WO2019188196A1

WO2019188196A1 - Grip control device

Info

Publication number: WO2019188196A1
Application number: PCT/JP2019/009719
Authority: WO
Inventors: 基善北井
Original assignee: 倉敷紡績株式会社
Priority date: 2018-03-28
Filing date: 2019-03-11
Publication date: 2019-10-03
Also published as: JPWO2019188196A1; JP7140826B2; TW201945144A

Abstract

This grip control device (40) notifies a robot (20), having a linear object gripping device capable of gripping a linear object, of gripping information of a wire harness (W). The robot (20) includes: a three-dimensional camera (31) for acquiring the three-dimensional geometry of the wire harness (W); and a processing unit that recognizes a first gripping position on the basis of the three-dimensional geometry, calculates a second gripping position with a prescribed method, and notifies the robot (20) of the first gripping position and the second gripping position.

Description

Grip control device

The present invention relates to a grip control device for gripping a linear object using a robot hand.

ロボット Robots that recognize objects with a three-dimensional camera or the like and hold them autonomously are spreading. Regarding gripping a linear object, for example, in Japanese Patent Application Laid-Open No. 2014-176917 (Patent Document 1), a robot apparatus for assembling a linear object, in which the fixed end of the linear object with one end fixed is fixed. An apparatus is described in which after gripping the vicinity, the gripper is slid along a predetermined locus and moved to the other end. Accordingly, it is possible to quickly grasp the other end that is difficult to accurately estimate with a hook or the like attached to an electric wire that is an example of a linear object.

Japanese Patent Laying-Open No. 2016-192138 (Patent Document 2) discloses an invention relating to a method for manufacturing a wire harness and an image processing method, and in the course of manufacturing the wire harness, the three-dimensional shape of the wire assembly is measured. A processing position specifying process is performed in which the processing position is specified.

Japanese Patent Application Laid-Open No. 2014-176917 JP 2016-192138 A

It is conceivable that control is performed such that a wire harness or the like is gripped as a linear object at the grip portion of the robot hand and the tip of the wire harness is moved to a predetermined target position. For example, the control which inserts the front-end | tip of the wire harness into the through-hole provided in the target object is assumed.

In this case, since the rigidity of the wire harness is relatively low in many cases, if the wire harness is gripped only at one place using the grip portion of the robot hand, the tip side becomes unstable from the grip portion. Furthermore, the wire harness may be continuously connected to the opposite side (rear end side) of the wire harness held by the holding unit. In this case, there is a concern that the weight of the wire harness on the rear end side is added to the grip portion of the robot hand, so that the grip of the wire harness by the grip portion becomes unstable.

An object of the present invention is to solve the above-described problems. A gripping control device having a configuration capable of stably gripping a linear object when the linear object is gripped by a gripping portion of a robot hand. It is to provide.

The gripping control device is a gripping control device that notifies the robot of gripping information of the linear object to a robot having a linear object gripping device capable of gripping the linear object. A three-dimensional camera that obtains the three-dimensional shape, and a first gripping position is recognized based on the three-dimensional shape, the second gripping position is calculated by a predetermined method, and the first gripping position and the second gripping position are calculated. And a processing unit for notifying the robot.

In another embodiment, the second gripping position is calculated based on at least one of the three-dimensional shape, the shape of the linear object gripping device, and the movable range of the linear object gripping device.

In another embodiment, the processing unit further notifies a gripping posture when the linear object gripping device grips the first gripping position and the second gripping position.

In another embodiment, the gripping posture is a posture in which the linear object and the gripping part of the linear object gripping device are orthogonal to each other at the first gripping position.

In another embodiment, the linear object is a multi-core wire in which a plurality of fine wires are covered with a covering material, an exposed fine wire portion in which the plurality of fine wires are exposed, and a covering bundle portion covered with a covering material; The first grip position is located in the exposed thin line portion, and the second grip position is located in the covering bundle portion.

In another aspect, the robot is a single articulated robot, and the processing unit sets the first gripping position and the second gripping position that can be gripped by a robot hand provided in the articulated robot to the multi-joint robot. Notify the joint robot.

According to this grip control device, it is possible to provide a grip control device having a configuration capable of stably gripping a linear object when the linear object is gripped by the grip portion of the robot hand.

