WO2020209334A1 - 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

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Publication number
WO2020209334A1
WO2020209334A1 PCT/JP2020/015971 JP2020015971W WO2020209334A1 WO 2020209334 A1 WO2020209334 A1 WO 2020209334A1 JP 2020015971 W JP2020015971 W JP 2020015971W WO 2020209334 A1 WO2020209334 A1 WO 2020209334A1
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WO
WIPO (PCT)
Prior art keywords
conveyor
robot
article
transport
robot hand
Prior art date
Application number
PCT/JP2020/015971
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 KR1020217036264A priority Critical patent/KR20210149154A/ko
Priority to CN202080019994.5A priority patent/CN113544069B/zh
Publication of WO2020209334A1 publication Critical patent/WO2020209334A1/ja

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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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • 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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • B65G15/14—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts the load being conveyed between the belts
    • 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
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
    • 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
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/22—Arrangements or mountings of driving motors
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
    • B65G57/112—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor the conveyor being adjustable in height
    • 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
    • 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 an industrial robot having a belt conveyor at the tip of a hand.
  • the robot of Patent Document 1 transfers a work transferred by a conveyor such as a production line to a belt conveyor at the tip of a hand. After the transfer is completed, the robot moves the belt conveyor to the transfer location, and transfers the work by moving the belt conveyor backward while sending out the work by the belt conveyor.
  • the robot of Patent Document 1 can put a work conveyed by a conveyor or the like on a belt conveyor, but cannot put a stationary work such as a stacked work on a belt conveyor.
  • the robot hand is a robot hand that moves an article and has an endless first conveyor belt that forms a first conveyor surface that conveys the article. It also includes a first conveyor that drives the first conveyor belt and a retracting device that comes into contact with the article and draws the article onto the first conveying surface, the retracting device in the retracting direction of the retracting device. It protrudes from the first conveyor in at least one direction of the opposite direction and the direction opposite to the moving direction of the first transport surface when the article is placed on the first transport surface.
  • 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 side 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 block diagram showing an example of the functional configuration of the control device according to the embodiment.
  • FIG. 5 is a block diagram showing an example of the configuration of the control device and each drive device according to the embodiment.
  • FIG. 6 is a side view showing one of the operations of the robot system according to the embodiment.
  • FIG. 7 is a side view showing one of the operations of the robot system according to the embodiment.
  • FIG. 8 is a side view showing one of the operations of the robot system according to the embodiment.
  • FIG. 1 is a diagram showing an example of a configuration of a robot system according to an embodiment.
  • FIG. 2 is a side view showing an example of the configuration of the robot according to the embodiment.
  • FIG. 9 is a side view showing one of the operations of the robot system according to the embodiment.
  • FIG. 10 is a side view showing an example of the configuration of the robot hand according to the first modification.
  • FIG. 11 is a side view showing an example of the configuration of the robot hand according to the second modification.
  • FIG. 12 is a side view showing an example of the configuration of the robot hand according to the modified example 3.
  • 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 any object that can be placed on the first conveyor 130, which will be described later, and may be another object having a predetermined shape, such as a rock or the like that does not have a predetermined shape. It 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). 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 170 that controls the operations 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 and the transport vehicle 240 based on a 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 170.
  • the operating device 210 is connected to the control device 170 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 170.
  • 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 170.
  • 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 captures the operating state of the robot 100, the transport vehicle 240, and the like, 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 170.
  • FIG. 2 is a side 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 170.
  • 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.
  • the robot hand 120 includes a first conveyor 130, a second conveyor 140, a base 150, and support portions 161 and 162.
  • the base 150 is attached to the tip of the link 110f of the robot arm 110.
  • the base 150 has a plate-like shape.
  • the base 150 supports the first conveyor 130 on the main surfaces 150a of the opposing main surfaces 150a and 150b, and is connected to the link 110f on the main surface 150b.
  • the first conveyor 130 is arranged on the main surface 150a and fixed to the base 150.
  • the second conveyor 140 is arranged away from the first conveyor 130 in the first direction D1a, which is the direction perpendicular to the main surface 150a.
  • the first direction D1a is a direction away from the main surface 150a
  • the second direction D1b which is a direction opposite to the first direction D1a, is a direction approaching the main surface 150a.
  • the first conveyor 130 and the second conveyor 140 are configured as a belt conveyor. Although not limited to this, in the present embodiment, the length of the first conveyor 130 in the first transport direction D2b described later and the length of the second conveyor 140 in the second transport direction D3b described later are equivalent. ..
  • the first conveyor 130 can convey the article A placed on the first conveyor surface 134a in the first conveyor directions D2a and D2b, which are opposite to each other.
  • the first transport surface 134a is a surface facing the first direction D1a, that is, the second conveyor 140.
  • the first transport directions D2a and D2b are the movement directions of the first transport surface 134a.
  • the first transport direction D2a is the moving direction when the article A is moved and placed on the first transport surface 134a
  • the first transport direction D2b is the first transport surface for the article A on the first transport surface 134a. This is the direction of movement when unloading from 134a.
  • the first conveyor 130 includes a main roller 131, one or more driven rollers 132, a support frame 133, a first conveyor belt 134, and a first drive device 135.
  • the rollers 131 and 132 are arranged in the first transport direction D2a or D2b.
  • the support frame 133 supports the rollers 131 and 132.
  • the first transport belt 134 is a ring-shaped endless belt and is hung around the rollers 131 and 132.
