JP7275830B2 - Adsorber and moving adsorber - Google Patents

Description

The present invention relates to an adsorption device and a moving adsorption device.

At present, suction devices such as mobile manipulators, which are robot applications that autonomously perform running, picking (suction), and placement, are being developed.

For example, Patent Literature 1 discloses a robot having a suction pad for sucking an object to be conveyed and an end effector provided with a pressure sensor for detecting the suction pressure of the suction pad; and a controller having a determination unit that determines the wear of the suction pad based on the transient data of the suction pressure detected by the pressure sensor until the suctioned article starts to move. ing.

Patent Document 2 discloses a funnel-shaped adsorption member having an opening for sucking external air and for adsorbing a workpiece, and a conducting wire for detecting breakage due to disconnection is provided around the opening. An adsorption member is described.

JP 2012-152843 A JP 2015-150622 A

In the conventional technology as described above, the suction device uses a sufficient size (over spec) of suction force so that the suction unit can suction (hold) various objects (for example, workpieces). There is a problem that power consumption increases due to adsorption.

In addition, there is a problem that the suction device cannot grasp the target object when a suction force that exceeds assumptions at the time of design is required when grasping the target object.

For these reasons, there is a demand for a suction device capable of suitably controlling the suction force of the suction portion.

One aspect of the present invention has been made in view of such circumstances, and an object of the present invention is to realize a suction device and related technology that can suitably control the suction force of a suction portion.

In order to solve the above problems, an adsorption device according to one aspect of the present disclosure includes an adsorption unit that adsorbs an object under negative pressure and is deformed by the negative pressure, and a deformation detection unit that detects deformation of the adsorption unit. and

According to the above configuration, by detecting the deformation of the suction portion, it is possible to detect the holding state of the object, such as whether or not the object is about to fall, from the degree of deformation of the suction portion. Accordingly, it is possible to realize a suction device capable of suitably controlling the suction force of the suction portion according to the state of the suction portion, the gripping state of the object, and the like.

The adsorption device according to one aspect of the present disclosure includes a negative pressure control unit that controls the vacuum pump that generates the negative pressure, and after the object is adsorbed, the amount of deformation of the adsorption unit decreases to reach the first threshold value. When falling below, the negative pressure control section may increase the adsorption force.

According to the above configuration, it is possible to increase the adsorption force of the adsorption section compared to the current situation only when the adsorption section is about to drop the object due to the degree of deformation of the adsorption section. As a result, it is possible to prevent the object from falling while saving energy (power saving) of the moving suction device. Moreover, the adsorption force of the adsorption section can be suitably controlled according to the state of the adsorption section, the gripping state of the object, and the like.

In the suction device according to one aspect of the present disclosure, the deformation detection section may detect deformation at a plurality of locations in the suction section.

According to the above configuration, it is possible to more preferably detect deformation of the suction portion.

An adsorption device according to one aspect of the present disclosure is a movement control unit that moves the adsorption unit, and the A movement control section that determines the direction in which the suction section is moved may be provided.

According to the above configuration, even when the adsorption section is not in close contact with the object, the adsorption section can be moved in the direction of re-adsorbing the object. As a result, it is possible to prevent an object from being picked incorrectly by the suction unit.

In the adsorption device according to one aspect of the present disclosure, when the amount of deformation at a first location among the plurality of locations of the adsorption unit is greater than the amount of deformation at a second location, the movement control unit moves the object to It may be decided to move the suction unit from the second position to the first position side for re-suction.

According to the above configuration, it is possible to more preferably prevent displacement of the suction position of the suction portion. As a result, picking errors of the target object by the suction unit can be more preferably prevented.

The suction device according to one aspect of the present disclosure determines that the object is stuck to the suction portion if the amount of deformation of the suction portion after a predetermined period of time from breaking the vacuum is equal to or greater than a second threshold value. An abnormality determination section may be provided.

According to the above configuration, the abnormality determination unit can issue an alert or cause the adsorption unit to drop the object (place operation) by determining that the object is stuck to the adsorption unit. . As a result, it is possible to prevent a placement failure due to the object sticking to the suction portion and not being released after the vacuum is broken.

In the adsorption device according to one aspect of the present disclosure, the deformation detection section may include a sensor arranged or built into the adsorption section.

According to the above configuration, the deformation of the suction portion can be preferably detected by arranging or incorporating the sensor in the suction portion.

In the adsorption device according to one aspect of the present disclosure, the deformation detection section may include a strain sensor.

According to the above configuration, it is possible to suitably detect deformation (change in shape) of the suction portion.

In the adsorption device according to one aspect of the present disclosure, the deformation detection section may include an optical displacement meter or a shape measurement sensor.

According to the above configuration, the optical displacement meter or the shape measurement sensor preferably detects deformation of the adsorption portion (shape change) by detecting light from a substantially vertically upward direction and measuring the amount of displacement of the adsorption portion, for example. can be measured).

In the adsorption device according to one aspect of the present disclosure, the deformation detection section may include a proximity sensor.

According to the above configuration, the proximity sensor can suitably detect the deformation of the suction portion (measure the shape change) by measuring the amount of displacement of the distance between the proximity sensor and the suction portion.

In the suction device according to one aspect of the present disclosure, the deformation detection section may detect deformation of the suction section based on image data obtained by imaging the suction section.

According to the above configuration, it is possible to suitably detect the deformation of the suction portion (for example, measure the deformation amount) from the image data obtained by imaging the suction portion by simple image processing.

In the adsorption device according to one aspect of the present disclosure, the deformation detection unit includes a sensor,
A processing unit that processes the amount of deformation of the suction unit detected by the sensor and outputs the amount of deformation after processing may be further provided.

According to the above configuration, it is possible to output the deformation amount of the suction portion with higher accuracy.

A mobile suction device according to one aspect of the present disclosure includes the suction device and an automatic guided vehicle.

According to the above configuration, the suction device detects the deformation of the suction portion, and detects the gripping state of the object, such as whether or not the object is about to fall, based on the degree of deformation of the suction portion. be able to. Accordingly, it is possible to realize a moving suction device having a suction device capable of suitably controlling the suction force of the suction portion according to the state of the suction portion, the gripping state of the object, and the like.

ADVANTAGE OF THE INVENTION According to one aspect of the present invention, it is possible to realize an adsorption device capable of suitably controlling the adsorption force of an adsorption portion and related technology thereof.

FIG. 1 schematically illustrates an example of an application scene of a moving suction device according to an embodiment. FIG. 2 schematically illustrates an example of a suction section and a deformation detection section in the mobile suction device according to the embodiment. FIG. 3 schematically illustrates an example of the hardware configuration of the moving suction device according to the embodiment. FIG. 4 illustrates an example of the operation of the moving suction device according to the embodiment. FIG. 5 illustrates an example of the operation of the moving suction device according to the embodiment. FIG. 6 illustrates an example of the operation of the moving suction device according to the embodiment. It is a figure explaining the definition of the deformation amount of the adsorption|suction part used by one aspect|mode of this invention. FIG. 10 is a diagram explaining another definition of the amount of deformation of the adsorption section used in one aspect of the present invention; FIG. 9 is a flow chart showing an example of the operation of the controller 5 in the embodiment. 10A and 10B are diagrams for explaining attitude control of the suction unit according to the embodiment. FIG. FIG. 11 is a flow chart showing an example of the operation of the controller 5 in the embodiment. FIG. 12 is a flow chart showing an example of the operation of the controller 5 in the embodiment. FIG. 13 schematically illustrates an example of a hardware configuration of a moving suction device according to a modification. FIG. 14 schematically illustrates an example of a suction unit, an imaging device, and a support in a moving suction device according to a modification. FIG. 15 schematically illustrates an example of a hardware configuration of a moving suction device according to a modification. FIG. 16 schematically illustrates an example of a hardware configuration of a moving suction device according to a modification. FIG. 17 schematically illustrates an example of a hardware configuration of a suction device according to a modification. FIG. 18 is a flowchart illustrating an example of the processing flow of the adsorption device according to the modification. FIG. 19 is a schematic diagram showing an example of the processing flow of the adsorption device according to the modification.

Hereinafter, an embodiment (hereinafter also referred to as "this embodiment") according to one aspect of the present invention will be described based on the drawings.

§1 Application Examples FIG. 1 schematically illustrates an example of an application scene of the moving suction device 100 according to this embodiment. FIG. 2 schematically illustrates an example of the adsorption unit 112 and the deformation detection unit 113 in the mobile adsorption device 100 according to this embodiment. Specifically, (a) of FIG. 2 is an example of a detailed view of the adsorption unit 112 schematically illustrated in FIG. example. 2B is an example of a detailed view of the suction unit 112 schematically illustrated in FIG. 1, and schematically illustrates an example of a side view of the suction unit 112 and the deformation detection unit 113. FIG. do.

In the example of FIG. 1 , the mobile suction device 100 includes a suction device 1 and a transfer section (automatic guided vehicle) 2 . The adsorption device 1 includes a robot arm 11 , a vacuum pump 12 and a manipulator control section 13 . The transport unit 2 moves (transports) the moving suction device 100 . The transfer unit 2 includes a negative pressure control unit 21 that controls a vacuum pump that generates negative pressure (air pressure), and an automatic guided vehicle 22 . The mobile suction device 100 is not particularly limited as long as it includes a suction device 1 including a suction portion 112 that deforms under negative pressure. One example is a vacuum suction system such as a mobile robot. Moreover, the suction device 1 can be applied not only to a mobile suction device 100 such as a mobile robot, but also to a stationary suction device.

