WO2018092254A1 - 把持力設定システム、把持力設定方法、及び把持力推定システム - Google Patents
把持力設定システム、把持力設定方法、及び把持力推定システム Download PDFInfo
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- WO2018092254A1 WO2018092254A1 PCT/JP2016/084176 JP2016084176W WO2018092254A1 WO 2018092254 A1 WO2018092254 A1 WO 2018092254A1 JP 2016084176 W JP2016084176 W JP 2016084176W WO 2018092254 A1 WO2018092254 A1 WO 2018092254A1
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- gripping
- gripping force
- force
- deformation
- deformation amount
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Definitions
- the embodiment of the disclosure relates to a gripping force setting system, a gripping force setting method, and a gripping force estimation system.
- Patent Document 1 describes a gripping device configured to be able to grip a plurality of types of objects to be gripped having different softness indices.
- the present invention has been made in view of such problems, and provides a gripping force setting system, a gripping force setting method, and a gripping force estimation system capable of improving a gripping function in accordance with the flexibility of a gripping target. For the purpose.
- a gripping unit that grips a gripping target object having a predetermined gripping characteristic, and the gripping target when the gripping unit grips with a first gripping force
- a detection unit that detects a deformation amount of the object, and a second gripping force of the gripper on the gripping object based on a specific deformation characteristic value calculated based on a ratio of the deformation amount to the first gripping force
- a gripping force setting system having a setting unit for setting
- a gripping force setting method to be executed by an arithmetic device provided in the gripping force setting system, wherein a gripping object having a predetermined gripping characteristic is gripped, and a first gripping is performed. Detecting a deformation amount of the gripping object when gripped with force, calculating a ratio of the deformation amount to the first gripping force as a specific deformation characteristic value, and based on the specific deformation characteristic value A gripping force setting method for executing a second gripping force of the gripper for the gripping object is applied.
- a detection unit that detects a deformation amount of the gripping object when the gripping unit grips a gripping object having predetermined deformation characteristics, and the detection unit based on the deformation amount
- a gripping force estimation system including an estimation unit that estimates a third gripping force added when the gripping unit grips the gripping object is applied.
- means for gripping a gripping object having a predetermined gripping characteristic A means for detecting a deformation amount of the gripping object when the gripping means grips with a first gripping force, and a specific deformation characteristic value calculated by a ratio of the deformation amount to the first gripping force is A gripping force setting system including: a second gripping force of the gripping means for the gripping object within a gripping force range common to the gripping objects.
- the gripping function can be improved corresponding to the flexibility of the gripping object.
- FIG. 1 It is a figure showing the case where a grasped object has a modification directivity in the direction orthogonal to the grasping direction. It is a side view and a top view of a 3-jaw gripper. It is a figure explaining the detection position of the deformation
- FIG. 1 shows an example of a schematic system block configuration of the gripping force setting system of the present embodiment.
- This gripping force setting system should be added to an actual work in which a gripper as a gripping part of a production machine or the like grips and transfers a gripping object having a predetermined gripping characteristic (described later) corresponding to the gripping characteristic.
- the gripping force setting system 1 includes a gripper 2, a camera 3, an image processing device 4, a controller 5, and a servo amplifier 6.
- the gripper 2 (gripping part) uses a rotary motor as a drive source, and sandwiches and releases the gripping object 100 by causing the two gripping claws 21 arranged in parallel to perform a proximity operation and a separation operation. Actuator.
- the gripper 2 is fixed to, for example, an arm tip of an arm manipulator (not shown), and can also be lifted and transferred while gripping the gripping object 100. The detailed configuration of the gripper 2 will be described later with reference to FIG.
- the camera 3 is an optical sensor that optically acquires two-dimensional image information.
- the camera 3 is fixedly installed so that the entire appearance of the grasped object 100 grasped by the gripper 2 can always be imaged at the same posture and interval.
- the image processing apparatus 4 detects the deformation amount of the gripping object 100 when the gripper 2 grips as shape information based on the image information acquired by the camera 3. Details of the deformation amount will be described later with reference to FIG.
- the controller 5 outputs an operation command to the gripper 2 (motor torque command in accordance with a test gripping force described later) according to a gripping force setting processing procedure described later, and shape information (deformation amount) detected by the image processing device 4. ) To calculate the work gripping force to be finally set.
- the details of the gripping force setting process will be described later with reference to FIGS.
- Servo amplifier 6 controls (torque control) the driving power supplied to the motor of gripper 2 based on the operation command (torque command) output from controller 5.
- the camera 3 and the image processing device 4 correspond to a detection unit described in each claim, and the controller 5 corresponds to a setting unit described in each claim.