It is a figure which shows the whole system which performs the linear object holding | grip method in related technology. It is a process flow figure of a linear thing grasping method in related technology. It is a process flow figure of a judgment process of a linear thing grasping method in related technology. It is a figure which shows the 1st interference area | region and 1st extended interference area | region in related technology. It is a figure which shows the 2nd interference area and 2nd extended interference area in related technology. It is a figure for demonstrating the magnitude | size of the 1st interference area | region in related technology. It is a figure for demonstrating the 1st determination process in related technology. It is a figure for demonstrating the 1st preliminary determination process in related technology. It is a schematic diagram which shows the holding position of a linear object. It is the schematic which shows the structure of the linear object holding | grip apparatus in embodiment.

DETAILED DESCRIPTION Hereinafter, a grip control device according to an embodiment of the present invention will be described with reference to the drawings. In the embodiments described below, when referring to the number, amount, and the like, the scope of the present invention is not necessarily limited to the number, amount, and the like unless otherwise specified. The same parts and corresponding parts are denoted by the same reference numerals, and redundant description may not be repeated. It is planned from the beginning to use the structures in the embodiments in appropriate combinations. In the drawings, the actual dimensional ratios are not described, and some ratios are described in order to facilitate understanding of the structure.

In the following description, a case where an electric wire is used as an example of a linear object is described, but the present invention is not limited to an electric wire. The linear object in this description may be anything as long as it has an elongated shape. As an example of a linear thing, an electric wire, a wire harness, solder, a string, a thread | yarn, a fiber, glass fiber, an optical fiber, a tube, dry noodles, etc. are mentioned. It is not limited to the electric wire which bundled the thin wire, The electric wire etc. which consist of a single wire are also included. In particular, in the case of a linear object whose shape changes due to deflection or a linear object that is not a straight line, the effect of the present embodiment appears more remarkably.

(Related technology: Linear object gripping method and control device)
Hereinafter, an example of a linear object gripping method and a control device will be described as a related technique with reference to FIGS.

1, the overall system 10 for carrying out the linear object gripping method includes a robot 20, a three-dimensional camera 31, and a control device 32. In the work space, a wire harness W composed of an electric wire W1, an electric wire W2, and an electric wire W3 is disposed.

As the robot 20, a known articulated robot can be suitably used. A robot hand 22 is provided at the tip of the robot arm 21, and a linear object is gripped by a pair of gripping

portions

23, 23 of the robot hand 22.

The three-dimensional camera 31 is not particularly limited as long as it can measure the three-dimensional shape of the electric wire W1, the electric wire W2, and the electric wire W3. A stereo camera is preferably used. The stereo camera is preferable for measuring the three-dimensional shape of the linear object at high speed.

A stereo camera includes two cameras, finds corresponding points of points to be measured on two images taken from different viewpoints, and determines the three-dimensional measurement points according to the principle of triangulation from the positional relationship of the two cameras. Calculate the position. Regarding the three-dimensional measurement of a linear object by the stereo method, for example, Japanese Patent Laid-Open No. 2-309202 discloses that a large number of linear objects are imaged by two cameras, and the inclination of the bright lines in the two images and the distance between the bright lines. It is described that the corresponding point is determined by collating the distances as features, and the processing time for determining the corresponding point can be shortened.

In the stereo system, a straight line obtained by projecting a line connecting the viewpoint of one image and a measurement point onto the other image (see Japanese Patent Application No. 2017-221405) is called an epipolar line, and the other line corresponding to the point on one image The corresponding point on the image is always projected on the epipolar line on the other image.

In order to obtain the corresponding point of a certain point on the linear object by using this fact, the intersection of the linear object and the epipolar line can be obtained on the other image, and the three-dimensional shape of the linear object can be obtained at high speed. Can be measured. When the linear objects are color-coded in different colors, the color camera is used to extract the corresponding color from the image and then obtain the corresponding points, thereby making the three-dimensional shape of each linear object faster. Can be requested.

The control device 32 communicates with the three-dimensional camera 31 through a communication unit (not shown), and acquires the three-dimensional shapes of the electric wire W1, the electric wire W2, and the electric wire W3 from the stereo camera. The control device determines whether or not the robot hand 22 interferes with another linear object when the robot hand 22 grips the linear object, based on the three-dimensional shape acquired from the stereo camera, using an arithmetic unit (not shown). Various calculations are performed to determine the target linear object.