  • the first transport belt 134 forms the first transport surface 134a, and the first transport surface 134a is the outer peripheral surface of the portion of the first transport belt 134 located in the first direction D1a with respect to the rollers 131 and 132.
  • the first drive device 135 uses electric power as a power source and has a servomotor as an electric motor for driving the power source.
  • the servo motor is an example of a conveyor drive motor.
  • the first driving device 135 orbitally drives the first transport belt 134 by rotationally driving the driving roller 131.
  • the first driving device 135 and the driving roller 131 are arranged at the end 130a of the first conveyor 130.
  • the end 130a is the end of the first conveyor 130 in the first transport direction D2a
  • the end 130b is the end of the first conveyor 130 in the first transport direction D2b.
  • the operation of the first drive device 135 is controlled by the control device 170.
  • the first drive device 135 may be supplied with electric power from the robot 100, the electric power supply source of the robot 100, or other electric power supply sources.
  • the first driving device 135 rotates the main roller 131 in one direction to cause the first transport belt 134 to circulate around the rollers 131 and 132 in one direction, thereby making the first transport surface 134a first. Move in the transport direction D2a.
  • the first driving device 135 rotates the driving roller 131 in the opposite direction to rotate the driving roller 131 in the opposite direction to the first transport belt 134, thereby moving the first transport surface 134a in the first transport direction D2b.
  • the second conveyor 140 can convey the article A placed on the second conveyor surface 144a in the second conveyor directions D3a and D3b which are opposite to each other.
  • the orientation of the second transport surface 144a is different from the orientation of the first transport surface 134a.
  • the second transport surface 144a is the surface facing the second direction D1b, that is, the first conveyor 130, and faces the first transport surface 134a.
  • the second transport directions D3a and D3b are the movement directions of the second transport surface 144a.
  • the second transport direction D3a is the moving direction when the article A is moved onto the second transport surface 144a
  • the second transport direction D3b is the second transport surface 144a for the article A on the second transport surface 144a. This is the direction of movement when unloading from.
  • the second conveyor 140 includes a main roller 141, one or more driven rollers 142, a support frame 143, a second transport belt 144, and a second drive device 145.
  • the rollers 141 and 142 are arranged in the second transport direction D3a or D3b.
  • the support frame 143 extends in the second transport direction D3a or D3b and supports the rollers 141 and 142.
  • the second transport belt 144 is a ring-shaped endless belt, which is hung around the rollers 141 and 142.
  • the second transport belt 144 forms the second transport surface 144a, and the second transport surface 144a is the outer peripheral surface of the portion of the second transport belt 144 located in the second direction D1b with respect to the rollers 141 and 142.
  • the second drive device 145 uses electric power as a power source and has a servomotor as an electric motor for driving the power source.
  • the servo motor is an example of a conveyor drive motor.
  • the second drive device 145 orbitally drives the second transport belt 144 by rotationally driving the main roller 141.
  • the second drive device 145 and the roller 141 are arranged at the end 140a of the second conveyor 140.
  • the end 140a is the end of the second conveyor 140 in the second transport direction D3a
  • the end 140b is the end of the second conveyor 140 in the second transport direction D3b.
  • the operation of the second drive device 145 is controlled by the control device 170.
  • the second drive device 145 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 device 145 rotates the main roller 141 in one direction to cause the second transfer belt 144 to orbit around the rollers 141 and 142 in one direction, thereby making the second transfer surface 144a second. Move in the transport direction D3a.
  • the second drive device 145 rotates the main roller 141 in the opposite direction to rotate the second transport belt 144 in the opposite direction, thereby moving the second transport surface 144a in the second transport direction D3b.
  • the support portions 161 and 162 are plate-shaped members extending from the base 150 in the first direction D1a, but are not limited thereto.
  • the support portions 161 and 162 are fixed and supported by the base 150.
  • the support portions 161 and 162 are arranged on both sides of the second conveyor 140 with respect to the second transfer directions D3a and D3b, and are arranged on both sides of the first conveyor 130 with respect to the first transfer directions D2a and D2b.
  • Support portions 161 and 162 are connected to and support the second conveyor 140.
  • the support portions 161 and 162 hold the second conveyor 140 in the first direction D1a away from the first conveyor 130.
  • the support portions 161 and 162 are connected to the first conveyor 130 and may support it.
  • the distance between the first transport surface 134a and the second transport surface 144a is set to such a distance that the article A can pass through.
  • the distance is such that the article A can come into contact with both the first transport surface 134a and the second transport surface 144a.
  • the distance between the first transport surface 134a and the second transport surface 144a is set.
  • the distance between the first transport surface 134a and the second transport surface 144a may be greater than or equal to the above distance.
  • the first transport directions D2a and D2b are substantially parallel to the second transport directions D3a and D3b, and the first transport surface 134a and the second transport surface 144a are substantially parallel. is there. Further, the first transport directions D2a and D2b and the second transport directions D3a and D3b are substantially perpendicular to the first direction D1a and the second direction D1b. However, the first transport directions D2a and D2b may be tilted with respect to the second transport directions D3a and D3b, or may be tilted with respect to the first direction D1a and the second direction D1b.
  • the first transport directions D2a and D2b are inclined with respect to the second transport directions D3a and D3b so that the first transport surface 134a and the second transport surface 144a approach or separate toward the first transport direction D2a.
