WO2021014825A1 - Dispositif de transport d'objets - Google Patents

Dispositif de transport d'objets Download PDF

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Publication number
WO2021014825A1
WO2021014825A1 PCT/JP2020/023514 JP2020023514W WO2021014825A1 WO 2021014825 A1 WO2021014825 A1 WO 2021014825A1 JP 2020023514 W JP2020023514 W JP 2020023514W WO 2021014825 A1 WO2021014825 A1 WO 2021014825A1
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WO
WIPO (PCT)
Prior art keywords
bundle
thickness
banknotes
robot arm
finger
Prior art date
Application number
PCT/JP2020/023514
Other languages
English (en)
Japanese (ja)
Inventor
順亮 上溝
貴司 上田
Original Assignee
日本金銭機械株式会社
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 日本金銭機械株式会社 filed Critical 日本金銭機械株式会社
Priority to CA3139167A priority Critical patent/CA3139167C/fr
Priority to CN202080046130.2A priority patent/CN114051445B/zh
Publication of WO2021014825A1 publication Critical patent/WO2021014825A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
    • B65H43/08—Photoelectric devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
    • G07D11/10—Mechanical details
    • G07D11/16—Handling of valuable papers

Definitions

  • the present invention relates to an object transfer device.
  • a bill insertion assortment unit equipped with a mechanism for collecting inserted bills and handing them to the robot hand, a bill counting bill confirmation unit equipped with a mechanism for separating bills from the robot hand into the number and type of bills received, and bills from the robot hand.
  • a cash cassette unit consisting of a mechanism for storing banknotes and a mechanism for withdrawing banknotes from this unit and delivering them to a robot hand, a bill counter unit for checking the number of bills to be picked up and handing them to a robot, and a mechanism for picking up bills from a robot.
  • the bundle of paper leaves may collapse and fall apart during transportation. This is more pronounced as the bundle of paper leaves is thicker. When the bundle of paper leaves collapses, it is necessary to pick up the paper leaves again, and such a collection operation is not preferable because it reduces the efficiency of the transport work.
  • An object of the present invention is to convey an object such as a bundle of paper sheets by grasping it with a robot arm so that the object does not collapse as much as possible.
  • the object transfer device includes a robot arm and a speed control unit.
  • the robot arm grips and conveys an object.
  • the speed control unit controls the transport speed of the object according to the thickness of the object.
  • the speed control unit controls the transport speed of the object according to the thickness of the object. For example, if the speed control unit reduces the transport speed of an object as the object becomes thicker when transporting the object, the object can be transported by grasping the object (for example, a large bundle of thin objects) with a robot arm. It is possible to suppress collapse during transportation as much as possible. Further, for example, if the speed control unit increases the transport speed of an object as the object becomes thinner when transporting the object, when the robot arm grips and transports the object (for example, a small bundle of thin objects). The object can be transported quickly.
  • the object transfer device is the object transfer device according to the first aspect, and the robot arm swivels and conveys the object. Further, this object transfer device further includes a turning control unit. The turning control unit controls the turning radius of the object according to the thickness of the object.
  • the turning control unit controls the turning radius of the object according to the thickness of the object. For example, if the turning control unit shortens the turning radius of an object as the object becomes thicker when transporting the object, the influence of the rotational moment when the robot arm grips and transports the object (for example, a large bundle of thin objects) is affected. It can be made smaller, and by extension, it is possible to prevent the object from collapsing during transportation as much as possible.
  • the object transfer device includes a robot arm and a turning control unit.
  • the robot arm grips an object, turns it, and conveys it.
  • the turning control unit controls the turning radius of the object according to the thickness of the object.
  • the turning control unit controls the turning radius of the object according to the thickness of the object. For example, if the turning control unit shortens the turning radius of an object as the object becomes thicker when transporting the object, the effect of the rotational moment when the robot arm grips and transports the object (for example, a large bundle of thin objects) is affected. It can be made smaller, and by extension, it is possible to prevent the object from collapsing during transportation as much as possible.
  • the object transfer device is an object transfer device according to any one of the first to third phases, and further includes a thickness measuring unit.
  • the thickness measuring unit measures the thickness of an object while the robot arm is holding the object.
  • the thickness of the object is measured while the robot arm is holding the object. Therefore, in this object transfer device, it is possible to control the robot arm according to the thickness of the object actually gripped by the robot arm.