- the controller 5 has a specific deformation characteristic value calculated by the ratio of the deformation amount to the first gripping force described in each claim within a gripping force range common to the gripping target objects 100. It corresponds to a means for setting a second gripping force of the gripping means.
- the processing in the image processing apparatus 4, the controller 5, the servo amplifier 6 and the like described above is not limited to the example of sharing of these processing, and for example, a smaller number of processing units (for example, one processing unit) ) Or may be processed by a further subdivided processing unit.
- the image processing device 4 and the controller 5 may be implemented by a program executed by a CPU 901 (see FIG. 12) to be described later, or a part or all of them are actual devices such as an ASIC, FPGA, and other electric circuits. May be implemented.
- the gripping force setting system 1 configured as described above operates such that the gripper 2 repeatedly grips and transfers the gripping target object 100 as a test specimen by the controller 5 executing a procedure of gripping force setting processing described later.
- the test gripping force first gripping force
- the gripper 2 grips the gripping objects 100 individually, that is, the gripper
- the pressure contact force when sandwiched between two gripping claws 2 is increased or decreased.
- An appropriate work gripping force (second gripping force) to be applied during actual work of the production machine is confirmed by repeatedly confirming whether or not the gripping target object 100 is dropped during the lifting operation and the damage state of the gripping target object 100.
- the controller 5 only has to output an operation command to the servo amplifier 6 with the work gripping force and torque control the motor.
- the image processing apparatus 4 becomes unnecessary and can be removed from the system.
- the gripping force setting system 1 sets a work gripping force for gripping and transferring a flexible object as a gripping object 100 by the gripper 2.
- the flexible material in the present embodiment means a material having flexibility such that its shape can be easily deformed by a general gripping force of a general human being, for example, food such as a rice ball or a sandwich or a shell.
- ingredients such as eggs are assumed.
- FIG. 2 shows the overall appearance of the gripper 2 as viewed from the imaging field of view of the camera 3.
- the gripper 2 has a motor 22, a gripper main body 23, and two gripping claws 21.
- the motor 22 uses a rotary motor in the example of the present embodiment, and is fixed to the side surface of the gripper body 23 which is a substantially rectangular parallelepiped housing.
- the axial rotation output of the motor 22 is a linear motion of the two gripping claws 21 via a driving mechanism including a ball screw, a pinion gear, a rack gear, a linear guide and the like (not shown). Converted to output.
- a driving mechanism including a ball screw, a pinion gear, a rack gear, a linear guide and the like (not shown). Converted to output.
- the two gripping claws 21 with their contact surfaces facing each other operate so as to switch between a close-up operation and a separation operation.
- the gripping force between the two gripping claws 21 is controlled by controlling the torque of the motor 22.
- the gripper 2 can perform a linear gripping operation and a releasing operation with respect to the gripping target object 100 disposed between the two gripping claws 21.
- the gripper 2 is preferably configured to output a relatively low gripping force with high accuracy.
- a servo motor capable of controlling the output of low torque with high accuracy may be used for the motor 22.
- a low-friction and high-lead ball screw, a pinion gear and a rack gear that can rotate and mesh with low friction, and a low-friction linear guide mechanism may be used.
- a gripping claw 21 having a shape, material, and configuration that enables stable gripping even with a relatively low gripping force, for example, by securing a sufficient contact area with the gripping object 100.
- the gripper 2 is added to the gripping object 100 during actual work by repeatedly performing the gripping test by increasing or decreasing the test gripping force (corresponding to the first gripping force).
- the power gripping power (corresponding to the second gripping force) is set.
- the gripping force setting system 1 used at this time has a camera 3 and an image processing device 4 that detect the deformation amount of the gripping object 100 when the gripper 2 grips with the test gripping force, and the ratio of the deformation amount to the test gripping force.
- a controller 5 that sets a work gripping force of the gripper 2 on the gripping object 100 based on a later-described specific deformation characteristic value calculated based on the above.
- the controller 5 sets a common work gripping force within the gripping force region, even if the gripping object 100 has a small difference between the upper limit gripping force and the lower limit gripping force, such as food, the shape of each individual It is possible to stably handle and transfer without damaging it while flexibly dealing with variations in size and size.
- a method for setting the work gripping force in this way will be described.
- FIG. 3 shows an example of a shape change of the gripping object 100 that occurs when gripping with the gripper 2.
- FIG. 3A shows a state before the gripping force is applied, and FIG. Each state after applying force is shown.
- the motor 22 and the gripper body 23 are omitted, and only the periphery of the gripping object 100 positioned between the two gripping claws 21 is illustrated. Show.
- the original shape of the gripping object 100 is a sphere with a diameter Da, and a predetermined gripping force is applied in the left-right direction in the figure, so that the diameter is only Db ( ⁇ Da) in the gripping force addition direction. It is compressed and deformed.
