WO2020039508A1 - Système de transport et procédé de transport - Google Patents

Système de transport et procédé de transport Download PDF

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Publication number
WO2020039508A1
WO2020039508A1 PCT/JP2018/030867 JP2018030867W WO2020039508A1 WO 2020039508 A1 WO2020039508 A1 WO 2020039508A1 JP 2018030867 W JP2018030867 W JP 2018030867W WO 2020039508 A1 WO2020039508 A1 WO 2020039508A1
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WIPO (PCT)
Prior art keywords
robot
unit
traveling vehicle
unmanned
controller
Prior art date
Application number
PCT/JP2018/030867
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English (en)
Japanese (ja)
Inventor
健一 元永
加寿弘 工藤
Original Assignee
株式会社安川電機
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Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2018/030867 priority Critical patent/WO2020039508A1/fr
Publication of WO2020039508A1 publication Critical patent/WO2020039508A1/fr

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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
    • B25J19/0008—Balancing devices
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the disclosed embodiments relate to a transport system and a transport method.
  • a robot system has also been proposed in which a robot and a self-weight compensating device are mounted on a mobile trolley that is manually pushed by a person, thereby enabling the robot to move (for example, see Patent Document 1).
  • the above-mentioned conventional robot system has room for improvement in making unmanned production equipment such as an assembly factory.
  • One object of one embodiment of the present invention is to provide a transport system and a transport method that can achieve unmanned production facilities.
  • the transport system includes an unmanned traveling vehicle, a robot, a crane unit, and a controller.
  • An unmanned traveling vehicle travels unmanned.
  • the robot is mounted on an unmanned traveling vehicle and moves a hand capable of holding a transferred object.
  • the crane unit is mounted on an unmanned traveling vehicle, and supports a conveyed object or a hand in a vertically movable manner.
  • the controller causes the robot and the crane unit to cooperate.
  • the transfer method uses an unmanned traveling vehicle, a robot, a crane unit, and a controller.
  • An unmanned traveling vehicle travels unmanned.
  • the robot is mounted on an unmanned traveling vehicle and moves a hand capable of holding a transferred object.
  • the crane unit is mounted on an unmanned traveling vehicle, and supports a conveyed object or a hand in a vertically movable manner.
  • the controller causes the robot and the crane unit to cooperate.
  • the controller causes the robot to convey a conveyed object exceeding the load capacity of the robot by causing the robot and the crane unit to cooperate.
  • FIG. 1 is an explanatory diagram illustrating an outline of the transport system according to the embodiment.
  • FIG. 2 is a perspective view showing the configuration of the robot.
  • FIG. 3 is a perspective view showing the configuration of the crane unit.
  • FIG. 4 is a block diagram illustrating a configuration of the transport system.
  • FIG. 5 is an explanatory diagram illustrating an example of a traveling route.
  • FIG. 6 is an explanatory diagram illustrating an example of installation of an obstacle sensor.
  • FIG. 7 is an explanatory diagram illustrating an example of installation of the measurement sensors.
  • FIG. 8 is a flowchart illustrating a processing procedure of the transport system.
  • FIG. 1 is an explanatory diagram illustrating an outline of a transport system 1 according to the embodiment.
  • FIG. 1 also shows a Z-axis in which a vertically upward direction is a positive direction.
  • Such Z axis may be shown in other drawings. Note that a plane orthogonal to the Z axis corresponds to a horizontal plane.
  • the transport system 1 includes an unmanned traveling vehicle 10, a robot 20, a crane unit 30, a hand 40, and a controller 50.
  • the unmanned traveling vehicle 10 is, for example, an AGV (Automatic Guided Vehicle), and is a carrier vehicle that can travel automatically without a driving operation by a person.
  • AGV Automatic Guided Vehicle
  • the unmanned traveling vehicle 10 travels autonomously or travels on a predetermined route by using an optical sensor, a magnetic sensor, an autonomous guidance sensor, or the like without driving or pushing by hand.
  • a transporting vehicle Refers to a transporting vehicle.