  • the object transfer device is an object transfer device according to any one of the first to third aspects, and further includes a thickness measuring unit.
  • the thickness measuring unit measures the thickness of the object before the robot arm grips the object.
  • the thickness measuring unit measures the thickness of the object before the robot arm grips the object. Therefore, in this object transfer device, the robot arm can be controlled by using the thickness of the object on the condition that the thickness of the object is not changed after the thickness of the object is measured. Further, in this object transfer device, the thickness of the object is measured before the robot arm grips the object, so that the mechanism for gripping the object (for example, the upper and lower fingers arranged at the tip of the robot arm) is controlled in advance. can do. If the thickness of the object is unknown before gripping the object, it is necessary to maximize the distance between the upper and lower fingers, and it takes time to grip the object with the upper and lower fingers.
  • the distance between the upper and lower fingers can be controlled in advance, so that the distance adjustment time before grasping the upper and lower fingers can be reduced and the object can be adjusted. Since the time required for gripping with the upper and lower fingers can be reduced, the transfer work efficiency can be improved.
  • the object transfer device is the object transfer device according to any one of the first to fourth phases, and the robot arm has a grip portion.
  • the gripping portion grips the object.
  • the grip portion has a first finger and a second finger.
  • the second finger is opposed to the first finger.
  • this object transport device further includes a photographing unit.
  • the photographing unit photographs the first finger and the second finger.
  • the thickness measuring unit calculates the thickness of the object from the positional relationship between the first finger and the second finger in the shooting result of the photographing unit.
  • This object transfer device is equipped with a photographing unit.
  • the photographing unit photographs the first finger and the second finger, and the thickness measuring unit calculates the thickness of the object from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit.
  • a means for measuring the thickness of paper sheets a method of photographing a sheet bundle using a CCD sensor and detecting the sheet thickness from the density data of the photographed image of the side end surface of the sheet bundle (for example, JP-A-2005-104723). (No.) is known, but it is difficult to obtain sufficient density data to accurately determine the thickness of the sheet only by photographing the side end faces of the sheet bundle.
  • this object transporting device for example, at least one marker is provided for each of the first finger and the second finger, and the thickness of the object is measured from the positional relationship of the markers in the shooting result of the photographing unit. Therefore, this object transporting device can measure the thickness of an object without being influenced by the density data of the captured image of the object.
  • the object transporting device is the object transporting device according to any one of the first to sixth aspects, and the object is a paper leaf or a bundle of paper sheets.
  • this object transporting device can transport the paper leaves so that the bundle of paper leaves does not collapse and fall apart.
  • Robot arm with robot hand 110 Robot hand 111: Movable finger (first finger) 112: Fixed finger (second finger) 210: Control unit (speed control unit, turning control unit) 220: Derivation unit (thickness measurement unit) 300: Imaging device (imaging unit) MT: Banknote bundle RA: Robot arm
  • the object transfer device 400 is a transfer device for transporting a bundle MT of banknotes, and as shown in FIGS. 1 and 3, mainly a robot arm 100 with a robot hand. , The control device 200 and the photographing device 300. Hereinafter, these components will be described in detail.
  • the robot arm 100 with a robot hand is mainly composed of a robot hand 110 and a robot arm RA.
  • these components will be described in detail.
  • the robot hand 110 is a two-finger type robot hand as shown in FIGS. 1 and 2. Further, the robot hand 110 is fixed to the tip of the robot arm RA. Then, as shown in FIG. 2, the robot hand 110 mainly includes a movable finger 111, a fixed finger 112, a movable finger reciprocating mechanism 113, a drag prevention unit 117, a drag prevention unit reciprocating mechanism 118, and a connecting unit 119. It is composed of.
  • the movable finger 111 is a bifurcated portion for gripping a bundle MT of banknotes. Both of the two fingers of the movable finger 111 are thick plate portions facing the fixed finger 112 (described later) substantially in parallel. The movable finger 111 is fixed to the first elevating plate 114 (described later) of the movable finger reciprocating mechanism 113. Further, a marker is displayed on the side surface of the movable finger 111.
  • the fixed finger 112 is a bifurcated (not shown) portion for gripping a bundle MT of banknotes, as shown in FIG. Both of the two fingers of the fixed finger 112 are thick plate portions facing the movable finger 111 substantially in parallel.
