internal pressure of the cover 14. A second flow rate sensor 17B may be provided in place of the second pressure sensor 16B or in addition to the second pressure sensor 16B. The second flow rate sensor 17B detects, for example, the flow rate of the fluid passing through the second tube 15B. The detection results of the second pressure sensor 16B and the second flow rate sensor 17B are output to the control device 120.

FIG. 14 is a cross-sectional view showing some states of the holding device 1 of the present embodiment. FIG. 14A shows a state in which the inside of the cover 14 is pressurized. The control device 120 drives the second direction switching valve 43B to connect the pressurizing device 41 and the second tube 15B in order to bring the cover 14 into the expanded state. Then, the control device 120 drives the pressurizing device 41 until the pressure inside the cover 14 reaches a predetermined pressure, or the fluid flowing into the cover 14 reaches a predetermined amount. As a result, the cover 14 is in the expanded state. When the cover 14 is in the expanded state, the rotating operation of the movable member 12 becomes smooth inside the cover 14. For example, the control device 120 has a plurality of movable members such that the size of the opening O is changed by driving the actuator 51 in a state where the cover 14 is expanded to some extent by the fluid supplied from the second tube 15B into the cover 14. 12 is rotated.

FIG. 14B shows a state in which the inside of the cover 14 is decompressed. The control device 120 drives the second direction switching valve 43B to connect the pressure reducing device 42 and the second tube 15B in order to bring the cover 14 into the reduced state. Then, the control device 120 drives the decompression device 42 until the pressure inside the cover 14 reaches a predetermined pressure, or the fluid flowing out from the cover 14 reaches a predetermined amount. As a result, the cover 14 is in a reduced state. When the cover 14 is in the reduced state, the movable member 12 and the cover 14 are brought into close contact with each other, and the free rotation of the movable member 12 is suppressed. For example, the positions of the plurality of movable members 12 are fixed.

The control device 120 drives the first direction switching valve 43A to connect the pressure reducing device 42 and the first tube 15A, for example, with the cover 14 reduced to some extent. Then, the control device 120 attracts and holds the object G by depressurizing the substantially enclosed space S in a state where the cover 14 is reduced to some extent. As a result, when the article G is held and lifted by the holding device 1, the expansion and deformation of the cover 14 can be suppressed, and the durability and the life of the cover 14 can be improved. Further, when the free rotation of the movable member 12 is suppressed, the deformation of the suction portion 10 in the state of holding the article G is suppressed, and the article G can be sucked and held more firmly and transported.

As another operation example, the control device 120 may hold the article G more stably by sandwiching the article G between the plurality of movable members 12 and then expanding the cover 14. For example, a strawberry or the like that may be crushed and damaged by pinching may be wrapped and held by expanding the cover 14.

In the present embodiment, the holding device 1 can hold a wider variety of articles G at the time of holding by controlling the expansion and contraction of the cover 14. Further, by expanding the cover 14, the unevenness between the article G and the cover 14 can be reduced. In this case, air leakage can be suppressed more effectively, and the article G can be vacuum-adsorbed more stably.

The present embodiment is not limited to the above example. For example, the second direction switching valve 43B may be omitted, and the second tube 15B may be connected to the first direction switching valve 43A together with the first tube 15A.

Further, the present embodiment may be applied in combination with the first embodiment instead of the second embodiment. That is, the suction unit 10 of the present embodiment may have a rotating unit 13 instead of the active rotating unit 50. In this case, the control device 120 drives the first direction switching valve 43A with the decompression device 42 and the first tube 15A in a state where the cover 14 is expanded to some extent by the fluid supplied from the second tube 15B into the cover 14. To connect. Then, the control device 120 may rotate the plurality of movable members 12 so that the opening O becomes smaller by depressurizing the substantially sealed space S by the decompression device 42. Further, the control device 120 drives the first direction switching valve 43A with the pressurizing device 41 and the first tube 15A in a state where the cover 14 is expanded to some extent by the fluid supplied from the second tube 15B into the cover 14. May be connected. Then, the control device 120 may rotate the plurality of movable members 12 so that the opening O becomes large by pressurizing the substantially sealed space S by the pressurizing device 41.

(Fourth Embodiment)
Next, a fourth embodiment will be described. The fourth embodiment is different from the first embodiment in that the movable member 12 operates in a linear motion. The configuration other than that described below is the same as that of the first embodiment.

