JP6994176B2 - Transport system, transport method, robot - Google Patents

Description

The disclosed embodiments relate to a transport system, a transport method, and a robot.

Patent Document 1 includes a work, a work stocker for carrying the work, an unloading table, and an industrial robot arranged between the work stocker and the unloading table, and the industrial robot grips the work by hand. A handling system for taking out from the work stocker and transporting it to the unloading table is described.

Japanese Unexamined Patent Publication No. 2010-29987

In a robot that transports a work, there has been a demand for further stabilization of the transport of the work.

The present invention has been made in view of such problems, and an object of the present invention is to provide a transport system, a transport method, and a robot capable of stably transporting a work.

In order to solve the above problems, according to one aspect of the present invention, a transport system for transporting an object to be transported, which is a robot provided with a hand for gripping the object to be transported, and a fitting provided on the hand. The mating portion, the fitted portion provided on the object to be transported and fitted with the fitting portion, and the fitting portion and the fitted portion provided on at least one of the hand and the transported object. A transport system is applied that comprises a guide portion that guides at least one of the fitting portions to a fitting position between the fitting portion and the fitted portion.

Further, according to another aspect of the present invention, there is a method of transporting the object to be transported by taking it out from the container by a robot provided with a hand for gripping the object to be transported, wherein the first fitting of the hand is performed. The joint portion is fitted to the first fitted portion of the transported object, and in the fitted state, the transported object is moved from the container to the first fitting portion by the hand. After pulling out in the direction of being fitted to the first fitted portion and pulling out the transported object, the second fitted portion of the hand is attached to the second fitted portion of the transported object. A transport method comprising fitting and, after fitting the second fitting portion, further pulling out the transported object from the container with the hand is applied.

Further, according to another aspect of the present invention, the robot for transporting the transported object, the hand for gripping the transported object, and the fitted object provided on the hand and provided on the transported object. A robot having a fitting portion that fits into the fitting portion and a guide portion that is provided in the fitting portion and guides the fitting portion to a fitting position with the fitted portion is applied.

Further, according to another aspect of the present invention, the transported object having a frame body that is arranged with a predetermined gap in a state of being tilted with respect to the horizontal direction and can hold the circumference of the flat plate-shaped work. A robot that grips the object to be transported by a hand and transports the object to another place, a robot controller that controls the robot, a fitting portion provided on the hand, and a fitted portion of the frame body. In the robot controller, the robot causes the hand to enter the gap, and the fitting portion and the fitted portion are provided along at least one of the approach direction and the direction opposite to the approach direction. The frame is held by connecting the frames, and the frame is pulled out along at least one of the approach direction and the direction opposite to the approach direction, and then transported to the other place. A transport system to control is applied.

According to the transport system and the like of the present invention, the work can be stably transported.

It is a side view which shows an example of the structure of the transport system which concerns on one Embodiment. It is a perspective view which shows an example of the structure of the hand provided with the robot which concerns on one Embodiment. It is a perspective view which shows an example of the structure of the hand provided with the robot which concerns on one Embodiment. It is a top view which shows an example of the structure of the object to be conveyed. It is a side view which shows an example of the structure of the object to be conveyed. It is a block diagram which shows an example of the functional structure of a robot controller. It is a flowchart which shows an example of the control content which a robot controller executes. It is explanatory drawing which shows an example of the operation of a robot at the time of measuring the presence / absence of an object to be conveyed, and the deviation of the depth. It is explanatory drawing which shows an example of the operation of a robot at the time of measuring the presence / absence of an object to be conveyed, and the deviation of the depth. It is explanatory drawing which shows an example of the operation of a robot at the time of measuring the lateral displacement and inclination of the object to be conveyed. It is explanatory drawing which shows an example of the operation of a hand at the time of opening a hand and moving it to the grip part of the object to be conveyed. It is explanatory drawing which shows an example of the operation of a hand at the time of opening a hand and moving it to the grip part of the object to be conveyed. It is explanatory drawing which shows an example of the operation of the hand at the time of performing the 1st operation. It is explanatory drawing for demonstrating the guide function by the 1st protrusion part of the 1st contact part, and is the figure which looked at the fitting part of the 1st protrusion part and a grip part from above. It is a side view which shows an example of the transfer system when a robot performs the 1st operation. It is a side view which shows an example of the transfer system when a robot performs the 1st operation. It is a top view which looked at the containment body, the object to be conveyed, and a hand at the time of performing a 1st movement of a robot from above. It is a top view which looked at the containment body, the object to be conveyed, and a hand at the time of performing a 1st movement of a robot from above. It is explanatory drawing which shows an example of the operation of a hand at the time of locking a grip part. It is explanatory drawing which shows an example of the transport system at the time of taking out the conveyed object from the accommodating body in a state where a robot has locked the grip part. It is explanatory drawing which shows an example of the transport system at the time of taking out the conveyed object from the accommodating body in a state where a robot has locked the grip part. It is a side view which shows an example of the structure of the hand and the object to be conveyed in the modification which the number of 2nd protrusions is one. It is a side view which shows an example of the structure of the hand and the object to be conveyed in the modification which has only the 1st protrusion. It is a side view which shows an example of the structure of the hand and the object to be conveyed in the modification which has only the 2nd protrusion. It is a figure which looked at the fitting part of the 1st protrusion part and the grip part in the modification which provided the guide part on a hole side from above. It is the figure which looked at the fitting part of the 1st protrusion and the grip part in the modification which provided the guide part on both the protrusion side and the hole side, as seen from above. It is a side view which shows an example of the structure of the hand and the object to be conveyed in the modification which provides the hole part in the hand, and the protrusion part in the object to be conveyed. It is a block diagram which shows the hardware configuration example of a robot controller.

Hereinafter, one embodiment will be described with reference to the drawings.

<1. Transport system configuration>
First, an example of the configuration of the transport system according to the present embodiment will be described with reference to FIG. FIG. 1 is a side view showing an example of the configuration of a transport system.

As shown in FIG. 1, the transfer system 1 of the present embodiment includes a robot 3, an accommodating body 5, and a robot controller 7. The transfer system 1 is a system in which a robot 3 takes out an object to be conveyed 9 accommodated in an accommodation body 5 and conveys it to a predetermined transfer destination (not shown, for example, a table, a conveyor, a processing device that performs a predetermined process process, or the like). Is. In the present embodiment, the case where the transported object 9 is taken out from the housing body 5 will be described as an example, but for example, the work of storing the transported object 9 in the housing body 5 from the outside of the housing body 5 may be performed. It may be transported from the housing body 5 to the housing body 5. Further, for example, the transfer may be performed from the table to the conveyor, from the conveyor to the processing device, from the processing device to the table, etc., without passing through the housing 5.

The accommodating body 5 is a member capable of accommodating a plurality of objects to be transported 9. The type of the housing 5 is not particularly limited as long as it can accommodate the transported object 9, but for example, a rack, a shelf, a container, a cargo, a weight, a cardboard box, a container placed on a trolley, or the like. Various things can be used. In the example shown in FIG. 1, the accommodating body 5 is composed of a frame frame 11 having a substantially rectangular parallelepiped shape, and is configured as, for example, a two-tiered rack having wheels 13 at the lower ends.

The object to be transported 9 has a work W and a holding member 15 for holding the work W. Although the details will be described later, the robot 3 conveys the work W by gripping the holding member 15. The work W is not particularly limited as long as it can be gripped by the robot 3, but various objects such as mechanical parts, electrical parts, products and goods in physical distribution, foods, and the like are targeted for transportation. In this embodiment, a case where the work W is a sheet-shaped or flat plate-shaped member such as an organic or inorganic EL sheet, a liquid crystal panel, a semiconductor wafer, a printed circuit board, or the like will be described. The holding member 15 is not particularly limited as long as it can hold the work W and can be gripped by the robot 3, but in the present embodiment, it is configured as a substantially rectangular frame.

The robot 3 is configured as a vertical articulated 6-axis robot having, for example, six joints having an arm 17 and a hand 19 attached to the tip of the arm 17. The robot 3 moves the hand 19 to the accommodation body 5 by driving the arm 17 to grip the transported object 9, and moves the hand 19 to a predetermined transport destination to release the grip to transport the transported object 9. The robot 3 sequentially takes out the object to be transported 9 from the housing body 5 and transports it. The housing body 5 is replaced with a new housing body 5 when the removal of the transported object 9 is completed.

The robot 3 may be a robot other than the 6-axis robot (for example, 5-axis or 7-axis robot), or may be a robot other than the vertical articulated robot such as a horizontal articulated robot. Further, it is not a robot having a plurality of joints, but at least one of the X-axis, Y-axis, and Z-axis orthogonal to each other, and the θx, θy, and θz directions (rotational directions around the X-axis, Y-axis, and Z-axis). The hand 19 may be attached to an actuator that can move in one direction.

The arm 17 has a base 21, a swivel portion 23, and an arm portion 25. The base 21 is fixed to the floor surface F. The robot 3 may be movable, for example, by providing an automatic guided vehicle (AGV).