The control device notifies the robot 20 of the gripping position of the target linear object to be gripped based on the calculation result via the communication unit. In addition to notifying the gripping position directly to the robot 20, another device (for example, a robot controller or a control personal computer) for controlling the operation of the robot is provided between the control device 32 and the robot 20. Notification may be made.

Referring to FIG. 2, the linear object gripping method of the related technology will be described below. The related-art linear object gripping method includes a step of measuring a three-dimensional shape of a plurality of electric wires W1, electric wires W2, and electric wires W3 (S1), and the robot hand 22 detects a linear object based on the measured three-dimensional shape. A determination step (S2) for determining whether or not another linear object interferes when gripping, and a step (S3) for gripping the target linear object determined based on the determination result in the determination step S2.

The step S1 of measuring the three-dimensional shape of the plurality of electric wires W1, the electric wires W2, and the electric wires W3 is performed by the three-dimensional camera 31. The stereo camera captures a work space with a linear object, and performs arithmetic processing on the two images to acquire the three-dimensional shapes of the electric wire W1, the electric wire W2, and the electric wire W3. The three-dimensional shape of the linear object is represented by an orthogonal coordinate system or an oblique coordinate system, and is preferably represented by an orthogonal coordinate.

Determination step S2 is performed by the control device 32. Details of the determination step will be described later.

The step S3 for gripping the target linear object is performed by the robot 20. The robot is notified of the gripping position of the target linear object to be gripped from the control device 32, and moves the robot arm 21 and the robot hand 22 to execute a gripping operation.

The determination step S2 will be described in detail below.
Referring to FIG. 3, in the determination step S2 of the related technology, acquisition of a three-dimensional shape of a linear object (S21), selection of a target linear object (S22), determination of a gripping position of the target linear object (S23) ), Obtaining the robot hand standby position (S24), setting various interference areas (S51 to S54), and various interference determinations (S61 to S64).

First, the control device 32 acquires the three-dimensional shapes of the electric wire W1, the electric wire W2, and the electric wire W3 from the three-dimensional camera 31 (S21).

Next, the control device 32 selects a line-of-interest to be gripped by the robot hand 22 (S22). In the following description, the wire of interest W1, the wire W2 and the wire W3, which are intended to grip the electric wire W1, will be described as a wire (other wire) other than the wire of interest. The control device may receive a designation such as the color of the electric wire from the outside and determine the target linear object based on the instruction. Preferably, the control device selects a line-of-interest for the autonomous reference number (see Japanese Patent Application No. 2017-221045).

For example, when the electric wire W1, the electric wire W2, and the electric wire W3 are placed on a table, the highest position, that is, the uppermost linear object is selected as the target linear object based on the acquired three-dimensional shape. Can do. This is because even when linear objects are placed in an overlapping manner, the higher the linear object, the lower the probability that another linear object will interfere when the linear object is gripped.

Next, the control device 32 determines a gripping position of the wire W1 to be noted (S23). For example, based on a predetermined condition such as how many mm from the tip of the noticeable linear object, the control device calculates the grip position of the noticeable linear object as three-dimensional coordinates.

Next, the control device 32 acquires the standby position of the robot hand 22 (S24). If the standby position of the robot hand 22 is predetermined, the coordinates are acquired as the standby position. When the standby position is determined based on the three-dimensional shape of the linear object, for example, when it is determined above a predetermined distance away from the linear object, the standby position is obtained by calculation.

The control device 32 acquires the current position of the robot hand 22 from the robot 20 and moves the robot hand 22 to the standby position when the current position of the robot hand 22 is different from the standby position. A line segment connecting the standby position of the robot hand 22 and the gripping position of the electric wire W1 provides an approximate movement path when the robot hand 22 executes the gripping operation.

Next, the control device 32 sets several interference areas including the gripping position of the target linear object in order to determine the interference between the robot hand 22 and the other electric wires W2 and W3. In FIG. 3, the first interference area, the first extended interference area, the second interference area, and the second extended interference area are set in this order. For each one of all other linear objects, interference determination is performed to determine whether or not the other linear object is included in each of the interference regions.

Interference judgment for each linear object is to determine whether the point is in the interference area or whether the line segment intersects the interference area while shifting the point or line segment on the linear object in the length direction. Can be done. In FIG. 3, the second preliminary determination for the second extended interference region, the second determination for the second interference region, the first preliminary determination for the first extended interference region, and the first determination for the first interference region are performed in this order. Hereinafter, although different from the order of FIG. 3, each interference region and interference determination for the region will be described.

