WO2016181480A1 - Râtelier de stockage et système de saisie - Google Patents

Râtelier de stockage et système de saisie Download PDF

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Publication number
WO2016181480A1
WO2016181480A1 PCT/JP2015/063562 JP2015063562W WO2016181480A1 WO 2016181480 A1 WO2016181480 A1 WO 2016181480A1 JP 2015063562 W JP2015063562 W JP 2015063562W WO 2016181480 A1 WO2016181480 A1 WO 2016181480A1
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WO
WIPO (PCT)
Prior art keywords
shelf
rectangular parallelepiped
board
storage shelf
storage
Prior art date
Application number
PCT/JP2015/063562
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English (en)
Japanese (ja)
Inventor
大樹 藤
宣隆 木村
潔人 伊藤
渡邊　高志
Original Assignee
株式会社日立製作所
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Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2015/063562 priority Critical patent/WO2016181480A1/fr
Publication of WO2016181480A1 publication Critical patent/WO2016181480A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/14—Stack holders or separators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack

Definitions

  • the present invention relates to a shelf for storing articles.
  • picking goods One of the main tasks in warehouses and factories is picking goods. This operation is an operation for taking out products ordered at a mail order site or the like or items necessary for manufacturing from a shelf. Conventionally, picking has been a manual work, but in recent years, robotization of the picking work is desired.
  • the robot that performs the picking work autonomously moves in the warehouse or factory, recognizes the article, and picks the recognized object.
  • an object handled in a warehouse or factory has a rectangular parallelepiped shape such as a cardboard box.
  • An object transport robot that moves an object in a warehouse or factory has been realized.
  • recognition accuracy and processing time are important factors for an object transport robot in a warehouse or factory.
  • recognition accuracy and processing time are important factors for an object transport robot in a warehouse or factory.
  • a system for recognizing and picking the above rectangular parallelepiped object has been realized.
  • Patent Document 1 includes a monocular camera that captures a plurality of box-shaped workpieces 1 loaded adjacently and obtains an entire image, a distance sensor that measures a three-dimensional shape of the entire plurality of box-shaped workpieces, An object recognition processing device that detects an edge portion of a box-shaped workpiece from the entire image, recognizes the position and posture of each box-shaped workpiece from a three-dimensional shape with the edge portion as a boundary, and outputs the position and posture of the box-shaped workpiece to be picked Is disclosed.
  • a rectangular parallelepiped object is stored in the storage shelf in a state where the surfaces are aligned with the shelf board.
  • the robot recognizes an object depending on the sensor for measuring the distance, if the planes of the stacked rectangular parallelepiped objects are aligned, sufficient segmentation information between the objects cannot be obtained, and two or more rectangular parallelepiped objects are combined into one. There are cases where the recognition is incorrect as a rectangular parallelepiped object or the object cannot be recognized.
  • Patent Document 2 a plurality of shelf plates made of horizontally long plates are provided so that a shopper can list all types of products displayed at a glance.
  • a product display shelf that is arranged vertically and attached to the back column or back plate, and can be attached to the shelf holder that can be adjusted in angle or fitted to a pre-angled fitting port.
  • a product display shelf has been proposed in which the angle can be adjusted arbitrarily and a rod-like hook having a flange and a screw groove is slidably attached to a long hole drilled in the depth direction of the shelf with a butterfly screw.
  • shelves for storing rectangular parallelepiped objects in warehouses and factories have horizontal shelf boards and vertical shelf backboards, which facilitates object segmentation by devising the structure of the storage shelves. That was not considered. For this reason, it is required that the robot picks a cuboid object accurately by devising a method of placing the cuboid object on the storage shelf.
  • An object of the present invention is to provide a storage shelf and a picking system that solve a problem during a picking operation by a robot.
  • a typical example of the invention disclosed in the present application is as follows. That is, a storage shelf for storing a plurality of rectangular parallelepiped objects having the same shape, including a shelf board on which the rectangular parallelepiped object is placed, and a shelf back board provided behind the shelf board, and a front surface of the shelf back board Is in contact with the plurality of rectangular parallelepiped objects, and the upper surface of the shelf plate and the front surface of the shelf back plate are arranged in a positional relationship that is not perpendicular to each other.
  • a step can be stored between objects, and segmentation during object recognition is facilitated. Also, picking by a robot becomes easy. Problems, configurations, and effects other than those described above will become apparent from the description of the following embodiments.
  • FIGS. 1A and 1B are views showing a shelf front having a horizontal shelf board and an inclined shelf back board of the first embodiment
  • FIG. 1C is a horizontal view of the first embodiment
  • It is a figure which shows another shelf front which has a shelf board and an inclination shelf back board
  • FIG.1 (D) is a figure which shows the shelf front which has the inclination shelf board of 1st Example, and a vertical shelf back board
  • FIG. 1 (E) is a diagram showing a shelf front having an inclined shelf board and an inclined shelf back board of the first embodiment.
  • FIGS. 2A and 2B are diagrams illustrating a result of recognizing a rectangular parallelepiped object loaded on a shelf board by the object measurement sensor of the robot in the first embodiment.
  • FIG. 3 is a diagram illustrating an example in which a separator is provided between rectangular parallelepiped objects in the first embodiment.
  • 4 (A) to 4 (D) are diagrams showing a shelf front where the front surface of the first embodiment has a step-shaped shelf back plate.
  • FIGS. 5A to 5C are views showing a state in which a plurality of rectangular parallelepiped objects are placed side by side in the depth direction in the first embodiment.
