TWI736216B - Robot hand, robot and robot system - Google Patents

Abstract

The robot hand for gripping an article includes: a first gripping portion including a first claw portion; a second gripping portion that holds the article by clamping the article together with the first claw portion; and a first driving device for causing the The first direction in which the first claw portion approaches or separates from the second gripping portion moves at least one of the first claw portion and the second gripping portion; and the first claw portion is capable of being inserted into an adjacent arrangement The shape in the gap between the above items.

Description

Robot hand, robot and robot system

This disclosure is about robotic hands, robots and robotic systems.

In the prior art, a transfer robot that transfers objects is known. For example, Patent Document 1 discloses a robot hand for a transfer robot that transfers rectangular parallelepiped items such as corrugated cardboard boxes. The robot hand includes a horizontal lower jaw, a horizontal upper jaw that moves up and down opposite to the lower jaw, and a pushing member that moves horizontally on the lower jaw. The robot hand system is configured to move the object near a predetermined position with the robot arm in a state in which the article is clamped between the lower jaw and the upper jaw, and use the pushing member to push out the article and transfer the article to the predetermined position. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Laid-Open No. 10-25029

[The problem to be solved by the invention]

For example, there is a case where a plurality of items arranged adjacently are moved for unloading. These items may be arranged in a state with no gaps or small gaps between the items. Furthermore, in the case of a rectangular parallelepiped article, only the adjacent 2 or 3 faces of the 6 faces of the article are often exposed. It is difficult to use the robot hand of Patent Document 1 to take out such an article.

Therefore, the purpose of the present disclosure is to provide a robot hand, robot, and robot system that can easily take out objects arranged adjacently. [Means to Solve the Problem]

In order to achieve the above-mentioned object, a robot hand of one form of the present disclosure is a robot hand for holding objects, including: a first gripping portion including a first claw portion; a second gripping portion that is held together with the first claw portion An article to hold the article; and a first drive device for moving at least one of the first pawl and the second grasping portion in a first direction in which the first pawl portion and the second grasping portion approach or separate ; The first claw has a shape that can be inserted into the gap between the adjacent articles.

A robot of one form of the present disclosure includes: a robot hand of one form of the present disclosure, a robot arm connected to the robot hand, and a control device that controls the actions of the robot hand and the robot arm.

The robot system of one form of the present disclosure includes: the robot of one form of the present disclosure, and an operating device for operating the robot. [Effects of Invention]

According to the technology of the present disclosure, the adjacently arranged items can be easily taken out.

Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. In addition, the embodiments described below all show general or specific examples. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the technical solution representing the most general concept will be described as arbitrary constituent elements. In addition, the drawings in the accompanying drawings are schematic drawings and are not strictly illustrated. Furthermore, in each figure, substantially the same constituent elements are denoted with the same reference numerals, and repeated descriptions may be omitted or simplified.

＜Robot System 1＞ FIG. 1 is a diagram showing an example of the configuration of the robot system 1 of the embodiment. As shown in FIG. 1, in this embodiment, the robot system 1 is a system that uses a robot 100 to transport an article A. For example, the robot 100 can place and stack articles A conveyed by a conveying device or the like in a predetermined place. In addition, the robot 100 takes out the article A from the stack of the article A stacked in a predetermined place, and places it on another device or the like. Hereinafter, the article A conveyed by the robot 100 is described as a rectangular parallelepiped corrugated cardboard box, but it is not limited to this. The object to be conveyed may be an object that can be grasped by the robot hand 120 described later, for example, it may be another object having a predetermined shape, or an object that does not have a predetermined shape such as a rock.

The robot system 1 includes a robot 100 and an operating device 210 for operating the robot 100. The operating device 210 is separated and arranged from the robot 100, and the operator P can remotely operate the robot 100 by inputting the operating device 210. Further, the robot system 1 includes a photographing device 220 that photographs the action state of the robot 100 and an output device 230 that outputs the information photographed by the photographing device 220. Further, the robot system 1 includes a transport vehicle 240 for fixing the robot arm 110 of the robot 100. Although not limited to this, in this embodiment, the transport vehicle 240 includes a servo motor that uses electric power as a power source to drive the transport vehicle 240. For example, the transport vehicle 240 may be an AGV (Automated Guided Vehicle).

In addition, the robot system 1 includes a conveyor robot 250 on the transport vehicle 240. The conveyor robot 250 transfers the article A placed on the conveyor belt surface by the robot 100 to other devices such as the belt conveyor 300. In addition, the conveyor robot 250 receives the article A from another device and transports it to the robot 100. The conveyor robot 250 includes a conveyor 251 that is a belt conveyor, and an arm 252 supporting the conveyor 251 on the transport vehicle 240. The arm 252 can be used to set the conveyor 251 to any position and posture 210. Although not limited to this, in the present embodiment, the conveyor 251 and the arm 252 each include a servo motor that uses electric power as a power source to drive these electric motors. In addition, not all the above-mentioned constituent elements of the robot system 1 are required.

＜Robot 100＞ As shown in FIG. 1, the robot 100 includes a robot arm 110, a robot hand 120 installed at the front end of the robot arm 110, and a control device 130 that controls the actions of the robot arm 110 and the robot hand 120. In this embodiment, the robot 100 is configured as a vertical articulated robot, but it is not limited to this.

＜Operation device 210＞ As shown in FIG. 1, the operating device 210 remotely operates the robot 100, the transport vehicle 240, and the conveyor robot 250 based on instructions input by the operator P. The specific configuration of the operating device 210 is not particularly limited, and the operating device 210 includes an input device that receives input by the operator P. Examples of input devices are: handles, levers, pedals, buttons, touch panels, microphones, and cameras, but are not limited to these. The operation device 210 outputs a command corresponding to the operation input via the input device to the control device 130. The operating device 210 is connected to the control device 130 via wired communication or wireless communication. The form of wired communication and wireless communication can be any form.

The operating device 210 may output instructions corresponding to each manual operation input by the operator P to the control device 130. Alternatively, the operating device 210 may output an instruction corresponding to the operation content of the automatic operation input by the operator P to the control device 130. For example, as an input command, the operating device 210 can receive the displacement, direction, speed, and operating force of the handle or lever, etc., and can also receive the press of a button, and receive the touch, touch track, and touch on the screen of the touch panel. Squeezing is also possible, it is also possible to receive the sound signal collected by the speaker, or to receive the analysis result of the image of the operator P taken by the camera. The operating force is the force applied by the operator P to the handle or lever. The contact pressure is the pressing force of a finger or the like on the touch panel. The analysis result of the image of the operator P includes the instructions represented by the gesture of the operator P.

＜Photography device 220＞ As shown in FIG. 1, the photographing device 220 photographs the movement states of the robot 100, the transport vehicle 240 and the conveyor robot 250, and outputs the signal of the photographed image to the output device 230. The image captured by the photographing device 220 may be a still image or a movie. Examples of the photographing device 220 are a digital camera and a digital video camera. The photographing device 220 is connected to the operating device 210 and the output device 230 via wired communication or wireless communication. The photographing device 220 may execute and stop photographing, and change the photographing direction according to instructions input to the operating device 210.

＜Output device 230＞ As shown in FIG. 1, the output device 230 is a display device that outputs the signal of the image acquired from the photographing device 220 as an image and displays it to the operator P. Examples of the output device 230 are a liquid crystal display (Liquid Crystal Display) and an organic or inorganic EL display (Electro-Luminescence Display), but it is not limited to these. The output device 230 may also display an image output by the control device 130 for operation and the like.

＜Detailed structure of robot 100＞ [Configuration of Robot Arm 110] The detailed structure of the robot arm 110 of the robot 100 will be described. Fig. 2 is a perspective view showing an example of the configuration of the robot 100 according to the embodiment. As shown in FIG. 2, the robot arm 110 of the robot 100 is fixed to the transport vehicle 240 with its base end. A robot hand 120 is connected to the front end of the robot arm 110. The multi-joint robot arm 110 includes six joint shafts JT1 to JT6, and six links 110a to 110f sequentially connected by the joint shafts. Further, the robot arm 110 includes arm driving devices AM1 to AM6 that rotate and drive the joint axes JT1 to JT6, respectively. The operation of the arm driving devices AM1 to AM6 is controlled by the control device 130. Although not limited to this, in the present embodiment, the arm drive devices AM1 to AM6 each include a servo motor that uses electric power as a power source to drive these electric motors. In addition, the number of joint axes of the robot arm 110 is not limited to 6, and it may be 7 or more, and may be 1 or more and 5 or less.