  • an optically guided transport vehicle travels on a predetermined route by irradiating a laser beam or the like and detecting reflected light reflected by a reflector installed on a wall or a pillar by an optical sensor.
  • the electromagnetic induction type transport vehicle travels on a predetermined route by passing a current through a metal wire installed on a floor or the like and detecting a generated magnetic field with a magnetic sensor.
  • the guide system of the transport vehicle is not limited to the illustrated system, and various known systems can be adopted.
  • the robot 20 is mounted on the unmanned traveling vehicle 10 and moves the hand 40 capable of holding the transported object 500.
  • the hand 40 that can be attached to and detached from the robot 20 will be described.
  • a hand fixed to the tip of the robot 20 or the like may be used.
  • the transferred object 500 may be a tool or a part, a semi-finished product, or a finished product exceeding the payload of the robot 20.
  • the transported object 500 may be transported while being held by the hand 40, or may be transported while being mounted on the unmanned traveling vehicle 10 (the transported object 500 indicated by a broken line in FIG. 1). reference).
  • the configuration of the robot 20 will be described later in detail with reference to FIG.
  • the crane unit 30 is mounted on the unmanned traveling vehicle 10 and supports the transported object 500 or the hand 40 by suspending it vertically.
  • the hand 40 is lifted up by the winding operation of the crane unit 30 while holding the transported object 500. Thereby, the robot 20 can transport the transported object 500 exceeding the payload.
  • the larger the payload the larger the size and weight of the robot 20.
  • the crane unit 30 By using the crane unit 30 together, it is possible to use a smaller (small payload) robot 20. Therefore, the size of the unmanned traveling vehicle 10 can be reduced, and the vehicle can travel on a narrower route.
  • the configuration of the crane unit 30 will be described later in detail with reference to FIG.
  • the crane unit 30 may suspend the transferred object 500 directly, or may directly suspend the arm of the robot 20. You may do it.
  • the hand 40 suspended by the crane unit 30 may be referred to as a “suspended hand”.
  • a hook or the like which is moved up and down by the crane unit 30 is hooked on the object 500 or a rope attached to the object 500 by the operation of the robot 20. Then, the robot 20 may guide the transferred object 500 to a predetermined position while lifting the transferred object 500 by the winding operation of the crane unit 30.
  • the controller 50 controls the operation of the robot 20 and the operation of lifting and lowering the crane unit 30, and causes the robot 20 and the crane unit 30 to cooperate. That is, the controller 50 controls the operation of lifting and lowering the crane unit 30 and the operation of the robot 20 so as to compensate for the gravity of the transferred object 500. Thereby, the robot 20 can carry the transported object 500 exceeding the payload.
  • the controller 50 is mounted on the unmanned traveling vehicle 10, but the controller 50 does not have to be mounted on the unmanned traveling vehicle 10.
  • the controller 50 can be mounted at any location other than the unmanned traveling vehicle 10 (the environment in which the unmanned traveling vehicle 10 travels, the Internet, etc.). Network environment).
  • the transported object 500 having various weights and shapes such as the transported object 500 exceeding the payload of the robot 20, can be unmannedly transported from an arbitrary place to a target place. Can be. Therefore, unmanned production equipment such as an assembly factory can be achieved.
  • FIG. 2 is a perspective view showing the configuration of the robot 20.
  • FIG. 2 shows the robot 20 mounted on the upper surface of the unmanned traveling vehicle 10.
  • the robot 20 is a so-called “human cooperative robot”.
  • the human collaborative robot is a robot that does not require a safety fence to separate the robot and the human, and automatically stops when the motor of each joint detects, for example, a robot having an output of 80 W (watt) or less or a constant external force.
  • a robot having an output of 80 W (watt) or less or a constant external force Refers to robots that have safety functions such as In other words, the human collaborative robot is a robot that complies with international standards, and is a robot that can share a work area between a human and a robot.
  • the robot 20 has an internal space communicating from the base end side to the distal end side, and accommodates a cable such as a cable for a tool connected to the tool changer 100 shown in FIG. 2 in the internal space. Is possible. That is, when performing direct teaching to the robot 20 or when the robot 20 performs an operation, the above-mentioned cable does not interfere.