Referring to FIG. 4, in the first determination step S61 for the first interference region 51, it is determined whether or not the robot hand 22 interferes with the other electric wires W2 and W3 when holding the electric wire W1.

The first interference area 51 is a planar area including the gripping position P of the electric wire W1 and having a predetermined shape and a predetermined size. The first interference region preferably includes the grip position P at the center thereof. The shape of the first interference region is not particularly limited, but is preferably a polygon, a circle, or an ellipse. When the first interference region is a polygon, it is preferably a quadrangle, more preferably a square. This is because the calculation load is reduced and high-speed determination is possible. When the first interference region is a polygon, a square having sides parallel to a plane formed by any two axes of a coordinate system (hereinafter simply referred to as a “coordinate system”) representing a three-dimensional shape of the linear object is One interference region is particularly preferable.

This is because the efficiency of the first preliminary determination can be improved by reducing the first extended interference region described later. If the first interference area is not a polygon, it is preferably a circle. Similarly, the calculation load is reduced and high-speed determination is possible.

If the size of the first interference area 51 is too large, the probability of misjudgment that interference does not actually occur increases. Referring to FIG. 6, when the smallest circle circumscribing the largest cross section of the robot hand 22 is defined as a circle C1, the first interference region is preferably included in a circle having a diameter 2.0 times that of the circle C1. More preferably, the size is contained in a circle having the same size as the circle C1.

On the other hand, if the first interference area is too small, the probability of misjudging that it does not interfere increases although it interferes with implementation. Referring to FIG. 6, when the minimum circle circumscribing the maximum cross section of the grip portion 23 that is operated by the robot hand 22 to grip the linear object is a circle C2, the first interference region is preferably a circle C2. It is a size that can contain a circle of the same size as that of Japanese Patent Application No. 2017-221405.

The first interference region 51 is preferably orthogonal to the electric wire W1. That the first interference region is orthogonal to the target linear object means that the direction in which the target linear object extends at the gripping position P is perpendicular to the first interference region. This is because a plane equation including the first interference region can be easily obtained. In addition, when a linear object is gripped by the robot hand 22, the linear object is often gripped from the side, that is, from a direction perpendicular to the linear object. If there is another linear object in the first interference region orthogonal to the target linear object, even if the robot hand 22 does not grip the target linear object from the side, the robot hand 22 This is because there is a high probability of interference with the linear object.

Referring to FIG. 7, the first determination step S <b> 61 can be performed by determining the intersection of the line segment L on the other target electric wire W <b> 2 and the first interference region 51. The line segment L can be a line segment between two adjacent points S and T in the point group representing the three-dimensional shape of the electric wire W2. If the line segment L intersects the first interference area, some point on the line segment L is included in the first interference area. The intersection determination can be performed by a known method. For example, when the inner product of the normal vector N of the plane U including the first interference region 51 and the vectors PS and PT from the gripping position P to both ends S and T of the line segment L is taken, the signs of the two inner products are different The line segment L intersects the plane U. When the line segment L and the plane U intersect, it may be determined whether or not the intersection is in the first interference region 51.

Referring to FIG. 4, the first preliminary determination step S62 for the first extended interference region 52 is performed prior to the first determination, and faster calculation is performed when the robot hand 22 does not interfere with the other electric wires W2, W3. To find out.

The first extended interference region 52 is a spatial region that includes the first interference region 51. The shape and size of the first extended interference region are not particularly limited, but preferably the smallest one of the hexahedrons including the first interference region and having all sides parallel to any axis of the coordinate system is the first. Set as one extended interference area. When the coordinate system is an orthogonal coordinate system, the hexahedron is a rectangular parallelepiped. Thus, the first preliminary determination can be performed only by comparing the coordinates.

Specifically, referring to FIG. 8, the coordinates of the eight vertices A to H of the first extended interference region 52 are as shown in FIG. 8, and the coordinates of one end point S of the line segment L are (xS, yS, zS), if x1 ≦ xS ≦ x2, y1 ≦ yS ≦ y2, and z1 ≦ zS ≦ z2, the point S is in the first extended interference region; otherwise, the point S is 1 Outside the extended interference area.

Since the first extended interference region 52 includes the first interference region 51, the first determination can be omitted if the result of the first preliminary determination indicates that the hand and other linear objects do not interfere with each other.