The swivel portion 23 is supported on the upper end portion of the base 21 so as to be swivelable around a rotation axis Ax1 substantially parallel to the vertical direction. The swivel portion 23 is swiveled around the rotation axis Ax1 with respect to the upper end portion of the base 21 by driving the actuator Ac1 provided at the joint portion between the swivel portion 21 and the base 21.

The arm portion 25 is supported by one side portion of the swivel portion 23. The arm portion 25 includes a lower arm portion 27, an upper arm portion 29, a wrist portion 31, and a flange portion 33.

The lower arm portion 27 is rotatably supported on one side of the swivel portion 23 around the rotation axis Ax2 substantially perpendicular to the rotation axis Ax1. The lower arm portion 27 is swiveled around the rotation axis Ax2 with respect to one side portion of the swivel portion 23 by driving the actuator Ac2 provided at the joint portion between the swivel portion 23 and the swivel portion 23.

The upper arm portion 29 is rotatably supported on the tip end side of the lower arm portion 27 around the rotation axis Ax3 substantially parallel to the rotation axis Ax2 and around the rotation axis Ax4 substantially perpendicular to the rotation axis Ax3. Has been done. The upper arm portion 29 is swiveled around the rotation axis Ax3 with respect to the tip end side of the lower arm portion 27 by driving the actuator Ac3 provided at the joint portion between the upper arm portion 27 and the lower arm portion 27. Further, the upper arm portion 29 is rotationally driven around the rotation axis Ax4 with respect to the tip end side of the lower arm portion 27 by driving the actuator Ac4 provided between the actuator Ac3 and the actuator Ac3.

The wrist portion 31 is rotatably supported on the tip end side of the upper arm portion 29 around the rotation axis Ax5 substantially perpendicular to the rotation axis Ax4. The wrist portion 31 is swiveled around the rotation axis Ax5 with respect to the tip end side of the upper arm portion 29 by driving the actuator Ac5 provided at the joint portion between the wrist portion 31 and the upper arm portion 29.

The flange portion 33 is rotatably supported on the tip end side of the wrist portion 31 around the rotation axis Ax6 substantially perpendicular to the rotation axis Ax5. The flange portion 33 is rotationally driven around the rotation axis Ax6 with respect to the tip end side of the wrist portion 31 by driving the actuator Ac6 provided at the joint portion between the flange portion 33 and the wrist portion 31.

The hand 19 is attached to the tip of the flange portion 33, and rotates around the rotation axis Ax6 together with the rotation of the flange portion 33 around the rotation axis Ax6. The hand 19 includes an air cylinder 35 and the like, and grips the holding member 15 of the object to be transported 9. The detailed structure of the hand 19 will be described later.

Actuators Ac1 to Ac6 for driving each joint include a servomotor SM (see FIG. 6 described later), a speed reducer, a brake, and the like (not shown). The servomotor SM, the speed reducer, the brake, and the like do not necessarily have to be arranged on the rotation axis Ax1 to Ax6, and may be arranged at a position away from these rotation axis Ax1 to Ax6.

In the above, the rotation around the rotation axis center along the longitudinal direction (or the extending material direction) of the arm portion 25 is referred to as "rotation", and is substantially perpendicular to the longitudinal direction (or the extending material direction) of the arm portion 25. The rotation around the center of rotation is called "swivel" to distinguish it.

The robot controller 7 controls the robot 3. The robot controller 7 has, for example, a computer having an arithmetic unit (CPU), a recording device, an input device, and the like (see FIG. 28 described later), and a feeding unit (servo amplifier and the like) that supplies drive power to the robot 3. In addition to or in place of the above computer, for example, a motion controller, a programmable logic controller (PLC), or the like may be provided. The robot controller 7 controls the operation of the arm 17 and the hand 19 by controlling the drive of the actuators Ac1 to Ac6 provided on the arm 17 and the air cylinder 35 provided on the hand 19.

The robot controller 7 may be arranged integrally with the robot 3 or may be arranged separately. Further, in the robot controller 7, the computer and the feeding unit may be separated from each other. In this case, the feeding unit may be attached to the robot 3. Further, in the robot controller 7, the portion that controls the arm 17 and the portion that controls the hand 19 may be separated. In this case, the portion that controls the hand 19 may be attached to the hand 19.

<2. Hand composition>
Next, an example of the configuration of the hand 19 included in the robot 3 will be described with reference to FIGS. 2 and 3. 2 and 3 are perspective views showing an example of the configuration of the hand 19.

As shown in FIGS. 2 and 3, the hand 19 has a base 37, a first contact portion 39, a second contact portion 41, a moving mechanism 43, a rib 45, and a sensor 47. For convenience of explanation, the first contact portion 39 side is referred to as "tip side" and the flange portion 33 side is referred to as "base end side" in the hand 19.

The base 37 is a substantially flat plate-shaped member fixed to the flange portion 33. The first contact portion 39 (an example of the first contact portion) is erected at the end portion on the tip end side of one side surface (upper surface in FIGS. 2 and 3) of the base 37. A plurality of (two in this example) first protrusions 49 are provided on the surface 39a on the base end side of the first contact portion 39 so as to project toward the base end side. The two first protrusions 49 (fitting portion, first protrusion, and an example of the first fitting portion) are arranged at intervals of a predetermined pitch L1 (see FIG. 5 described later). The protrusion-side tapered portion 49a, which is a tapered portion, is formed in the first protrusion 49, and is formed in a substantially conical shape as a whole. The first protrusion 49 has a shorter length than the second protrusion 53, which will be described later, and functions as a positioning pin for positioning the object to be transported 9 with respect to the hand 19. With this positioning function, the second protrusion 53 of the second contact portion 41 can be easily fitted into the second hole portion 61 of the grip portion 15a.

The first contact portion 39 is formed with a plurality of (two in this example) hole portions 51 on both sides thereof so as to sandwich the two first protrusions 49. The second protrusion 53 of the second contact portion 41 is fitted into the hole portion 51. The hole 51 is arranged so that the distance from the adjacent first protrusion 49 is a predetermined pitch L2 (see FIG. 5 described later) smaller than the pitch L1 and penetrates the first contact portion 39. It is formed like this. The diameter of the hole 51 is formed so as to be slightly larger than the diameter of the second protrusion 53 so that the second protrusion 53 of the second contact 41 can be smoothly inserted. When the second protrusion 53 and the hole 51 are fitted, the second protrusion 53 and the hole 51 may be in contact with each other, or may be non-contact with a predetermined gap. The first contact portion 39 fits the two first protrusions 49 into each of the two first hole portions 59 of the grip portion 15a of the holding member 15 from the inside (an example of one side), while fitting the base end side. The surface 39a of the above is brought into contact with the inner surface 15a1 of the grip portion 15a (see FIG. 4 described later).

The second contact portion 41 is erected in the middle portion of one side surface (upper surface in FIGS. 2 and 3) of the base 37, and is viewed by the moving mechanism 43 with respect to the first contact portion 39. It is provided so that it can be moved. A plurality of (two in this example) second protrusions 53 are provided on the surface 41a on the tip end side of the second contact portion 41 so as to project toward the tip end side. The two second protrusions 53 (second protrusion, an example of the second fitting portion) are arranged at intervals of a predetermined pitch L1 + 2 × L2 (see FIG. 5 described later). The protrusion-side tapered portion 53a, which is a tapered portion, is formed in the second protrusion 53, and is formed as a columnar member having a substantially conical tip portion. The second protrusion 53 is longer than the first protrusion 49 and functions as a lock pin for fixing (locking) the object to be transported 9 to the hand 19. The length of the second protrusion 53 is set to be larger than the thickness of the grip portion 15a, and can be fitted into the hole portion 51 of the first contact portion 39 through the grip portion 15a. .. In the present embodiment, the diameter of the second protrusion 53 (diameter of the columnar portion) and the diameter of the first protrusion 49 (diameter of the root portion) are substantially the same, but may be different. The second contact portion 41 fits the two second protrusions 53 into each of the two second hole portions 61 of the grip portion 15a of the holding member 15 from the outside (an example on the other side), and is on the tip end side. The surface 41a is brought into contact with the outer surface 15a2 (see FIG. 4 described later) of the grip portion 15a, and the grip portion 15a is sandwiched between the surface 41a and the first contact portion 39.

The moving mechanism 43 has an air cylinder 35, a pair of rails 55, and a slider 57. The air cylinder 35 is installed at the end of the base 37 on one side of the surface (upper surface in FIGS. 2 and 3) on the base end side. The tip of the rod 35a of the air cylinder 35 is connected to the surface 41b on the base end side of the second contact portion 41. The pair of rails 55 are installed in the middle of one side surface (upper surface in FIGS. 2 and 3) of the base 37 in parallel with each other along the expansion / contraction direction of the rod 35a. The number of rails 55 may be other than two (for example, one or three or more). The slider 57 is connected to the base 37 side of the second contact portion 41 and slides along the extending direction of the rail 55. With the above configuration, the second contact portion 41 and the second protrusion 53 move in perspective with respect to the first contact portion 39 according to the expansion and contraction of the rod 35a of the air cylinder 35. The drive source of the second contact portion 41 is not limited to the air cylinder, and for example, an electric motor or the like may be used.

