WO2020209333A1 - ロボットハンド、ロボット及びロボットシステム - Google Patents

ロボットハンド、ロボット及びロボットシステム Download PDF

Info

Publication number
WO2020209333A1
WO2020209333A1 PCT/JP2020/015970 JP2020015970W WO2020209333A1 WO 2020209333 A1 WO2020209333 A1 WO 2020209333A1 JP 2020015970 W JP2020015970 W JP 2020015970W WO 2020209333 A1 WO2020209333 A1 WO 2020209333A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
claw portion
robot hand
article
arm
Prior art date
Application number
PCT/JP2020/015970
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
健太郎 東
敬之 石崎
将崇 吉田
光信 岡
智志 鎌田
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to KR1020217036166A priority Critical patent/KR102662077B1/ko
Priority to CN202080027251.2A priority patent/CN113661138B/zh
Publication of WO2020209333A1 publication Critical patent/WO2020209333A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0304—Stacking devices
    • B65G2814/0305—Adding to the top
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0308—Destacking devices
    • B65G2814/031—Removing from the top

Definitions

  • This disclosure relates to robot hands, robots and robot systems.
  • Patent Document 1 discloses a robot hand for a transfer robot that transfers a rectangular parallelepiped article such as a cardboard case.
  • This robot hand has a horizontal lower claw, a horizontal upper claw that moves up and down facing the lower claw, and an extrusion member that moves horizontally on the lower claw.
  • the robot hand is configured so that the article is moved to the vicinity of a predetermined position by the robot arm with the article sandwiched between the lower claw and the upper claw, the article is pushed out by the extrusion member, and the article is transferred to the predetermined position. Has been done.
  • an object of the present disclosure is to provide a robot hand, a robot, and a robot system that enable easy removal of adjacently arranged articles.
  • the robot hand is a robot hand that grips an article, and holds the article together with the first grip portion having the first claw portion and the first claw portion. At least one of the first claw portion and the second grip portion in the first direction in which the second grip portion that grips the article and the first claw portion and the second grip portion are brought close to each other or separated from each other.
  • the first claw portion is provided with a first driving device for moving the first claw portion, and has a shape that can be inserted into a gap between the articles arranged adjacent to each other.
  • the robot according to one aspect of the present disclosure includes a robot hand according to one aspect of the present disclosure, a robot arm connected to the robot hand, and a control device for controlling the operation of the robot hand and the robot arm.
  • the robot system includes a robot according to one aspect of the present disclosure and an operating device for operating the robot.
  • FIG. 1 is a diagram showing an example of a configuration of a robot system according to an embodiment.
  • FIG. 2 is a perspective view showing an example of the configuration of the robot according to the embodiment.
  • FIG. 3 is a side view showing an example of the configuration of the robot hand according to the embodiment.
  • FIG. 4 is a side view showing an example of the configuration of the first grip portion of the robot hand according to the embodiment.
  • FIG. 5 is a side view showing an example of the configuration of the second grip portion of the robot hand according to the embodiment.
  • FIG. 6 is a block diagram showing an example of the functional configuration of the control device according to the embodiment.
  • FIG. 7 is a block diagram showing an example of the configuration of the control device and each drive device according to the embodiment.
  • FIG. 8 is a side view showing one of the first operations of the robot system according to the embodiment.
  • FIG. 9 is a side view showing one of the first operations of the robot system according to the embodiment.
  • FIG. 10 is a side view showing one of the first operations of the robot system according to the embodiment.
  • FIG. 11 is a side view showing one of the first operations of the robot system according to the embodiment.
  • FIG. 12 is a side view showing one of the first operations of the robot system according to the embodiment.
  • FIG. 13 is a side view showing one of the first operations of the robot system according to the embodiment.
  • FIG. 14 is a side view showing one of the second operations of the robot system according to the embodiment.
  • FIG. 15 is a side view showing one of the second operations of the robot system according to the embodiment.
  • FIG. 16 is a side view showing an example of the configuration of the robot hand according to the first modification.
  • FIG. 17 is a top view showing an example of the configuration of the robot hand according to the first modification.
  • FIG. 18 is a side view showing an example of the configuration of the robot hand according to the second modification.
  • FIG. 19 is a side view showing one of the second operations of the robot system according to the second modification.
  • FIG. 20 is a side view showing one of the second operations of the robot system according to the second modification.
  • FIG. 21 is a side view showing one of the second operations of the robot system according to the second modification.
  • FIG. 22 is a side view showing one of the second operations of the robot system according to the second modification.
  • FIG. 1 is a diagram showing an example of the configuration of the robot system 1 according to the embodiment.
  • the robot system 1 is a system that uses the robot 100 to convey the article A.
  • the robot 100 can place and stack the articles A transported by the transport device or the like in a predetermined place. Further, the robot 100 takes out the article A from the pile of the articles A piled up at a predetermined place and places it on another device or the like.
  • the article A transported by the robot 100 will be described as a rectangular parallelepiped corrugated cardboard case, but the present invention is not limited to this.
  • the article to be transported may be an object that can be grasped by the robot hand 120, which will be described later, and may be another object having a predetermined shape, such as a rock or an object that does not have a predetermined shape. There may be.
  • the robot system 1 includes a robot 100 and an operating device 210 for operating the robot 100.
  • the operation device 210 is arranged away from the robot 100, and the operator P can remotely control the robot 100 by inputting to the operation device 210.
  • the robot system 1 includes an imaging device 220 that captures the operating state of the robot 100, and an output device 230 that outputs information captured by the imaging device 220.
  • the robot system 1 includes a transport vehicle 240 to which the robot arm 110 of the robot 100 is fixed.
  • the transport vehicle 240 has a servomotor that uses electric power as a power source to drive the transport vehicle 240.
  • the automatic guided vehicle 240 may be an AGV (automated guided vehicle).
  • the robot system 1 includes a conveyor robot 250 on the transport vehicle 240.
  • the conveyor robot 250 conveys the article A placed on the surface of the conveyor belt by the robot 100 to another device such as the belt conveyor 300. Further, the conveyor robot 250 receives the article A from another device and conveys it to the robot 100.
  • the conveyor robot 250 includes a conveyor 251 which is a belt conveyor and an arm 252 that supports the conveyor 251 on the conveyor 240, and the arm 252 can be used to position the conveyor 251 at an arbitrary position and posture.
  • the conveyor 251 and the arm 252 each have a servomotor as an electric motor that uses electric power as a power source and drives them. It should be noted that not all of the above components of the robot system 1 are indispensable.
  • the robot 100 includes a robot arm 110, a robot hand 120 attached to the tip of the robot arm 110, and a control device 130 for controlling the operation of the robot arm 110 and the robot hand 120.
  • the robot 100 is configured as a vertical articulated robot, but is not limited thereto.
  • the operating device 210 remotely controls the robot 100, the transport vehicle 240, and the conveyor robot 250 based on the command input by the operator P.
  • the specific configuration of the operating device 210 is not particularly limited, but the operating device 210 includes an input device that receives an input by the operator P. Examples of input devices include, but are not limited to, handles, levers, pedals, buttons, touch panels, microphones, cameras, and the like.
  • the operation device 210 outputs a command corresponding to the operation input via the input device to the control device 130.
  • the operating device 210 is connected to the control device 130 via wired communication or wireless communication.
  • the format of wired communication and wireless communication may be any format.
  • the operation device 210 may output a command corresponding to each operation of the manual operation input by the operator P to the control device 130.
  • the operation device 210 may output a command corresponding to the operation content of the automatic operation input by the operator P to the control device 130.
  • the operating device 210 may accept displacement, direction, speed, operating force, etc. of the handle or lever as an input command, may accept pressing and pressing of a button, and may touch or touch the screen of the touch panel.
  • the locus, the contact pressure, and the like may be accepted, the audio signal collected by the speaker may be accepted, and the analysis result of the image of the operator P captured by the camera may be accepted.
  • the operating force is a force applied to the handle, lever, or the like by the operator P.
  • the contact pressure is the pressing force of a finger or the like on the touch panel.
  • the analysis result of the image of the operator P includes a command indicated by the gesture of the operator P and the like.
  • the image pickup device 220 images the operating states of the robot 100, the transport vehicle 240, and the conveyor robot 250, and outputs the signal of the captured image to the output device 230.
  • the image captured by the image pickup device 220 may be a still image or a moving image. Examples of the image pickup device 220 are a digital camera and a digital video camera.
  • the image pickup device 220 is connected to the operation device 210 and the output device 230 via wired communication or wireless communication.
  • the imaging device 220 may perform operations such as executing and stopping imaging and changing the imaging direction in accordance with a command input to the operating device 210.