  • FIG. 6A is a diagram showing a shelf front opening having a horizontal shelf board and an inclined shelf board with an elevating mechanism of the second embodiment
  • FIG. 6B is a horizontal view of the second embodiment. It is a figure which shows another shelf front opening which has a shelf board and an inclination shelf board with a raising / lowering mechanism.
  • FIG. 7A is a diagram showing a storage shelf before the lifting operation of the second embodiment
  • FIG. 7B is a diagram showing a lift before the lifting operation of the second embodiment
  • 7 (C) is a diagram showing the configuration of the handle of the second embodiment
  • FIG. 7 (D) is a diagram showing the storage shelf after the lifting operation of the second embodiment
  • FIG. ) Is a diagram showing the lift after the ascending operation of the second embodiment
  • FIG. 8A is a diagram showing the storage shelf before the ascending operation of the second embodiment
  • FIG. 8B is a diagram showing the winding mechanism of the second embodiment
  • FIG. C) is a diagram showing the storage shelf after the ascending operation of the second embodiment.
  • FIGS. 9A and 9B are views showing an example of a mechanism for integrally moving the inclined shelf board and the inclined shelf back board of the second embodiment.
  • FIG. 10 is a diagram illustrating the configuration of the picking system according to the third embodiment.
  • FIG. 11 is a diagram illustrating a configuration of a picking system having another storage shelf according to the third embodiment.
  • 12A is a diagram showing a multi-finger hand gripper used when picking an object
  • FIG. 12B is a diagram showing an adsorption gripper
  • FIG. 12C is a two-nail single joint. It is a figure which shows a gripper
  • FIG.12 (D) is a figure which shows a 2 nail
  • FIGS. 13A and 13B are diagrams illustrating an operation in which the robot grips a rectangular parallelepiped object.
  • a “cuboid object” is a rectangular parallelepiped object such as a cardboard box or a tissue box.
  • the “shelf” is a plate on which an object stored in the storage shelf is placed, and is a horizontal shelf arranged horizontally with respect to the floor or an inclined shelf arranged inclined with respect to the floor. There is a board.
  • the “shelf back plate” is a plate arranged at the back of the storage shelf and serves as a support or partition for the object. As described above, in the conventional storage shelf, the shelf board and the shelf back board form a right angle.
  • FIGS. 1A to 1E when a plurality of rectangular parallelepiped objects 200 having the same shape are stacked in a shelf front, The storage shelf 100 in which a step is generated between objects by using any one of the protruding inclined shelf back plate 104 and the upper protruding inclined shelf back plate 105 is shown.
  • the shelf front pattern of the storage shelf shown in FIGS. 1A and 1B includes a horizontal shelf board 101, a vertical shelf back board 102, and a shelf back board 104 with a slope that protrudes toward the front at the bottom.
  • the shelf plate 101 and the front surface of the inclined shelf back plate 104 form an angle larger than a right angle.
  • the rectangular parallelepiped object 200 placed on the horizontal shelf 101 is stacked such that the upper rectangular parallelepiped object 200 is positioned at the back and the lower rectangular parallelepiped object 200 is positioned at the front, and there are steps in the depth direction.
  • the vertical shelf back plate 102 and the inclined shelf back plate 104 may be configured separately or integrally as illustrated. Further, only the inclined shelf back plate 104 may be used without using the vertical shelf back plate 102. Further, the inclined shelf back plate 104 may be configured by arranging a simple flat plate obliquely.
  • side plates that prevent the object 200 placed from falling may be provided on the left and right sides of the storage shelf 100.
  • the shelf front pattern of the storage shelf shown in FIG. 1 (C) has a horizontal shelf board 101, a vertical shelf back board 102, and a shelf back board 105 with an inclination with the upper part protruding forward.
  • the shelf board 101 and the front surface of the inclined shelf back board 105 form an angle smaller than a right angle.
  • the rectangular parallelepiped objects 200 placed on the horizontal shelf 101 are stacked such that the upper rectangular parallelepiped object 200 is positioned at the front and the lower rectangular parallelepiped object 200 is positioned at the back, so that there are steps in the depth direction.
  • the vertical shelf back plate 102 and the inclined shelf back plate 105 may be configured separately as illustrated or may be configured integrally. Further, only the inclined shelf back plate 105 may be used without using the vertical shelf back plate 102. Further, the inclined shelf back plate 105 may be configured by arranging a simple flat plate obliquely.
  • the shelf front pattern of the storage shelf shown in FIG. 1 (D) has a horizontal shelf board 101, a vertical shelf back board 102, and a shelf board 103 with a slope that becomes higher on the front side.
  • the upper surface of the plate 103 and the shelf back plate 102 form an angle smaller than a right angle.
  • the rectangular parallelepiped object 200 placed on the inclined shelf board 103 is stacked such that the upper rectangular parallelepiped object 200 is positioned in front and the lower rectangular parallelepiped object 200 is positioned in the back, and there are steps in the depth direction. Arise.
  • the rectangular parallelepiped object 200 placed on the inclined shelf board 103 slides down to the position in contact with the shelf back board 102 by its own weight.
  • the horizontal shelf board 101 and the inclined shelf board 103 may be comprised separately as shown in figure, or may be comprised integrally. Further, only the inclined shelf 103 may be used without using the horizontal shelf 101. Further, the inclined shelf plate 103 may be configured by arranging a simple flat plate obliquely.
  • the shelf front pattern of the storage shelf shown in FIG. 1 (E) includes a horizontal shelf board 101, a vertical shelf back board 102, a shelf board 103 with a slope that becomes higher on the front side, and a slope whose lower part projects forward.
  • the upper surface of the inclined shelf plate 103 and the front surface of the inclined shelf back plate 105 form an angle smaller than a right angle.