  • the robot 20 is a so-called vertical articulated robot having six axes from a vertical axis A0 to a fifth axis A5.
  • the robot 20 includes a base portion 20B, a turning portion 20S, a first arm 21, a second arm 22, a third arm 23, and a wrist portion 24 from the base end side to the tip end side.
  • a tool changer 100 is provided on the tip side of the wrist 24.
  • the base portion 20B can be fixed to an installation surface such as the upper surface of the unmanned traveling vehicle 10.
  • the turning portion 20S is supported by the base portion 20B, and turns around a vertical axis A0 perpendicular to the installation surface described above.
  • the base end of the first arm 21 is supported by the turning portion 20S, and turns around the first axis A1 perpendicular to the vertical axis A0.
  • the second arm 22 has a base end supported by the distal end of the first arm 21 and pivots around a second axis A2 parallel to the first axis A1.
  • the third arm 23 has its base end supported by the distal end of the second arm 22 and rotates around a third axis A3 perpendicular to the second axis A2.
  • the wrist 24 includes a proximal end 24a and a distal end 24b.
  • the proximal end portion 24a is supported on the distal end side of the third arm 23 on the proximal end side, and pivots around a fourth axis A4 perpendicular to the third axis A3.
  • the distal end portion 24b is supported at the proximal end side on the distal end side of the proximal end portion 24a, and rotates around a fifth axis A5 orthogonal to the fourth axis A4.
  • a tool changer 100 is attached to the distal end side of the distal end portion 24b.
  • a hand 40 for holding a transferred object 500 (see FIG. 1) or the like can be detachably attached. That is, tools such as the hand 40 can be changed according to the weight, shape, and the like of the transferred object 500.
  • FIG. 3 is a perspective view showing the configuration of the crane unit 30.
  • FIG. 3 shows the crane unit 30 mounted on the upper surface of the unmanned traveling vehicle 10, the description of the robot 20 shown in FIG. 2 is omitted.
  • the crane unit 30 includes a servomotor 31, a lifting unit 32, a moving mechanism 33, and a support column.
  • the elevating unit 32 is connected to a hand 40 via a take-up belt 32a. Note that a wire, a rope, or the like may be used instead of the belt 32a.
  • the hand 40 is provided with, for example, a pair of gripping claws 41 whose intervals can be changed. By opening and closing the gripping claws 41, the transported object 500 can be held or released.
  • the hand 40 is provided with a detachable mechanism 110.
  • the attachment / detachment mechanism 110 is an attachment / detachment mechanism corresponding to the tool changer 100 shown in FIG.
  • FIG. 3 illustrates the hand 40 including the gripping claws 41 as the holding mechanism
  • a hand 40 including a suction mechanism or a multi-fingered grip mechanism may be used.
  • the hand 40 having only a non-deformed protrusion for hooking the transferred object 500 may be used.
  • a hand that is not suspended from the crane unit 30 in addition to a hand suspended from the crane unit 30 in advance as shown in FIG. 3 can be used. That is, if the hand has the attachment / detachment mechanism 110 corresponding to the tool changer 100, attachment / detachment to / from the robot 20 (see FIG. 2) is possible. Note that a hand that is not suspended by the crane unit 30 may be mounted on the unmanned traveling vehicle 10.
  • a hand for the transferred object 500 having a weight less than the payload of the robot 20 can be mounted on the unmanned traveling vehicle 10.
  • the hand may be replaced with a hand suspended by the crane unit 30.
  • the servo motor 31 is provided in the elevating unit 32 and drives the elevating unit 32.
  • the operation of the servo motor 31 is controlled by the controller 50 shown in FIG.
  • the servo motor 31 rotates the forward / backward rotation of the belt 32a by performing forward / reverse rotation.
  • the elevating unit 32 is driven by the servo motor 31 to elevate and lower the hand 40 via the belt 32a.
  • the elevating unit 32 is attached to the moving mechanism 33.