  • the fixed finger 112 is fixed to the support plate 116 (described later) of the movable finger reciprocating mechanism 113.
  • a marker is displayed on the side surface of the movable finger 111 on the same side of the marker display surface.
  • the markers displayed on the movable finger 111 and the fixed finger 112 are arranged along a direction parallel to the opposite direction of the movable finger 111 and the fixed finger 112.
  • the movable finger reciprocating mechanism 113 is mainly composed of a first elevating plate 114, a second elevating plate 115, and a support plate 116.
  • the second elevating plate 115 supports the first elevating plate 114
  • the support plate 116 supports the second elevating plate 115.
  • the first elevating plate 114 and the second elevating plate 115 are each moved up and down by a mechanism (for example, an air cylinder mechanism or the like) (not shown) arranged therein. That is, as the first elevating plate 114 and the second elevating plate 115 move up and down, the movable fingers 111 fixed to the first elevating plate 114 also move up and down. Therefore, it is possible to grip the bundle MT of banknotes between the fixed finger 112 and the movable finger 111 that moves up and down, and it is also possible to release the gripped state.
  • a mechanism for example, an air cylinder mechanism or the like
  • the drag prevention unit 117 is a rectangular plate-shaped member, and is fixed to the tip of the drag prevention unit reciprocating mechanism 118 (described later).
  • the drag prevention unit 117 is reciprocated in the front-rear direction by the drag prevention unit reciprocating mechanism 118.
  • the drag prevention unit reciprocating mechanism 118 is a mechanism for preventing the robot hand 110 from dragging the bundle MT of bills when retracting from the destination of the bundle MT of bills. Therefore, as shown in FIG. 2, it is located between the two fingers of the fixed finger 112 and is arranged so as to be substantially parallel to the fixed finger 112, and is fixed to the fixed finger 112. Further, the drag prevention unit reciprocating mechanism 118 is a mechanism (for example, an air cylinder mechanism or the like) (not shown) that reciprocates, and also reciprocates the drag prevention unit 117 in the front-rear direction.
  • the robot hand 110 holding the bundle MT of banknotes conveys the bundle MT of banknotes to the destination and holds the gripped state.
  • the drag prevention unit reciprocating mechanism 118 moves forward, so that the drag prevention unit 117 prevents the bill from being dragged. Therefore, it is possible to prevent the bundle MT of banknotes from collapsing when the robot hand 110 is retracted.
  • the connecting portion 119 is a portion for connecting the robot hand 110 to the robot arm RA, for example, a flange or the like, as shown in FIG.
  • the robot arm RA is, for example, an existing multi-axis robot arm. As shown in FIGS. 1 and 2, the base end of the robot arm RA is attached to a fixed base so as to be rotatable.
  • control device 200 is mainly composed of a control unit 210, a lead-out unit 220, a storage unit 230, and an acquisition unit 240.
  • control unit 210 a control unit 210
  • lead-out unit 220 a lead-out unit 220
  • storage unit 230 a storage unit 230
  • acquisition unit 240 an acquisition unit 240
  • Control unit The control unit 210 is, for example, a control device of a central processing arithmetic unit of a computer, and is connected to a robot arm RA, a robot hand 110, and a photographing device 300 (described later) as shown in FIG. Has been done. Further, the control unit 210 controls the operation of the robot arm RA and the robot hand 110 and the photographing process of the photographing device 300 by transmitting various control signals to the robot arm RA, the robot hand 110, and the photographing device 300. As shown in FIG. 3, the control unit 210 transmits a control signal to the robot arm RA, the robot hand 110, and the photographing device 300 in accordance with a command described in the control program stored in the storage unit 230.
  • control unit 210 reads data necessary for generating a control signal from at least one of the derivation unit 220 and the storage unit 230, generates a control signal from the data, and causes the robot arm RA, the robot hand 110, and the photographing device 300. Send.
  • the derivation unit 220 is, for example, an arithmetic unit of a central processing arithmetic unit of a computer, and is transmitted from data stored in the storage unit 230 and acquisition unit 240 as shown in FIG. Data necessary for generating a control signal is generated from the incoming data, and the data is supplied to the control unit 210.
  • the out-licensing unit 220 is the thickness of the bundle MT of banknotes from the distance between the markers of the movable finger 111 and the fixed finger 112 of the robot hand 110 based on the photographing data sent from the photographing apparatus 300 via the acquiring unit 240. To measure.