  • the rectangular parallelepiped object 200 placed on the inclined shelf board 103 is stacked such that the upper rectangular parallelepiped object 200 is located at the back and the lower rectangular parallelepiped object 200 is located at the front, so that there are steps in the depth direction. Arise.
  • the rectangular parallelepiped object 200 placed on the inclined shelf board 103 slides down to the position in contact with the shelf back board 104 by its own weight.
  • the upper surface of the inclined shelf plate 103 and the front surface of the inclined shelf back plate 105 form an angle larger than a right angle, but the upper surface of the inclined shelf plate 103 and the front surface of the inclined shelf back plate 105 are May form an angle smaller than a right angle.
  • the inclination angle of the inclined shelf back plate 105 is made smaller than the inclination angle of the inclined shelf plate 103.
  • the rectangular parallelepiped object 200 placed on the inclined shelf board 103 is such that the upper rectangular parallelepiped object 200 is positioned in front and the lower rectangular parallelepiped object 200 is in the back. Are stepped in the depth direction.
  • the horizontal shelf board 101 and the inclined shelf board 103 may be configured separately as illustrated or may be configured integrally. Further, only the inclined shelf 103 may be used without using the horizontal shelf 101. Further, the inclined shelf plate 103 may be configured by arranging a simple flat plate obliquely. Further, the vertical shelf back plate 102 and the inclined shelf back plate 104 may be configured separately or integrally as illustrated. Further, only the inclined shelf back plate 104 may be used without using the vertical shelf back plate 102. Further, the inclined shelf back plate 104 may be configured by arranging a simple flat plate obliquely.
  • the height of the inclined shelf back plate 104 may be different from the height of the vertical shelf back plate 102 or may be different from the height of the object. For example, when the height of the inclined shelf back plate 104 is set to be equal to or lower than the height of the rectangular parallelepiped object 200, only the lowest rectangular parallelepiped object 200 can be projected and loaded.
  • a shelf board 103 with an inclination in which the front side is raised as shown in FIG. 1D, and a shelf back board 105 with an inclination in which the upper part protrudes toward the front as shown in FIG. May be combined to form a shelf front.
  • the object measuring sensor 21 has a distance measuring sensor that measures the distance to the front object, and acquires a distance image of the object in front of the gripper 30. For example, when the gripper 30 approaches the storage shelf, the rectangular parallelepiped object 200 positioned in front of the gripper 30 is measured.
  • the rectangular parallelepiped object 200 is loaded on the storage shelf shown in FIG. 1C, and the upper rectangular parallelepiped object 200 is positioned in front and the lower rectangular parallelepiped object 200 is positioned in the back.
  • the object measurement sensor 21 measures the rectangular parallelepiped object 200
  • an image 211A is obtained.
  • the robot 10 generates a distance image using the distance information obtained from the object measurement sensor 21 and extracts an edge from the distance image, thereby obtaining rectangular information of the object. Thereby, segmentation of the object can be performed.
  • the object may be segmented by threshold processing using depth information.
  • the rectangular parallelepiped object 200 is loaded on the storage shelf shown in FIG. 1D, and the upper rectangular parallelepiped object 200 is positioned in front and the lower rectangular parallelepiped object 200 is positioned in the back. Are stepped in the depth direction.
  • the object measurement sensor 21 can recognize the lower surface of the cuboid object.
  • an image 211B is obtained. More specifically, the robot 10 uses the distance information obtained from the object measurement sensor 21 to obtain the normal direction of each surface of the rectangular parallelepiped object 200 and creates a normal map image. Since the surfaces whose normal directions are close to each other are separated by the lower surface, rectangular information of an object having the separated normal surface in the same direction as one object can be obtained. Thereby, segmentation of the object can be performed.
  • a separator 110 that separates the rectangular parallelepiped object 200 may be provided in order to perform the horizontal segmentation of the rectangular parallelepiped object 200.
  • the cuboid object 200 is not placed in close contact in the lateral direction, and a gap is created between the cuboid object 200C and the cuboid object 200D. For this reason, since the recognition result 211C of the cuboid object 200C and the recognition result 211D of the cuboid object 200D are obtained separately, lateral segmentation can be performed. And the rectangular parallelepiped object 200 can be recognized one by one by applying the mounting method for segmenting in the vertical direction of the first embodiment. As described above, the first embodiment can be applied to a case where segmentation for separating the rectangular parallelepiped object 200 in the lateral direction is provided.
  • the same vertical segmentation method may be employed for the left and right sides of the separator, or different vertical segmentation methods may be employed.
  • the rectangular object stacking method differs on the left and right sides of the separator, so that lateral segmentation is possible without providing a separator.
  • a separator may be provided in order to prevent the object from collapsing into adjacent areas.
  • the shelf back plate 106 whose front surface has a step shape is used.
  • the storage shelf 100 which produces a level
  • the shelf back plate 106 shown in FIG. 4 is provided with a step extending in the horizontal direction so that the front surface position differs in the vertical direction.
  • the front position of the shelf back plate 106 may be the structure in which the upper part projects forward or the structure in which the lower part projects forward as shown in FIG. 4D.
  • the intermediate portion may be recessed.
  • the shelf front pattern of the storage shelf shown in FIG. 4 (A) and FIG. 4 (D) includes a horizontal shelf board 101, a vertical shelf back board 102, and a shelf back board in which the stepped shape on the front surface protrudes toward the lower side. 108.
  • the rectangular parallelepiped object 200 placed on the horizontal shelf 101 is stacked such that the upper rectangular parallelepiped object 200 is positioned at the back and the lower rectangular parallelepiped object 200 is positioned at the front, and there are steps in the depth direction.