  • the moving mechanism 33 includes a turning arm 33a that can freely turn around a turning axis A30 parallel to the vertical direction, and a guide portion 33b that extends along the extension direction D30 of the turning arm 33a.
  • the support column 34 is fixed to the upper surface of the unmanned traveling vehicle 10 and supports the base end side of the turning arm 33a so as to be rotatable around the turning axis A30.
  • the moving mechanism 33 has no driving source, and restricts the movement of the elevating unit 32 that has received an external force in the horizontal direction.
  • the elevating unit 32 can freely move about the turning range of the turning arm 33a and the extending range of the guide unit 33b.
  • the moving mechanism 33 can move the elevating unit 32 freely in the horizontal direction following the operation of the robot 20.
  • the moving mechanism 33 is configured as shown in FIG. 3, the crane unit 30 can be formed in a simple shape, and interference with the robot 20 can be suppressed. Thereby, a sufficient movable range can be given to the robot 20.
  • the crane unit 30 can be simplified in structure by being driven by the servomotor 31 in the vertical direction and driven by the robot 20 in the horizontal direction. This makes it possible to reduce the manufacturing cost.
  • FIG. 3 illustrates the moving mechanism 33 including one swivel arm 33a
  • other mechanisms may be used as long as the mechanism restricts the movement of the elevating unit 32 in the horizontal direction.
  • the moving mechanism 33 may be a horizontal link-type arm that freely expands and contracts by an external force, or a top plate in which two horizontal guide portions 33b are combined in an orthogonal direction may be used.
  • FIG. 4 is a block diagram illustrating a configuration of the transport system 1.
  • the transport system 1 includes an unmanned traveling vehicle 10, a robot 20 mounted on the unmanned traveling vehicle 10, a crane unit 30, an obstacle sensor S1, a measurement sensor S2, and a controller 50.
  • the controller 50 may be mounted on the unmanned traveling vehicle 10 or may be provided separately from the unmanned traveling vehicle 10. 1 has been described for the unmanned traveling vehicle 10, FIG. 2 has been described for the robot 20, and FIG. 3 has been already described for the crane unit 30, so that the configuration of the controller 50 will be mainly described below. And
  • the controller 50 is a device that controls the operation of the robot 20 and the operation of the lifting / lowering operation of the crane unit 30 and causes the robot 20 and the crane unit 30 to cooperate. As shown in FIG. 4, the controller 50 is connected to the robot 20, the crane unit 30, the obstacle sensor S1, and the measurement sensor S2 so as to be able to communicate by wire or wirelessly.
  • the obstacle sensor S1 is a sensor such as an image sensor, an optical sensor, and a sound wave sensor that is mounted on the unmanned traveling vehicle 10 and detects an obstacle.
  • the controller 50 performs a process of restricting the operation of the robot 20 based on the detection result of the obstacle sensor S1. That is, the controller 50 performs a process of restricting the operation of the robot 20 to a range where the robot 20 and the crane unit 30 do not interfere with the obstacle.
  • the transport system 1 can prevent the robot 20 and the crane unit 30 following the robot 20 from interfering with obstacles such as walls and pillars as the robot 20 operates.
  • An example of the installation of the obstacle sensor S1 will be described later with reference to FIG.
  • the measurement sensor S2 is a sensor such as a 3D (Three-D) vision for three-dimensionally measuring the object 500 (see FIG. 1).
  • the controller 50 causes the robot 20 to perform the picking operation of the transferred object 500 based on the detection result of the measurement sensor S2.
  • the transport system 1 can unmanned loading and unloading of the transported object 500 with respect to the unmanned traveling vehicle 10. That is, the picking operation by the robot 20 can be used for both unloading and unloading.
  • An example of installation of the measurement sensor S2 will be described later with reference to FIG.
  • the controller 50 includes a control unit 51 and a storage unit 52.
  • the control unit 51 includes an operation control unit 51a, a gravity compensation unit 51b, a restriction unit 51c, and a transfer unit 51d.
  • the storage unit 52 stores teaching information 52a, compensation information 52b, restriction information 52c, and transported article information 52d.
  • the controller 50 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various circuits and the like. .