  • the lead-out unit 220 measures the thickness of the banknote bundle MT by analyzing and calculating the distance between the markers when the robot hand 110 is holding the banknote bundle MT from the shooting data. Then, the out-licensing unit 220 derives the transport speed and the turning radius of the banknote bundle MT according to the thickness data of the banknote bundle MT (hereinafter referred to as “thickness data”). The derivation unit 220 may, for example, collate the thickness data with the control table stored in the storage unit 230 to derive the transport speed and the turning radius corresponding to the thickness data, or calculate the transport speed from the thickness data.
  • the transport speed and the turning radius corresponding to the thickness data may be derived.
  • the out-licensing unit 220 transmits data on the transport speed and turning radius of the bundle MT of banknotes to the control unit 210. Controlling the transport speed and turning radius of the bundle MT of banknotes controls the transport speed and turning radius of the robot hand 110.
  • Storage unit The storage unit 230 stores a control program, control parameters, a control table, and the like.
  • the acquisition unit 240 is, for example, a communication interface of a computer or the like, and has a role of receiving the photographing data obtained by the photographing apparatus 300 and transmitting the photographing data to the derivation unit 220 as shown in FIG. I am in charge.
  • the imaging device 300 is, for example, a digital camera such as a CCD camera, and as shown in FIG. 1, when the robot hand 110 grips a bundle of banknotes (broken line) MT, the side surface of the robot hand 110 is pressed. It is arranged at a position where it can be photographed.
  • the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of holding the bundle MT of banknotes so as to fit in one image, and acquires the photographing data. Then, as shown in FIG. 3, the photographing device 300 transmits the photographing data to the acquisition unit 240 of the control device 200 according to the control signal from the control device 200.
  • the series of processes in the photographing device 300 is performed between the time when the robot hand 110 grips the bundle MT of banknotes and the time when the transport of the bundle MT of banknotes is started.
  • the control device 200 controls the robot arm RA to move the robot hand 110 to a position where the robot hand 110 waiting at a predetermined position can hold a bundle of banknotes (see the broken line in FIG. 1) MT. Then, the control device 200 controls the movable finger reciprocating mechanism 113 of the robot hand 110 to move the movable finger 111 of the robot hand 110 that has been pulled upward in advance downward, and the bundle MT of banknotes together with the fixed finger 112. To grasp.
  • the bundle MT of banknotes is prepared in advance so that the robot hand 110 can easily grip the bundle MT of banknotes.
  • the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 so as to fit in one image.
  • the photographing device 300 transmits the photographing data to the acquisition unit 240 of the control device 200.
  • the acquisition unit 240 of the control device 200 receives the shooting data transmitted from the shooting device 300, and transmits the shooting data to the derivation unit 220 of the control device 200.
  • the derivation unit 220 receives the shooting data and measures the thickness of the bundle MT of the banknotes from the positional relationship between the movable finger 111 and the fixed finger 112 of the robot hand 110 in the shooting data. Then, the derivation unit 220 derives the transport speed and the turning radius of the bundle MT of the banknotes corresponding to the thickness data, and transmits the data to the control unit 210 of the control device 200.
  • the control device 200 controls the transport speed and turning radius of the bundle MT of banknotes by using the data of the transport speed and turning radius of the derived bundle MT of banknotes. For example, the control device 200 reduces the transport speed of the bundle MT of banknotes and shortens the turning radius as the thickness of the bundle MT of banknotes increases. Further, the control device 200 increases the transport speed of the bundle MT of banknotes and lengthens the turning radius as the thickness of the bundle MT of banknotes becomes thinner. However, the control device 200 controls the transport speed and turning radius of the bundle MT of banknotes within the range of the maximum value and the minimum value set for the transport speed and turning radius of the bundle MT of banknotes, respectively. Then, the control device 200 controls the robot arm RA to convey the bundle MT of banknotes to the case CA which is the transfer destination. The control device 200 controls the robot arm RA so that the bundle MT of banknotes is sequentially stacked in the case CA.
  • the control device 200 controls the robot arm RA to insert the movable finger 111 and the fixed finger 112 of the robot hand 110 into the back side of the case CA, and then controls the drag prevention unit reciprocating mechanism 118.
  • the drag prevention unit 117 is moved forward, and the movable finger reciprocating mechanism 113 is controlled to pull up the movable finger 111 upward to release the gripping state and release the bundle MT of bills.
  • the control device 200 controls the robot arm RA to retract the robot hand 110 from the case CA while maintaining the inclination angle of the robot hand 110.
  • the drag prevention unit reciprocating mechanism 118 since the drag prevention unit reciprocating mechanism 118 is moving forward, the drag prevention unit 117 prevents the bundle MT of banknotes from being dragged.