The robot arm 11 performs a gripping operation by sucking an object with negative pressure. The robot arm 11 includes a manipulator section 111 and a suction section 112 that causes the suction section 112 to suction the target to perform a gripping operation of the target. An example of the suction unit 112 is a suction pad (vacuum pad) having a suction cup. According to the robot arm 11 including the manipulator section 111 and the adsorption section 112, it is possible to preferably adsorb and grip the target object. The object may be any object as long as it is gripped by being sucked by the robot arm 11 under negative pressure, and examples thereof include workpieces.

As shown in the example of FIG. 2 , a deformation detection unit 113 that detects (detects) deformation of the adsorption unit 112 may be arranged (or attached) to the adsorption unit 112 . Further, as shown in the example of FIG. 2 , the deformation detection section 113 may include a strain sensor (strain gauge) 114 arranged on the adsorption section 112 . Examples of the strain sensor 114 include a gauge terminal for strain measurement. The deformation detection unit 113 may include one strain sensor 114, but may include a plurality (eg, three) of strain sensors 114a, 114b, and 114c as shown in the example of FIG. In this case, the deformation detection unit 113 detects deformation at a plurality of locations in the suction unit 112 (for example, at least one of the deformation amount and deformation speed (time differentiation of the deformation amount) of the suction unit 112). Thereby, the deformation of the suction portion 112 can be detected more appropriately.

Here, as shown in Patent Document 1, in the prior art, it is common to detect the adsorption state of the object using a pressure sensor, a flow meter, or the like. There is a possibility of erroneous detection. Further, as shown in Patent Document 2, there is a method in the prior art of providing a conducting wire portion to detect damage to the suction portion, but this method can only detect whether or not the suction portion is damaged. Therefore, the suction state of the suction portion cannot be detected.

In contrast, in the present embodiment, by detecting the deformation of the suction portion 112 as described above, the suction state of the suction portion 112 can be detected from the degree of deformation of the suction portion 112 . For example, it is possible to detect the gripping state of the object by the suction unit 112, such as whether or not the object is about to fall. Thereby, the negative pressure control section 21 can suitably control the adsorption force of the adsorption section 112 according to the state of the adsorption section 112, the gripping state of the object, and the like.

§2 Configuration example <Moving suction device>
Next, an example of the hardware configuration of the moving suction device 100 according to this embodiment will be described with reference to FIGS. 3(a) and 3(b).

FIG. 3 schematically illustrates an example of the hardware configuration of the moving suction device 100 according to this embodiment. In the example of FIG. 3 , the mobile suction device 100 according to this embodiment includes a suction device 1 , a transport section 2 and a battery 3 .

<Adsorption device>
The adsorption device 1 includes a robot arm 11 , a vacuum pump 12 , and a manipulator control section (movement control section) 13 .

[Robot arm]
In the example of FIG. 2 , the robot arm 11 includes a manipulator section 111 , a suction section 112 , a deformation detection section (deformation information acquisition section) 113 , and an abnormality determination section 115 .

(Manipulator part)
The manipulator section 111 is driven together with the suction section 112 of the robot arm 11 under the control of the manipulator control section 13 . The manipulator part 111 has, for example, one or more joints.

(Adsorption part)
When the suction portion (suction pad) 112 is positioned at the working position by driving the manipulator portion 111 , the suction portion (suction pad) 112 performs a gripping operation of the object by sucking the object with a negative pressure corresponding to the amount of driving of the vacuum pump 12 .

(deformation detector)
A deformation detection unit (deformation information acquisition unit) 113 detects deformation of the adsorption unit 112 by acquiring information on deformation of the adsorption unit 112 . For example, the deformation detection unit 113 acquires data indicating the strain of the suction unit 112 from the strain sensor 114 to specify the amount of deformation of the suction unit 112 and detect deformation (change in shape) of the suction unit 112. good. Thereby, the deformation of the adsorption portion 112 can be preferably detected. A specific example of the amount of deformation will be described later.

As shown in the examples of FIGS. 2 and 3, the deformation detection unit 113 acquires information about deformation at multiple locations on the adsorption unit 112 from the strain sensors 114a, 114b, and 114c. deformation may be detected. However, in the present embodiment, the deformation detection unit 113 is not particularly limited as long as it can detect deformation of the adsorption unit 112 . In the present embodiment, the deformation detection unit 113 may detect deformation of the adsorption unit 112 from one or more sensors arranged or built into the adsorption unit 112, for example. Deformation of the adsorption portion 112 can be preferably detected by arranging or incorporating the sensor in the adsorption portion 112 . When the sensor is built in the adsorption section 112, as shown in the example of FIG. The sensors built into the adsorption part 112 include, for example, strain gauge sensors, and pressure-sensitive conductive sensors made of rubber or resin containing conductive materials such as carbon nanotubes and carbon particles.

As an example, the deformation detection unit 113 may detect deformation of the adsorption unit 112 from one or more optical displacement gauges (distance sensors such as laser displacement gauges) or shape measurement sensors instead of the strain sensor 114 . For example, in the example of FIG. 2, one or more optical displacement gauges or shape measurement sensors are arranged on the adsorption section 112 in the same manner as the strain sensor 114 . In addition, as shown in the example of FIG. 2B, the optical displacement meter or the shape measurement sensor detects the light reflected by the adsorption portion 112 and measures the amount of displacement of the adsorption portion 112, so that the adsorption portion 112 deformation can be suitably detected (shape change can be measured). In particular, even when one two-dimensional shape measurement sensor is arranged on the suction section 112 , it is possible to detect deformation at a plurality of locations on the suction section 112 . As an optical displacement meter, for example, a low-cost single-distance displacement sensor or the like can be used.

As another example, the deformation detection section 113 may include a proximity sensor instead of the strain sensor 114 . For example, when the deformation detection unit 113 includes a proximity sensor, one or more proximity sensors are arranged on the adsorption unit 112 in the same manner as the strain sensor 114 shown in FIG. Further, the proximity sensor can preferably detect deformation of the suction portion 112 (measure shape change) by measuring the amount of displacement of the distance between the proximity sensor and the suction portion 112 . Proximity sensors include, for example, ultrasonic sensors, inductive proximity sensors, capacitive proximity sensors, optical proximity sensors, and the like.

Further, the deformation detection unit 113 may acquire information on the deformation amount, deformation speed, or deformation acceleration from a sensor capable of detecting deformation of the suction unit 112, such as the strain sensor 114, as the deformation information. For example, when the deformation amount is acquired, the strain sensor 114 performs processing to obtain the deformation speed or deformation acceleration from the temporal change of the deformation amount.

The deformation detection unit 113 outputs deformation data such as the deformation amount, deformation speed or deformation acceleration of the adsorption unit 112 to the abnormality determination unit 115 , the manipulator control unit 13 and the negative pressure control unit 21 .

(Abnormality determination unit)
The abnormality determination unit 115 acquires deformation data such as the amount of deformation of the adsorption unit 112 from the strain sensor 114, stops the adsorption unit 112 from adsorbing (sucking) the target object, releases the target object, and waits for a predetermined period of time. is greater than or equal to the second threshold value, it is determined that the object is stuck to the suction portion 112 . In other words, the abnormality determination unit 115 determines that the amount of deformation of the suction unit 112 after a predetermined period of time after the space between the suction unit 112 and the object is no longer in a vacuum state (after the vacuum is broken) is the second threshold value. If it is the above, it is determined that the object sticks to the adsorption unit 112 .

In this case, the abnormality determination unit 115 can issue an alert or cause the adsorption unit 112 to perform an operation of dropping the object (place operation). As a result, it is possible to prevent a placement failure due to the object sticking to the suction unit 112 and not being released after the vacuum is broken.

〔Vacuum pump〕
The vacuum pump 12 generates a negative pressure according to the amount of driving, and provides the suction portion 112 with the negative pressure. Here, an example in which the adsorption device 1 in the moving adsorption device 100 is provided with the vacuum pump 12 is described. However, in this embodiment, the adsorption device 1 in the moving adsorption device 100 does not have the vacuum pump 12 , and for example, the vacuum pump 12 may be provided outside the adsorption device 1 and the moving adsorption device 100 . Also in this case, the negative pressure control unit 21 controls the amount of driving of the vacuum pump 12, and the same effect as the above example can be obtained.

[Manipulator control part]
A manipulator control unit (also referred to as a movement control unit or an operation control unit) 13 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), or the like, and performs control according to information processing. Also, the manipulator control section 13 controls the manipulator section 111 in the robot arm 11 based on the manipulator control signal output from the negative pressure control section 21 . Thereby, the manipulator control unit 13 moves the adsorption unit 112 via the manipulator unit 111 . Specifically, the manipulator control unit 13 drives the manipulator unit 111 so that the adsorption unit 112 of the robot arm 11 is positioned at a work position where the object can be adsorbed. Further, the manipulator control unit 13 may operate the manipulator unit 111 so that the angle of the adsorption unit 112 with respect to the object becomes a predetermined angle after the adsorption unit 112 is positioned at the working position. Thereby, the position of the adsorption part 112 can be finely adjusted to a more suitable position. Further, the manipulator control unit 13 moves the adsorption unit 112 of the robot arm 11 to a predetermined box (not shown) installed on the upper part of the manipulator control unit 13 after the adsorption unit 112 has adsorbed the target object. The manipulator unit 111 is driven so as to position.

Further, the manipulator control unit 13 may determine the direction in which the suction unit 112 is moved to re-suck the object based on the deformation amounts of the plurality of locations in the suction unit 112 .

Here, in the picking operation (suction operation) of the target object by the suction unit 112, the moving suction device 100 separates the target object from the moving suction device 100 in order to prevent variations in the stop position after the moving suction device 100 travels. are measured by 2D vision, 3D vision, or the like, and the adsorption unit 112 picks up the object. In this case, a measurement error in the positional relationship between the object and the moving suction device 100 may cause an error in picking the object by the suction unit 112 .