The joint shaft JT1 connects the upper surface of the base 241 of the transport vehicle 240 and the base end of the connecting rod 110a so as to be rotatable about a vertical axis perpendicular to the upper surface. The joint axis JT2 connects the front end of the link 110a and the base end of the link 110b so as to be rotatable about a horizontal axis. The joint axis JT3 connects the front end of the link 110b and the base end of the link 110c so as to be rotatable about a horizontal axis. The joint axis JT4 connects the front end of the connecting rod 110c and the base end of the connecting rod 110d so as to be rotatable about the axis in the longitudinal direction of the connecting rod 110c. The joint shaft JT5 connects the front end of the link 110d and the base end of the link 110e so as to be rotatable around an axis in a direction orthogonal to the longitudinal direction of the link 110d. The joint shaft JT6 connects the front end of the link 110e and the base end of the link 110f so as to be able to twist and rotate with respect to the link 110e. A robot hand 120 is installed at the front end of the connecting rod 110f.

[Configuration of Robot Hand 120] The detailed structure of the robot hand 120 of the robot 100 will be described. Fig. 3 is a side view showing an example of the configuration of the robot hand 120 of the embodiment. 4 is a side view showing an example of the configuration of the first gripping portion 121 of the robot hand 120 of the embodiment. FIG. 5 is a side view showing an example of the configuration of the second gripping portion 122 of the robot hand 120 of the embodiment.

As shown in FIG. 3, the robot hand 120 includes: a first holding part 121, a second holding part 122, and a base 123. The base 123 is installed at the front end of the link 110f of the robot arm 110. The first holding portion 121 and the second holding portion 122 are installed on the base 123 and supported by the base 123. In addition, it is preferable that the connecting rod 110f does not interfere with the first holding member 121a movable in the first direction D1 as described later, and is shifted relative to the first holding member 121a in the second direction D2. The base 123 is connected.

As shown in FIGS. 3 and 4, the first gripping portion 121 includes a first gripping member 121a and a first driving device 121b. The first holding member 121a is configured to be movable in the first directions D1a and D1b, and is supported by the base 123. The first gripping member 121a integrally includes: a first body portion 121aa extending from the base 123 in the first direction D1a, and a first body portion 121aa extending from the front end of the first body portion 121aa in a third direction D3a crossing the first direction D1a One claw 121ab.

The first directions D1a and D1b are opposite to each other. The direction D1a is the direction away from the base 123, and the direction D1b is the direction toward the base 123. When the first directions D1a and D1b are not distinguished, they are sometimes referred to as "first direction D1". The third directions D3a and D3b are opposite to each other. The direction D3a is a direction away from the first body portion 121aa, and the direction D3b is a direction toward the first body portion 121aa. In the case where the third party direction D3a and D3b are not distinguished, it is sometimes referred to as "third party direction D3". In this embodiment, the first directions D1a and D1b are substantially perpendicular to the third directions D3a and D3b, but they are not limited to this.

The first claw portion 121ab has a shape that can be inserted into the gap between adjacent objects and/or the gap between the object and the ground. In this embodiment, the first body portion 121aa and the first claw portion 121ab have a plate-like outer shape, and may be formed of a plate, for example, or may be formed of a frame forming the outer shape. The first claw portion 121ab has a tapered outer shape that tapers toward its front end. For example, the thickness of the first claw portion 121ab in the first direction D1 is made thinner at the front end. In addition, although the width of the first claw portion 121ab in the paper surface direction perpendicular to the first direction D1 and the third direction D3 is substantially constant, the front end may be tapered.

In addition, the first body portion 121aa includes a belt-shaped convex portion 121ac extending in the first direction D1. The convex portion 121ac is slidable in the first direction D1 with the groove of the guide portion 123a provided on the base 123 Snap. The first holding member 121a is supported by the base 123 and guided to move in the first direction D1 via the convex portion 121ac and the guide portion 123a.

The first driving device 121b includes: a first actuator 121c and a first driving mechanism 121d. The first driving device 121b uses the driving force generated by the first actuator 121c to move the first holding member 121a in the first direction D1. Although not limited to this, in the present embodiment, the first actuator 121c includes a servo motor that uses electric power as a power source and an electric motor that drives it. The first actuator 121c may receive the supply of power from the robot 100, the power supply source of the robot 100, or other power supply sources. The first driving mechanism 121d converts the rotational driving force of the first actuator 121c into a linear driving force and transmits it to the first holding member 121a. The first driving mechanism 121d includes a screw 121da, a nut 121db, a reducer 121dc, pulleys 121dd and 121de, and an endless belt 121df.

The screw 121da is fixed to the first body portion 121aa and extends in the first direction D1. The screw 121da and the nut 121db constitute a ball screw, and the thread groove of the screw hole of the nut 121db is screwed with the thread groove of the outer peripheral surface of the screw 121da through balls (not shown). The nut 121db is fixed on the base 123 in such a way that it can rotate around the axis of the screw 121da, but does not move in the first direction D1. The pulley 121de is connected to the nut 121db so as to rotate integrally with the nut 121db. The endless belt 121df is erected on the pulleys 121dd and 121de. The pulleys 121dd and 121de and the nut 121db rotate around the axis in the first direction D1.

The speed reducer 121dc slows down the rotational speed of the rotational driving force of the first actuator 121c and transmits the rotational driving force to the nut 121db. Specifically, the speed reducer 121dc converts the rotational driving force of the first actuator 121c around the axis of the third direction D3 into the rotational driving force around the axis of the first direction D1, and transmits it to the pulley 121dd.

With the above configuration, the one-direction rotational driving force generated by the first actuator 121c rotates the nut 121db in one direction, thereby moving the screw 121da and the first holding member 121a in the first direction D1a together. The rotation driving force in the opposite direction generated by the first actuator 121c rotates the nut 121db in the opposite direction, whereby the screw 121da and the first holding member 121a are moved in the first direction D1b together.

In addition, the structure of the first driving device 121b is not limited to the above-mentioned structure as long as it can move the first holding member 121a in the first direction D1. For example, the first driving mechanism 121d is not provided, and the first actuator 121c may directly move the first holding member 121a. An example of such a first actuator 121c is a linear actuator or the like.

As shown in FIGS. 3 and 5, the second gripping portion 122 includes a second gripping member 122a and a second driving device 122b. The second holding member 122a is configured to be movable in the second directions D2a and D2b, and is supported by the base 123. The second holding member 122a integrally includes a second body portion 122aa extending from the base 123 in the second direction D2a, and a second body portion 122aa extending from the front end of the second body portion 122aa in the fourth direction D4a crossing the second direction D2a. Two claws 122ab.

The second directions D2a and D2b are opposite to each other. The direction D2a is the direction away from the base 123, and is the same direction as the direction D3a. The direction D2b is a direction approaching the base 123, and is the same direction as the direction D3b. When the second directions D2a and D2b are not distinguished, they are sometimes referred to as "second direction D2." The fourth directions D4a and D4b are opposite to each other. The direction D4a is the direction away from the second body portion 122aa, and is the same direction as the direction D1a. The direction D4b is a direction approaching the second body portion 122aa, and is the same direction as the direction D1b. When the fourth directions D4a and D4b are not distinguished, they are sometimes referred to as "fourth direction D4".

In addition, in this embodiment, the second directions D2a and D2b are substantially perpendicular to the fourth directions D4a and D4b, but they are not limited to this. Further, the second directions D2a and D2b are substantially parallel to the third directions D3a and D3b, and the fourth directions D4a and D4b are substantially parallel to the first directions D1a and D1b, but are not limited thereto.

The second claw portion 122ab has a shape that can be inserted into the gap between adjacent objects and/or the gap between the object and the ground. In this embodiment, the second body portion 122aa and the second claw portion 122ab have a plate-like outer shape, and may be formed of a plate, for example, or may be formed of a frame forming the outer shape. The second claw portion 122ab has a tapered shape that tapers toward its front end. For example, the thickness of the second claw portion 122ab in the second direction D2 is made thinner at the front end. In addition, although the width of the second claw portion 122ab in the paper surface direction perpendicular to the second direction D2 and the fourth direction D4 is substantially constant, the front end may be tapered.