  • the output device 230 is a display device that outputs an image signal acquired from the image pickup device 220 as an image and displays it on the operator P.
  • Examples of the output device 230 are, but are not limited to, a liquid crystal display and an organic or inorganic EL display (Electro-Luminescence Display).
  • the output device 230 may display an image for an operation or the like output by the control device 130.
  • FIG. 2 is a perspective view showing an example of the configuration of the robot 100 according to the embodiment.
  • the robot arm 110 of the robot 100 is fixed to the transport vehicle 240 at its base end.
  • a robot hand 120 is connected to the tip of the robot arm 110.
  • the articulated robot arm 110 has six joint axes JT1 to JT6 and six links 110a to 110f sequentially connected by these joint axes.
  • the robot arm 110 has arm drive devices AM1 to AM6 for rotationally driving each of the joint axes JT1 to JT6.
  • the operation of the arm drive devices AM1 to AM6 is controlled by the control device 130.
  • each of the arm drive devices AM1 to AM6 uses electric power as a power source and has a servomotor as an electric motor for driving them.
  • the number of joint axes of the robot arm 110 is not limited to 6, but may be 7 or more, or 1 or more and 5 or less.
  • the joint shaft JT1 rotatably connects the upper surface of the base 241 of the transport vehicle 240 and the base end portion of the link 110a around an axis in the vertical direction perpendicular to the upper surface.
  • the joint axis JT2 rotatably connects the tip end of the link 110a and the base end of the link 110b around an axis in the horizontal direction.
  • the joint axis JT3 rotatably connects the tip end of the link 110b and the base end of the link 110c around an axis in the horizontal direction.
  • the joint axis JT4 rotatably connects the tip end of the link 110c and the base end of the link 110d around the longitudinal axis of the link 110c.
  • the joint axis JT5 rotatably connects the tip end of the link 110d and the base end of the link 110e around an axis in a direction orthogonal to the longitudinal direction of the link 110d.
  • the joint axis JT6 connects the tip end portion of the link 110e and the base end portion of the link 110f so as to be twistably rotatable with respect to the link 110e.
  • the robot hand 120 is attached to the tip of the link 110f.
  • FIG. 3 is a side view showing an example of the configuration of the robot hand 120 according to the embodiment.
  • FIG. 4 is a side view showing an example of the configuration of the first grip portion 121 of the robot hand 120 according to the embodiment.
  • FIG. 5 is a side view showing an example of the configuration of the second grip portion 122 of the robot hand 120 according to the embodiment.
  • the robot hand 120 includes a first grip portion 121, a second grip portion 122, and a base 123.
  • the base 123 is attached to the tip of the link 110f of the robot arm 110.
  • the first grip portion 121 and the second grip portion 122 are attached to the base 123 and supported by the base 123.
  • the link 110f is displaced from the first gripping member 121a in the second direction D2 so as not to interfere with the first gripping member 121a that can move in the first direction D1 as described later. It is preferable to be connected.
  • the first grip portion 121 has a first grip member 121a and a first drive device 121b.
  • the first gripping member 121a is movably provided in the first directions D1a and D1b and is supported by the base 123.
  • the first gripping member 121a includes a first main body portion 121aa extending from the base 123 in the first direction D1a, and a first claw portion 121ab extending from the tip of the first main body portion 121aa in the third direction D3a intersecting the first direction D1a. Is included integrally.
  • the first directions D1a and D1b are opposite to each other.
  • the direction D1a is a direction away from the base 123
  • the direction D1b is a direction approaching the base 123.
  • first direction D1 When the first direction D1a and D1b are not distinguished, it is sometimes called "first direction D1".
  • the third directions D3a and D3b are opposite to each other.
  • the direction D3a is a direction away from the first main body 121aa
  • the direction D3b is a direction approaching the first main body 121aa.
  • the third direction D3 When the third direction D3a and D3b are not distinguished, it is sometimes called "third direction D3".
  • the first directions D1a and D1b and the third directions D3a and D3b are substantially vertical, but the present invention is not limited thereto.
  • the first claw portion 121ab has a shape that can be inserted into a gap between adjacent articles and / or a gap between an article and a floor surface.
  • the first main body portion 121aa and the first claw portion 121ab have a plate-like outer shape, and may be formed of, for example, a plate or a frame forming the outer shape.
  • the first claw portion 121ab has a tapered shape that tapers toward the tip thereof.
  • the thickness of the first claw portion 121ab in the first direction D1 is tapered.
  • the width of the first claw portion 121ab in the depth direction perpendicular to the first direction D1 and the third direction D3 is substantially constant, but may be tapered.
  • the first main body portion 121aa includes a band-shaped convex portion 121ac extending in the first direction D1, and the convex portion 121ac is slidably engaged with the groove of the guide portion 123a provided in the base 123 in the first direction D1. are doing.
  • the first gripping member 121a is supported by the base 123 and receives guidance for movement in the first direction D1 via the convex portion 121ac and the guide portion 123a.
  • the first drive device 121b has a first actuator 121c and a first drive mechanism 121d.
  • the first driving device 121b moves the first gripping member 121a in the first direction D1 by the driving force generated by the first actuator 121c.
  • the first actuator 121c uses electric power as a power source and has a servomotor as an electric motor for driving the power source.
  • the first actuator 121c may be supplied with electric power from the robot 100, the electric power supply source of the robot 100, or other electric power supply source.
  • the first driving mechanism 121d converts the rotational driving force of the first actuator 121c into a linear driving force and transmits it to the first gripping member 121a.
  • the first drive mechanism 121d includes a screw shaft 121da, a nut 121db, a speed reducer 121dc, pulleys 121dd and 121de, and an endless belt 121df.
  • the screw shaft 121da is fixed to the first main body portion 121aa and extends in the first direction D1.
  • the screw shaft 121da and the nut 121db form a ball screw, and the screw groove of the screw hole of the nut 121db is screwed into the screw groove on the outer peripheral surface of the screw shaft 121da via a ball (not shown).
  • the nut 121db is fixed to the base 123 so as to be rotatable around the axis of the screw shaft 121da but not to move in the first direction D1.
  • the pulley 121de is connected to the nut 121db so as to rotate integrally with the nut 121db.
  • the endless belt 121df is hung on the pulleys 121dd and 121de.
  • the pulleys 121dd and 121de, as well as the nut 121db, rotate about an axis in the first direction D1.
  • the speed reducer 121dc reduces the rotational speed of the rotational driving force of the first actuator 121c and transmits the rotational driving force to the nut 121db. Specifically, the speed reducer 121dc changes the rotational driving force of the first actuator 121c around the axis of the third direction D3 into the rotational driving force around the axis of the first direction D1 and transmits the rotational driving force to the pulley 121dd.
  • the one-way rotational driving force generated by the first actuator 121c causes the nut 121db to rotate in one direction, thereby moving the screw shaft 121da and the first gripping member 121a together in the first direction D1a. ..
  • the rotational driving force generated by the first actuator 121c in the opposite direction causes the nut 121db to rotate in the opposite direction, thereby moving the screw shaft 121da and the first gripping member 121a together in the first direction D1b.
  • the configuration of the first driving device 121b is not limited to the above configuration as long as the first gripping member 121a can be moved in the first direction D1.
  • the first drive mechanism 121d may not be provided, and the first actuator 121c may directly move the first grip member 121a.
  • An example of such a first actuator 121c is a linear actuator or the like.
  • the second grip portion 122 has a second grip member 122a and a second drive device 122b.
  • the second gripping member 122a is movably provided in the second directions D2a and D2b and is supported by the base 123.
  • the second gripping member 122a includes a second main body portion 122aa extending from the base 123 in the second direction D2a and a second claw portion 122ab extending from the tip of the second main body portion 122aa in the fourth direction D4a intersecting the second direction D2a. Is included integrally.
  • the second directions D2a and D2b are opposite to each other.
  • the direction D2a is a direction away from the base 123, which is the same direction as the direction D3a.
  • the direction D2b is a direction approaching the base 123, which is the same direction as the direction D3b.
  • second direction D2 When the second direction D2a and D2b are not distinguished, it may be called "second direction D2".
  • the fourth directions D4a and D4b are opposite to each other.
  • the direction D4a is a direction away from the second main body portion 122aa, and is the same direction as the direction D1a.
  • the direction D4b is a direction approaching the second main body portion 122aa, and is the same direction as the direction D1b.
  • fourth direction D4a and D4b When the fourth direction D4a and D4b are not distinguished, it may be called "fourth direction D4".
  • the second directions D2a and D2b and the fourth directions D4a and D4b are substantially vertical, but the present invention is not limited to this. Further, the second directions D2a and D2b are substantially parallel to the third directions D3a and D3b, and the fourth directions D4a and D4b are substantially parallel to the first directions D1a and D1b, but the present invention is not limited thereto.
  • the second claw portion 122ab has a shape that can be inserted into a gap between adjacent articles and / or a gap between the article and the floor surface.