  • a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various circuits and the like.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • HDD Hard Disk Drive
  • the CPU of the computer functions as an operation control unit 51a, a gravity compensation unit 51b, a limiting unit 51c, and a transfer unit 51d of the control unit 51 by reading and executing a program stored in the ROM, for example.
  • At least one or all of the operation control unit 51a, the gravity compensation unit 51b, the restriction unit 51c, and the transfer unit 51d are configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). You can also.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the storage unit 52 corresponds to, for example, a RAM or an HDD.
  • the RAM and the HDD can store the teaching information 52a, the compensation information 52b, the restriction information 52c, and the transported article information 52d.
  • the controller 50 may acquire the above-described programs and various information via another computer or a portable recording medium connected via a wired or wireless network.
  • the control unit 51 controls the operation of the robot 20 and the crane unit 30.
  • the operation control unit 51a operates the robot 20 based on the teaching information 52a.
  • the teaching information 52a is created at the teaching stage for the robot 20, and is information including a "job" which is a program that defines an operation path of the robot 20.
  • the operation control unit 51a improves the operation accuracy of the robot 20 by performing feedback control using an encoder value of an actuator such as a motor which is a drive source of the robot 20.
  • the operation control unit 51a notifies the gravity compensation unit 51b of the load state of the actuator at each joint, and restricts the operation of the robot 20 based on the notification from the restriction unit 51c.
  • the operation control unit 51a causes the robot 20 to perform a transfer operation of the transferred object 500 based on the notification from the transfer unit 51d.
  • the gravity compensation unit 51b operates the crane unit 30 based on the compensation information 52b.
  • the compensation information 52b is information including the upper limit load of each actuator corresponding to the payload of the robot 20, and the operation pattern of the servomotor 31 (see FIG. 3) in the crane unit 30.
  • the gravity compensation unit 51b compares the upper limit load of the compensation information 52b with the load state notified from the operation control unit 51a, and operates the servo motor 31 of the crane unit 30 so as not to exceed the upper limit load. Thereby, the transported object 500 having a weight exceeding the payload of the robot 20 can be transported or transferred to the robot 20.
  • the restriction unit 51c operates the robot 20 to avoid an obstacle based on the restriction information 52c.
  • the restriction information 52c is information including the length and height of the turning arm 33a (see FIG. 3) in the crane unit 30.
  • the restricting unit 51c may adjust the posture of the turning arm 33a that can avoid the obstacle based on the direction, height, size, distance to the obstacle, and the like of the obstacle included in the detection result of the obstacle sensor S1. (Horizontal direction) is calculated.
  • the restriction unit 51c notifies the operation control unit 51a of the avoidance operation of the robot 20 so that the turning arm 33a follows the calculated posture. Accordingly, since the turning arm 33a turns following the avoiding operation of the robot 20, it is possible to prevent the turning arm 33a from interfering with an obstacle.
  • the transfer unit 51d operates the robot 20 to transfer the transferred object 500 based on the transferred object information 52d.
  • the transported object information 52d is information including the three-dimensional shape of one or more types of transported objects 5000. Further, the weight of the transported object 50 for each type may be included in the transported object information 52d.
  • the transfer unit 51d compares the orientation and size of the transferred object 500, the distance to the transferred object 500, and the like, which are included in the detection result of the measurement sensor S2, with the transferred object information 52d. The type of the object 500 is determined. Then, the transfer unit 51d operates the robot 20 via the operation control unit 51a so as to transfer the transported object 500 of the determined type. Thereby, the robot 20 can pick the transported objects 500 that have been piled up in bulk and place the picked transported objects 500 in an aligned state.
  • the controller 50 causes the robot 20 and the crane unit 30 to perform a cooperative operation.
  • the controller 50 may further control the traveling state of the unmanned traveling vehicle 10. For example, when the obstacle sensor S1 detects an obstacle, the traveling direction of the unmanned traveling vehicle 10 may be changed so as to avoid the obstacle, or the unmanned traveling vehicle 10 may be stopped.