- the deviation dimension between the original dimension Da in the gripping force application direction before the gripping force is applied and the deformation dimension Db in the gripping force application direction after the gripping force is applied is ⁇ D (absolute shape change amount).
- the image processing apparatus 4 outputs the ratio ⁇ D / Da (so-called distortion) of the deviation dimension ⁇ D with respect to the original dimension Da as a deformation amount (shape information).
- the camera 3 captures the shape change of the entire gripping object 100 before and after applying the gripping force, and outputs two-dimensional image information.
- the image processing apparatus 4 includes the gripping object in the image information. The amount of deformation is calculated from 100 contour changes.
- the amount of deformation that occurs may have a geometric directivity. That is, even when the same gripping force is applied to the same gripping object 100, the amount of deformation that occurs varies depending on the posture of the gripping object 100 and the direction in which the gripping force is applied.
- the generation directionality of the deformation amount is uniformly defined by gripping the same type of gripping object 100 with the same gripping posture and the same gripping force application direction.
- the relationship characteristic between the gripping force and the deformation amount common to the same type of gripping object 100 is also referred to as a gripping characteristic, including the case where the specific deformation directivity is defined as described above.
- FIG. 4 shows an example of a graph showing the gripping characteristics as a result of testing one individual gripping object 100 that is a soft food.
- the horizontal axis corresponds to the test gripping force F applied to the gripping object 100
- the vertical axis corresponds to the deformation amount T (distortion) generated in the gripping object 100.
- the ratio T / F amount of deformation T is the ratio deformation characteristic value substantially constant for the test gripping force F This is a linear proportional region (that is, a region in which the graph draws a straight line with a constant inclination). In a region where the test gripping force F is larger than F H , the deformation amount T increases rapidly.
- the gripping characteristic of the general gripping object 100 including the flexible object includes a part of the linear proportional area as described above, and the gripping object 100 has a spring coefficient in the linear proportional area.
- the elastic property (the property of reversibly deforming) is exhibited. In this linear proportional region, it is known that the same type of gripping object 100 exhibits a common specific deformation characteristic value regardless of individual differences such as shape and size.
- the upper gripping force F H is the maximum gripping force that does not damage the grasped object 100 is the minimum gripping force liftable gripping object 100 lower gripping force F L are both the linear proportionality region Is known to exist. Therefore, by setting the work gripping force therebetween to check the upper gripping force F H and the lower gripping force F L, the shape and size for the same type of gripping target 100 on the same gripping characteristics Thus, reliable and appropriate gripping and transfer operations are possible regardless of individual differences.
- determination and damage whether gripping target 100 as a reference of said upper gripping force F H the determination of whether the lifting of the gripping target 100 as a reference of the above lower limit gripping force F L Is performed by visual confirmation by an operator of the gripping force setting system 1.
- Control flow of gripping force setting process> 5 and 6 show an example of a flowchart showing a processing procedure executed by the CPU 901 (arithmetic unit; see FIG. 12 described later) of the controller 5 in order to realize the gripping force setting processing according to the present embodiment described above. ing. The processing shown in this flow is started when the gripping force setting system 1 is activated.
- step S5 the CPU 901 initializes the test gripping force F as a variable to zero.
- step S10 the CPU 901 waits in a loop until the operation for properly setting the gripping object 100 on the gripper 2 is completed. For example, it may be determined whether or not a start command from the operator is input via an operation unit (not shown).
- step S15 the CPU 901 converts the test gripping force F at this time into a torque command and outputs it to the servo amplifier 6.
- the driving power supplied to the motor 22 changes, and the gripper 2 grips the gripping object 100 with a gripping force corresponding to the test gripping force F.
- step S20 the CPU 901 acquires image information from the image processing device 4 and detects the deformation amount T of the gripping object 100 at this time.
- step S25 the CPU 901 sends a command to an arm manipulator (not shown) and causes the gripper 2 to be lifted together with the gripping object 100.
- step S30 the CPU 901 determines whether or not the gripper 2 has lifted the gripping object 100 stably by the lifting operation of step S25.
- this actual determination is made by visual observation of the operator, and it may be determined based on the content of the determination input from the operator via an operation unit (not shown).
- the image processing device 4 may make a determination based on image information captured by the camera 3, or a determination may be made based on detection of a fall of the grasped object 100 by providing a contact sensor or the like below the gripper 2. Good (not shown). If lifting of the gripping object 100 is not successful, the determination is not satisfied, and the routine goes to Step S35.
- step S35 the CPU 901 adds a relatively small step value ⁇ F to the test gripping force F, returns to step S10, and repeats the same procedure.
- step S30 determines whether the lifting of the grasped object 100 is successful in the determination in step S30. If the lifting of the grasped object 100 is successful in the determination in step S30, the determination is satisfied, and the process proceeds to step S40.
