JPH01274982A - Robot hand equipped with subject article detecting device and its application - Google Patents

Abstract

PURPOSE:To make it possible to take out and take in subject matters with flexibility in a short time by detecting and acknowledging the mounting condition of subject articles mounted along the depth, width and height in regular rules by means of a robot, and taking the subject article out of a mounting part and taking the subject articles into the mounting part. CONSTITUTION:The mounting conditions of subject articles (5-8), (17-18) mounted in regular rules along the depth, width and height are detected and acknowledged by a subject article detecting device 103 installed at a robot hand. The subject article 99 is then taken out of a mounting part for which mounting condition has been detected and acknowledged, or the subject article 99 is taken into the mounting part, by a grasping device 102 of the robot hand. As a result, if the mounting conditions of the articles are changed by peripheral utilization conditions, the articles can be taken out and in with flexibility and in a short time.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention detects and detects the loading state of target articles that are stacked in a regular manner in the horizontal and vertical directions using a target article detection device attached to a robot hand. By recognizing this, even if the loading status of the target article changes due to reasons other than the movement of the loading robot in a system rich in man-machine interfaces, if the target article is taken out from the loading section, the object is not transferred to the loading section. The present invention relates to a robot hand equipped with a target article detection device and a method of using the same, which is characterized in that it can take in objects flexibly and in a short time and has a simple structure.

[Conventional technology]

When a loading robot takes out an item from the loading section, the removal position of the loading section during the work of loading it into the loading section, or the recognition and processing of the loading position [δ, is usually determined by the memory function in the robot controller. A very common method is to update and store location information.

In addition, using the robot hand's ability to detect a workpiece with a hemline, the robot hand attempted to grip the workpieces sequentially from the outer edge to the inner edge of the maximum loading range of the loading section 1. ,! -i! It is also easy to think of a way to recognize the situation.

There is also a method of recognizing the loading status by arranging a large number of non-contact sensors around the loading area in the vertical, horizontal, and height directions, corresponding to the loading pitch of the loaded phantom items in the vertical, horizontal, and height directions. .

Furthermore, it is also common practice to recognize and process the loading state by combining the above methods.

[The invention is determined 1-7. ) Issues] However, the prior art indicated by -i= has the following problems.1-
It was.

That is, l' of the memory function in the robot controller.
In case the loading status changes outside of the robot controller's recognition due to irregular intervention of peripheral equipment or manual intervention in the loading area of the target article,
The robot is unable to respond (・0) Even if the interface is activated to make the robot controller recognize changes in the loading status caused by peripheral equipment or manual labor,
In the case of increased costs or manual data entry,
The reliability of input data also decreases.

In addition, when using the function to detect the presence or absence of a workpiece held by a robot hand, it takes a long time to recognize the loading state ((dead time), which is inefficient.

Furthermore, the method of opening a large number of non-contact sensors in a row around the product or part requires the use of a large number of sensors and the accompanying increase in ink-face circuits, which increases costs and reduces reliability due to failure. In addition, there are many disadvantages, such as increasing spatial constraints because the sensors are placed around the loading area.

Therefore, the present invention is the ultimate solution to the above problems! -1 Even if the loading state changes due to reasons other than the operation of the loading robot, if the target article is taken out from the loading section, the correct position for taking in the target article at the loading section can be recognized in a short time, at low cost, and An object of the present invention is to provide a robot hand with a fruit presentation device that can be carried out compactly and a method for using the same.

[Means to solve the problem]

The present invention consists of a structure for grasping a fruit product that is position-controlled, and a device for detecting a target product, which is mounted on a movable part of a fruit-based robot.・Recognizes the loading condition of the target articles loaded according to the rules, and the product is 4! To provide a robot equipped with a target article detection device, which is capable of taking out a target article from a loading section and loading the target article into a loading section flexibly, quickly, inexpensively, and simply in one step. By doing so, the above objectives are achieved.

In addition, the present invention provides loading state detection and recognition for detecting and recognizing the loading state of target articles stacked in L-rules (regularly in the vertical, horizontal, and height directions) using an L-shaped robot hand. and an article retrieval/loading step in which the robot hand is used to take out an article from a loading section whose loading state has been detected and recognized, or to take the article into the loading section. The above object is achieved by providing a method for using a robot hand equipped with a target article detection device, which includes an article loading state detection/recognition process as part of the article takeout/take-in process. This has been achieved.

[Sword example]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a practical example of a robot equipped with an object detection device according to the present invention will be described without being shown in the drawings.