  • the second main body portion 122aa and the second claw portion 122ab have a plate-like outer shape, and may be formed of, for example, a plate or a frame forming the outer shape.
  • the second claw portion 122ab has a tapered shape that tapers toward the tip thereof.
  • the thickness of the second claw portion 122ab in the second direction D2 is tapered.
  • the width of the second claw portion 122ab in the depth direction perpendicular to the second direction D2 and the fourth direction D4 is substantially constant, but may be tapered.
  • the second main body portion 122aa includes a band-shaped convex portion 122ac extending in the second direction D2, and the convex portion 122ac is slidably engaged with the groove of the guide portion 123b provided on the base 123 in the second direction D2. are doing.
  • the second gripping member 122a is supported by the base 123 and receives guidance for movement in the second direction D2 via the convex portion 122ac and the guide portion 123b.
  • the second drive device 122b has a second actuator 122c and a second drive mechanism 122d.
  • the second driving device 122b moves the second gripping member 122a in the second direction D2 by the driving force generated by the second actuator 122c.
  • the second actuator 122c uses electric power as a power source and has a servomotor as an electric motor for driving the electric power.
  • the second actuator 122c may be supplied with electric power from the robot 100, the electric power supply source of the robot 100, or other electric power supply source.
  • the second drive mechanism 122d converts the rotational driving force of the second actuator 122c into a linear driving force and transmits it to the second gripping member 122a.
  • the second drive mechanism 122d includes a screw shaft 122da, a nut 122db, a speed reducer 122dc, pulleys 122dd and 122de, and an endless belt 122df.
  • the screw shaft 122da is fixed to the second gripping member 122a and extends in the second direction D2.
  • the screw shaft 122da and the nut 122db form a ball screw.
  • the nut 122db is fixed to the base 123 so as to be rotatable around the axis of the screw shaft 122da but not to move in the second direction D2.
  • the pulley 122de is connected to the nut 122db so as to rotate integrally with the nut 122db.
  • the endless belt 122df is hung on the pulleys 122dd and 122de.
  • the pulleys 122dd and 122de, as well as the nut 122db rotate about an axis in the second direction D2.
  • the speed reducer 122dc reduces the rotational speed of the rotational driving force of the second actuator 122c and transmits the rotational driving force to the nut 122db. Specifically, the speed reducer 122dc transmits the rotational driving force around the axis in the second direction D2 to the pulley 122dd.
  • the one-way rotational driving force generated by the second actuator 122c causes the nut 122db to rotate in one direction, thereby moving the screw shaft 122da and the second gripping member 122a together in the second direction D2a. ..
  • the rotational driving force in the opposite direction generated by the second actuator 122c causes the nut 122db to rotate in the opposite direction, thereby moving the screw shaft 122da and the second gripping member 122a together in the second direction D2b.
  • the configuration of the second drive device 122b is not limited to the above configuration as long as the second gripping member 122a can be moved in the second direction D2.
  • the second drive mechanism 122d may not be provided, and the second actuator 122c may directly move the second grip member 122a.
  • the robot hand 120 as described above sandwiches the article A in the first direction D1 by the second gripping member 122a, the base 123, and the first claw portion 121ab, and the first gripping member 121a, the base 123, and the second claw portion 122ab.
  • the first direction D1 is a direction in which the first claw portion 121ab and the second gripping member 122a are brought close to each other or separated from each other.
  • the second direction D2 is a direction in which the second claw portion 122ab approaches or separates from the article A sandwiched between the first claw portion 121ab and the second gripping member 122a.
  • Control device 130 operates the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250 according to a program stored in the storage unit (not shown) in advance based on an operation command or the like received from the operation device 210. Control.
  • the control device 130 does not control the operations of the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250 individually, but links them to each other for control, and realizes the operations linked to each other.
  • the control device 130 reflects information acquired from the other three in one control of the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250.
  • FIG. 6 is a block diagram showing an example of the functional configuration of the control device 130 according to the embodiment.
  • the control device 130 includes an operation information processing unit 130a, a first grip unit control unit 130b, a second grip unit control unit 130c, a claw position detection unit 130d, an arm control unit 130e, and an arm position detection unit 130f.
  • the transport vehicle control unit 130g, the transport vehicle position detection unit 130h, the conveyor control unit 130i, the information output unit 130j, and the storage unit 130k are included as functional components. These functional components use the information output by the other components and perform operations linked to the operations of the other components. It should be noted that not all of the above functional components are essential.
  • the functions of each component of the 130h, the conveyor control unit 130i, and the information output unit 130j include a processor such as a CPU (Central Processing Unit), a volatile memory such as a RAM (Random Access Memory), and a ROM (Read-Only Memory). It may be realized by a computer system (not shown) including a non-volatile memory or the like. Some or all of the functions of the above components may be realized by the CPU using the RAM as a work area to execute a program recorded in the ROM.
  • a processor such as a CPU (Central Processing Unit), a volatile memory such as a RAM (Random Access Memory), and a ROM (Read-Only Memory). It may be realized by a computer system (not shown) including a non-volatile memory or the like.
  • the functions of the above components may be realized by the above computer system, may be realized by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, and may be realized by a computer system and a hardware circuit. It may be realized by a combination.
  • the storage unit 130k can store various kinds of information and can read the stored information.
  • the storage unit 130k is realized by a semiconductor memory such as a volatile memory and a non-volatile memory, a hard disk, and a storage device such as an SSD (Solid State Drive).
  • the storage unit 130k stores parameters, threshold values, and the like used by each component.
  • the storage unit 130k may store a program executed by each component.
  • the operation information processing unit 130a outputs an operation command acquired from the operation device 210 to each component of the control device 130. Each component operates according to the program corresponding to the directive.
  • the first grip unit control unit 130b controls the operation of the first drive device 121b of the first grip unit 121 according to a command acquired via the operation information processing unit 130a.
  • the first grip portion control unit 130b is operated by the first drive device 121b based on the position of the first claw portion 121ab acquired from the claw position detection unit 130d and the like.
  • the first grip unit control unit 130b detects a load by acquiring a signal of the output current of the first actuator 121c from the first drive device 121b, and when this load is equal to or more than a threshold value, the article by the first grip member 121a The grip of A may be detected.
  • a photoelectric sensor (also referred to as a “beam sensor”) for detecting the presence of the article A, a laser sensor, a limit switch, and other sensors are arranged on the first grip member 121a and the like, and the first grip portion control unit 130b is the sensor.
  • the grip of the article A may be detected from the output signal of.
  • the second grip unit control unit 130c controls the operation of the second drive device 122b of the second grip unit 122 according to a command acquired via the operation information processing unit 130a.
  • the second grip portion control unit 130c is operated by the second drive device 122b based on the position of the second claw portion 122ab acquired from the claw position detection unit 130d.
  • the second grip unit control unit 130c detects a load by acquiring a signal of the output current of the second actuator 122c from the second drive device 122b, and when this load is equal to or more than a threshold value, the article by the second grip member 122a The grip of A may be detected.
  • Sensors such as a photoelectric sensor, a laser sensor, and a limit switch for detecting the presence of the article A are arranged on the second grip member 122a and the like, and the second grip portion control unit 130c grips the article A from the output signal of the sensor. May be detected.
  • the claw position detection unit 130d and the control device 130 are examples of the detection device.
  • the claw position detection unit 130d detects the positions of the first claw portion 121ab and the second claw portion 122ab with respect to the article A. Specifically, the claw position detection unit 130d detects the output load generated in each of the arm drive devices AM1 to AM6 by acquiring the output current signal from each of the arm drive devices AM1 to AM6 of the robot arm 110. To do. Further, the claw position detection unit 130d acquires information on the input load generated in each of the arm drive devices AM1 to AM6 from the arm control unit 130e.
  • the claw position detection unit 130d determines whether or not the tips of the first claw portion 121ab and / or the second claw portion 122ab are in contact with the article A based on the difference between the output load and the input load of the arm drive devices AM1 to AM6. Is detected. For example, the claw position detecting unit 130d may detect that the tip of the claw portion is in contact with the article A when the difference in load between the arm driving devices AM1 to AM6 is equal to or greater than the threshold value.
  • the output current, input load, and output load of the arm drive devices AM1 to AM6 are examples of information regarding the operation of the arm drive devices AM1 to AM6.