- step S40 CPU 901 sets a lower limit gripping force F L at the test gripping force F at this point, to set the lower deformation amount T L in the latest amount of deformation T at this time.
- step S45 the CPU 901 converts the test gripping force F at this time into a torque command and outputs it to the servo amplifier 6 in the same manner as in step S15.
- step S50 the CPU 901 acquires image information from the image processing device 4 in the same manner as in step S20, and detects the deformation amount T of the grasped object 100 at this time.
- step S55 the CPU 901 determines whether or not the gripper 2 has damaged the gripping object 100.
- this actual determination is made by visual observation of the operator, and it may be determined based on the content of the determination input from the operator via an operation unit (not shown).
- an operation unit not shown.
- a criterion for the presence or absence of damage at this time for example, whether or not the shape of the grasped object 100 has been deformed to such an extent that it cannot be reversibly returned, or a reliable scratch or crack such as damage to the shell in the case of an egg. What is necessary is just to determine by whether or not. If the gripping object 100 is not damaged, the determination is not satisfied, and the routine goes to Step S60.
- step S60 the CPU 901 adds a relatively small step value ⁇ F to the test gripping force F, returns to step S45, and repeats the same procedure.
- step S55 if the gripping object 100 is damaged in the determination in step S55, the determination is satisfied, and the process proceeds to step S65.
- step S65 CPU 901 sets the upper limit gripping force F H in minus the ⁇ F from the test gripping force F at this point, to set the upper limit amount of deformation T H in the second at this time in the latest amount of deformation T .
- step S70 CPU 901
- the upper limit gripping force calculating the lower limit ratio deformation characteristic value R L in a ratio of lower deformation amount T L for lower gripping force F L set in the step S40, set at Step S65 It calculates the upper limit ratio deformation characteristic value R H at the ratio of the upper limit deformation amount T H for F H.
- step S70 the CPU 901 determines whether or not the lower limit ratio deformation characteristic value RL and the upper limit ratio deformation characteristic value RH calculated at step S70 are substantially the same. If the lower limit ratio deformation characteristic value RL and the upper limit ratio deformation characteristic value RH are different from each other by a certain value or more, the determination is not satisfied, and the same procedure is repeated by returning to step S5. In other words, it is assumed that the test gripping force F has deviated from the linear proportional region and the gripping force setting process for the gripping object 100 has failed, and the gripping force setting process is performed again from the beginning.
- step S80 the CPU 901 sets the work gripping force Fs as an average value of the lower limit ratio deformation characteristic value RL and the upper limit ratio deformation characteristic value RH , and ends this flow.
- the gripper 2 is added to the gripping object 100 during actual work by repeatedly performing the gripping test by increasing / decreasing the test gripping force.
- the work gripping force to be set is set.
- This gripping force setting system 1 is based on the camera 3 and the image processing device 4 that detect the deformation amount of the gripping object 100 when the gripper 2 grips with the test gripping force, and the ratio of the deformation amount to the test gripping force.
- a controller 5 that sets the work gripping force of the gripper 2 on the gripping object 100 based on the calculated specific deformation characteristic value.
- the controller 5 sets a common work gripping force within the gripping force region, so that even in the case of a gripping object 100 such as food, the difference between the upper limit gripping force and the lower limit gripping force is small. While flexibly responding to variations in individual shapes and sizes, it is possible to stably hold and transfer without damage. As a result, the gripping function corresponding to the flexibility of the gripping object 100 can be improved.
- the controller 5 sets the work gripping force within a linear proportional region between the test gripping force and the deformation amount at which the specific deformation characteristic value is substantially constant.
- the above-described gripping force region showing the specific deformation characteristic value common to the individual exists in the linear proportional region between the test gripping force and the deformation amount in which the relative deformation characteristic value is substantially constant for each individual.
- test gripping force F as shown in Figure 4 have a linearly proportional area in the range from 0 to the upper limit gripping force F H, depending on the configuration of the gripping aspect thereof e.g. 0
- the specific deformation characteristic value can be interpreted as being substantially constant within the linear proportional region. (The above illustration is omitted).
- the controller 5 sets a maximum upper limit gripping force at which the gripper 2 does not damage the gripping target object 100 and a minimum lower limit gripping force at which the gripper 2 can lift the gripping target object 100.
- the gripping force is set between the upper limit gripping force and the lower limit gripping force.
- the upper limit gripping force and the lower limit gripping force are further confirmed within the above-described linear proportional region, and the work gripping force is set between them, so that it is more appropriate to execute the gripping operation and the transfer operation. A reliable setting is possible.
- the work gripping force is set as an average value of the upper limit gripping force and the lower limit gripping force, but the present invention is not limited to this.