  • the vertical shelf back plate 102 and the step-shaped shelf back plate 108 may be configured separately or integrally as illustrated. Further, only the step-shaped shelf back plate 108 may be used without using the vertical shelf back plate 102.
  • the shelf front pattern of the storage shelf shown in FIG. 4 (B) has a horizontal shelf board 101, a vertical shelf back board 102, and a shelf back board 106 whose front surface is uneven.
  • the rectangular parallelepiped object 200 placed on the horizontal shelf 101 is stacked such that the intermediate rectangular parallelepiped object 200 is located at the back and the upper and lower rectangular parallelepiped objects 200 are located at the front, and there is a step in the depth direction.
  • the vertical shelf back plate 102 and the step-shaped shelf back plate 106 may be configured separately as illustrated or may be configured integrally. Further, only the step-shaped shelf back plate 106 may be used without using the vertical shelf back plate 102.
  • the shelf front pattern of the storage shelf shown in FIG. 4 (C) has a horizontal shelf board 101, a vertical shelf back board 102, and a shelf back board 107 whose front side step shape protrudes toward the front.
  • the rectangular parallelepiped object 200 placed on the horizontal shelf 101 is stacked such that the lower rectangular parallelepiped object 200 is positioned at the back and the upper rectangular parallelepiped object 200 is positioned at the front, so that there are steps in the depth direction.
  • the vertical shelf back plate 102 and the step-shaped shelf back plate 107 may be configured separately as illustrated or may be configured integrally. Further, only the step-shaped shelf back plate 107 may be used without using the vertical shelf back plate 102.
  • the inclined shelf board 103 with the inclination which the near side shown in FIG.1 (D) becomes high and the shelf back board 108 which the front side step shape shown in FIG. A frontage may be configured.
  • the inclined shelf back plate 104 shown in FIG. 1E may be replaced with a stepped shelf back plate 108 (see the lower part of FIG. 11).
  • the step pitch may be the same as or different from the height of the rectangular parallelepiped object 200. However, it is preferable that the pitch of the step is larger than the height of the cuboid object 200 and smaller than twice the height of the cuboid object 200. More specifically, in the step-shaped shelf back plate 107 shown in FIG. 4C, the step pitch is slightly larger than the height of the rectangular parallelepiped object 200, and in the step-shaped shelf back plate 108 shown in FIG. It is preferable that the step pitch is slightly smaller than the height of the rectangular parallelepiped object 200. If the step pitch is set in this range, the plurality of rectangular objects 200 do not contact one step, and the rectangular objects 200 stacked on the shelf can be segmented.
  • the pitches of the steps may be the same or different.
  • the second step pitch is the height of the second rectangular parallelepiped object 200. Bigger than that.
  • the adjacent rectangular parallelepiped objects 200 out of the stacked rectangular parallelepiped objects 200 come into contact with the shelf backboard at different horizontal positions, so that the rectangular parallelepiped objects 200 are placed on the storage shelf 100 so that the front positions of the rectangular parallelepiped objects 200 are different.
  • the back surface of the rectangular parallelepiped object 200 is in surface contact with the shelf back plate, no load is applied to the corners of the rectangular parallelepiped object 200, and breakage of the corners can be prevented.
  • a plurality of rectangular parallelepiped objects 200 may be placed side by side in the depth direction.
  • FIGS. 5A and 5B are respectively provided.
  • FIG.5 (C) it mounts on the rectangular parallelepiped object 200.
  • the top surface of the shelf board and the front surface of the shelf back board form an angle smaller than or greater than a right angle.
  • the storage shelf 100 has a structure in which the depth from the front end portion of the shelf board to the shelf back board differs depending on the height from the shelf board.
  • the position where the contact point between the stacked rectangular parallelepiped object and the shelf back plate is lowered is different from the connecting portion of the shelf plate and the shelf back plate.
  • the storage shelf has the shelf plates 101 and 103 on which the rectangular parallelepiped objects 200 having the same shape are placed and the shelf back plates 102 and 104 provided behind the shelf plates. , 105, the front surface of the shelf back plate is in contact with the plurality of rectangular parallelepiped objects 200, and the upper surface of the shelf plate and the front surface of the shelf back plate are arranged in a positional relationship that is not perpendicular to each other. Even if the rectangular parallelepiped objects 200 stacked thereon have the same shape, they can be recognized one by one and segmented.
  • At least one of the upper surface of the shelf plate 103 is inclined so that the front is raised, and the front surface of the shelf back plate (105 or 104) is inclined so as to come out at the upper side or the lower side, Since the top surface of the shelf board and the front surface of the shelf back board are arranged in a positional relationship that is not perpendicular to each other, it is possible to perform segmentation by recognizing the rectangular parallelepiped objects 200 having the same shape one by one with a simple structure. .
  • shelf board 101,103 in which a rectangular parallelepiped object is mounted, and the shelf back board 102,106,107,108 provided in the back of a shelf board are provided, and the upper surface of a shelf board (101 or 103) is horizontal or forward
  • the shelf back plates 106, 107, and 108 are stepped on the front surface thereof so that the adjacent rectangular parallelepiped objects are in contact with each other at different horizontal positions. Since the back surface is in surface contact with the shelf back plate, the corners of the rectangular parallelepiped object 200 are not easily broken.
  • the shelf board of the second embodiment has an inclination mechanism, and the inclination of the shelf board can be changed by moving up and down the front side and / or the back side.
  • the shelf front pattern of the storage shelf shown in FIG. 6A includes a horizontal shelf board 101, a shelf board 111A having a lifting mechanism on the front side, and a vertical shelf back board 102.
  • the rectangular parallelepiped object 200 is loaded on the shelf in a state where the surfaces are aligned, and thus there is a problem that segmentation cannot be performed in object recognition.