The ribs 45 are provided on both sides in the width direction (direction in which the two first protrusions 49 or the two second protrusions 53 are arranged side by side) in the other surface (lower surface in FIGS. 2 and 3) of the base 37. It is erected so as to face each other. The rigidity of the base 37 is increased by the pair of ribs 45.

The sensor 47 is a sensor that measures the distance to the object. The sensor 47 is installed on the other surface of the base 37 (lower surface in FIGS. 2 and 3) so that the detection unit 47a faces the tip side between the pair of ribs 45. The detection method of the sensor 47 is not particularly limited as long as it can measure the distance to the object, for example, an optical type, a magnetic type, an ultrasonic type, or the like. In this embodiment, a case where the sensor 47 is, for example, a laser displacement sensor will be described. Although the details will be described later, the robot controller 7 uses the sensor 47 to measure the distance from the hand 19 to the object to be transported 9 and to measure the inclination of the object to be transported 9 in the vertical direction. To control.

<3. Structure of the object to be transported>
Next, an example of the configuration of the object to be transported 9 will be described with reference to FIGS. 4 and 5. FIG. 4 is a plan view showing an example of the configuration of the object to be transported 9, and FIG. 5 is a side view showing an example of the configuration of the object to be transported 9.

As shown in FIGS. 4 and 5, the object to be transported 9 has, for example, a work W that is a sheet-shaped or flat plate-shaped member, and a holding member 15 that holds the work W. The holding member 15 is a substantially rectangular frame. The dimension of the holding member 15 in the longitudinal direction (left-right direction in FIG. 4) is formed so as to be longer than the dimension in the longitudinal direction of the work W. As a result, when the holding member 15 holds the work W, a gap S is formed between the holding member 15 and the work W on both sides in the longitudinal direction. The portion of the holding member 15 that surrounds the gap S constitutes the grip portion 15a that is gripped by the hand 19. That is, the holding member 15 is provided with gripping portions 15a on both sides in the longitudinal direction, and can be gripped on either one side or the other side in the longitudinal direction by the hand 19. The dimension of the gap S, that is, the length L3 of the gap S in the side-by-side direction (left-right direction in FIG. 4; the direction perpendicular to the paper surface in FIG. 5) between the grip portion 15a and the work W is the first contact portion of the hand 19. It is formed so as to be longer than the length L4 (see FIG. 11 described later) in the parallel arrangement direction from the end portion on the distal end side of 39 to the distal end (end portion on the proximal end side) of the first protrusion 49. ..

The grip portion 15a is formed by penetrating two first hole portions 59 into which two first protrusions 49 of the first contact portion 39 of the hand 19 are fitted. The two first hole portions 59 (an example of a fitted portion, a first hole portion, and a first fitted portion) are arranged at intervals of a predetermined pitch L1. The diameter of the first hole 59 is formed so as to be slightly larger than the diameter of the first protrusion 49 (diameter of the root portion) so that the first protrusion 49 can be smoothly inserted. When the first protrusion 49 and the first hole 59 are fitted, the first hole 59 and the first protrusion 49 may come into contact with each other, or may be non-contact with a predetermined gap. You may. Further, the grip portion 15a is formed with two second hole portions 61 penetrating on both sides thereof so as to sandwich the two first hole portions 59. The second hole portion 61 (an example of the second hole portion and the second fitted portion) is arranged so that the distance from the adjacent first hole portion 59 is a predetermined pitch L2 smaller than the pitch L1. ing. In the present embodiment, the pitch L1 is, for example, twice the pitch L2, but other ratios may be used. The diameter of the second hole 61 is formed so as to be slightly larger than the diameter of the second protrusion 53 (diameter of the cylindrical portion) so that the second protrusion 53 can be smoothly inserted. When the second protrusion 53 and the second hole 61 are fitted, the second hole 61 and the second protrusion 53 may come into contact with each other, or may be non-contact with a predetermined gap. You may. In the present embodiment, the diameter of the first hole portion 59 and the diameter of the second hole portion 61 are substantially the same, but may be different.

In the present embodiment, the configuration in which the transported object 9 has the work W and the holding member 15 and the holding member 15 includes the gripping portion 15a will be described as an example, but the configuration of the transported object 9 is limited to this. It is not something that will be done. For example, the work W itself may include a grip portion. In this case, the holding member for holding the work W becomes unnecessary.

<4. Robot controller function configuration>
The robot 3 causes the hand 19 to enter the gap between the plurality of objects 9 housed in the housing body 5, and the first protrusion 49 and the first hole 59 are arranged along the direction opposite to the approaching direction. Holds the holding member 15 of the object to be transported 9, pulls out the holding member 15 in the direction opposite to the approach direction, and then transports the holding member 15 to another place. Hereinafter, an example of the functional configuration of the robot controller 7 for realizing such an operation of the robot 3 will be described with reference to FIG. FIG. 6 is a block diagram showing an example of the functional configuration of the robot controller 7.

As shown in FIG. 6, the robot controller 7 has an operation control unit 63, a motion control unit 65, and a servo amplifier 67. The motion control unit 63 includes a first motion control unit 69, a second motion control unit 71, and a third motion control unit 73.

The first motion control unit 69 fits the first protrusion 49 of the first contact portion 39 of the hand 19 into the first hole portion 59 of the grip portion 15a of the object to be transported 9, and in the fitted state. , The robot 3 is controlled so as to perform the "first operation" of pulling out the object to be transported 9 from the accommodation body 5 with the hand 19. The pull-out direction of the object to be transported 9 in the first operation is the direction in which the first protrusion 49 is fitted into the first hole 59, and the accommodation body 5 is on the front side in the depth direction (FIGS. 17 and 18 described later). (Lower side in). Further, the first motion control unit 69 is in a posture in which the hand 19 is arranged side by side in a direction (vertical direction in this example) perpendicular to the direction in which the two first protrusions 49 pull out the object to be transported 9. The robot 3 is controlled so as to perform the operation of 1.

The second motion control unit 71 executes the first operation in a state where the first contact portion 39 is in contact with the grip portion 15a from the inside of the object to be transported 9, and after the first operation, the second operation is performed. 2 "Second operation" in which the second protrusion 53 of the contact portion 41 is fitted to the second hole portion 61 of the grip portion 15a from the outside and the second contact portion 41 is brought into contact with the grip portion 15a from the outside. The robot 3 is controlled so as to perform the above. At this time, the second operation control unit 71 controls an air supply device, an air valve, or the like (not shown) to operate the air cylinder 35 and move the second contact unit 41.

The third motion control unit 73 controls the robot 3 so as to perform a "third motion" in which the transported object 9 is further pulled out from the accommodation body 5 by the hand 19 after the second motion. The pull-out direction of the object to be transported 9 in the third operation is the same as the pull-out direction of the first operation.

The motion control unit 63 controls the overall motion of the robot 3 in addition to the first to third motions. The motion control unit 63 outputs a position command corresponding to various motions of the robot 3 to the motion control unit 65.

The motion control unit 65 is required to move the hand position of the hand 19 of the robot 3 to the position specified by the position command based on the position command input from the motion control unit 63, and each actuator Ac1 of the robot 3 is required. The target rotation angle and the like of each servomotor SM of Ac6 are calculated, and the corresponding motor position command is output.

The servo amplifier 67 controls the drive power supplied to the servomotors SM of the actuators Ac1 to Ac6 based on the motor position command input from the motion control unit 65, and controls the operation of the robot 3.

The processes and the like in the motion control unit 63, the first motion control section 69, the second motion control section 71, the third motion control section 73, and the like described above are not limited to the example of sharing these processes. For example, it may be processed by a smaller number of processing units (for example, one processing unit), or may be processed by a further subdivided processing unit. Further, each processing unit of the robot controller 7 is mounted by an actual device only for a portion (servo amplifier 67 or the like) that supplies drive power to the servomotor SM, and other functions are executed by the CPU 901 (see FIG. 28) described later. It may be implemented by a program, or a part or all thereof may be implemented by an actual device such as an ASIC, an FPGA, or another electric circuit.

<5. Robot controller control content and robot operation>
Next, with reference to FIGS. 7 and 8 to 21, an example of the control content executed by the robot controller 7 when the object to be transported 9 is transported and an example of the operation of the robot 3 will be described. FIG. 7 is a flowchart showing an example of the control content executed by the robot controller 7. 8 to 21 are explanatory views showing an example of the operation of the robot 3 and the hand 19 and the like.

As shown in FIG. 7, in step S5, the robot controller 7 moves the hand 19 provided with the sensor 47, and the object to be transported from the hand 19 to the plurality of objects to be transported 9 accommodated in the housing body 5. Measure the distances up to 9 in sequence. As a result, the presence / absence of the object to be transported 9 and the positional deviation in the depth direction are measured.