On the other hand, according to the above-described configuration, even when the adsorption unit 112 is not in close contact with the object, the adsorption unit 112 can be moved in the direction of re-adsorbing the object. As a result, it is possible to prevent an object from being picked incorrectly by the suction unit 112 .

Further, when the amount of deformation at the first location among the plurality of locations of the suction unit 112 is greater than the amount of deformation at the second location, the manipulator control unit 13 moves from the second location to the first location in order to suck the object again. You may move the adsorption|suction part 112 to (opposite to the arrangement position of the sensor with small deformation amount). As a result, it is possible to suitably prevent the displacement of the suction position of the suction portion 112 . As a result, picking errors of the target object by the adsorption unit 112 can be more preferably prevented.

Moreover, the manipulator control unit 13 may further include a contact point identification unit 131 . The contact point identification unit 131 identifies the contact point of the suction unit 112 with the object based on the deformation of the suction unit 112 (deformation amount, deformation speed, or deformation acceleration). Further, the contact point specifying unit 131 determines the contact point with the placement target surface of the object based on the deformation (deformation amount, deformation speed, or deformation acceleration) of the suction unit 112 while the suction unit 112 is sucking the object. Identify contact points. According to the above-described configuration, even if there is a measurement error in the position and orientation relationship between the object and the moving suction device 100, the contact point specified by the contact point specifying unit 131 is used as the fulcrum to move the suction unit ( The manipulator control unit 13 causes the manipulator unit 111 to tilt the posture of the suction pad 112, whereby measurement errors can be absorbed. As a result, picking errors of the target object by the adsorption unit 112 can be more preferably prevented. Details will be described later.

[Conveyor]
The transport section (automatic guided vehicle) 2 includes a negative pressure control section (control signal output section) 21 and an automated guided vehicle 22 .

(negative pressure controller)
The negative pressure control unit 21 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), or the like, and performs control according to information processing. The negative pressure control unit 21 is configured by, for example, a PLC (Programmable Logic Controller) or a microcomputer. The negative pressure control unit 21 generates negative pressure based on output signals received from the one or more strain sensors 114 in the deformation detection unit 113 and transportation state signals received from the transportation control unit 221 in the automatic guided vehicle 22. Control the vacuum pump 12 .

The negative pressure control unit 21 may increase the adsorption force when the amount of deformation of the adsorption unit 112 decreases and falls below the first threshold value after the object is adsorbed. As a result, the adsorption force of the adsorption section 112 can be increased from the current state only when the adsorption section 112 is about to drop the object due to the degree of deformation of the adsorption section 112 . As a result, it is possible to prevent the object from falling while saving energy (power saving) of the moving adsorption device 100 . Further, the adsorption force of the adsorption section 112 can be preferably controlled according to the state of the adsorption section 112, the gripping state of the target object, and the like.

The negative pressure control unit 21 controls on/off of the vacuum pump 12 based on the signal from the manipulator control unit 13 . For example, when picking an object, the negative pressure control unit 21 turns on the vacuum pump 12 when it is determined from the deformation of the adsorption unit 112 that the adsorption unit 112 has sufficiently pushed the object. Further, when the object is placed on the table, if the manipulator control unit 13 determines that the entire bottom surface of the object is in contact with the placement target surface of the table, the negative pressure control unit 21 causes the vacuum pump 12 turn off.

The negative pressure control unit 21 also outputs a manipulator control signal for controlling the manipulator unit 111 to the manipulator control unit 13 .

The negative pressure control section 21 may also include an analog signal output section 211 that outputs an analog signal as a control signal for the vacuum pump 12 . The analog signal output unit 211 may perform control to monotonically increase or monotonically decrease the analog signal. As a result, the driving amount of the vacuum pump 12 can be changed in a sloped manner, so that the rush current can be reduced. Moreover, power consumption can be reduced and control can be stabilized.

(automated guided vehicle)
In the example of FIG. 3 , the automatic guided vehicle 22 has a conveyance control section 221 . The transportation control unit 221 controls the movement (transportation) of the mobile suction device 100 by controlling the transportation of the automatic guided vehicle 22 . For example, the transport control unit 221 moves the mobile suction device 100 to a working position where the robot arm 11 can grip the object. Further, the transport control unit 221 does not move the movable suction device 100 when the movable suction device 100 is already positioned at the work position. The automatic guided vehicle 22 also transmits a conveying state signal, which is a signal indicating the conveying state of the automatic guided vehicle 22 , to the negative pressure control section 21 .

〔battery〕
The battery 3 controls each part of the mobile adsorption device 100 by supplying electric power to each part of the mobile adsorption device 100 , that is, the adsorption device 1 and the transfer part 2 .

In the above example, the mobile adsorption device 100 is configured to be operated by the battery 3, but the present embodiment is not limited to this. In this embodiment, the mobile adsorption device 100 may be configured such that power is supplied from the outside of the mobile adsorption device 100 through a power cord.

〔controller〕
As described above, the controller 5 includes the deformation detection unit 113 that detects deformation of the suction unit 112 by acquiring information on the deformation of the suction unit 112, and the movement of the suction unit 112 in accordance with the deformation of the suction unit 112. and a manipulator control unit 13 for controlling. In other words, the manipulator control unit 13 changes the movement (moving direction, speed and/or inclination) of the adsorption unit 112 according to the deformation of the adsorption unit 112 .
The controller 5 further includes a target object information acquisition unit 14 that acquires information on the target object, and a placement information acquisition unit 15 on the table on which the target object is placed.
Note that the controller 5 may be provided in the moving suction device 100 itself, or may be provided separately from the moving suction device 100 . For example, the controller 5 may be configured to communicate with the mobile adsorption device 100 and transmit a control signal for controlling the mobile adsorption device 100 to the mobile adsorption device 100 .

§3 Operation Example Next, an operation example of the moving suction device 100 will be described with reference to FIGS. The operation procedure described below is merely an example, and each operation may be changed as much as possible. Further, the operation procedures described below can be appropriately omitted, replaced, or added according to the embodiment.

<3.1>
FIG. 4 illustrates an example of the operation of the moving suction device 100. FIG. More specifically, (a) of FIG. 4 illustrates a graph of the adsorption force of the adsorption portion 112 with respect to time. Moreover, (b) of FIG. 4 exemplifies a graph of the amount of deformation (amount of strain) a, b, and c of the adsorption portion 112 with respect to time.

Here, time (periods) refers to a first period I, a second period II, a third period III and a fourth period IV. The attraction forces refer to the first attraction force A and the second attraction force B. As shown in FIG. The deformation amounts a, b, and c of the suction portion 112 are the deformation amounts of the suction portion 112 detected by the strain sensors 114a, 114b, and 114c, respectively.

First, in the first period I, the manipulator control unit 13 in the moving suction device 100 moves the suction unit 112 together with the manipulator unit 111 to bring the suction unit 112 into close contact with (press) the object. The adsorption part 112 is deformed by bringing the adsorption part 112 into close contact with the object. In the example of FIG. 4B, the deformation amounts a, b, and c of the suction portion 112 detected by the strain sensors 114a, 114b, and 114c, respectively, in the first period I change from the first deformation amount X to the first It rises to the deformation amount Y of 2. Here, when the deformation amounts a, b, and c increase from the first deformation amount X to the second deformation amount Y, the suction unit 112 starts to suction the object. The adsorption force of the adsorption portion 112 and the deformation amounts a, b, and c shown in FIG.

Next, in the example of (a) of FIG. 4, the adsorption unit 112 adsorbs the object with the adsorption force A in the second period II. In the example of FIG. 4B, while the adsorption unit 112 is adsorbing the object with the first adsorption force A in the second period II, the deformation amounts a, b, and c of the adsorption unit 112 are The deformation amount Y of 2 remains constant.

Next, in the example of (a) of FIG. 4 , the manipulator control unit 13 controls the manipulator unit 111 and the adsorption unit 112 while the adsorption force of the adsorption unit 112 remains the adsorption force A in the third period III. Move and pick up objects. In the example of (b) of FIG. 4 , since the object is heavy, during the third period III, while the manipulator control unit 13 moves the attraction unit 112 to lift the object, the amount of deformation of the attraction unit 112 is a, b and c decrease from the second deformation amount Y to the third deformation amount Z; Here, the negative pressure control unit 21 in the moving suction device 100 controls the suction force of the suction unit 112 when the deformation amounts a, b, and c of the suction unit 112 decrease and fall below the first threshold value α after the object is suctioned. to increase Here, the negative pressure control unit 21 sets the first threshold α to the third deformation amount Z, but the present embodiment is not limited to this. In this embodiment, the negative pressure control unit 21 can set, for example, the amount of deformation of the suction unit 112 before the object falls to the first threshold value α by a predetermined learning function such as machine learning.

Next, in the example of (a) of FIG. 4, the negative pressure control unit 21 increases the adsorption force of the adsorption unit 112 from the first adsorption force A to the second adsorption force B in the fourth period IV. . As a result, in the example of FIG. 4B, the deformation amounts a, b, and c of the suction portion 112 respectively detected by the strain sensors 114a, 114b, and 114c in the fourth period IV are the third deformation amounts It rises from Z to the second deformation amount Y.