  • the robot 20 stops the unmanned traveling vehicle 10 at a position where the transferred object 500 is easily picked, or moves the unmanned vehicle 10 at a position where the transferred object 500 is easily aligned.
  • the vehicle 10 may be stopped.
  • FIG. 5 is an explanatory diagram illustrating an example of a traveling route.
  • FIG. 5 is equivalent to the figure which looked at the layout of the production equipment in an assembly factory etc. from the upper direction.
  • booth B1 and booth B2 shown in FIG. 5 are unmanned work booths, and booth B3 and booth B4 are manned work booths where people may work. That is, the passage between the booth B1 or the booth B2 and the booth B3 is an unmanned passage, and the passage between the booth B3 and the booth B4 is a manned passage through which a person may pass.
  • FIG. 5 shows a case where the unmanned traveling vehicle 10 travels in the passage between the work booths, the unmanned traveling vehicle 10 may be made to enter a work booth such as the booth B3 or the booth B4.
  • the unmanned traveling vehicle 10 passes through the passage between the booth B1 and the booth B3, passes through the passage between the booth B2 and the booth B3, and changes the running direction of the booth B3 in a counterclockwise direction. It is assumed that the vehicle passes through a passage between B4 (see a broken arrow in FIG. 5). Here, it is assumed that the traveling route of the unmanned traveling vehicle 10 is predetermined including the stop position. It should be noted that the unmanned traveling vehicle 10 may travel on the traveling route while autonomously determining whether or not the vehicle is stopped and the stop time.
  • the unmanned traveling vehicle 10 turns the crane unit 30 to unload the tray T1 arranged in the booth B1.
  • the transported objects 500 stacked in bulk are included in the tray T1.
  • the unmanned traveling vehicle 10 repeats the operation of turning the crane unit 30, thereby picking the conveyed objects 500 piled up in the tray T1 one by one and aligning them at predetermined positions in the booth B2.
  • the unmanned traveling vehicle 10 rotates the crane unit 30 to place the transported object 500 in the booth B3 and also places the transported object 500 in the booth B4.
  • FIG. 5 illustrates a case where the transported objects 500 piled up on the tray T1 are unloaded to the unmanned traveling vehicle 10 and the transported objects 500 are unloaded to the respective work booths, a plurality of transported objects 500 are illustrated.
  • the objects 500 may be unloaded onto the unmanned traveling vehicle 10, respectively. Further, the unmanned traveling vehicle 10 may be run while appropriately repeating unloading and unloading. Further, the robot 20 may perform the assembling work of the transferred object 500 and the like inside and outside the work booth.
  • FIG. 6 is an explanatory diagram illustrating an example of installation of the obstacle sensor S1.
  • FIG. 6 corresponds to a side view of the unmanned traveling vehicle 10 on which the robot 20 and the crane unit 30 are mounted. It is assumed that the unmanned traveling vehicle 10 travels in the traveling direction D shown in FIG.
  • the obstacle sensor S1 is attached, for example, to the tip end of the swivel arm 33a of the crane unit 30, and sets a detection range SA1 at a position obliquely downward in the extension direction of the swivel arm 33a.
  • the detection range SA1 illustrated in FIG. 6 is an example, and the front or diagonally upper part may be included in the detection range SA1.
  • the obstacle sensor is provided at the tip end side of the turning arm 33a as described above.
  • FIG. 7 is an explanatory diagram illustrating an example of installation of the measurement sensor S2.
  • FIG. 7 corresponds to a side view of the unmanned traveling vehicle 10 on which the robot 20 and the crane unit 30 are mounted. It is assumed that the unmanned traveling vehicle 10 travels in the traveling direction D shown in FIG.
  • FIG. 7 illustrates a state in which the tray T1 in which the transported objects 500 are unloaded is unloaded onto the unmanned traveling vehicle 10.
  • the measurement sensor S2 is attached to the support column 34 of the crane unit 30, for example, so that the detection range SA2 is directed downward (Z-axis negative direction).
  • the measurement sensor S2 can measure the direction and the distance of the transported objects 500 piled up on the tray T1, and the robot 20 moves the hand 40 to an arbitrary position and direction to transfer the transported objects 500. Goods 500 can be picked well.