  • the rectangular parallelepiped object 200 placed on the inclined shelf 111A with the lifting / lowering function is positioned so that the upper rectangular parallelepiped object 200 is in front, and the lower rectangular parallelepiped object 200 is Stacked so as to be located at the back, there is a step in the depth direction.
  • the suction gripper 32 when the rectangular parallelepiped object 200 is placed obliquely, when the rectangular parallelepiped object 200 is pulled out by the suction gripper 32, the suction gripper 32 is perpendicular to the front surface of the rectangular parallelepiped object 200. Therefore, the suction gripper 32 may collide with the front surface of the shelf 101 at the top of the shelf front, and the rectangular parallelepiped object 200 may not be pulled out. For this reason, the inclined shelf board 111B with a raising / lowering function shown to FIG. 6 (B) has a raising / lowering mechanism in the back
  • the suction gripper 32 can vertically contact the front surface of the rectangular parallelepiped object 200 without colliding with the front surface of the shelf plate 101 above the shelf front.
  • the inclined shelf board 111B with a raising / lowering function should just have a raising / lowering mechanism in the back
  • the inclined shelf board 111B with a lifting function may have a lifting mechanism on both the front side and the back side.
  • the rectangular parallelepiped object 200 when the inclined shelf board 111A with an elevating function rises forward, the rectangular parallelepiped object 200 can be loaded with a step. Thereafter, when the front of the inclined shelf board 111A with the lifting function is lowered (returning to the normal position), the stacked rectangular parallelepiped objects 200 can be stacked horizontally while maintaining the level difference.
  • an electric drive mechanism (motor, solenoid, etc.) may be used.
  • the drive mechanism may use a power source other than electric power.
  • FIG. 7A to 7E show a specific configuration of the tilt mechanism of the tilt shelf 111B with a lifting function.
  • the inclined shelf board 111B with the lifting / lowering function shown in FIG. 7 (A) does not use electric power, drives the tilting mechanism by the weight of the robot 10, and changes the upper surface of the inclined shelf board 111B with the lifting / lowering function from the inclined state to the horizontal state. .
  • the configuration of the illustrated robot 10 will be described with reference to FIG. 10 in the third embodiment.
  • FIG. 7A shows the storage shelf 100 before the lifting operation
  • FIG. 7D shows the storage shelf 100 after the lifting operation.
  • the storage shelf 100 is provided on the floor 500 and is operated when the robot 10 steps on the pedal 112A, the two winding mechanisms 113A and 113B, the horizontal shelf 101, and the lifting function. It has a lift 114 built in the inclined shelf board 111B and a handle 115 for manually controlling elevation.
  • the two winding mechanisms 113A and 113B are connected by a wire. The wire is engaged with the shaft on which the handle 115 is provided. When the wire is pulled, the handle shaft rotates and the tilt mechanism operates.
  • the tilt mechanism can be operated by manually turning the handle 115.
  • the lift 114 includes a screw shaft 114A coupled to the handle shaft, an X-shaped arm 114B engaged with the screw shaft 114A, and a table 114C provided at the upper end of the X-shaped arm 114B. And a contact buffer mechanism 116 whose angle is variably provided on the table 114C.
  • one winding mechanism 113B operates.
  • the take-up mechanism 113B can be operated by providing a rack on the pedal 112A, providing a gear on the shaft of the take-up mechanism, and engaging the rack with the gear, thereby depressing the pedal 112A.
  • the pedal 112A is released.
  • the upper surface of the inclined shelf board 111B with the lifting function is kept horizontal even when the robot 10 is separated from the storage shelf 100. can do.
  • the handle 115 When returning the tilting mechanism of the tilting shelf plate 111B with the lifting function to the initial position (the position where the upper surface is tilted), as shown in FIG. 7C, the handle 115 is manually turned to release the latch mechanism and tilt The mechanism can be returned to its original position.
  • FIG. 8A to 8C are diagrams showing another configuration example of the tilting mechanism of the tilting shelf plate 111B with a lifting function.
  • the inclined shelf board 111B with the lifting function shown in FIG. 8A detects the approach of the robot 10, drives the tilting mechanism by the power of the spring spring without using electric power, and moves the upper surface of the inclined shelf board 111B with the lifting function. Change from the tilted state to the horizontal state.
  • FIG. 8A shows the storage shelf 100 before the ascending operation
  • FIG. 8C shows the storage shelf 100 after the ascending operation.
  • a sensor 112B that detects the approach of the robot 10, two winding mechanisms 113A and 113B, and an inclined shelf board with a lifting function are provided on the front surface of the shelf board 101 of the storage shelf 100.
  • a lift 114 (not shown) built in the 111B and a handle 115 for manually controlling elevation are provided.
  • the two winding mechanisms 113A and 113B are connected by a wire. The wire is engaged with the shaft on which the handle 115 is provided. When the wire is pulled, the handle shaft rotates and the tilt mechanism operates.
  • the sensor 112B may be a proximity sensor that detects the proximity of the robot 10, or a mechanical switch that detects the contact of the robot 10.
  • the sensor 112B may be provided on the floor 500 as illustrated in FIG. Since the structure of the lift 114 is the same as the above-described example (FIG. 7B), detailed description is omitted.
  • one winding mechanism 113B operates.
  • the winding mechanism 113B is provided with a spring, and the spring is released by the detection signal from the sensor 112B to wind the wire.
  • the handle shaft engaged with the wire rotates, and the upper rear side of the inclined shelf board 111B with the lifting function is raised.
  • the upper surface of the inclined shelf board 111B with a raising / lowering function becomes horizontal.