In this way, when the amount of deformation of the adsorption section 112 decreases and falls below the first threshold value α, the negative pressure control section 21 increases the adsorption force. It is possible to increase the adsorption force of the adsorption portion 112 more than the current situation only when the user is about to drop the object. As a result, it is possible to prevent the object from falling while saving energy (power saving) of the moving adsorption device 100 . Further, the adsorption force of the adsorption section 112 can be preferably controlled according to the state of the adsorption section 112, the gripping state of the target object, and the like.
In addition, when the representative value (average value, minimum value, maximum value, intermediate value, etc.) of the plurality of deformation amounts a, b, and c falls below the first threshold value α, the negative pressure control unit 21 causes the suction unit 112 to suck You can increase the force. For example, the negative pressure control unit 21 may increase the adsorption force of the adsorption unit 112 when at least one of the deformation amounts a, b, and c is below the first threshold α.

<3.2>
FIG. 5 illustrates an example of the operation of the moving suction device 100. FIG. More specifically, (a) of FIG. 5 illustrates an example of graphs of deformation amounts (distortion amounts) a, b, and c of the adsorption portion 112 with respect to time. Moreover, FIG. 5B illustrates another example of graphs of the deformation amounts a, b, and c of the adsorption portion 112 with respect to time.

Here, time (periods) refers to a first period I and a second period II. The deformation amounts a, b, and c of the suction portion 112 are the deformation amounts of the suction portion 112 detected by the strain sensors 114a, 114b, and 114c, respectively, and refer to the first deformation amount X and the second deformation amount Y. point to

In the example of (a) of FIG. 5, the deformation amounts a, b, and c of the adsorption portion 112 are the first period I before the adsorption portion 112 comes into close contact with the object, and the second period I after coming into close contact with the object. It is about the same in both periods (timings) of II. Therefore, in the example of (a) of FIG. 5, the adsorption portion 112 is in a state of being in uniform contact with the object.

On the other hand, in the example of FIG. 5B, the deformation amount b of the suction portion 112 detected by the strain sensor 114b is the difference between the deformation amounts a and c of the suction portion 112 and the first period I and the second period II. different in both periods. From this, it can be seen that in the example of FIG. 5B, the suction portion 112 is not in close contact with the object, and the suction position of the suction portion 112 is shifted from the center.

In this case, the manipulator control unit 13 in the moving adsorption device 100 determines the direction in which the adsorption unit 112 is moved to re-adsorb the object based on the deformation amounts a, b, and c of the adsorption unit 112 at a plurality of locations. may Specifically, when the distribution width (maximum value - minimum value, difference between any two deformation amounts, variance, etc.) of the plurality of deformation amounts a, b, and c is larger than the third threshold, the manipulator control unit 13 , the adsorption unit 112 is moved in the direction in which the object is re-adsorbed. Further, when the minimum value among the plurality of deformation amounts a, b, and c is less than the fourth threshold value, the manipulator control unit 13 may move the suction unit 112 in the direction of re-suctioning the object. As a result, even when the adsorption unit 112 is not in close contact with the object, the adsorption unit 112 can be moved in the direction of re-adsorbing the object. As a result, it is possible to prevent an object from being picked incorrectly by the suction unit 112 .

In the example of FIG. 5B, the deformation amounts a and c of the suction portion 112 detected by the strain sensors 114a and 114c are larger than the deformation amount b of the suction portion 112 detected by the strain sensor 114b. Therefore, the manipulator control unit 13 may decide to move the adsorption unit 112 toward the strain sensors 114a and 114c from the location corresponding to the strain sensor 114b in order to adsorb the object again. For example, the manipulator control unit 13 may determine to move the suction unit 112 in a direction toward the center of the suction unit 112 from the location corresponding to the strain sensor 114b with the smallest amount of deformation. The manipulator control unit 13 may estimate a portion on the circumference of the suction unit 112 with the smallest deformation distortion from the amounts of deformation of the suction unit 112 at three or more locations. For example, when a plurality of strain sensors 114a, 114b, and 114c are evenly arranged on the circumference, if deformation amount a>deformation amount b=deformation amount c, the strain sensor 114b when viewed from the center of the adsorption portion 112 and the strain sensor 114c is the least strained. The manipulator control unit 13 may determine to move the suction unit 112 in the direction from the location where the amount of deformation is the smallest in the suction unit 112 toward the center of the suction unit 112 . As a result, it is possible to more preferably prevent the suction position of the suction portion 112 from shifting. As a result, picking errors of the target object by the adsorption unit 112 can be more preferably prevented.

In the above example, the deformation detection unit 113 includes a plurality of sensors, but the present embodiment is not limited to this. For example, even if the deformation detection unit 113 includes only one sensor, if the amount of deformation of the adsorption unit 112 at a plurality of locations can be detected, it is possible to determine whether the adsorption unit 112 is in close contact with the object as in the above example. It is possible to determine whether Further, even if the deformation detection unit 113 does not detect the deformation amounts of the suction unit 112 at a plurality of locations, the deformation amount of the suction unit 112 changes when the first period I transitions to the second period II. It is sufficient to detect whether or not For example, as shown in (b) of FIG. 5, by detecting that the amount of deformation of the adsorption unit 112 does not change when transitioning from the first period I to the second period II, the adsorption unit 112 is not in close contact with the object, and it can be detected that the adsorption position of the adsorption portion 112 is shifted.

<3.3>
FIG. 6 illustrates an example of the operation of the moving suction device 100. FIG. More specifically, (a) of FIG. 6 illustrates a graph of deformation amounts (distortion amounts) a, b, and c of the adsorption portion 112 with respect to time.

Here time (periods) refers to the fourth period IV and the fifth period V of dropping (placement) the object. The deformation amounts a, b, and c of the suction portion 112 are the deformation amounts of the suction portion 112 detected by the strain sensors 114a, 114b, and 114c, respectively, and refer to the first deformation amount X and the second deformation amount Y. point to

In the example of (a) of FIG. 6, the deformation amounts a, b, and c of the adsorption portion 112 break vacuum (stop adsorption) at time T, and shift from the fourth period IV to the fifth period V. After a predetermined period of time, the amount of deformation of the suction portion 112 is equal to or less than the second threshold value β. Therefore, the abnormality determination unit 115 in the moving adsorption device 100 determines that the object is not stuck to the adsorption unit 112 (the object is separated from the adsorption unit 112). Therefore, in the example of FIG. 6A, the moving suction device 100 has successfully completed placing the object.

On the other hand, in the example of (b) of FIG. 6, the deformation amounts a, b, and c of the adsorption portion 112 are predetermined after breaking the vacuum at time T and shifting from the fourth period IV to the fifth period V. The amount of deformation of the suction portion 112 after the period is greater than or equal to the second threshold value β. Therefore, the abnormality determination unit 115 in the moving adsorption device 100 determines that the object is stuck to the adsorption unit 112 . In this case, the abnormality determination unit 115 can issue an alert or move the suction unit 112 to drop the object (place operation). As a result, it is possible to prevent a placement failure due to the object sticking to the suction unit 112 and not being released after the vacuum is broken.

<3.4>
Various operation examples of the controller 5 according to the present invention will be described below.

Before describing a specific operation example, the definition of the amount of deformation of the suction portion (suction pad) 112 will be described.

(Definition of Deformation Amount of Adsorption Part 112)
Next, the definition of the amount of deformation of the suction portion (suction pad) 112 will be described with reference to FIGS. 7 and 8. FIG.

FIG. 7 is a diagram explaining the definition of the amount of deformation of the adsorption section 112 used in one aspect of the present invention. First, definition 1 of the amount of deformation of the adsorption portion 112 will be described with reference to FIG.

As described above, the attracting portion 112 has a substantially conical shape, and has a substantially conical shape in which the lower surface (attracting surface) Q is open. Here, a plane including the circular end portion that contacts the target object in the adsorption portion 112 is called an adsorption surface. Here, the X-axis and Y-axis are taken in two mutually orthogonal directions parallel to the adsorption surface of the adsorption part 112 that is not deformed, and the Z-axis is taken in the direction normal to the adsorption surface of the adsorption part 112 that is not deformed. In definition 1 of the amount of deformation of the adsorption portion 112, the inclination of the adsorption surface of the adsorption portion 112 is represented by the amount of rotation Mx about the X axis and the amount of rotation My about the Y axis. In definition 1, Mx, My, and the pushing amount Z in the Z-axis direction represent the amount of deformation of the adsorption portion 112 .

FIG. 8 is a diagram explaining the definition of the amount of deformation of the adsorption section 112 used in one aspect of the present invention. Next, definition 2 of the amount of deformation of the adsorption portion 112 will be described with reference to FIG.

Let R be a vector connecting the center of the attracting surface of the attracting portion 112 that is not deformed and the center of the attracting surface when deformed. Also, let N be the unit normal vector of the attraction surface at the time of deformation. In definition 2, the projection of vector N onto the X axis is ex, the projection of vector N onto the Y axis is ey, and the projection of vector R onto the Z axis is ez. In other words, in definition 2, the X-axis component of vector N is ex, the Y-axis component of vector N is ey, and the Z-axis component of vector R is ez. In Definition 2, the amount of deformation of the suction portion 112 is represented by {ex, ey, ez}.

With regard to the amount of deformation of the suction portion 112, the same amount of information can be obtained by definition 1 and definition 2, but definition 2 will be used in the following description.

9 and 10, operations such as picking and placing of the work W by the mobile suction device 100 equipped with the controller 5 will be described below.
FIG. 9 is a flow chart showing an example of the operation of the controller 5 in the embodiment. First, with reference to FIG. 9, an operation example in which the adsorption unit 112 adsorbs and picks the workpiece W will be described.

(Step S10)
First, in step S10, the manipulator control unit (operation control unit) 13 moves the adsorption unit 112 closer to the workpiece W by lowering the adsorption unit 112 in the vertical direction.