Referring to FIG. 5, in the second determination step (S63) for the second interference region 53, whether or not the robot hand 22 interferes with the other electric wires W2 and W3 on the path along which the robot hand 22 moves to the gripping position P of the electric wires W1. Determine whether.

The second interference region 53 is a planar region that includes a line segment PQ that connects the gripping position P of the electric wire W1 and the standby position Q of the robot hand 22, and has a predetermined width extending on both sides of the line segment PQ. The second interference region preferably includes a line segment PQ at the center in the width direction. The shape of the second interference region is not particularly limited, but is preferably a rectangle or a parallelogram, and more preferably a rectangle having a line segment PQ as an axis of symmetry of line symmetry. This is because the calculation load is reduced and the determination is made at a higher speed.

If the width of the second interference region 53 is too wide, the probability of misjudgment that interference does not actually occur increases. The width of the second interference region is preferably equal to or smaller than the diameter of the circle C1 in FIG. On the other hand, if the width of the second interference region is too narrow, the probability of misjudgment that it interferes with the implementation but does not interfere increases (see Japanese Patent Application No. 2017-221405). The width of the second interference region is preferably equal to or larger than the diameter of the circle C2 in FIG.

The second interference region 53 is preferably set so that the intersection angle with the electric wire W1 is maximized. This is because, when the robot hand 22 approaches the electric wire W1, the gripping

portions

23 and 23 often travel in such a plane.

2nd determination process S63 can be performed by the intersection determination of the line segment L on the other electric wire W2 made into object, and the 2nd interference area | region 53 similarly to 1st determination process S61.

The second preliminary determination step (S64) for the second extended interference area 54 is performed prior to the second determination, and the case where the robot hand 22 does not interfere with the other electric wires W2 and W3 is found by faster calculation. To do.

The second extended interference area 54 is a spatial area that includes the second interference area 53. The shape and size of the second extended interference region are not particularly limited, but preferably the smallest one of the hexahedrons including the second interference region and having all sides parallel to any axis of the coordinate system is the second. 2 Set as an extended interference area. When the coordinate system is an orthogonal coordinate system, the hexahedron is a rectangular parallelepiped. Thereby, the second preliminary determination can be performed only by comparing the size of the coordinates.

Since the second extended interference region 54 includes the second interference region 53, the second determination can be omitted when the second preliminary determination shows that the hand and other linear objects do not interfere with each other.

The above determination steps S61 to S64 are repeated while shifting the line segment L to be determined in the length direction of the electric wire W2, and when the interference determination with the other electric wire W2 is completed, the same processing is performed for the next other electric wire W3. Do.

When it is determined that all the other electric wires W2 and W3 are not included in the interference areas 51 to 54, the control device 32 interferes with other linear objects when the robot hand 22 holds the holding position of the electric wire W1. Judge that there is no. Then, the electric wire W1 is set as the target linear object, and the grip position is notified to the robot 20.

When it is determined by any of the first determination or the second determination that the line segment L is included in the first interference region or the second interference region, the control device 32 grips the gripping position of the electric wire W1 with the robot hand 22. It is determined that there is interference from other linear objects. The subsequent determination process is omitted, and the process returns to step S22, and the same processing is repeated while changing the target linear object. When the control device 32 autonomously selects the next linear object of interest, for example, based on the three-dimensional shape of the electric wires W1 to W3 previously obtained from the three-dimensional camera 31, the linear object at the next higher position is used. An object can be selected as a noticeable linear object.

If it is determined that there is interference with any other linear object regardless of which linear object, the entire linear object is rotated to change its orientation, or the linear object is shaken or vibrated. Then, each step may be performed again after changing the positional relationship between the linear objects. The distance from the gripping position of each target linear object to the nearest other linear object may be calculated as the interference distance, and the linear object having a long interference distance may be gripped. As a result, it is possible to instruct the robot to execute the gripping operation in the order in which gripping is likely to succeed. The interference distance can be easily calculated by using the distance from the intersection between the first interference region or the second interference region and another linear object in the interference determination to the gripping position.

As described above, according to the linear object gripping method of the related technology, since the gripping operation is executed based on the determination result of whether or not the linear object and other linear objects interfere, a plurality of linear objects Thus, it is possible to select one linear object (see Japanese Patent Application No. 2017-221405) and grip it with the robot hand 22.