- the work grip force is set by multiplying one of the upper limit grip force and the lower limit grip force by a predetermined margin coefficient. May be.
- the work gripping force may be set by a value obtained by multiplying the upper limit gripping force by a margin coefficient less than 1.
- the work gripping force may be set by a value obtained by multiplying the lower limit gripping force by a margin coefficient larger than 1.
- an optical sensor that detects the shape of the gripping object 100 by an optical technique in a functional unit (camera 3 and image processing device 4) that detects the deformation amount of the gripping object 100.
- a functional unit that detects the deformation amount of the gripping object 100.
- the optical sensor is the camera 3 that captures the entire shape of the grasped object 100
- the grasping position of the grasped object 100 varies and the shape and size of each individual vary.
- the deformation amount corresponding to the flexibility can be detected.
- the camera 3 and the image processing apparatus 4 detect the deformation amount based on the ratio of the absolute shape change amount with respect to the overall size of the gripping object 100 (so-called distortion). Therefore, it is possible to set an appropriate work gripping force that offsets the variation in size of each individual.
- the deviation dimension ⁇ D itself which is the absolute shape change amount, may be detected as the deformation amount.
- the camera 3 and the image processing device 4 detect the deformation amount in the same direction as the gripping direction in which the gripper 2 applies the test gripping force.
- the detection accuracy of the amount of deformation (setting accuracy of the work gripping force) effective for the gripping object 100 that has gripping characteristics that are particularly easily deformed in the gripping direction (not easily deformed in a direction different from the gripping direction).
- the amount of deformation of the gripping object 100 is easily detected in a direction different from the gripping direction due to the gripping posture of the gripping object 100 in the production machine and the gripping direction of the gripper 2.
- the gripping characteristic in which a large deformation amount is easily detected in the vertical direction in the figure orthogonal to the gripping direction.
- the amount of deformation is detected in a direction different from the gripping direction in which the camera 3 and the image processing apparatus 4 apply the test gripping force (for example, the direction from the top to the bottom in the figure, or the direction orthogonal to the drawing; not shown). May be.
- the detection accuracy setting accuracy of the work gripping force
- the deformation amount may be detected for the projected area of the grasped object 100 in the imaging field.
- the deformation detection accuracy (work gripping force setting accuracy) that is particularly effective for the gripping object 100 having gripping characteristics in which the projected area (or surface area) easily changes corresponding to the addition of the test gripping force. ) Can be improved.
- the actuator that directly grips the gripping object 100 is the gripper 2 that is driven by the motor 22, thereby facilitating geometrical and electrical analysis of the gripping force on the gripping object 100. .
- the gripper 2 added to the gripping object 100 by having the servo amplifier 6 that drives and controls the motor 22 by torque control based on the test gripping force or the work gripping force. Electrical control of force is facilitated.
- the motor 22 for driving the gripper 2 is not limited to the rotary type, and a linear motion type linear motor may be applied.
- the operation command output from the controller 5 to the servo amplifier 6 becomes a thrust command equivalent to the gripping force, and the servo amplifier 6 controls the thrust of the linear motor to cause the gripper 2 to output the gripping force.
- flexibility of a foodstuff or a foodstuff was made into the holding
- FIG. 8A shows the appearance of the entire three-claw gripper 30 as viewed from the side
- FIG. 8B shows the appearance of the entire three-claw gripper 30 as viewed from above.
- the three-claw gripper 30 has one motor 32, a gripper main body 33, and three gripping claws 31.
- the motor 32 uses a rotary motor, and is fixed to one end face (downward in FIG. 8A) of the gripper main body 33 which is a substantially cylindrical housing.
- the axial rotation output of the motor 32 is a linear motion of the three gripping claws 31 via a drive mechanism including a pinion gear, a driven gear, a rack gear, a linear guide and the like (not specifically shown) provided in the gripper body 33. Converted to output.
- the three gripping claws 31 each having the contact surface directed toward the center point P of the gripper body 33 operate so as to switch between a proximity operation and a separation operation toward the center point P.
- the gripping force between the three gripping claws 31 is controlled by controlling the torque of the motor 32.
- the three-claw gripper 30 can perform a radial gripping operation and a releasing operation with respect to the gripping object 100 disposed between the three gripping claws 31.
- the three-jaw gripper 30 is also preferably configured to output a relatively low gripping force with high accuracy.
- a servo motor capable of controlling the output of low torque with high accuracy may be used for the motor 32.
- a pinion gear and a rack gear that can rotate and mesh with low friction and a low-friction linear guide mechanism may be used so that the gripping claws 31 can move smoothly and linearly.
- the gripping claw 31 contacts from the center point P of the gripper body 33 along the gripping direction of each gripping claw 31.
- the deformation amount may be detected based on the deviation dimension ⁇ R of the grasped object 100 up to the surface.