  • control device 200 controls the drag prevention unit reciprocating mechanism 118 to pull back the drag prevention unit 117 backward. Finally, the control device 200 controls the robot arm RA to move the robot hand 110 to a predetermined position to prepare for the transfer of the next bundle MT of banknotes.
  • the control device 200 measures the thickness of the bundle MT of banknotes and controls the transport speed and the turning radius of the bundle MT of banknotes according to the thickness.
  • the control device 200 reduces the transport speed of the bundle MT of banknotes and shortens the turning radius as the thickness of the bundle MT of banknotes to be transported increases. Further, the control device 200 increases the transport speed of the bundle MT of banknotes and lengthens the turning radius as the thickness of the bundle MT of banknotes to be transported becomes thinner.
  • the bundle MT of banknotes to be conveyed when the bundle MT of banknotes to be conveyed is thick, the bundle MT of banknotes is conveyed when the robot arm 100 with a robot hand grips and conveys the bundle MT of banknotes. It is possible to suppress the collapse inside as much as possible. Further, when the bundle MT of the banknotes to be conveyed is thin, when the robot arm 100 with a robot hand grips and conveys the bundle MT of the banknotes, the bundle MT of the banknotes can be quickly conveyed to improve the transportation work efficiency.
  • the thickness of the bundle MT of banknotes is measured while the robot hand 110 is holding the bundle MT of banknotes. Therefore, in the object transfer device 400 according to the first embodiment, it is possible to control the robot arm 100 with a robot hand according to the thickness of the bundle MT of banknotes actually held by the robot hand 110.
  • the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of holding the bundle MT of banknotes so as to fit in one image.
  • the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 may be photographed so as to fit in two or more images.
  • the control device 200 may synthesize an image based on the feature points of each image and measure the thickness of the bundle MT of banknotes from the synthesized image.
  • the thickness of the bundle MT of the bills held by the robot hand 110 is measured by the lead-out unit 220 of the control device 200 based on the shooting data taken by the shooting device 300.
  • the thickness of the bundle MT of the bills held by the robot hand 110 may be measured by disposing a pressure sensor on the robot hand 110 and using the pressure sensor, or by other measuring methods.
  • the control device 200 measures the thickness of the bundle MT of banknotes and controls the transport speed and the turning radius of the bundle MT of banknotes according to the thickness.
  • the control device 200 may control only one of the transport speed and the turning radius of the bundle MT of banknotes according to the thickness of the bundle MT of banknotes.
  • the thickness of the banknote bundle MT is measured before the banknote bundle MT is gripped by the robot hand.
  • the object transfer device according to the second embodiment does not include the photographing device 300 described in the object transfer device 400 according to the first embodiment, and is a robot arm with a second robot hand and a robot with a second robot hand. Another imaging device that captures the arm is additionally configured.
  • the robot arm with the first robot hand is structurally the same as the robot arm 100 with the robot hand described in the object transfer device 400 according to the first embodiment.
  • the robot arm 100 with a robot hand, the robot hand 110, and the robot arm RA are referred to as a "robot arm with a first robot hand", a “first robot hand”, and a “first robot arm”, respectively. I will do it.
  • the robot arm with the second robot hand grips and pulls out the bundle MT of the bills from the bill storage box, and conveys the bundle MT of the bills to the movable area of the robot arm with the first robot hand.
  • the imaging device is provided at a position where the entire thickness direction of the bundle MT of banknotes can be photographed while the robot arm with the second robot hand is holding the bundle MT of banknotes.
  • the photographing device transmits the photographed shooting data to the control device 200.
  • control device 200 is connected to a robot arm with a first robot hand, a robot arm with a second robot hand, and a photographing device.
  • the control device 200 controls the operation of the robot arm with the first robot hand and the robot arm with the second robot hand, and the photographing process of the photographing device.
  • the control device 200 receives imaging data from an imaging device that photographs the entire thickness direction of the bundle MT of banknotes held by the robot arm with the second robot hand, and obtains the thickness of the bundle MT of banknotes from the photographing data.
  • the transport speed and turning radius of the bundle MT of banknotes are controlled according to the thickness data.
  • controlling the transport speed and the turning radius of the bundle MT of banknotes controls the transport speed and the turning radius of the first robot hand.