In addition, the second body portion 122aa includes a belt-shaped convex portion 122ac extending in the second direction D2, and the convex portion 122ac is slidable in the second direction D2 to engage with the groove of the guide portion 123b provided on the base 123 combine. The second holding member 122a is supported by the base 123 and guided to move in the second direction D2 via the convex portion 122ac and the guide portion 123b.

The second driving device 122b includes a second actuator 122c and a second driving mechanism 122d. The second driving device 122b moves the second holding member 122a in the second direction D2 by the driving force generated by the second actuator 122c. Although not limited to this, in the present embodiment, the second actuator 122c includes a servo motor that uses electric power as a power source and an electric motor that drives it. The second actuator 122c may receive power supply from the robot 100, the power supply source of the robot 100, or other power supply sources. The second driving mechanism 122d converts the rotational driving force of the second actuator 122c into a linear driving force and transmits it to the second holding member 122a. The second driving mechanism 122d includes a screw 122da, a nut 122db, a reducer 122dc, pulleys 122dd and 122de, and an endless belt 122df.

The screw 122da is fixed on the second holding member 122a and extends in the second direction D2. The screw 122da and the nut 122db constitute a ball screw. The nut 122db is fixed on the base 123 in such a way that it can rotate around the axis of the screw 122da, but does not move in the second direction D2. The pulley 122de is connected to the nut 122db so as to rotate integrally with the nut 122db. The endless belt 122df is erected on the pulleys 122dd and 122de. The pulleys 122dd and 122de and the nut 122db rotate around the axis in the second direction D2.

The speed reducer 122dc slows down the rotation speed of the rotation driving force of the second actuator 122c and transmits the rotation driving force to the nut 122db. Specifically, the speed reducer 122dc transmits the rotational driving force around the axis in the second direction D2 to the pulley 122dd.

With the above configuration, the one-direction rotational driving force generated by the second actuator 122c rotates the nut 122db in one direction, thereby moving the screw 122da and the second holding member 122a in the second direction D2a together. The rotation driving force in the opposite direction generated by the second actuator 122c rotates the nut 122db in the opposite direction, thereby causing the screw 122da and the second holding member 122a to move in the second direction D2b together.

In addition, the structure of the second driving device 122b is not limited to the above-mentioned structure as long as it can move the second holding member 122a in the second direction D2. For example, the second driving mechanism 122d is not provided, and the second actuator 122c may directly move the second holding member 122a.

The robot hand 120 as described above grips the article A in the first direction D1 by using the second gripping member 122a, the base 123 and the first claw portion 121ab, and uses the first gripping member 121a, the base 123, and the first claw portion 121ab. The two claws 122ab clamp the article A in the second direction D2, thereby gripping the article A. The first direction D1 is a direction in which the first claw portion 121ab and the second holding member 122a approach or separate. The second direction D2 is a direction in which the second claw portion 122ab approaches or separates from the article A clamped by the first claw portion 121ab and the second holding member 122a.

＜Control device 130＞ The configuration of the control device 130 will be described. The control device 130 controls the actions of the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250 based on the operation instructions received from the operating device 210, etc., according to the programs stored in the storage unit (not shown) in advance . The control device 130 does not individually control the actions of the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250, but communicates with each other to perform control and realize mutually cooperative actions. For example, the control device 130 reflects the information obtained from the other three in the control of one of the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250.

FIG. 6 is a block diagram showing an example of the functional configuration of the control device 130 of the embodiment. The control device 130 includes an operation information processing unit 130a, a first gripping unit control unit 130b, a second gripping unit control unit 130c, a claw position detection unit 130d, an arm control unit 130e, an arm position detection unit 130f, a transport vehicle control unit 130g, The transport vehicle position detection unit 130h, the conveyor control unit 130i, the information output unit 130j, and the storage unit 130k are functional components. These functional constituent elements use the information output by other constituent elements to perform actions related to the actions of other constituent elements. In addition, not all of the above functional components are required.

Operation information processing unit 130a, first gripping unit control unit 130b, second gripping unit control unit 130c, claw position detection unit 130d, arm control unit 130e, arm position detection unit 130f, transport vehicle control unit 130g, transport vehicle position detection unit The functions of each component of 130h, conveyor control unit 130i and information output unit 130j include CPU (Central Processing Unit) and other processors, RAM (Random Access Memory, random access memory) and other volatile Non-volatile memory such as memory and ROM (Read-Only Memory) can also be implemented in a computer system (not shown). Part or all of the functions of the above-mentioned constituent elements may be realized by the CPU using RAM as a work area to execute the programs recorded in the ROM. In addition, part or all of the functions of the above-mentioned constituent elements can be realized by the above-mentioned computer system, by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or by a combination of a computer system and a hardware circuit. .

The storage part 130k can store various information, and can read the stored information. The storage unit 130k is realized by a semiconductor memory such as a volatile memory and a non-volatile memory, a hard disk, and a storage device such as an SSD (Solid State Drive, solid state drive). The storage unit 130k stores parameters, thresholds, etc. used by each component. The storage unit 130k can also store the programs executed by each component.

The operation information processing unit 130a outputs the operation command acquired from the operation device 210 to each component of the control device 130. Each component element operates according to the program corresponding to the instruction.

The first gripping unit control unit 130b controls the operation of the first driving device 121b of the first gripping unit 121 in accordance with the command obtained through the operation information processing unit 130a. The first gripping portion control portion 130b operates the first driving device 121b based on the position of the first pawl portion 121ab obtained from the pawl position detecting portion 130d and the like. The first gripping unit control unit 130b detects the load by acquiring the signal of the output current of the first actuator 121c from the first driving device 121b. When the load is above the threshold, it can detect the use of the first gripping member 121a. Control of Item A. In addition, sensors such as photoelectric sensors (also referred to as "beam sensors"), laser sensors, and limit switches that detect the presence of item A are arranged on the first holding member 121a, etc., and the first holding part The control unit 130b may also detect the holding of the article A from the output signal of the sensor.

The second gripping unit control unit 130c controls the operation of the second driving device 122b of the second gripping unit 122 in accordance with the command obtained through the operation information processing unit 130a. The second gripping portion control portion 130c operates the second driving device 122b based on the position of the second pawl portion 122ab obtained from the pawl position detecting portion 130d and the like. The second gripping unit control unit 130c detects the load by acquiring the signal of the output current of the second actuator 122c from the second driving device 122b. When the load is above the threshold, it can detect the use of the second gripping member 122a. Control of Item A. In addition, sensors such as photoelectric sensors, laser sensors, and limit switches that detect the presence of article A are arranged on the second holding member 122a, etc., and the second holding portion control unit 130c outputs signals from the sensor It can also be used to detect the control of item A.

The claw position detection unit 130d and the control device 130 are examples of detection devices. The claw position detection unit 130d detects the positions of the first claw portion 121ab and the second claw portion 122ab relative to the article A. Specifically, the claw position detection unit 130d detects the output load generated by each arm driving device AM1 to AM6 by acquiring output current signals from the arm driving devices AM1 to AM6 of the robot arm 110, respectively. Furthermore, the pawl position detection unit 130d obtains the input load information generated by each arm driving device AM1 to AM6 from the arm control unit 130e. The claw position detection unit 130d detects whether the front end of the first claw 121ab and/or the second claw 122ab is in contact with the article A based on the difference between the output load and the input load of the respective arm driving devices AM1 to AM6. For example, when the difference in load in the arm driving devices AM1 to AM6 is greater than the threshold value, the claw position detection unit 130d may detect whether the front end of the claw is in contact with the article A.

Here, the output current, input load, and output load of the arm drive devices AM1 to AM6 are examples of information related to the operation of the arm drive devices AM1 to AM6. In addition, the information related to the motion of the arm driving devices AM1 to AM6 may include the amount of strain of the joint axes JT1 to JT6 and the connecting rods 110a to 110f. It is also possible to use this kind of strain to detect whether the front end of the claw is in contact with the article A.

Further, the claw position detection unit 130d obtains the position, posture, movement direction, and movement speed of the robot hand 120 from the arm position detection unit 130f, and uses the information to detect the positions of the first claw 121ab and the second claw 122ab . For example, if the claw position detection unit 130d is detecting that the first claw portion 121ab and/or the second claw portion 122ab is in contact with the article A and is moving in a direction that intersects with the protruding direction, specifically orthogonal to it, it detects The non-contact of the claw is to detect that the claw is located at the position corresponding to the gap between the adjacently arranged articles A. For example, the position corresponding to the gap may be a position above the vertical direction of the gap, or a position on the side of the horizontal direction of the gap.