- the three-claw gripper 30 as described above is suitable for stably gripping a gripping object 100 having a substantially triangular prism shape or a substantially rotating body shape such as a rice ball, a scallop, or an egg.
- the present invention is not limited to this.
- the deformation amount of the grasped object 100 may be detected using a distance sensor instead of the camera 3.
- the distance sensor 40 grips based on a time difference from when the laser light L1 is projected toward the gripping object 100 to when the reflected light L2 from the surface of the gripping object 100 is received. It is an optical sensor that measures the distance to the surface of the object 100 (surface position). Even in this case, the deformation amount is detected in the same direction as the gripping direction of the gripper 2 as shown in FIG.
- the deformation amount is different in the direction different from the gripping direction of the gripper 2 as shown in FIG. It is possible to detect the amount of deformation in the direction corresponding to the deformation directivity of the grasped object 100, such as detecting the Even when the distance sensor 40 is used, when there is no individual difference in the shape and size of the gripping object 100 and the gripping position of the gripping object 100 is always fixed, the camera 3 is used. It is possible to detect the deformation amount of the grasped object 100 in the same manner as in FIG.
- the relatively inexpensive distance sensor 40 as an optical sensor, it is possible to detect the deformation amount with a configuration that is simpler and lower in manufacturing cost than when the camera 3 is used.
- the distance sensor 40 detects the deformation amount by the displacement of the surface of the grasped object 100, so that the processing load on the image processing apparatus 4 is reduced and the deformation amount can be detected easily and quickly. It becomes possible.
- the camera 3 and the image processing apparatus 4 are removed from the system because it is not necessary to detect the amount of deformation during actual work after once setting an appropriate work gripping force. However, even during actual work, the deformation amount of the gripping object 100 is detected by the camera 3 and the image processing device 4, and the gripping force (the third force applied to the gripping object 100 at that time based on the deformation amount) May be estimated.
- the deformation characteristic as shown in FIG. 11 is obtained by switching the horizontal axis coordinate and the vertical axis coordinate with respect to the gripping characteristic of FIG. be able to. That is, in the graph of deformation characteristics shown in FIG. 11, the horizontal axis corresponds to the deformation amount that is the detected value, and the vertical axis corresponds to the gripping force that is the estimated value. Based on this deformation characteristic, the controller 5 can estimate a gripping force corresponding to the deformation amount detected from the image processing device 4. Further, in this deformation characteristic, the maximum upper limit deformation amount at which the gripper 2 does not damage the gripping object 100 and the minimum lower limit deformation amount at which the gripper 2 can lift the gripping object 100 are also known.
- the camera 3 and the image processing device 4 in this modification correspond to a detection unit described in each claim
- the controller 5 corresponds to an estimation unit described in each claim
- the entire system includes a gripping force estimation described in each claim. Corresponds to the system.
- the camera 3 that detects the deformation amount of the gripping object 100 when the gripper 2 grips the gripping object 100 having a predetermined deformation characteristic
- the image processing apparatus 4 and the controller 5 that estimates the gripping force applied when the gripper 2 grips the gripping object 100 based on the deformation amount.
- the controller 5 estimates the gripping force added to the gripping object 100 at that time based on the deformation amounts detected by the camera 3 and the image processing device 4, and this gripping force estimated value Thus, position control or speed control can be performed so that the gripping force matches the work gripping force.
- the deformation amount is not limited to the dimensional change based on the specific deformation directivity, but can also be detected as the shape change amount of the entire grasped object 100.
- the image processing apparatus 4 and the controller 5 include, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or FPGA, and an input device 913.
- These components are connected to each other via a bus 909 and an input / output interface 911 so that signals can be transmitted to each other.
- the program can be recorded in, for example, the ROM 903, the RAM 905, the recording device 917, or the like.
- the program can also be recorded temporarily or permanently on, for example, a magnetic disk such as a flexible disk, various optical disks such as CD / MO disks / DVDs, and a removable recording medium 925 such as a semiconductor memory. .
- a recording medium 925 can also be provided as so-called package software.
- the program recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, or the like.
- the program can be recorded on, for example, a download site, another computer, another recording device (not shown), or the like.
- the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives this program.
- the program received by the communication device 923 may be recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.
- the program can be recorded in, for example, an appropriate external connection device 927.
- the program may be transferred via an appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.
- the CPU 901 executes various processes according to the program recorded in the recording device 917, the process by the detection unit, the setting unit, the estimation unit, or the like described in each claim is realized.
- the CPU 901 may directly read and execute the program from the recording device 917 or may be executed after it is once loaded into the RAM 905. Further, for example, when the program is received via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device 917.
- the CPU 901 may perform various processes based on signals and information input from the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.
- the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.