8 and 9 show an example of the operation of the robot 3 in step S5. FIG. 8 is a front view of the housing body 5, and FIG. 9 is a side view of the housing body 5 and the hand 19. Although not shown, for example, a partition, a holder for the transported object 9, and the like are installed in the housing body 5, and the number of the transported objects 9 to be accommodated and a rough accommodation position are set in advance. For example, in the example shown in FIG. 8, for example, eight objects to be transported 9 are housed in each of the upper and lower stages of the housing body 5. The objects to be transported 9 are arranged with a predetermined gap in a state of being erected substantially in the vertical direction (an example of a state of being tilted with respect to the horizontal direction). In FIG. 8, for convenience of explanation, a serial number (corresponding to the count value N described later) is shown on a total of 16 objects to be transported 9. As shown in FIG. 9, the robot controller 7 has the hand 19 in a posture in which the detection unit 47a of the sensor 47 faces the object to be transported 9, and the hand 19 is shown in FIG. 8 with respect to the upper and lower stages of the accommodation body 5. Move as shown by arrows 76, 77, 79. During the horizontal movement indicated by the solid line arrows 76 and 79, the laser beam 75 is irradiated to the transported object 9 from the detection unit 47a, and the laser beam 75 is irradiated during the movement indicated by the broken line arrow 77. Stop. Alternatively, the detection of the reflected laser light 75 may be stopped in the section of the arrow 77 while maintaining the irradiation of the laser light 75. In this way, the distance from the hand 19 to the transported object 9 is sequentially measured for the plurality of (16 in this example) transported objects 9 accommodated in the housing body 5.

As a result, it is possible to measure the positional deviation of each object to be transported 9 in the depth direction (left-right direction in FIG. 9) of the housing body 5. Further, when the measured distance is within a predetermined distance (sensor signal ON), it can be determined that the object to be transported 9 exists, and when the measured distance is larger than the predetermined distance (sensor signal OFF), the object to be transported 9 is present. It can be determined that there is no transported object 9. Therefore, at the same time as measuring the positional deviation of the transported object 9 in the depth direction, it is possible to detect the presence / absence (loaded) of the transported object 9 at each accommodation position of the accommodation body 5. The predetermined distance may be set to, for example, the dimensions of the housing 5 or the object to be transported 9 in the depth direction.

Returning to FIG. 7, in step 10, the robot controller 7 sets the count value N for counting the transported object 9 to 1.

In step 15, the robot controller 7 determines whether or not the N-th transported object 9 is present (whether or not it is loaded) in the housing body 5 based on the measurement result in step 5. If there is no Nth object to be transported (step 15: NO), the process proceeds to step 20.

In step 20, the robot controller 7 adds 1 to the count value N and returns to step 15.

On the other hand, in step 15, if there is an Nth object to be transported 9 (step 15: YES), the process proceeds to step 25.

In step 25, the robot controller 7 measures the positional deviation (lateral deviation) of the Nth object to be transported 9 in the side-by-side arrangement direction and the inclination with respect to the vertical direction.

FIG. 10 shows an example of the operation of the robot 3 in step S25. FIG. 10 is a front view of an example of the movement of the sensor 47 with respect to the object to be transported 9. The robot controller 7 puts the hand 19 in a posture in which the detection unit 47a of the sensor 47 faces the object to be transported 9, and then places the hand 19 at a plurality of locations (two locations in this example) in the vertical direction of the object to be transported 9. Then, it is moved as shown by arrows 81, 83, 85 shown in FIG. During the horizontal movement indicated by the solid arrows 81 and 85, the laser beam 75 is irradiated from the detection unit 47a to the object 9 to be transported, and during the movement indicated by the broken line arrow 83, the laser beam 75 is irradiated. Stop. Alternatively, the detection of the reflected laser light 75 may be stopped in the section of the arrow 83 while maintaining the irradiation of the laser light 75. In this way, the position in the side-by-side direction and the inclination of the transported object 9 with respect to the vertical direction are measured based on the detection position or timing at which the sensor signals during movement of the arrows 81 and 85 change from OFF to ON. The laser beam 75 may be horizontally moved at three or more locations in the vertical direction of the object to be transported 9. Further, the reflected laser beam 75 may be detected during the movement of the arrow 83, and the detection result (detection position or timing at which the sensor signal is turned from ON to OFF) may be used for measurement.

Returning to FIG. 7, in step S30, the robot controller 7 is operated by the motion control unit 63 in the direction of contracting the air cylinder 35 to move the second contact portion 41 away from the first contact portion 39, and the hand. Open 19 Then, the robot controller 7 moves the hand 19 to the vicinity of the grip portion 15a of the Nth object to be transported 9. At this time, the robot controller 7 is in a posture in which the hands 19 are arranged side by side in a direction (substantially vertical direction) perpendicular to the direction in which the two first protrusions 49 pull out the object to be transported 9. The position and posture of the moving destination of the hand 19 are adjusted based on the measurement results of steps S5 and S25.

11 and 12 show an example of the operation of the robot 3 in step S30. 11 and 12 are side views showing an example of the operation of the hand 19 of the robot 3. As shown in FIG. 11, as the air cylinder 35 contracts, the second contact portion 41 is separated from the first contact portion 39, and the hand 19 is in a state of being fully opened. At this time, the length L5 of the gap from the tip of the first protrusion 49 to the tip of the second protrusion 53 is sufficiently longer than the thickness L6 of the grip portion 15a of the object to be transported 9 in the depth direction. Further, as described above, the length L3 of the gap S of the object to be transported 9 is larger than the length L4 from the end portion of the hand 19 on the tip end side of the first contact portion 39 to the tip end of the first protrusion 49. long. Then, as shown in FIG. 12, the robot 3 causes the hand 19 to enter the gap between the objects to be transported 9, and the first contact portion 39 and the gap S of the objects to be transported 9 correspond to each other in the depth direction. (Example of approach direction. Right direction in FIG. 12). After that, the robot 3 moves the hand 19 in a direction perpendicular to the depth direction (direction toward the front from the back side of the paper surface in FIG. 12), and moves the first contact portion 39 into the gap S of the object to be transported 9. Insert in. At this time, the distance from the tip of the first protrusion 49 to the inner surface 15a1 of the grip 15a is the distance of the second protrusion 53 so that the grip 15a is located at a substantially central position of the length L5. The first contact portion 39 is inserted into the gap S so as to be substantially equal to the distance from the tip end to the outer surface 15a2 of the grip portion 15a.

Returning to FIG. 7, in step S35, the robot controller 7 uses the first motion control unit 69 to hold the first protrusion 49 of the first contact portion 39 of the hand 19 into the first hole of the grip portion 15a of the object to be transported 9. The first contact portion 39 is brought into contact with the grip portion 15a from the inside while being fitted to the portion 59. Then, in the fitted state, the hand 19 pulls out the transported object 9 from the housing body 5 toward the robot 3 side by a predetermined amount (first operation).

13 to 18 show an example of the operation of the robot 3 in step S35. FIG. 13 is a side view of an example of the operation of the hand 19 of the robot 3, and FIG. 14 is an explanatory diagram for explaining the guidance function of the first contact portion 39 by the first protrusion 49. , Is a view of the fitting portion between the first protrusion 49 and the grip portion 15a viewed from above. 15 and 16 are side views showing an example of the transport system 1 that performs the first operation, and FIGS. 17 and 18 show the accommodation body 5, the object to be transported 9, and the object to be transported 9 when the first operation is performed. It is the top view which looked at the hand 19 from above.

As shown in FIG. 13, the hand 19 moves from the state shown in FIG. 12 to the front side in the depth direction (an example in the direction opposite to the approach direction; the left side in FIG. 13), so that the first contact portion 39 becomes the first. 1 The protrusion 49 fits into the first hole 59 of the grip 15a of the object to be transported 9. When the first protrusion 49 is fitted to the first hole 59, the hand 19 is moved to the front side in the depth direction instead of or in addition to moving the hand 19 to the back side in the depth direction, if necessary. (An example of the approach direction. The right side in FIG. 13) may be moved. At this time, as shown in FIG. 14, even if the first protrusion 49 and the first hole 59 are displaced in the width direction (vertical direction in FIG. 14) of the object to be transported 9, they are perpendicular to the depth direction. When the tip of the first protrusion 49 is located within the opening of the first hole 59 in the plane direction, the opening of the first hole 59 and the protrusion-side tapered portion 49a of the first protrusion 49 slide. As a result, the grip portion 15a moves in the width direction, and the first hole portion 59 is guided to the fitting position with the first protrusion portion 49. That is, the protrusion-side tapered portion 49a of the first protrusion 49 functions as a guide for guiding the first hole 59 to the fitting position with the first protrusion 49.

The "fitting position" referred to here is the state shown on the far right side of FIG. 14, that is, the first protrusion in a state in which all of the first protrusion 49 is inserted into the first hole 59 and fitted. It refers to the position of the portion 49 or the first hole portion 59. Further, in the above, the grip portion 15a is moved in the width direction so that the first hole portion 59 is guided to the fitting position with the first protrusion portion 49, but the present invention is not limited to this. For example, the hand 19 may be operated so as to follow the contact between the first hole portion 59 and the protrusion side tapered portion 49a so that the first protrusion portion 49 is guided to the fitting position with the first hole portion 59. Further, both the grip portion 15a and the hand 19 are operated so that both the first protrusion 49 and the first hole 59 are guided to the fitting position between the first protrusion 49 and the first hole 59. May be good.