The presence or absence of interference with other linear objects of the robot hand 22 is implemented by calculating the presence or absence of intersection with the polyhedron using the CAD data on the robot hand 22 side and the three-dimensional shape data of the linear object. Also good. However, this method is excellent in accuracy of determination, but is a time-consuming process.

In this related technique, whether or not a linear object other than the target linear object exists in the first interference region can be determined by the intersection determination between the planar first interference region and the linear object. And the presence or absence of interference can be determined at high speed. When there is no linear object other than the target linear object in the first interference region, there is a high probability that the robot hand 22 can grip the target linear object without interfering with other linear objects. The same applies to the second interference region.

The order of performing each determination step is not particularly limited, except that the first preliminary determination is performed prior to the first determination and the second preliminary determination is performed prior to the second determination. In the said embodiment, although the 1st determination process was implemented after the 2nd determination process first, you may reverse this order. In the related technology, all determination processes are performed for each line segment while shifting the line segment L in the length direction of the linear object. However, one determination process (for example, the second preliminary determination) is performed for a certain linear object. After completing the step, another determination step (for example, a second determination step) may be performed on the same linear object.

In the related technology, the attention linear object is selected prior to the acquisition of the standby position of the robot hand 22 (S24) (S22), but the standby position of the robot hand 22 is acquired first, and the attention line is based on the standby position. A shape may be selected. In this case, the linear object that is closest to the standby position can be selected as the target linear object. As the linear object closest to the standby position, a linear object having the shortest distance between the coordinates of the standby position and the coordinates of the gripping position of the linear object may be selected. This is preferable in that a linear object that is unlikely to interfere with other linear objects can be preferentially selected when gripped.

The posture (gripping posture) when the robot hand 22 grips the linear object is preferably gripped so that the grip portion and the linear object are substantially perpendicular. This is because if the orientation of the linear object from the gripping position to the gripping portion is substantially perpendicular to the gripping part, the robot can be easily controlled even when it is inserted into a processing machine after gripping. Preferably, at the standby position, the posture of the robot hand 22 is adjusted so that the gripping portion and the linear object are oriented at right angles when gripped. Thereafter, the robot hand 22 moves along the second interference region from the standby position toward the gripping position. Thereby, since the posture of the robot hand 22, the moving direction of the robot hand 22, and the orientation of the planes of the first and second interference areas coincide, it is possible to perform highly accurate interference determination.

The robot hand 22 that holds the linear object according to the present embodiment may convey the linear object to various manufacturing apparatuses and processing apparatuses. For example, the tip of the gripped electric wire may be moved by the robot hand 22 and inserted into a film peeling machine or a terminal crimping device. You may use for the process of inserting the front-end | tip of an electric wire into various components, such as a connector, and manufacturing a wire harness.

(Embodiment: gripping control device and linear object gripping device)
Consider the case where the linear object is gripped using the gripping portion 23 of the robot hand 22 described above. Specifically, in this embodiment, a device that controls the gripping posture and gripping position of the linear object by the gripping portion 23 of the robot hand 22 is referred to as a gripping control device 40.

Referring to FIG. 1 again, the grip control device 40 recognizes the first grip position H1 based on the three-dimensional camera 31 that acquires the three-dimensional shape of the wire harness W and the three-dimensional shape, and will be described below. A processing unit that calculates the second gripping position H2 by a predetermined method and notifies the robot 20 of the first gripping position H1 and the second gripping position H2. This processing unit may be included in the control device 32 or may be configured as a separate device. In the present embodiment, the control device 32 includes a processing unit.

The processing unit acquires the three-dimensional shape of the linear object (wire harness W) from the three-dimensional camera 31 that acquires the three-dimensional shape of the linear object W1, and acquires the position of the tip of the linear object from the three-dimensional shape. It is assumed that the robot 20 having the robot hand 22 is notified of the gripping posture and the gripping position information based on the position of the tip of the linear object.

1 is configured to include a robot 20 having a robot hand 22, a three-dimensional camera 31, and a control device 32. The control device 32 may be any of a control device independent of the robot 20 and the three-dimensional camera 31, a control device provided in the robot 20, and a control device provided in the three-dimensional camera 31.

In the present embodiment, since a single robot arm 21 can grip and handle two linear objects, a mechanism that uses two robot arms to grip two linear objects. Compared to the above, it is possible to realize accurate transportation at each stage with cost saving and space saving. In FIG. 1, two three-dimensional cameras 31 are described, but it is sufficient that the three-dimensional camera 31 can acquire the shape of a linear object (wire harness W). Good.