  • suction gripper 32 can contact
  • the handle shaft (or the take-up mechanism 113B) is provided with a latch mechanism for preventing reverse rotation, so that the upper surface of the inclined shelf board 111B with the lifting function is kept horizontal. be able to.
  • the latch mechanism When returning the tilting mechanism of the tilting shelf board 111B with the lifting function to the initial position (position where the upper surface is tilted), the latch mechanism is released by manually turning the handle 115, as shown in FIG. The tilt mechanism can be returned to its original position. At this time, the spring can be wound around the winding mechanism 113B to store energy.
  • FIGS. 9A and 9B are diagrams showing an example of a mechanism for moving the inclined shelf board 103 and the inclined shelf back board 105 integrally.
  • the inclined shelf board 103 and the inclined shelf back board 105 fixed at an angle other than a right angle are attached to a bearing 117 so as to be rotatable.
  • the bearing 117 is fixed to the horizontal shelf 101.
  • a hinge is provided between the inclined shelf board 103 or the inclined shelf back board 105 and the horizontal shelf board 101 so that the inclined shelf board 103 and the inclined shelf back board 105 can be rotated. You may attach to.
  • a spring 118A is provided between the inclined shelf 103 and the horizontal shelf 101, and the front portion of the inclined shelf 103 is urged upward. For this reason, the inclined shelf board 103 is held at a position where the front is raised at a predetermined angle.
  • a coil spring may be used as the spring 118A, but another type of elastic member may be used.
  • a spring 118B is provided between the inclined shelf back plate 105 and the shelf back plate 102, and the upper portion of the inclined shelf back plate 105 is directed to the shelf back plate 102. May be energized. For this reason, the inclined shelf back plate 105 is held at a position at a predetermined angle close to the vertical.
  • a coil spring may be used as the spring 118B, but another type of elastic member may be used.
  • the inclined shelf plate 103 sinks slightly forward due to the weight of the rectangular parallelepiped object 200, as shown in FIG.
  • FIG. 9B the front of the inclined shelf 103 sinks further, and the rectangular parallelepiped objects 200 placed on the inclined shelf 103 are placed. Is mounted at an angle close to horizontal.
  • the inclined shelf board with the lifting function and the inclined shelf back board with the inclined function can be realized without power.
  • the lifting / lowering operation can be performed using the weight of the rectangular parallelepiped object 200 placed on the storage shelf 100. That is, when there are few objects to be placed, the objects are placed at an inclination, and when there are many objects to be placed, the objects are placed in a state close to horizontal. For this reason, the suction gripper 32 can vertically contact the front surface of the rectangular parallelepiped object 200 without colliding with the front surface of the shelf board 101 at the upper part of the shelf front.
  • the shelf board has the lift 114 for changing the height of the upper surface of the shelf board on at least one of the front side and the back side
  • the storage shelf Includes a handle 115 for operating the lift and a winding mechanism 113 for operating the handle, and the winding mechanism 113 is operated by stepping on a pedal 112A provided on the floor surface. Since the inclination of the shelf board is changed by pushing up at least one of the front side and the back side of the board, at least one of the front side and the back side of the shelf board is movable, and the placed object is easily recognized, and A storage shelf in which an object can be easily taken out can be realized without using power.
  • the shelf board has a lift 114 for changing the height of the upper surface of the shelf board on at least one of the front side and the back side
  • the storage shelf has a handle 115 for operating the lift and a wire by spring force.
  • a winding mechanism 113 that operates the handle by winding, winding the wire by releasing the winding mechanism 113, and the lift 114 pushes up at least one of the front side and the back side of the shelf board, thereby Since the inclination is changed, at least one of the front side and the back side of the shelf board is movable, and it is possible to realize a storage shelf in which a placed object is easily recognized and an object can be easily taken out without using electric power. it can.
  • shelf board 103 and the shelf back board 105 are fixed at an angle that is not perpendicular to each other, and the shelf board and the shelf back board are attached to the storage shelf so as to be rotatable in the vicinity of the coupling point.
  • a spring 118 for energizing the shelf board and the shelf back plate is provided on at least one of the lower part of the plate and the back surface of the shelf back plate, and the shelf plate sinks in front due to the weight of the mounted rectangular parallelepiped object. Since the inclination of the upper surface is changed by the above, it is possible to realize a storage shelf that can be moved according to the weight of the placed object, and that the placed object can be easily recognized and that the object can be easily taken out without using electric power.
  • the third embodiment is a picking system having the storage shelves 100 of the first and second embodiments described above, and has a storage shelf 100 for effectively using the movable range of the manipulator 22.
  • the work robot 10A performs a picking work for carrying out the rectangular parallelepiped objects 200D, 200E, and 200F from the storage shelf 100.
  • the robot 10 includes one or a plurality of object measurement sensors 21, one or a plurality of manipulators 22, a mounting table 23 attached to the manipulator 22 for placing an object, a lifting mechanism 24 that moves the manipulator 22 up and down, and a gripper.
  • a compressor 25 that performs decompression to operate, an object recognition unit 27 configured by a computer that performs at least operation command control and object recognition, and a moving mechanism 26 having an automatic conveyance function.
  • various grippers such as a multi-finger hand gripper 31 having a plurality of fingers, an adsorption gripper 32, a two-nail single joint gripper 33, and a two-nail parallel gripper 34
  • a multi-finger hand gripper 31 having a plurality of fingers for example, various grippers such as a multi-finger hand gripper 31 having a plurality of fingers, an adsorption gripper 32, a two-nail single joint gripper 33, and a two-nail parallel gripper 34
  • a multi-finger hand gripper 31 having a plurality of fingers for example, various grippers such as a multi-finger hand gripper 31 having a plurality of fingers, an adsorption gripper 32, a two-nail single joint gripper 33, and a two-nail parallel gripper 34
  • a multi-finger hand gripper 31 having a plurality of fingers for example, various grippers such as a multi-finger hand gripper 31 having
  • the robot 10 does not have to include the stage 23, the lifting mechanism 24, the compressor 25, and the moving mechanism 26.