As a result of the first protrusion 49 fitting into the first hole 59, the grip portion 15a is positioned with respect to the hand 19, and the second protrusion 53 of the second contact portion 41 is the second grip portion 15a. It can be easily fitted into the hole 61. However, for example, when the object to be transported 9 is inclined with respect to the depth direction, the position of the second protrusion 53 and the second hole 61 may be displaced. Even in such a case, if the tip of the second protrusion 53 is located within the opening of the second hole 61 in the plane direction perpendicular to the depth direction, the opening of the second hole 61 and the second protrusion 61 are formed. The grip portion 15a moves in the width direction due to the sliding of the protrusion side tapered portion 53a of the 53, and the second hole portion 61 is guided to the fitting position with the second protrusion 53.

Then, as shown in FIGS. 15 and 16, the robot 3 fits the first protrusion 49 of the first contact portion 39 of the hand 19 into the first hole portion 59 of the grip portion 15a of the object to be transported 9. In this state, the hand 19 is moved to the front side in the depth direction (left side in FIGS. 15 and 16) by a predetermined distance L7, and the object to be transported 9 is pulled out from the accommodation body 5 toward the robot 3 side by a predetermined distance L7 (No. 1). Operation of 1).

As shown in FIG. 17, the transported object 9 housed in the housing body 5 may be stored at an angle with respect to the direction of being gripped and pulled out by the hand 19 (the depth direction of the housing body 5). be. When there is such an inclination, if the hand 19 tries to grip the object to be transported 9 without considering the inclination, the stability of the grip by the hand 19 is lowered due to the locking by the second protrusion 53 or the like. there is a possibility. For this reason, it is preferable to grip in consideration of the inclination, but it is difficult to measure the magnitude of the inclination with respect to the pull-out direction by a sensor provided outside the accommodating body 5 (for example, a sensor 47 provided in the hand 19). It is difficult for the robot 3 to correct the gripping motion with respect to the inclination. Further, even if the inclination can be measured, the control of the robot 3 becomes complicated if the gripping motion is corrected by using the measured value.

Therefore, in the present embodiment, the robot controller 7 causes the robot 3 to perform the first operation, so that the object to be transported 9 is pulled out during the withdrawal operation of the predetermined distance L7 as shown in FIGS. 17 and 18. It is possible to eliminate the inclination with respect to the drawing direction by rotating the fitting position (the fitting position between the first protrusion 49 and the first hole 59). At this time, in particular, the hand 19 is subjected to the first operation in a posture in which the two first protrusions 49 are arranged side by side in a direction (substantially vertical direction) perpendicular to the direction in which the object 9 is pulled out. During the withdrawal operation, the object 9 is rotated about the axis AX7 connecting the two fitting positions of the two first protrusions 49, 49 and the two first hole portions 59, 59. It can be urged, and it is possible to easily eliminate the inclination with respect to the withdrawal direction.

The length of the predetermined distance L7 is not particularly limited, but the length thereof is, for example, depending on the length of the transported object 9 in the depth direction, the maximum inclination angle with respect to the depth direction that can occur in the transported object 9, and the like. It is set as a pull-out distance that can eliminate the inclination.

Further, as shown in FIGS. 17 and 18, in the housing body 5, the objects to be transported 9 are arranged at a substantially constant interval L9. On the other hand, in the hand 19, the dimension L8 from the end of the first contact portion 39 and the second contact portion 41 on the side opposite to the base 37 to the end of the rib 45 on the side opposite to the base 37 has a distance L9. Is configured to be smaller than. This allows the robot 3 to allow the hand 19 to enter the gap between the plurality of objects to be transported 9 housed in the housing body 5.

Returning to FIG. 7, in step S40, the robot controller 7 is operated by the second motion control unit 71 in the extending direction of the air cylinder 35 to move the second contact portion 41 closer to the first contact portion 39. And close the hand 19. At this time, while the second protrusion 53 of the second contact portion 41 is fitted into the second hole portion 61 of the grip portion 15a from the outside, the second contact portion 41 is brought into contact with the grip portion 15a from the outside ( Second operation).

FIG. 19 shows an example of the operation of the robot 3 in step S40. FIG. 19 is a side view of an example of the operation of the hand 19 of the robot 3. As shown in FIG. 19, with the first contact portion 39 in contact with the grip portion 15a from the inside, the second protrusion 53 of the second contact portion 41 is attached to the second hole portion 61 of the grip portion 15a. The second contact portion 41 is brought into contact with the grip portion 15a from the outside while being fitted from the outside. At this time, the second protrusion 53 penetrates the second hole 61 of the grip portion 15a and fits into the hole 51 of the first contact portion 39. As a result, the grip portion 15a is sandwiched between the first contact portion 39 and the second contact portion 41, and the hand 19 locks the grip portion 15a.

Returning to FIG. 7, in step S45, the robot controller 7 further pulls out the object to be conveyed 9 toward the robot 3 side by the hand 19 by the third motion control unit 73, and takes it out from the housing body 5 (third motion). ..

20 and 21 show an example of the operation of the robot 3 in step S45. 20 and 21 are side views showing an example of the transport system 1 that performs the third operation. In the state shown in FIG. 20, a predetermined amount of the transported object 9 is pulled out from the housing 5 toward the robot 3 by the first operation, and the hand 19 is closed by the second operation to grip the transported object 9. The portion 15a is locked. After that, as shown in FIG. 21, the robot 3 further pulls out the object to be transported 9 toward the robot 3 with the hand 19, and takes it out from the housing body 5.

Returning to FIG. 7, in step S50, the robot controller 7 moves the hand 19 to a predetermined destination in a state where the grip portion 15a of the object to be transported 9 is locked, and the hand 19 is released to release the lock. In this way, the object to be transported 9 is transported to the transport destination.

In step S55, the robot controller 7 determines whether or not the count value N is the maximum value Nmax (for example, 16 in this embodiment). If the count value N has not reached the maximum value Nmax (step S55: NO), the process returns to the previous step S20, 1 is added to the count value N, and the same procedure is repeated from step 15. On the other hand, when the count value N has reached the maximum value Nmax (step S55: YES), this flow ends.

<6. Effect of embodiment>
As described above, the transport system 1 of the present embodiment is a transport system for transporting the transported object 9, and is provided on the robot 3 provided with the hand 19 for gripping the transported object 9 and the hand 19. A fitting portion (first protrusion 49 in the present embodiment), a fitted portion provided on the object to be transported 9 and fitted with the fitting portion (first hole portion 59 in the present embodiment), and a hand 19 It has a guide portion (projection side tapered portion 49a in this embodiment) that guides the fitted portion to the fitting position with the fitting portion.

In the transfer system 1 of the present embodiment, when the robot 3 grips and conveys the object to be conveyed 9 with the hand 19, the fitting portion provided on the hand 19 and the fitted portion provided on the object 9 to be conveyed. To fit. As a result, it is possible to prevent the hand 19 and the object to be transported 9 from slipping, the object to be transported 9 from tilting, and the object to be transported 9 from falling from the hand 19, and the object to be transported 9 can be stably controlled. Can be transported. Further, since the fitted portion is guided to the fitting position with the fitting portion by the guide portion, the fitting portion and the fitted portion can be smoothly fitted and the reliability of the fitting can be improved. Further, the guidance by the guide unit can position the gripping position of the transported object 9 with respect to the hand 19 when the transported object 9 is gripped by the hand 19. As a result, it is not necessary to perform a positioning operation different from the transfer operation such as changing or picking up the object to be transported 9, and the object to be transported 9 can be efficiently transported.

Further, in the present embodiment, in particular, the fitting portion has a first protrusion 49, and the fitted portion has a first hole 59 into which the first protrusion 49 fits.

If a hole is provided on the hand 19 side and a protrusion is provided on the side of the object to be transported 9, it is necessary to provide a protrusion on all of the objects 9 to be transported, whereas in the present embodiment, the robot 3 is provided. Since it is sufficient to provide the protrusions only on the hand 19, the number of required protrusions can be significantly reduced, and the cost can be reduced. Further, since it is sufficient to form a hole in the object to be transported 9, the manufacturing becomes easy.

Further, in the present embodiment, in particular, the guide portion has a protrusion-side tapered portion 49a which is a tapered portion formed on the first protrusion 49.

In the present embodiment, even if the respective positions are displaced when the first protrusion 49 is fitted to the first hole 59, the protrusion-side tapered portion 49a abuts on the opening of the first hole 59 and slides. As a result, at least one of the first protrusion 49 and the first hole 59 can be displaced to guide the fitting position between the first protrusion 49 and the first hole 59. Therefore, the guide portion can be realized with a simple structure in which a tapered portion is formed at the tip of the first protrusion 49.

Further, in the present embodiment, in particular, the object to be transported 9 has a grip portion 15a in which the first hole portion 59 is formed, and the hand 19 includes a first protrusion portion 49, and the first protrusion portion 49 is provided. The first contact portion 39, which comes into contact with the grip portion 15a from one side when the first hole portion 59 is fitted from one side, and the first contact portion 39, which comes into contact with the grip portion 15a from the other side. It has a second contact portion 41 that sandwiches the grip portion 15a between them.

As a result, when the hand 19 grips the transported object 9, in addition to sandwiching the gripped portion 15a of the transported object 9 from both sides by the two contact portions 39 and 41 of the hand 19, one of the first hits The first protrusion 49 of the contact portion 39 can be fitted into the first hole portion 59 of the grip portion 15a. Therefore, the stability of gripping the object 9 can be improved.