(Step S12)
Next, in step S<b>12 , the manipulator control unit 13 determines whether or not at least part of the suction unit 112 has come into contact with the workpiece W. Here, when the suction unit 112 contacts the workpiece W, the suction unit 112 is tilted in the XY directions, and the tilt amount of the suction unit 112 represented by the absolute value of the vector (ex, ey) exceeds the threshold value ε1. Alternatively, since the pushing amount ez in the Z-axis direction exceeds the threshold ε2, the following formula holds.
|(ex, ey)|>ε1 or ez>ε2
Therefore, more specifically, in this step, the manipulator control unit 13 determines that the suction unit 112 has come into contact with the workpiece W when the above equation is satisfied, and otherwise, the suction unit 112 It is determined that the workpiece W is not in contact.

When the manipulator control unit 13 determines that the suction unit 112 has come into contact with the workpiece W (YES in step S12), the process proceeds to step S14.

When the manipulator control unit 13 does not determine that the suction unit 112 has come into contact with the work W (NO in step S12), the process returns to step S10 and continues the approach of the suction unit 112 to the work W.

(Step S14)
Next, in step S14, the manipulator control unit 13 determines whether or not the suction unit (suction pad) 112 and the workpiece W are in contact with each other as a whole. Here, when the adsorption portion 112 contacts the workpiece W as a whole, the inclination of the adsorption portion 112 is eliminated, so the following formula holds.
|(ex, ey)|<ε1
Therefore, in this step, the manipulator control unit 13 determines that the entire suction surface of the suction unit 112 is in contact with the workpiece W if the above expression is satisfied. It is determined that the entire surface is not in contact with the work W.

When the manipulator control unit 13 determines that the entire chucking surface of the chucking unit 112 and the workpiece W are in contact with each other (YES in step S14), control of the inclination of the chucking unit 112 is completed, and control of the pushing amount described later is performed. transition to

If the manipulator control unit 13 does not determine that the entire chucking surface of the chucking unit 112 and the work W are in contact (NO in step S14), the process proceeds to step S16.

(Step S16)
In step S<b>16 , the contact point identification unit 131 identifies the position of the contact point C between the suction unit 112 and the workpiece W based on the deformation of the suction unit 112 .
10A and 10B are diagrams illustrating attitude control of the suction unit 112 according to the embodiment. 10A is a side view of the adsorption section 112, and FIG. 10B is a top view of the adsorption section 112. FIG. Here, with reference to FIG. 10, the process of specifying the position of the contact point C between the suction unit 112 and the workpiece W performed by the contact point specifying unit 131 will be described. Assuming that the angle formed by the projection of the inclination (vector N) of the suction portion 112 onto the XY plane and the X axis is θ, θ can be obtained from the following equation.
θ = arctan (ey/ex)
The contact point identification unit 131 identifies the contact point C between the suction unit 112 and the workpiece W from θ.

After the contact point is identified, the process proceeds to step S18.

(Step S18)
In step S18, the manipulator control unit 13 changes the inclination of the suction unit 112 while maintaining the contact between the suction unit 112 and the workpiece W at the specified contact point C. FIG. In other words, the inclination of the adsorption portion 112 is changed so as to decrease the angle formed by the adsorption surface of the adsorption portion 112 and the surface of the workpiece W to be adsorbed. Here, the manipulator control unit 13 performs the following processing to change the inclination of the adsorption unit 112 while maintaining the contact at the contact point so that the adsorption surface of the manipulator unit 111 is aligned with the adsorption surface of the workpiece W. Find the operation command of
The adsorption unit 112 is detachable from the robot arm. The manipulator control unit 13 sets the command velocity (Pv) and the command angular velocity (φω) for controlling the position and angle (orientation) of the transfer hand, which is the base of the suction unit 112, to a combination of the following two command values (simple sum). The command angular velocity (φω) is the rate of change of the angle of the transfer end.
1. In order to maintain the contact between the suction unit 112 and the workpiece W at the contact point C, the command speed Pv (more specifically, the command speed vector)
Pv＝(Pvr−Gv・ez)h
Here, Pvr is the target velocity of the suction unit 112, Gv is a constant gain, ez is the Z-axis component of the normal vector R representing the inclination of the suction unit 112, and h is the directional vector of the hand posture (φ). Also, "·" represents a product.
2. Command velocity (Pv) and command angular velocity (φω) for rotating the adsorption unit 112 with the contact point C as a fulcrum
Let {Pe, φe} be the position and orientation of the contact point with the extended hand as the contact point. Since ex and ey are very small in step S18, φe=φ. {Pe, φe} is expressed as follows using the pad installation position offset (Po), pad radius (Pr), θ obtained in step S16, and the original hand position and orientation {P, φ} in FIG. .
{Pe, φe}=FK({P, φ}, {P ₀ , Pr, θ})

Here, Pe is the center of rotation, _P0 is the offset of the installation position of the adsorption section (suction pad) (the distance between the center of the adsorption surface of the adsorption section 112 and the hand position of the transfer machine), and Pr is the radius of the adsorption section 112 . Also, FK is a kinematic function for obtaining {Pe, Φe} from {P, Φ}. An inverse kinematics function IK corresponding to FK exists and shall be written as follows.
{P, φ}=IK({Pe, φe}, {P ₀ , Pr, θ})

Let {Pev, φev} be a command to give rotation on a plane passing through Pe and the central axis of the adsorption unit 112 with Pe as the center of rotation. to determine {Pv, φω}. This set is defined as command velocity and command angular velocity.

As described above, the manipulator control unit 13 changes the inclination of the adsorption unit 112 according to the obtained command speed. After that, the process proceeds to step S20.

(Step S20)
In step S20, the manipulator control unit 13 determines whether or not the suction unit 112 and the workpiece W are in contact with each other as a whole. More specifically, the manipulator control unit 13 makes the determination by the same processing as in step S14 described above. When the manipulator control unit 13 determines that the entire suction surface of the suction unit 112 and the workpiece W are in contact with each other (YES in step S20), tilt control of the suction unit 112 is completed, and control of the pushing amount is started. If the manipulator control unit 13 does not determine that the entire chucking surface of the chucking unit 112 and the workpiece W are in contact (NO in step S20), the process returns to step S18 to continue controlling the tilt of the chucking unit 112.

According to the above operation example, the manipulator control unit 13 identifies the position of the contact point C and the inclination of the suction unit 112 after the suction unit 112 contacts the workpiece W, and maintains the contact at the contact point C. , the inclination of the suction part 112 is changed so that the suction part 112 is brought into close contact with the surface of the workpiece W to be sucked. Therefore, the posture of the suction unit 112 can be accurately corrected, and the workpiece W can be reliably picked.

<3.5>
FIG. 11 is a flow chart showing an example of the operation of the controller 5 in the embodiment. Next, with reference to FIG. 11, an operation example in which the suction unit 112 pushes the workpiece W before the object is suctioned or placed will be described.

(Step S110)
First, in step S110, the manipulator control unit 13 moves the suction unit 112 closer to the workpiece W by lowering the suction unit 112 in the vertical direction.

(Step S112)
Next, in step S<b>112 , the manipulator control unit 13 determines whether or not the suction unit 112 has come into contact with the workpiece W based on the amount of deformation of the suction unit 112 .

When the manipulator control unit 13 determines that the suction unit 112 has come into contact with the workpiece W from the amount of deformation of the suction unit 112 (YES in step S112), the process proceeds to step S114. When the manipulator control unit 13 does not determine that part of the suction unit 112 has come into contact with the work W (NO in step S112), the process returns to step S110 to continue the approach of the suction unit 112 to the work W.

(Step S114)
Next, in step S<b>114 , the manipulator control unit 13 continues pushing the suction unit 112 into the workpiece W. In this case, the manipulator control section 13 may change the speed of the adsorption section 112 according to the deformation of the adsorption section 112 . For example, the manipulator control unit 13 may reduce the speed at which the adsorption unit 112 approaches the workpiece W when the amount of deformation (push amount ez) of the adsorption unit 112 exceeds the first threshold. That is, the manipulator control unit 13 may reduce the speed of the suction unit 112 in step S114 from the speed of the suction unit 112 in step S110. After that, the process proceeds to step S116.

(Step S116)
In step S116, the manipulator control unit 13 determines whether or not the suction unit 112 has been pushed into the workpiece W. In this step, the manipulator control unit 13 determines that the pushing amount is sufficient when the following equation holds, where ε2 is the threshold value of the pushing amount ez of the suction unit 112 into the workpiece W; It is not determined that the pushing amount is sufficient.
ez>ε2
When the manipulator control unit 13 determines that the suction unit 112 has been pushed into the workpiece W (YES in step S116), the manipulator control unit 13 stops the movement of the suction unit 112. At this time, for example, the manipulator control unit 13 may stop the operation of bringing the suction unit 112 closer to the workpiece W when the amount of deformation of the suction unit 112 exceeds a second threshold that is larger than the first threshold.

When the pressing control is finished in this manner, the manipulator control unit 13 turns on the vacuum pump 12 to start sucking the object. If the deformation detection unit (deformation information acquisition unit) 113 does not determine that the pressing of the suction unit 112 into the workpiece W is completed (NO in step S116), the process returns to step S114 to continue pressing.

According to the above operation example, the deformation detection unit 113 determines whether to continue or stop the pressing while observing the amount of pressing of the suction unit 112 into the workpiece W based on the amount of deformation of the suction unit 112 . Therefore, since the pushing amount ez of the suction part 112 into the work W can be kept within a certain range, the work W can be pushed appropriately when picking the work W or when placing the work W. can.

<3.6>
Next, with reference to FIG. 12, an operation example when the suction unit 112 holding the work W places the work W on the table will be described. FIG. 12 is a flow chart showing an example of the operation of the controller 5 in the embodiment.

(Step S210)
First, in step S210, the manipulator control unit 13 moves the suction unit 112 (the workpiece W) closer to the table by lowering the suction unit 112 in the vertical direction.