1N is a side view showing an embodiment of the robot hand equipped with the object detection device of the present invention; FIG. 2 is a side view showing a second practical example of the robot hand equipped with the object detection device of the present invention;
The figure is a side view showing the third embodiment of the present invention, FIG. 4 is an overhead view showing the loaded state of target articles, and FIG. 5 is a separated view of the loaded state of FIG. 4 in the X-axis direction. FIG. 3 is an explanatory diagram showing the loading order. In Figures 1 to 3, the loading order of target items is shown as follows:
This is an example in which the loaded state of the object article is detected from the height direction (Z-axis direction in FIG. 5) on the premise that the rules shown in FIG. 5 are followed.

In these figures, 1 to 18 are loaded target articles,
19 to 36 indicate spaces where the target articles are scheduled to be loaded,
1 to 66 indicate the loading order of the target articles to be loaded in the examples of FIGS. 1 to 5.

Reference numeral 100 denotes a stand on which the target article is loaded, reference numeral 101 denotes a mounting portion of a position-controlled target article gripping device 102.104 mounted on a movable part of a robot (not shown), and 106, 105, 106 denote It is a target article detection device attached to the gripping device 102, and when the target article is loaded into the target article loading section, 99 is the target article that is gripped by the gripping device and taken into the loading section. Its functions will be explained in detail. 1st
In the example shown in the figure, the claw 102a of the target article gripping device 102
, 102b of the reflective distance sensor transmitter 10
6a and the receiving section 103b, it is possible to detect the height of the target article in the loading section and recognize the number of stacks in each row of the loading section. In the detection of target article loading spaces 29th to 620th row, mount 1
By detecting the detection surface 100a of 00, the target article 17.
The height of the target article can be detected by detecting the surface to be detected 18a of the target article 18 in the row No. 18, and by detecting the surface to be detected 8a of the target article 8 in the detection of the rows of target articles 5 to 8. If the resolution of this height detection is sufficiently smaller than the known pitch of the target articles in the stacking section in the height direction, it is also possible to recognize the number of stacks of the stacking section from the detected height of the target articles. In the example shown in FIG. 2, the target article gripping device 1
04 is the reflective distance sensor 1 osa is the sensor mounting part 10
This is a case where the transmitter and the receiver are integrated, and the function is the same as in FIG. 1. In the example shown in FIG. 3, the transmitter 106a and receiver 106b of the reflective object presence/absence sensor attached to the claws 102a and 102b of the object gripping device detect the presence or absence of the object at each loading position in the loading section. This makes it possible to recognize the number of stacks in each row of the loading section. In the detection of the rows of target article loading spaces 29 to 62, no article is detected by detecting the detected surface 29a of 29, and the presence of the article is detected by detecting the detected surface 18a of the countermeasure article 18 in the row of target articles 17 and 18. In the rows of target articles 5 to 8, it is possible to detect the height of countermeasure articles and recognize the number of stacks by detecting the presence of the target article 8 by detecting the detection surface 8a of the target article 8. As is clear from the embodiment shown in FIG. 3, in the case of taking out the target article from the loading section, it is best to recognize the height of the target article in the loading section without the target article gripping device 102 gripping the target article 99. Normally, in the case of taking in a target article into the loading section, the ability to recognize the height of the target article in the loading section while the target article gripping device 102 is gripping the target article 99 is necessary to facilitate the operation of taking in the target article. Needless to say, this is advantageous in terms of simplification. FIG. 8 (aJ is a flowchart when the target article is moved to the loading section, and FIG. 8 (BL is a flowchart when the target article is moved from the loading section.

Next, a method of using the robot hand with the target article detection device configured as described above will be explained.

4 and 5 are drawings showing the loading state of the target articles as described above, and FIG. 6 shows the loading state of the target articles in FIG. FIG. 4 is an explanatory overhead track diagram when recognizing the stacking height. FIG. 7 is an example of recognition and determination of the loading state obtained by this Detection II recognition.

First, the rules for loading target articles in the case shown in FIG. 6 will be explained in detail using FIG. 4.5 for explanation. In this example, the articles are stacked in four stages 1 to 4 in the Z-axis direction, this stacking is stacked in 3 rows 1 to 12 in the Y-axis + direction, and this stacking is further continued in the X-axis + direction.
The rule is that 1 to 66 items are loaded in three rows in the same direction.

In the example shown in FIG. 4.5, articles 1 to 18 are loaded, and articles 19 to 66 are not loaded.

The actual example applied to Fig. 6 is shown in Fig. 1 or Fig. 2, and in this figure, A, B, ...-I are for detecting and recognizing the height of the loading part of the target article detection device. The observation positions are shown, and a, b, .