  • the information regarding the operation of the arm drive devices AM1 to AM6 may include the strain amount of the joint axes JT1 to JT6 and the links 110a to 110f. It is also possible to detect the presence or absence of contact between the tip of the claw portion and the article A by using such a strain amount.
  • the claw position detecting unit 130d acquires information such as the position, posture, moving direction, and moving speed of the robot hand 120 from the arm position detecting unit 130f, and uses the information to obtain the first claw portion 121ab and the second claw.
  • the position of the unit 122ab is detected.
  • the claw position detecting unit 130d is moving in a direction in which the first claw portion 121ab and / or the second claw portion 122ab is in contact with the article A and intersects the projecting direction, specifically orthogonal to the projecting direction. If the non-contact of the claw portion is detected during the detection, it is detected that the claw portion is located at a position corresponding to the gap between the articles A arranged adjacent to each other.
  • the position corresponding to the gap may be a position above the gap in the vertical direction or a position on the side in the horizontal direction of the gap.
  • the arm control unit 130e controls the operations of the arm drive devices AM1 to AM6 in accordance with a command acquired via the operation information processing unit 130a to cause the robot arm 110 to perform an operation corresponding to the robot arm 110.
  • the arm control unit 130e causes the robot arm 110 to operate based on the positions, postures, movement directions, movement speeds, and the like of the links 110a to 110f of the robot arm 110 acquired from the arm position detection unit 130f.
  • the arm position detection unit 130f detects the position and posture of each of the links 110a to 110f of the robot arm 110. Specifically, the arm position detection unit 130f acquires information on the amount of motion such as the amount of rotation from the arm drive devices AM1 to AM6, and detects the position and posture of each of the links 110a to 110f based on the amount of motion. Further, the arm position detection unit 130f detects the movement direction and the movement speed of the links 110a to 110f from the changes in the positions and postures of the links 110a to 110f. Further, the arm position detecting unit 130f detects the position, posture, moving direction and moving speed of the robot hand 120 from the position, posture, moving direction and moving speed of the link 110f.
  • the transport vehicle control unit 130g controls the operation of the transport drive device 240a of the transport vehicle 240 according to a command acquired via the operation information processing unit 130a, thereby causing the transport vehicle 240 to perform an operation corresponding to the transport vehicle 240.
  • the transport vehicle control unit 130g is operated by the transport vehicle 240 based on the position and orientation of the transport vehicle 240 acquired from the transport vehicle position detection unit 130h.
  • the transport vehicle position detection unit 130h detects the position and orientation of the transport vehicle 240. Specifically, the transport vehicle position detection unit 130h acquires information on the operating amount such as the rotation amount of the servomotor from the transport driving device 240a, and detects the position and orientation of the transport vehicle 240 based on the operating amount. ..
  • the transport vehicle 240 may be provided with a GPS (Global Positioning System) receiver and a position measuring device such as an IMU (Inertial Measurement Unit).
  • the transport vehicle position detection unit 130h may detect the position and orientation of the transport vehicle 240 by using the reception signal of the GPS receiver, the acceleration and the angular velocity measured by the IMU, and the like. For example, the transport vehicle position detection unit 130h may detect a weak induced current from an electric wire embedded in the floor surface, and detect the position and orientation of the transport vehicle 240 based on this detected value.
  • the conveyor control unit 130i controls the operations of the conveyor 251 and the arm 252 of the conveyor robot 250 according to a command acquired via the operation information processing unit 130a, thereby causing the conveyor robot 250 to perform an operation corresponding to the conveyor robot 250.
  • the information output unit 130j outputs output information such as an operation result and a detection result of each component of the control device 130 to the operation device 210 and / or the output device 230.
  • the information output unit 130j outputs a screen for operating the robot 100 to the operation device 210 and / or the output device 230.
  • FIG. 7 is a block diagram showing an example of the configuration of the control device 130 and each drive device according to the embodiment.
  • the control device 130 includes a servomotor of the arm drive devices AM1 to AM6, a servomotor of the first drive device 121b, a servomotor of the second drive device 122b, a servomotor of the transfer drive device 240a, and a conveyor. It is configured to input and output information and commands to the servomotor of the robot 250.
  • the control device 130 controls the operations of all the servomotors of the arm drive devices AM1 to AM6, the first drive device 121b, the second drive device 122b, the transfer drive device 240a, and the conveyor robot 250.
  • Each servomotor is equipped with an electric motor and an encoder that detects the rotation angle of the rotor of the electric motor.
  • Each servomotor operates an electric motor according to a command and information output from the control device 130, and outputs a detection value of the encoder to the control device 130.
  • the control device 130 detects the rotation amount and rotation speed of the rotor of the servomotor based on the detection value of the encoder fed back from each servomotor, and uses the detection result to start and stop the rotation of the servomotor. , Rotation speed and rotation torque are controlled.
  • the control device 130 can stop each servomotor at an arbitrary rotation position, rotate it at an arbitrary rotation speed, and operate it at an arbitrary rotation torque. Therefore, the control device 130 can operate all of the robot arm 110, the robot hand 120, the transport vehicle 240, and the conveyor robot 250 in various and precise manners.
  • the first operation of the robot system 1 will be described.
  • the first operation is an operation of carrying out the uppermost article A1 among the articles A stacked vertically by using the robot hand 120.
  • the first operation is a master-slave type operation in which the operator P causes the robot 100 and the transport vehicle 240 to perform each operation by using the operation device 210.
  • the operating device 210 may form a master arm at the operator P's hand, and the robot 100 may form a remote slave arm.
  • the slave arm is configured to trace the movement of the master arm given by the operator P.
  • the operator P can easily perceive the operation of the slave arm via the master arm.
  • FIG. 8 to 13 are side views showing one of the first operations of the robot system 1 according to the embodiment, respectively.
  • the operator P moves the transport vehicle 240 to the mountain of the article A including the article A1 to be carried out by inputting a command to the operating device 210.
  • the operator P may input the information on the position of the destination into the operation device 210, and the control device 130 may automatically drive the transport vehicle 240 according to the information.
  • the operator P may operate the operation device 210 while visually recognizing it through the screen or the like displayed on the output device 230 to drive the transport vehicle 240.
  • the operator P operates the operation device 210 while visually recognizing it through the screen of the output device 230 or the like.
  • the robot arm 110 is operated to move the robot hand 120 above the article A1.
  • the control device 130 outputs the posture information of the robot hand 120 to the operation device 210 and the like, and the operator P makes the robot so that the first main body portion 121a of the first gripping member 121a becomes horizontal based on the posture information. Adjust the posture of the hand 120.
  • the operator P lowers the robot hand 120 and brings the downward tip of the first claw portion 121ab of the first gripping member 121a into contact with the article A1 from above. Further, the operator P moves the robot hand 120 in the first direction D1a, which is the depth direction of the article A1, with the first claw portion 121ab in contact with the robot hand 120.
  • the control device 130 outputs information indicating the presence or absence of contact between the first claw portion 121ab and the article A1 to the operation device 210 or the like.
  • the first gripping member 121a is pulled out in advance in the first direction D1a so that the second claw portion 122ab of the second gripping member 122a does not come into contact with the article A1.
  • the operator P stops the movement of the robot hand 120 in the first direction D1a when the first claw portion 121ab and the article A1 are in a non-contact state.
  • the first claw portion 121ab is located above the gap between the article A1 and the article A adjacent thereto.
  • the control device 130 detects the non-contact state, the movement of the robot hand 120 may be automatically stopped.
  • the operator P moves the robot hand 120 in the lower second direction D2a.
  • the first claw portion 121ab is inserted into the gap between the article A1 and the article A adjacent thereto.
  • the control device 130 detects that the first claw portion 121ab is completely inserted into the gap, the control device 130 outputs the detection result to the operation device 210 or the like.
  • the control device 130 detects the contact between the first gripping member 121a or the base 123 and the article A1 based on the load generated in the arm driving devices AM1 to AM6 of the robot arm 110, the control device 130 completely inserts the first claw portion 121ab. May be determined.
  • the operator P operates the first driving device 121b of the robot hand 120 and pulls the first gripping member 121a in the first direction D1b. Move it like this. As a result, the first gripping member 121a pulls out the article A1 in the first direction D1b, which is the horizontal direction, using the first claw portion 121ab.
  • the control device 130 detects the completion of withdrawal of the article A1, the control device 130 outputs the detection result to the operation device 210 or the like.