- the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may send the processing result to the communication device 923 or the connection device as necessary. It may be transmitted via the port 921 or recorded on the recording device 917 or the recording medium 925.
- Gripping force setting system (gripping force estimation system) 2 Gripper (gripping part) 3 Camera (detection unit, optical sensor) 4 Image processing device (detection unit) 5 Controller (setting unit, estimation unit) 6 Servo amplifier (motor controller) 21 gripping claw 22 motor 23 gripper body 30 3 claw gripper (gripping part) 31 gripping claw 32 motor 33 gripper body 40 distance sensor (optical sensor) 100 Grasping object
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Abstract
Description
前記把持する手段が第1の把持力で把持した際の前記把持対象物の変形量を検出する手段と、前記第1の把持力に対する前記変形量の比で算出された比変形特性値が前記把持対象物の個体間で共通する把持力範囲内で前記把持対象物に対する前記把持する手段の第2の把持力を設定する手段と、を有する把持力設定システムが適用される。
図1は、本実施形態の把持力設定システムの概略的なシステムブロック構成の一例を表している。この把持力設定システムは、生産機械等の把持部であるグリッパが所定の把持特性(後述)を有する把持対象物を把持、移送する実作業に対し、その把持特性に対応して付加すべき適切な作業把持力を設定する試験システムである。図1において把持力設定システム1は、グリッパ2と、カメラ3と、画像処理装置4と、コントローラ5と、サーボアンプ6とを有している。
図2は、カメラ3の撮像視野から見たグリッパ2全体の外観を示している。この図2において、グリッパ2はモータ22と、グリッパ本体23と、2つの把持爪21を有している。
一般的に、所定の把持特性にある把持対象物100が一律に同じ形状と大きさにある場合には、グリッパ2の把持爪21を位置制御で駆動制御しても把持対象物100を損傷させずに安定して把持し、移送させることが容易である。しかし、同じ把持特性にある把持対象物100であっても個体別に形状や大きさにバラツキがある場合には、グリッパ2を位置制御させるとそのような形状や大きさのバラツキに対応できず、把持対象物100を損傷させるか又は持ち上げが困難となりやすい。
図3は、上記グリッパ2で把持した際に生じる把持対象物100の形状変化の一例を表しており、図3(a)は把持力を付加する前の状態を、図3(b)は把持力を付加した後の状態をそれぞれ示している。なおこの図3中では、上記図2と同様のカメラ3の撮像視野のうち、モータ22とグリッパ本体23を省略して2つの把持爪21とその間に位置する把持対象物100の周辺だけを図示している。
図5、図6は、以上説明した本実施形態による把持力設定処理を実現するために、コントローラ5のCPU901(演算装置;後述の図12参照)が実行する処理手順を表すフローチャートの一例を示している。このフローに示す処理は、当該把持力設定システム1の起動時から開始される。
以上説明したように、本実施形態の把持力設定システム1によれば、試験把持力を増減変化させて把持試験を繰り返し行うことで、実作業時でグリッパ2が把持対象物100に対して付加すべき作業把持力を設定する。そしてこの把持力設定システム1が、グリッパ2が試験把持力で把持した際の把持対象物100の変形量を検出するカメラ3及び画像処理装置4と、試験把持力に対する変形量の比に基づいて算出された比変形特性値に基づいて把持対象物100に対するグリッパ2の作業把持力を設定するコントローラ5と、を有している。
なお、開示の実施形態は、上記に限られるものではなく、その趣旨及び技術的思想を逸脱しない範囲内で種々の変形が可能である。以下、そのような変形例を説明する。
上記実施形態では、平行に配置された2つの把持爪21で把持対象物100を挟持するよう把持するグリッパ2を用いた場合を説明したが、これに限られない。他にも、図8に示すように円周上の等間隔な配置で3つの把持爪31を有する3爪グリッパ30を用いてもよい。図8(a)は側方から見た3爪グリッパ30全体の外観を示しており、図8(b)は上方から見た3爪グリッパ30全体の外観を示している。この図8において、3爪グリッパ30は1つのモータ32と、グリッパ本体33と、3つの把持爪31を有している。