  • the first transport directions D2a and D2b when projected onto a surface parallel to the first transport surface 134a or the second transport surface 144a, the first transport directions D2a and D2b may be inclined or orthogonal to the second transport directions D3a and D3b. Alternatively, both of the above may be used.
  • the second conveyor 140 is arranged so as to project from the first conveyor 130 in the second transfer direction D3b of the second transfer belt 144. Further, in the present embodiment, the second conveyor 140 is arranged so as to project from the first conveyor 130 in the first transfer direction D2b of the first transfer belt 134. That is, the end 140b of the second conveyor 140 projects more than the end 130b of the first conveyor 130.
  • the second conveyor 140 protrudes from the first conveyor 130 in the first transport direction D2b or the second transport direction D3b. You may be. Therefore, the second conveyor 140 protrudes from the first conveyor 130 in at least one of the first transport direction D2b and the second transport direction D3b.
  • the second conveyor 140 is an example of a pull-in device
  • the second transport direction D3a is an example of a pull-in direction and a moving direction of the second transport surface 144a when the article is pulled in.
  • the first transport direction D2a is an example of the movement direction of the first transport surface 134a when the article is placed on the first transport surface 134a.
  • the first conveyor 130 includes the first sensor 136
  • the second conveyor 140 includes the second sensor 146.
  • the first sensor 136 detects the article A on the first transport surface 134a.
  • the second sensor 146 detects the article A on the second transport surface 144a.
  • the first sensor 136 and the second sensor 146 output the detection signal to the control device 170.
  • the first sensor 136 and the second sensor 146 are not essential.
  • the first sensor 136 is arranged near the end 130b of the first conveyor 130 and traverses the first transport surface 134a perpendicular to the first transport directions D2a and D2b and the first direction D1a and the second direction D1b.
  • the direction to be detected may be the detection target direction.
  • the first sensor 136 continuously detects the article A on the first transport surface 134a to detect whether or not the entire article A is placed on the first transport surface 134a.
  • the second sensor 146 is arranged in the vicinity of the end 140a of the second conveyor 140 and traverses the second transport surface 144a perpendicular to the second transport directions D3a and D3b and the first direction D1a and the second direction D1b.
  • the direction to be detected may be the detection target direction.
  • the second sensor 146 detects whether or not the article A has reached the vicinity of the end portion 140a by detecting the article A on the second transport surface 144a.
  • the first sensor 136 and the second sensor 146 are sensors that detect the approach of an object such as an article A to the sensor.
  • the sensors 136 and 146 are non-contact sensors, but are not limited thereto.
  • a non-contact sensor is an approach of an object such as a photoelectric sensor (also called a "beam sensor"), a laser sensor, a laser lidar, and an ultrasonic sensor by detecting the approach of the object or the distance to the object. It may be a sensor that detects.
  • Control device 170 The configuration of the control device 170 will be described.
  • the control device 170 controls the operations of the robot arm 110, the robot hand 120, and the transport vehicle 240 according to a program stored in a storage unit (not shown) in advance based on an operation command or the like received from the operation device 210.
  • the control device 170 does not control the operations of the robot arm 110, the robot hand 120, and the transport vehicle 240 individually, but links them to each other to control the operations, and realizes the operations linked to each other.
  • the control device 170 reflects information acquired from the other two in one control of the robot arm 110, the robot hand 120, and the transport vehicle 240.
  • FIG. 4 is a block diagram showing an example of the functional configuration of the control device 170 according to the embodiment.
  • the control device 170 includes an operation information processing unit 170a, an information output unit 170b, a first conveyor control unit 170c, a second conveyor control unit 170d, a conveyor vehicle control unit 170e, a conveyor vehicle position detection unit 170f, and a hand.
  • the position detection unit 170g, the arm control unit 170h, the arm position detection unit 170i, and the storage unit 170j 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 function of each component of the position detection unit 170i is a computer consisting of a processor such as a CPU (Central Processing Unit), a volatile memory such as a RAM (Random Access Memory), and a non-volatile memory such as a ROM (Read-Only Memory). It may be realized by a system (not shown). 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)
  • RAM Random Access Memory
  • ROM Read-Only Memory
  • 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 170j can store various kinds of information and can read the stored information.
  • the storage unit 170j 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 170j stores parameters, threshold values, and the like used by each component.
  • the storage unit 170j may store a program executed by each component.
  • the operation information processing unit 170a outputs an operation command acquired from the operation device 210 to each component of the control device 170. Each component operates according to the program corresponding to the directive.
  • the information output unit 170b outputs output information such as an operation result and a detection result of each component of the control device 170 to the operation device 210 and / or the output device 230.
  • the information output unit 170b outputs a screen for operating the robot 100 to the operation device 210 and / or the output device 230.
  • the first conveyor control unit 170c controls the operation of the first drive device 135 of the first conveyor 130 according to a command acquired via the operation information processing unit 170a. Specifically, the first conveyor control unit 170c controls the orbital drive operation of the first conveyor belt 134 by the first drive device 135 for moving the first conveyor surface 134a in the first conveyor direction D2a or D2b. For example, when the first sensor 136 detects the article A, the first conveyor control unit 170c may activate the first drive device 135 so as to move the first transport surface 134a in the first transport direction D2a. Further, the first conveyor control unit 170c may stop the first drive device 135 when the first sensor 136 that detects the article A does not detect the article A. Alternatively, the first conveyor control unit 170c may stop the first drive device 135 when the second sensor 146 detects the article A.