  • the tray T1 is illustrated in FIG. 7, the transported objects 500 may be stacked without using the tray T1, or the transported objects 500 may be aligned.
  • the measurement sensor S2 may be attached to the robot 20 instead of the support column 34 (see the measurement sensor S2 indicated by a broken line). In this case, it is preferable to attach the measurement sensor S2 so that the detection range SA2 of the measurement sensor S2 faces the front end side of the robot 20.
  • FIG. 7 illustrates a case where the measurement sensor S2 is attached to the wrist 24 of the robot 20.
  • the measurement sensor S2 is attached to the robot 20, it is possible to measure the direction and the like of the transferred object 500 unloaded on the unmanned traveling vehicle 10. Further, it is also possible to measure the direction of the transported object 500 to be unloaded to the unmanned traveling vehicle 10 (the transported object 500 placed outside the unmanned traveling vehicle 10). As described above, by using the measurement sensor S2, unloading and unloading of the transported object 500 with respect to the unmanned traveling vehicle 10 can be unmanned.
  • the picking operation by the robot 20 can be performed with high accuracy by using the measurement sensor S2, and therefore, the unloading and unloading of the transferred object 500 can be performed regardless of the mounting direction and the size of the transferred object 500. Becomes possible. Further, it is possible to change the position and the direction of the transferred object 500 placed outside the unmanned traveling vehicle 10.
  • FIG. 8 is a flowchart illustrating a processing procedure of the transport system 1.
  • FIG. 8 shows a processing procedure from a state where the hand 40 (see FIG. 3) suspended from the crane unit 30 is detached from the robot 20 (see FIG. 2).
  • FIG. 8 illustrates a case where one conveyed object 500 is unloaded to the unmanned traveling vehicle 10 and the conveyed object 500 is unloaded at the destination from the viewpoint of making the description easy to understand.
  • the operation control unit 51a of the controller 50 instructs the robot 20 to connect the hand 40 suspended by the crane unit 30 to the robot 20 (Step S101). Then, the robot 20 is instructed to grip the transported object 500 with the hand 40 (step S102).
  • the gravity compensating unit 51b of the controller 50 instructs the robot 20 and the crane unit 30 to perform a cooperative operation between the lifting operation of the lifting unit 32 in the crane unit 30 and the robot 20 (step S103).
  • the gravity compensating unit 51b may always cooperate the robot 20 and the crane unit 30 so that the crane unit 30 performs the gravity compensation of the robot 20.
  • the unmanned traveling vehicle 10 starts traveling to the destination according to a predetermined traveling route (step S104).
  • the restriction unit 51c of the controller 50 determines whether an obstacle is detected by the obstacle sensor S1 (Step S105).
  • Step S105 When an obstacle is detected (Step S105, Yes), the restriction unit 51c instructs the robot 20 to turn the turning arm 33a in a direction to avoid the obstacle via the operation control unit 51a (Step S105). Step S106). As described above, the turning arm 33a turns following the operation of the robot 20. If the determination condition of step S105 is not satisfied (step S105, No), the process of step S105 is repeated.
  • the unmanned traveling vehicle 10 stops traveling at a predetermined destination (step S107). Further, the gravity compensating unit 51b of the controller 50 instructs the robot 20 and the crane unit 30 to cooperate with the lowering operation of the elevating unit 32 in the crane unit 30 and the robot 20 (step S108). Then, the operation control unit 51a instructs the robot 20 to release the transferred object 500 (Step S109), and ends the processing.
  • the transport system 1 includes the unmanned traveling vehicle 10, the robot 20, the crane unit 30, and the controller 50.
  • the unmanned traveling vehicle 10 travels unmanned.
  • the robot 20 is mounted on the unmanned traveling vehicle 10 and moves the hand 40 capable of holding the transported object 500.
  • the crane unit 30 suspends and supports the transported object 500 or the hand 40 so as to be able to move up and down.
  • the controller 50 causes the robot 20 and the crane unit 30 to cooperate.