  • control device 130 When the control device 130 detects the contact between the article A1 and the second gripping member 122a or the base 123 based on the load generated in the first driving device 121b, the control device 130 may determine the completion of withdrawal. After the withdrawal is completed, the operator P stops the first drive device 121b, but the control device 130 may automatically stop the first drive device 121b.
  • the operator P operates the second driving device 122b of the robot hand 120 and moves the second gripping member 122a upward in the second direction D2b. Move to draw to.
  • the control device 130 detects the completion of the movement of the second gripping member 122a, the control device 130 outputs the detection result to the operation device 210 or the like.
  • the control device 130 may determine the completion of movement when it detects the contact between the second claw portion 122ab and the article A1 based on the load generated in the second driving device 122b. After the movement is completed, the operator P stops the second drive device 122b, but the control device 130 may automatically stop the second drive device 122b.
  • the robot hand 120 grips the article A1 horizontally between the first claw portion 121ab and the second gripping member 122a or the base 123, and the second claw portion 122ab and the first gripping member 121a or the base 123.
  • the article A1 is gripped in the vertical direction with and from.
  • the operator P operates the robot arm 110 to carry out the article A1 gripped by the robot hand 120 from the pile of the article A. Then move to the destination.
  • At least one of the operations of each step and / or at least a part of a series of operations from the moving step to the carrying-out step may be automatically performed by the control device 130.
  • the second operation of the robot system 1 will be described.
  • the second operation is an operation of carrying out the article A1 placed on the floor surface by using the robot hand 120. It is assumed that the second operation is also a master-slave operation.
  • 14 and 15 are side views showing one of the second operations of the robot system 1 according to the embodiment, respectively.
  • the robot movement step, the hand movement step, and the claw contact step in the second movement are the same as those in the first movement.
  • the operator P lowers the robot hand 120 and lowers the first claw portion 121ab to the article. It is inserted into the gap between A1 and the article A next to it.
  • the control device 130 detects the presence or absence of contact between the second claw portion 122ab of the second gripping member 122a and the floor surface, and transmits this detection result to the operating device 210 or the like. Output.
  • the control device 130 When the second claw portion 122ab comes into contact with the floor surface, the operator P operates the second driving device 122b.
  • the second driving device 122b moves the second gripping member 122a in the second direction D2b.
  • the control device 130 detects the completion of the movement of the second gripping member 122a
  • the control device 130 outputs the detection result to the operation device 210 or the like.
  • the control device 130 may determine the completion of movement when it detects the contact between the first gripping member 121a or the base 123 and the article A1 based on the load generated in the second driving device 122b.
  • the operator P stops the lowering operation of the robot hand 120 and the operation of the second driving device 122b, but the control device 130 may automatically stop the operation.
  • the operator P operates the first driving device 121b in the same manner as the first gripping step of the first operation, and first grips the first gripping member 121a. Move in direction D1b.
  • the first claw portion 121ab pulls out the article A1 in the first direction D1b, or the second gripping member 122a moves in the first direction D1a, whereby the second claw portion 122ab becomes the article A1 and the floor surface. Is inserted between.
  • the control device 130 detects the contact between the article A1 and the second gripping member 122a or the base 123, the control device 130 determines the completion of gripping and outputs the determination result to the operating device 210 or the like.
  • the robot hand 120 grips the article A1 horizontally between the first claw portion 121ab and the second gripping member 122a or the base 123, and the second claw portion 122ab and the first gripping member 121a or the base 123.
  • the article A1 is gripped in the vertical direction with and from.
  • the operator P lifts the article A1 held by the robot hand 120 and moves it to the carry-out destination.
  • At least one of the operations of each step and / or at least a part of a series of operations from the moving step to the carrying-out step may be automatically performed by the control device 130.
  • the robot hand 120 has a first grip portion 121 having a first claw portion 121ab and a second grip portion that grips the article by sandwiching the article together with the first claw portion 121ab.
  • a first driving device 121b for moving the first claw portion 121ab is provided in the first direction D1 in which the first claw portion 121ab and the second grip portion 122 are brought close to each other or separated from the 122.
  • the first claw portion 121ab has a shape that can be inserted into a gap between articles arranged adjacent to each other.
  • the robot hand 120 inserts the first claw portion 121ab into the gap between the articles and moves the first claw portion 121ab in the first direction D1, thereby causing the first claw portion 121ab and the second grip portion.
  • the article can be gripped by 122. Therefore, the robot hand 120 can easily take out the articles arranged adjacent to each other.
  • the robot hand 120 may include a second drive device 122b that moves the second claw portion 122ab of the second grip portion 122 in the second direction D2.
  • the second direction D2 is a direction that intersects with the first direction D1 and is a direction that brings the second claw portion 122ab closer to or away from the article sandwiched between the first claw portion 121ab and the second grip portion 122. May be good.
  • the robot hand 120 grips the article gripped by the first claw portion 121ab and the second grip portion 122 in the first direction D1 from the second direction D2 by using the second claw portion 122ab. Can be done. Therefore, it is possible to securely grip the article.
  • the second claw portion 122ab may have a shape that can be inserted into a gap between articles arranged adjacent to each other. According to the above configuration, the second claw portion 122ab can be inserted into the gap between the articles and the gap between the article and the floor surface. Therefore, the robot hand 120 can grip the article by inserting the second claw portion 122ab into the gap.
  • the first drive device 121b and the second drive device 122b may have actuators 121c and 122c that generate a driving force. Further, the actuators 121c and 122c may use electric power as a power source.
  • the robot hand 120 uses electric power as a power source to drive the first drive device 121b and the second drive device 122b to grip the article. Therefore, the first drive device 121b and the second drive device 122b do not require the piping required when air pressure, liquid pressure, or the like is used as the drive source. Further, the first drive device 121b and the second drive device 122b can receive electric power from a power source of the robot 100 or the like. Therefore, the degree of freedom of installation and movement of the robot hand 120 is improved.
  • the robot hand 120 may include a control device 130 as a detection device for detecting that the first claw portion 121ab is at a position corresponding to a gap between articles arranged adjacent to each other. .. According to the above configuration, the first claw portion 121ab can be reliably inserted into the gap between the articles.
  • the robot hand 120 is connected to a robot arm 110 having a plurality of joints driven by arm drive devices AM1 to AM6 having a servomotor, and the control device 130 is the arm drive devices AM1 to AM6.
  • Information on the operation may be acquired, and the information may be used to detect that the first claw portion 121ab is at a position corresponding to a gap between articles arranged adjacent to each other.
  • a dedicated device for detecting that the first claw portion 121ab is at a position corresponding to the gap between the articles is not required. Therefore, the configuration of the robot hand 120 can be simplified.
  • the robot 100 includes a robot hand 120, a robot arm 110 connected to the robot hand 120, and a control device 130 for controlling the operation of the robot hand 120 and the robot arm 110. According to the above configuration, the same effect as that of the robot hand 120 according to the embodiment can be obtained.
  • the robot arm 110 has a plurality of joints driven by arm drive devices AM1 to AM6 having a servomotor, and the first drive device 121b and the second drive of the robot hand 120.
  • the device 122b may have actuators 121c and 122c with servomotors.
  • the control device 130 may control the operation of the servomotors of the actuators 121c and 122c and the operation of the servomotors of the arm drive devices AM1 to AM6.
  • the servomotor can stop the rotor at an arbitrary rotation position, can rotate the rotor at an arbitrary rotation speed, and can generate an arbitrary rotation torque. Therefore, the robot hand 120 and the robot arm 110 can perform various and precise movements.
  • the robot system 1 includes a robot 100 and an operating device 210 for operating the robot 100. According to the above configuration, the same effect as that of the robot hand 120 according to the embodiment can be obtained.
  • the robot hand 120A according to the first modification of the embodiment will be described.
  • the robot hand 120A according to the first modification is different from the embodiment in that the first grip portion 121A and the second grip portion 122A are provided with sensors for detecting an object.
  • the first modification will be described focusing on the points different from the embodiment, and the description of the same points as the embodiment will be omitted as appropriate.
  • FIG. 16 is a side view showing an example of the configuration of the robot hand 120A according to the first modification.
  • FIG. 17 is a top view showing an example of the configuration of the robot hand 120A according to the first modification.
  • the robot hand 120A includes sensors 124, 125 and 126a to 126c on the first grip member 121a of the first grip portion 121A, and the second grip member 122a of the second grip portion 122A. Is provided with a sensor 127.
