JPS60249578A - Method of grasping body of carrying robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Substances of the Invention] The present invention relates to a method for easily and stably gripping an object in a transport robot that grips and transports the object with an arm.

[Prior art]

Fig. 1 shows a conventionally used transport robot. In Fig. 1, (1) is the main body of the transport robot, (
2) is the transportation wheel, and (3) is the transport robot control 1! [(
4) is an articulated arm, and (5) is a gripping portion attached to the tip of this arm, which grips and fixes the object to be gripped (6) from both sides.

Next, the operation will be explained. In order to grip and transport the object to be gripped (6), first the transport robot main body (1) is moved close to the object to be gripped (6). Next, extend the arm (4) and move it up and down to hold the gripping part (5) against the object to be gripped (
6) Set it in the appropriate position. At this time, if it is not possible to set the object in the appropriate position, move the robot body (1) or arm (4) further and place the gripping part (5) on the object (6).
) is repeatedly adjusted so that it is in the appropriate position, and the object (6) is gripped.

Conventional devices are configured as shown below, and when an object to be grasped is recognized and grasped, the transfer robot, which is manually operated, must be moved to a predetermined position of the target object, and the object is grasped by intuition and trial and error. This has drawbacks such as having to be held and carried, and time being spent searching for the object manually, as well as the risk of failing to grasp the object, falling, or overturning depending on the gripping position of the object.

[Summary of the invention]

This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and detects in advance an arbitrary position that is easy to grasp based on the shape and center of gravity of the object to be grasped using infrared rays or ultrasonic waves. By attaching possible marks, it is possible to easily recognize and grasp the object to be grasped and its grasping portion i.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 2, (1) to (6) are the same as in FIG. It is a coated grip position detection mark (label), which is a label or paint that can be recognized as an object, and can be detected by infrared rays, ultrasonic waves, etc.

Next, its operation will be explained. The transfer robot (1) is moved near the object to be gripped (6), the arm (4) is extended, the gripping position detection label (7) attached to the side of the object (6) is detected, and the gripping portion ( 5) Move.

This label (7) is a transport robot (1) with a detection function.
), use a label that responds to infrared rays, ultrasonic waves, etc. that can be detected. Note that paint that reacts in the same manner may also be used. This gripping position detection label (7) is matched with the shape, center of gravity, etc. of the object, and is affixed in advance to an arbitrary position where it can be easily gripped. Thereby, the gripping portion (5) can reliably and stably grip and transport the object to be gripped (6). Therefore, it is possible to eliminate the risk of falling due to unstable gripping, such as the time and labor costs of turning the grip over and over again through trial and error based on human intuition.

In the first embodiment, the grasping position of the object to be grasped was detected using the grasping position detection label (7), but as shown in FIG. By pasting it, it can be used to detect the position of an object, and it becomes possible to automatically search for an object to be transported manually.

〔Effect of the invention〕

As described above, in the present invention, by marking the object to be grasped with a mark for detecting the grasping position that can be detected by the transport robot, it is possible to reliably grasp the object at a stable position, so that the object can be grasped safely and quickly. Otsu playing.

[Brief explanation of drawings]

Fig. 1 is a plan view (a) and a side view (b) of a conventional transfer robot, and Fig. 2 is a plan view (a) showing an embodiment of the present invention.
and a side view (b), and FIG. 8 is a side view showing another embodiment of the present invention. In the figure, (1) is the transport robot body, (2) is the transportation wheel, (8) is the transport robot control unit, (4) is the arm, and (5) is the transport robot main body.
) is a gripping part, (6) is an object to be gripped, (7) is a label for detecting a gripping position, and (8) is a label for detecting an object. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Masuo Oiwa (A) (Ron Figure 1 (A) 0 Figure 2 Figure 3

Claims (1)

[Scope of Claims] (1) A position detection mark is placed in advance at an appropriate gripping position taking into account the shape and center of gravity of the object to be transported, and a transfer robot with a marking position recognition function reliably positions the object at a predetermined position. A method for grasping an object by a transport robot, characterized in that the robot is capable of grasping an object. (2) The object gripping method for a transport robot according to claim 1, wherein the mark is a label attached. (8) The object gripping method for a transport robot according to claim 1, wherein the mark is coated with paint. (4) The object gripping method for a transfer robot according to any one of claims 1 to 8, wherein the marking position can be detected by infrared rays or ultrasonic waves.