  • the control device 200 controls the robot arm with the second robot hand to grasp and pull out the bundle MT of banknotes from the banknote storage box.
  • the photographing device photographs the entire bundle MT of banknotes in the thickness direction, and the photographed data is controlled by the control device.
  • the control device 200 controls the robot arm with the second robot hand so as to convey the bundle MT of the banknotes to the movable area of the robot arm with the first robot hand.
  • the control device 200 causes the robot arm with the first robot hand to grip the bundle MT of banknotes conveyed by the robot arm with the second robot hand. Then, the control device 200 causes the robot arm with the first robot hand to convey the bundle MT of banknotes to the case mounted on the turntable.
  • the control device 200 photographs the entire bundle MT of banknotes held by the robot arm with the second robot hand in the thickness direction. The thickness of the bundle MT of banknotes is measured based on the photographing data transmitted from the photographing apparatus. Then, the control device 200 controls the transport speed and the turning radius of the bundle MT of the banknotes according to the thickness data.
  • the control device 200 since the thickness of the banknote bundle MT is clear before the first robot hand grips the banknote bundle MT, the banknotes are not pulled up to the maximum upward by the movable finger of the first robot hand.
  • the movable finger is controlled to be pulled upward to the extent that the bundle MT of the robot can be grasped.
  • the thickness of the banknote bundle MT is measured before the first robot hand grips the banknote bundle MT. Therefore, in the object transfer device according to the second embodiment, after measuring the thickness of the bundle MT of banknotes, the robot arm with the first robot hand is controlled by using the thickness. Further, in the object transfer device according to the second embodiment, the movable fingers of the first robot hand for gripping the bundle MT of banknotes are controlled in advance. That is, since it is not necessary for the first robot hand to pull up the movable finger to the maximum upward before grasping the bundle MT of banknotes, the time for pulling up the movable finger can be reduced.
  • the time required for the movable finger to move downward and the first robot hand to grasp the bundle MT of banknotes can be reduced. Therefore, in the object transfer device according to the second embodiment, it is possible to improve the transfer work efficiency of the bundle MT of banknotes by the robot arm with the first robot hand.
  • a photographing device provided at a position where the entire thickness direction of the bundle MT of banknotes can be photographed while the robot arm with the second robot hand is holding the bundle MT of banknotes.
  • the thickness of the bundle MT of banknotes was measured based on the photographed data.
  • a method of measuring the thickness of a bundle MT of banknotes based on photography data taken by a photographing device fixed to a robot arm with a second robot hand, and a pressure sensor arranged on a robot arm with a second robot hand are used to measure banknotes.
  • the thickness of the bundle MT of banknotes is measured while the robot arm with the second robot hand is holding the bundle MT of banknotes by the method of measuring the thickness of the bundle MT of banknotes and other methods of measuring the thickness of the bundle MT of banknotes. May be done.
  • the robot arm with the second robot hand conveys the bundle MT of banknotes to the movable area of the robot arm with the first robot hand.
  • the bundle MT of banknotes may be transported to the movable region of the robot arm with the first robot hand by a transfer device (for example, a belt conveyor, a slide device, etc.).
  • the robot arm with the second robot hand preferably transfers a bundle of banknotes onto the transfer device.
  • a photographing device provided at a position where the entire thickness direction of the bundle MT of banknotes can be photographed while the robot arm with the second robot hand is holding the bundle MT of banknotes.
  • the thickness of the bundle MT of banknotes was measured based on the photographed data.
  • the thickness of the banknote bundle MT may be measured based on the photographing data photographed by the photographing device installed at the start point or the end point of the transfer device for moving the banknote bundle MT to the vicinity of the robot arm with the first robot hand. ..
  • the transfer device is preferably a slide device.
  • the photographing device photographs the inside of the box from the top surface of the box with the bundle MT of banknotes stored in the box on which the top surface is open, which is placed on the slide device, and based on the photographed data. It is preferable to measure the thickness of the bundle MT of banknotes.
  • the control device 200 measures the thickness of the bundle MT of banknotes and controls the transport speed and the turning radius of the bundle MT of banknotes according to the thickness.
  • the control device 200 may control only one of the transport speed and the turning radius of the bundle MT of banknotes according to the thickness of the bundle MT of banknotes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Controlling Sheets Or Webs (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)