  • Sensors 124, 125, 126a to 126c and 127 are sensors that detect an object and / or detect the distance to the object.
  • the sensors 124, 125, 126a to 126c, and 127 each output the detection signal to the control device 130.
  • the sensors 124 and 127 may be contact type sensors or non-contact type sensors.
  • the sensors 125 and 126a to 126c are non-contact sensors.
  • the contact type sensor may be a sensor that detects a reaction force from a contacted object such as a bumper sensor, a pressure sensitive sensor, and a contact type displacement sensor.
  • the non-contact sensor may be a sensor that detects the approach of an object or the distance to the object, such as a photoelectric sensor, a laser sensor, a laser lidar, and an ultrasonic sensor.
  • the first sensor 124 is arranged on the side surface of the first claw portion 121ab facing the first direction D1a, and targets the region in the front first direction D1a as a detection target.
  • the first sensor 124 detects contact with an object in the first direction D1a, approach of the object, and / or distance to the object.
  • the second sensor 125 is arranged on the lower surface of the first main body portion 121a of the first gripping member 121a facing the second direction D2a, and targets the lower region of the second direction D2a as a detection target.
  • the second sensor 125 is arranged near or adjacent to the first claw portion 121ab.
  • the second sensor 125 detects the approach of the object to the first claw portion 121ab in the second direction D2a and / or the distance to the object.
  • the third sensors 126a to 126c are arranged on the upper surface of the first main body portion 121aa facing the second direction D2b, and the region of the upper second direction D2b is the detection target.
  • the third sensors 126a to 126c each detect the approach of the object in the second direction D2b and / or the distance to the object.
  • At least two of the third sensors 126a to 126c are arranged at positions shifted in the first direction D1a.
  • at least two of the third sensors 126a to 126c are arranged at positions shifted in the fifth direction D5.
  • the fifth direction D5 is a direction perpendicular to the first directions D1a and D1b and parallel to the upper surface of the first main body portion 121aa. In this modification, all the positions of the third sensors 126a to 126c are deviated in the directions D1a and D5.
  • the fourth sensor 127 is arranged on the bottom surface of the second claw portion 122ab facing the second direction D2a, and targets the lower region of the second direction D2a as a detection target.
  • the fourth sensor 127 detects contact with an object in the second direction D2a, approach of the object, and / or the distance to the object.
  • the control device 130 detects the contact and / or approach of an object with respect to the first claw portion 121ab based on the detection signal of the first sensor 124.
  • the control device 130 detects the contact and / or approach of the object with respect to the second claw portion 122ab based on the detection signal of the fourth sensor 127.
  • the control device 130 may determine the approach of the object.
  • the distance L1 may be, for example, 100 mm or the like.
  • the movement of the robot hand 120A may be stopped or the movement speed may be reduced, and the approach of the object and / or the distance to the object is notified to the operation device 210 or the like. May be good. As a result, the robot hand 120A is prevented from colliding with the article A, the floor surface, or the like.
  • the control device 130 detects a gap between adjacent articles A based on the detection signal of the second sensor 125. For example, the control device 130 changes from the state of detecting the article A existing in the second direction D2a to the non-detection state while the robot hand 120A is moving in the first direction D1a or D1b, or the second. When the distance to the article A in the direction D2a suddenly increases, it may be detected that a gap between the articles A exists. When the control device 130 detects the gap, the robot hand 120A may stop moving, or the operation device 210 or the like may be notified of the detection of the gap and / or the distance to the gap. As a result, the first claw portion 121ab is positioned at a position corresponding to the gap between the articles A.
  • control device 130 detects the contact and / or approach of the object with respect to the first main body portion 121aa based on the detection signals of the third sensors 126a to 126c. Further, the control device 130 controls the posture of the robot hand 120A by controlling the posture of the first main body portion 121aa. For example, when the control device 130 detects an object in which at least one of the third sensors 126a to 126c is within the threshold distance L2, the control device 130 may determine the approach of the object.
  • the distance L2 may be, for example, 100 mm or the like.
  • control device 130 can detect the position and posture of the robot hand 120A by using the distance to the ceiling detected by the third sensors 126a to 126c.
  • the ceiling is the ceiling of the storage space in which the article A is housed, and may be, for example, the ceiling of the storage room, the ceiling of the luggage compartment of the vehicle, the ceiling of the container, or the like.
  • the control device 130 can detect the rolling angle of the first main body portion 121aa and the robot hand 120A about the axis of the first direction D1a from the detection distances of the third sensors 126b and 126c.
  • the control device 130 can detect the pitching angle of the first main body portion 121aa and the robot hand 120A centered on the axis of the direction D5 from the detection distances of the third sensors 126a and 126c.
  • the control device 130 can detect the position of the first main body 121aa with respect to the ceiling from the detection distances of the third sensors 126a to 126c.
  • the control device 130 may notify the operation device 210 or the like of the approach of the ceiling, the distance to the ceiling, the rolling angle and the pitching angle of the robot hand 120A, and the like.
  • the control device 130 may control the posture of the robot hand 120A so that the upper surface of the first main body portion 121aa is in a horizontal vicinity parallel to the ceiling based on the rolling angle and the pitching angle, and the robot hand 120A may control the posture.
  • the movement of the robot hand 120A may be stopped or the movement speed may be reduced.
  • the robot hand 120A is prevented from colliding with the ceiling.
  • the robot hand 120A can easily grip the article A.
  • the robot hand 120A according to the modified example 1 as described above the same effect as that of the embodiment can be obtained. Further, the robot hand 120A according to the first modification is provided with sensors 124, 125, 126a to 126c and 127, so that collision with a surrounding object can be suppressed. Further, the robot hand 120A is provided with the third sensors 126a to 126c to facilitate the attitude control thereof.
  • Modification 2 The robot hand 120B according to the second modification of the embodiment will be described.
  • the robot hand 120B according to the second modification is different from the embodiment and the first modification in that the third grip portion 128 is provided.
  • the second modification will be described focusing on the points different from the embodiment and the first modification, and the description of the same points as the first embodiment and the first modification will be omitted as appropriate.
  • FIG. 18 is a side view showing an example of the configuration of the robot hand 120B according to the second modification.
  • the robot hand 120B includes a third grip portion 128, and the third grip portion 128 is attached to and supported by the base 123.
  • the third grip portion 128 is arranged between the first grip member 121a and the second grip member 122a.
  • the third grip portion 128 operates independently of the first grip portion 121 and the second grip portion 122 according to the control of the control device 130.
  • the third grip portion 128 has a third grip member 128a and a third drive device 128b.
  • the third gripping member 128a is movably provided in the first directions D1a and D1b.
  • the third gripping member 128a includes a shaft portion 128aa extending in the first direction D1a, a pressing portion 128ab at the tip of the shaft portion 128aa, and a friction material 128ac on the surface of the pressing portion 128ab.
  • the pressing portion 128ab has a surface that is larger in the radial direction than the shaft portion 128aa.
  • the friction material 128ac is a member having a higher coefficient of friction than the surface of the pressing portion 128ab.
  • the constituent material of the friction material 128ac is not particularly limited, but may be resin, rubber, or the like.
  • the friction material 128ac may be a material that has undergone surface treatment such as rough surface processing.
  • the surface of the pressing portion 128ab may be subjected to surface treatment such as rough surface treatment without using the friction material 128ac.
  • the third gripping member 128a is arranged so that the friction material 128ac and the pressing portion 128ab face the side surface of the first claw portion 121ab in the first direction D1.
  • the surface treatment of the friction material 128ac and the pressing portion 128ab is not essential.
  • the third drive device 128b is fixed to the base 123 and expands and contracts the shaft portion 128aa in the first directions D1a and D1b.
  • Examples of the third drive device 128b are an electric linear actuator, a pneumatic or hydraulic cylinder, and the like.
  • the third driving device 128b may be configured to convert the rotational driving force into a linear driving force like the first driving device 121b and the second driving device 122b.
  • the third driving device 128b causes the third gripping member 128a to grip the article A in the first direction D1 between the third gripping member 128a and the first claw portion 121ab.
  • the friction material 128ac suppresses the lowering of the article A with respect to the third gripping member 128a due to the frictional force with the article A.
  • the control device 130 When the control device 130 detects the contact between the article A1 and the first gripping member 121a or the base 123, the control device 130 outputs the detection result to the operation device 210 or the like. After the contact, the operator P stops the lowering of the robot hand 120B and the second drive device 122b, but the control device 130 may automatically stop the robot hand 120B. Next, the operator P operates the third drive device 128b of the third grip portion 128. The third grip portion 128 extends the third grip member 128a and presses it against the article A1. As a result, the article A1 is gripped by the first claw portion 121ab and the third gripping member 128a.