上記実施形態では、把持対象物100の変形量を検出するための光学センサとしてカメラ3を用いた場合を説明したが、これに限られない。他にも、上記カメラ3の代わりに距離センサを用いて把持対象物100の変形量を検出してもよい。この距離センサ40は、図10に示すように、レーザー光L1を把持対象物100に向けて投光してから把持対象物100の表面からの反射光L2を受光するまでの時間差に基づいて把持対象物100の表面までの距離(表面の位置)を測定する光学センサである。この場合でも、図10(a)に示すようにグリッパ2の把持方向と同一方向で変形量を検出したり、または図10(b)に示すようにグリッパ2の把持方向と異なる方向で変形量を検出するなど、把持対象物100の変形指向性に応じた方向での変形量の検出が可能である。この距離センサ40を用いた場合でも、把持対象物100の形状や大きさに個体差がなく、また把持対象物100の把持位置が常に固定されている場合には、上記カメラ3を用いた場合と同等に把持対象物100の変形量を検出できる。
上記実施形態では、一度適切な作業把持力を設定した後の実作業時には、変形量の検出が不要であるとしてシステムからカメラ3と画像処理装置4を撤去していた。しかし、実作業時においてもカメラ3と画像処理装置4により把持対象物100の変形量を検出し、その変形量に基づいてその時点で当該把持対象物100に付加されている把持力(第3の把持力)を推定してもよい。
次に、図12を参照しつつ、コントローラ5及び画像処理装置4のハードウェア構成例について説明する。なお、コントローラ5と画像処理装置4は、それぞれ図12に示す同等のハードウェア構成にあるとして説明する。
2 グリッパ(把持部)
3 カメラ(検出部、光学センサ)
4 画像処理装置(検出部)
5 コントローラ(設定部、推定部)
6 サーボアンプ(モータ制御装置)
21 把持爪
22 モータ
23 グリッパ本体
30 3爪グリッパ(把持部)
31 把持爪
32 モータ
33 グリッパ本体
40 距離センサ(光学センサ)
100 把持対象物
Claims (14)
- 所定の把持特性にある把持対象物を把持する把持部と、
前記把持部が第1の把持力で把持した際の前記把持対象物の変形量を検出する検出部と、
前記第1の把持力に対する前記変形量の比に基づいて算出された比変形特性値に基づいて前記把持対象物に対する前記把持部の第2の把持力を設定する設定部と、
を有することを特徴とする把持力設定システム。 - 前記設定部は、比変形特性値が略一定となる第1の把持力と変形量の線形比例領域内で前記第2の把持力を設定することを特徴とする請求項1記載の把持力設定システム。
- 前記設定部は、前記把持部が前記把持対象物を損傷させない最大の上限把持力と、前記把持部が前記把持対象物を持ち上げ可能な最小の下限把持力を設定し、前記第2の把持力は前記上限把持力と前記下限把持力の間に設定することを特徴とする請求項2記載の把持力設定システム。
- 前記検出部は、前記把持対象物の形状を光学的手法により検知する光学センサを有することを特徴とする請求項1乃至3のいずれか1項に記載の把持力設定システム。
- 前記光学センサは、前記把持対象物の全体形状を撮像するカメラであることを特徴とする請求項4記載の把持力設定システム。
- 前記検出部は、前記把持対象物全体の大きさに対する絶対形状変化量の比で前記変形量を検出することを特徴とする請求項5記載の把持力設定システム。
- 前記光学センサは、前記把持対象物の表面の位置を計測する距離センサであることを特徴とする請求項4記載の把持力設定システム。
- 前記検出部は、前記把持対象物の表面の変位で前記変形量を検出することを特徴とする請求項7記載の把持力設定システム。
- 前記検出部は、前記第1の把持力を付加する把持方向と異なる方向で前記変形量を検出することを特徴とする請求項1乃至8のいずれか1項に記載の把持力設定システム。
- 前記検出部は、前記第1の把持力を付加する把持方向と同方向で前記変形量を検出することを特徴とする請求項1乃至8のいずれか1項に記載の把持力設定システム。
- 前記把持部は、モータで駆動するグリッパであることを特徴とする請求項1乃至10のいずれか1項に記載の把持力設定システム。
- 前記第1の把持力又は前記第2の把持力に基づくトルク制御又は推力制御で前記モータを駆動制御するモータ制御部を有することを特徴とする請求項11記載の把持力設定システム。
- 把持力設定システムが備える演算装置に実行させる把持力設定方法であって、
所定の把持特性にある把持対象物を把持することと、
第1の把持力で把持した際の前記把持対象物の変形量を検出することと、
前記第1の把持力に対する前記変形量の比を比変形特性値として算出することと、
前記比変形特性値に基づいて前記把持対象物に対する前記把持部の第2の把持力を設定することと、
を実行させることを特徴とする把持力設定方法。 - 把持部が所定の変形特性にある把持対象物を把持した際の当該把持対象物の変形量を検出する検出部と、
前記変形量に基づいて前記把持部が前記把持対象物を把持した際に付加した第3の把持力を推定する推定部と、
を有することを特徴とする把持力推定システム。
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KR102269710B1 (ko) | 2021-06-25 |
KR20190062583A (ko) | 2019-06-05 |
US20190263001A1 (en) | 2019-08-29 |
JPWO2018092254A1 (ja) | 2018-11-15 |
JP6338026B1 (ja) | 2018-06-06 |
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