After determining the gripping position of the linear object as described above, when gripping the linear object using the grip portion 23 of the robot hand 22, the vicinity of the tip of the linear object is gripped at one place. It is possible to do. However, since the linear object has a relatively low rigidity in many cases, if the linear object is gripped only at one place using the grip part 23, the tip side from the grip part 23 may become unstable. . In such a case, there is a concern that even if the linear object is gripped and moved so as to be inserted into a predetermined processing hole, the tip end side is unstable, so that it cannot be inserted.

Furthermore, the linear object may be continuously connected to the opposite side (rear end side) of the linear object gripped by the grip part 23. In this case, there is a concern that the weight of the linear object on the rear end side is added to the grip part 23 of the robot hand, so that the grip of the linear object by the grip part 23 becomes unstable.

When gripping and moving a linear object to a predetermined position, there is a concern that the linear object may come into contact with other parts or obstacles during the movement due to the deflection of the linear object. When the robot grips a linear object and stores it in a predetermined case, the linear object may not be stored in the predetermined case if the shape of the linear object becomes an unexpected shape during the gripping. .

Therefore, in the present embodiment, a grip control device and a linear object gripping device having a configuration capable of gripping the linear object in two places so that the linear object can be gripped and moved stably. Will be described below.

9 and 10, the linear object gripping apparatus 220 according to the present embodiment will be described. The robot hand 22 described above includes a linear object gripping device 220. FIG. 9 is a schematic diagram showing the gripping position of the linear object, and FIG. 10 is a schematic diagram showing the configuration of the linear object gripping device 220.

Referring to FIG. 9, the wire harness W in which the electric wire W1, the electric wire W2, and the electric wire W3 are bundled is used as the linear object used in the present embodiment. The electric wire W1, the electric wire W2, and the electric wire W3 are in an exposed state (exposed thin wire portion) after the coating is removed from the distal end portion of the covering bundle portion W10 of the wire harness W.

In the present embodiment, it is assumed that the tip of the electric wire W1 is transported to a predetermined position. The linear object gripping device 220 is farther from the distal end side of the wire harness W than the position of the exposed thin wire portion (first gripping position H1) at a predetermined distance L1 from the distal end side of the electric wire W1 and the first gripping position H1. The covering bundle portion W10 at the position L1 + L2 (second holding position H2) is held.

Which electric wire is selected and the first holding position H1 of the selected electric wire W1 are determined by adopting the above-described holding position determination step. About the 2nd holding position H2 of the covering bundle part W10, it becomes a position decided by the below-mentioned determination method or calculation method. In the present embodiment, the distance L1 from the tip of the electric wire W1 is set to about 10 mm as the first gripping position H1. The distance L2 between the first grip position H1 and the second grip position H2 was set to about 100 mm. The distance L1 and the distance L2 can be appropriately set to optimum distances according to the type, weight, etc. of the linear object.

Referring to FIG. 10, the linear object gripping device 220 includes a first gripping device 22A that grips the first gripping position H1 of the electric wire W1 and a second gripping device 22B that grips the second gripping position H2 of the wire harness W. Including. The first gripping device 22A and the second gripping device 22B are connected by a bridge member 25 so as to be integrated. Further, a connecting member 26 connected to the distal end side of the robot arm 21 is attached to the bridge member 25.

The first gripping device 22A has a first main body device 24A. A pair of

grip hands

23a and 23a for gripping the first gripping position H1 of the electric wire W1 are provided at the distal end portion of the first main body device 24A.

The pair of

grip hands

23a, 23a are provided so as to be opened and closed in the direction of arrow P in the drawing by an actuator (not shown) provided in the first main body device 24A. The opening / closing operation of the grip hands 23a, 23a is controlled by the control device 32 described above.

A flat plate member is used for the pair of

grip hands

23a and 23a. Thereby, even the electric wire W1 having a relatively thin wire diameter can be stably held.

Similarly to the first gripping device 22A, the second gripping device 22B also has a second main body device 24B. A pair of grip hands 23b and 23b for gripping the second gripping position H2 of the covering bundle portion W10 are provided at the distal end portion of the second main body device 24B.

The pair of

grip hands

23b, 23b is provided so as to be opened and closed in the direction of arrow P in the drawing by an actuator (not shown) provided inside the second main body device 24B. The opening / closing operation of the pair of

grip hands

23b, 23b is controlled by the control device 32 described above.