  • the second conveyor control unit 170d controls the operation of the second drive device 145 of the second conveyor 140 according to a command acquired via the operation information processing unit 170a. Specifically, the second conveyor control unit 170d controls the orbital drive operation of the second conveyor belt 144 by the second drive device 145 for moving the second conveyor surface 144a in the second conveyor direction D3a or D3b. For example, the second conveyor control unit 170d moves the second transfer surface 144a in the second transfer direction D3a when the hand position detection unit 170 g detects the contact between the second conveyor 140 and the article A. You may activate 145. Further, the second conveyor control unit 170d may stop the second drive device 145 when the second sensor 146 detects the article A. Alternatively, the second conveyor control unit 170d may stop the second drive device 145 when the first sensor 136 that detects the article A does not detect the article A.
  • the hand position detection unit 170g and the control device 170 are examples of detection devices.
  • the hand position detecting unit 170g detects the position of the second conveyor 140 with respect to the article A. Specifically, the hand position detection unit 170g 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 hand position detection unit 170g acquires information on the input load generated in each of the arm drive devices AM1 to AM6 from the arm control unit 170h. The hand position detecting unit 170g detects whether or not the second conveyor 140 is in contact with the article A based on the difference between the output load and the input load of the arm driving devices AM1 to AM6. For example, the hand position detecting unit 170g may detect that the second conveyor 140 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 second conveyor 140 and the article A by using such a strain amount.
  • the hand position detecting unit 170g acquires information such as the position, posture, moving direction, and moving speed of the link 110f of the robot arm 110 from the arm position detecting unit 170i, and uses the information to obtain the position of the robot hand 120. Acquire information on posture, movement direction, and movement speed.
  • the hand position detection unit 170g detects the position and orientation of the second conveyor 140 using the above information. For example, the hand position detecting unit 170g determines whether or not the second transport surface 144a is in contact with the article A based on the presence or absence of contact between the second conveyor 140 and the article A and the position and posture of the second conveyor 140. May be detected.
  • the arm control unit 170h controls the operations of the arm drive devices AM1 to AM6 in accordance with a command acquired via the operation information processing unit 170a to cause the robot arm 110 to perform an operation corresponding to the robot arm 110.
  • the arm control unit 170h is operated by the robot arm 110 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 170i.
  • the arm position detection unit 170i detects the position and posture of each of the links 110a to 110f of the robot arm 110. Specifically, the arm position detection unit 170i 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 170i 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.
  • the transport vehicle control unit 170e 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 170a, thereby causing the transport vehicle 240 to perform an operation corresponding to the transport vehicle 240.
  • the transport vehicle control unit 170e 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 170f.
  • the transport vehicle position detection unit 170f detects the position and orientation of the transport vehicle 240. Specifically, the transport vehicle position detection unit 170f 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 170f 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. Further, the transport vehicle position detection unit 170f may detect, for example, 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 the detected value.
  • FIG. 5 is a block diagram showing an example of the configuration of the control device 170 and each drive device according to the embodiment.
  • the control device 170 refers to the servomotors of the arm drive devices AM1 to AM6, the servomotors of the first drive device 135, the servomotors of the second drive device 145, and the servomotors of the transfer drive device 240a. It is configured to input and output information and commands.
  • the control device 170 controls the operations of all the servomotors of the arm drive devices AM1 to AM6, the first drive device 135, the second drive device 145, and the transfer drive device 240a.
  • 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 170, and outputs a detection value of the encoder to the control device 170.
  • the control device 170 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 170 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 170 can operate all of the robot arm 110, the robot hand 120, and the transport vehicle 240 in various and precise manners.
  • FIG. 6 to 9 are side views showing one of the 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 170 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 second conveyor 140 is located above the first conveyor 130
  • the second conveyor 140 is located above the article A1
  • the first conveyor 130 is lateral to the article A1.
  • the control device 170 outputs the posture information of the robot hand 120 to the operation device 210 and the like, and the operator P adjusts the posture of the robot hand 120 based on the posture information.
  • the operator P moves the robot hand 120 downward to bring the second transport surface 144a of the end portion 140b of the second conveyor 140 into contact with the upper surface of the article A1 from above. Press.
  • the control device 170 outputs information indicating the presence or absence of contact between the second conveyor 140 and the article A1 to the operation device 210 or the like.
  • the operator P stops the lowering of the robot hand 120 in the pressed state.
  • the control device 170 detects contact or pressing between the second conveyor 140 and the article A1
  • the lowering of the robot hand 120 may be automatically stopped.
  • the first conveyor 130 is located laterally below the article A1.
  • the operator P activates the second drive device 145 of the second conveyor 140 after the robot hand 120 stops descending.
  • the second drive device 145 drives the second transfer belt 144 so that the second transfer surface 144a moves in the second transfer direction D3a.
  • the article A1 is moved in the second transport direction D3a by the action of the frictional force between the second transport belt 144 and the article A1, that is, is pulled in, and is on the first transport surface 134a of the first conveyor 130.
  • the coefficient of friction between the second transport belt 144 and the article A1 is the coefficient of friction between the article A1 and the article A below it so that the second transport belt 144 can stably pull in the article A1. Is preferably larger than.
  • the control device 170 may automatically start the second drive device 145.
  • the operator P activates the first drive device 135 of the first conveyor 130 when at least a part of the article A1 is placed on the first transport surface 134a.
  • the first driving device 135 drives the first transport belt 134 so as to move the first transport surface 134a in the first transport direction D2a.