The arm control unit 130e controls the operation of the arm driving devices AM1 to AM6 in accordance with the instructions acquired through the operation information processing unit 130a, thereby performing the operation corresponding to the robot arm 110. The arm control unit 130e operates the robot arm 110 based on the position, posture, movement direction, and movement speed of each link 110a to 110f of the robot arm 110 acquired from the arm position detection unit 130f.

The arm position detection unit 130f detects the position and posture of each link 110a to 110f of the robot arm 110. Specifically, the arm position detection unit 130f acquires information on the amount of movement such as the amount of rotation from the arm drive devices AM1 to AM6, and detects the position and posture of each link 110a to 110f based on the amount of movement. Furthermore, the arm position detection part 130f detects the movement direction and movement speed of each link 110a-110f based on the change of the position and posture of each link 110a-110f. In addition, the arm position detecting unit 130f detects the position, posture, moving direction, and moving speed of the robot hand 120 based on the position, posture, moving direction, and moving speed of the link 110f.

The conveyance vehicle control unit 130g controls the operation of the conveyance driving device 240a of the conveyance vehicle 240 in accordance with the command obtained through the operation information processing unit 130a, thereby performing actions corresponding to the conveyance vehicle 240. The transport vehicle control unit 130g operates the transport vehicle 240 based on the position and orientation of the transport vehicle 240 acquired from the transport vehicle position detection unit 130h.

The transport vehicle position detection unit 130h detects the position and orientation of the transport vehicle 240. Specifically, the transport vehicle position detection unit 130h acquires information on the amount of movement such as the amount of rotation of its servo motor from the transport drive device 240a, and detects the position and orientation of the transport vehicle 240 based on the amount of movement. In addition, the transport vehicle 240 may include a GPS (Global Positioning System) receiver and an IMU (Inertial Measurement Unit) and other position measuring devices. The transport vehicle position detection unit 130h may use the reception signal of the GPS receiver or the acceleration and angular velocity measured by the IMU to detect the position and orientation of the transport vehicle 240. The transport vehicle position detection unit 130h may detect a weak induced current from, for example, an electric wire buried in the ground, and may detect the position and orientation of the transport vehicle 240 based on the detection value.

The conveyor control unit 130i controls the actions of the conveyor 251 and the arm 252 of the conveyor robot 250 according to the instructions acquired through the operation information processing unit 130a, thereby performing actions corresponding to the conveyor robot 250.

The information output unit 130j outputs output information such as the action result and detection result of each component of the control device 130 to the operating device 210 and/or the output device 230. The information output unit 130j outputs the operation screen of the robot 100 to the operation device 210 and/or the output device 230.

In addition, an example of the relationship between the control device 130 and each drive device will be described. FIG. 7 is a block diagram showing an example of the configuration of the control device 130 and each driving device of the embodiment. As shown in FIG. 7, the control device 130 is composed of a servo motor of the arm drive devices AM1 to AM6, a servo motor of the first drive device 121b, a servo motor of the second drive device 122b, a servo motor of the transport drive device 240a, And the servo motor of the conveyor robot 250, input and output information and instructions. The control device 130 controls the actions of all the servo motors of the arm drive devices AM1 to AM6, the first drive device 121b, the second drive device 122b, the transport drive device 240a, and the conveyor robot 250.

Each servo motor includes an electric motor, and an encoder that detects the rotation angle of the rotor of the electric motor. Each servo motor operates the electric motor according to the instructions and information output from the control device 130, and outputs the detection value of the encoder to the control device 130. The control device 130 detects the rotation amount and rotation speed of the rotor of the servo motor based on the detection value of the encoder fed back from each servo motor, and uses the detection result to control the rotation start, rotation stop, rotation speed, and rotation speed of the servo motor. Moment. Thereby, the control device 130 can stop each servo motor at any rotation position, can rotate at any rotation speed, and can operate with any rotation torque. Therefore, the control device 130 can make the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250 all perform various and thorough actions.

＜The first action of the robot system 1＞ The first action of the robot system 1 will be described. The first action is an action of using the robot hand 120 to unload the uppermost item A1 among the items A stacked up and down. The first action is a master-slave action, that is, the operator P uses the operating device 210 to cause the robot 100 and the transport vehicle 240 to perform various actions. In this case, for example, the operating device 210 may be configured as a master arm at the hand of the operator P, and the robot 100 may be configured as a remote slave arm. Furthermore, it is configured to follow the movement of the master arm given by the operator P from the movable arm. Thereby, it is easy for the slave arm to correctly implement the actions required by the operator P. In addition, the operator P can easily feel the movement of the slave arm through the master arm.

8 to 13 are respectively side views showing the first action 1 of the robot system 1 of the embodiment. As shown in FIG. 1, first, in the robot moving step, the operator P inputs a command to the operating device 210 to move the transport vehicle 240 to the stack of the article A including the article A1 to be carried out. At this time, the operator P inputs the information of the location of the destination to the operating device 210, and the control device 130 may automatically drive the transport vehicle 240 based on the information. Alternatively, the operator P can visually recognize the screen displayed on the output device 230 while operating the operating device 210, so that the transport vehicle 240 can travel.

Next, as shown in the hand movement step of FIG. 8, after the transport vehicle 240 arrives in front of the article A1, the operator P visually recognizes and operates the operating device 210 through the screen of the output device 230, thereby making the robot The arm 110 moves to move the robot hand 120 to above the article A1. The control device 130 outputs the information of the posture of the robot hand 120 to the operating device 210 and the like. Based on the information of the posture, the operator P adjusts the position of the robot hand 120 in such a way that the first body portion 121aa of the first holding member 121a becomes horizontal. posture.

Next, as shown in the claw contact step in FIG. 9, the operator P lowers the robot hand 120 so that the downward front end of the first claw portion 121ab of the first gripping member 121a contacts the article A1 from above. Further, the operator P moves the robot hand 120 in the first direction D1a, which is the direction in which the article A1 enters the paper surface, in a state where the first pawl portion 121ab is in contact. The control device 130 outputs information indicating whether the first claw portion 121ab is in contact with the article A1 to the operating device 210 and the like. In addition, the first gripping member 121a protrudes in advance in the first direction D1a in such a manner that the second claw portion 122ab of the second gripping member 122a does not contact the article A1.

Next, as shown in the claw insertion step of FIG. 10, if the first claw portion 121ab and the article A1 are in a non-contact state, the operator P stops the movement of the robot hand 120 in the first direction D1a. At this time, the first claw portion 121ab is located above the gap between the article A1 and the adjacent article A. In addition, if the control device 130 detects the aforementioned non-contact state, the movement of the robot hand 120 may be automatically stopped.

Further, the operator P moves the robot hand 120 downward, that is, the second direction D2a. Thereby, the first claw portion 121ab is inserted into the gap between the article A1 and the adjacent article A. When the control device 130 detects that the first claw portion 121ab is completely inserted into the gap, it outputs the detection result to the operating device 210 or the like. If the control device 130 detects the contact between the first gripping member 121a or the base 123 and the article A1 based on the load generated in the respective arm driving devices AM1 to AM6 of the robot arm 110, it determines that the first claw 121ab is fully inserted It's also possible.

As shown in the first gripping step in FIG. 11, after the insertion of the first claw portion 121ab, the operator P moves the first driving device 121b of the robot hand 120 to move the first gripping member 121a in the first direction D1b Move closer. Thereby, the first gripping member 121a uses the first claw portion 121ab to pull the article A1 in the horizontal direction, that is, the first direction D1b. If the control device 130 detects that the article A1 has been pulled out, it outputs the detection result to the operating device 210 and the like. If the control device 130 detects the contact between the article A1 and the second holding member 122a or the base 123 based on the load generated in the first driving device 121b, it may be determined that the drawing is completed. After pulling out, the operator P stops the first driving device 121b, but the control device 130 may stop it automatically.

As shown in the second holding step in FIG. 12, after the article A1 is pulled out, the operator P moves the second driving device 122b of the robot hand 120 to move the second holding member 122a upward, that is, the second direction D2b moves by approaching. If the control device 130 detects that the movement of the second holding member 122a is completed, it outputs the detection result to the operating device 210 and the like. If the control device 130 detects the contact between the second claw portion 122ab and the article A1 based on the load generated in the second driving device 122b, it may be determined that the movement is completed. After the movement is completed, the operator P stops the second driving device 122b, but the control device 130 may stop it automatically.