(Step S212)
Next, in step S212, the manipulator control unit 13 determines whether or not a part of the work W gripped by the suction unit 112 has come into contact with the table at the contact point C. Here, the manipulator control unit 13 basically performs the same processing as the processing in step S12 in <operation example 1> described above. However, due to the suction and the weight of the work W, the deformation amount {ex0, ey0, ez0} of the adsorption part 112 before the work W contacts the table is not zero. The manipulator control unit 13 records the amount of deformation {ex0, ey0, ez0} before the workpiece W contacts the table. When the following formula holds, the manipulator control unit 13 determines that the work W gripped by the suction unit 112 has come into contact with the table; otherwise, the work W has not come into contact with the table. judge not.
|(ex-ex0, ey-ey0)|>ε4 or |ez-ez0|>ε5
When the manipulator control unit 13 determines that part of the workpiece W (non-attracted surface) has come into contact with the table (YES in step S212), the process proceeds to step S214. If the manipulator control unit 13 does not determine that part of the workpiece W has come into contact with the table at the contact point C (NO in step S212), the process returns to step S210 to continue the approach of the workpiece W to the table. .

(Step S214)
Next, in step S214, the manipulator control unit 13 determines whether or not the entire lower surface of the work W and the table are in contact. Here, when the entire lower surface of the work W comes into contact with the table, the inclination of the adsorption portion 112 and the work W is eliminated, so the following formula holds.
|(ex−ex0, ey−ey0)|<ε4
Therefore, the manipulator control unit 13 determines that the entire lower surface of the work W is in contact with the table when the above equation is established, and otherwise the lower surface of the work W is not in contact with the table as a whole. judge not.

When the manipulator control unit 13 determines that the entire lower surface of the workpiece W and the table are in contact with each other (YES in step S214), the manipulator control unit 13 completes the tilt control of the adsorption unit 112, Move to volume control. If the manipulator control unit 13 does not determine that the work W and the table have come into contact with each other as a whole (NO in step S14), the process proceeds to step S216.

(Step S216)
In step S<b>216 , the contact point identifying unit 131 identifies the position of the contact point C between the workpiece W and the placement target surface of the table based on the deformation of the suction unit 112 . Here, the deformation detection unit 113 performs basically the same processing as in step S16 of <operation example 1>. However, the recorded offset {ex0, ey0, ez0} is used to calculate as follows.
θ = arctan ((ey−ey0)/(ex−ex0))
When the contact point C of the work W with the placement target surface of the table is specified by the above process, the process proceeds to step S218.
(Step S218)
In step S218, the manipulator control unit 13 changes the inclination of the adsorption unit 112 while maintaining contact between the workpiece W and the arrangement target surface of the table at the specified contact point (contact side). At this time, the inclination of the adsorption part 112 is changed so as to reduce the angle formed between the surface of the workpiece W being adsorbed, which is not the surface to be adsorbed, and the arrangement target surface of the table.
Here, the manipulator control unit 13 basically performs the same processing as in step S18 in <operation example 1> described above, and while maintaining contact at the contact point, changes the inclination of the workpiece W so that the suction unit 112 Find the command speed when the adsorption surface of is aligned with the surface of the table.

However, the manipulator control unit 13 uses the recorded offsets {ex0, ey0, ez0} to perform calculations by replacing symbols as follows.
・ez → ez - ez0
・{Pe, φe}: contact point between suction unit 112 and work W→contact point between work W and table ・{FK ({P, φ}, {P ₀ , Pr, θ}) → {FK ({ P, φ}, {P ₀ +Wh/2, Pr+Wl/2, θ})
Here, Wh is the height of the work W, Wl is the length of the work W, and FK is the same kinematic function as FK in step S18 in <operation example 1>.

therefore,
{P, φ}=IK({Pe, φe}, {P ₀ , Pr, θ})→
{P, φ}=IK({Pe, φe}, {P ₀ +Wh/2, Pr+Wl/2, θ})
IK above is also the same kinematic function as IK in step S18 in <operation example 1>.

Through the above processing, the manipulator control unit 13 changes the inclination of the suction unit 112 according to the obtained command speed. After that, the process proceeds to step S220.

(Step S220)
Next, in step 220, the manipulator control unit 13 determines whether or not the surface of the workpiece W, which is not the surface to be attracted, and the placement target surface of the table have come into contact with each other as a whole. Here, the manipulator control unit 13 performs the same processing as in step S214 described above.

When the manipulator control unit 13 determines that the entire surface of the workpiece W, which is not the surface to be adsorbed, and the placement target surface of the table (YES in step S220), the manipulator control unit 13 completes tilt control of the adsorption unit 112. to stop the adsorption and release the workpiece. When the manipulator control unit 13 does not determine that the entire surface of the work W, which is not the surface to be attracted, and the placement target surface of the table are in contact (NO in step S220), the manipulator control unit 13 returns to step S218. , continue tilt control.

According to the above operation example, the manipulator control unit 13 specifies the position of the contact point C and the inclination of the adsorption unit 112 after the surface of the workpiece W, which is not the surface to be adsorbed, and the placement target surface of the table come into contact with each other. While maintaining the contact at the point C, the inclination of the adsorption part 112 is changed so that the surface of the workpiece W, which is not the surface to be adsorbed, contacts the arrangement target surface of the table as a whole. Therefore, the posture of the suction unit 112 can be accurately corrected, and the workpiece W can be placed at an accurate position. In addition, it is possible to prevent the separated work W from being subjected to an impact or falling down.

§4 Modifications Although the embodiments of the present invention have been described in detail, the above description is merely an example of the present invention in every respect. It goes without saying that various modifications and variations can be made without departing from the scope of the invention. For example, the following changes are possible. For convenience of explanation, the same reference numerals are used for the same members as in the above-described embodiment, and the description of the same points as in the above-described embodiment will be omitted as appropriate. The following modified examples can be combined as appropriate.

<4.1>
<Moving suction device>
An example of the hardware configuration of the moving suction device 200 according to the modification will be described below with reference to FIGS. 13 and 12. FIG.

FIG. 13 schematically illustrates an example of a hardware configuration of a moving suction device 200 according to a modification. FIG. 14 schematically illustrates an example of the adsorption section 116, the imaging device 121, and the support 126 in the moving adsorption device 200 according to the modification. Specifically, (a) of FIG. 14 schematically illustrates an example of a side view of the adsorption section 116 , the imaging device 121 and the support 126 . 14B schematically illustrates an example of a top view of the adsorption section 116, the imaging device 121, and the support 126. FIG.

In the example of FIG. 13 , the moving suction device 200 includes a suction device 10 instead of the suction device 1 . Except for this point, the moving suction device 200 has the same configuration as the moving suction device 100 .

<Adsorption device>
In the example of FIG. 13 , the adsorption device 10 has a robot arm 110 instead of the robot arm 11 . Except for this point, the adsorption device 10 has the same configuration as the adsorption device 1 .

[Robot arm]
In the example of FIG. 13 , the robot arm 110 includes a suction section 116 , a deformation detection section 119 and a manipulator section 125 instead of the suction section 112 , the deformation detection section 113 and the manipulator section 111 . Except for this point, the robot arm 110 has the same configuration as the robot arm 11 .

(Adsorption part)
As shown in the examples of FIGS. 13 and 12, the adsorption section 116 includes a fixed section 117 that is fixed to the support 126 of the manipulator section 125 and a variable section 118 that is deformed by negative pressure. Further, as shown in the example of FIG. 14 , the suction portion 116 has a plurality of mutually spaced portions (for example, portions on the sides of a truncated cone) of the variable portion 118 whose position relative to the fixed portion 117 changes according to deformation. , an optically identifiable pattern 127 is formed. As described above, since the optically identifiable patterns 127 are formed at a plurality of locations of the variable portion 118, the deformation detection portion 119 detects the shape of the variable portion 118 of the suction portion 116 based on the image data of the image data. Deformation of the portion 116 can be easily detected. Further, the deformation detection unit 119 can detect the inclination of the variable part 118 of the adsorption unit 116 because the variable part 118 does not hit the object straight, for example.

As shown in the example of FIG. 14, the pattern 127 may be a grid pattern. As a result, the intersection point 128 of the lattice becomes an identifiable feature point, so that the deformation amount specifying unit 124 in the image processing unit 122 of the deformation detection unit 119 can easily specify the deformation amounts at a plurality of locations in the variable portion 118 .

Also, in the above example, the pattern 127 is formed on the variable portion 118, but the present embodiment is not limited to this. In this embodiment, instead of the pattern 127, a pattern such as a marker is formed at a plurality of locations of the variable portion 118 that can be visually recognized from one viewpoint, such as one imaging device 121 shown in the example of FIG. may have been This also allows the deformation detection unit 119 to suitably detect deformation of the variable part 118 of the adsorption unit 116 as in the above example. As an example, as shown in the example of FIG. 14 , patterns such as markers may be formed on at least three portions of the variable portion 118 that are spaced apart from each other when viewed from the side of the suction portion 116 . By forming patterns such as markers at three locations in this manner, the deformation detection unit 119 can detect the inclination of the variable portion 118 of the adsorption unit 116 in two directions.

Also, the pattern 127 may be formed adjacent to a portion of the variable portion 118 that contacts the object. As a result, the amount of displacement of the pattern 127 increases and the amount of deformation of the variable portion 118 increases, so that the deformation of the variable portion 118 of the suction portion 116 can be easily detected.

Also, as shown in the example of FIG. 14, the variable portion 118 may be bellows-shaped. This makes it easier for the deformation detection unit 119 to detect deformation at multiple locations in the variable portion 118 .