  • the control device 170 outputs the detection result to the operation device 210 or the like.
  • the operator P may activate the first driving device 135 based on the detection result of the first sensor 136.
  • the control device 170 may automatically start the first drive device 135 based on the detection result of the first sensor 136.
  • control device 170 detects the contact between the article A1 and the first transport belt 134 based on the difference between the output load and the input load of the second drive device 145, and this Based on the detection result, it may be determined that at least a part of the article A1 is placed on the first transport surface 134a.
  • the first transport belt 134 driven by the first drive device 135 moves the article A1 in the first transport direction D2a and puts the entire article A1 on the first transport surface 134a.
  • the first sensor 136 continues to detect the article A1.
  • the control device 170 outputs the detection result to the operation device 210 or the like.
  • the control device 170 outputs the detection result to the operation device 210 or the like.
  • the second drive device 145 may be in operation or may be stopped. That is, the pulling of the article A1 onto the first transport surface 134a may be performed by the first drive device 135 alone, or by the cooperation of the first drive device 135 and the second drive device 145. Good. In this example, it is assumed that the first drive device 135 and the second drive device 145 cooperate.
  • the operator P stops the first drive device 135 and the second drive device 145 based on the detection result indicating that the first sensor 136 is not detected or the detection result indicating the detection of the second sensor 146.
  • the stop timings of the first drive device 135 and the second drive device 145 may be different.
  • the second drive device 145 may be stopped first, and the stop timing of the second drive device 145 may be the output timing of the detection result indicating that the first sensor 136 is not detected.
  • the control device 170 automatically stops the first drive device 135 and the second drive device 145 based on the detection result indicating that the first sensor 136 is not detected or the detection result indicating the detection of the second sensor 146. You may let me.
  • the operator P operates the robot arm 110 to move the article A1 mounted on the robot hand 120 from the pile of the article A. Carry out and move to the destination.
  • At least one of the operations of each step, 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 170.
  • the robot hand 120 has a first conveyor having an endless first transport belt 134 forming a first transport surface 134a for transporting articles and driving the first conveyor belt 134.
  • the 130 is provided with a second conveyor 140 as a pulling device that comes into contact with the article and draws the article onto the first transport surface 134a.
  • the second conveyor 140 has a second transport direction D3b which is the opposite direction of the second transport direction D3a as its pull-in direction and a moving direction of the first transport surface 134a when the article is placed on the first transport surface 134a. It protrudes from the first conveyor 130 in at least one direction with the first transport direction D2b, which is the opposite direction of the first transport direction D2a.
  • the robot hand 120 can bring the second conveyor 140 into contact with the article before the first conveyor 130 and pull the article onto the first transport surface 134a. For example, it is difficult to transfer an article placed on another article onto the first transport surface 134a using only the first conveyor 130.
  • the robot hand 120 operates the second conveyor 140 by, for example, pressing the second conveyor belt 144 of the second conveyor 140 in contact with the upper surface of an article or the like.
  • the second conveyor 140 can move the article and bring it into contact with the first conveyor belt 134 by the action of the frictional force between the second conveyor belt 144 and the article.
  • the robot hand 120 operates the first conveyor 130, and the article can be placed on the first conveyor surface 134a by the action of the frictional force between the first conveyor belt 134 and the article. Therefore, the robot hand 120 makes it possible to place a stationary article on the first conveyor 130 and move it.
  • the second conveyor 140 has an endless second conveyor belt 144 forming the second conveyor surface 144a for conveying the article, and drives the second conveyor belt 144.
  • the second transport surface 144a may face the first transport surface 134a.
  • the second conveyor 140 is arranged so as to project from the first conveyor 130 in the second conveyor direction D3b, which is the direction opposite to the second conveyor direction D3a as the moving direction of the second conveyor surface 144a when the article is drawn in. You may.
  • the robot hand 120 can pull the article onto the first conveying surface 134a by the second conveying belt 144 pressed against the upper surface of the article. Therefore, the robot hand 120 can place an article having no space on the side on the first conveyor 130.
  • the first conveyor 130 and the second conveyor 140 are the first drive device 135 and the first drive device 135 including a conveyor drive motor for driving the first conveyor belt 134 and the second conveyor belt 144, respectively. It may have two drive devices 145.
  • the robot hand 120 drives the first conveyor 130 and the second conveyor 140 using electric power as a power source. Therefore, the robot hand 120 does not require the piping required when the drive source is air pressure, liquid pressure, or the like. Further, the robot hand 120 can receive power supply from the power supply 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 170 as a detection device for detecting that the second conveyor 140 has come into contact with an article. According to the above configuration, the second conveyor 140 and the article can be reliably brought into contact with each other.
  • 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 170 is an arm drive device AM1 to AM6. Information on the operation may be acquired and the information may be used to detect that the second conveyor 140 has come into contact with the article. According to the above configuration, a dedicated device for detecting contact between the second conveyor 140 and the article 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 170 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
  • the first conveyor 130 is a conveyor drive that generates a driving force
  • the second conveyor 140 may have a servomotor as a motor
  • the second conveyor 140 may have a servomotor as a conveyor drive motor that generates a driving force.
  • the control device 170 controls the operation of the servomotor of the first conveyor 130, the operation of the servomotor of the second conveyor 140, and the operation of the servomotors of the arm drive devices AM1 to AM6, and comes into contact with the article. (Ii) By driving the conveyor 140, the article may be drawn onto the first transport surface 134a.