When the movement is completed, the robot hand 120 holds the article A1 in the horizontal direction between the first claw 121ab and the second holding member 122a or the base 123, and the second claw 122ab and the first holding member 121a or the base 123 Between 123, hold the article A1 in the vertical direction.

Next, as shown in the unloading step of FIG. 13, after the movement of the second holding member 122a is completed, the operator P moves the robot arm 110, and removes the article A1 held by the robot hand 120 from the stack of article A, and moves To move out location.

In the above, at least one of the actions of each step and/or at least a part of the series of actions from the moving step to the unloading step may be automatically performed by the control device 130.

＜The second action of the robot system 1＞ The second action of the robot system 1 will be described. The second action is an action of using the robot hand 120 to remove the object A1 placed on the ground. The second action is also set as a master-slave action. Figs. 14 and 15 are respectively side views showing the second action 1 of the robot system 1 of the embodiment. The robot movement step, the hand movement step, and the claw contact step in the second action are the same as the first action.

As shown in the claw insertion step in FIG. 14, if the state of the first claw 121ab and the article A1 becomes a non-contact state from the contact state, the operator P lowers the robot hand 120 to insert the first claw 121ab into the article A1 and the article A1. In the gap between adjacent item A. During the descent of the robot hand 120 in the second direction D2a, the control device 130 detects whether the second claw portion 122ab of the second gripping member 122a is in contact with the ground, and outputs the detection result to the operating device 210 and the like.

When the second claw portion 122ab comes into contact with the ground, the operator P moves the second driving device 122b. The second driving device 122b moves the second holding member 122a in the second direction D2b. Thereby, the first gripping member 121a is lowered, and the first claw portion 121ab is further inserted into the gap. When the control device 130 detects that the movement of the second holding member 122a is completed, it outputs the detection result to the operating device 210 or the like. If the control device 130 detects the contact between the first gripping member 121a or the base 123 and the article A1 based on the load generated by the second driving device 122b, it may determine that the movement is completed. After the movement is completed, the operator P stops the lowering motion of the robot hand 120 and the motion of the second driving device 122b, but the control device 130 may also stop them automatically.

Next, as shown in the holding step of FIG. 15, after the action is stopped, the operator P moves the first driving device 121b in the same manner as the first holding step of the first action, so that the first holding member 121a moves in the first direction D1b moves. At this time, the first claw portion 121ab pulls the article A1 in the first direction D1b, or the second gripping member 122a moves in the first direction D1a, whereby the second claw portion 122ab is inserted between the article A1 and the ground. When the control device 130 detects the abutment of the article A1 with the second gripping member 122a or the base 123, it determines that the grip is completed, and outputs the determination result to the operating device 210 or the like.

When the grip is completed, the robot hand 120 holds the article A1 in the horizontal direction between the first claw portion 121ab and the second gripping member 122a or the base 123, and the second claw portion 122ab and the first gripping member 121a or the base 123 Between 123, hold the article A1 in the vertical direction.

Next, in the unloading step, the operator P lifts the article A1 held by the robot hand 120 and moves it to the unloading location.

In the above, at least one of the actions of each step, and/or at least a part of a series of actions from the moving step to the unloading step may be automatically performed by the control device 130.

＜Effects etc.＞ As described above, the robot hand 120 of the embodiment includes: the first gripping portion 121 including the first claw portion 121ab, the second gripping portion 122 that grips the article by clamping the article together with the first claw portion 121ab, and The first driving device 121b moves the first claw portion 121ab in the first direction D1 in which the first claw portion 121ab and the second holding portion 122 are approached or separated. The first claw portion 121ab has a shape that can be inserted into the gap between adjacently arranged articles.

According to the above configuration, the robot hand 12 can use the first claw 121ab and the second gripping part by inserting the first claw 121ab into the gap between the articles and moving the first claw 121ab in the first direction D1. 122 to control the items. Therefore, the robot hand 120 can easily take out the adjacently arranged articles.

In addition, the robot hand 120 of the embodiment may include a second driving device 122b that moves the second claw portion 122ab included in the second gripping portion 122 in the second direction D2. The second direction D2 is a direction intersecting the first direction D1, and may be a direction in which the second claw portion 122ab approaches or separates from the article held by the first claw portion 121ab and the second gripping portion 122. According to the above configuration, the robot hand 120 can hold the article held in the first direction D1 by the first claw part 121ab and the second holding part 122, and also hold the article from the second direction D2 using the second claw part 122ab. Therefore, the article can be held reliably.

In addition, in the robot hand 120 of the embodiment, the second claw portion 122ab may have a shape that can be inserted into the gap between adjacently arranged articles. According to the above configuration, the second claw portion 122ab can be inserted into the gap between the objects and the gap between the objects and the ground. Therefore, the robot hand 120 can insert the second claw portion 122ab into the gap to hold the article.

In addition, in the robot hand 120 of the embodiment, the first driving device 121b and the second driving device 122b may include actuators 121c and 122c that generate driving force. Furthermore, the actuators 121c and 122c may use electric power as a power source. According to the above configuration, the robot hand 120 drives the first driving device 121b and the second driving device 122b using electric power as a power source to grasp the article. Therefore, the first driving device 121b and the second driving device 122b do not require piping required when air pressure or hydraulic pressure is used as a driving source. Further, the first driving device 121b and the second driving device 122b can receive power supply from the power supply of the robot 100 or the like. Therefore, the freedom of setting and movement of the robot hand 120 is improved.

In addition, the robot hand 120 of the embodiment includes the control device 130 as a detection device, which detects that the first claw portion 121ab is located at a position corresponding to the gap between adjacently arranged articles. According to the above configuration, the first claw portion 121ab can be reliably inserted into the gap between articles.

In addition, the robot hand 120 of the embodiment is connected to a robot arm 110 including a plurality of joints. The plurality of joints are driven by arm driving devices AM1 to AM6 including servo motors, and the control device 130 is connected to the arm driving devices AM1 to AM6. It is also possible to use information related to the action of the same, and use the information to detect that the first claw 121ab is located at a position corresponding to the gap between adjacently arranged items. According to the above configuration, there is no need for a device dedicated to detecting that the first claw portion 121ab is located at a position corresponding to the gap between the articles. Therefore, the structure of the robot hand 120 can be simplified.

Furthermore, the robot 100 of the embodiment includes a robot hand 120, a robot arm 110 connected to the robot hand 120, and a control device 130 that controls the actions of the robot hand 120 and the robot arm 110. According to the above configuration, the same effect as the robot hand 120 of the embodiment is obtained.

In addition, in the robot 100 of the embodiment, the robot arm 110 includes a plurality of joints driven by arm driving devices AM1 to AM6 including a servo motor, and the first driving device 121b and the second driving device 122b of the robot hand 120 also It may include actuators 121c and 122c including servo motors. Furthermore, the control device 130 may also control the actions of the servo motors of the actuators 121c and 122c, and the actions of the servo motors of the arm drive devices AM1 to AM6. According to the above structure, the servo motor can stop the rotor at any rotation position, can drive the rotor at any rotation speed, and can generate any rotation torque. Therefore, the robot hand 120 and the robot arm 110 can perform various and detailed actions.

In addition, the robot system 1 of the embodiment includes a robot 100 and an operating device 210 for operating the robot 100. According to the above configuration, the same effect as the robot hand 120 of the embodiment is obtained.

(Modification 1) The robot hand 120A of Modification 1 of the embodiment will be described. The robot hand 120A of Modification 1 is different from the embodiment in that the first gripping portion 121A and the second gripping portion 122A include sensors for detecting objects. Hereinafter, regarding Modification 1, the description will be focused on the differences from the embodiment, and the description of the same points as the embodiment will be omitted as appropriate.

FIG. 16 is a side view showing an example of the configuration of the robot hand 120A of Modification 1. FIG. 17 is a plan view showing an example of the configuration of the robot hand 120A of Modification 1. As shown in FIGS. 16 and 17, the robot hand 120A includes sensors 124, 125, and 126a to 126c on the first holding member 121a of the first holding portion 121A, and on the second holding member 122a of the second holding portion 122A The sensor 127 is included on it. The sensors 124, 125, 126a-126c, and 127 are sensors for detecting objects and/or detecting the distance to the object. The sensors 124, 125, 126a-126c, and 127 respectively output their detection signals to the control device 130.