  • the operator P tilts the robot hand 120B from the horizontal state and raises the second claw portion 122ab from the floor surface.
  • the article A1 is tilted, and the bottom portion of the article A1 on the first claw portion 121ab side comes into contact with the floor surface, but the bottom portion on the second claw portion 122ab side rises from the floor surface.
  • the operator P operates the first drive device 121b and the third drive device 128b.
  • the first driving device 121b moves the first gripping member 121a in the first direction D1b, and in parallel, the third driving device 128b contracts the third gripping member 128a in the first direction D1b.
  • the control device 130 operates the first drive device 121b and the third drive device 128b in cooperation with each other so that the distance between the first claw portion 121ab and the third grip member 128a is maintained substantially constant.
  • the robot hand 120B moves the base 123 and the second gripping member 122a in the first direction D1a while gripping the article A1 by the first claw portion 121ab and the third gripping member 128a, and moves the second claw portion 122ab. Insert under article A1.
  • the control device 130 detects the contact between the second gripping member 122a or the base 123 and the article A1, the control device 130 outputs the detection result to the operation device 210 or the like.
  • the operator P stops the first drive device 121b and the third drive device 128b, but the control device 130 may automatically stop the insertion.
  • the operator P operates the second drive device 122b.
  • the second driving device 122b moves the second gripping member 122a in the second direction D2b.
  • the control device 130 detects the contact between the second claw portion 122ab and the article A1
  • the control device 130 outputs the detection result to the operation device 210 or the like as a gripping completion report.
  • the operator P stops the second drive device 122b, but the control device 130 may automatically stop the second drive device 122b.
  • the operator P or the control device 130 may perform the gripping operation using the first driving device 121b and the third driving device 128b and the gripping operation using the second driving device 122b in parallel.
  • the robot hand 120B grips the article A1 between the first claw portion 121ab and the second gripping member 122a or the base 123 in the first direction D1, and the second claw portion 122ab and the first gripping member 121a or The article A1 is gripped with the base 123 in the second direction D2.
  • the operator P lifts the article A1 by using the robot arm 110 while adjusting the posture of the robot hand 120B so that the upper surface of the first gripping member 121a is horizontal. , Move to the destination.
  • At least one of the operations of each step and / or at least a part of a series of operations from the moving step to the carrying-out step may be automatically performed by the control device 130.
  • the third grip portion 128 can also be used to lower the article A1 gripped by the robot hand 120B from above the second claw portion 122 ab.
  • the first gripping member 121a is moved in the first direction D1a and the third gripping member 128a is extended while the second claw portion 122ab is in contact with the floor surface and the article A1 is gripped.
  • the article A1 is pressed and lowered from the second claw portion 122ab onto the floor surface.
  • the pressing portion 128 ab does not have to face the first claw portion 121 ab.
  • the third grip portion 128 may be provided on the second grip member 122a.
  • the robot hand 120B according to the modified example 2 as described above the same effect as that of the embodiment can be obtained. Further, the robot hand 120B according to the second modification can easily and surely grip and lift the article A1 placed on the floor surface by providing the third grip portion 128.
  • the shapes of the first claw portion 121ab and the second claw portion 122ab of the robot hand 120 are tapered toward the tip thereof, but are not limited thereto.
  • the shapes of the first claw portion 121ab and the second claw portion 122ab may be any shape that can be inserted into the gap between the adjacent articles and / or the gap between the article and the floor surface.
  • the shapes of the first claw portion 121ab and the second claw portion 122ab may be a shape in which the thickness is substantially constant toward the tip thereof, or a shape in which the thickness is larger toward the tip thereof. May be good.
  • the shapes of the first claw portion 121ab and the second claw portion 122ab may be a shape having a larger width toward the tip thereof.
  • the control device 130 determines the positions and contacts of the first claw portion 121ab and the second claw portion 122ab with respect to the article by changing the load of the arm driving devices AM1 to AM6 of the robot arm 110, or by adjusting the contact.
  • the detection was performed based on the detection signal of the second sensor 125, but the detection is not limited to this.
  • a force sensor for detecting the magnitude and direction of the force may be provided on the links 110a to 110f such as the link 110f of the robot arm 110.
  • the control device 130 may detect the positions and contacts of the first claw portion 121ab and the second claw portion 122ab based on the detection signal of the force sensor.
  • the control device 130 may detect the positions and contacts of the first claw portion 121ab and the second claw portion 122ab based on the change in the load of the first driving device 121b or the second driving device 122b of the robot hand 120. ..
  • the control device 130 has the first claw portion 121ab and the second claw portion 122ab based on the combination of the load change of the arm drive devices AM1 to AM6 and the load change of the first drive device 121b or the second drive device 122b. Position and contact may be detected.
  • a non-contact sensor such as a photoelectric sensor, a laser sensor, a laser rider, or an ultrasonic sensor may be provided at or near the second claw portion 122ab.
  • the control device 130 may detect the position and contact of the second claw portion 122ab based on the detection signal of the non-contact sensor.
  • the first claw portion 121ab and the second claw portion 122ab may be provided with an imaging device that images the tip of the claw portion.
  • imaging devices are digital cameras and digital video cameras.
  • the imaging device may be arranged so as to be able to capture an image including the tips of the first claw portion 121ab and the second claw portion 122ab and an article approaching the tips.
  • the control device 130 may detect the article by analyzing the image captured by the imaging device, and may detect the positional relationship such as the distance between the first claw portion 121ab and the second claw portion 122ab and the article.
  • the control device 130 detects the presence or absence of contact between each component of the robot hand and the article based on the change in the load of the first drive device 121b or the second drive device 122b. It was, but it is not limited to this.
  • the control device 130 transmits the loads of the arm drive devices AM1 to AM6 of the robot arm 110, the detection signals of the force sensors provided on the robot arm 110, and the like to the loads of the first drive device 121b and the second drive device 122b. It may be used in combination with or as an alternative.
  • the first gripping member 121a moves in the first direction D1 with respect to the base 123
  • the second gripping member 122a moves in the second direction D2 with respect to the base 123. It was configured to do, but is not limited to.
  • the first gripping member 121a may be configured to move in the second direction D2 with respect to the base 123
  • the second gripping member 122a may move in the first direction D1 with respect to the base 123.
  • at least one of the first gripping member 121a and the second gripping member 122a may be configured to move in both the first direction D1 and the second direction D2.
  • the first driving device 121b is configured to move the first gripping member 121a
  • the second driving device 122b is configured to move the second gripping member 122a.
  • one drive device may be configured to move the first grip member 121a and the second grip member 122a.
  • Such a driving device may be configured to move the first gripping member 121a and the second gripping member 122a at the same time, or may be configured to selectively move one of them.
  • the robot 100 is a vertical articulated robot, but the robot 100 is not limited to this.
  • the robot 100 may be configured as a polar coordinate robot, a cylindrical coordinate robot, a Cartesian coordinate robot, a horizontal articulated robot, or other robots.
  • the robot 100 is mounted on the transport vehicle 240 and can be moved, but the robot 100 is not limited to this and may be fixed to the floor surface or the like. Further, although the transport vehicle 240 is equipped with the robot 100 and the conveyor robot 250, only the robot 100 may be mounted.
  • the robot system 1 includes an image pickup device 220 and an output device 230, but the robot system 1 is not limited thereto.
  • the robot system 1 may not include the image pickup device 220 and the output device 230, and may be configured so that the operator P can directly see the robot system 1.
  • the robot system 1 is configured such that the operator P operates the robot 100, the transport vehicle 240, and the conveyor robot 250 by the master-slave method using the operation device 210.
  • the robot system 1 may be configured to operate the robot 100, the transport vehicle 240, and the conveyor robot 250 fully automatically.
  • the robot 100, the transport vehicle 240, and the conveyor robot 250 may automatically operate only by the operator P inputting a command indicating the work content or the like to the operation device 210.
  • control device is a robot based on the detection signal of the proximity sensor provided at the tip of the robot arm, the analysis value of the image of the camera provided at the tip of the robot arm, and the like.
  • the movements of the arm and the robot hand may be controlled.
  • Robot system 100 Robot 110 Robot arm 120, 120A, 120B Robot hand 121, 121A First grip portion 121ab First claw portion 121b First drive device 121c, 122c Actuator 122, 122A Second grip portion 122ab Second claw portion 122b (Ii) Drive device 130 Control device (detection device) 210 Operating device AM1 to AM6 Arm drive device