  • the lifting mechanism 24 is not necessary.
  • the multi-finger hand gripper 31, the 1-nail single joint gripper 33, and the 2-nail parallel gripper 34 are attached to the manipulator 22, the suction function is not required, and therefore the robot 10 does not have to include the compressor 25.
  • the multi-finger hand gripper 31, the 1-nail single joint gripper 33, and the 2-nail parallel gripper 34 that can be grasped can grip an object without using a mounting table.
  • the moving mechanism 26 may not be provided.
  • the height of the storage shelf 100 (that is, the height that the gripper of the robot 10 can reach) is set to about 2 m.
  • the height of the storage shelf 100 may be higher than that described above. For example, when the height of the gripper placed at the highest position by the lifting mechanism 24 is Xm, the object can be picked if the storage shelf is lower than Xm.
  • the gripper 32 of the robot 10 can reach the range indicated by the broken line. That is, the closer to the upper part of the storage shelf 100, the harder the cuboid object placed above is less likely to be included in the reach of the gripper 32. Similarly, a rectangular parallelepiped object placed near the floor is not easily included in the reach range of the gripper 32. For this reason, it is desirable that the upper rectangular parallelepiped object 200D is placed in front of the middle rectangular parallelepiped object 200E. Similarly, it is desirable that the lower rectangular parallelepiped object 200F be placed in front of the middle rectangular parallelepiped object 200E.
  • a storage shelf 100 shown in FIG. 10 is a storage shelf to which the first and second embodiments are applied.
  • the rectangular parallelepiped object 200 is placed closer to the upper end or lower end. Specifically, by providing an inclined shelf back plate 104 at the lower shelf front, the rectangular parallelepiped object 200F placed below is projected and placed.
  • the inclined shelf board 103 is used in FIG. 10, even if only the inclined shelf back board 104 is used, the rectangular parallelepiped object 200F placed in the lower shelf opening can be projected forward.
  • the rectangular parallelepiped object 200F placed on the upper side is placed so as to project forward.
  • step-difference shaped shelf backplate 106 may be provided in the shelf front part of a middle stage, you may provide the vertical shelf backplate 102.
  • the lower protruding type inclined shelf back plate 104 or the upper protruding type inclined shelf back plate 105 may be provided in the middle shelf opening instead of the uneven stepped shelf back plate 106A.
  • the rectangular parallelepiped object 200 can be placed on the storage shelf 100 in a step shape along an ellipse indicating the pickable range of the robot 10.
  • the picking gripper 32 of the robot 10 since the picking gripper 32 of the robot 10 performs reliable picking, the normal direction of the front surface of the rectangular parallelepiped object 200 is changed to the normal direction of the elliptic arc indicating the reach range of the robot gripper. It is good to approach.
  • a shelf plate 103 having an inclination in which the front is raised is provided in the lower shelf front.
  • the storage shelf 100 of the third embodiment has a fixture 109 attached so as to extend downward from the top plate 119.
  • the fixture 109 extends downward from the top plate 119, contacts the upper surface of the rectangular parallelepiped object 200D placed in the upper shelf opening, and biases the upper surface.
  • FIG. 11 shows a storage shelf 100 that produces the same effect.
  • a rectangular parallelepiped object 200 ⁇ / b> F placed below protrudes forward by providing a shelf back plate 108 that protrudes toward the lower side of the front shelf at the lower shelf front.
  • An inclined shelf board 103 may be provided in the lower shelf opening.
  • a shelf back plate 107 and a horizontal shelf plate 101 are provided at the upper shelf front so that the stepped shape of the front surface protrudes toward the top.
  • the rectangular parallelepiped object 200 can be placed on the storage shelf 100 in a step shape along an ellipse indicating the pickable range of the robot 10. Further, the robot 10 can apply the suction gripper 32 perpendicularly to the front surface of the cuboid object 200.
  • the robot 10 can reliably pick the rectangular parallelepiped object 200.
  • the rectangular parallelepiped object 200 When picking up an object placed on a conventional storage shelf by a robot, the rectangular parallelepiped object 200 is placed on the storage shelf 100 in a state where the front surface is aligned. Cannot insert into.
  • a plurality of rectangular parallelepiped objects 200 are placed with steps, so that the claw of the two-jaw parallel gripper 34 is inserted and A portion for gripping the rectangular parallelepiped object 200G is exposed. For this reason, the lower surface of the upper rectangular parallelepiped object 200G can be gripped without being obstructed by the lower rectangular parallelepiped object 200H.
  • the suction gripper 32 is attracted to the front surface of the object placed on the storage shelf, the object can be pulled out and picked even if the object is placed with the front surface aligned.
  • the shelf 101 cannot support the weight of the object pulled out by the suction gripper 32, a downward moment is applied, and the object may come off the suction gripper 32 and fall.
  • a plurality of rectangular parallelepiped objects 200 are placed with steps, so that it is different from the manipulator 22A provided with the suction gripper 32.
  • the mounting table 23 provided in the manipulator 22B can be brought into contact with the lower surface of the rectangular parallelepiped object 200J generated by the step between the rectangular parallelepiped object 200J and the rectangular parallelepiped object 200K, and the mounting table 23 uses the weight of the drawn rectangular parallelepiped object 200J. Can support.