FIG. 15 is a plan view schematically showing the plurality of movable members 12 of the fourth embodiment. FIG. 15 shows an example in which three movable members 12 are provided. The plurality of movable members 12 are arranged along the θ direction. Each movable member 12 is supported by the base 11 so as to be able to move linearly toward the center of the opening O. Each movable member 12 can move along the R direction in a direction in which the opening O gradually decreases and a direction in which the opening O gradually increases.

In the present embodiment, as the actuator 51, a linear actuator may be provided corresponding to each movable member 12. The linear actuator may be electric or pneumatic. The linear actuator may be realized, for example, by combining an electric motor and a feed screw mechanism. Further, the actuator 51 may have a configuration in which a driving force is distributed to each feed screw mechanism from one rotary actuator via a gear or a belt pulley to realize a linear motion operation.

FIG. 16 is a plan view showing a specific example of the plurality of movable members 12 of the present embodiment. Each movable member 12 has, for example, a main body portion 61, a connecting portion 62, and a pin 63. A guide groove 61a is formed in the main body 61. A connecting portion 62 of another movable member 12 is inserted into the guide groove 61a. The connecting portion 62 can move along the guide groove 61a of another movable member 12. The main body 61 and the connecting 62 are connected by a pin 63. According to such a configuration, when the movable member 12 is directly moved in the direction of reducing the opening O, the movable member 12 is moved while the connecting portion 62 of the movable member 12 is guided by the guide groove 61a of another movable member 12. It can be moved directly. As a result, the linear motion of the movable member 12 becomes more stable.

17 and 18 are plan views schematically showing another example of the plurality of movable members 12 of the fourth embodiment. FIG. 17 shows an example in which four movable members 12 are provided. FIG. 18 shows an example in which five movable members 12 are provided. Even with such a configuration, the linear motion mechanism described with reference to FIGS. 15 and 16 can be configured. The number of movable members 12 may be 6 or more.

FIG. 19 is a front view showing an example of the actuator 51 included in the linear motion mechanism shown in FIGS. 15 to 18. This linear motion mechanism includes, for example, an electric motor 71, a bevel gear set 72, a plurality of feed screw mechanisms 73, and a plurality of movable members 12.

The drive shaft 71a of the electric motor 71 is connected to the first gear 72a of the bevel gear set 72. The screw shafts 73a of the plurality of feed screw mechanisms 73 are connected to the second gear 72b of the bevel gear set 72. The plurality of movable members 12 are attached to the moving bodies 73b of the plurality of feed screw mechanisms 73. The moving body 73b moves linearly by rotating the screw shaft 73a. According to such a configuration, when the electric motor 71 is driven, the screw shaft 73a of each feed screw mechanism 73 rotates, and each movable member 12 moves linearly.

According to such a configuration, even when the size of the opening O is changed, the height position of the holding device 1 with respect to the article G can be easily adjusted. That is, in the configurations of the first to third embodiments, when the size of the opening O is changed, the height of the suction portion 10 changes according to the amount of rotation of the movable member 12. Therefore, when changing the size of the opening O, it may be necessary to adjust the height position of the holding device 1 with respect to the article G. Further, when the height of the suction portion 10 changes with the change in the size of the opening O, it may be difficult to reduce the opening O in a narrow space.

On the other hand, according to the configuration of the present embodiment, the plurality of movable members 12 change the size of the opening O by the linear motion operation. Therefore, the height of the suction portion 10 does not change. As a result, when the holding device 1 is mounted on the manipulator 110, it is not necessary to adjust the position of the holding device 1 with respect to the article G in consideration of the movement amount of the movable member 12, and the movement control can be simplified. .. In addition, the opening O can be easily reduced even in a narrow space.

The linear motion mechanism is not limited to the case where the actuator 51 is provided, and the movable member 12 is formed by the action of an external force (for example, the pressure difference between the substantially enclosed space S and the atmospheric pressure) as in the first embodiment. It is also applicable to the configuration in which is moved.

Next, some modifications will be described.
(First modification)
FIG. 20 is a cross-sectional view showing the suction portion 10 of the first modification. In this modification, the movable member 12 is connected to the base 11 via an elastic body 81. The elastic body 81 may be a spring or rubber, or may be a metal plate having a predetermined thinness. The movable member 12 can rotate or linearly move with respect to the base 11 by elastically deforming the elastic body 81 when an external force is applied or the actuator 51 is driven. Even with such a configuration, the size of the opening O can be changed by moving the movable member 12.