10, when the direction in which the wire harness W extends is the X direction, the direction in which the first gripping device 22A and the second gripping device 22B are located is the Z direction orthogonal to the X direction. That is, the gripping posture of the wire harness is a posture in which the wire harness and the grip hands 23a, 23a and 23b, 23b that are gripping portions are orthogonal to each other at the first gripping position and the second gripping position. The arrow P direction in the figure where the pair of

grip hands

23a, 23a and the pair of

grip hands

23b, 23b open and close is the Y direction orthogonal to both the X direction and the Z direction. Here, even if the orthogonal is not 90 degrees in a strict sense, it includes some errors within a range where the effects of the present embodiment shown below can be obtained.

A flat plate member is used for the pair of grip hands 23b and 23b. Thereby, even the electric wire W1 having a relatively thin wire diameter can be stably held.

As described above, according to the linear object gripping device 220 in the present embodiment, the first gripping position H1 of the electric wire W1 is gripped by the first gripping device 22A, and the covering bundle portion W10 is gripped by the second gripping device 22B. . Thereby, the linear object holding | gripping apparatus 220 will hold | maintain the wire harness W at two places. As a result, the wire harness W can be stably held and the tip of the electric wire W1 can be accurately conveyed to a predetermined position using the robot hand 22.

The second gripping position H2 is determined by providing the second gripping device 22B at a predetermined distance from the first gripping position H1, but is not limited to this determination method. For example, when another robot arm has already grasped a linear object (when receiving a wire harness from another robot arm), the second grasping position H2 is determined from position information grasped by the other robot arm. May be.

Furthermore, the second gripping position H2 may be calculated based on at least one of the three-dimensional shape of the wire harness W, the shape of the linear object gripping device 220, and the movable range of the linear object gripping device 220. The determination based on the movable range of the linear object gripping device 220 means that a movable region determination is made to determine whether or not the second gripping position H2 is within the operating range of the robot 20 and the linear object gripping device 220. Do. If the determination result is out of the movable region, another determination may be made with the second gripping position as the second gripping position, and information (rotation, movement, etc.) for changing the posture of the wire harness W is notified to the robot 20. May be.

The linear object to be grasped is not limited to the wire harness W. Examples thereof include electric wires, solder, strings, threads, fibers, glass fibers, optical fibers, tubes, and dry noodles.

The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

10 overall system, 20 robot, 21 robot arm, 22 robot hand, 31 3D camera (stereo camera), 32 control device, 40 grip control device, 51 first interference area, 52 first extended interference area, 53 second interference Area, 54 second extended interference area. 22A first gripping device, 22B second gripping device, 23 gripping part, 23a, 23b grip hand, 24A first main body device, 24B second main body device, 25 bridge member, 26 connecting member, 220 linear object gripping device, H1 1st holding position, H2 2nd holding position.

Claims

A gripping control device for notifying the robot of gripping information of the linear object to a robot having a linear object gripping device capable of gripping the linear object,
A three-dimensional camera for acquiring a three-dimensional shape of the linear object;
A processing unit that recognizes a first gripping position based on the three-dimensional shape, calculates a second gripping position by a predetermined method, and notifies the robot of the first gripping position and the second gripping position;
A gripping control device.
The second gripping position is calculated based on at least one of the three-dimensional shape, the shape of the linear object gripping device, and the movable range of the linear object gripping device.
The grip control device according to claim 1.
The processing unit further notifies a gripping posture when the linear object gripping device grips the first gripping position and the second gripping position.
The holding | grip control apparatus of any one of Claim 1 or 2.
The gripping posture is a posture in which the linear object and the gripping part of the linear object gripping device are orthogonal to each other at the first gripping position.
The grip control apparatus according to claim 3.
The linear object is a multi-core wire in which a plurality of fine wires are covered with a covering material, and includes an exposed fine wire portion in which the plurality of fine wires are exposed, and a covering bundle portion covered with a covering material,
The first grip position is located in the exposed thin line portion,
The grip control device according to any one of claims 1 to 4, wherein the second grip position is located in the covering bundle portion.
The robot is an articulated robot,
The processing unit notifies the articulated robot of the first gripping position and the second gripping position that can be gripped by a robot hand provided in the articulated robot.
The grip control device according to any one of claims 1 to 5.