Further, in the present embodiment, in particular, the hand 19 has a second protrusion 53 that fits into the second hole 61 formed in the grip portion 15a from the other side.

As a result, when the object 9 to be transported is gripped by the hand 19, in addition to sandwiching the grip portions 15a of the object to be transported 9 from both sides by the two contact portions 39 and 41 of the hand 19, further two hits are obtained. The protrusions 49 and 53 of the contact portions 39 and 41 can be fitted into the holes 59 and 61 of the grip portion 15a from both sides, respectively. Therefore, the stability of gripping the object to be transported 9 can be further improved.

Further, in the present embodiment, in particular, the hand 19 has a moving mechanism 43 for moving the second protrusion 53 so as to be closer to the first contact portion 39.

As a result, when the hand 19 grips the object to be transported 9, the second protrusion 53 is moved so as to approach the first contact portion 39, so that the two protrusions 49 and 53 are gripped by the grip portion 15a. The grip portion 15a can be locked by fitting the holes 59 and 61 from both sides. Further, when the hand 19 releases the grip of the object to be transported 9, the second protrusion 53 is moved away from the first contact portion 39, so that the two protrusions 49 and 53 are gripped by the grip portion 15a. The grip portion 15a can be unlocked by pulling it out from the holes 59 and 61. Therefore, the grip portion 15a can be locked and unlocked more reliably.

Further, in the present embodiment, in particular, the object to be transported 9 has a holding member 15 for holding the work W, which is provided with a grip portion 15a, and the holding member 15 has a grip portion when the work W is held. There is a gap S between the 15a and the work W.

As a result, when the hand 19 grips and releases the grip portion 15a of the holding member 15, it is possible to prevent the first contact portion 39 of the hand 19 from coming into contact with the work W due to the gap S. As a result, it is possible to prevent the work W from being damaged, damaged, deformed, or the like when the object to be transported 9 is transported.

Further, in the present embodiment, in particular, the length L3 of the gap S in the side-by-side direction (depth direction of the work W) between the grip portion 15a and the work W is first from one end of the first contact portion 39. The length in the parallel direction to the other end of the protrusion 49 is longer than L4.

As a result, the first contact portion 39 of the hand 19 is brought into the gap S of the holding member 15, and the grip portion 15a of the holding member 15 is aligned with the work W and the grip portion 15a by the two contact portions 39 and 41. It can be sandwiched from both sides in the installation direction. As a result, the stability of gripping when the holding member 15 is pulled out in the parallel direction can be improved.

Further, in the present embodiment, in particular, the transport system 1 further includes an accommodating body 5 for accommodating the object to be transported 9, and a robot controller 7 for controlling the robot 3, and the robot controller 7 is the first hand 19. The protrusion 49 is fitted into the first hole 59 of the object to be transported 9, and in the fitted state, the object 9 to be transported is moved from the accommodating body 5 and the first protrusion 49 is moved to the first hole by the hand 19. The robot 3 is controlled so as to perform the first operation of pulling out in the direction fitted to the 59 (the front side in the depth direction of the housing body 5).

The transported object 9 accommodated in the accommodation body 5 may be accommodated at an inclination with respect to the direction of being grasped and pulled out by the hand 19 (the depth direction of the accommodation body 5). When there is such an inclination, if the hand 19 tries to grip the object to be transported 9 without considering the inclination, the hand 19 may not fit properly between the second protrusion 53 and the second hole 61. May reduce the stability of gripping. For this reason, it is preferable to grip in consideration of the inclination, but it is difficult to measure the magnitude of the inclination with respect to the pull-out direction by a sensor provided outside the accommodating body 5 (for example, a sensor 47 provided in the hand 19). It is difficult for the robot 3 to correct the gripping motion with respect to the inclination. Further, even if the inclination can be measured, the control of the robot 3 becomes complicated if the gripping motion is corrected by using the measured value.

Therefore, in the present embodiment, the robot controller 7 causes the robot 3 to perform the first operation. In the first operation, the conveyed object 9 is pulled out from the container 5 by a predetermined amount by the hand 19 in a state where the first protrusion 49 of the hand 19 is fitted into the first hole portion 59 of the conveyed object 9. This makes it possible to rotate the object to be conveyed 9 about the fitting position during the withdrawal operation to eliminate the inclination with respect to the withdrawal direction. As a result, the certainty of the lock by the second protrusion 53 is increased, so that the stability of gripping by the hand 19 can be improved. Further, since it is not necessary to correct the gripping motion for the inclination, it is possible to suppress the complexity of the control of the robot 3.

Further, in the present embodiment, in particular, the hand 19 has two first protrusions 49, and the grip portion 15a of the object to be transported 9 has two first hole portions 59, and is a robot controller. 7 controls the robot 3 so that the hand 19 performs the first operation in a state where the two first protrusions 49 are fitted into the two first hole 59s.

As a result, during the withdrawal operation, the object 9 rotates about the axis AX7 connecting the two fitting positions of the two first protrusions 49, 49 and the two first hole portions 59, 59. It is possible to prompt the user to do so, and it is possible to easily eliminate the inclination with respect to a predetermined direction (in the above embodiment, the drawing direction of the transported object 9; the depth direction of the housing body 5). As a result, the certainty of the lock by the second protrusion 53 is further increased, so that the stability of gripping by the hand 19 can be further improved.

Further, in the present embodiment, in particular, the robot controller 7 executes the first operation in a state where the first contact portion 39 is in contact with the grip portion 15a from one side, and after the first operation, the first operation is performed. The robot 3 is controlled so as to perform a second operation in which the second contact portion 41 is brought into contact with the grip portion 15a from the other side while the two protrusions 53 are fitted to the second hole portion 61 from the other side.

In the present embodiment, the grip portion 15a of the transported object 9 can be locked by the second operation after the inclination of the transported object 9 with respect to the withdrawal direction is eliminated by the first operation. As a result, the certainty of locking by the second protrusion 53 can be increased, so that the stability of gripping by the hand 19 can be improved.

Further, in the present embodiment, in particular, the robot controller 7 controls the robot 3 so as to perform a third operation of further pulling out the object to be transported 9 from the accommodation body 5 with the hand 19 after the second operation.

In the present embodiment, the grip portion 15a of the object to be transported 9 is locked more reliably by the second operation, and then the object 9 to be transported is taken out from the container 5 and transported to a predetermined place by the third operation. Can be done. As a result, the object to be transported 9 can be stably transported.

Further, in the present embodiment, in particular, the hand 19 includes a sensor 47 for measuring the distance to the object, and the robot controller 7 measures the distance from the hand 19 to the object to be transported 9 and the object to be transported 9. The robot 3 is controlled so as to measure the inclination of the robot 3 in the vertical direction.

The transported object 9 accommodated in the housing body 5 may have a variation in the position in the depth direction (distance from the hand 19 to the transported object 9) or may be accommodated at an angle with respect to the vertical direction. When there is such variation or inclination, if the hand 19 tries to grip the object to be transported 9 without considering the variation or inclination, the hand 19 may not be able to grip it, or the first protrusion 49 or the second The stability of gripping may decrease because the protrusion 53 cannot be fitted to the first hole 59 or the second hole 61.

According to the present embodiment, by correcting the gripping motion by using the measured value of the distance and the measured value of the inclination by the sensor 47, the gripping by the hand 19 can be performed more reliably, and the stability of the gripping by the hand 19 can be improved. Can be improved. Further, since one type of sensor 47 for measuring the distance enables two types of measurement of distance and inclination, the number of parts and cost can be reduced as compared with the case where two types of sensors are provided.

Further, in the present embodiment, in particular, the robot controller 7 controls the robot 3 so that the inclination is measured when the measured distance is within a predetermined distance after the distance is measured.

By measuring the distance with the sensor 47, it is possible to confirm the presence or absence of the object to be transported 9. That is, if the measured distance is within a predetermined distance, it can be determined that the object to be transported 9 is present, and if the measured distance is larger than the predetermined distance, it can be determined that the object to be transported 9 is not present. Therefore, by measuring the distance first, the inclination is measured only for the transported object 9 existing in the housing body 5, and the inclination is not measured for the non-existing transported object 9. .. As a result, it is possible to prevent unnecessary operations by the robot 3 and unnecessary processing by the robot controller 7, and it is possible to improve the work efficiency and processing efficiency of the transfer system 1.

<7. Modification example>
The embodiments of the disclosure are not limited to the above, and various modifications can be made within a range not deviating from the purpose and the technical idea. Hereinafter, such a modification will be described.

(7-1. Number of second protrusions, variation in arrangement)
In the above embodiment, the case where two second protrusions 53 are provided at both ends of the second contact portion 41 of the hand 19 in the width direction has been described as an example, but the number and arrangement of the second protrusions 53 are limited to this. It is not something that will be done. For example, as shown in FIG. 22, one second protrusion 53 may be provided at the center of the second contact portion 41 in the width direction (vertical direction in FIG. 22). In the first contact portion 39, one hole portion 51 is formed at an intermediate position between the two first protrusions 49. Further, one second hole portion 61 is formed through the grip portion 15a at an intermediate position between the two first hole portions 59. With such a configuration, the second contact portion 41 fits one second protrusion 53 into one second hole portion 61 of the grip portion 15a of the holding member 15 from the outside, and has a surface on the tip end side. The 41a is brought into contact with the outer surface 15a2 of the grip portion 15a, and the grip portion 15a is sandwiched between the grip portion 15a and the first contact portion 39. Also in this modification, the same effect as that of the above embodiment can be obtained, and the structure of the hand 19 can be simplified by the amount that the number of the second protrusions 53 is reduced.