A specific example of taking out an article from the loading section and loading the article into the loading section will be explained using FIG. 6. When taking out an article from the loading section to the outside (not shown), the robot hand with the fruit detection/recognition device shown in Fig. 1.2 is operated as shown in Fig. 6 when the target article gripping device is not gripping the article. The robot hand moves to the observation position shown in FIG. Article 18 that moves in one direction on the Z axis and becomes the opposite rack? : It can be gripped by a gripping device and taken out from the loading section. Next, when loading an article from the outside (not shown) into the loading section, the robot hand moves to the observation position shown in FIG. 6 while gripping the article with the target article gripping device outside, Similarly to the above-mentioned take-out, by using the algorithm shown in FIG. It is possible to move in one direction, load the gripped article on the third stage in the Z-axis + direction, and take it in as article 19.

As described above, the loading state detection/recognition step of detecting/recognizing the loading state of target articles is included as part of the article retrieval/taking-in process.

For example, if the target article is taken out or taken in at the loading section,
If the rules are regularized as shown in the figure, if the target article is taken out or taken in only by the loading robot movement, the loading state of the loading section will be detected by using the robot hand with the target article ejecting device only once at the beginning.・You just need to recognize it. However, in normal mechanical work sites, there are many cases in which peripheral devices are used to take out and take in target items, and manual intervention is required to take out and take in target items (in such cases, peripheral equipment and manual It is necessary to detect and recognize the loading state of the loading section each time an intervention is made. In this embodiment, intervention by peripheral equipment or manual labor can be easily handled by providing a signal.

Furthermore, if the loading order is set as a rule as shown in Fig. 5, the detection and recognition of the loading state of the loading section will be as shown in Fig. 6.
,B,...■It is not necessary to detect and recognize at all points (
, in this embodiment, as shown in the example of FIG. 9, G=0 stage, D
It is possible to recognize all states by detecting at three locations: = 4 stages and E = 2 stages.

In the above embodiment, the loading order was shown as an example, and the detection of the loading state was also explained using only the height direction, but the loading order can be determined using various rules according to each application case, and the loading state can be detected. The direction may also be the vertical direction, horizontal direction, height direction, or a combination of these, as long as it suits the characteristics of the target articles and the loading order.

〔Effect of the invention〕

As described above, the robot hand with a target article detection device and the method of using the same according to the present invention is a robot hand equipped with a target article detection device attached to the robot hand. In addition, the loading state of the article can be detected and recognized by the article retrieval/intake process, which includes this detection/recognition process and involves taking out the target article from the loading section or loading the article into the loading section. Even if the surrounding usage conditions change, it is not only possible to take out and take in items flexibly and in a short time, but also because the structure and configuration are simple, it is rich in man-machine interface, has a simple structure, and can easily be used in the surrounding area. Since it is possible to configure an article loading system with few restrictions on the system, it has high industrial utility value.

[Brief explanation of the drawing]

FIG. 1 is a side view of detecting the loaded state of a target article by an example of a robot hand equipped with a target article detection device of the present invention, FIG. 2 is a side view of similar detection according to a second embodiment of the present invention, and FIG.
The figure is a side view of a similar detection according to the third embodiment of the present invention, Figure 4 is an overhead view showing the loading state of target articles, Figure 5 is an overhead view of the loading order, and Figure 6 is the invention An explanatory overview diagram showing the method of detecting and recognizing the loading state of the target proboscised product loading section using a robot hand equipped with a target article detection device. ), (b) are basic flowcharts for detecting and recognizing a stack when taking it out from the loading section and when taking it into the loading section, and Fig. 9 shows the algorithm for determining the stacking state in detail in the case of Fig. 6. β shown as an example
υ；There is Rin. 1 to 66... Goods to be loaded in the loading section, 99...
-Target article, 100...Loading section mount, 102.104...Target article gripping device, 106
．． 105.106...Target article detection device. Figure 1 m plane 1 (J (J) Figure 2 Figure 1 crystal Figure 3 Figure 8 (Q) (b)

Claims (2)

[Claims] (1) A loading robot whose at least one axis is numerically controlled in a three-dimensional space, a target article gripping device whose position is controlled and which is attached to a movable portion of the numerically controlled axis of the robot; The object detection device is installed on the movable part of the numerically controlled axis of the robot, and the object detection device is position controlled.The loading state of the object is loaded by the robot according to regular rules in the vertical, horizontal, and height directions. 1. A robot hand equipped with a target article detection device, characterized in that the robot hand detects and recognizes the target article, takes out the target article from the loading section, and takes the target article into the loading section. (2) a loading state detection and recognition step of detecting and recognizing the loading state of target articles loaded according to regular rules in the vertical, horizontal, and height directions using the robot hand with the target article detection device according to claim 1; The method includes an article retrieval and loading step in which the robot hand is used to take out an article from a loading section whose loading state has been detected and recognized, or to load the article into the loading section. A method of using a robot hand equipped with a target article detection device, characterized in that a part of the article takeout/take-in process includes an article loading state detection/description process.