  • the robot 100 can smoothly perform the operation of bringing the second conveyor 140 into contact with the article and moving it onto the first conveyor 130.
  • 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 first conveyor 130, the second conveyor 140, and the robot arm 110 can perform various and precise operations.
  • 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.
  • FIG. 10 is a side view showing an example of the configuration of the robot hand 120A according to the first modification.
  • the length of the second conveyor 140A of the robot hand 120A in the second transfer direction D3b is larger than the length of the first conveyor 130 in the first transfer direction D2b.
  • the positions of the end 140Aa of the second conveyor 140A are the same as the positions of the end 130a of the first conveyor 130 in the first transfer direction D2a and the second transfer direction D3a, and the end 140Aa is located at the end 130a. opposite.
  • the positions of the end 140Ab of the second conveyor 140A are in the first transfer direction D2b and the second transfer direction D3b, and protrude from the end 130b of the first conveyor 130.
  • the second sensor 146 is arranged near the end 140Aa of the second conveyor 140A.
  • the length of the second conveyor 140A in the second transfer direction D3b may be larger than the length of the first conveyor 130 in the first transfer direction D2b. According to the above configuration, it is possible to increase the area where the first transport surface 134a and the second transport surface 144a face each other. As a result, the first conveyor 130 and the second conveyor 140A can work together to effectively draw the article A1 onto the first transport surface 134a of the first conveyor 130.
  • the robot hand 120B according to the second modification of the embodiment will be described.
  • the robot hand 120B according to the second modification includes a first moving device 180 that moves the second conveyor 140 in the directions D1a and D1b with respect to the first conveyor 130.
  • 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. 11 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 first moving devices 180 on both sides of the first conveyor 130 and the second conveyor 140 instead of the support portions 161 and 162 of the robot hand 120 according to the embodiment.
  • the first moving device 180 constitutes an elevating device that raises and lowers the second conveyor 140 in the contact and separation directions, which are the directions of approaching and separating from the first conveyor 130.
  • the directions D1a and D1b are examples of the contact / separation directions.
  • the first moving device 180 has a lower member 181 fixed to the base 150 and an upper member 182 connected to the second conveyor 140.
  • the lower member 181 and the upper member 182 are plate-shaped members, but are not limited thereto.
  • the upper member 182 includes two legs 182a extending to the lower member 181 in the second direction D1b.
  • the two legs 182a are slidably fitted into the two grooves 181a formed in the lower member 181 and extending in the second direction D1b. Therefore, the upper member 182 is supported by the lower member 181 so as to be slidable in the directions D1a and D1b.
  • the groove 181a may be a hole.
  • the first moving device 180 has a screw shaft 182b extending from the upper member 182 to the lower member 181 in the second direction D1b.
  • the screw shaft 182b is fixed to the upper member 182 and can be slidably moved in the directions D1a and D1b together with the upper member 182.
  • the first moving device 180 has an actuator 181b, a speed reducer 181c, a pulley 181d, a pulley 181e, a nut 181f, and an endless belt 181g in the lower member 181.
  • the actuator 181b and the speed reducer 181c are fixed to the lower member 181.
  • the nut 181f is rotatably fixed to the lower member 181 and is connected so as to rotate integrally with the pulley 181e.
  • Actuators 181b may be provided on at least one of both sides of the first conveyor 130 and the second conveyor 140.
  • the screw shaft 182b is screwed with the nut 181f.
  • the screw shaft 182b and the nut 181f form a ball screw, and the screw groove of the screw hole of the nut 181f is screwed into the screw groove on the outer peripheral surface of the screw shaft 182b via a ball (not shown). ..
  • the endless belt 181g is hung on the pulleys 181d and 181e.
  • the pulleys 181d and 181e and the nut 181f rotate around the axis of the first direction D1a, which is the axial direction of the screw shaft 182b.
  • the actuator 181b rotationally drives the pulley 181d via the speed reducer 181c.
  • the actuator 181b uses electric power as a power source and has a servomotor as an electric motor for driving the electric power.
  • the actuator 181b 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 speed reducer 181c reduces the rotational speed of the rotational driving force of the actuator 181b and transmits the rotational driving force to the pulley 181d.
  • the one-way rotational driving force generated by the actuator 181b causes the nut 181f to rotate in one direction, whereby the screw shaft 182b, the upper member 182 and the second conveyor 140 are raised together in the first direction D1a.
  • the rotational driving force in the opposite direction generated by the actuator 181b causes the nut 181f to rotate in the opposite direction, thereby lowering the screw shaft 182b, the upper member 182 and the second conveyor 140 together in the second direction D1b.
  • the first direction D1a and the second direction D1b are examples of the first conveyor moving direction.
  • the first moving device 180 is not limited to the above configuration as long as the second conveyor 140 can be moved in the directions D1a and D1b with respect to the first conveyor 130.
  • the screw shaft 182b may not be provided, and the actuator 181b may directly move the upper member 182.
  • Examples of such actuators 181b are electric linear actuators, pneumatic or hydraulic cylinders and the like.
  • the first moving device 180 may be configured to include a rotating body such as a roller or a gear (pinion) that abuts or engages with the upper member 182 and a driving device that rotationally drives the rotating body.
  • the rotating body is rotationally driven to move the upper member 182 and the second conveyor 140 together in the direction D1a or D1b.
  • the first moving device 180 may be configured to include an endless belt or chain extending in the direction D1a or D1b and a driving device for orbiting the belt or chain.