The sensors 124 and 127 may be contact sensors or non-contact sensors. The sensors 125 and 126a-126c are non-contact sensors. For example, the contact sensor may be a sensor that detects the reaction force from an object in contact, such as a collision sensor, a pressure sensor, and a contact displacement sensor. Non-contact sensors can also be photoelectric sensors, laser sensors, lidar and ultrasonic sensors that detect the proximity of objects or the distance to objects.

The first sensor 124 is disposed on the side surface of the first claw portion 121ab facing the first direction D1a, and the front, that is, the area in the first direction D1a, is used as the detection target. The first sensor 124 detects the contact with the object, the proximity of the object, and/or the distance to the object in the first direction D1a.

The second sensor 125 is disposed on the lower surface of the first body portion 121aa of the first holding member 121a facing the second direction D2a, and the area below, that is, in the second direction D2a, is used as a detection target. The second sensor 125 is arranged near or adjacent to the first claw portion 121ab. The second sensor 125 detects the proximity of an object in the second direction D2a to the first claw portion 121ab and/or the distance to the object.

The third sensors 126a to 126c are disposed on the upper surface of the first body portion 121aa facing the second direction D2b, and the upper area, that is, the area in the second direction D2b, is used as the detection target. The third sensors 126a-126c respectively detect the proximity and/or the distance to the object in the second direction D2b. At least two of the third sensors 126a to 126c are arranged at positions staggered in the first direction D1a. Further, at least two of the third sensors 126a to 126c are arranged at positions staggered in the fifth direction D5. The fifth direction D5 is a direction perpendicular to the first directions D1a and D1b and parallel to the upper surface of the first body portion 121aa. In this modification, the positions of all the third sensors 126a to 126c are staggered in the directions D1a and D5.

The fourth sensor 127 is disposed on the bottom surface of the second claw portion 122ab facing the second direction D2a, and the area below, that is, in the second direction D2a, is used as a detection target. The fourth sensor 127 detects the contact with the object, the proximity of the object, and/or the distance to the object in the second direction D2a.

The control device 130 detects the contact and/or approach of the object to the first claw 121ab based on the detection signal of the first sensor 124. The control device 130 detects the contact and/or approach of the object to the second claw portion 122ab based on the detection signal of the fourth sensor 127. For example, if the control device 130 detects that the object is within the threshold value, that is, the distance L1, it may determine that the object is approaching. The distance L1 may be 100 mm or the like, for example. If the control device 130 detects the contact of the object, it may stop the movement of the robot hand 120A or reduce the movement speed. If the control device 130 detects the proximity of the object, it may stop the movement of the robot hand 120A or reduce the movement speed, or notify the operation device 210 or the like of the proximity of the object and/or the distance to the object. This prevents the robot hand 120A from colliding with the article A or the ground.

The control device 130 detects the gap between adjacent items A based on the detection signal of the second sensor 125. For example, if the robot hand 120A in the first direction D1a or D1b is moving, the state changes from detecting that the article A is present in the second direction D2a to the undetectable state, or the second direction D2a is in contact with the article A. When the distance increases rapidly, the control device 130 may detect the existence of a gap between the items A. If the control device 130 detects the gap, the movement of the robot hand 120A can be stopped, and the detection of the gap and/or the distance to the gap may be notified to the operating device 210 or the like. Thereby, the first claw portion 121ab is positioned at a position corresponding to the gap between the article A.

In addition, the control device 130 detects the contact and/or proximity of the object to the first body portion 121aa based on the detection signals of the third sensors 126a-126c. Further, the control device 130 controls the posture of the robot hand 120A by controlling the posture of the first body part 121aa. For example, if at least one of the third sensors 126a to 126c detects that the object is within the threshold, that is, the distance L2, the control device 130 may determine that the object is approaching. The distance L2 may be 100 mm or the like, for example.

In addition, the control device 130 can use the distance to the top detected by the third sensors 126a-126c to detect the position and posture of the robot hand 120A. The top is the top of the storage space where the item A is stored, for example, the top of the storage room, the top of the luggage compartment of the vehicle, and the top of the container. The control device 130 can detect the rolling angle of the first body portion 121aa centered on the axis of the first direction D1a and the robot hand 120A according to the detection distances of the third sensors 126b and 126c. The control device 130 can detect the pitching angle of the first body 121aa and the robot hand 120A centered on the axis of the direction D5 according to the detection distances of the third sensors 126a and 126c. The control device 130 detects the position of the first main body 121aa relative to the top according to the detection distance of the third sensors 126a-126c.

The control device 130 may notify the operation device 210 and the like of the approach of the top, the distance to the top, the roll angle and the pitch angle of the robot hand 120A, etc. The control device 130 can control the posture of the robot hand 120A in such a way that the upper surface of the first body portion 121aa is parallel or substantially horizontal with respect to the top based on the roll angle and the pitch angle. If the robot hand 120A is close to the top, the robot hand The movement of 120A can be stopped or the movement speed can be reduced. This suppresses the robot hand 120A from colliding with the top. In addition, since the first main body 121aa is maintained in a substantially horizontal posture, it is easy to hold the article A with the robot hand 120A.

According to the robot hand 120A of Modification 1 described above, the same effect as the embodiment can be obtained. Further, the robot hand 120A of Modification 1 includes the sensors 124, 125, 126a to 126c, and 127, which can suppress collisions with surrounding objects. Moreover, the robot hand 120A can easily control its posture by including the third sensors 126a to 126c.

(Modification 2) The robot hand 120B of Modification 2 of the embodiment will be described. The robot hand 120B of Modification Example 2 is different from the embodiment and Modification Example 1 in that it includes a third gripping portion 128. Hereinafter, the modification 2 will be described focusing on the differences from the embodiment and the modification 1, and the description of the same points as the embodiment and the modification 1 will be appropriately omitted.

＜The composition of the robot hand 120B＞ FIG. 18 is a side view showing an example of the configuration of the robot hand 120B of Modification 2. As shown in FIG. 18, the robot hand 120B includes a third gripping portion 128, and the third gripping portion 128 is mounted on the base 123 and supported. In this modification, the third gripping portion 128 is arranged between the first gripping member 121a and the second gripping member 122a. The third gripping portion 128 operates independently of the first gripping portion 121 and the second gripping portion 122 under the control of the control device 130.

The third gripping portion 128 includes a third gripping member 128a and a third driving device 128b. The third holding member 128a is provided to be movable in the first directions D1a and D1b. The third holding member 128a includes a shaft portion 128aa extending in the first direction D1a, a pressing portion 128ab at the front end of the shaft portion 128aa, and a friction material 128ac on the surface of the pressing portion 128ab. The pressing portion 128ab has a radially larger surface than the shaft portion 128aa. The friction material 128ac is a member having a higher friction coefficient than the surface of the pressing portion 128ab. The constituent material of the friction material 128ac is not particularly limited, and may be resin, rubber, or the like. Alternatively, the friction material 128ac may be a material that accepts surface treatment such as rough surface processing. Alternatively, the friction material 128ac may not be used, and the surface of the pressing portion 128ab may be subjected to surface treatment such as rough surface processing. The third holding member 128a is arranged such that the friction material 128ac and the pressing portion 128ab are opposed to the side surface of the first claw portion 121ab in the first direction D1. In addition, the surface treatment of the friction material 128ac and the pressing portion 128ab is not necessary.

The third driving device 128b is disposed on the base 123 and expands and contracts the shaft portion 128aa in the first directions D1a and D1b. Examples of the third driving device 128b are electric linear actuators, pneumatic or hydraulic cylinders, and the like. In addition, the third drive device 128b may be configured to convert a rotational drive force into a linear drive force like the first drive device 121b and the second drive device 122b. By extending the shaft portion 128aa, the third driving device 128b grips the article A on the third gripping member 128a between the third gripping member 128a and the first claw portion 121ab in the first direction D1. At this time, the friction material 128ac suppresses the lowering of the article A relative to the third holding member 128a by the friction force between the article A and the article A.