Moreover, the pattern 127 may be formed of a retroreflective material. This makes it easier for the deformation detection unit 119 to detect deformation at multiple locations in the variable portion 118 .

(deformation detector)
The deformation detection unit 119 detects deformation of the suction unit 116 based on image data obtained by imaging the suction unit 116 .

In the example shown in FIG. 13 , the deformation detection section 119 includes an image acquisition section 120 and an image processing section 122 .

(Image acquisition unit)
The image acquisition unit 120 acquires image data (for example, an RGB image) obtained by imaging the variable unit 118 . In the examples shown in FIGS. 13 and 12 , the image acquisition unit 120 includes an imaging device 121 that is arranged on the side of the adsorption unit 116 and that captures an image of the variable part 118 . Get image data.

In this embodiment, the image acquisition unit 120 only needs to acquire image data obtained by imaging the variable unit 118 , and does not need to include the imaging device 121 . In addition, in the example of FIG. 14, the imaging device 121 is installed at the tip portion (tip portion) of the manipulator portion 125 so that the variable portion 118 fits (enters) the imaging range (field of view). It is not limited to this. In this embodiment, the imaging device 121 only needs to be able to image the variable section 118 . For example, the imaging device 121 may be a hand camera used for detecting the position of an object (object to be grasped). Further, the imaging device 121 may be provided outside the robot arm 110 , the adsorption device 10 , or the mobile adsorption device 200 .

In addition, in the example of FIG. 14, the imaging device 121 is installed at an angle toward the right end of the variable section 118, but the present embodiment is not limited to this. In this embodiment, the imaging device 121 may be installed at a position where it can image the variable section 118 so that the amount of displacement of the variable section 118 can be detected. may have been For example, by setting the imaging device 121 at an angle toward the left end of the variable section 118 instead of the right end, the variable section 118 can be imaged so that the variable section 118 falls within the imaging range. Accordingly, the image processing unit 122 can detect the displacement amount of the variable portion 118 with higher three-dimensional measurement accuracy based on the image data obtained by imaging the variable portion 118 .

(Image processing part)
The image processing unit 122 acquires image data obtained by imaging the variable unit 118 from the image acquisition unit 120, and performs image processing on the image data. Thereby, the image processing unit 122 detects the deformation amount of the variable unit 118 . As a result, the displacement amount of the variable portion 118 can be preferably detected by simple image processing.

For example, the image processing section 122 may detect the deformation amount of the height and inclination of the variable section 118 . More specifically, the image processing unit 122 converts the height deformation amount at one location and the inclination deformation amount at two locations in the variable portion 118 in which the pattern 127 is formed into the height and inclination of the variable portion 118 . It may be detected as a deformation amount.

The image processing unit 122 also outputs (transmits) the amount of deformation of the suction unit 116 to the negative pressure control unit 21 and the manipulator control unit 13 . The manipulator control unit 13 that acquires the deformation amount of the variable portion 118 in the adsorption unit 116 from the image processing unit 122 can suitably use the deformation amount for advanced control such as damping of the manipulator unit 125 and state determination. .

In the example of FIG. 13 , the image processing section 122 includes a feature point identifying section 123 and a deformation amount identifying section 124 .

(Feature point identification unit)
The feature point identifying section 123 identifies a plurality of feature points in the image data corresponding to the plurality of locations in the variable section 118 from the pattern 127 included in the image data.

(Deformation amount specifying unit)
The deformation amount specifying unit 124 specifies deformation amounts (displacements) at multiple locations in the variable part 118 from the multiple feature points.

[Manipulator part]
The manipulator section 125 includes a support 126 that supports the fixed section 117 of the adsorption section 116 at the tip (root) of the arm of the manipulator section 125 . Except for this point, the manipulator section 125 has the same configuration as the manipulator section 111 .

<4.2>
<Moving suction device>
An example of the hardware configuration of the moving suction device 300 according to the modification will be described below with reference to FIG. 15 .

FIG. 15 schematically illustrates an example of a hardware configuration of a moving suction device 300 according to a modification.

In the example of FIG. 15 , the moving suction device 300 includes a suction device 20 instead of the suction device 1 . Except for this point, the moving suction device 300 has the same configuration as the moving suction device 100 .

<Adsorption device>
In the example of FIG. 15 , the suction device 20 further includes a processing section 16 . Except for this point, the adsorption device 20 has the same configuration as the adsorption device 1 .

[Processing unit 16]
The processing unit 16 does not directly output the amount of deformation of the suction unit 112 detected by the strain sensor 114 to the negative pressure control unit 21 (upper side), but processes the detected amount of deformation of the suction unit 112 to produce a The amount of deformation is output to the negative pressure control section 21 . This makes it possible to output the deformation amount of the suction portion 112 with higher accuracy.

For example, as shown in the example of FIG. 2, when the strain sensor 114 is composed of a plurality of strain sensors 114a, 114b, and 114c, etc., the processing unit 16 performs processing corresponding to each of the strain sensors 114a, 114b, and 114c. It consists of portions 16a, 16b and 16c (not shown). The processing units 16a, 16b, and 16c process the amounts of deformation of the suction unit 112 detected by the strain sensors 114a, 114b, and 114c, respectively, and the processed deformation amounts of the suction unit 112 are transferred to the manipulator control unit 13 and the negative pressure. Output to the control unit 21 .

Usually, when the manipulator control unit acquires deformation amounts at a plurality of locations (for example, three) in the suction unit, the manipulator control unit vibrates the object sucked (grasped) by the suction unit based on the deformation amounts of the suction unit. The manipulator section can be suitably controlled so as to suppress the In this way, in order to suitably control the vibration of the object, the manipulator control section needs to obtain the deformation rate (strain change rate), which is the time differentiation of the deformation amount of the adsorption section, with high accuracy.

Here, if the amount of deformation of the suction portion is differentiated with time, there is a possibility that noise will be amplified or superimposed. Therefore, the negative pressure control unit usually needs to be equipped with (incorporate) various filters to deal with this problem. However, due to the negative pressure control unit having various filters, the deformation speed at which the target band component is lost, and the deformation speed at which the target band component is not lost but the phase is extremely delayed However, there is a possibility that a highly accurate deformation speed cannot be obtained. As a result, the vibration of the object cannot be controlled with high precision (with good performance), and there is a possibility that the settling time will be lengthened.

In contrast, in the present embodiment, the high-precision deformation speed calculator 17 is provided in the processing unit 16 instead of the manipulator controller 13 . In the example of FIG. 15, the processing unit 16 acquires the amount of deformation of the analog value at a cycle higher than the signal input cycle received by the manipulator control unit 13, for example. The processing unit 16 applies, for example, a low-pass filter as an example of the high-accuracy deformation speed calculation unit 17 that cuts frequencies equal to or higher than the Nyquist frequency, which is half the cycle. The processing unit 16 converts the deformation speed of the suction unit 112 obtained by time differentiation of the deformation amount after applying the high-precision deformation speed calculation unit 17 such as a low-pass filter to the manipulator control unit 13 at the signal input cycle. Thin out (down-sample). The processing unit 16 outputs the deformation speed of the suction unit 112 obtained by down-sampling to the manipulator control unit 13 . By performing sampling at a higher cycle than the manipulator control unit 13 in this way, it is possible to output a more accurate deformation speed of the adsorption unit 112 that cannot be directly obtained from the manipulator control unit 13 . As a result, for example, the vibration of the object can be controlled with high precision (with good performance), and the settling time can be shortened.

As the processing unit 16 and the high-accuracy deformation rate calculation unit 17 described above, general units can be used as long as they can time-differentiate the amount of deformation of the adsorption unit 112 with high accuracy. In the above example, the processing unit 16 processes the amount of deformation of the suction unit 112 detected by the strain sensor 114 and outputs the amount of deformation after processing, but the present embodiment is not limited to this. In the present embodiment, the processed portion 16 can be applied to any sensor as long as it can detect the amount of deformation of the adsorption portion 112 .

<4.3>
<Moving suction device>
An example of the hardware configuration of the moving suction device 400 according to the modification will be described below with reference to FIG. 16 .

FIG. 16 schematically illustrates an example of a hardware configuration of a moving suction device 400 according to a modification.

In the example of FIG. 16 , the mobile suction device 400 includes a suction device 30 , a transfer section 4 and a battery 6 instead of the suction device 1 , transfer section 2 and battery 3 . Except for this point, the moving suction device 400 has the same configuration as the moving suction device 100 .

<Adsorption device>
In the example of FIG. 16 , the adsorption device 30 further includes a switching circuit 18 . Except for this point, the adsorption device 30 has the same configuration as the adsorption device 1 .

[Switching circuit]
The switching circuit 18 acquires a binary digital signal input from the negative pressure control unit 41 in the transport unit 4 and outputs an analog signal corresponding to the input value as a control signal for the vacuum pump 12 . For the switching circuit 18, for example, a SPEED signal switching circuit is used.

[Conveyor]
The conveying section 4 includes a negative pressure control section (control signal output section) 41 instead of the negative pressure control section 21 . Except for this point, the transport section 4 has the same configuration as the transport section 2 .

(negative pressure controller)
The negative pressure control section 41 includes a digital signal output section 411 that outputs a digital signal to the switching circuit 18 instead of the analog signal output section 211 in the negative pressure control section 21 . The digital signal output unit 411 outputs a digital signal having a first value during a gripping period during which the mobile adsorption device 400 is adsorbing (gripping) an object, and outputs a digital signal having a first value during a movement period during which the mobile adsorption device 400 is moving. output a digital signal with the value of

As a result, the negative pressure control unit 41 can control the driving amount of the picking vacuum pump 12 during the gripping period and the driving amount of the idling vacuum pump 12 during the moving period. Only the digital signal output unit 411 that outputs a signal is required. Therefore, the negative pressure control section 41 does not need to include the analog signal output section 211 such as an analog I/O unit that outputs an analog signal. Moreover, since the switching circuit 18 has a simple configuration that inputs a binary digital signal and outputs an analog signal corresponding to the input value, it can be realized by an inexpensive circuit. Therefore, the cost can be reduced as a whole.