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
PCT/JP2020/015970 2019-04-09 2020-04-09 ロボットハンド、ロボット及びロボットシステム WO2020209333A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020217036166A KR102662077B1 (ko) 2019-04-09 2020-04-09 로봇핸드, 로봇 및 로봇시스템
CN202080027251.2A CN113661138B (zh) 2019-04-09 2020-04-09 机器人手、机器人以及机器人系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019074447A JP7261069B2 (ja) 2019-04-09 2019-04-09 ロボットハンド、ロボット及びロボットシステム
JP2019-074447 2019-04-09

Publications (1)

Publication Number Publication Date
WO2020209333A1 true WO2020209333A1 (ja) 2020-10-15

Family

ID=72751263

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/015970 WO2020209333A1 (ja) 2019-04-09 2020-04-09 ロボットハンド、ロボット及びロボットシステム

Country Status (5)

Country Link
JP (1) JP7261069B2 (zh)
KR (1) KR102662077B1 (zh)
CN (1) CN113661138B (zh)
TW (1) TWI736216B (zh)
WO (1) WO2020209333A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4026662A1 (en) * 2021-01-11 2022-07-13 Robotautomation Svenska AB Object transfer device and a robot system including the object transfer device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7466435B2 (ja) 2020-11-24 2024-04-12 川崎重工業株式会社 ロボット及び物品寸法取得方法
TWI802224B (zh) * 2022-01-14 2023-05-11 國立臺北科技大學 使用音圈馬達的法蘭裝置及其接觸控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070280812A1 (en) * 2006-05-17 2007-12-06 Axium Inc. Tool and method for mixed palletizing/depalletizing
WO2015132720A1 (en) * 2014-03-04 2015-09-11 Sir S.P.A. Gripper with movable jaw and suction device
WO2017060597A1 (fr) * 2015-10-06 2017-04-13 Sapelem Procede et dispositif de manipulation de charge, appele colis
JP2018047544A (ja) * 2015-11-13 2018-03-29 株式会社東芝 搬送装置および搬送方法
JP2020040788A (ja) * 2018-09-11 2020-03-19 株式会社東芝 搬送装置、搬送システム及び搬送方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07251942A (ja) * 1994-03-15 1995-10-03 Mitsubishi Electric Corp 荷扱い装置
CN201432811Y (zh) * 2009-03-10 2010-03-31 广东一鼎科技有限公司 墙地砖自动装箱生产线的上砖机构
DE102015116720B4 (de) * 2015-10-01 2019-03-07 Deutsche Post Ag Verfahren und Vorrichtung zum Fördern von Stückgütern von einem Stapel oder Haufen
CN106976717A (zh) * 2016-01-18 2017-07-25 刘文化 一种机器人抓取整体物料的系统
CN206691998U (zh) * 2017-03-24 2017-12-01 石狮市巨灵机械科技有限公司 一种自动码垛机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070280812A1 (en) * 2006-05-17 2007-12-06 Axium Inc. Tool and method for mixed palletizing/depalletizing
WO2015132720A1 (en) * 2014-03-04 2015-09-11 Sir S.P.A. Gripper with movable jaw and suction device
WO2017060597A1 (fr) * 2015-10-06 2017-04-13 Sapelem Procede et dispositif de manipulation de charge, appele colis
JP2018047544A (ja) * 2015-11-13 2018-03-29 株式会社東芝 搬送装置および搬送方法
JP2020040788A (ja) * 2018-09-11 2020-03-19 株式会社東芝 搬送装置、搬送システム及び搬送方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4026662A1 (en) * 2021-01-11 2022-07-13 Robotautomation Svenska AB Object transfer device and a robot system including the object transfer device
WO2022148561A1 (en) * 2021-01-11 2022-07-14 Robotautomation Svenska Ab Pallet transfer device for robot palletizing, a system for robot palletizing including the pallet transfer device and a method for robot palletizing

Also Published As

Publication number Publication date
CN113661138A (zh) 2021-11-16
CN113661138B (zh) 2023-10-13
TWI736216B (zh) 2021-08-11
JP2020172358A (ja) 2020-10-22
KR102662077B1 (ko) 2024-05-07
TW202042990A (zh) 2020-12-01
KR20210149798A (ko) 2021-12-09
JP7261069B2 (ja) 2023-04-19

Similar Documents

Publication Publication Date Title
WO2020209333A1 (ja) ロボットハンド、ロボット及びロボットシステム
WO2020209334A1 (ja) ロボットハンド、ロボット及びロボットシステム
US11090814B2 (en) Robot control method
WO2017033351A1 (ja) 遠隔操作ロボットシステム
CN110465960B (zh) 具有物件丢失管理机制的机器人系统
US9604357B2 (en) Robot and device having multi-axis motion sensor, and method of use thereof
JP6450960B2 (ja) ロボット、ロボットシステム及び教示方法
US10618181B2 (en) Robot control device, robot, and robot system
WO2012147595A1 (ja) マニプレータ装置
CN110636924B (zh) 把持系统
US10960542B2 (en) Control device and robot system
US11840410B2 (en) Robotic system and method of stacking and unstacking wood boards and related materials and of stacking wood spacers and related materials
CN113573996B (zh) 机器人手、机器人以及机器人系统
JP2014155994A (ja) ロボットおよびロボット制御装置
GB2621007A (en) Controlling a robotic manipulator for packing an object
US11400583B2 (en) Robot
JP2022526351A (ja) ロボットグリッパ、およびロボットグリッパの操作方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20788589

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20217036166

Country of ref document: KR

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 20788589

Country of ref document: EP

Kind code of ref document: A1