Abstract

Le but de la présente invention est de transporter un objet tel qu'une liasse de feuilles de papier tout en empêchant l'objet de s'affaisser autant que possible lorsqu'il est transporté en étant maintenu par un bras robotisé. Un dispositif de transport d'objet 400 selon la présente invention comprend un bras robotisé RA et une unité de commande de vitesse 200. Le bras robotisé RA maintient et transporte un objet. L'unité de commande de vitesse 200 commande la vitesse de transport de l'objet en fonction de l'épaisseur de l'objet.
PCT/JP2020/023514 2019-07-23 2020-06-16 Dispositif de transport d'objets WO2021014825A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA3139167A CA3139167C (fr) 2019-07-23 2020-06-16 Dispositif de transport d'objets
CN202080046130.2A CN114051445B (zh) 2019-07-23 2020-06-16 物体搬送装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-135157 2019-07-23
JP2019135157A JP6823117B1 (ja) 2019-07-23 2019-07-23 物体搬送装置

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WO2021014825A1 true WO2021014825A1 (fr) 2021-01-28

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JP (1) JP6823117B1 (fr)
CN (1) CN114051445B (fr)
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CN114029974B (zh) * 2021-11-04 2023-06-20 上海擎朗智能科技有限公司 一种机器人送餐控制方法、装置、机器人及存储介质
CN116141383B (zh) * 2023-04-11 2024-01-05 江苏悦川机器人有限公司 机械臂的末端相机安装结构、机械臂及机器人

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017511263A (ja) * 2014-03-28 2017-04-20 ヤスカワ・ノルディック・アーベー グリッパ
WO2019026644A1 (fr) * 2017-07-31 2019-02-07 グローリー株式会社 Système et procédé de traitement de feuilles de papier

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JP2001105272A (ja) * 1999-09-30 2001-04-17 Nakamura Tome Precision Ind Co Ltd ワーク搬入搬出装置
JP2007021635A (ja) * 2005-07-14 2007-02-01 Komatsu Engineering Corp ワークの自動ハンドリング方法およびワークの自動ハンドリングシステム
JP2016049607A (ja) * 2014-09-01 2016-04-11 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、プログラム及び記録媒体
CN107186719B (zh) * 2017-06-29 2020-04-28 顺丰速运有限公司 一种应用于小件快递件机器人抓手的平移速度控制方法

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Publication number Priority date Publication date Assignee Title
JP2017511263A (ja) * 2014-03-28 2017-04-20 ヤスカワ・ノルディック・アーベー グリッパ
WO2019026644A1 (fr) * 2017-07-31 2019-02-07 グローリー株式会社 Système et procédé de traitement de feuilles de papier

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CA3139167C (fr) 2023-12-05
CN114051445B (zh) 2024-04-30
JP2021017357A (ja) 2021-02-15
CA3139167A1 (fr) 2021-01-28
JP6823117B1 (ja) 2021-01-27
CN114051445A (zh) 2022-02-15

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