Although not shown, three or more second protrusions 53 may be provided. For example, when three second protrusions 53 are provided, in addition to the one second protrusion 53 described above, the two first protrusions 49 are located on both sides in the width direction. The two protrusions 53 may be provided at both ends of the second contact portion 41 in the width direction. By increasing the number of the second protrusions 53, the load acting on each of the second protrusions 53 can be reduced, so that the second protrusions 53 can be miniaturized and the second protrusions 53 are damaged. It can be suppressed from occurring.

(7-2. When only the first protrusion is provided)
In the above embodiment, the second contact portion 41 is provided with two second protrusions 53. However, for example, when the object to be transported 9 is relatively lightweight, the second contact portion 41 is provided with a second protrusion 53. The configuration may be such that the two protrusions 53 are not provided. For example, in the example shown in FIG. 23, the first contact portion 39 is provided with two first protrusions 49, but the second contact portion 41 is not provided with the second protrusion 53. In this modification, while the grip portion 15a of the object to be transported 9 is sandwiched from both sides by the two contact portions 39 and 41 of the hand 19, only the first protrusion 49 of the first contact portion 39 is the first grip portion 15a. It is fitted into the 1-hole portion 59. According to this modification, the structure of the hand 19 can be further simplified while ensuring the guidance function and the positioning function by the first protrusion 49.

(7-3. When only the second protrusion is provided)
In the above embodiment, the first contact portion 39 is provided with two first protrusions 49. However, for example, when the object to be transported 9 is accurately positioned and accommodated in the accommodating body 5, the first projection portion 49 is provided. 1 The contact portion 39 may not be provided with the first protrusion 49. For example, in the example shown in FIG. 24, the second contact portion 41 is provided with two second protrusions 53, but the first contact portion 39 is not provided with the first protrusion 49. In this modification, while the grip portion 15a of the object to be transported 9 is sandwiched from both sides by the two contact portions 39 and 41 of the hand 19, only the second protrusion 53 of the second contact portion 41 is the second grip portion 15a. It is fitted into the two-hole portion 61. According to this modification, the structure of the hand 19 can be simplified while ensuring the locking function by the second protrusion 53.

(7-4. When the guide part is provided on the hole side)
In the above embodiment, the case where the protrusion side tapered portion 49a functioning as the guide portion is formed in the first protrusion portion 49 has been described, but the present invention is not limited to this, and the guide portion is formed in the first hole portion 59. You may. For example, in the example shown in FIG. 25, the first protrusion 49A is not formed with a tapered portion, but is formed in a substantially columnar shape as a whole. On the other hand, inside the first hole portion 59A, a hole-side tapered portion 59A1 which is a tapered portion that expands toward the inside of the object to be transported 9 (right side in FIG. 25) is formed.

As shown in FIG. 25, even when the first protrusion 49A and the first hole 59A are displaced in the width direction (vertical direction in FIG. 25) of the object to be transported 9, the plane direction perpendicular to the depth direction. When the tip of the first protrusion 49A is located within the opening of the hole-side tapered portion 59A1 of the first hole portion 59A, the grip portion 15a is caused by the first protrusion 49A and the hole-side tapered portion 59A1 slipping. Moves in the width direction, and the first hole portion 59A is guided to the fitting position with the first protrusion portion 49A. That is, the hole-side tapered portion 59A1 of the first hole portion 59A functions as a guide portion that guides the first hole portion 59A to the fitting position with the first protrusion portion 49A.

According to the modification described above, the hand 19 has a hole-side tapered portion 59A1 formed inside the first hole portion 59A as a guide portion. As a result, even if the position of the first protrusion 49A is displaced when the first protrusion 49A is fitted to the first hole 59A, the hole-side tapered portion 59A1 abuts on the corner of the first protrusion 49A and slides. The position of the 1-hole portion 59A can be shifted to guide it to the fitting position with the first protrusion 49A. Therefore, the guide portion can be realized by a simple structure in which the tapered portion is formed inside the first hole portion 59A.

(7-5. When the guide part is provided on both the protrusion side and the hole side)
The tapered portion that functions as a guide portion may be formed on both the protrusion side and the hole side. For example, in the example shown in FIG. 26, a protrusion-side tapered portion 49B1 that tapers toward the outside (left side in FIG. 26) of the object to be transported 9 is formed on the tip end side of the first protrusion 49B. Further, inside the first hole portion 59A, a hole-side tapered portion 59A1 that expands toward the inside of the object to be transported 9 (right side in FIG. 26) is formed.

As shown in FIG. 26, even when the first protrusion 49B and the first hole 59A are displaced in the width direction (vertical direction in FIG. 26) of the object to be transported 9, the plane direction perpendicular to the depth direction. When the tip of the protruding side tapered portion 49B1 of the first protruding portion 49B is located in the opening of the hole side tapered portion 59A1 of the first hole portion 59A, the protruding side tapered portion 49B1 and the hole side tapered portion 59A1 By sliding, the grip portion 15a moves in the width direction, and the first hole portion 59A is guided to the fitting position with the first protrusion portion 49B. That is, the protrusion-side tapered portion 49B1 of the first protrusion portion 49B and the hole-side tapered portion 59A1 of the first hole portion 59A guide the first hole portion 59A to the fitting position with the first protrusion portion 49B. Functions as. According to this modification, by forming the tapered portion on both the protrusion side and the hole side, it is possible to expand the range in which the positional deviation can be eliminated by the guidance.

(7-6. When forming a hole in the hand and a protrusion in the object to be transported)
In the above embodiment, the protrusion is provided on the hand 19 side and the hole is provided on the conveyed object 9, but the configuration of the fitted portion and the fitted portion is not limited to this, and is the opposite. A hole may be provided on the hand 19 side and a protrusion may be provided on the conveyed object 9. For example, as shown in FIG. 27, a plurality of (two in this example) first protrusions 87 are provided on the inner surface 15a1 of the grip portion 15a so as to project inward (on the right side in FIG. 27). ing. The two first protrusions 87 (fitted portion, an example of the first fitted portion) are arranged at intervals of a predetermined pitch L1 (see FIG. 5). The protrusion-side tapered portion 87a, which is a tapered portion, is formed in the first protrusion 87, and is formed in a substantially conical shape as a whole.

Further, a plurality of (two in this example) second protrusions 89 are provided on the outer surface 15a2 of the grip portion 15a so as to project outward (left side in FIG. 27). The two second protrusions 89 are arranged at intervals of a predetermined pitch L1 + 2L2 (see FIG. 5). The protrusion side tapered portion 89a, which is a tapered portion, is formed in the second protrusion 89, and is formed as a columnar member having a substantially conical tip portion.

On the other hand, in the first contact portion 39 of the hand 19, two first hole portions 91 (fitting portion, first fitting portion) into which the two first protrusions 87 of the grip portion 15a are fitted, respectively. One example) is formed through. Further, the second contact portion 41 is formed so as to penetrate through two second hole portions 93 into which the two second protrusions 89 of the grip portion 15a are fitted.

In this modification, the first contact portion 39 grips the surface 39a on the proximal end side while fitting the two first hole portions 91 to each of the two first protrusions 87 of the grip portion 15a from the inside. It is brought into contact with the inner surface 15a1 of the portion 15a. In the second contact portion 41, the surface 41a on the tip side is fitted to the outer surface of the grip portion 15a while the two second hole portions 93 are fitted to each of the two second protrusions 89 of the grip portion 15a from the outside. The grip portion 15a is brought into contact with the 15a2, and the grip portion 15a is sandwiched between the contact portion 39 and the first contact portion 39. The same effect as that of the above-described embodiment can be obtained by this modification.

(7-7. Others)
In the above embodiment, the case where the objects to be transported 9 are housed so as to be lined up with a predetermined gap in a state of being erected substantially in the vertical direction in the container 5 has been described, but the present invention is not limited to this. .. For example, the transported object 9 may be accommodated so as to be lined up in the vertical direction with a predetermined gap in a state of being laid down substantially horizontally. In this case, the robot controller 7 has a first posture in which the hand 19 is arranged side by side in a direction (in this case, a horizontal direction) perpendicular to the direction in which the two first protrusions 49 pull out the object to be transported 9. All you have to do is perform the operation. Further, from a state in which the upper portion of the housing body 5 is opened and the object to be transported 9 is housed so as to be lined up with a predetermined gap in a state of being erected substantially in the vertical direction, it is grasped by the hand 19 and, for example, upward. It may be configured to be pulled out and taken out. In this case as well, the robot controller 7 has a first posture in which the hand 19 is arranged side by side in a direction perpendicular to the direction in which the two first protrusions 49 pull out the object 9 (in this case, the horizontal direction). All you have to do is to perform the operation of.