＜Operation of Robot System 1＞ The operation of the robot system 1 of this modification example will be described. Specifically, the second operation will be described. Figs. 19-22 are side views showing the second operation 1 of the robot system 1 of Modification 2 respectively. The robot movement step, the hand movement step, and the claw contact step in this modification are the same as the second action of the embodiment.

As shown in the claw insertion step in FIG. 19, if the contact state between the first claw portion 121ab and the article A1 changes to a non-contact state, the operator P lowers the robot hand 120B while operating the second driving device 122b. Thereby, the first claw portion 121ab is inserted into the gap between the article A1 and the adjacent article A, and the second gripping member 122a moves in the second direction D2b. In addition, in FIGS. 19-22, since it is the same as FIG. 14 and FIG. 15, the illustration of the article A is abbreviate|omitted. When the control device 130 detects that the article A1 is in contact with the first gripping member 121a or the base 123, it outputs the detection result to the operating device 210 or the like. After the abutment, the operator P causes the lowering of the robot hand 120B and the second driving device 122b to stop, but the control device 130 may also stop it automatically. Next, the operator P operates the third driving device 128b of the third gripping portion 128. The third gripping portion 128 extends the third gripping member 128a and presses it against the article A1. Thereby, the article A1 is gripped by the first claw portion 121ab and the third gripping member 128a.

Next, as shown in the tilting step of FIG. 20, the operator P tilts the robot hand 120B from the horizontal state to float the second claw portion 122ab from the ground. Thereby, the article A1 is inclined, and the bottom of the first claw 121ab side of the article A1 is in contact with the ground, but the bottom of the second claw 122ab side is floated from the ground.

Next, as shown in the holding step of FIG. 21, the operator P operates the first driving device 121b and the third driving device 128b. The first driving device 121b moves the first holding member 121a in the first direction D1b, and at the same time, the third driving device 128b shrinks the third holding member 128a in the first direction D1b. The control device 130 causes the first drive device 121b and the third drive device 128b to operate in conjunction with each other so that the distance between the first claw portion 121ab and the third holding member 128a is maintained substantially constant.

Thereby, the robot hand 120B uses the first claw part 121ab and the third holding member 128a to hold the article A1, and moves the base 123 and the second holding member 122a in the first direction D1a, and inserts the second claw part 122ab into the article. Below A1. When the control device 130 detects the contact between the second gripping member 122a or the base 123 and the article A1, it outputs the detection result to the operating device 210 or the like. After the insertion, the operator P stops the first driving device 121b and the third driving device 128b, but the control device 130 may stop them automatically.

Next, the operator P operates the second driving device 122b. The second driving device 122b moves the second holding member 122a in the second direction D2b. When the control device 130 detects the contact between the second claw portion 122ab and the article A1, it outputs the detection result to the operating device 210 and the like as a grip completion report. After the grasping is completed, the operator P stops the second driving device 122b, but the control device 130 may stop it automatically. In addition, the operator P or the control device 130 may simultaneously perform the grasping operation using the first driving device 121b and the third driving device 128b and the grasping operation using the second driving device 122b.

When the gripping is completed, the robot hand 120B grips the article A1 in the first direction D1 between the first claw portion 121ab and the second gripping member 122a or the base 123, and the second claw portion 122ab and the first gripping member 121a or Between the bases 123, the article A1 is held in the second direction D2.

Next, as shown in the unloading step of FIG. 22, the operator P uses the robot arm 110 to adjust the posture of the robot hand 120B so that the upper surface of the first holding member 121a becomes horizontal, and lifts the article A1 to move it out Place.

In the above, at least one of the actions of each step and/or at least a part of the series of actions from the moving step to the unloading step may be automatically performed by the control device 130.

In addition, the third gripping portion 128 can be used to put down the article A1 gripped by the robot hand 120B from the second claw portion 122ab. For example, the robot hand 120B moves the first gripping member 121a in the first direction D1a and extends the third gripping member 128a in a state where the second claw portion 122ab contacts the ground and grips the article A1, thereby pushing the article A1 The second claw 122ab is lowered onto the ground.

In addition, when the third gripping portion 128 is only used for putting down the article A1 from the second claw portion 122ab, the pressing portion 128ab may not face the first claw portion 121ab. In this case, for example, the third holding portion 128 may be provided on the second holding member 122a.

According to the robot hand 120B of the modified example 2 described above, the same effect as the embodiment can be obtained. Furthermore, the robot hand 120B of Modification 2 includes the third gripping portion 128, so that the article A1 placed on the ground can be easily and surely gripped and lifted.

(Other implementation methods) As mentioned above, although the example of embodiment of this indication was demonstrated, this indication is not limited to the said embodiment and modification. That is, various modifications and improvements can be made within the scope of the present disclosure. For example, those obtained by applying various modifications to the embodiment and the modified examples, and the form constructed by combining the constituent elements of the different embodiments and the modified examples are also included in the scope of the present disclosure.

For example, in the embodiment and the modified example, the shape of the first claw portion 121ab and the second claw portion 122ab of the robot hand 120 is a shape that is tapered toward the front end thereof, but it is not limited to this. The shape of the first claw portion 121ab and the second claw portion 122ab only needs to be a shape that can be inserted into the gap between adjacent objects and/or the gap between the object and the ground. For example, the shape of the first claw portion 121ab and the second claw portion 122ab may be a shape with a substantially constant thickness toward the front end thereof, or a shape with a larger thickness toward the front end thereof. In addition, the shape of the first claw portion 121ab and the second claw portion 122ab may have a larger width toward the front end.

In addition, in the embodiment and modification examples, the control device 130 detects the first pawl 121ab and the second pawl portion 121ab and the second pawl portion 121ab based on the change in the load of the arm drive devices AM1 to AM6 of the robot arm 110 or the detection signal of the second sensor 125 The position and contact of the claw portion 122ab with respect to the article are not limited thereto. For example, on the connecting rods 110a to 110f such as the connecting rod 110f of the robot arm 110, a force sensor for detecting the magnitude and direction of the force may also be provided. Moreover, the control device 130 may detect the position and contact of the first claw portion 121ab and the second claw portion 122ab based on the detection signal of the force sensor.

Alternatively, the control device 130 may detect the position and contact of the first claw portion 121ab and the second claw portion 122ab based on the change in the load of the first driving device 121b or the second driving device 122b of the robot hand 120. Alternatively, the control device 130 detects the positions of the first claw portion 121ab and the second claw portion 122ab based on the combination of the change in the load of the arm drive devices AM1 to AM6 and the change in the load of the first drive device 121b or the second drive device 122b And contact is also possible.

Alternatively, a non-contact sensor such as a photoelectric sensor, a laser sensor, a laser optical sensor, and an ultrasonic sensor may be provided at or near the second claw portion 122ab. The control device 130 may also detect the position and contact of the second claw portion 122ab based on the detection signal of the non-contact sensor.

Alternatively, the first claw part 121ab and the second claw part 122ab may be provided with a photographing device for photographing the front end of the claw part. Examples of photographing devices are digital cameras and digital video cameras. The photographing device may be configured to capture images including the front end of the first claw portion 121ab and the second claw portion 122ab and an object close to the front end. The control device 130 may detect the article by analyzing the image taken by the photographing device, and detect the positional relationship between the first claw portion 121ab and the second claw portion 122ab and the article, and the like.

In addition, in the embodiment and the modified example, the control device 130 detects whether each component of the robot hand is in contact with the article based on the change in the load of the first drive device 121b or the second drive device 122b, but it is not limited to this. For example, the control device 130 compares the load of the arm drive devices AM1 to AM6 of the robot arm 110 and the detection signal of the force sensor provided on the robot arm 110 with the load of the first drive device 121b and the second drive device 122b. It can be used in combination or as a substitute.

In addition, the robot hand of the embodiment and the modified example is configured such that the first gripping member 121a moves in the first direction D1 relative to the base 123, and the second gripping member 122a moves in the second direction D2 relative to the base 123, but It is not limited to this. For example, it may be configured such that the first holding member 121a moves in the second direction D2 with respect to the base 123, and the second holding member 122a may move in the first direction D1 with respect to the base 123. Or it may be configured such that at least one of the first gripping member 121a and the second gripping member 122a can move in two directions of the first direction D1 and the second direction D2.

In addition, the robot hand of the embodiment and the modified example is configured such that the first driving device 121b moves the first gripping member 121a, and the second driving device 122b moves the second gripping member 122a, but it is not limited to this. For example, it may be configured such that one drive device moves the first holding member 121a and the second holding member 122a. Such a driving device may be configured to move the first gripping member 121a and the second gripping member 122a at the same time, or it may be configured to move one of them selectively.