  • the transport system 1 is capable of unmannedly transporting the transported object 500 having various weights, such as the transported object 500 exceeding the payload of the robot 20, from an arbitrary location to a target location. Can be. Therefore, it is possible to achieve unmanned production equipment such as an assembly factory.
  • the number of axes of the human cooperative robot may be less than six or more than six.
  • a robot other than the human cooperative robot may be used as the robot 20.
  • the crane unit 30 includes the turning arm 33a that turns around the turning axis A30 in accordance with the operation of the robot 20, but the turning arm 33a turns around the turning axis A30. It may include a servomotor. In this case, the servo motor is controlled by the controller 50 so as to cooperate with the robot 20, similarly to the servo motor 31 shown in FIG.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système de transport (1) comprenant un véhicule de déplacement sans pilote (10), un robot (20), une grue (30), et un dispositif de commande (50). Le véhicule de déplacement sans pilote (10) se déplace dans un état sans pilote. Le robot (20) est monté sur le véhicule de déplacement sans pilote (10), le robot (20) amenant une main (40) qui est apte à maintenir un objet à transporter (500) à se déplacer. La grue (30) est montée sur le véhicule de déplacement sans pilote (10), la grue (30) maintenant l'objet à transporter (500) ou la main (40) d'une manière suspendue de manière à pouvoir monter et descendre. Le dispositif de commande (50) amène le robot (20) et la grue (30) à fonctionner de manière coordonnée. La grue (30) comprend un servomoteur, une unité ascendante/descendante qui est entraînée par le servomoteur, et un mécanisme de déplacement qui amène l'unité ascendante/descendante à se déplacer horizontalement conformément au fonctionnement du robot (20).
PCT/JP2018/030867 2018-08-21 2018-08-21 Système de transport et procédé de transport WO2020039508A1 (fr)

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PCT/JP2018/030867 WO2020039508A1 (fr) 2018-08-21 2018-08-21 Système de transport et procédé de transport

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WO2020039508A1 true WO2020039508A1 (fr) 2020-02-27

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1028966B1 (nl) * 2020-12-29 2022-08-01 Komotion B V Verplaatsingssysteem voor het verplaatsen van een object
WO2022189681A1 (fr) * 2021-03-09 2022-09-15 Talleres J. Angel Bacaicoa, S.L. Dispositif de manipulation de charges

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000198091A (ja) * 1999-01-08 2000-07-18 Hitachi Zosen Corp 複数腕協調ロボットシステム
EP2407281A1 (fr) * 2010-07-16 2012-01-18 KUKA Roboter GmbH Poste de travail robotisé
JP2014050910A (ja) * 2012-09-06 2014-03-20 Kawasaki Heavy Ind Ltd 搬送システム及び搬送システムの搬送方法
WO2017002266A1 (fr) * 2015-07-02 2017-01-05 株式会社安川電機 Système de support d'article
JP2018124910A (ja) * 2017-02-03 2018-08-09 ファナック株式会社 加工機に対して移動ロボットが物品の搬入及び搬出を行う加工システム、及び機械制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000198091A (ja) * 1999-01-08 2000-07-18 Hitachi Zosen Corp 複数腕協調ロボットシステム
EP2407281A1 (fr) * 2010-07-16 2012-01-18 KUKA Roboter GmbH Poste de travail robotisé
JP2014050910A (ja) * 2012-09-06 2014-03-20 Kawasaki Heavy Ind Ltd 搬送システム及び搬送システムの搬送方法
WO2017002266A1 (fr) * 2015-07-02 2017-01-05 株式会社安川電機 Système de support d'article
JP2018124910A (ja) * 2017-02-03 2018-08-09 ファナック株式会社 加工機に対して移動ロボットが物品の搬入及び搬出を行う加工システム、及び機械制御装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1028966B1 (nl) * 2020-12-29 2022-08-01 Komotion B V Verplaatsingssysteem voor het verplaatsen van een object
WO2022189681A1 (fr) * 2021-03-09 2022-09-15 Talleres J. Angel Bacaicoa, S.L. Dispositif de manipulation de charges

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