  • the endless belt or chain is orbitally driven to move the upper member 182 and the second conveyor 140 together in the direction D1a or D1b.
  • the robot hand 120B is provided with the first moving device 180, and the second conveyor 140 is in the first direction D1a and the second direction D1b as the first conveyor moving directions in which the first conveyor 130 is approaching and away from the first conveyor 130. It may be movable.
  • the first moving device 180 may move the second conveyor 140 in the moving direction of the first conveyor.
  • the robot hand 120B can change the distance between the first conveyor 130 and the second conveyor 140.
  • the distance between the first conveyor 130 and the second conveyor 140 can be set to a distance corresponding to the size of the article to be conveyed.
  • the first conveyor 130 and the second conveyor 140 can cooperate with each other regardless of the size of the article to draw the article onto the first transport surface 134a.
  • the robot hand 120B may include the configuration of the robot hand 120A according to the first modification.
  • the robot hand 120B according to the second modification is configured to move the second conveyor 140 with respect to the first conveyor 130, but the present invention is not limited to this.
  • the robot hand 120B may be configured to move the first conveyor 130 with respect to the second conveyor 140, or may be configured to move both the first conveyor 130 and the second conveyor 140.
  • the robot hand 120C according to the third modification of the embodiment will be described.
  • the robot hand 120C according to the third modification includes a second moving device 190 that moves the second conveyor 140 in the second transport directions D3a and D3b with respect to the first conveyor 130.
  • the modification 3 will be described focusing on the points different from the embodiments and the modifications 1 and 2, and the same points as the embodiments and the modifications 1 and 2 will be omitted as appropriate.
  • FIG. 12 is a side view showing an example of the configuration of the robot hand 120C according to the modified example 3.
  • the robot hand 120C includes a second moving device 190 on at least one of the support portions 161 and 162 of the robot hand 120 according to the embodiment.
  • the second moving device 190 slides the second conveyor 140 in the second transport directions D3a and D3b with respect to the first conveyor 130.
  • the support portions 161 and 162 support the second conveyor 140 so as to be slidable in the second transport directions D3a and D3b.
  • the support portions 161 and 162 may slidably support the support frame 143C of the second conveyor 140 through, for example, a groove or a protrusion that engages or fits with the support frame 143C.
  • the second moving device 190 has an actuator 191 and a speed reducer 192, a pinion 193, and a rack 194.
  • the actuator 191 and the speed reducer 192 are fixed to the support portion 161 or 162.
  • the rack 194 is fixed to the second conveyor 140 and extends in the second transport direction D3a or D3b.
  • the rack 194 may be fixed to the support frame 143C, or may be integrated with the support frame 143C as in this modification.
  • the pinion 193 is connected to the reducer 192 and is in gear engagement with the rack 194.
  • the pinion 193 is rotationally driven by the actuator 191 via the speed reducer 192.
  • the actuator 191 uses electric power as a power source and has a servomotor as an electric motor for driving the electric power.
  • the actuator 191 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 one-way rotational driving force generated by the actuator 191 causes the pinion 193 to rotate in one direction, thereby sliding the rack 194 and the second conveyor 140 together in the second transport direction D3a.
  • the rotational driving force generated by the actuator 191 in the opposite direction causes the pinion 193 to rotate in the opposite direction, thereby sliding the rack 194 and the second conveyor 140 together in the second transport direction D3b.
  • the second moving device 190 slides the second conveyor 140 in the second transport directions D3a and D3b by using the rack and pinion mechanism.
  • the second moving device 190 is not limited to the above configuration as long as the second conveyor 140 can be moved in the second transport directions D3a and D3b with respect to the first conveyor 130.
  • the pinion 193 and the rack 194 may not be provided, and the actuator 191 may directly move the second conveyor 140.
  • Examples of such actuators 191 are electric linear actuators, pneumatic or hydraulic cylinders and the like.
  • the second moving device 190 may have a roller that engages with the support frame 143C or the like and is rotationally driven by the actuator 191 instead of the pinion 193 and the rack 194.
  • the second moving device 190 has a screw shaft and a nut like the first moving device 180, and the screw shaft and the second conveyor 140 are driven by the actuator 191 to rotate the screw shaft and the second conveyor 140 in the second transport direction D3a and It may be moved to D3b.
  • the second moving device 190 may be configured to include an endless belt or chain extending in the second transport direction D3a or D3b and a driving device for orbiting the belt or chain. The endless belt or chain is orbitally driven to move the second conveyor 140 in the second transport direction D3a or D3b.
  • the robot hand 120C may include a second moving device 190, and the second conveyor 140 may be movable in the second transport directions D3a and D3b as the second conveyor moving direction. Further, the second moving device 190 may move the second conveyor 140 in the second conveyor moving direction. According to the above configuration, the robot hand 120C can change the amount of protrusion of the second conveyor 140 with respect to the first conveyor 130. For example, the robot hand 120C can make the protrusion amount of the second conveyor 140 correspond to the size of the article to be conveyed. As a result, the second conveyor 140 can come into contact with the article with a sufficient area and draw the article into the first transport surface 134a.
  • the robot hand 120C may include the configuration of the robot hand according to the modification 1 and / or the modification 2.
  • the robot hand 120C according to the third modification is configured to move the second conveyor 140 with respect to the first conveyor 130, but the present invention is not limited to this.
  • the robot hand 120C may be configured to move the first conveyor 130 with respect to the second conveyor 140, or may be configured to move both the first conveyor 130 and the second conveyor 140.