  • the storage shelf is divided into a plurality of shelf fronts by a shelf plate in the height direction, and the shelf board and the shelf back plate at each shelf front. Since at least one of the configurations is different, it is possible to provide a shelf front for easily taking out an object according to the height from the floor surface.
  • the upper shelf front has a structure in which the stacked rectangular parallelepiped objects are placed in front, and the lower shelf front is provided in such a manner that the rectangular parallelepiped loaded below is placed in front. Therefore, the object can be placed in a range where the manipulator can easily reach.
  • the lower shelf front has a shelf plate whose upper surface is inclined so that the front is raised, and the rectangular parallelepiped object is placed in the lower shelf front with the front inclined upward.
  • the front surface of the rectangular parallelepiped object faces the robot 10 and the placed object can be easily taken out.
  • the robot 10 that takes out the rectangular parallelepiped object 200 from the storage shelf includes a gripper 31 to 34 that grips the rectangular parallelepiped object, a manipulator 22 that changes the position and orientation of the gripper, a sensor 21 that measures the object, and data measured by the sensor.
  • the object recognition unit 27 for recognizing the position and orientation of the rectangular parallelepiped object. Therefore, even if the rectangular parallelepiped objects 200 stacked on the shelf plate have the same shape, they are recognized one by one. Thus, the cuboid object 200 can be reliably picked.
  • the gripper 34 grips the rectangular parallelepiped object 200 loaded on the storage shelf 100 at a stepped portion, the gripper 34 can be reliably picked without dropping the rectangular parallelepiped object 200.
  • the suction gripper 32 pulls out the rectangular parallelepiped object 200 with the front surface sucked, and the stage 23 is brought into contact with the stepped portion of the lower surface of the rectangular parallelepiped object 200 to support the rectangular parallelepiped object, so that the rectangular parallelepiped object 200 is not dropped. It can be picked reliably.
  • the present invention is not limited to the above-described embodiments, and includes various modifications and equivalent configurations within the scope of the appended claims.
  • the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the configurations described.
  • a part of the configuration of one embodiment may be replaced with the configuration of another embodiment.
  • another configuration may be added, deleted, or replaced.
  • each of the above-described configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them, for example, with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.
  • Information such as a program, a table, and a file that realize each function can be stored in a storage device such as a memory, a hard disk, or an SSD (SoliD State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • a storage device such as a memory, a hard disk, or an SSD (SoliD State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • control lines and information lines indicate what is considered necessary for the explanation, and do not necessarily indicate all control lines and information lines necessary for mounting. In practice, it can be considered that almost all the components are connected to each other.

Abstract

La présente invention concerne un râtelier de stockage pour stocker une pluralité d'objets cuboïdes de forme identique, le râtelier comportant des panneaux d'étagère sur lesquels sont disposés les objets cuboïdes, et un panneau arrière d'étagère disposé à l'arrière des panneaux d'étagère, la surface avant du panneau arrière d'étagère venant en contact avec la pluralité d'objets cuboïdes, et les surfaces supérieures des panneaux d'étagère et la surface avant du panneau arrière d'étagère étant agencées selon une relation de position telle que les panneaux ne sont pas à angle droit les uns par rapport aux autres.
PCT/JP2015/063562 2015-05-12 2015-05-12 Râtelier de stockage et système de saisie WO2016181480A1 (fr)

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PCT/JP2015/063562 WO2016181480A1 (fr) 2015-05-12 2015-05-12 Râtelier de stockage et système de saisie

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Application Number Priority Date Filing Date Title
PCT/JP2015/063562 WO2016181480A1 (fr) 2015-05-12 2015-05-12 Râtelier de stockage et système de saisie

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WO2016181480A1 true WO2016181480A1 (fr) 2016-11-17

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CN108806086A (zh) * 2018-08-03 2018-11-13 虫极科技（北京）有限公司 一种柱状商品识别系统和方法
CN109956251A (zh) * 2019-04-19 2019-07-02 深圳蓝胖子机器人有限公司 一种货物识别抓取方法、设备以及存储介质
WO2019208162A1 (fr) * 2018-04-26 2019-10-31 パナソニック株式会社 Dispositif d'actionneur, procédé pour retirer un objet cible à l'aide d'un dispositif d'actionneur, et système de retrait d'objet cible
CN110615227A (zh) * 2019-09-10 2019-12-27 灵动科技（北京）有限公司 自动搬运系统
JP6755574B1 (ja) * 2020-07-03 2020-09-16 株式会社ＤａｉｌｙＣｏｌｏｒ ロボット
JP6850513B1 (ja) * 2020-09-15 2021-03-31 株式会社ＤａｉｌｙＣｏｌｏｒ ロボット
WO2022004875A1 (fr) * 2020-07-03 2022-01-06 株式会社DailyColor Robot
CN108806086B (zh) * 2018-08-03 2024-05-03 虫极科技（北京）有限公司 一种柱状商品识别系统和方法

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WO2019208162A1 (fr) * 2018-04-26 2019-10-31 パナソニック株式会社 Dispositif d'actionneur, procédé pour retirer un objet cible à l'aide d'un dispositif d'actionneur, et système de retrait d'objet cible
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JP6755574B1 (ja) * 2020-07-03 2020-09-16 株式会社ＤａｉｌｙＣｏｌｏｒ ロボット
WO2022004875A1 (fr) * 2020-07-03 2022-01-06 株式会社DailyColor Robot
US11865706B2 (en) 2020-07-03 2024-01-09 Daily Color Inc. Robot
JP6850513B1 (ja) * 2020-09-15 2021-03-31 株式会社ＤａｉｌｙＣｏｌｏｒ ロボット
JP2022048890A (ja) * 2020-09-15 2022-03-28 株式会社DailyColor ロボット

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