In addition, in the embodiment and modification examples, the robot 100 is a vertical articulated robot, but it is not limited to this. For example, the robot 100 may be configured as a polar coordinate robot, a cylindrical coordinate robot, a right-angle coordinate robot, a horizontal articulated robot, or other robots.

In addition, in the embodiment and the modified example, the robot 100 can be mounted on the transport vehicle 240 and moved, but it is not limited to this, and it may be fixed on the ground or the like. In addition, although the transfer vehicle 240 is equipped with the robot 100 and the conveyor robot 250, only the robot 100 may be mounted.

In addition, in the embodiment and the modified example, the robot system 1 includes the imaging device 220 and the output device 230, but it is not limited to this. For example, the robot system 1 does not include the imaging device 220 and the output device 230, but may be configured so that the operator P can directly visually recognize it.

In addition, in the embodiment and modification examples, the robot system 1 is configured such that the operator P uses the operating device 210 to operate the robot 100, the transport vehicle 240, and the conveyor robot 250 in a master-slave manner, but it is not limited to this. For example, the robot system 1 may be configured to operate the robot 100, the transport vehicle 240, and the conveyor robot 250 in a fully automatic manner. In this case, for example, the operator P only inputs a command indicating the content of the work to the operating device 210, and the robot 100, the transport vehicle 240, and the conveyor robot 250 may operate automatically. In such a fully automatic robot system, for example, the control device controls the robot arm based on the detection signal of the proximity sensor installed at the front end of the robot arm and the analysis value of the image of the camera installed at the front end of the robot arm. The actions of the robot hand and the robot hand are also acceptable.

1: Robot system 100: Robot 110: Robot arm 110a～110f: connecting rod 120, 120A, 120B: robot hand 121, 121A: The first control part 121a: The first holding member 121aa: The first body part 121ab: first claw 121ac, 122ac: convex part 121b: The first driving device 121c: The first actuator (actuator) 121d: the first drive mechanism 121da, 122da: screw 121db, 122db: nut 121dc, 122dc: reducer 121dd, 121de, 122dd, 122de: pulley 121df, 122df: endless belt 122, 122A: The second control part 122a: The second holding member 122aa: the second body part 122ab: second claw 122b: second drive device 122c: second actuator (actuator) 122d: second drive mechanism 123: Pedestal 123a, 123b: Guidance 124, 125, 126a～126c, 127: sensor 128: Third Control Department 128a: The third holding member 128b: third drive device 128aa: shaft 128ab: Pushing part 128ac: friction material 130: control device (detection device) 130a: Operation Information Processing Department 130b: The first control unit 130c: The second control unit control unit 130d: Claw position detection unit (detection device) 130e: Arm control section 130f: Arm position detection part 130g: transfer vehicle control unit 130h: Transport vehicle position detection unit 130i: Conveyor control unit 130j: Information Output Department 130k: storage section 210: operating device 220: Photography device 230: output device 240: transport car 240a: Conveying drive device 241: Abutment 250: Conveyor Robot 251: Conveyor 252: Arm 300: Belt conveyor A, A1: Items AM1～AM6: Arm drive device D1, D1a, D1b: first direction D2, D2a, D2b: second direction D3, D3a, D3b: third-party direction D4, D4a, D4b: fourth direction D5: Fifth direction JT1～JT6: Joint axis P: Operator

[Fig. 1] A diagram showing an example of the configuration of the robot system of the embodiment. [Fig. 2] A perspective view showing an example of the configuration of the robot of the embodiment. Fig. 3 is a side view showing an example of the configuration of the robot hand of the embodiment. Fig. 4 is a side view showing an example of the configuration of the first gripping portion of the robot hand of the embodiment. Fig. 5 is a side view showing an example of the configuration of the second gripping part of the robot hand of the embodiment. Fig. 6 is a block diagram showing an example of the functional configuration of the control device of the embodiment. Fig. 7 is a block diagram showing an example of the configuration of the control device and each drive device of the embodiment. [Fig. 8] is a side view showing the first action 1 of the robot system of the embodiment. Fig. 9 is a side view showing the first action 1 of the robot system of the embodiment. Fig. 10 is a side view showing the first action 1 of the robot system of the embodiment. Fig. 11 is a side view showing the first action 1 of the robot system of the embodiment. [Fig. 12] A side view showing the first action 1 of the robot system of the embodiment. Fig. 13 is a side view showing the first action 1 of the robot system of the embodiment. Fig. 14 is a side view showing the second action 1 of the robot system of the embodiment. Fig. 15 is a side view showing the second action 1 of the robot system of the embodiment. Fig. 16 is a side view showing an example of the configuration of the robot hand of Modification 1. [Fig. 17] A plan view showing an example of the configuration of a robot hand in Modification 1. Fig. 18 is a side view showing an example of the configuration of the robot hand of Modification 2. Fig. 19 is a side view showing the second operation 1 of the robot system of Modification 2. Fig. 20 is a side view showing the second operation 1 of the robot system of Modification 2. [FIG. 21] A side view showing the second action 1 of the robot system of Modification 2. [Fig. 22] A side view showing the second action 1 of the robot system of Modification 2. [Fig.

110f: connecting rod

120: Robot Hand

121: The first control part

121a: The first holding member

121aa: The first body part

121ab: first claw

121b: The first driving device

122: Second Control Department

122a: The second holding member

122aa: the second body part

122ab: second claw

122b: second drive device

123: Pedestal

D1: First direction

D2: second direction

D3: Third party

D4: Fourth direction

Claims (12)

A robot hand, which is a person who grasps an article, includes: a first grasping portion, including a first body portion extending in a first direction, and a first claw extending from the first body portion in a direction intersecting the first direction Section; a second gripping section for gripping the article by clamping the article together with the first claw section; and a first driving device for moving the first body section in the first direction; the first direction is to make The direction in which the first claw portion approaches or separates from the second gripping portion; and the first claw portion has a shape that can be inserted into the gap between the adjacent articles. The robot hand of claim 1, further comprising: a second driving device that moves the second claw included in the second gripping portion in a second direction; and the second direction is a direction that intersects the first direction , And is the direction in which the second claw part approaches or separates the article clamped by the first claw part and the second gripping part. Such as the robot hand of claim 2, wherein the second claw has a shape that can be inserted into the gap between the adjacent articles. The robot hand of claim 1, wherein the first driving device of the robot hand includes an actuator that generates driving force. Such as the robot hand of claim 4, wherein the above-mentioned actuator uses electric power as a power source. A robot hand, which is a person who grasps an article, includes: a first grasping part including a first claw part; a second grasping part for holding the article by clamping the article together with the first claw part; and a first drive A device for moving at least one of the first claw portion and the second gripping portion in a first direction in which the first claw portion and the second gripping portion approach or separate; The second driving device moves the second claw included in the second holding portion in a second direction; the second direction is a direction intersecting the first direction, and the second claw is connected to the first A direction in which the article clamped by a claw and the second gripping part approaches or separates: and the first claw has a shape that can be inserted into the gap between the adjacent articles. The robot hand of claim 6, wherein the second claw has a shape that can be inserted into the gap between the adjacent articles. The robot hand according to any one of claims 1 to 7, which further includes a detection device that detects that the first claw is located at a position corresponding to the gap between the adjacent articles. The robot hand of claim 8, wherein the robot hand is connected to a robot arm, and the robot arm includes a plurality of joints driven by an arm drive device including a servo motor; and the detection device acquires the movement of the arm drive device Related information, and using the information related to the action of the arm driving device to detect that the first claw portion is located at a position corresponding to the gap between the adjacent articles. A robot includes: a robot hand according to any one of claim items 1 to 9; a robot arm connected to the above-mentioned robot hand; and a control device that controls the movements of the above-mentioned robot hand and the above-mentioned robot arm. The robot of claim 10, wherein the robot arm includes a plurality of joints driven by an arm driving device including a servo motor; the driving device of the robot hand includes a servo motor as an actuator that generates a driving force; and the above The control device controls the operation of the servo motor of the drive device of the robot hand, And the operation of the above-mentioned servo motor of the above-mentioned arm drive device. A robot system includes: a robot such as claim 10 or 11; and an operating device for operating the robot.

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