  • the first conveyor 130 may be configured to move in the first transport directions D2a and D2b with respect to the base 150.
  • the second conveyor 140 is configured to move in the second transport directions D3a and D3b, but is configured to move in the first transport directions D2a and D2b. May be good. Further, when the first conveyor 130 is movable, the first conveyor 130 may be movable in the first transport directions D2a and D2b, or may be movable in the second transport directions D3a and D3b. .. Such first transport directions D2a and D2b and second transport directions D3a and D3b are examples of the second conveyor moving directions.
  • the robot arm 110 is connected to the first conveyor via the base 150, but the present invention is not limited to this, and the robot arm 110 may be connected to the second conveyor.
  • the first conveyor and the second conveyor are arranged so that the first conveyor surface 134a and the second conveyor surface 144a face each other, but the present invention is not limited thereto. ..
  • the first conveyor and the second conveyor may be arranged so that the orientation of the first transport surface 134a and the orientation of the second transport surface 144a are different.
  • the direction of the second transport surface 144a may be the direction toward the article on the first transport surface 134a.
  • the orientation of the first transport surface 134a and the orientation of the second transport surface 144a are substantially vertical, and the second transport surface 144a is arranged so as to come into contact with the article on the first transport surface 134a from the side. May be good.
  • the robot hand has an introduction portion that can be inserted into a gap between adjacent articles and / or a gap between the article and the floor surface at the end 130b of the first conveyor 130.
  • the introduction portion may have a tapered surface so as to lift the article diagonally upward when inserted into the gap.
  • the shape of the introduction portion may be a shape in which the thickness is substantially constant as the distance from the end portion 130b toward the first transport direction D2b, or a shape in which the thickness is tapered.
  • the robot hand uses the second conveyor to pull the article onto the introduction portion, lift it up, bring it into contact with the transport belt 134 of the first conveyor 130, and pull it onto the first transport surface 134a. Such a robot hand can be easily pulled onto the first transport surface 134a even if the article is placed on the floor surface.
  • the control device 170 detects the contact of the second conveyor with the article based on the change in the load of the arm drive devices AM1 to AM6 of the robot arm 110, but the present invention 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. Then, the control device 170 may detect the contact of the second conveyor based on the detection signal of the force sensor.
  • non-contact sensors such as a photoelectric sensor, a laser sensor, a laser rider, and an ultrasonic sensor may be provided at or near the end of the second conveyor.
  • the control device 170 may detect the contact of the second conveyor based on the detection signal of the non-contact sensor.
  • an imaging device for imaging the end of the second conveyor and its vicinity may be provided.
  • imaging devices are digital cameras and digital video cameras.
  • Each image pickup device may be arranged so as to be able to capture an image including an end portion of the second conveyor and an article approaching the end portion.
  • the control device 170 may detect the article by analyzing the image captured by the image pickup device, and may detect the positional relationship such as the distance between the end of the second conveyor and the article.
  • the control device 170 detects the presence or absence of contact between the article and the first transport belt 134 based on the change in the load of the second drive device 145, but is not limited to this. ..
  • the control device 170 uses the loads of the arm drive devices AM1 to AM6 of the robot arm 110, the detection signal of the force sensor provided on the robot arm 110, and the like in combination with the load of the second drive device 145, or , May be used as an alternative.
  • an imaging device for imaging the end of the first conveyor and its vicinity may be provided.
  • the control device 170 may detect the presence or absence of contact between the article and the first transport belt 134 by analyzing the image captured by the image pickup device.
  • the first moving device 180 and the second moving device 190 do not have the actuators 181b and 191 respectively, and simply move the second conveyor 140 with respect to the first conveyor 130. It may be configured to allow. In this case, the second conveyor 140 may be moved manually.
  • the robot hand includes the second conveyor 140 or 140A as a pulling device for pulling the article into the first conveyor 130, but the pulling device is not limited to this.
  • the pull-in device may be configured to grab the article and pull it into the first conveyor 130.
  • Such a retracting device may include an arm for gripping the article.
  • the pulling device has an engaging portion that engages with the article on the side opposite to the pulling direction, and is configured to pull the article into the first conveyor 130 by moving the engaging portion in the pulling direction. May be good.
  • 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.
  • 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 and the transport vehicle 240 in a master-slave manner using the operating device 210, but the present invention is not limited to this.
  • the robot system 1 may be configured to operate the robot 100 and the transport vehicle 240 fully automatically.
  • the robot 100 and the transport vehicle 240 may automatically operate only by the operator P inputting a command indicating the work content or the like to the operation device 210.
  • the control device is 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. And the operation of each robot hand may be controlled.
  • Robot system 100 Robot 110 Robot arm 120, 120A, 120B, 120C Robot hand 130 First conveyor 134 First conveyor belt 134a First conveyor surface 135 First drive device (conveyor drive motor) 140, 140A Second conveyor (retracter) 144 Second conveyor belt 144a Second conveyor surface 145 Second drive device (conveyor drive motor) 170 Control device (detection device) 180 First mobile device 190 Second mobile device 210 Operating device AM1 to AM6 Arm drive device
PCT/JP2020/015971 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 WO2020209334A1 (ja)

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JP2019074448A JP7220115B2 (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
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CN113544069B (zh) 2023-06-13
JP7220115B2 (ja) 2023-02-09
TW202043128A (zh) 2020-12-01

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