(Second modification)
FIG. 21 is a bottom view showing the base 11 and the plurality of movable members 12 of the second modification. The plurality of movable members 12 have different lengths, for example. According to such a configuration, an elliptical opening O can be formed when the plurality of movable members 12 are rotated.

Although some embodiments and modifications have been described above, the embodiments are not limited to the above examples. For example, the number of movable members 12 may be only two. Even in such a configuration, the article G can be stably held by sandwiching the article G between the two movable members 12. Further, one of the two members holding the article G may have a fixed position. That is, it may have a fixed first member and a second member that can move relative to the first member. Even with such a configuration, the article G can be stably held by sandwiching the article G between the first member and the second member. Further, the cover 14 may be omitted.

In the above embodiment, an example in which the holding device 1 and the control device 120 are configured as separate devices has been described. However, the holding device 1 may have a part or all of the functions of the control device 120 as the control device (control unit) 91 of the holding device 1. Further, in the above embodiment, the base 11 and the cover 14 are separately configured, but the base 11 and the cover 14 may be bonded in advance, or the base 11 and the cover 14 have an integral structure. However, it may be.

The handling robot system 100 may include a picking device and an inspection device that autonomously move to a shelf or the like on which the article G is placed to pick and inspect the article G. Further, the handling robot system 100 may include a loading platform in which the article G is placed, and may include a product delivery device and a loading device for delivering the article G from the loading platform to a shelf or the like. Further, the handling robot system 100 may include an unloading device for unloading the article G loaded on the basket trolley or the like.

According to at least one embodiment described above, the holding device can hold various objects by having a suction portion whose opening area changes.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, as well as in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... Holding device, 10 ... Suction part, 11 ... Base, 12 ... Movable member, 13 ... Rotating part, 14 ... Cover, 16A ... Pressure sensor, 50 ... Active rotating part, 51 ... Actuator. 52 ... interlocking mechanism, 81 ... elastic body, 91 ... control device (control unit), 100 ... robot handling system, 110 ... manipulator, O ... opening.

Claims (17)

A suction portion having a plurality of movable members that move in conjunction with each other and changing the area of an opening formed between the plurality of movable members by moving the plurality of movable members in conjunction with each other.
A suction device capable of sucking outside air through the opening,
Bei to give a,
The suction portion has flexibility and also has a cover that integrally covers the plurality of movable members and closes a gap between the plurality of movable members.
Hold apparatus. The suction portion further has a base and has a base.
The plurality of movable members are rotatably connected to the base.
The holding device according to claim 1. The plurality of movable members partially overlap each other and move in conjunction with each other when they come into contact with each other.
The holding device according to claim 2. The suction portion further includes at least one actuator that changes the area of the opening by moving the plurality of movable members.
The holding device according to any one of claims 1 to 3. The suction unit further has an interlocking mechanism for interlocking the plurality of movable members with each other.
The at least one actuator moves the plurality of movable members via the interlocking mechanism.
The holding device according to claim 4. A sensor that detects the pressure in the space inside the suction part leading to the opening, and
A control unit that drives at least one actuator to change the area of the opening based on the detection result of the sensor.
With more
The holding device according to claim 4 or 5. The cover is formed in a bag shape for accommodating at least one of the plurality of movable members, and the fluid in the cover can be sucked by the suction device.
The holding device according to any one of claims 1 to 6. When fixing the positions of the plurality of movable members, the suction device is further provided with a control unit for sucking the fluid in the cover.
The holding device according to claim 7. The suction portion further has a base and has a base.
Each of the plurality of movable members is supported by the base so as to be linearly movable toward the center of the opening.
The holding device according to claim 1. The suction portion further has a base and has a base.
The plurality of movable members are connected to the base via an elastic body.
The holding device according to claim 1. Each of the plurality of movable members is an elastic body.
The holding device according to any one of claims 1 to 10. The opening is circular or polygonal,
The holding device according to any one of claims 1 to 11. The holding device according to any one of claims 1 to 12.
A moving mechanism for moving the holding device and
Manipulator with. The manipulator according to claim 13 and
A control device that controls the manipulator and
Conveyance system with. The first member and
A second member that can move in a direction away from the first member and a direction closer to the first member, and the area of the opening formed between the first member and the first member changes by moving with respect to the first member.
A cover that has flexibility and integrally covers the first member and the second member,
A suction device capable of sucking outside air through the opening,
Holding device equipped with. The holding device according to claim 15,
A moving mechanism for moving the holding device and
Manipulator with. The manipulator according to claim 16 and
A control device that controls the manipulator and
Conveyance system with.

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