<8. Controller hardware configuration example>
Next, with reference to FIG. 28, a hardware configuration example of the robot controller 7 that realizes processing by the operation control unit 63 and the like implemented by the program executed by the CPU 901 described above will be described. In FIG. 28, the configuration related to the function of supplying drive power to the servomotor SM of the robot controller 7 is shown by omitting it as appropriate.

As shown in FIG. 28, the robot controller 7 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or FPGA, an input device 913, and an output device 915. It has a recording device 917, a drive 919, a connection port 921, and a communication device 923. These configurations are connected so that signals can be transmitted to each other via the bus 909 and the input / output interface 911.

The program can be recorded in, for example, ROM 903, RAM 905, a recording device 917, or the like.

Further, the program is temporarily or non-temporarily (permanently) recorded on, for example, a magnetic disk such as a flexible disk, an optical disk such as various CDs, MO disks, and DVDs, and a removable recording medium 925 such as a semiconductor memory. You can also keep it. Such a recording medium 925 can also be provided as so-called package software. In this case, the program recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, or the like.

The program can also be recorded on, for example, a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as LAN or the Internet, and the communication device 923 receives this program. The program received by the communication device 923 may be recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

Further, the program can be recorded in an appropriate externally connected device 927, for example. In this case, the program may be transferred via the appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

Then, the CPU 901 executes various processes according to the program recorded in the recording device 917, whereby the processes by the operation control unit 63 and the like are realized. At this time, the CPU 901 may, for example, directly read the program from the recording device 917 and execute it, or may execute it after loading it into the RAM 905 once. Further, for example, when the CPU 901 receives the program via the communication device 923, the drive 919, or the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device 917.

Further, the CPU 901 may perform various processes based on signals and information input from an input device 913 such as a mouse, keyboard, and microphone (not shown), if necessary.

Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may further output this processing result to the communication device 923 or a connection as necessary. It may be transmitted via the port 921, or may be recorded on the recording device 917 or the recording medium 925.

In the above description, when there is a description such as "vertical", "parallel", "planar", etc., the description does not have a strict meaning. That is, these "vertical", "parallel", and "planar" mean "substantially vertical", "substantially parallel", and "substantially flat", with design and manufacturing tolerances and errors allowed. ..

Further, in the above description, when there is a description such as "same", "same", "equal", "different", etc. in the external dimensions, size, shape, position, etc., the description is not a strict meaning. That is, those "same", "same", "equal", and "different" are allowed for design and manufacturing tolerances and errors, and are "substantially the same", "substantially the same", "substantially equal", and "substantially equal". It means "substantially different".

However, if there is a description of a value that serves as a predetermined criterion or a value that serves as a delimiter, such as a threshold value (see the flowchart in FIG. 7) or a reference value, they are "same", "equal", or "different". "Etc." is different from the above and has a strict meaning.

In addition to the above-mentioned above, the methods according to the above-described embodiment and each modification may be appropriately combined and used. In addition, although not illustrated one by one, the above-described embodiment and each modification are carried out with various modifications within a range that does not deviate from the purpose.

1 Conveyance system 3 Robot 5 Containment body 7 Robot controller 9 Conveyed object 15 Holding member 15a Grip part 19 Hand 39 First contact part (first contact part)
41 Second contact part (second contact part)
43 Movement mechanism 47 Sensor 49 First protrusion (fitting part, first protrusion, first fitting part)
49a Projection side taper part (guide part)
53 Second protrusion (second protrusion, second fitting part)
59 First hole (fitted part, first hole, first fitted part)
59A1 Hole side taper part 61 Second hole part (second hole part, second fitted part)
L3 length L4 length S gap W work

Claims (17)

A transport system that transports objects to be transported.
The robot has a hand for gripping the object to be transported, which has a grip portion in which a first hole portion and a second hole portion are formed .
The hand
A first protrusion that fits into the first hole ,
A first contact portion having the first protrusion and contacting the grip portion from one side when the first protrusion is fitted into the first hole portion from one side.
A second contact portion that abuts on the grip portion from the other side and sandwiches the grip portion with the first contact portion.
It has a second protrusion that fits into the second hole from the other side.
A transport system characterized by that. It is provided on at least one of the hand and the object to be transported, and at least one of the first protrusion and the first hole is placed at a fitting position between the first protrusion and the first hole. It also has a guide section to guide
The transport system according to claim 1. The guide unit
It has a protrusion-side tapered portion, which is a tapered portion formed on the first protrusion.
2. The transport system according to claim 2. The guide unit
It has a hole-side tapered portion formed inside the first hole portion.
2. The transport system according to claim 2. The hand
It has a moving mechanism for moving the second protrusion so as to be close to the first contact portion.
The transport system according to any one of claims 1 to 4, wherein the transport system is characterized by that. The transported object is
It has a holding member for holding the work, which is provided with the grip portion.
The holding member is
When the work is held, there is a gap between the grip portion and the work.
The transport system according to any one of claims 1 to 5 , wherein the transport system is characterized by that. The length of the gap in the juxtaposed direction between the grip portion and the work is
It is longer than the length in the parallel direction from the one-sided end of the first contact portion to the other-side end of the first protrusion.
The transport system according to claim 6 . A transport system that transports objects to be transported.
A robot equipped with a hand that grips the object to be transported, and
With the fitting portion provided on the hand,
A fitted portion provided on the transported object and fitted with the fitting portion,
An accommodating body for accommodating the transported object and
It has a robot controller that controls the robot, and has
The robot controller is
The fitting portion of the hand is fitted to the fitted portion of the transported object, and in the fitted state, the transported object is moved from the accommodating body and the fitting portion is fitted to the fitted portion with the hand. The robot is controlled so as to perform the first operation of pulling out in the direction of being fitted to the fitted portion.
A transport system characterized by that. The fitting portion is
It has at least two first protrusions and
The fitted portion is
Each of the at least two first protrusions has at least two first holes into which the protrusions fit.
The robot controller is
The robot is controlled so that the hand performs the first operation in a state where the at least two first protrusions are fitted into the at least two first holes.
The transport system according to claim 8 . The fitting portion is
It has a first protrusion and
The fitted portion is
It has a first hole that is formed in the grip of the object to be transported and into which the first protrusion fits.
The hand
A first contact portion provided with the first protrusion, and the first protrusion is fitted into the first hole from one side and abuts on the grip from the one side.
A second contact portion that abuts on the grip portion from the other side and sandwiches the grip portion with the first contact portion.
It has a second protrusion provided in the second contact portion and fitted into the second hole formed in the grip portion from the other side.
The robot controller is
The first operation is executed in a state where the first contact portion is brought into contact with the grip portion from the one side, and after the first operation, the second protrusion is attached to the second. The robot is controlled so as to perform a second operation of bringing the second contact portion into contact with the grip portion from the other side while fitting the hole portion from the other side.
The transport system according to claim 8 or 9 . The robot controller is
After the second operation, the robot is controlled to perform a third operation of further pulling the object to be transported from the container with the hand.
The transport system according to claim 10 . The hand
Equipped with a sensor that measures the distance to the object,
The robot controller is
Measuring the distance from the hand to the object to be transported,
Measurement of the inclination of the object to be transported in the vertical direction and
Control the robot to do
The transport system according to any one of claims 8 to 11 . The robot controller is
After measuring the distance, the robot is controlled so that the inclination is measured when the measured distance is within a predetermined distance.
12. The transport system according to claim 12 . A transport method in which a robot equipped with a hand for gripping an object to be transported takes out the object to be transported from an accommodating body and transports the object to be transported.
The first fitting portion of the hand is fitted to the first fitting portion of the object to be conveyed, and in the fitted state, the object to be conveyed is transferred from the accommodating body to the first item by the hand. Pulling out the fitting portion of 1 in the direction of fitting to the first fitting portion,
A transport method comprising. After pulling out the object to be transported, the second fitting portion of the hand is fitted to the second fitting portion of the object to be transported.
After fitting the second fitting portion, the hand to be further pulled out from the container.
14. The transport method according to claim 14 . A robot that transports objects to be transported,
It has a hand for gripping the object to be transported, which has a grip portion in which a first hole portion and a second hole portion are formed .
The hand
A first protrusion that fits into the first hole ,
A first contact portion having the first protrusion and contacting the grip portion from one side when the first protrusion is fitted into the first hole portion from one side.
A second contact portion that abuts on the grip portion from the other side and sandwiches the grip portion with the first contact portion.
A robot characterized by having a second protrusion that fits into the second hole from the other side . An object to be transported having a frame that is arranged with a predetermined gap in a state of being tilted in the horizontal direction and can hold the circumference of a flat plate-shaped work.
A robot that grips the object to be transported by hand and transports it to another location,
A robot controller that controls the robot and
With the fitting portion provided on the hand,
With a fitted portion of the frame body,
The robot controller is
The robot
Let the hand enter the gap
The frame is held by connecting the fitting portion and the fitted portion along at least one of the approach direction and the direction opposite to the approach direction.
It is controlled so that the frame is pulled out along at least one of the approach direction and the direction opposite to the approach direction and then transported to the other place.
A transport system characterized by that.

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