〔battery〕
The battery 6 supplies power to the switching circuit 18 and the transport unit 4 instead of the transport unit 2 . Other than this, the battery 6 controls each part of the moving adsorption device 400 in the same manner as the battery 3 .

<4・4>
The moving suction devices 100, 200, 300 and 400 described above may each include a suction device (deformation measuring device) 40 shown in FIG. FIG. 17 schematically illustrates an example of a hardware configuration of a suction device 40 according to a modification. In the example of FIG. 17 , the deformation detection section (manipulator speed subtraction command value calculation section) 113 in the suction device 40 includes a deformation amount change speed calculation section 36 and a constant gain multiplication section 37 . Note that the deformation amount change speed calculation unit 36 may be included in the image processing unit 122 instead of the deformation detection unit 113 .

The deformation amount change speed calculation unit 36 time-differentiates the deformation amount specified by the deformation amount specifying unit 124 to calculate the change speed of the deformation amount. The deformation amount change speed calculator 36 outputs the deformation amount change speed to the constant gain multiplier 37 .

The constant gain multiplication unit 37 calculates a deceleration value by multiplying the change rate of the deformation amount (for example, the angular velocity of the suction surface of the suction pad) calculated by the deformation amount change rate calculation unit 36 by a constant. The constant gain multiplier 37 outputs the deceleration value to the manipulator controller 13 .

The manipulator control unit (operation control unit) 13 has a target moving speed of the suction unit (suction pad) 112 for conveying the object. The manipulator control unit 13 obtains the command speed by subtracting the deceleration value from the target movement speed. The manipulator control unit 13 controls the manipulator unit 111 to move the tip of the manipulator (suction unit 112) at the commanded speed. By changing the hand speed of the robot arm so as to attenuate the change speed of the deformation amount of the adsorption section 112, vibration of the adsorption section 112 (vibration of the object) can be suppressed.

Similarly, the manipulator control unit 13 may change the inclination of the adsorption unit 112 so as to decrease the change speed of the deformation amount based on the change speed of the deformation amount. By changing the inclination of the adsorption part 112, the vibration of the adsorption part 112 can be controlled. By utilizing the inclination of the suction portion 112 for damping control, the positioning time at the time of transportation stop can be minimized, and the transportation processing time (transportation tact time) can be shortened.

FIG. 18 is a flowchart showing an example of the processing flow of the adsorption device 40 according to the modification. FIG. 19 is a schematic diagram showing an example of the processing flow of the adsorption device 40 according to the modification.

In step S<b>301 in FIG. 18 , the manipulator control unit 13 brings the adsorption unit 112 closer to the object 61 . The example of (a) of FIG. 19 shows step S301. Next, in step S<b>302 , the manipulator control unit 13 determines whether or not the adsorption unit 112 is in contact with the object 61 . Whether or not the suction portion 112 is in contact with the object 61 can be determined from the amount of deformation of the variable portion 118 of the suction portion 112 . The manipulator control unit 13 determines that the adsorption unit 112 is in contact with the target object 61 if the amount of deformation is equal to or greater than the threshold. When it is determined that the suction unit 112 is in contact with the object 61 (YES in step S302), the suction unit 112 is caused to adhere to the object 61 (step S303). The example in (b) of FIG. 19 shows step S303. When it is determined that the adsorption unit 112 is not in contact with the object 61 (NO in step S302), the processes of steps S301 and S302 are executed again.

In step S<b>304 , the manipulator control unit 13 causes the manipulator unit 111 to lift the object 61 . The example in (c) of FIG. 19 shows step S304. Next, in step S305, it is determined whether or not the object 61 has been successfully lifted. Whether or not the object 61 has been successfully lifted can be determined from the amount of deformation of the variable portion 118 of the adsorption portion 112 . The manipulator control unit 13 determines that the object 61 has been successfully lifted if the deformation amount is equal to or greater than another threshold. If it is determined that the object 61 has been successfully lifted (YES in step S305), the object 61 is transported to the target position (step S306). The example in (d) of FIG. 19 shows step S306. If it is determined that the lifting of the object 61 has failed (NO in step S305), the processes of steps S304 and S305 are executed again.

In step S<b>307 , the manipulator control unit 13 determines whether vibration is occurring in the suction unit 112 that is being transported. The manipulator control unit 13 determines that vibration is occurring in the suction unit 112 being transported if the rate of change of the deformation amount of the suction unit 112 is equal to or greater than another threshold value. If it is determined that no vibration has occurred in the adsorption unit 112 during transport (YES in step S307), the object 61 is transported to the target position without changing the tilt of the object 61 (step S308). If it is determined that the suction unit 112 during transportation is vibrating (YES in step S307), the inclination of the suction unit 112 is controlled (step S312). Then, the process of step S307 is executed again.

In step S309, the manipulator control unit 13 causes the manipulator unit 111 to lower the object 61 to the target position. The example of (e) of FIG. 19 shows step S309. Next, in step S310, it is determined whether or not the object 61 is in contact with the target position. Whether or not the object 61 is in contact with the target position can be determined from the amount of deformation of the variable portion 118 of the adsorption portion 112 . The manipulator control unit 13 determines that the object 61 is in contact with the target position if the deformation amount is equal to or greater than another threshold. When it is determined that the object 61 is in contact with the target position (YES in step S310), the suction of the suction unit 112 is released (step S311). The example of (f) in FIG. 19 shows the case of YES in step S310. If it is determined that the object 61 is not in contact with the target position (NO in step S310), the processing of steps S309 to S310 is executed again.

[Example of realization by software]
The control block of the moving suction device 100 may be implemented by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be implemented by software.
In the latter case, the mobile suction device 100 is provided with a computer that executes program instructions, which are software for realizing each function. This computer includes, for example, one or more processors, and a computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. In addition, a RAM (Random Access Memory) for developing the above program may be further provided. Also, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. Note that one aspect of the present invention can also be implemented in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, but can be modified in various ways within the scope of the claims, and can be obtained by appropriately combining technical means disclosed in different embodiments. is also included in the technical scope of the present invention.

1, 10, 20, 30 adsorption device 2, 4 transport unit (automatic guided vehicle)
3, 6 battery 11, 110 robot arm 12 vacuum pump 13 manipulator control unit 16, 16a, 16b, 16c processing unit 17 high-precision deformation speed calculation unit 18 switching circuit 21, 41 negative pressure control unit 22 automatic guided vehicle 36 deformation amount change Velocity calculator 37 Constant gain multiplier 61, W Object (workpiece)
100, 200, 300, 400 moving suction device 111, 125 manipulator section 112, 116 suction section 113, 119 deformation detection section 114, 114a, 114b, 114c strain sensor 115 abnormality determination section 117 fixed section 118 variable section 120 image acquisition section 121 Imaging device 122 Image processing unit 123 Feature point identification unit 124 Deformation amount identification unit 126 Support 128 Intersection 211 Analog signal output unit 221 Conveyance control unit 411 Digital signal output unit a, b Deformation amount α First threshold β Second threshold

Claims (12)

an adsorption part that adsorbs an object by negative pressure and is deformed by the negative pressure;
a deformation detection unit that detects deformation of the suction unit;
A negative pressure control unit that controls a vacuum pump that generates the negative pressure,
The suction device, wherein the negative pressure control unit increases the suction force when the detected amount of deformation of the suction unit decreases and falls below a threshold value after the object is suctioned . an adsorption part that adsorbs an object by negative pressure and is deformed by the negative pressure;
a deformation detection unit that detects deformation of the suction unit;
and an abnormality determination unit that determines that the object is stuck to the suction unit if the amount of deformation of the suction unit after a predetermined period of time after breaking the vacuum is equal to or greater than a threshold value . The suction device according to claim 1 or 2, wherein the deformation detection section detects deformation at a plurality of locations in the suction section. A movement control unit for moving the suction unit, the movement control unit determining a direction in which the suction unit is moved to re-suck the object based on the plurality of deformation amounts at the plurality of locations in the suction unit. 4. The adsorption device of claim 3, comprising a portion. When the amount of deformation at a first location among the plurality of locations of the suction unit is greater than the amount of deformation at a second location, the movement control unit moves the movement control unit from the second location to suck the object again. 5. The adsorption device according to claim 4, wherein it is determined to move the adsorption portion to the first location side. The adsorption device according to any one of claims 1 to 5 , wherein the deformation detection section includes a sensor arranged or built in the adsorption section. The adsorption device according to any one of claims 1 to 6 , wherein the deformation detection section includes a strain sensor. The adsorption device according to any one of claims 1 to 6 , wherein the deformation detection unit includes an optical displacement meter or a shape measurement sensor. The adsorption device according to any one of claims 1 to 6 , wherein the deformation detection section includes a proximity sensor. The suction device according to any one of claims 1 to 6 , wherein the deformation detection section detects deformation of the suction section based on image data obtained by imaging the suction section. an adsorption part that adsorbs an object by negative pressure and is deformed by the negative pressure;
a deformation detection unit that includes a sensor arranged or built in the adsorption unit and detects deformation of the adsorption unit;
and a deformation speed output unit that obtains a deformation speed from the amount of deformation of the suction unit detected by the sensor and outputs the deformation speed . an adsorption device according to any one of claims 1 to 11 ;
and an automatic guided vehicle.

Images